JP2010272549A5 - - Google Patents
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- JP2010272549A5 JP2010272549A5 JP2009120475A JP2009120475A JP2010272549A5 JP 2010272549 A5 JP2010272549 A5 JP 2010272549A5 JP 2009120475 A JP2009120475 A JP 2009120475A JP 2009120475 A JP2009120475 A JP 2009120475A JP 2010272549 A5 JP2010272549 A5 JP 2010272549A5
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Claims (8)
前記基台上に配置されるとともに複数のフィデューシャルマークを有する基板上に、部品を装着するために設けられ、第１撮像装置を有するとともに前記基台の上方を移動可能な第１ヘッドユニットと、
前記基板上に部品を装着するために設けられ、第２撮像装置を有するとともに前記基台の上方を前記第１ヘッドユニットとは独立して移動可能な第２ヘッドユニットと、
前記第１ヘッドユニット、前記第１撮像装置、前記第２ヘッドユニットおよび前記第２撮像装置の駆動を制御する制御装置とを備え、
前記制御装置は、前記基板の位置を認識するために前記基台上に配置された前記基板のフィデューシャルマークを撮像する際に、前記複数のフィデューシャルマークのうち、少なくとも１つの前記フィデューシャルマークを前記第１ヘッドユニットの第１撮像装置に撮像させるのと並行して、残りの前記フィデューシャルマークを前記第２ヘッドユニットの第２撮像装置に撮像させ、前記第１撮像装置による前記フィデューシャルマークの撮像結果と前記第２撮像装置による前記フィデューシャルマークの撮像結果とに基づいて前記基板の位置を認識するように構成されている、実装機。 The base,
A first head unit disposed on the base and provided for mounting a component on a substrate having a plurality of fiducial marks and having a first imaging device and movable above the base When,
A second head unit provided for mounting a component on the substrate, having a second imaging device and movable above the base independently of the first head unit;
A control device that controls driving of the first head unit, the first imaging device, the second head unit, and the second imaging device;
The control device picks up at least one of the fiducial marks among the plurality of fiducial marks when imaging the fiducial mark of the substrate disposed on the base for recognizing the position of the substrate. In parallel with causing the first image pickup device of the first head unit to pick up an image of the dual mark, the remaining image of the fiducial mark is picked up by the second image pickup device of the second head unit, and the first image pickup device. The mounting machine is configured to recognize the position of the substrate based on the imaging result of the fiducial mark by the second imaging device and the imaging result of the fiducial mark by the second imaging device.
前記制御装置は、前記基板のフィデューシャルマークを撮像する際に、前記第１移動範囲内で、かつ、前記第２移動範囲外に位置するフィデューシャルマークを前記第１撮像装置に撮像させるのと並行して、残りの前記フィデューシャルマークを前記第２撮像装置に撮像させ、前記第１撮像装置による前記フィデューシャルマークの撮像結果と前記第２撮像装置による前記フィデューシャルマークの撮像結果とに基づいて前記基板の位置を認識するように構成されている、請求項１に記載の実装機。 The first imaging device and the second imaging device move above the base within the first movement range and the second movement range, respectively, with the movement of the first head unit and the second head unit. Is possible,
When the fiducial mark on the substrate is imaged, the control device causes the first imaging device to image a fiducial mark located within the first movement range and outside the second movement range. In parallel , the remaining image of the fiducial mark is captured by the second imaging device, the imaging result of the fiducial mark by the first imaging device and the fiducial mark by the second imaging device. The mounter according to claim 1, wherein the mounter is configured to recognize a position of the substrate based on an imaging result.
前記第２撮像装置は、前記第２ヘッドユニットにおいて、前記基板の搬送方向のうちの他方方向側の端部に取り付けられている、請求項２または３に記載の実装機。 In the first head unit, the first imaging device is attached to an end on one side of the transport direction of the substrate,
The mounting apparatus according to claim 2, wherein the second imaging device is attached to an end portion on the other direction side in the transport direction of the substrate in the second head unit.
前記制御装置は、前記基板の位置を認識するために前記基台上に配置された基板のフィデューシャルマークを撮像する際に、前記第１移動範囲と前記第２移動範囲とが重なる範囲内に位置するフィデューシャルマークを撮像する際には、前記フィデューシャルマークまでの前記第１撮像装置の移動時間と前記第２撮像装置の移動時間とを比較するとともに、前記第１撮像装置および前記第２撮像装置のうちの前記フィデューシャルマークまでの移動時間が小さい方に前記フィデューシャルマークを撮像させるように構成されている、請求項１〜４のいずれか１項に記載の実装機。 The first imaging device and the second imaging device move in the first movement range and the second movement range, respectively, above the base as the first head unit and the second head unit move. Is possible,
When the control device captures an image of a fiducial mark of a substrate placed on the base in order to recognize the position of the substrate, the control device has a range in which the first movement range and the second movement range overlap. When imaging a fiducial mark located at a position, the moving time of the first imaging device to the fiducial mark is compared with the moving time of the second imaging device, and the first imaging device and The mounting according to any one of claims 1 to 4, wherein the second imaging device is configured to cause the fiducial mark to be imaged in a direction in which movement time to the fiducial mark is shorter. Machine.
前記第１移動範囲内で、かつ、前記第２移動範囲内の前記基台上に配置された基台マークをさらに備え、
前記制御装置は、前記第１撮像装置および前記第２撮像装置の両方に前記基台マークを撮像させることによって、前記第１ヘッドユニットの座標系に対する前記第２ヘッドユニットの座標系の相対的なずれを補正する座標系補正値を取得するように構成されており、
前記制御装置は、前記第１撮像装置による前記フィデューシャルマークの撮像結果と、前記第２撮像装置による前記フィデューシャルマークの撮像結果と、前記座標系補正値とに基づいて前記基板の位置を認識するように構成されている、請求項１〜５のいずれか１項に記載の実装機。 The first imaging device and the second imaging device move above the base within the first movement range and the second movement range, respectively, with the movement of the first head unit and the second head unit. Is possible,
A base mark disposed on the base within the first movement range and within the second movement range;
The control device causes the coordinate system of the second head unit to be relative to the coordinate system of the first head unit by causing both the first imaging device and the second imaging device to image the base mark. It is configured to acquire the coordinate system correction value to correct the deviation,
The control device is configured to determine the position of the substrate based on the imaging result of the fiducial mark by the first imaging device, the imaging result of the fiducial mark by the second imaging device, and the coordinate system correction value. The mounting machine according to any one of claims 1 to 5, wherein the mounting machine is configured to recognize.
前記基板の位置を認識する際には、前記制御装置は、前記第１撮像装置による前記フィデューシャルマークの撮像結果と、前記第２撮像装置による前記フィデューシャルマークの撮像結果と、最新の前記座標系補正値とに基づいて前記基板の位置を認識するように構成されている、請求項６に記載の実装機。 The control device includes the base mark on both the first image pickup device and the second image pickup device a plurality of times during a mounting operation including the time of transporting the substrate and the time of mounting the component on the substrate. The coordinate system correction value is acquired and updated a plurality of times during the mounting operation.
When recognizing the position of the substrate, the control device captures the latest imaging result of the fiducial mark by the first imaging device, the imaging result of the fiducial mark by the second imaging device, and the latest The mounter according to claim 6, wherein the mounter is configured to recognize the position of the substrate based on the coordinate system correction value.
前記制御装置は、前記基板の位置を認識するために前記基台上に配置された前記基板のフィデューシャルマークを撮像する際に、前記同一の種類からなる一組のフィデューシャルマークのうち、少なくとも１つの前記フィデューシャルマークを前記第１ヘッドユニットの第１撮像装置に撮像させるのと並行して、残りの前記フィデューシャルマークを前記第２ヘッドユニットの第２撮像装置に撮像させ、前記第１撮像装置による前記フィデューシャルマークの撮像結果と前記第２撮像装置による前記フィデューシャルマークの撮像結果とに基づいて前記基板の位置を認識するように構成されている、請求項１〜７のいずれか１項に記載の実装機。When the control device images the fiducial mark of the substrate arranged on the base for recognizing the position of the substrate, among the set of fiducial marks of the same type, In parallel with at least one fiducial mark being imaged by the first imaging device of the first head unit, the remaining fiducial mark is imaged by the second imaging device of the second head unit. The position of the substrate is recognized based on an imaging result of the fiducial mark by the first imaging device and an imaging result of the fiducial mark by the second imaging device. The mounting machine of any one of 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009120475A JP4810586B2 (en) | 2009-05-19 | 2009-05-19 | Mounting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009120475A JP4810586B2 (en) | 2009-05-19 | 2009-05-19 | Mounting machine |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2010272549A JP2010272549A (en) | 2010-12-02 |
| JP2010272549A5 true JP2010272549A5 (en) | 2011-03-31 |
| JP4810586B2 JP4810586B2 (en) | 2011-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2009120475A Active JP4810586B2 (en) | 2009-05-19 | 2009-05-19 | Mounting machine |
Country Status (1)
| Country | Link |
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| JP (1) | JP4810586B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6403435B2 (en) * | 2014-05-28 | 2018-10-10 | ヤマハ発動機株式会社 | Component mounting apparatus, component mounting method, and mounting data correction method |
| CN110720259B (en) * | 2017-06-09 | 2021-02-12 | 株式会社富士 | Substrate processing system |
| JP6985901B2 (en) * | 2017-11-24 | 2021-12-22 | ヤマハ発動機株式会社 | Component mounting machine and mounting line |
| WO2023157134A1 (en) * | 2022-02-16 | 2023-08-24 | ヤマハ発動機株式会社 | Component mounting device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3307990B2 (en) * | 1992-08-31 | 2002-07-29 | ヤマハ発動機株式会社 | Article recognition method and apparatus |
| JP4381568B2 (en) * | 2000-06-19 | 2009-12-09 | ヤマハ発動機株式会社 | Board recognition method and apparatus for component mounting system |
| JP2006080468A (en) * | 2004-09-13 | 2006-03-23 | Juki Corp | Component mounting position correction method and component mounting device |
| JP4828298B2 (en) * | 2006-05-11 | 2011-11-30 | ヤマハ発動機株式会社 | Component mounting method and component mounting apparatus |
| JP4954698B2 (en) * | 2006-12-28 | 2012-06-20 | ヤマハ発動機株式会社 | Surface mounter and control method of surface mounter |
| JP4986760B2 (en) * | 2007-08-01 | 2012-07-25 | Ｊｕｋｉ株式会社 | Surface mount equipment |
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