JP2009170527A - Component recognizing device, component mounting device and component test device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To highly accurately recognize the images of components stably over a long period. <P>SOLUTION: A linear motor 73 for driving a scan unit 71 has a mover comprising permanent magnets 732, and a mover comprising coil portions 733. The linear motor 73 has a configuration in which the permanent magnets 732 are disposed over a range larger than the range of movement of the coil portions 733 corresponding to the range of movement of the scan unit 71, so that a magnetic flux can be formed between each coil portion 733 and each permanent magnets 732, compared advantageously with the other positions, even at both end positions of the range of movement of the scan unit 71. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a component recognition device that captures an image of a holding state of a component held by a component holding member and recognizes the image, a component mounting device including the component recognition device, and a component testing device.

  Conventionally, it has a movable head unit equipped with a plurality of nozzles (component holding members) for picking up components, and after picking up and picking up components from the component supply unit with the nozzle, the components are moved. There is known a component transfer apparatus that transports and transfers a target position to a target position. As application of such a component transfer device, a component mounting device, a component testing device, and the like are known.

Also, in this type of device, there is provided a device equipped with a component recognition device to transfer the component to the target position after recognizing the image of the component holding state by the component holding member in order to increase the positioning accuracy of the component with respect to the target position. ing. For example, in Patent Document 1, a component mounting surface imaging device (scan unit) is movably mounted on a head unit, and after the components are sucked, the scan unit is moved in the nozzle arrangement direction at the lower position of each nozzle. A device that recognizes an image of the suction component of each nozzle is disclosed.
JP 2004-158819 A

  In the conventional apparatus, a combination of a rotary motor (drive source), a guide, an endless belt, and the like is employed as a drive mechanism for driving the scan unit. That is, the scan unit is mounted on a guide and connected to an endless belt arranged along the guide, and the endless belt is moved around the guide by driving the motor so that the scan unit is linearly moved along the guide. It is configured to move. As another drive mechanism, a mechanism is also employed in which the ball screw shaft is driven to rotate by a rotary motor, and the scan unit is moved along the guide via the screw shaft.

  However, such a drive mechanism of the conventional apparatus has a problem that the position accuracy of the scan unit is lowered due to belt extension due to deterioration with time or thermal deformation, wear of the ball screw shaft, and the like. Therefore, in order to solve such a problem, it is considered to use a linear motor as a drive source of the scan unit. However, the linear motor has a problem in that it is difficult to obtain a thrust at the end portion because the magnetic flux formation state at the end portion of the movable range is different from the other portions. Therefore, in order to drive the scan unit at the required speed, it is necessary to increase the current value at the start of movement to ensure thrust, but in this case, the current consumption increases and thermal deformation of each part due to heat generation This is inconvenient in ensuring the positional accuracy of the scan unit. Therefore, it is necessary to solve this point.

  The present invention has been made in view of the above circumstances, and a first object of the present invention is to perform image recognition of a component over a long period of time in a component recognition apparatus that images a component by moving a scan unit having an imaging unit. It is to perform stably and highly accurately. The second object is to improve the image recognition accuracy of the component by increasing the image recognition accuracy of the component in the component mounting apparatus or the component testing apparatus equipped with the component recognition apparatus that moves the scan unit having the imaging unit to image the component. The purpose is to maintain the mounting accuracy and the positioning accuracy of the component on the component inspection unit over a long period of time.

  In order to solve the above-described problems, a component recognition apparatus according to the present invention is provided in a head unit on which a component holding member capable of holding a component is mounted, and recognizes an image by capturing a holding state of the component by the component holding member. A scanning unit that has imaging means for imaging a component held by the component holding member, and is movably supported in a predetermined movement direction with respect to the head unit; and fixed to the head unit And a mover fixed to the scan unit so as to face the stator, and the scan unit is moved by the interaction of magnetic flux generated between the stator and the mover. A linear motor that drives in a direction, and the scan unit is movable within a predetermined movement range with respect to the head unit. In the linear motor, the stator is configured by arranging a plurality of permanent magnets in the moving direction so that the magnetic poles on the mover side are alternately different, while the mover is configured by a coil portion. The plurality of permanent magnets are arranged over a wider range than the moving range of the coil unit corresponding to the moving range of the head unit.

  More specifically, the movement range of the scan unit is defined by the movement of the scan unit being restricted by a predetermined restriction member, and the movement of the scan unit is restricted by the restriction member. The plurality of permanent magnets are arranged so that the permanent magnets are arranged at positions outside the coil portion in the moving direction in a state where the scan unit is arranged at one end position of the moving range. .

  In such a component recognition apparatus, the permanent magnet is disposed at a position further outside the coil portion of the linear motor in a state where the scan units are disposed at both ends within a predetermined movement range. Therefore, even in a state where the scan units are arranged at both ends of the moving range, a magnetic flux can be formed between the coil portion and the permanent magnet as in the case where the scan units are arranged at other positions. Therefore, even when the scan unit is driven from one end side within the moving range, the required propulsive force can be obtained satisfactorily with substantially the same drive current as when the scan unit is driven from another position. The scan unit can be driven without causing thermal deformation or the like of each part due to an increase in the drive current value.

  On the other hand, a component mounting apparatus according to the present invention includes a head unit that mounts a component holding member capable of holding a component and moves the component holding member between a component supply unit and a substrate, and the component holding member A component mounting apparatus that holds and unloads a component from a component supply unit, images the component held by the component holding member, recognizes the holding state of the component, and then mounts the component on a substrate. As a means for recognizing the image of the component holding state by the component holding member, the component recognition device as described above is provided.

  The component testing apparatus according to the present invention includes a head unit that mounts a component holding member capable of holding a component and moves the component holding member between a component supply unit and a component inspection unit, and the component holding member The component is held and unloaded from the component supply unit, and the component held by the component holding member is imaged to recognize the holding state of the component, and then the component is transferred to the component inspection unit. A component testing apparatus that performs component inspection, and includes a component recognition device as described above as means for recognizing an image of a component holding state by the component holding member.

  In such a component mounting device or component testing device, the above-described component recognition device is provided as means for recognizing the component holding state by the component holding member, so that the linear motor is not accompanied by thermal deformation of each part. Thus, the scan unit can be driven. Therefore, it is possible to perform image recognition of parts stably and with high accuracy over a long period of time. As a result, mounting of parts on a board and positioning of parts to the part inspection department cost with high accuracy over a long period of time. Will be able to do.

  In these component mounting apparatuses and component testing apparatuses, a plurality of the component holding members are mounted in a row on the head unit, and the scanning unit moves in the arrangement direction of the component holding members, so that the imaging unit In order to take an image of a part, it has a control means for controlling the drive of the scan unit, and this control means starts from one end position of the moving range in order to recognize the holding state of the part after holding the part by the part holding member. During the first scan operation for moving the scan unit and the component holding operation by the component holding member, the scan unit is moved from the one end position to a position in the vicinity of the specific component holding member in advance, and the component is held by the component holding member. After holding, the second scan unit moves the scan unit from the vicinity to recognize the image of the holding state of the component. It is preferred that are executable configured operation and, the.

  According to this configuration, it is possible to image-recognize the holding state of the component by each component holding member rationally and efficiently according to the holding state of the component by each component holding member.

  According to the present invention, it is possible to suppress an increase in the drive current value when driving the scan unit while using a linear motor as the drive source of the scan unit. Accordingly, the scan unit can be driven by the linear motor without causing thermal deformation or the like of each part due to an increase in the drive current value, and as a result, the image recognition of the holding component by the component holding member can be performed for a long time. It becomes possible to carry out stably and highly accurately.

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

  FIG. 1 is a plan view showing a schematic configuration of a component mounting apparatus according to the present invention (a component mounting apparatus equipped with a component recognition apparatus 7 according to the present invention). 2 and 3 are a front view and a side view of the head unit, respectively. In these drawings and the drawings to be described later, XYZ rectangular coordinate axes are shown in order to clarify the directional relationship between the drawings.

In this component mounting apparatus, the board transport mechanism 2 is disposed on the base 11 so that the board 3 can be transported in a predetermined transport direction X. More specifically, the substrate transport mechanism 2 has a pair of conveyors 21 and 21 that transport the substrate 3 from the right side to the left side of FIG.
And the conveyors 21 and 21 carry in the board | substrate 3, make it stop in a predetermined | prescribed working position (position of the board | substrate 3 shown to the same figure), and fix and hold | maintain the board | substrate 3 with a holding device not shown. Then, the electronic component 5 (FIG. 4) supplied from the component supply unit 4 is sucked and held by the nozzle 61 (component holding member) of the mounting head 62 mounted on the head unit 6 and transferred to the substrate 3. At this time, the component recognition device 7 attached to the head unit 6 recognizes an image of the suction state of the electronic component 5 by the nozzle 61 and outputs the recognition result to the control device 8 (FIG. 6) that controls the entire component mounting device. To do. On the other hand, the control device 8 controls the transfer operation of the head unit 6 based on the image recognition result and mounts the electronic component 5 at a predetermined position on the substrate 3. When the mounting process is completed for all the components to be mounted on the substrate 3, the substrate transport mechanism 2 unloads the substrate 3.

  On both sides of the board transport mechanism 2 configured in this way, the above-described component supply unit 4 is arranged. These component supply units 4 include a number of tape feeders 41. Each tape feeder 41 is provided with a reel (not shown) around which a tape storing and holding the electronic component 5 is wound, so that the electronic component 5 can be supplied to the head unit 6. That is, on each tape, small chip electronic components 5 such as an integrated circuit (IC), a transistor, a resistor, and a capacitor are accommodated and held at predetermined intervals. Then, the tape feeder 41 feeds the tape from the reel to the head unit 6 side, whereby the electronic component 5 in the tape is intermittently fed out. As a result, the electronic component 5 can be picked up by the head 62.

  The head unit 6 conveys the electronic component 5 to the substrate 3 while being sucked and held by the nozzle 61 and transfers the electronic component 5 to a position designated by the user.

  More specifically, the head unit 6 is configured as follows. In this head unit 6, eight mounting heads 62 extending in the vertical direction (Z-axis direction) are provided in a row at equal intervals in the X-axis direction (the conveyance direction of the substrate 3 by the substrate conveyance mechanism 2). ing. In addition, a component suction nozzle 61 is mounted at the tip of each mounting head 62, and a total of eight nozzles 61 are arranged in a row in the X-axis direction in the entire head unit 6. Each nozzle 61 can communicate with a negative pressure generating device via an electric switching valve (not shown). By applying a negative pressure adsorption force from the negative pressure generating device to the nozzle 61, the nozzle 61 The lower end portion (tip portion) of the electronic component 5 adsorbs the upper surface of the electronic component 5 and can hold the component.

  Each nozzle 61 can be moved up and down (moved in the Z-axis direction) with respect to the head unit 6 by a nozzle lifting / lowering driving mechanism (not shown), and rotated around the nozzle center axis by a nozzle rotating driving mechanism (not shown). The rotation in the R direction in FIG. 3 is possible. Among these driving mechanisms, the nozzle raising / lowering driving mechanism raises and lowers the nozzle 61 between a lowered position when the electronic component 5 is attracted or mounted and an elevated position when the electronic component 5 is conveyed or imaged. is there. On the other hand, the nozzle rotation driving mechanism is a mechanism for rotating the nozzle 61 as necessary, and the electronic component 5 can be positioned in a predetermined R-axis direction during mounting by rotation driving. Each of these drive mechanisms is composed of a servo motor and a predetermined power transmission mechanism.

  Further, the head unit 6 transports and mounts the electronic component 5 attracted by these nozzles 61 between the component supply unit 4 and the substrate 3, so that the X-axis direction and the Y-axis over a predetermined range of the base 11. It can move in the direction (direction orthogonal to the X-axis and Z-axis directions). That is, the head unit 6 is supported so as to be movable along the X axis with respect to the mounting head support member 63 extending in the X axis direction. Further, both ends of the mounting head support member 63 are supported by a fixed rail 64 in the Y-axis direction, and are movable along the fixed rail 64 in the Y-axis direction. The head unit 6 is driven in the X-axis direction via the ball screw 66 by the X-axis servo motor 65, and the mounting head support member 63 is moved in the Y-axis direction via the ball screw 68 by the Y-axis servo motor 67. Driven.

  Thus, the head unit 6 can transport the electronic component 5 adsorbed by the nozzle 61 (mounting head 62) from the component supply unit 4 to the target position. In the present embodiment, the component recognition device 7 is attached to the head unit 6 in order to sequentially capture and recognize the suction holding state of the electronic component 5 in the nozzle 61 during component conveyance. Hereinafter, the configuration of the component recognition device 7 will be described.

  FIG. 4 is a partial cross-sectional view showing the component recognition device 7, and FIG. 5 is a front view showing the component recognition device 7. In FIG. 5, the mounting head 62 and the like are omitted for convenience.

  In this component recognition device 7, a scan unit 71 is provided in the head unit 6 via a linear guide 72 and a linear motor 73, respectively. The scan unit 71 is supported by a pair of linear guides 72 and 72 so as to be movable in the X-axis direction, and can be moved in the X-axis direction by receiving a driving force from the linear motor 73.

  In the linear motor 73, the bottom frame 731 and the permanent magnet 732 form a stator, while the coil portion 733 and the base plate 734 form a mover. More specifically, the configuration is as follows. The bottom frame 731 is a yoke and has a shape extending in the X-axis direction, and is fixed to the lower end portion of the head unit 6. 4 and 5, a plurality of permanent magnets 732 are arranged in a row in the X-axis direction. That is, the bottom frame center portion of the bottom frame 731 faces the coil portion 733 of the mover, and the lower surface center portion is a permanent magnet 732 in which the bottom surface is the S pole and the top surface is the N pole, and the bottom surface is N. The permanent magnets 732 with the poles and the upper surface being the S poles are arranged in the X-axis direction.

  Further, side frames 735 each having a shape extending in the X-axis direction are fixed to both sides of the lower surface of the bottom frame 731. Accordingly, a recessed space surrounded by the bottom frame 731 and the side frame 735 is formed with the opening directed downward. A linear guide 72 is attached to each side frame 735, and a mover of the linear motor 73 is movable in the recessed space.

  Each linear guide 72 includes a rail 721 that is fixed to the side frame 735 and extends in the X-axis direction, and a pair of sliders 722 that are slidably mounted on the rail 721 in the X-axis direction. The mover of the linear motor 73 is fixed to the sliders 722 and 722 of the linear guide 72. That is, both end portions of the upper surface of the base plate 734 are fixed to the sliders 722 and 722, respectively. In addition, a coil portion 733 is fixed to a central portion of the upper surface of the base plate 734 by a fastening member such as a bolt. Thus, the base plate 734 and the coil portion 733 are movable in the X-axis direction while being integrally guided by the linear guide 72 in a state where the coil portion 733 is sandwiched between the pair of linear guides 72, 72. Although not shown in detail, the coil portion 733 includes a comb-shaped core in which a plurality of teeth are arranged in a row, and coils 733a attached to the teeth of the core, and the coil portion 733 of this example. Then, as shown in FIG. 5, nine coils 733a are arranged in a line in the X-axis direction.

  The thus configured coil section 733 (each coil 733a) of the linear motor 73 is electrically connected to the linear drive control section 86 (FIG. 6) via a motor drive cable (not shown). Then, when the drive signal is given from the linear drive control unit 86 to the coil unit 733, the mover (base plate 734 and coil unit 733) moves in the X-axis direction at a direction and speed according to the drive signal. The scan unit 71 is driven in the X-axis direction.

  In FIG. 5, reference numeral 602 denotes a stopper (corresponding to a restricting member according to the present invention) that restricts movement of the scan unit 71 in the X-axis direction. The stoppers 602 are respectively arranged at positions outside the stator of the linear motor 73 and are fixed to the head unit 6 via fixed arms 601. As a result, the scan unit 71 can move within a certain range regulated by both stoppers 602.

  Here, with respect to the linear motor 73 that drives the scan unit 71, the permanent magnet 732 extends over a range wider than the moving range of the coil portion 733 corresponding to the moving range of the scan unit 71, as shown in FIG. It is arranged. Specifically, in a state where the scan unit 71 is disposed at both ends of the movement range, that is, in a state where the scan unit 71 is in contact with the stopper 602 as indicated by a solid line and a one-dot chain line in FIG. The permanent magnets 732 are arranged so that there are permanent magnets 732 (one permanent magnet in the illustrated example) on the outside of the 733. As a result, even in a state where the scan unit 71 is arranged at both ends of the moving range, the same magnetic flux as when the scan unit 71 is arranged at other positions is generated between the coil portion 733 and the permanent magnet 732 (particularly, It is configured so that it can be formed between the terminal coil 733a located on the stopper 602 side and the permanent magnet 732).

  A bendable duct member 69 is adjacent to the side surface of the head unit 6, and the motor driving cable is accommodated in the duct member 69 together with a sensor cable described below. This sensor cable is a cable for electrically connecting a sensor for detecting the position of the scan unit 71 to the linear drive controller 86. In this embodiment, a magnetic sensor 75 is used as the position detection sensor. That is, as shown in FIG. 5, a plate-like magnetic scale 751 on which a scale is magnetically recorded is fixed to the side surface of the side frame 735 along the rail 721. On the other hand, a magnetic sensor 75 such as an MR sensor or a Hall sensor is attached to a sensor support member 752 fixed to the side surface of the base plate 734, and the magnetic scale 751 is read by the magnetic sensor 75. As a result, an electric signal related to the position of the scan unit 71 in the X-axis direction is output from the magnetic sensor 75 and is provided to the linear drive control unit 86 via the sensor cable 752 (FIG. 6) to detect the position of the scan unit 71. The The position detection means of the scan unit 71 is not limited to a magnetic sensor, and any position detection method can be adopted.

  As described above, the scan unit 71 driven in the X-axis direction includes, as imaging means according to the present invention, a lower surface imaging camera 711 that images the lower surface of the electronic component 5 and a side imaging camera that images the side surface of the electronic component 5. Equipped with 712. These cameras 711 and 712 are both composed of line sensors, and maintain a predetermined moving speed while the electronic component 5 sucked by the nozzle 61 is conveyed from the component supply unit 4 to the target position. Then, the suction state of the electronic component 5 in the nozzle 61 is sequentially imaged to recognize the image. The scan unit 71 has an illumination unit 713 that illuminates the nozzle 61 from below. In addition, although it is arbitrary about a structure, arrangement | positioning position, etc. of the illumination part 713, in this embodiment, the illumination part 713 is comprised by the some light emitting diode. As the scan unit 71 moves, the illumination unit 713 moves to a position directly below the nozzle 61 to selectively illuminate the electronic component 5 held by suction on the nozzle 61.

  The bottom surface imaging camera 711 is disposed inside the scan unit 71, captures an image of the bottom surface of the electronic component 5 via an image capturing unit 714 provided integrally with the scan unit 71, and controls the image signal thereof. 8 to the image processing unit 85 (FIG. 6). The image capturing unit 714 is provided so as to be surrounded by the light emitting diodes constituting the illumination unit 713 when viewed from above, and includes a vertically long rectangular slit. In FIG. 4, reference numeral 715 denotes an optical path changing unit configured by optical components such as a reflecting prism and a reflecting mirror provided in the scan unit 71, and is arranged at a position directly below the image capturing unit 714. Then, the optical path changing unit 715 guides the light traveling downward from the suction head 61 side to the camera 711.

  On the other hand, the side imaging camera 712 is fixed to the upper end of the camera support column 716. The camera support column 716 is erected in the vertical direction from the upper surface of the scan unit 71, and its height is set corresponding to the distance from the upper surface to the tip of the nozzle 61. For this reason, the height position of the region that can be imaged by the side surface imaging camera 712 is substantially the same as the height position of the nozzle tip, and the side surface imaging camera 712 is moved by driving the scan unit 71, thereby The side image of the electronic component 5 adsorbed by the tip 61 and the nozzle 61 can be integrally imaged by the side imaging camera 712. An image signal related to the side image is output from the side imaging camera 712 to the image processing unit 85 of the control device 8. Note that the imaging positions (imaging areas) of both the cameras 711 and 712 coincide with each other in the X-axis direction, and accordingly, the lower surface image and the side image of the electronic component 5 are captured by the cameras 711 and 712 as the scan unit 71 moves. Simultaneous imaging is possible.

  FIG. 6 is a block diagram partially showing an electrical configuration of the control device, and mainly shows a configuration related to image recognition of the electronic component 5. As shown in the figure, the control device 8 includes a main control unit 81 that comprehensively controls the operation of the entire component mounting apparatus, and a storage unit 82 that stores various processing programs and various data. So that signals can be exchanged with each other. The bus 83 is connected to an illumination control unit 84, an image processing unit 85, a linear drive control unit 86, and the like. The main control unit 81 controls the illumination control unit 84, the image processing unit 85, the linear drive control unit 86, and the like according to a processing program stored in advance in the storage unit 82, and detects and sucks the holding state of the electronic component 5. The amount of deviation is calculated.

  Further, the main control unit 81 controls a control unit (servo motor drive control unit, negative pressure control unit, positive pressure control unit, etc.) that controls each part of the mounting machine (not shown) to correct the above-described adsorption deviation, and the substrate 3. The electronic component 5 is mounted on.

  Note that, when detecting the holding state of the electronic component 5, the main control unit 81 calculates a scan start position by the scan unit 71 as necessary, and further controls the linear drive control unit 86 and the like based on the position. In other words, the main control unit 81 normally scans the electronic component 5 from either position at both ends of the movement range of the scan unit 71 (solid line position or one-dot chain line position; reference position in FIG. 5), that is, the nozzle 61. A predetermined imaging operation by the cameras 711 and 712 of the electronic component 5 adsorbed by the camera is started (referred to as a first scanning operation), but the scanning unit 71 is moved in advance to a position near a specific nozzle 61 under a predetermined condition. Then, the electronic component 5 is started to scan from the vicinity position (referred to as a second scanning operation). For example, in the case where parts are picked up by some of the eight nozzles 61, as shown in FIG. 7, the parts are not picked up between the nozzle 61 at the end where the electronic parts 5 are picked up and the scan unit 71 ( If there is an unused nozzle 61, as shown in the figure, the scan unit 71 is preliminarily located in the vicinity of the nozzle 61 at the end that has attracted the electronic component 5, that is, at a position spaced a predetermined distance P from the center of the nozzle 61. Is moved and waited, and scanning of the electronic component 5 is started from this position. Accordingly, the main control unit 81 calculates the distance P when the component suction state as described above occurs, and drives and controls the scan unit 71 to start scanning from a position separated by the distance P. Specifically, the main control unit 81 is based on a program stored in advance in the storage unit 82, mounting component data (dimensions and optimum scan speed of the scan unit 71), and characteristic data (acceleration, etc.) of the scan unit 71. The type of the electronic component 5 at the end position is specified, and the distance P is obtained by the following formula.

[Formula 1]
Distance P = part protrusion a + acceleration distance b
Here, as shown in FIG. 8, the protruding amount a of the component is a value specific to the component type, and is the maximum projected length from the center of the nozzle to the end of the component assuming a component suction deviation. This value is included in the mounting component data. On the other hand, the acceleration distance b is a value calculated on the basis of the optimum scan speed and the acceleration of the scan unit 71 according to the part type, and the optimum scan speed is just when the scan unit 71 reaches the position of the suction part. As obtained, it is calculated by the main controller 81 based on the following equation.

[Formula 2]
b = X2 / G
Here, X is a scanning speed and G is an acceleration.

  Then, the main control unit 81 calculates the standby position of the scan unit 71 based on the distance P and the position of the nozzle 61 at the end position where the electronic component 5 is sucked and held.

  In the component mounting apparatus configured as described above, first, the head unit 6 moves to the component supply unit 4 and the components are adsorbed by the mounting heads 62. Specifically, after a predetermined mounting head 62 is disposed above the tape feeder 41, the nozzle 61 is driven up and down, whereby the nozzle 61 descends to suck and take out the components in the tape. At this time, if possible, parts are taken out simultaneously by the plurality of nozzles 61. When the suction of the components is completed, the head unit 6 moves from the tape feeder 41 onto the substrate 3 and the components sucked by the nozzle 61 are recognized during this time. Specifically, as described above, when the scan unit 71 is driven by the main control unit 81 according to the processing program stored in the storage unit 82, the image of the electronic component 5 sucked and held by each nozzle 61 is obtained. Images are taken by the cameras 711 and 712. Then, the main control unit 81 performs suction displacement of the electronic component 5 with respect to the center of the nozzle 61 and confirmation of the R-axis direction position of the electronic component 5 based on the lower surface image captured by the lower surface imaging camera 711, and Based on the side image captured by the side imaging camera 712, whether or not there is a suction failure is confirmed, and based on the confirmation result, a correction amount at the time of mounting is calculated. At this time, when the electronic component 5 is attracted by all the nozzles 61, the scan unit 71 is drive-controlled so as to start scanning from one end position (reference position) of the movement range. That is, the first scan operation is executed. On the other hand, when the component suction is performed by a part of the nozzles 61 and the nozzle 61 that does not suck the component exists between the nozzle 61 that sucks the electronic component 5 and the scan unit 71 ( As shown above, the second scan operation is executed. That is, the standby position of the scan unit 71 is calculated in the main control unit 81, and the scan unit 71 is driven in advance during the component suction operation from the tape feeder 41 and placed at the standby position. Scanning of the scan unit 71 is started.

  When the head unit 6 moves onto the substrate 3 and reaches the first mounting position, the nozzle 61 is driven up and down to mount components on the substrate 3, and thereafter the head unit 6 sequentially moves to the mounting position. As a result, the suction components of each nozzle 61 are sequentially mounted on the substrate 3.

  According to the component mounting apparatus (component recognition apparatus 7) according to the present invention as described above, with respect to the linear motor 73 that drives the scan unit 71, the coil unit is arranged in a state where the scan units 71 are respectively disposed at both ends of the moving range. The permanent magnet 732 is arranged at a position further outside the 733. Therefore, even when the scan unit 71 is disposed at both ends of the moving range, a magnetic flux is formed between the coil portion 733 and the permanent magnet 732 as if the scan unit 71 is disposed at other positions. . Therefore, even when the scan unit 71 is driven from one end position (reference position) of the movement range, the required propulsive force can be satisfactorily obtained with substantially the same drive current value as when the scan unit 71 is driven from another position. it can. Therefore, there is no inconvenience such as thermal deformation of the head unit 6 due to an increase in the drive current value when the scan unit 71 is driven, and as a result, the image recognition of the components can be stably performed over a long period of time. There is an advantage that it can be performed with high accuracy.

  Further, in this embodiment, as the scanning operation of the scan unit 71 for recognizing the image of the electronic component 5 sucked and held by each nozzle 61, the scan unit 71 is changed according to the suction state of the component by the nozzle 61 as described above. A first scan operation for moving from a reference position (one end position of the moving range) and a second scan operation for causing the scan unit 71 to stand by in the vicinity of a specific nozzle 61 in advance and moving from this standby position are executed. For example, when component suction is performed by a part of the nozzles 61, there is a component unsucked nozzle 61 between the nozzle 61 that sucks the electronic component 5 and the scan unit 71 (see FIG. 7), the time required for component recognition by the scan unit 71 can be shortened by executing the second scan operation. Unishi to have. Accordingly, there is also an advantage that the holding state of the electronic component 5 can be image-recognized rationally and efficiently according to the holding state of the electronic component 5 by each nozzle 61. In particular, in the second scan operation, the standby position (distance P) is calculated based on the maximum suction position shift amount corresponding to the electronic component 5 sucked by the nozzle 61, so that the shortest distance corresponding to the type of the electronic component 5 is calculated. Therefore, there is also an advantage that the efficiency of the component recognition can be further improved in this respect.

  The component mounting apparatus described above is an example of a preferred embodiment of a component mounting apparatus (component mounting apparatus according to the present invention) to which the component recognition apparatus 7 according to the present invention is applied. The present invention can be changed as appropriate without departing from the gist of the present invention.

  For example, in the above embodiment, the linear motor 73 is configured such that only one permanent magnet 732 is arranged outside the coil portion 733 of the linear motor 73 with the scan units 71 arranged at both ends of the moving range. Of course, a configuration in which two or more permanent magnets 732 are arranged may be employed. In short, it is only necessary that the permanent magnets 732 are arranged over a range wider than the moving range of the coil unit 733 corresponding to the moving range of the scan unit 71. According to this configuration, the magnetic flux formed between the coil unit 733 and the permanent magnet 732 does not generate a peculiar portion over the moving range of the scan unit 71, and scanning is performed from any position within the range. Even when the unit 71 is driven, a required propulsive force can be obtained with substantially the same drive current value.

  In the above embodiment, the first scan operation and the second scan operation can be performed as the image recognition operation of the electronic component 5 by the scan unit 71. Of course, the image is always generated by the first scan operation. Recognition may be performed. However, when the moving distance of the head unit 6 to the component mounting position is short after component suction, it is important to reduce the time required for scanning by the scan unit 71 in order to avoid the occurrence of mounting standby time. . Therefore, from such a viewpoint, it is preferable to use together the second scan operation in which the scan start position by the scan unit 71 can be changed according to the suction state of the electronic component 5 by the nozzle 61 as in the embodiment. In the embodiment, the second scan operation is executed when the electronic component 5 is mounted by some of the eight nozzles 61. Of course, the electronic component 5 is used by all the nozzles 61. The second scan operation may be executed when the ink is held by suction. For example, when the electronic component 5 held by the terminal nozzle 61 among the eight nozzles 61 is a minimal component, the time required for scanning by the scan unit 71 can be shortened by following the second scanning operation. Is possible.

  In the above embodiment, the lower surface imaging camera 711 and the side surface imaging camera 712 are provided. However, only the lower surface imaging camera 711 is provided, and the suction state of the electronic component 5 is recognized based on the lower surface image alone. You may comprise as follows. In the embodiment, these cameras 711 and 712 are line sensors, but may of course be area sensors.

  The application target of the present invention is not limited to the component mounting apparatus, but a head unit that mounts a component holding member capable of holding a component and conveys the component holding member between the component supply unit and the component inspection unit And holding and unloading the component from the component supply unit by the component holding member, imaging the component held by the component holding member and recognizing the holding state of the component, If the part is released from the suction on the collection box and collected in the collection box and the holding state is acceptable, the position is corrected in both the X and Y directions and the R direction is adjusted, and then the part is sent to the parts inspection unit. It can also be applied to a component testing apparatus that transfers and inspects components.

It is a top view which shows schematic structure of the component mounting apparatus (component mounting apparatus equipped with the component recognition apparatus which concerns on this invention) concerning this invention. It is a front view which shows a head unit. It is a side view which shows a head unit. It is a fragmentary sectional view of a head unit mainly showing a parts recognition device. It is a partial front view of the head unit which mainly shows a component recognition apparatus. It is a block diagram which shows the electric structure of a control apparatus partially. It is a mimetic diagram of a head unit for explaining an example of drive control of a scan unit. It is a schematic diagram of a head unit for explaining a method of calculating a standby position of a scan unit in a second scan operation.

Explanation of symbols

DESCRIPTION OF SYMBOLS 3 Board | substrate 5 Electronic component 6 Head unit 7 Component recognition apparatus 8 Control apparatus 61 Nozzle 71 Scan unit 72 Linear guide 73 Linear motor 732 Permanent magnet 733 Coil part 733a Coil

Claims (6)

In a component recognition apparatus that is provided in a head unit equipped with a component holding member capable of holding a component and that recognizes an image by imaging a holding state of the component by the component holding member,
A scanning unit having imaging means for imaging a component held by the component holding member, and supported movably in a predetermined movement direction with respect to the head unit;
A stator fixed to the head unit, and a mover fixed to the scan unit so as to face the stator, and the interaction of magnetic flux generated between the stator and the mover A linear motor that drives the scan unit in the moving direction,
The scan unit is movable within a predetermined movement range with respect to the head unit,
In the linear motor, the stator is configured by arranging a plurality of permanent magnets in the moving direction so that the movable element side magnetic poles are alternately changed, while the coil part configures the movable element. The plurality of permanent magnets are arranged over a wider range than the moving range of the coil unit corresponding to the moving range of the head unit. The component recognition apparatus according to claim 1,
The movement range of the scan unit is determined by regulating the movement of the scan unit by a predetermined regulating member,
In the state where the scan unit is arranged at one end position of the movement range where the movement of the scan unit is regulated by the regulating member, a permanent magnet is arranged at a position outside the coil portion in the movement direction. The component recognition apparatus, wherein the plurality of permanent magnets are arranged as described above. A head unit that mounts a component holding member capable of holding a component and moves the component holding member between the component supply unit and the substrate, holds and unloads the component from the component supply unit by the component holding member, A component mounting apparatus that images a component held by the component holding member and recognizes an image of a holding state of the component, and then mounts the component on a substrate.
A component mounting apparatus comprising the component recognition apparatus according to claim 1 or 2 as means for recognizing an image of a component holding state by the component holding member. In the component mounting apparatus according to claim 3,
A plurality of the component holding members are mounted in a row on the head unit, and the scanning unit moves in the arrangement direction of the component holding members to image the components by the imaging unit,
And a control unit that controls driving of the scan unit. The control unit moves the scan unit from one end position of the moving range in order to recognize the image of the component holding state after holding the component by the component holding member. During the one-scan operation and the component holding operation by the component holding member, the scan unit is moved from the one end position to a position in the vicinity of the specific component holding member and waits in advance, and after holding the component by the component holding member, the component holding state And a second scan operation for moving the scan unit from the vicinity to recognize the image. A component holding member capable of holding a component is mounted, and a head unit that moves the component holding member between a component supply unit and a component inspection unit is provided, and the component is held and carried out of the component supply unit by the component holding member. A component testing apparatus that images the component held by the component holding member and recognizes the image of the holding state of the component, then transfers the component to the component inspection unit and performs component inspection,
A component testing apparatus comprising the component recognition device according to claim 1 or 2 as means for recognizing an image of a component holding state by the component holding member. In the component testing apparatus according to claim 5,
A plurality of the component holding members are mounted in a row on the head unit, and the scanning unit moves in the arrangement direction of the component holding members to image the components by the imaging unit,
And a control unit that controls driving of the scan unit. The control unit moves the scan unit from one end position of the moving range in order to recognize the image of the component holding state after holding the component by the component holding member. During the one-scan operation and the component holding operation by the component holding member, the scan unit is moved from the one end position to a position in the vicinity of the specific component holding member and waits in advance, and after holding the component by the component holding member, the component holding state And a second scan operation for moving the scan unit from the vicinity to recognize the image.

Images