JP2009170529A - Component recognizing device, component mounting device and component test device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stably acquire homogeneous images of components irrespective of the moving direction of a scan unit by reducing the control burden of the scan unit. <P>SOLUTION: The scanning unit 71 is disposed on first and second standby positions P1, P2 set on both sides of a region where a nozzle 16a is disposed, and alternately moves from one side of the positions P1, P2 to the other side per one cycle of the mounting operation, thereby causing a component image pickup camera 711 to pick up a lower surface image of a component to be sucked. The scanning unit 71 has a structure in which an image pickup region (image capturing portion 714) based on the camera 711 is close to the one end of the moving direction from the center position of the unit 71. The standby positions P1, P2 of the scanning unit 71 are positions in which distances PL1, PL2 from the image capturing portion 714 to a terminus nozzle 16a are substantially the same and become smaller as much as possible. <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 are known a component mounting apparatus, a component testing apparatus, and the like that are transported by the above and transferred to a target position. 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. An apparatus that acquires an underside image of a suction component and recognizes the suction state is disclosed.

In this type of apparatus, the scanning unit standby position is located at both ends of the nozzle arrangement area, specifically at positions that do not interfere with the nozzle and as close as possible to the nozzle arrangement area. The image recognition of the suction component is performed by alternately moving the scan unit from the standby position on one side to the standby position on the other side for each cycle of the mounting operation.
JP 2004-158819 A

  In an apparatus for recognizing a suction component image by a scan unit, a camera having a line sensor or an area sensor is mounted on the scan unit. However, if the camera is arranged so that the camera moves below the nozzle, the scan unit The required space in the vertical direction is increased and the head unit is increased in size in the vertical direction, resulting in lack of running stability. Is disadvantageous. Therefore, in many cases, the scan unit is moved up and down by arranging the camera so that the side position of the nozzle is moved and guiding the lower surface image of the suction component to the camera using a prism or the like. It has been made compact in the direction.

  The applicant of the present application applies a camera having a line sensor and arranges the camera so that the image pickup devices are aligned in the moving direction of the scan unit, thereby achieving a higher level of downsizing of the scan unit. I am thinking of that. However, in the configuration in which the line sensor camera is arranged in this way, it is necessary to offset the position of the camera and the imaging position (imaging area) by the camera in the moving direction of the scan unit, so that the imaging position is the center of the scan unit. It will be biased from the position toward one end in the moving direction. Therefore, if it is attempted to drive the scan unit by alternately changing the moving direction as in the prior art, it is necessary to change the control contents depending on the moving direction of the scan unit, as will be described in detail in the embodiment of the invention. It is conceivable that the control burden on the scan unit increases and the image quality of the image obtained by the moving direction is affected.

  The present invention has been made in view of the above circumstances, and recognizes an image of a component by a scan unit having an asymmetric structure in which the imaging position (imaging area) of the camera is deviated from the center of the scan unit to one side in the moving direction. An object of the component recognition apparatus is to reduce the control burden on the scan unit and to obtain a component image of the same quality stably regardless of the moving direction of the scan unit.

  In order to solve the above problems, a component recognition apparatus according to the present invention includes a scan unit that is movably mounted on a head unit that includes a component holding member capable of holding a component, and the scan unit includes the scan unit. In the first holding position set on both sides of the component holding member and the second standby position, the component holding member is held by the component holding member by the image pickup means of the scan unit by moving from one side to the other side. A component recognition apparatus for recognizing and recognizing an image, wherein the imaging unit includes a component imaging unit that captures an image of a component held by the component holding member, and the imaging unit moves with the movement of the scan unit. By moving, the imaging region that can be imaged by the component imaging unit moves, and the component imaging unit moves the component held by the component holding member. And the imaging region is configured to be deviated from the center position of the scan unit toward the one side in the movement direction, the first standby position of the scan unit, And the second standby position is set such that the distance from the imaging region to the component holding member in the moving direction is substantially equal to each other. The head unit includes a plurality of component holding members arranged in a row, and the scan unit includes the first standby position set on both sides of the arrangement region of the component holding members, and a first In the two standby positions that move in the arrangement direction of the component holding members from one side to the other side, the first standby position and the second standby position of the scan unit are closest to the imaging region. The distances to the component holding members are set to be substantially equal to each other.

  In the component recognition apparatus configured as described above, the scan unit has an asymmetric configuration in which the imaging region by the component imaging unit is offset from the center position of the unit to one end in the moving direction, but the component is held from the imaging region. The first standby position and the second standby position of the scan unit are set so that the distances to the members (the closest component holding member when there are a plurality of component holding members) are substantially equal to each other. That is, the distance from the imaging region of the scan unit to the component holding member is substantially equal at each standby position. Therefore, even when the scan unit is driven from either the first standby position or the second standby position, it is possible to acquire the same component image by driving the scan unit under the same drive conditions (acceleration, etc.).

  The above configuration is particularly useful for the following part recognition apparatus, for example. That is, the component holding member is a nozzle that sucks the upper surface of the component and holds the component, and the imaging unit is a component in which the imaging region is held by the nozzle as the scan unit moves. The component imaging unit captures a lower surface image of the component by moving the lower position of the component, and the component imaging unit includes image sensors arranged in the moving direction of the scan unit, and a side portion of the suction nozzle. The imaging means converts light traveling downward from the nozzle side in the imaging region into horizontal light along the moving direction, and further converts the horizontal light to the moving Further comprising an optical path changing unit that guides the line sensor in a direction orthogonal to the direction.

  Such a configuration is effective in reducing the required vertical space of the component imaging unit and making the scan unit compact in the same direction. However, in terms of configuration, the position of the component imaging unit and the position of the imaging region thereof Are offset in the moving direction of the scan unit, the imaging area is biased toward the one side in the moving direction from the center position of the scan unit. Therefore, the configuration in which the standby position of the scan unit is set as described above is useful for stably obtaining the same quality component image.

  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.

  According to such a component mounting apparatus or component recognition apparatus, since the component recognition apparatus as described above is provided as means for recognizing the image of the component holding state by the component holding member, regardless of the moving direction of the scan unit. It is possible to stably acquire the same quality component image. Therefore, it is possible to increase the reliability of image recognition by suppressing variations in image recognition accuracy of components.

  According to the present invention, the imaging region by the component imaging unit uses a scanning unit having an asymmetric structure offset from the center position of the unit toward the one end in the moving direction, but the components from the imaging region of the scanning unit at both standby positions. Since the distance to the holding member is substantially equal, the scan unit is driven under the same driving conditions (acceleration, etc.) to obtain the same part image even when the scan unit is driven from any standby position. Can do. Therefore, it is possible to stably perform image recognition of components while reducing the control burden on the scan unit.

  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 to which a component recognition apparatus according to the present invention is applied). In the drawings used in this description including this figure, XYZ rectangular coordinate axes are shown in order to clarify the directional relationship of each figure.

  As shown in the figure, conveyors 12 and 12 are arranged as a board transport mechanism on a base 10 of the component mounting apparatus, and a printed board P (hereinafter simply referred to as a board P) is provided by these conveyors 12 and 12. It is transported from the right side to the left side in the figure and carried into a predetermined work position (position of the substrate P shown in the figure). A substrate support device (not shown) that supports the substrate P with a backup pin during a mounting operation is disposed in a region below the work position.

  Component supply units 13 are provided on both sides of the conveyor 12 (upper and lower sides in FIG. 1). Component supply units such as a tape feeder 14 are provided along the conveyors 12 and 12 in these component supply units 13, for example. They are arranged in parallel. Each tape feeder 14 holds a small-sized electronic component such as an integrated circuit (IC), a transistor, a resistor, and a capacitor at a predetermined interval and holds a reel around which a tape is wound. By feeding the tape, the component is supplied to the component supply position at the tip of the feeder, and the component is picked up by the head unit 15.

  The head unit 15 for mounting components is provided above the base 10. The head unit 15 picks up components from the tape feeder 14 and conveys them onto the substrate P and mounts them on a predetermined position on the substrate P. The head unit 15 is mounted in a predetermined position on the substrate P in the X-axis direction (the substrate P by the conveyor 12). It is possible to move in the Y-axis direction orthogonal to this in the (conveying direction) and horizontal planes. That is, a support beam 20 extending in the X-axis direction is provided above the base 10, and the head unit 15 is movably supported by a fixed rail 21 fixed to the support beam 20. The support beam 20 is supported by a fixed rail 22 whose both end portions extend in the Y-axis direction, and is movable along the fixed rail 22 in the Y-axis direction. The head unit 15 is driven in the X-axis direction by the X-axis servo motor 23 via the ball screw shaft 24, while the support beam 20 is driven in the Y-axis direction by the Y-axis servo motor 25 via the ball screw shaft 26. It has come to be.

  A plurality of heads 16 for holding and transporting components are mounted on the head unit 15. In the present embodiment, a total of ten heads 16 are arranged in a row in the X-axis direction. Each head 16 has a component suction nozzle 16a (component holding member according to the present invention) attached to the tip (lower end) of a drive shaft extending in the Z-axis direction (vertical direction). The nozzle 16a is connected to the negative pressure generator via an internal passage of the drive shaft and a switching valve (not shown), and when sucking parts, a negative pressure suction force is applied from the negative pressure generator to the nozzle tip. Part adsorption is possible.

  Each head 16 can be moved up and down (moved in the Z-axis direction) and rotated around the nozzle central axis (R axis) with respect to the head unit 15, and is driven by a lift drive mechanism and a rotary drive mechanism, respectively. ing. Among these drive mechanisms, the lift drive mechanism lifts and lowers the head 16 between a lowered position when picking up or mounting (mounting) components and a raised position when carrying or picking up components. is there. On the other hand, the rotation drive mechanism is a mechanism for rotating the head 16 as necessary, and the component can be positioned in a predetermined R-axis direction during mounting by rotation drive. Each of these drive mechanisms is composed of a servo motor and a predetermined power transmission mechanism.

  The head unit 15 is further provided with a board imaging unit 18 and a component recognition device 17 for sequentially imaging and recognizing an image of the suction holding state of the board P in the nozzle 16a during component conveyance.

  The board imaging unit 18 includes an area sensor including a CCD imaging device and an illumination device such as a light emitting diode, and is fixed in a downward posture with respect to the head unit 15. Thereby, various marks on the substrate P carried into the work position can be imaged.

  FIG. 4 is a partial cross-sectional view showing the component recognition device 17. In this component recognition device 17, a scan unit 71 is provided in the head unit 15 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 a lower end portion of the head unit 15. 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. As a result, 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 while the coil portion 733 is sandwiched between the pair of linear guides 72, 72.

  The coil portion 733 of the linear motor 73 configured as described above is electrically connected to a linear drive control unit included in a control device (not shown) via a motor drive cable. When the drive signal is given from the linear drive control unit 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. 4, reference numeral 69 denotes a duct member that can be freely bent. The motor driving cable is accommodated in the duct member 69 together with a sensor cable described below. The sensor cable is a cable for electrically connecting a sensor for detecting the position of the scan unit 71 to the linear drive control unit. In this embodiment, a magnetic sensor 75 is used as the position detection sensor. That is, as shown in the figure, a plate-like magnetic scale 751 with magnetically recorded scales 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 electrical 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 via the sensor cable to detect the position of the scan unit 71.

  The scan unit 71 driven in the X-axis direction as described above is equipped with the component imaging camera 711 that images the lower surface of the component 5 adsorbed by the nozzle 16a. The camera 711 includes a condensing lens 711a and a line sensor 711b including a CCD image sensor. Further, the scan unit 71 includes an illumination unit 713 that illuminates the nozzle 16a 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 16a to illuminate the component 5 that is sucked and held by the nozzle 16a.

  The component imaging camera 711 is disposed inside the scan unit 71, captures an image of the lower surface of the component 5 via an image capturing unit 714 provided integrally with the scan unit 71, and transmits the image signal to the control device. Output to the included image processing unit. 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 is configured by a vertically long rectangular slit in the Y-axis direction. The image capturing unit 714 becomes an imaging region of the component imaging camera 711. By adopting the slit configuration in this way, the incidence of disturbance light to the camera 711 is suppressed, and the region corresponding to the slit shape is improved. It is possible to image. As the scan unit 71 moves, the image capturing unit 714 passes under the position of each nozzle 16a, so that the lower surface image of the component 5 adsorbed by the nozzle 16a is captured by the component imaging camera 711.

  In FIG. 4, reference numeral 715 denotes an optical path changing unit provided in the scan unit 71, and guides light directed downward from the head 16 side to the component imaging camera 711. More specifically, in this scan unit 71, as shown in FIGS. 3 and 4, the component imaging camera 711 is located on the side portion (right side in FIG. 4) with respect to the arrangement of the heads 16, and The image sensor of the line sensor 711b is fixed so as to be aligned in the X-axis direction (that is, the moving direction of the scan unit 71). The optical path changing unit 715 is arranged at a position below the image capturing unit 714, and at a side of the first prism 716 and at a position in front of the component imaging camera 711. As shown in FIG. 4, the light L traveling downward from the head 16 side through the image capturing unit 714 is reflected by the reflecting surface 716a of the first prism 716 and converted into horizontal light, as shown in FIG. Then, the light is directed in the X-axis direction, and further reflected by the reflecting surface 717a of the second prism 717 and directed in the Y-axis direction, so that the line sensor 711b of the component imaging camera 711 guides and receives the light. It has become. That is, in the present embodiment, the scan unit 71 is configured in this way, thereby achieving a compact configuration in which a required space in the vertical direction of the unit is suppressed.

  As shown in FIG. 2, the scan unit 71 configured as described above is arranged at either the first standby position P1 or the second standby position P2 set on both sides of the arrangement area of the head 16. Each cycle of the component mounting operation is alternately moved from one side of the standby positions P1 and P2 to the other side, and during this movement, the lower surface image of the component 5 sucked and held by each nozzle 16a is captured. Images are taken by the camera 711. The first standby position P1 and the second standby position P2 are positions on both sides of the arrangement area of the nozzles 16a (positions at which the scan unit 71 does not interfere with the nozzles 16a), and the image capturing unit 714 (component imaging). The distances PL1 and PL2 from the imaging region by the camera 711 to the end nozzle 16a are set to be substantially equal to each other, and the distances PL1 and PL2 are set as short as possible (see FIG. 2). As a result, even when the scan unit 71 is moved from either of the first and second standby positions P1 and P2, the control unit can drive the scan unit 71 under the same conditions. The first standby position P1 and the second standby position P2 of the scan unit 71 may be set by restricting the movement of the scan unit 71 by a physical means such as a stopper, and the magnetic unit It may be set by controlling the drive (position) of the scan unit 71 based on the reading of the magnetic scale 751 by the sensor 75.

  Although not shown, this component mounting apparatus is composed of a well-known CPU that executes logical operations, a ROM that stores various programs, a RAM that temporarily stores various data during operation of the apparatus, and the like. The drive of the head unit 15 and the scan unit 71 is all controlled by this control device. Based on the control of the control device, components are mounted on the board P as follows.

  First, the head unit 15 moves to the component supply unit 13 and the components are sucked by the heads 16. Specifically, after a predetermined head 16 is disposed above the tape feeder 14, the nozzle 16a is driven up and down, whereby the nozzle 16a is lowered and the components in the tape are sucked and taken out. At this time, if possible, components are taken out simultaneously by the plurality of nozzles 16a. When the component suction is completed, the head unit 15 moves from the component supply unit 13 onto the substrate P, and the component recognition device 17 performs image recognition of the component sucked by the nozzle 16a during this time. Specifically, as described above, the components held by suction at each nozzle 16a by driving the scan unit 71 from one side to the other side of the first standby position P1 and the second standby position P2. 5 is captured by the component imaging camera 711. Then, the control device performs component adsorption displacement with respect to the center of the nozzle 16a based on the imaged lower surface image of the component and confirmation of the position of the component in the R-axis direction, and further, based on the confirmation result, A correction amount is calculated.

  When the head unit 15 moves onto the substrate P and reaches the first mounting position, the nozzle 16a is driven up and down to mount components on the substrate P, and thereafter the head unit 15 sequentially moves to the mounting position. As a result, the suction components of the nozzles 16a are sequentially mounted on the substrate P.

  In the component mounting apparatus according to the present invention as described above, after the component suction, an image of the suction component by each nozzle 16a is recognized by driving the scan unit 71 provided in the head unit 15, but in the scan unit 71 of this embodiment, As described above, the component imaging camera 711 is arranged so as to move the side portion of the nozzle 16a in a state of being directed in the Y-axis direction, and then the light L (the lower surface of the component) is directed downward from the head 16 side. The optical path of the image) is changed by the optical path changing unit 715 and guided to the component imaging camera 711. Therefore, the component imaging camera 711 does not protrude greatly downward, and the scan unit 71 has a compact configuration in the vertical direction. In particular, in this embodiment, since the component imaging camera 711 is arranged so that the imaging elements of the line sensor 711b are arranged in the X-axis direction, the vertical compactness of the scan unit 71 is effectively achieved. Therefore, in this component mounting apparatus, it is possible to effectively prevent the head unit 15 from being enlarged (up and down), to ensure the running stability of the unit 15, and to improve the head 16 (nozzle 16a). Ascending / descending stroke can be reduced, and as a result, it is possible to effectively reduce the occurrence of misalignment during component suction / attachment due to shaft runout or the like during head elevation.

  In addition, since the standby positions P1 and P2 of the scan unit 71 are set as described above, it is possible to stably display the same quality component image while reducing the control load of the scan unit 71 by the control device with respect to the image recognition of the component. There is an advantage that can be obtained. That is, in the scan unit 71 as described above, as shown in FIG. 4, the position of the component imaging camera 711 (line sensor 711b) and the position of the imaging region by the camera 711 (position of the image capturing unit 714) are in the X axis. As a result, the position of the image capturing unit 714 is deviated from the center position of the scan unit 71 toward one end side in the X-axis direction (left side in FIG. 1). It becomes. Accordingly, when the first standby position and the second standby position are simply set on both sides of the arrangement area of the nozzle 16a (that is, a position as close as possible to the nozzle 16a as long as the nozzle 16a and the scan unit 71 do not interfere with each other). Then, the distance from the image capturing section 714 to the terminal nozzle 16a at each standby position is different, and in which direction the scan unit 71 is driven (that is, from which standby position the scan unit 71 is driven). Or the like), it becomes necessary to change the control contents such as the movement start timing and acceleration of the scan unit 71, and the control load of the scan unit 71 by the control device increases. It is also conceivable that the control content of the scan unit 71 is changed according to the moving direction, and the obtained image quality is slightly affected. On the other hand, according to the configuration of the above embodiment, the first standby position P1 and the second standby position P2 are set so that the distances PL1 and PL2 from the image capturing unit 714 to the terminal nozzle 16a are substantially equal to each other. Therefore, even when the scan unit 71 is driven from any of the standby positions P1 and P2, the scan unit 71 can be driven and controlled under the same conditions, so that the same part image can be obtained regardless of the moving direction of the scan unit 71. Can be obtained. Therefore, it is possible to stably acquire the same quality component image while reducing the control load of the scan unit 71 by the control device. As a result of being able to stably acquire the same quality component image regardless of the moving direction of the scan unit 71 as described above, the reliability of the image recognition can be improved by suppressing variations in the image recognition accuracy of the components. .

  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 17 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 component recognition device 17 of the above embodiment, the scan unit 71 is supported by the head unit 15 so as to be movable, and the scan unit 71 is driven by the linear motor 73. The drive mechanism may be other than this. For example, a combination of a rotary motor (drive source), a linear guide, an endless belt, and the like may be employed. In other words, the scan unit may be mounted on a linear guide, an endless belt may be disposed along the guide, and the endless belt may be moved around by driving the motor to linearly move the scan unit. Further, as another driving mechanism, it is possible to apply a mechanism in which the ball screw shaft is rotationally driven by a rotary motor and the scan unit is linearly moved along the guide via the screw shaft. .

  In the scan unit 71 of the above-described embodiment, the lower surface image of the component adsorbed by the nozzle 16a is captured by the component imaging camera 711. However, the scan unit 71 further combines the side images of the component. It may be configured to be able to capture images. In the embodiment, the component imaging camera 711 is a camera including the line sensor 711b, but may be a camera including an area sensor.

  In the above embodiment, the component imaging camera 711 is arranged so that the imaging elements of the line sensor 711 b are aligned in the movement direction (X-axis direction) of the scan unit 71, and the head 16 side captured from the image capturing unit 714 As a result of guiding the light to the component imaging camera 711 via the optical path changing unit 715, the image capturing unit 714 (camera imaging region) is one end side in the moving direction from the center position of the scan unit 71. The configuration is biased to. However, the application target of the present invention is not limited to such a structure of the scan unit 71. In the scan unit, the position of the imaging area of the camera is biased from the center position of the scan unit toward one end in the moving direction. Any device having a configuration can be widely applied.

  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.

1 is a plan view showing a schematic configuration of a component mounting apparatus according to the present invention (a component mounting apparatus to which a component recognition apparatus according to the present invention is applied). It is a front view which shows a head unit. It is a fragmentary sectional view which shows the structure of a components recognition apparatus. It is a schematic diagram which shows the main structures of a scan unit.

Explanation of symbols

P substrate 15 head unit 16 head 16a nozzle 17 component recognition device 71 scan unit 711 component imaging camera 714 image capturing unit 715 optical path changing unit

Claims (5)

A scan unit that is movably mounted on a head unit that includes a component holding member capable of holding a component, and the scan unit includes a first standby position set on both sides of the component holding member in the head unit; And a component recognition apparatus for recognizing an image by moving the second standby position from one side to the other side by capturing an image of a component holding state by the component holding member by an imaging unit included in the scan unit,
The imaging unit includes a component imaging unit that captures an image of a component held by the component holding member, and an image that can be captured by the component imaging unit when the imaging unit moves as the scan unit moves. The component imaging unit captures an image of a component that has been moved and is held by the component holding member, and the imaging region has a position that is deviated from the center position of the scan unit toward the one side in the moving direction. Is configured to be
The first standby position and the second standby position of the scan unit are set such that the distance from the imaging region to the component holding member in the moving direction is substantially equal to each other. . The component recognition apparatus according to claim 1,
The head unit includes a plurality of component holding members arranged in a row, and the scan unit includes the first standby position and the second standby position that are set on both sides of the arrangement region of the component holding members. The first holding position and the second standby position of the scan unit are closest to the imaging area, and move in the arrangement direction of the component holding members from one side to the other side of the positions. A component recognition apparatus, wherein the distances are set so as to be substantially equal to each other. The component recognition apparatus according to claim 1 or 2,
The component holding member is a nozzle that sucks the upper surface of the component and holds the component, and the imaging unit is configured such that the imaging region is below the component held by the nozzle as the scan unit moves. The component imaging unit captures the lower surface image of the component by moving the position, and the component imaging unit has the imaging elements arranged in the moving direction of the scan unit and moves the side part of the suction nozzle. The imaging means converts the light traveling downward from the nozzle side in the imaging region into horizontal light along the moving direction, and further converts the horizontal light into the moving direction. The component recognition apparatus further comprising: an optical path changing unit that guides in a direction orthogonal to the line sensor. 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. 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.

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