JP2007200990A - Part recognition method, part recognition apparatus and surface mounter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a part recognition method by which a high speed part checking operation is established and the operational efficiency of a surface mounter be also improved even if there is any displacement of positional relationship between a part suction position and the imaging center of a line sensor, and to provide a part recognition apparatus and a surface mounter. <P>SOLUTION: A part supplied from a part supply is sucked by a head unit, and the head unit is moved in a sub-scanning direction to a line sensor. In this case, it is judged whether the whole sucked part can pass through a main scanning direction recognition area. If it is judged that it can pass through, the head unit is moved as it is in the sub-scanning direction to image the sucked part and recognize the part even when the part suction position is offset in the main scanning direction to the central position of the main scanning direction part recognition area. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a component recognition method and apparatus for recognizing a component attracted by a head unit prior to mounting, and a surface mounter incorporating the apparatus.

  Conventionally, a surface mounting machine (hereinafter referred to as a mounting machine) that takes out an electronic component such as an IC (hereinafter referred to as a part) from a component supply unit and mounts it at a predetermined position on a printed circuit board by a movable head unit. Known to.

  In this type of mounting machine, in order to select a defective part, correct a mounting position, and the like, an image pickup unit such as a camera picks up an image of a suction part that is being conveyed prior to mounting the part and performs image recognition. Specifically, when a line sensor is used as the imaging means, the direction in which the image sensors of the line sensor are arranged is the main scanning direction, and the direction intersecting this is the sub-scanning direction, and the component supplied from the component supply unit is used as the head unit. The head unit is moved in the sub-scanning direction (recognition scanning) so that the suction component crosses the line sensor, and the suction component is imaged (see, for example, Patent Document 1).

  When the component suction position where the supplied component is sucked by the suction head and the image center of the line sensor are misaligned in the main scanning direction, the main part between the suction component and the line sensor is moved by moving in the main scanning direction. If the position in the scanning direction is adjusted and then moved in the sub-scanning direction, it takes time until the head unit that has picked up the component passes through the line sensor. Alternatively, in the initial stage of the movement, the movement in the main scanning direction is performed simultaneously with the movement in the sub scanning direction, and in the middle of the movement, the movement in the main scanning direction is stopped and the alignment in the main scanning direction is performed. However, in order to align the suction component with the center of the image of the line sensor through acceleration and deceleration in the movement in the main scanning direction, it is necessary to reduce acceleration and deceleration. When the distance in the sub-scanning direction between the position and the line sensor is short, the moving speed in the sub-scanning direction cannot be increased, and it takes time until the head unit that has picked up the part passes the line sensor after picking up the part. End up.

Therefore, it is conceivable that the component suction position and the imaging center of the line sensor are aligned in the main scanning direction and arranged in a straight line in the sub scanning direction. As a result, after the head unit is picked up, the picked-up part can be imaged by simply accelerating from the picked-up position in the sub-scanning direction and moving it at a predetermined speed. The time until the sensor can pass can be shortened, and the operating efficiency of the mounting machine can be improved.
JP 2003-218582 A

  However, even when the equipment is installed so that the component suction position and the imaging center of the line sensor are in a straight line in the sub-scanning direction, the component can be moved directly in the sub-scanning direction by moving the head unit that sucks the component. It may not be recognized. That is, the positional relationship between the component suction position and the imaging center of the line sensor may be shifted, such as when the component suction position is corrected according to the shift of the component supply position due to the design error of the component supply device. In this case, it is necessary to move the head unit in the main scanning direction so that the axis center of the suction head of the head unit is positioned on the recognition scanning line passing through the imaging center of the line sensor. After that, it takes time until the head unit that has sucked the components passes through the line sensor, resulting in a decrease in operating efficiency.

  The present invention has been made in view of the above-described problems. Even when the positional relationship between the component suction position and the imaging center of the line sensor is deviated, the mounting machine is designed to speed up the component recognition operation. An object of the present invention is to provide a component recognition method, an apparatus and a surface mounter capable of improving the operation efficiency.

  In order to solve the above-described problems, in the component recognition method of the present invention, a component is attracted to a head unit having a component suction head, and the head unit is moved in the sub-scanning direction with respect to an imaging device having a line sensor. In the component recognition method for picking up the picked-up component and performing component recognition processing, the component supplied from the component supply unit is picked up by the head, and the head unit is moved from the component pick-up position to the line sensor in the sub-scanning direction. A determination process is performed to determine whether or not the entire suction component can pass through the main-scanning direction component recognition region that can be imaged by the imaging device. If it is determined that the component can pass through the main scanning direction component recognition area, the component suction position with respect to the center position of the main scanning direction component recognition area Even if the head is offset in the main scanning direction, an offset recognition process for recognizing the part by imaging the suction part by moving the head unit in the sub-scanning direction while maintaining the state is performed. It is a feature.

  In order to solve the above problems, a component recognition apparatus according to the present invention includes a head unit having a component suction head, an image pickup device having a line sensor that images the suction component sucked by the head unit, Drive means for moving the head unit in the sub-scanning direction with respect to the line sensor, and control means for comprehensively controlling these, the control means sucks the component supplied from the component supply unit by the head. In addition, when the head unit is moved in the sub-scanning direction with respect to the line sensor from the component suction position, can the suction component as a whole pass through the main scanning direction component recognition area that can be imaged by the imaging device? A determination process is performed to determine whether or not the entire suction component can pass through the main scanning direction component recognition area by the determination process. If it is determined, even if the component suction position is offset in the main scanning direction with respect to the center position of the component recognition area in the main scanning direction, the head unit is moved in the sub-scanning direction while maintaining that state. It is characterized in that an offset recognition process for recognizing a part by picking up an image of the picked-up part is performed.

  In order to solve the above problems, the surface mounting machine of the present invention is a surface mounting machine in which a component is picked up by a movable head unit having a mounting head and mounted at a predetermined position on a substrate. It is characterized by having a device.

  According to the component recognition method, the apparatus, and the surface mounter, when the head unit is moved in the sub-scanning direction with respect to the imaging device (line sensor) from the suction position for sucking the component supplied from the component supply unit In addition, when the suction part can pass through the main scanning direction part recognition area, even if the part suction position is offset in the main scanning direction with respect to the center position of the main scanning direction part recognition area, In order to move the head unit in the sub-scanning direction while maintaining this state, the head unit is moved in the main scanning direction so that the component suction position is located on the recognition scanning line passing through the imaging center of the line sensor, as in the past. There is no need to let them. Therefore, the time for moving the component suction position so as to be positioned on the recognition scanning line can be shortened, so that the speed of the component recognition operation can be increased.

  When the offset recognition process determines that the whole or a part of the suction component cannot pass through the main-scanning direction component recognition area by moving the head unit in the sub-scanning direction in the determination process. The head unit is moved so that the suction component is positioned at an offset recognizable position where the entire suction component can pass through the main scanning direction component recognition area, and the head unit is moved from the offset recognizable position in the sub-scanning direction. It is preferable to pick up and recognize the suction component by moving it.

  According to this configuration, when the suction part cannot pass through the main scanning direction part recognition area when the head unit is moved in the sub-scanning direction, the entire suction part can pass through the main scanning direction part recognition area. The suction unit is recognized by moving the head unit to the recognizable position and then performing recognition scanning in the sub-scanning direction. Therefore, unlike the conventional case, it is not necessary to move the head unit to the recognition scanning line that passes through the imaging center position of the line sensor (the center position of the component recognition area in the main scanning direction) and perform the component recognition. It is possible to shorten the time required for movement so as to be positioned in the position, and to speed up the component recognition operation.

  As a specific aspect of the determination process, the determination process calculates an offset amount in the main scanning direction from the positional relationship between the component suction position and the center position of the component recognition area in the main scanning direction. It may be configured to determine whether or not the entire suction component can pass through the main scanning direction component recognition area based on the offset amount.

  The component recognition processing is performed when the suction component is moved in the main scanning direction from the state in which the center position of the main scanning direction component recognition region and the center position of the suction component are matched by the determination processing. The suction component calculates an offset limit value that is a limit value of the amount of movement included in the main scanning direction component recognition region, and the entire suction component passes through the main scanning direction component recognition region based on the offset limit value. It may be determined whether or not the offset can be recognized, and the offset recognizable position may be set to a position moved from the center position of the main scanning direction component recognition area by an offset limit value in the main scanning direction.

  According to this configuration, it can be determined whether or not the suction component can pass through the component region, and the moving distance to the offset recognizable position in the main scanning direction is minimized, so that the component recognition operation can be performed more effectively. Can be achieved.

  According to the component recognition method, the apparatus, and the surface mounter of the present invention, even if the positional relationship between the component suction position and the imaging center position of the imaging device is shifted, the movement amount of the head unit is reduced. In addition, it is possible to increase the operating efficiency of the mounting machine by speeding up the component recognition operation.

  A first embodiment of the present invention will be described with reference to the drawings.

  1 and 2 schematically show a surface mounter to which a component recognition apparatus according to the present invention is applied. In these drawings, the X axis, the Y axis, and the Z axis are shown to clarify the direction, the X axis direction is the sub-scanning direction of the present invention, and the Y axis direction is the main axis of the present invention. The scanning direction.

  As shown in the figure, a printed circuit board conveyer 2 is arranged on the base 1 of the mounting machine in the X-axis direction, and a printed circuit board 3 (simply referred to as a substrate 3) is conveyed on the conveyor 2. It is stopped at a predetermined mounting work position. Component supply units 4A and 4B are arranged on the sides of the conveyor 2, respectively. Each of the component supply units 4A and 4B includes multiple rows of tape feeders. Each tape feeder is configured such that small pieces of chip parts w (see FIGS. 4 and 5) such as ICs, transistors and capacitors are stored at predetermined intervals, and the held tapes are led out from the reels. The component w is intermittently fed out as the component w is taken out by a head unit 5 described later. Each component supply unit 4A, 4B is composed of unit supply units 4A-1, 4A-2 and 4B-1, 4B-2 divided in the X-axis direction, and each unit supply unit 4A-1, 4A-. Tape feeders are disposed at 2, 4B-1 and 4B-2, respectively.

  Above the base 1, a component mounting head unit 5 is provided. The head unit 5 is movable across the component supply units 4A and 4B and the component mounting unit on which the substrate 3 is located. In this embodiment, the X-axis direction and the Y-axis direction (direction orthogonal to the X-axis on the horizontal plane). Can be moved to.

  That is, a fixed rail 7 in the Y-axis direction and a ball screw shaft 8 that is rotationally driven by a Y-axis servomotor 9 are disposed on the base 1, and a head unit support member 11 is disposed on the fixed rail 7. And a nut portion 12 provided on the support member 11 is screwed onto the ball screw shaft 8. The support member 11 is provided with a guide member 13 in the X-axis direction and a ball screw shaft 14 driven by an X-axis servo motor 15, and the head unit 5 is movably held by the guide member 13. A nut portion (not shown) provided on the head unit 5 is screwed onto the ball screw shaft 14. The support member 11 is moved in the Y-axis direction by the operation of the Y-axis servo motor 9, and the head unit 5 is moved in the X-axis direction with respect to the support member 11 by the operation of the X-axis servo motor 15. ing.

  The Y-axis servo motor 9 and the X-axis servo motor 15 are provided with rotary encoders 10 and 16, respectively, so that the moving position of the head unit 5 can be detected.

  As shown in FIG. 2, the head unit 5 is provided with a head 20 provided with a nozzle member 20a for component suction at the tip, and in this embodiment, eight heads 20 are provided side by side in the X-axis direction. . Each head 20 can be moved up and down and rotated around the central axis of the nozzle with respect to the frame of the head unit 5, and is driven by a lift drive mechanism or a rotation drive mechanism. The elevating drive mechanism includes, for example, an entire elevating Z-axis servo motor 17 that moves the heads 20 up and down simultaneously, and a predetermined number (eight) of air cylinders that elevate and lower each head 20 individually by a fixed stroke. And by using them together, each head 20 is configured to move up and down between a predetermined ascending position and a descending position. The rotation drive mechanism is composed of a single R-axis servomotor 19a for rotation and a transmission mechanism that transmits the rotation of the servomotor 19a to each head. The Z-axis servo motor 17 and the R-axis servo motor 19a are provided with rotary encoders 18 and 19b, respectively.

  In addition, on both sides of the conveyor 2, imaging units 21 for recognizing the components w attracted by the heads 20 of the head unit 5 prior to mounting on the substrate 3 are disposed.

  As shown in FIG. 1, the imaging unit 21 (imaging device) is provided between the unit supply units 4A-1 and 4A-2 (or 4B-1 and 4B-2) constituting the component supply unit 4A (or 4B). A camera 23 that images the component w (suction component w) that is disposed and is attracted to the head 20 and an illumination device 24 that provides illumination for component imaging are provided.

  Each camera 23 is a camera provided with a linear sensor (line sensor) in which a plurality of image sensors are arranged in the Y-axis direction (main scanning direction), and the X-axis direction (sub-scanning) orthogonal to the array direction of the elements of each line sensor. The head unit 5 moves in the direction), and the images of the parts w sucked by the heads 20 by the cameras 23 are sequentially taken in the sub-scanning direction. The camera 23 of the imaging unit 21 is arranged upward in the Z-axis direction so as to capture the suction component w from directly below. In addition, a lens (for example, a telecentric lens) with little lens distortion (distortion) is used as a lens of this camera, and imaging can be performed with as little influence of distortion as possible in the Y-axis direction. . In the present invention, the visual field area in the main scanning direction in which the camera 23 can pick up the suction component w is set as the main scanning direction component recognition area 25.

  The illumination device 24 includes an LED lamp as a light source. Although not shown in detail, the illumination device 24 includes a large number of LED lamps on the inner surface of a dome-shaped frame having an image incident space. .

  FIG. 3 is a block diagram showing the control system of the mounting machine.

  This mounting machine includes a known CPU that executes logical operations, a ROM that stores various programs for controlling the CPU in advance, a RAM that temporarily stores various data during operation of the apparatus, and the like. 30 (control means of the present invention).

  The control device 30 includes a main control unit 31, a storage unit 32, an illumination control unit 33, a camera control unit 34 (imaging control means), an image processing unit 35, an axis control unit 36, and an input unit 37 as functional configurations. Yes.

  The main control unit 31 controls the operation of the mounting machine in an integrated manner, and controls the drive of the servo motors 9 and 15 and the like via the axis control unit 36 so as to operate the head unit 5 and the like according to a program stored in advance. To do. Further, when imaging the component w by the imaging unit 21, a control signal is sent to the illumination control unit 33 and the camera control unit 34 in order to execute component recognition so that the head unit 5 is optimized according to the type of the component w. Output. Then, the main control unit 31 controls the driving of the Z-axis servo motor 17 for raising and lowering the whole through the axis control unit 36 in order to focus the camera 23 in accordance with the type of the component w.

  The main control unit 31 includes a calculation unit 31a, a determination unit 31b, and a recognition processing unit 31c. From the positional relationship between the head unit 5 and the imaging unit 21, the main control unit 31 includes a head unit 5 for imaging the suction component w. The moving path is determined, and the suction component w recognition process is performed.

  The calculation unit 31a performs predetermined calculation processing based on position information of the head unit 5 (head 20), data in the storage unit 32 described later, input data input from the input unit 37, and the like.

  The determination unit 31b performs determination processing based on the calculation result obtained by the calculation unit 31a. Specifically, when the suction component w is moved in the sub-scanning direction from the component suction position, it is determined whether or not the entire suction component w is included in the main scanning direction component recognition area 25, and the recognition processing method ( An offset recognition process and a normal recognition process (to be described later) are determined. Here, the component suction position is a position where the component w supplied from the component supply units 4A and 4B is sucked by the head 20 of the head unit 5, and the axis of the nozzle member 20a in the final head 20 that sucks the component w. Determined by the center position. The component suction position is initially determined as equipment adjustment data of the apparatus, and position information (position coordinates) is manually input for each component to be mounted during mounting, or the suction point is determined by the camera 23 or the like. The position information may be set in advance by performing imaging and teaching. Further, a statistical result (average, weighted average, etc.) of the deviation of the component w from the center position of the nozzle member 20a is obtained from the image recognition result obtained during mounting by the suction position correcting means used for determining the next component suction position. It may be position information.

  The recognition processing unit 31c executes the recognition process of the suction component w based on the determination of the determination unit 31b. Specifically, based on the recognition processing method selected by the determination unit 31b, each servo motor is driven and controlled via the axis control unit 36 to move the head unit 5, and the illumination control unit 33 and camera control unit 34 are moved. And picks up the picked-up component w picked up by the nozzle member 20a. Then, the calculation unit 31a calculates a correction amount from the obtained image data, and based on the result, a control signal is output to the axis control unit 36 to drive and control each servo motor.

  The storage unit 32 stores the type of the component w, the image recognition data necessary for component recognition corresponding to the type, and the deviation amount (suction error) from the normal component suction position. Here, initially, a fixed value obtained by user input or a fixed value obtained from a supply standard is used as the adsorption error. Further, statistical results (standard deviation σ, maximum value, etc.) of image recognition results obtained during mounting may be used.

  The input unit 37 is an input unit including a touch panel, a keyboard, and the like. Various component data, suction position information, suction error information, and the like can be input to the control device (main control unit 31) by operating the input unit 37. It has become.

  The illumination control unit 33 and the camera control unit 34 control the driving of the illumination device 24 and the camera 23 of the imaging unit 21, respectively.

  The image processing unit 35 performs predetermined processing on the image signal output from each camera 23 of the imaging unit 21 to generate image data suitable for component recognition and output the image data to the main control unit 31.

  As for the configuration of the control device 30, the driving means of the present invention is constituted by the servo motors 15, 9, 17, 19a and the encoders 16, 10, 18, 19b, etc., and the main control unit 31 and the axis control unit. The drive control means is constituted by 36.

  Here, FIGS. 4 and 5 are schematic views schematically showing the positional relationship between the component w and the imaging unit 21 on the XY coordinates. FIG. 4 shows a case in which the positional relationship between the component w and the main scanning direction component recognition area 25 is that the entire component w enters the main scanning direction component recognition area 25 when the head unit 5 is moved in the sub-scanning direction from the component suction position P. FIG. 5 shows a case where part or all of the component w does not enter the main scanning direction component recognition area 25 when the head unit 5 is moved from the component suction position P in the sub-scanning direction.

  4 and 5, the component suction position for the component w supplied by the component supply units 4A and 4B is P, the size (dimension) of the component w is C, and the deviation amount (suction error) of the component suction position. Is T. Further, the center position of the main scanning direction component recognition area 25 by the camera 23 is M, and the size (dimension) of the main scanning direction component recognition area 25 is A. The component w is imaged by moving the head unit 5 (component w) so as to cross the main recognition direction component recognition area 25 in the X-axis direction. This direction is defined as the sub-scanning direction (sub-scanning direction). An imaginary line (one-dot chain line) extending in the sub-scanning direction through the center position M of the main-scanning-direction component recognition area 25 is defined as a recognition scanning line α.

  The mounting operation of the component w based on the control of the control device 30 will be described based on the flowcharts of FIGS. 6 and 7 with reference to FIGS. Here, FIG. 6 is a main routine showing the mounting operation, and FIG. 7 is a subroutine showing component recognition correction.

  In FIG. 6, when the mounting operation is started, the substrate 3 to be mounted with the component w is carried in (step S1), and the substrate 3 is fixed by a predetermined fixing means (step S2). Next, it is determined whether or not the mounting operation on the board 3 has been completed (step S3). If it is determined that the mounting operation has not been completed, the component w is mounted when the component w is mounted on the board 3 in order to perform the mounting operation. A printed circuit board correction mark (fiducial mark) serving as a position reference is recognized (step S4). Then, the head unit 5 is moved to the component take-out portion of the component supply unit 4A, 4B (tape feeder) in which the component w to be mounted is accommodated, and the component w is attracted to each head 20 (step S5). At this time, the suction position of the head 20 that sucks the component w last (referred to as the final head 20) is the component suction position of the present invention. In the present embodiment, a case where a plurality of components w are attracted to the head unit 5 will be described. However, the head unit 5 that attracts a single component w may be used.

  Next, in step S6, the suction component w sucked on the head unit 5 is recognized and corrected. Specifically, processing of a subroutine shown in FIG. 7 described later is performed. Then, after the component recognition correction in step S6 in FIG. 6 is performed, the component w is mounted on the board 3 in step S7. In step S8, it is determined whether there is an error in mounting the component w. If there is an error, YES is determined in step S8, and the mounted component w is discarded (step S9).

  If NO is determined in step S8, or after the mounted component w is discarded in step S9, the process returns to step S3 to determine whether or not all the components w have been mounted on the board 3 on which components are being mounted. If there is a part w to be mounted, the process proceeds to NO in step S3, and steps S4 to S9 are repeated. When all the mounting operations for the board 3 are completed, it is determined as YES in step S3, the board 3 is unlocked (step S10), and the board 3 is unloaded (step S11). The mounting operation ends.

  As the component recognition processing in step S6, each suction target component w, the tape feeder positions of the unit supply units 4A-1, 4A-2, 4B-1, 4B-2, and any head used for suction For each of these combinations with 20 (adsorption combinations), from the data of the respective adsorption errors t1, ···, tn, tn + 1, ··· obtained from past data or stored in the storage unit 32 as initial values, The suction error corresponding to the corresponding suction combination for each suction component w to be recognized is read out, and suction errors T1,... Tm of each suction component w (where m is the number of parts w sucked by each head) ) (Step S21). Here, in the present embodiment, a value L1 obtained by adding a suction error T1 corresponding to ½ of the component size is obtained for each suction component w1, and each of the values L2,. . This value L1 ·· Lm indicates the distance from the center of each head 20 to the outermost part in the Y-axis direction of the component as a result of occurrence of suction displacement, so that each head 20 is in the Y-axis direction of the camera 23 (line sensor) The positions offset by this value L1... Lm in the positive and negative directions in the Y-axis direction, assuming that the image pickup center (= center position M of the main scanning direction component recognition area 25) has passed. The possibility of passing the outermost part on both sides in the axial direction is shown. In this step S21, the maximum value among the values L1... Lm is obtained as the maximum passage offset value Lmax, and the suction error T obtained by subtracting 1/2 of the size of the corresponding part from the maximum passage offset value Lmax. .

  In steps S22 and S23, the component suction position P of the final head 20 and the center position M of the main scanning direction component recognition area 25 are acquired, and an offset amount D is calculated based on these data (step S24). Here, the offset amount is a difference in the Y-axis direction between the component suction position P and the center position M of the main scanning direction component recognition area 25, and is calculated by the calculation formula D = P−M. Specifically, the calculation is performed based on the component suction position P and the Y-axis direction position at the center position M of the main-scanning direction component recognition area 25 (step S24).

  Next, with the data acquired from the storage unit 32 and the input unit 37 and the offset amount D, the entire component w at the component suction position where the final head 20 sucks the component w is moved from the position to the head unit 5 in the sub-scanning direction. If it is moved, it is determined whether or not it is included in the main scanning direction component recognition area 25 (step S25). Specifically, referring to FIGS. 4 and 5, the distance from the recognition scanning line α to the end of the component w in the Y-axis direction, and the recognition scanning line α to the end of the main recognition direction component recognition area 25 in the Y-axis direction. Judgment is made by comparing the distance to. That is, the determination is made based on whether or not the calculation formula C / 2 + T + | D | <A / 2 is satisfied. Here, C is the Y-axis direction dimension Cy of the component size of the component w having the maximum passing offset value Lmax, T is the Y-axis direction component Ty of the suction error, and A is the Y-axis of the main-scanning direction component recognition area 25. The direction dimension Ay is input. That is, C / 2 + T is the maximum passage offset value Lmax itself. The distance from the recognition scanning line α to the end of the component w in the Y-axis direction is smaller than the distance (Ay / 2) from the recognition scanning line α to the end of the main scanning direction component recognition area 25 in the Y-axis direction. In this case, when the head unit 5 is moved in the sub-scanning direction, it is determined that the entire suction component w is included in the main-scanning direction component recognition area 25.

  As described above, when it is determined in step S25 that the entire suction component w is included in the main scanning direction component recognition area 25 (in the case of FIG. 4), the process proceeds in the YES direction, and offset recognition processing is performed ( Step S26). If it is determined that all or part of the suction component w is out of the main scanning direction component recognition area 25 (in the case of FIG. 5), the process proceeds in the NO direction and normal recognition processing is performed (step S27).

  Here, for example, the case of the positional relationship of FIG. 4, that is, the case of the offset recognition processing will be described according to the flowchart shown in FIG. 8.

  In the offset recognition process (step S26), even when the component suction position P is offset with respect to the center position M of the component recognition area 25 in the main scanning direction, the component w supplied from the component supply units 4A and 4B is used. By moving the head unit 5 in the sub-scanning direction as it is from the component suction position sucked by the head 20 of the head unit 5, the suction component w is imaged and component recognition is performed.

  Specifically, in step S31, the head unit 5 is moved so that the axial center position of the nozzle member 20a is a position that takes into account the offset amount from the center position M of the main scanning direction component recognition area 25. That is, the position is moved to a position (offset recognizable position P ′) obtained by adding the offset amount D to the Y-axis direction position (My) of the center position M of the main scanning direction component recognition area 25. In the case of FIG. 4, since the offset amount D = P−M, the offset recognizable position P ′ = P, and the process proceeds to step S32 substantially without moving in the main scanning direction. Here, the offset recognizable position refers to the head while maintaining the state even when the component suction position P is offset in the main scanning direction with respect to the center position of the main scanning direction component recognition area 25. When the unit 5 is moved in the sub-scanning direction, the entire suction component w can pass through the main-scanning direction component recognition area 25.

  Note that the routine of FIG. 8 is also used in the second embodiment to be described later. In particular, step S31 is necessary in the second embodiment, but in this embodiment, the main scanning direction to the offset recognizable position P ′ as described above. Since step S31 is not substantially performed, step S31 may be omitted.

  Next, in steps S32 to S34, the head unit 5 is moved at a constant speed from the offset recognition position P 'in the sub-scanning direction, and the image of the suction component w is captured. That is, by moving along the movement path (1) in FIG. 4, all the parts w sucked by the head unit 5 are imaged by the camera 23, and the recognition result of each sucking part w is obtained based on the obtained image data. To be acquired.

  Next, in step S35, the presence / absence of a recognition position correction mechanism is determined. That is, after component recognition, position correction calculation processing between the center of the nozzle member 20a and the center of the suction component w is performed. In the offset recognition processing, the nozzle member 20a is moved from the center of the main scanning direction component recognition region 25. In order to pass through the offset position, it is necessary to perform correction in consideration of the offset amount D. On the other hand, when the marker for confirming the position of the nozzle member 20a is attached to the head unit 5 and the suction component w and the marker are imaged at the same time (when the recognition position correction mechanism is provided), the offset amount is corrected in the correction process. It is not necessary to consider D, and correction is performed by a coordinate system based on the marker. Accordingly, in step S35, the presence / absence of such a recognition position correction mechanism is determined. If there is a recognition position correction mechanism, the correction amount based on the marker is added to the position correction calculation process without taking the offset amount D into account. (Step S36). If there is no recognition position correction mechanism, the correction calculation process is performed by adding the offset amount D to the correction amount (step S37). In this way, the offset recognition process ends.

  On the other hand, in the case of the positional relationship of FIG. 5, the normal recognition process is performed in step S27 according to the flowchart shown in FIG. In the normal recognition process, after sucking the component w supplied by the nozzle member 20a, the head is positioned so that the axial center position of the nozzle member 20a is positioned on the recognition scanning line α passing through the center position of the main scanning direction component recognition area 25. By moving the unit 5 and further moving from this position in the sub-scanning direction, the suction component w is imaged and component recognition is performed.

  Specifically, in step S41, the head unit 5 is moved so that the axial center position of the nozzle member 20a that adsorbs the component w is on the recognition scanning line α. In other words, the nozzle member 20a is moved so that the Y-axis direction position of the axis center of the nozzle member 20a becomes My (normal recognition position).

  Next, in steps S42 to S44, the head unit 5 is moved at a constant speed from the normal recognition position in the sub-scanning direction, that is, the head unit 5 (head 20) is moved according to the movement path (2) in FIG. The recognition result of the suction component w is acquired by capturing the image of the suction component w.

  Next, in step S45, the presence / absence of a recognition position correction mechanism is determined. In the case of normal recognition, since the axial center position of the nozzle member 20a coincides with the central position My of the main scanning direction component recognition area 25, the center of the nozzle member 20a and the suction component w are obtained based on the coordinate system of the obtained image. The position correction calculation process with respect to the center is performed. On the other hand, when the head unit 5 is provided with a marker for confirming the position of the nozzle member 20a and the suction component w and the marker are imaged at the same time (when the recognition position correction mechanism is provided), in the position correction calculation process Correction is performed by a coordinate system based on the marker. Therefore, if there is a recognition position correction mechanism, an additional correction amount based on the marker is added to the position correction calculation process (step S46). If there is no recognition position correction mechanism, the additional correction amount There is no calculation, the correction calculation process is performed as it is, and the normal recognition ends.

  Thus, in the above embodiment, when the suction component w is moved in the sub-scanning direction by the head unit 5 from the component suction position P sucked by the head 20 in the component supply units 4A and 4B, the entire suction component w is obtained. Even if the component suction position P is offset from the center position M of the main scanning direction component recognition region with respect to the suction component w (component capable of offset recognition) included in the main scanning direction component recognition region 25, the state is changed. By keeping the suction component w in the sub-scanning direction and performing component recognition (offset recognition processing), the component recognition operation can be speeded up. That is, as compared with the conventional case where the offset recognition component is moved on the recognition scanning line α and then moved in the sub-scanning direction to perform normal recognition processing for component recognition, the suction position is It is possible to shorten the time required to move the recognition scanning line α.

  As described above, each time component recognition is performed, suction error data can be acquired. Therefore, statistical processing is performed when a predetermined number of suction error data is accumulated for each suction combination, and the maximum value in the data is obtained. Alternatively, an average value μ, a standard deviation σ, and a predetermined multiple of the standard deviation σ, for example, 3σ, 4.5σ, are obtained, and this maximum value, any one of μ + 3σ or μ + 4.5σ, is used in step S21. .., Tn, tn + 1,... May be replaced and stored in the storage unit 32.

  In the above embodiment, the case where the normal recognition process is performed in the case of the positional relationship shown in FIG. 5 has been described. However, the offset recognition process may always be performed regardless of the component suction position.

  That is, in step S6 of FIG. 6 in the above-described embodiment (referred to as Embodiment 1), in Embodiment 2, component recognition processing is performed according to the flowchart shown in FIG. Note that description of components having the same configurations as those of the first embodiment will be omitted.

  First, in step S51, as described above, the suction error T is acquired as in step S21.

  Next, in step S52, an offset limit value S is calculated. Here, the offset limit value S is a case where the suction component w is moved (offset) in the Y-axis direction from the state where the center position M of the component recognition area 25 in the main scanning direction matches the center position of the suction component w. In addition, the suction component w is a limit value of the amount of movement included in the main scanning direction component recognition area 25. Specifically, it is obtained by the calculation formula S = (A−C) / 2−T. Here, A is calculated by inputting the Y-axis direction dimension Ay of the main scanning direction component recognition area 25, C is the Y-axis direction dimension Cy of the suction component w, and T is the Y-axis direction component Ty of the suction error. Is done.

  Next, in steps S53 to S55, the offset amount D is calculated as in the above embodiment.

  In step S56, the absolute value | S | of the offset limit value is compared with the absolute value | D | of the offset amount. As a result, when the actual offset amount D is larger than the offset limit value S, if the suction component w is moved in the sub-scanning direction, the entire suction component w or a part thereof is included in the main scanning direction component recognition area 25. In other words, it can be determined that the positional relationship shown in FIG.

  If the actual offset amount D is larger than the offset limit value S (in the case of the positional relationship in FIG. 5), the process proceeds in the YES direction in step S56, and the component suction position P and the main scanning direction component recognition area 25 are detected. The positional relationship with the center position M (positional relationship in the Y-axis direction) is determined (step S57). When the component suction position P (Py) is located on the Y axis positive direction side with respect to the center position M (My) of the main scanning direction component recognition area 25, the offset amount D is equal to the offset limit value (S). (Step S58). On the other hand, when the component suction position P (Py) is positioned in the negative Y-axis direction from the center position M (My) of the main recognition direction component recognition area 25, the offset amount D is equal to the offset limit value (-S). Then, the offset recognition process in FIG. 8 is performed (step S59). In the offset recognition process in this case, in step S31 in FIG. 8, the offset recognizable position P ′ becomes MS (My-S) (see FIG. 5), and the picked-up component is recognized and scanned from this position. w is recognized.

  Specifically, as shown in FIG. 5, the Y-axis direction position of the axial center position of the nozzle member 20a is moved to My-S (offset recognizable position P ′). Then, by moving the head unit 5 from the offset recognizable position P ′ in the sub-scanning direction, the component suction portion side end (the lower side in FIG. 5) of the suction component w is the end of the main scanning direction component recognition region 25. It passes through the main-scanning direction component recognition area 25 in a state substantially coincident with (close to the lower side of FIG. 5) or in a close state. That is, the component w at the component suction position P can be recognized by the minimum necessary movement amount in the main scanning direction. Then, the offset process shown in FIG. 8 is performed in the same manner as in the first embodiment, and the component recognition ends.

  On the other hand, when the actual offset amount D is smaller than the offset limit value S (in the case of the positional relationship of FIG. 4), NO is determined in step S57, and the offset amount D is set to the actual offset amount D. . Then, the offset process shown in FIG. 8 is performed in the same manner as in the first embodiment (step S59), and the component recognition in the second embodiment is completed.

  As described above, in the second embodiment in which the offset recognition process is performed regardless of the component suction position, the offset recognition process is performed regardless of the positional relationship between the component suction position P and the component recognition area 25 in the main scanning direction. 5 and the main scanning direction component recognition area 25 are in the positional relationship shown in FIG. 5, the amount of movement of the head unit 5 in the main scanning direction can be reduced as compared with the first embodiment in which normal recognition is performed. Therefore, the movement amount of the head unit 5 can be reduced as much as possible to increase the speed of the component recognition operation.

  Further, according to the above-described embodiment, when the component supply position is corrected according to the shift of the component supply position due to the design error of the component suction device, when the component w with a special shape is sucked, or with respect to the component w Even when it is necessary to shift (offset) from the normal suction position in order to perform stable suction, the component w can be printed on the board without lowering operating efficiency by performing offset recognition processing. 3 can be implemented.

  Further, according to the above-described embodiment, when the small component w is recognized, the offset recognition process is performed, so that the movement amount of the head unit 5 can be more effectively reduced and the mounting speed can be increased.

  Further, according to the above embodiment, the component w can be recognized even when the component suction position P and the center position M of the component recognition area 25 in the main scanning direction are not arranged on a straight line in the sub-scanning direction. Therefore, adjustment and assembly work of equipment are facilitated.

  In the second embodiment, the case where the offset recognition process is performed at the limit position where the offset position value P can be offset using the offset limit value S in the positional relationship of FIG. However, what is necessary is just to position the suction component w at a position where the offset can be recognized, that is, at an offset recognizable position on the component recognition position P side of the recognition scanning line α. Even in this case, the amount of movement can be reduced compared to the normal recognition process of moving to the recognition scanning line α, and the mounting speed can be increased.

It is a top view which shows an example of the surface mounting machine with which the component mounting method concerning this invention is applied. It is a schematic front view which shows the head unit part of the said surface mounting machine. It is a schematic block diagram which shows the control system of a surface mounter. FIG. 6 is a schematic diagram schematically showing a positional relationship between a part and a main scanning direction part recognition area 25. FIG. 6 is a schematic diagram schematically showing another positional relationship between a part and a main scanning direction part recognition area 25. It is a flowchart which shows mounting operation. It is a flowchart which shows a component recognition correction process. It is a flowchart which shows an offset recognition process. It is a flowchart which shows a normal recognition process. It is a flowchart which shows the components recognition correction | amendment process in other embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 5 Head unit 20 Head 20a Nozzle member 23 Camera 25 Main scanning direction component recognition area 30 Control apparatus 31a Operation part 31b Determination part 31c Recognition process part

Claims (7)

In a component recognition method for picking up a component on a head unit having a component suction head and moving the head unit in the sub-scanning direction with respect to an imaging device having a line sensor, and imaging the picked-up component and performing component recognition processing ,
When the component supplied from the component supply unit is sucked by the head and the head unit is moved in the sub-scanning direction with respect to the line sensor from the component suction position, the entire suction component is imaged by the imaging device. Perform a determination process to determine whether it can pass through the possible main scanning direction part recognition area,
When it is determined by the determination process that the entire suction component can pass through the main scanning direction component recognition region, the component suction position is offset in the main scanning direction with respect to the center position of the main scanning direction component recognition region. A component recognition method comprising: performing an offset recognition process for capturing a picked-up component and recognizing the component by moving the head unit in the sub-scanning direction while the state is maintained.   When the offset recognition process determines that the entire suction part or part of the suction part cannot pass through the main scanning direction part recognition area by moving the head unit in the sub-scanning direction in the determination process, The head unit is moved so that the suction component is located at an offset recognizable position where the entire suction component can pass through the main scanning direction component recognition area, and the head unit is moved from the offset recognizable position in the sub-scanning direction. The component recognition method according to claim 1, wherein the suction component is imaged and recognized.   In the determination process, an offset amount in the main scanning direction is calculated from a positional relationship between the component suction position and the center position of the component recognition area in the main scanning direction. Based on the offset amount, the entire suction component is calculated in the main scanning direction. The component recognition method according to claim 1, wherein it is determined whether or not the component recognition region can be passed.   The component recognition processing is performed when the suction component is moved in the main scanning direction from the state in which the center position of the component recognition area in the main scanning direction matches the center position of the suction component by the determination processing. An offset limit value, which is a limit value of the amount of movement of the part included in the main scanning direction part recognition area, is calculated, and based on this offset limit value, can the entire suction part pass through the main scanning direction part recognition area? The offset recognizable position is set to a position moved from the center position of the main scanning direction component recognition area by an offset limit value in the main scanning direction. The component recognition method described. A head unit having a head for sucking parts;
An imaging device having a line sensor that images the suction component sucked by the head unit;
Driving means for moving the head unit in the sub-scanning direction with respect to the line sensor;
Control means for overall control of these,
With
The control means sucks the component supplied from the component supply unit by the head, and when the head unit is moved from the component suction position to the line sensor in the sub-scanning direction, Performs a determination process to determine whether or not the image can be passed through the main scanning direction component recognition area that can be imaged by the imaging device,
When it is determined by the determination process that the entire suction component can pass through the main scanning direction component recognition region, the component suction position is offset in the main scanning direction with respect to the center position of the main scanning direction component recognition region. A component recognition apparatus that performs offset recognition processing for recognizing a component by capturing the picked-up component by moving the head unit in the sub-scanning direction while maintaining the state.   If the control means determines that the entire suction part or a part of the suction part cannot pass through the main scanning direction part recognition area by moving the head unit in the sub-scanning direction in the determination process, the suction part By moving the head unit so that the head is positioned at an offset recognizable position where the entire part can pass through the component recognition area in the main scanning direction, and moving the head unit in the sub-scanning direction from the offset recognizable position The component recognition apparatus according to claim 5, wherein the suction component is imaged and recognized.   A surface mounting machine that picks up a component by a movable head unit having a mounting head and mounts the component at a predetermined position on a substrate, comprising the component recognition device according to claim 5 or 6. Surface mount machine.

Images