JP2008010700A - Device and method for recognizing component, and component-mounting device and component-mounting method using the device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and a method for recognizing a component capable of recognizing a holding condition of the component held by absorption nozzles arranged to a mounting head in two row. <P>SOLUTION: The component recognition device 20 comprises a recognition camera 12, a half mirror or a prism 21 arranged at the vicinity side of an optical axis of the recongnition camera 12, and a mirror 13 arranged at the remote side of the optical axis of the reognition camera 12. An absorption nozzle 3a arranged in one row out of a plurality of the absorption nozzles 3 arranged in zigzag in two row on the mounting head 4 which relatively moves to the component recognition device 20 is faced to the half mirror or a prism 21, and an absorption nozzle 3b arranged in the other row out of the absorption nozzle 3 is faced to the mirror 13, and the holding condition of the component 11 held by each absorption nozzle 3 is imaged and recognized. As the substitute of the zigzag arrangement of the absorption nozzle 3, the absorption nozzles 3 may be arranged in a grid and a component recognition device 30 may be arranged to the grid at a slant. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a component mounting apparatus and component mounting method for mounting components on a circuit board. More specifically, the present invention relates to a component recognition device and a component recognition method for recognizing a component sucked by a nozzle, a component mounting device using the device and the method, and a component mounting method.

  An example of a component mounting apparatus is shown in FIG. In the figure, a component mounting apparatus 1 includes a component supply unit 2 that supplies components to be mounted, a mounting head 4 that takes out components from the component supply unit 2 using a suction nozzle 3 and mounts them on a circuit board 8, and a mounting head A robot 5 that transports 4 to a predetermined position, a component recognition device 6 that captures an image of the component held by the suction nozzle 3 and recognizes a deviation in position and angle, and a substrate holding device 7 that carries in and holds the circuit board 8. And a control unit 9 for controlling the overall operation.

  During the operation of the component mounting apparatus 1 configured as described above, the mounting head 4 moves to a position facing the component supply apparatus 10 mounted on the component supply unit 2 by conveyance of the robot 5, and uses the suction nozzle 3. Then, the component 11 is sucked and taken out from the component supply device 10. Thereafter, the suction nozzle 3 moves to a position facing the component recognition device 6 by the movement of the mounting head 4, and recognizes the position of the sucked component 11 and the holding state of the component including the angle deviation. The mounting head 4 can recognize a component while passing at a speed of, for example, about 950 mm / second without stopping at a position facing the component recognition device 6.

  During this time, the circuit board 8 is carried into the component mounting apparatus 1 and is held at a predetermined mounting position by the board holding device 7. The mounting head 4 holding the component on the suction nozzle 3 moves to a position facing the circuit board 8 by the conveyance of the robot 5. NC data in which the mounting position of each component 11 mounted on the circuit board 8 is recorded in the control unit 9 in advance. Based on the state of the component 11 input from the component recognition device 6, the control unit 9 commands necessary correction for the position and angle of the suction nozzle 3.

  The mounting head 4 corrects the position and angle of the component 11 based on the command, and mounts the component 11 at a predetermined mounting position on the circuit board 8 using the suction nozzle 3. The mounting head 4 that has finished mounting the components moves again to a position facing the component supply device 10 by the conveyance of the robot 5, and repeats the operations so far. The circuit board 8 that has finished mounting all the predetermined components is carried out of the component mounting apparatus 1 by the board holding device 7, and then the next circuit board 8 is carried in, and the operations so far are repeated.

  In the example shown in FIG. 4, four suction nozzles 3 are attached to the mounting head 4. In order to improve the efficiency of the component mounting operation, it is preferable that as many suction nozzles 3 as possible be attached to one mounting head 4. However, when a large number of suction nozzles 3 are arranged linearly on the mounting head 4, the mounting head 4 becomes longer, and the movement stroke of the mounting head 4 increases during component suction or component mounting. Inconvenience of increasing the size. As a measure for solving this problem, a measure in which the suction nozzles 3 are arranged in two rows on the mounting head 4 is known in the prior art (see, for example, Patent Document 1).

  In the example shown in Patent Document 1, four suction nozzles 3 each are arranged in two rows, and a total of eight suction nozzles 3 are attached to one mounting head 4 to increase production efficiency. In this case, in the component mounting apparatus 1 shown in FIG. 4, in order to recognize the holding state of the component 11 held by each of the eight suction nozzles 3 by the component recognition apparatus 6, the mounting head 4 is first in one row. It is necessary to pass the four suction nozzles 3 opposite to the component recognition device 6, and then return to the component recognition device 6 in the same manner after returning to the next time. Yes, this can cause time loss. In order to solve this problem, the apparatus disclosed in Patent Document 1 uses a line camera as a component recognition apparatus, and simultaneously recognizes two rows of suction nozzles 3 that pass through, thereby improving the efficiency of the recognition operation.

  Further, in the prior art, it is necessary to move the suction nozzle 3 that has finished the component suction to a position facing the component recognition device 6 fixed to the component mounting device 1 and pass it through the mounting head 4 during the recognition operation. Extra movement occurred. In order to eliminate this waste, a method is known in which the component recognition device 6 is attached to the mounting head 4 itself, and this is moved along the suction nozzle 3 to recognize the component holding state (see, for example, Patent Document 2). .)

  5 (a) and 5 (b) show the outline, FIG. 5 (a) is a plan view, and FIG. 5 (b) is a side view. In both figures, four suction nozzles 3 are attached to the mounting head 4, and a component recognition device 6 is attached in alignment with the arrangement direction of the suction nozzles 3. The component recognition device 6 includes a recognition camera 12 that recognizes the state of the component 11 held by the suction nozzle 3 and mirrors 13 and 14, and the arrangement of the suction nozzle 3 with respect to the mounting head 4 as indicated by an arrow 15. It can move in the direction. A drive mechanism 16 such as a ball screw or a linear motor is attached to the component recognition device 6 as shown in FIG.

  The component recognition apparatus 6 configured as described above moves in the direction of the arrow 15 while the mounting head 4 moves to the component mounting position by the robot 5 after the suction nozzle 3 picks up the component 11, and moves to the four components. The holding state including the deviation of the angle and position of the component 11 held by the suction nozzle 3 is sequentially imaged. In FIG. 5B, the holding state of the component 11 is reflected by the mirrors 13 and 14, enters the recognition camera 12 in the direction indicated by the arrow, and is captured. The recognition camera 12 transmits the captured image data to a control unit 9 (not shown) (see FIG. 4), and the control unit 9 analyzes the holding state of the component 11 and determines a necessary position and angle correction amount for each suction nozzle 3. Calculate.

According to this measure, the state of the suction nozzle 3 after the suction of the component 11 can be performed while the component recognition operation is performed while the mounting head 4 is conveyed directly toward the component mounting position. The loss of moving to the device 6 is eliminated, and the efficiency of component mounting can be improved.
Japanese Patent Laid-Open No. 2002-9495 JP 2004-158819 A

  However, each countermeasure found in the above-described prior art has a problem. First, in the measure for recognizing the suction nozzles arranged in two rows on the mounting head by the line camera, in addition to the useless movement of the mounting head for using the fixed recognition device, the line camera becomes expensive, There is a problem that recognition processing takes time compared with a recognition camera that uses a large size and space and that uses a CCD or the like.

  Further, in a measure for attaching a component recognition device to a mounting head and performing component recognition while the mounting head is moving, it is necessary to arrange a plurality of suction nozzles in a row on the mounting head because of the necessity of recognition operation. . For this reason, there has been a problem that the mounting head becomes longer, or the movement stroke of the mounting head increases when the component is taken out and when the component is mounted, thereby increasing the size of the equipment.

  As described above, the present invention solves the problems in the prior art described above, avoids the movement to the fixed component recognition device, and improves efficiency, and in the case where the suction nozzles are arranged in two rows on the mounting head. Another object of the present invention is to provide a component recognition device and a component recognition method capable of recognizing the holding state of the component, and a component mounting device and a component mounting method using these devices and methods.

  In the present invention, even when the component recognition device is attached to the mounting head and the suction nozzles are arranged in two rows, the component recognition operation can be performed by adopting the tilted placement of the component recognition device, the staggered placement of the suction nozzles, etc. In order to solve the above-described problems, specifically, the following contents are included.

  That is, one aspect according to the present invention includes a plurality of suction nozzles that include a recognition camera, an optical system, and a drive mechanism, are movably mounted on a mounting head of a component mounting apparatus, and are arranged on the mounting head. A component recognition apparatus for sequentially capturing and recognizing each component holding state while moving in the arrangement direction, and imaging and recognizing each component holding state of a plurality of suction nozzles arranged in two rows on the mounting head The present invention relates to a component recognition apparatus.

  In this case, using a single recognition camera, it is possible to capture and recognize the component holding states of the plurality of suction nozzles arranged in two rows on the mounting head. A plurality of suction nozzles may be arranged in two rows in a staggered manner on the mounting head, or a plurality of suction nozzles arranged in two rows on the mounting head are arranged in the direction perpendicular to the arrangement direction. They may be arranged in a grid pattern aligned with each other, and the optical axes of the single recognition cameras may be arranged to be inclined with respect to a direction orthogonal to the arrangement direction.

  The optical system is arranged on the remote side from the recognition camera, and a half mirror or prism arranged on the optical axis of the recognition camera so as to face the suction nozzles arranged on the near side of the single recognition camera. A mirror disposed on the optical axis facing the suction nozzle, an image reflected by the half mirror or prism is incident on the recognition camera, and an image reflected by the mirror is the half mirror or It can be configured to pass through a prism and enter the recognition camera.

  Alternatively, the recognition camera includes two recognition cameras, and one of the recognition cameras captures and recognizes each component holding state of the plurality of suction nozzles arranged in any one of the two rows. The other recognition camera may capture and recognize each component holding state of the plurality of suction nozzles arranged in another row.

  Another aspect according to the present invention includes a recognition camera, a half mirror or a prism disposed on the proximity side of the optical axis of the recognition camera, and a mirror disposed on the remote side of the optical axis of the recognition camera. A plurality of suction nozzles arranged in two rows in a staggered manner on a mounting head that moves relative to the component recognition device, in one row located on the proximity side of the recognition camera. Holding the components held by each suction nozzle with the suction nozzles arranged opposite to the half mirror or prism and the suction nozzles arranged in the other row located on the remote side of the recognition camera facing the mirror The present invention relates to a component recognition apparatus characterized by imaging and recognizing a state.

  The component recognition device may include a drive mechanism, and may be mounted on the mounting head and imaged to recognize each component holding state of the suction nozzle while moving relative to the mounting head.

  According to another aspect of the present invention, a component supply unit that supplies components, a mounting head that includes a suction nozzle that takes out and mounts components, a robot that transports the mounting head, and the suction nozzle A component recognition device for recognizing the holding state of the component and a substrate holding device for carrying in and restricting the circuit board, and taking out the component from the component supply unit by the mounting head to the mounting position of the circuit board. A component mounting apparatus for mounting a component, wherein the component recognition apparatus is any one of the component recognition apparatuses described above.

  According to still another aspect of the present invention, the component holding state of the plurality of suction nozzles arranged in the mounting head is set in the arrangement direction by using a component recognition device movably mounted on the mounting head of the component mounting device. The present invention relates to a component recognition method for capturing and recognizing each component holding state of a plurality of suction nozzles arranged in two rows on a mounting head. .

  In this case, a single recognition camera may be used to recognize and recognize each component holding state of a plurality of suction nozzles arranged in two rows in a staggered manner on the mounting head, or two rows on the mounting head. A plurality of suction nozzles arranged in a grid pattern aligned with each other in the arrangement direction and the direction orthogonal to the arrangement direction, and the optical axis of the recognition camera is the optical axis of the recognition camera You may arrange | position so that it may incline with respect to the direction orthogonal to the said array direction.

  When recognizing the holding state of components held by a plurality of suction nozzles arranged in two rows with a single recognition camera, the arrangement of one suction nozzle located on the proximity side of the recognition camera and the position on the remote side In order to make the distance to the other suction nozzle array substantially the same, the suction nozzle on the near side is maintained at a far position with respect to the suction nozzle on the remote side, or the recognition camera reaches the remote suction nozzle. An optical system for adjusting the distance in the optical path can be provided.

  Still another aspect according to the present invention is a component mounting method in which a component supplied from a component supply unit is taken out by a suction nozzle, and the component is mounted on a circuit board mounting position that is regulated and held. The present invention relates to a component mounting method using any of the above-described component recognition methods in order to recognize the held state of the component before mounting the component.

  By implementing the present invention, it is possible to construct a compact mounting head in which a large number of suction nozzles are arranged in two rows, and the two rows of suction nozzles can be recognized by a component recognition device attached to the mounting head. Therefore, it is possible to realize a component mounting apparatus and a component mounting method with high production efficiency that eliminates downsizing and wasteful movement of the component mounting apparatus.

  A component recognition apparatus and component recognition method according to a first embodiment of the present invention will be described with reference to the drawings. The same components as those in the prior art are denoted by the same reference numerals. FIG. 1 shows a main part of a component mounting apparatus including a component recognition apparatus 20 according to the present embodiment. 1A is a plan view and FIG. 1B is a side view. In both figures, the mounting head 4 has a total of eight suction nozzles 3 (3a, 3b) arranged in two rows, and the two rows are arranged in a staggered manner. In FIG. 1A, the arrangement of the suction nozzles 3a on the upper side in the Y direction is referred to as A row, and the arrangement of the lower suction nozzles 3b is referred to as B row.

  Here, the staggered pattern refers to a state in which the suction nozzles 3b in the other row (same as the B row) are located in the middle of the pitch of the suction nozzles 3a in the arrangement direction of one row (for example, the A row). Say. It is preferable that the suction nozzles 3b in the other row are positioned at the exact center between the suction nozzles 3a in one row in the arrangement direction, because the recognition operation by the component recognition device 20 can be made at equal time intervals, but will be described later. As long as the recognition by the component recognition device 20 is possible, it is not necessary to set it at the center position.

  In the side view shown in FIG. 1B, the component recognition apparatus 20 according to the present embodiment faces the recognition camera 12, the prism 21 facing the A-line suction nozzle 3a, and the B-line suction nozzle 3b. The mirror 13 and LED22 for irradiating a target object are provided. The prism 21 reflects the state of the suction nozzles 3 a in the A row (four in the illustrated example) and enters the recognition camera 12. The mirror 13 reflects the state of the suction nozzles 3 b (four in the same row) in the B row and enters the recognition camera 12. Since the prism 21 functions as a half mirror, the light reflected by the mirror 13 passes through the prism 21 and reaches the recognition camera 12. The suction nozzle 3a of the A row on the short distance side is lifted upward so that the distances from the recognition camera 12 of the parts 11 sucked on both the A and B rows are equalized, and the suction nozzle of the B row on the far distance side 3b is located below.

  The component recognition apparatus 20 configured as described above operates as follows. The component recognition device 20 starts to move in the X-axis direction (arrangement direction of the suction nozzle 3) indicated by the arrow 15 while the component extraction by the suction nozzle 3 is finished and the mounting head 4 moves toward the component mounting position. When passing through the suction nozzle 3a of the A row located at the shortest distance (located on the leftmost side in FIG. 1A), the LED 22 is turned on, and the recognition camera 12 is held by the suction nozzle 3a. The holding state of the component 11 is imaged. The image data is sent to a control unit 9 (not shown) (see FIG. 4) for image analysis.

  Next, when the component recognizing device 20 further moves half of the pitch between the suction nozzles in the direction of the arrow 15, this time, the component recognition device 20 passes right under the suction nozzle 3 b located at the closest distance in the B row. The recognition camera 12 captures the holding state of the component 11 held by the suction nozzle 3b, and the image data is sent to the control unit 9 for analysis. Hereinafter, similarly, the holding state of the parts 11 held by the suction nozzles 3a and 3b in the A and B rows arranged at half pitches is alternately imaged, and the image data is analyzed. The mounting head 4 and each suction nozzle 3 are controlled to perform an appropriate mounting operation for each component.

  The component recognition apparatus 20 that has completed the recognition of the holding state of the component 11 held by each suction nozzle 3 moves from the left position indicated by the solid line in FIG. 1A to the right position indicated by the alternate long and short dash line. And wait until the component mounting operation by each suction nozzle 3 is completed. While the component mounting is completed and the mounting head 4 moves to attract the next component, the component recognition apparatus 20 returns to the original position, and the operation so far is repeated. However, the component recognition device 20 does not return to the original position, and each suction nozzle 3 after the completion of the next component suction can also be sequentially imaged in the direction opposite to the arrow 15.

  According to the component recognition apparatus and the component recognition method according to the present embodiment, the plurality of suction nozzles 3 are shifted by half a pitch and arranged in two rows in a staggered manner, so that an array that has been restricted to one row so far can be obtained. Recognition operation using a single recognition camera 12 in two rows is possible, and the same number of suction nozzles 3 can be arranged in a compact manner. Accumulation of dimensional errors in the arrangement direction due to the arrangement of the suction nozzles 3 in a row can be suppressed, position accuracy can be improved, and the movement stroke of the mounting head 4 during component extraction and component mounting can be shortened. Benefits that can be obtained.

  In the illustrated example, a total of eight suction nozzles 3 are arranged in two rows, but this is merely an example. In the prior art, there is an example in which eight suction nozzles 3 are arranged in a row (see, for example, Patent Document 1). According to this example, the entire apparatus is not enlarged by arranging it in two rows in a staggered manner. It may be possible to arrange twelve or more suction nozzles 3 on one mounting head 4. Further, the arrangement of the suction nozzles 3 is not limited to two rows, and the arrangement of three rows, four rows, etc. can be set within the depth of field range of the recognition camera 12. Note that the depth of field (the in-focus range) of the camera can be set as appropriate using a lens or the like.

  Next, a component recognition apparatus and component recognition method according to a second embodiment of the present invention will be described with reference to the drawings. 2A and 2B show the main part of the component mounting apparatus including the component recognition apparatus 30 according to the present embodiment. FIG. 2A is a plan view and FIG. 2B is a side view. FIG. In both figures, in the present embodiment, a total of eight suction nozzles 3 in two rows mounted on the mounting head 4 are arranged in a normal grid pattern instead of a staggered pattern. Instead, the component recognition device 30 is arranged so as to be inclined with respect to the arrangement of the suction nozzles 3 as is apparent from the plan view of FIG.

  The inclination angle of the component recognition device 30 indicated by the broken line is adjusted to be a half pitch of the arrangement of the suction nozzles 3 between the A row and the B row in the movement direction (X-axis direction) indicated by the arrow 15. By adopting such an inclination, it is preferable that the suction nozzles 3 in the A row and the B row are alternately imaged at equal time intervals when the movement of the component recognition device 30 is recognized. However, it is not always necessary to make the intervals constant, and other inclination angles may be used as long as all the suction nozzles 3 can be recognized.

  In FIG. 2B, in this embodiment, the image of the suction nozzle 3a in the A row on the proximity side of the recognition camera 12 is reflected by the half mirror 31, and further reflected by the mirror 14 and incident on the recognition camera 12. To do. The image of the suction nozzle 3b in the B row on the remote side is first reflected by the mirror 13, passes through the half mirror 31, is reflected again by the mirror 14, and enters the recognition camera 12.

  An optical system (lens) 32 is added to the B row, and the optical path length difference from the A row is adjusted. Thereby, it is not necessary to change the height of the suction nozzles 3a and 3b between the A row and the B row as in the previous embodiment. Further, in the present embodiment, the recognition camera 21 is arranged in parallel with the suction nozzle 3 by adding the mirror 14 to effectively use the space. However, the configuration in which the component recognition devices 20 shown in the previous embodiment are arranged in the horizontal direction is mutually compatible, and either type may be used in both embodiments. In the present embodiment, as shown in FIG. 2A, the component recognition device 30 only needs to be inclined with respect to the arrangement direction of the suction nozzles 3.

  The operation of the component recognition apparatus 30 configured as described above is the same as that of the previous embodiment. While the mounting head 4 moves to the component mounting position, the component recognition device 30 moves in the direction indicated by the arrow 15. Since the component recognition device 30 is tilted with respect to the moving direction, the component recognition device 30 sequentially passes through the positions facing the suction nozzles 3a and 3b located in the A row and the B row, and is held by each suction nozzle 3 during that time The holding state of the component 11 is sequentially imaged. The captured image is sent to the control unit 9 and analyzed, and used for control when mounting components. The illustrated number 8 of the suction nozzles 3 is merely an example, and may be more or less than this. Further, the arrangement of the suction nozzles 3 is not necessarily limited to two, and the array includes more rows as long as the suction nozzles 3 in each row can be sequentially recognized by the component recognition device 30 arranged at an inclination. It can be.

  By implementing this embodiment, the same advantages as the component recognition apparatus 20 according to the previous embodiment can be obtained, and mounting heads arranged in a so-called grid pattern according to the prior art can be used as they are. Further, when the total number of the suction nozzles 3 in the two rows is the same, the entire length of the mounting head can be shortened by a half pitch in the moving direction with respect to the staggered arrangement.

  Next, a component recognition apparatus and component recognition method according to a third embodiment of the present invention will be described with reference to the drawings. 3A and 3B show the component recognition apparatus 40 according to the present embodiment, where FIG. 3A is a plan view and FIG. 3B is a front view. In both figures, the component recognition device 40 according to the present embodiment is composed of two component recognition devices 40a and 40b. Each of the component recognition devices 40a and 40b includes an adsorption nozzle 3a for row A and an adsorption nozzle 3b for row B. Are configured to individually recognize the holding state of the parts 11 held in the box.

  In FIG. 3A, the component recognition device 40a is arranged to face each suction nozzle 3a in the A row, and the component recognition device 40b is arranged to face each suction nozzle 3b in the B row. That is, each component recognition device 40a, 40b functions as a dedicated recognition device for the suction nozzles 3a, 3b in each array. For this reason, the prism 21 and the half mirror 31 used in the previous two embodiments are not necessary, and settings can be made so that optimum imaging conditions can be obtained using only the mirror 13. The configuration of each component recognition device 40a, 40b can be the same as that of the component recognition device 6 shown in FIG.

  The operation of the component recognition apparatus 40 according to the present embodiment is basically the same as that according to the previous two embodiments. That is, while the mounting head 4 moves to the component mounting position, the component recognition device 40 moves in the direction indicated by the arrow 15 in the figure. Meanwhile, the component recognition device 40a is held at the position facing each suction nozzle 3a in the A row, and the component recognition device 40b is held at the position facing each suction nozzle 3b in the B row. Are sequentially captured and the image data is transmitted to the control unit 9.

  The recognition camera 12 does not capture the next image until the image data is transmitted to the control unit 9 after imaging. In the present embodiment, since the respective recognition cameras 12 are provided for the two suction nozzles 3a and 3b, the waiting time is reduced as compared with the case where a single recognition camera 12 is used. Compared to the case where the single recognition camera 12 shown in the first and second embodiments is used, the component recognition operation can be performed at a double speed.

  The merits of the implementation of this embodiment are basically the same as those shown in the previous two embodiments. In addition, the effect of reducing the cycle time can be obtained by increasing the moving speed at the time of component recognition as described above. In the example shown in the figure, the two rows of mounting nozzles 3 are arranged in a grid pattern. However, the mounting nozzles 3 can be used in a zigzag pattern or even when the amount of deviation between the A and B rows is arbitrary. . Further, the arrangement of the mounting nozzles 3 is not limited to two rows, and may be an arrangement including more rows.

  As mentioned above, although the component recognition apparatus and component recognition method of each embodiment concerning this invention were described, this invention also includes the component mounting apparatus and component mounting method which utilize these apparatuses and methods. Among these, the component mounting apparatus can be basically configured in the same manner as the component mounting apparatus 1 according to the prior art shown in FIG. 4 except for the component recognition apparatus described above. The component mounting method is basically the same as the conventional component mounting method except for the recognition operation.

  In each of the above embodiments, the component recognition device is mounted on the mounting head, and the component recognition device is configured to sequentially move to a position facing each suction nozzle during the transfer movement of the mounting head to capture an image. Thus, the waste of moving the mounting head to the fixed component recognizing device is avoided, which is a preferable configuration. However, the apparatus and method for recognizing the state of the suction nozzles arranged in a plurality of rows according to the present invention are not limited to the above-described mobile type, and can also be applied to a stationary component recognition apparatus. Therefore, the present invention also includes a component recognition apparatus and method that are fixed.

  The component recognition apparatus and component recognition method, the component mounting apparatus, and the component mounting method according to the present invention can be widely used in the industrial field of component mounting in which electronic components and the like are mounted on a circuit board.

It is the top view (a) and side view (b) which show the components recognition apparatus of embodiment concerning this invention. It is the top view (a) and side view (b) which show the components recognition apparatus of other embodiment concerning this invention. It is the top view (a) and front view (b) which show the components recognition apparatus of further another embodiment concerning this invention. It is a perspective view which shows the outline | summary of a component mounting apparatus. It is the top view (a) and side view (b) which show the mobile component recognition apparatus by a prior art.

Explanation of symbols

1. 1. component mounting device; 2. parts supply unit; 3. Adsorption nozzle, 4. mounting head; Robot, 6. Component recognition device; 8. Circuit board, 9. 10. control unit Parts, 12. Recognition camera, 13,14. Mirror, 16. Drive mechanism, 20. Component recognition device, 21. Prism, 30. Component recognition device, 31. Half mirror, 32. Optical system (lens), 40. Component recognition device.

Claims (14)

A recognition camera, an optical system, and a drive mechanism, which are movably mounted on a mounting head of a component mounting apparatus, and move each component holding state of a plurality of suction nozzles arranged on the mounting head in the arrangement direction. In the component recognition device that sequentially captures and recognizes,
An apparatus for recognizing a component, characterized by imaging and recognizing each component holding state of a plurality of suction nozzles arranged in two rows on a mounting head.   The component recognition apparatus according to claim 1, wherein a single recognition camera is used to capture and recognize each component holding state of the plurality of suction nozzles arranged in two rows on the mounting head.   The component recognition apparatus according to claim 2, wherein each component holding state of the plurality of suction nozzles arranged in two rows in a staggered manner on the mounting head is imaged and recognized.   A plurality of suction nozzles arranged in two rows on the mounting head are arranged in a grid pattern aligned with each other in the arrangement direction and the direction orthogonal to the arrangement direction, and the optical axis of the single recognition camera The component recognition device according to claim 2, wherein the component recognition device is arranged to be inclined with respect to a direction orthogonal to the arrangement direction.   The optical system is arranged on the remote side from the recognition camera, and a half mirror or prism arranged on the optical axis of the recognition camera so as to face the suction nozzles arranged on the near side of the single recognition camera. A mirror disposed on the optical axis facing the suction nozzle, an image reflected by the half mirror or prism is incident on the recognition camera, and an image reflected by the mirror is the half mirror or The component recognition apparatus according to claim 2, wherein the component recognition apparatus passes through a prism and enters the recognition camera.   The recognition camera is composed of two recognition cameras, and one of the recognition cameras captures and recognizes each component holding state of the plurality of suction nozzles arranged in any one of the two rows, and the other The component recognition apparatus according to claim 1, wherein the recognition camera captures and recognizes each component holding state of a plurality of suction nozzles arranged in another row. A recognition camera,
A half mirror or prism arranged on the near side of the optical axis of the recognition camera;
A component recognition device comprising a mirror disposed on the remote side of the optical axis of the recognition camera,
Among the plurality of suction nozzles arranged in two rows in a staggered manner on the mounting head that moves relative to the component recognition device, the suction nozzles arranged in one row located on the proximity side of the recognition camera Opposing the suction nozzles arranged in the other row located on the remote side of the recognition camera so as to face the mirror or the prism so as to face the mirror and capture and recognize the holding state of the parts held by each suction nozzle A component recognition device characterized by the above.   The component recognition device includes a drive mechanism, and is mounted on the mounting head and moves with respect to the mounting head to capture and recognize each component holding state of the suction nozzle. Parts recognition device. Component recognition unit for recognizing a holding state of a component held by the suction nozzle, a mounting head having a suction head for picking up and mounting the component, a mounting head having a suction nozzle for picking up and mounting the component, a robot for transporting the mounting head In a component mounting apparatus that includes a device and a substrate holding device that carries a circuit board and regulates and holds the component at the mounting position of the circuit board by taking out the component from the component supply unit by the mounting head,
The component mounting apparatus according to claim 1, wherein the component recognition apparatus is the component recognition apparatus according to claim 1. Using a component recognition device movably mounted on a mounting head of a component mounting device, each component holding state of a plurality of suction nozzles arranged on the mounting head is sequentially captured and recognized while moving in the arrangement direction. In the part recognition method,
A component recognition method characterized by imaging and recognizing each component holding state of a plurality of suction nozzles arranged in two rows on a mounting head.   11. The component recognition according to claim 10, wherein a single recognition camera is used to capture and recognize each component holding state of a plurality of suction nozzles arranged in two rows in a staggered manner on the mounting head. Method.   A plurality of suction nozzles arranged in two rows on the mounting head are arranged in a grid pattern aligned with each other in the arrangement direction and the direction orthogonal to the arrangement direction, and a single recognition camera is recognized. The component according to claim 10, wherein the optical axis of the camera is arranged so as to be inclined with respect to a direction orthogonal to the arrangement direction, and each component holding state of the plurality of suction nozzles is captured and recognized. Recognition method.   When recognizing the holding state of the parts held by the plurality of suction nozzles arranged in two rows by the single recognition camera, the arrangement of one suction nozzle located on the proximity side of the recognition camera and the remote side In order to make the distance to the other suction nozzle array substantially the same, keep the suction nozzle on the near side far from the suction nozzle on the remote side, or from the recognition camera to the remote suction nozzle The component recognition method according to claim 11, wherein an optical system that adjusts a distance is provided in an optical path to reach. In the component mounting method of taking out the component supplied from the component supply unit by the suction nozzle and mounting the component on the mounting position of the circuit board held regulated,
The component mounting method according to any one of claims 10 to 13, wherein the component recognition method according to any one of claims 10 to 13 is used to recognize the holding state of the component held by the suction nozzle before mounting the component.

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