JP2009224483A - Method of mounting component and component suction posture decision method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method of mounting components and a component suction posture decision method that determines the right or wrong of a suction posture of a component sucked to a suction nozzle during packaging work of a component mounter so that component data for image processing may be automatically created. <P>SOLUTION: Before the suction nozzle is used to absorb a component supplied by a feeder 19, a component image made of the component from above by a mark camera 18 (a component image before suction) is taken in, and a component image made of the component from down below by a part camera 17 after the component is absorbed by the suction nozzle (a component image after suction) is taken in to compare the component image before the absorption and that after the absorption to determine whether the component suction posture is right and confirm that the component suction posture is normal, and then, component data for image processing are automatically created based on the component image after the absorption (or that before the absorption), automatically created component data for image processing are used to do image processing on the component image pictured by the part camera 17, and the component is mounted to the circuit board based on the processing result. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a component mounting method and a component suction posture determination method applied to a technique for recognizing an image of a component sucked by a suction nozzle of a component mounting machine and mounting the component on a circuit board.

  In general, in a component mounting machine, a part picked up by a pick-up nozzle is picked up by a camera, and the picked-up image data is compared with image processing part data to determine the type of the part or to judge whether the picking posture of the part is good or bad. Like to do. In this case, the image processing component data defines the shape, dimensions, etc. of the component, and the data specifications and component data creation methods may differ depending on the component mounter manufacturer or component mounter model. Many. Under such circumstances, creation of image processing component data requires knowledge and experience, and an engineer who has received training has created component data. For this reason, in an actual production site, the problem that the quality of parts data quality is influenced by the skill level of an engineer has occurred.

Therefore, as described in Patent Document 1 (Japanese Patent No. 2615482), component data for image processing is automatically created during the mounting operation of the component mounter, and the component mounter is used by using the component data. It has been proposed to image-recognize a component adsorbed by a suction nozzle and mount it on a circuit board.
Japanese Patent No. 2615482

  By the way, the components adsorbed to the adsorption nozzle of the component mounting machine do not necessarily have a normal adsorption posture, and abnormal adsorption called “standing adsorption” or “oblique adsorption” may occur. However, in the technique of Patent Document 1, since the component mounter cannot determine whether the suction posture is good or not before automatically creating image processing component data, the component data is stored after the image processing component data is automatically created. There is a problem that an operator needs to confirm that the product is created with a correct suction posture, and the confirmation work is troublesome.

  The present invention has been made in consideration of such circumstances. Accordingly, the object of the present invention is to confirm the quality of the suction posture of the component sucked by the suction nozzle during the mounting operation of the component mounting machine, and to perform image processing. An object of the present invention is to provide a component mounting method and a component suction posture determination method capable of automatically creating component data.

  In order to achieve the above object, according to the first aspect of the present invention, component data for image processing is automatically created during a mounting operation of a component mounter, and the component data is used to suck the component data to the suction nozzle of the component mounter. In the component mounting method for recognizing the mounted component and mounting it on the circuit board, the component image obtained by picking up the component supplied from the feeder from the upper side before the component is sucked by the suction nozzle (hereinafter referred to as “component image before suction”) ), A process of capturing a part image obtained by picking up the part from the lower side after the part is sucked by the suction nozzle (hereinafter referred to as “part image after suction”), a part image before the suction, and the post-suction The process of determining whether or not the suction posture of the component is good by comparing with the component image of the component, and after confirming that the suction posture of the component is normal, the component image after suction or the component image before suction It is characterized in that comprises a component data creating process to automatically create a image-processing component data based.

  Before the component is picked up by the suction nozzle, the component is waiting in a horizontal state (normal posture) at the suction position of the feeder. Therefore, the component image is picked up from above and picked up from below. Comparing with the part image after suction, if the external shape of the part matches in the part image before and after suction, it means that the posture of the part has not changed before and after suction. It can be judged that there is. On the other hand, if the external shapes of the components do not match in the component images before and after the suction, it means that the posture of the component has changed before and after the suction, and therefore it can be determined that the suction is abnormal (standing or diagonal suction). Thus, in the present invention, it is possible to automatically create image processing component data after confirming that the suction posture of the component sucked by the suction nozzle is normal, and after the automatic creation of the image processing component data, This eliminates the need for the operator to confirm that the part data is created with the correct suction posture, thereby improving productivity.

  In this case, the image processing component data creation process may use any method. For example, as in claim 2, the type of the component is determined from the component image after suction or the component image before suction. The image processing component data may be generated by extracting data representing the characteristics of the component from the component image according to the determined component type. In this way, it is possible to select an appropriate image processing algorithm according to the type of component determined from the component image, and automatically extract data representing the characteristics of the component from the component image. Appropriate part data according to the type can be created automatically.

  Note that the method for determining the component suction posture by comparing the component images before and after suction is not limited to the case of automatically creating the image processing component data, but the image processing component created by the same method as before. Even when data is used, it can be used as a method for determining the component suction posture.

Hereinafter, an embodiment embodying the best mode for carrying out the present invention will be described.
First, the system configuration of the component mounter will be described with reference to FIG.
The component mounter includes a control device 11 configured by a computer, an input device 12 such as a keyboard and a mouse, a display device 13 such as a liquid crystal display and a CRT, and a component mounter control program and image processing data described later. The storage device 14 for storing, the suction nozzle moving device 15 for moving the suction nozzle in the X, Y, and Z directions, the substrate transport device 16 for transporting the circuit board on which the component is mounted, and the component sucked by the suction nozzle from below. It has a configuration including a parts camera 17 for imaging and a mark camera 18 for imaging a reference position mark of a circuit board mainly from above. In the present embodiment, the mark camera 18 is also used as a camera that picks up an image of the component supplied from the upper side before the component supplied to the suction position by the feeder 19 with the suction nozzle.

  Further, a feeder 19 for supplying a component is detachably set in the component mounter, and the feeder 19 has an information recording medium such as a bar code label or electronic tag in which component information such as the type of component to be supplied is recorded. The information recorded on the information recording medium is read by an information reading device 20 such as a bar code reader and input to the control device 11.

  The control device 11 executes a component mounter control program shown in FIGS. 2 and 3 to be described later, and marks the component at the suction position before sucking the component supplied to the suction position by the feeder 19 with the suction nozzle. A process of capturing a part image captured from above by the camera 18 (hereinafter referred to as “part image before suction”), and a part image obtained by capturing the part from below by the part camera 17 after suctioning the part by the suction nozzle (hereinafter referred to as “part image”). A process of capturing a component image after suction), a process of comparing the component image before suction and the component image after suction, and determining whether the suction posture of the component is good, and the suction posture of the component After confirming that it is normal, a component data creation process for automatically creating component data for image processing based on the component image after suction (or the component image before suction), Using image-processing component data generated, and a process of mounting the components on the circuit board on the basis of the processing result by the image processing component image after the adsorption captured by parts camera 17.

  Hereinafter, processing contents of the component mounter control program of FIGS. 2 and 3 will be described. This program is repeatedly executed according to job data. When this program is started, first, in step 100, it is determined whether or not image processing component data has been automatically created. If image processing component data has been automatically created, the flow proceeds to step 110. Then, after picking up the part with the suction nozzle, the part image obtained by picking up the part from below with the part camera 17 (part image after picking up) is taken in, and the process proceeds to step 115 in FIG. 3 to automatically generate the part data for image processing. Using the image processing, the component image after suction is image-processed, and in the next step 116, the component is mounted on the circuit board based on the image processing result.

  On the other hand, if it is determined in step 100 that component data for image processing has not yet been automatically created, the process proceeds to step 101 where it is recorded on an information recording medium such as a barcode label of the feeder 19 that supplies the component. It is determined whether or not the component information has been read by the information reader 20 such as a barcode reader. If the component information of the feeder 19 has not been read by the information reader 20, the process proceeds to step 102 and the component of the feeder 19 is read. Information is read by the information reading device 20 and input to the control device 11. If the information reading device 20 has already read the component information of the feeder 19, the process of step 102 is omitted.

  Thereafter, the process proceeds to step 103, where a component image obtained by capturing the component at the suction position from above with the mark camera 18 before the component supplied to the suction position by the feeder 19 with the suction nozzle (component image before suction) is obtained. take in. Thereafter, the process proceeds to step 104, where the part is sucked by the suction nozzle, and in the next step 105, a part image (part image after suction) obtained by picking up the part sucked by the suction nozzle from below is captured.

  Thereafter, the process proceeds to step 106, where the part image before suction and the part image after suction are compared to determine whether or not the external shapes of the parts match in the part images before and after suction. If the external shape of the part does not match in this case, it means that the posture of the part has changed before and after the suction. Therefore, the process proceeds to step 108, and it is determined that the abnormal suction (standing suction or diagonal suction), and the process proceeds to step 109. The part determined to be abnormally picked up is discarded in a predetermined disposal box, and this program is terminated.

  On the other hand, if it is determined in step 106 that the external shapes of the parts match in the part images before and after suction, this means that the posture of the part has not changed before and after suction. Then, it is determined that the suction posture of the part sucked by the suction nozzle is normal.

  Thereafter, the process proceeds to step 111 in FIG. 3, and data (hereinafter referred to as “feature data”) representing a part characteristic is extracted from the part image after suction (or the part image before suction). This feature data includes pixel frequency and zero cross pattern frequency data in the horizontal and vertical directions. After that, the extracted feature data is compared with the feature data in the database of reference component data stored in the storage device 14, and the type of the component that matches the two is automatically determined. This makes it possible to automate the process of selecting an image processing algorithm according to the type of component. This part type discrimination is performed using a matching method (abbreviation: DP matching) by dynamic programming.

  Thereafter, the process proceeds to step 112, and component data for image processing of the component (data on the position and size of the body, lead, bump, etc.) of the component is extracted from the component image according to the determined component type. Details of the processing of these steps 111 and 112 are described in JP-A-2006-338482. In addition, you may use the image recognition technique described in Unexamined-Japanese-Patent No. 2007-142039 and Unexamined-Japanese-Patent No. 2007-142162.

  Thereafter, the process proceeds to step 113, and in order to measure the shape data in the height direction such as the thickness dimension of the part using the depth of focus method, the suction nozzle is moved up and down, and a plurality of part images are captured by the parts camera 17. The shape data in the height direction of the part is automatically measured.

  Thereafter, the process proceeds to step 114, and the extracted image processing component data is stored in the image processing component data database stored in the storage device 14 in association with the type of the component. Thereafter, the process proceeds to step 115, where the image data of the part after suction is processed using the automatically created part data for image processing, and in step 116, the part is mounted on the circuit board based on the image processing result. To do.

  In the present embodiment described above, the part image before suction picked up from the upper part is compared with the part image after picked up picked up from the lower part, and the external shapes of the parts match in the part images before and after suction. After confirming (that is, the suction posture of the part sucked by the suction nozzle is normal), the part data for image processing is automatically created, so the part after automatic creation of the part data for image processing This eliminates the need for the operator to confirm that the data has been created with the correct suction posture, thereby improving productivity.

Note that the method for automatically creating image processing component data is not limited to the above method, and image processing component data may be automatically created by other methods.
In addition, the method of comparing the component images before and after the suction to determine the suction posture of the component is not limited to the case of automatically creating the image processing component data, but the image processing component created by the same method as the conventional method Even when data is used, it can be used as a method for determining the component suction posture.

  In addition, the present invention may be variously modified within a range not departing from the gist, such as using a camera other than the parts camera 17 and the mark camera 18 to capture a part image before suction or a part image after suction. Needless to say, this can be done.

It is a block diagram which shows roughly the system configuration | structure of the component mounting machine in one Example of this invention. It is a flowchart which shows the flow of a process of the first half part of a component mounting machine control program. It is a flowchart which shows the flow of a process of the second half part of a component mounting machine control program.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11 ... Control apparatus, 14 ... Memory | storage device, 17 ... Parts camera, 18 ... Mark camera, 19 ... Feeder, 20 ... Information reader

Claims (3)

In a component mounting method in which component data for image processing is automatically created during mounting work of a component mounter, and the component sucked by the suction nozzle of the component mounter is image-recognized using the component data and mounted on a circuit board ,
Processing to capture a component image obtained by imaging the component from above (hereinafter referred to as “component image before suction”) before sucking the component supplied by the feeder with the suction nozzle;
Processing to capture a component image (hereinafter referred to as “component image after suction”) obtained by picking up the component from below after sucking the component with the suction nozzle;
Processing for comparing the component image before suction and the component image after suction to determine whether the suction posture of the component is good,
A component data creation process for automatically creating image processing component data based on the component image after suction or the component image before suction after confirming that the suction posture of the component is normal. A characteristic component mounting method.   In the component data creation process, the type of the component is determined from the component image after suction or the component image before suction, and data representing the characteristics of the component is extracted from the component image according to the determined type of component. The component mounting method according to claim 1, wherein image processing component data is created. In the component suction posture determination method for determining the suction posture of the component sucked by the suction nozzle of the component mounting machine,
Processing to capture a component image obtained by imaging the component from above (hereinafter referred to as “component image before suction”) before sucking the component supplied by the feeder with the suction nozzle;
Processing to capture a component image (hereinafter referred to as “component image after suction”) obtained by picking up the component from below after sucking the component with the suction nozzle;
A component suction posture determination method comprising: comparing the component image before suction and the component image after suction to determine whether the suction posture of the component is good or not.

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