JP2015220419A - Component mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform component recognition efficiently, even in a case where an in-line type and rotary type head units are used selectively, with a simple and reasonable configuration.SOLUTION: A component mounting device M includes a head unit 5 for holding a component from a component supply section 4 and mounting on a substrate P, and a component recognition unit 6 for imaging the component held by the head unit 5 before being mounted on the substrate P. The component recognition unit 6 includes a line sensor camera 22, a support member for supporting the line sensor camera 22 rotatably about a vertical axis, and a fixing device for fixing the line sensor camera 22 at a first rotational position and a second rotational position around the vertical axis different from each other.

Description

  The present invention relates to a component mounting apparatus that takes out components from a component supply unit and mounts them on a substrate.

  2. Description of the Related Art Conventionally, there is known a component mounting apparatus that includes a movable head unit, sucks and takes out a component from a component supply unit, and transports and mounts the component onto a substrate at a mounting work position.

  A line sensor camera is installed between the component supply unit and the mounting work position. Prior to component mounting, the head unit is moved in a direction perpendicular to the image sensor array with respect to the line sensor camera. The suction state is imaged, and the mounting position is corrected according to the suction state.

  As a form of the head unit, a plurality of heads are arranged in a row in a direction (referred to as the second direction) orthogonal to the arrangement direction (referred to as the first direction) between the component supply unit and the mounting work position. A type unit and a so-called rotary type unit in which a plurality of heads are arranged on the circumference and all the heads move integrally in the circumferential direction are known.

  When the in-line unit is provided, the line sensor camera is installed so that the imaging elements are arranged in a direction orthogonal to the head arrangement direction, that is, in the first direction. This is because parts recognition is performed using an inexpensive line sensor camera or a small illumination device with a relatively small number of image sensors. On the other hand, when a rotary unit is provided, the diameter of the circumference in which the heads are arranged is often relatively small (small compared to the arrangement length of the heads of the inline unit). The line sensor camera is installed so that the imaging elements are arranged in a direction orthogonal to the arrangement direction with the mounting work position, that is, in the second direction. As a result, component recognition can be performed efficiently while moving the head unit more straightly from the component supply unit to the mounting work position.

  Conventionally, the form of the head unit is unique to the apparatus, and the user cannot freely change the head unit in a single component mounting apparatus. However, with the diversification of board manufacturing forms, in recent years, it has been considered that a single component mounting apparatus can selectively use an inline type unit and a rotary type unit according to the type of board.

  In this case, it becomes a problem which of the above specifications is provided for the line sensor camera. For example, if the camera specification of an inline type unit is adopted, even when a rotary type unit is used, it is necessary to always move the head unit in the second direction with respect to the line sensor camera, resulting in poor efficiency. On the other hand, if the camera specification of the rotary unit is adopted, a line sensor having a large number of image sensors corresponding to the head arrangement length of the inline unit and a large illumination device are required, which is uneconomical. Therefore, for example, as disclosed in Patent Document 1, a line sensor camera including a cross-shaped image sensor array in the first direction and an image sensor array in the second direction is applied, and depending on the type of the head unit, It is conceivable to use the image sensor array properly, that is, to change the moving direction of the head unit with respect to the line sensor camera.

Japanese Patent No. 5051082

  However, the line sensor camera as disclosed in Patent Document 1 is, after all, equivalent to providing a line sensor camera of both inline type unit and rotary type unit, and the line sensor camera itself is a dedicated product (generally distributed in the market). Which is not a general-purpose product), which is disadvantageous in terms of cost.

  The present invention has been made in view of the above circumstances, and recognizes parts even when inline and rotary head units are selectively used with a simple and rational configuration. The purpose is to be able to perform efficiently.

  In order to solve the above-described problems, the present invention includes a component supply unit, a mounting operation unit, and a head unit that holds components from the component supply unit and mounts them on a substrate disposed in the mounting operation unit. The component mounting apparatus includes an image pickup device that picks up an image of the component held by the head unit from below before mounting on the substrate, and the image pickup device can rotate the line sensor and the line sensor around a vertical axis. And a fixing device that fixes the line sensor at different first and second positions around the vertical axis.

  More specifically, the head unit is a unit selected from a first unit main body and a second unit main body for holding each component, and the first unit main body and the second unit main body. A unit support part to which the main body part is detachably mounted, and the first position is a position of a line sensor for imaging a component held by the first unit main body part, and The 2 position is a position of the line sensor for imaging the component held in the second unit main body.

  According to these configurations, depending on the configuration of the head unit, that is, which of the first unit main body and the second unit main body is attached to the unit support, the line sensor is moved to the first position or the first position. By fixing at two positions (changing the direction of the image sensor array), it is possible to efficiently perform image recognition of components using a common line sensor.

  In this case, a detection device that detects whether the line sensor is fixed at the first position or the second position, and any of the first unit main body and the second unit main body is the unit. A discriminating device that discriminates whether or not it is attached to the support portion, and the discriminating device has a fixed position of the line sensor and a unit main body portion attached to the unit support portion based on the detection result of the detection device. It is preferable to determine whether the correspondence is good or bad.

  According to this configuration, the determination as to whether or not the correspondence between the unit main body (the first unit main body or the second unit main body) supported by the unit support and the fixed position of the line sensor is correct is automated. It becomes possible. Therefore, it is advantageous in preventing the mounting operation from proceeding with the correspondence relationship being incorrect.

  In this case, it is preferable that a notification device for notifying abnormality is provided when the correspondence between the fixed position of the line sensor and the unit main body mounted on the unit support is not correct.

  According to this configuration, the operator's attention can be alerted, and it is possible to prevent the mounting operation from proceeding while the correspondence relationship is incorrect.

  As a more specific configuration of the component mounting apparatus, the component mounting apparatus includes a control device that controls driving of the head unit, and the component supply unit and the mounting work unit are arranged in a first direction, The unit main body includes a plurality of component holding heads arranged in a second direction orthogonal to the first direction, and the second unit main body includes a plurality of component suctioning arranged on a circumference. The first position is a position where the direction of the image sensor array of the line sensor is parallel to the first direction, and the second position is the direction of the image sensor array of the line sensor is the first position. The control device moves the head unit in the second direction relative to the imaging device when the first unit main body is mounted on the unit support portion. On the other hand, said When the second unit main body is mounted on the knit support, the head unit is moved in the first direction with respect to the imaging device, so that the components held by the head are respectively detected by line sensors. Let's take an image.

  According to this configuration, it is possible to efficiently perform image recognition of components regardless of which of the first unit main body and the second unit main body is used, while keeping the number of image sensors of the line sensor relatively small. It becomes possible.

  As described above, according to the component mounting apparatus of the present invention, the line sensor is fixed at the first position or the second position according to the configuration of the head unit, that is, the direction of the imaging element array is changed. Thus, it is possible to perform image recognition of components while using a common line sensor. Therefore, even if an inline type and a rotary type head unit are selectively used with a simple and rational configuration, it is possible to perform component recognition efficiently.

It is a top view which shows the component mounting apparatus (state in which the 1st unit main-body part was mounted in the head unit) which concerns on this invention. It is a front view which shows a component mounting apparatus. It is a perspective view which shows a 2nd unit main-body part. It is a perspective view which shows a components recognition unit. It is a top view (state where a line sensor camera is arranged in the 1st rotation position) which shows a component recognition unit. It is a top view (state where a line sensor camera is arranged in the 2nd rotation position) which shows a component recognition unit. It is a flowchart which shows an example of mounting operation control by a control apparatus. It is a schematic diagram which shows the movement path | route of the head unit at the time of components recognition operation | movement (when the 1st unit main-body part is mounted). It is a schematic diagram which shows the movement path | route of the head unit at the time of components recognition operation | movement (when the 2nd unit main-body part is mounted).

  Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

  1 and 2 show a component mounting apparatus M according to the present invention. FIG. 1 is a plan view and FIG. 2 is a front view schematically showing the component mounting apparatus M.

  In the drawings, XYZ rectangular coordinate axes are shown in order to clarify the directional relationship between the drawings. The X direction is a direction parallel to the horizontal plane, the Y direction is a direction orthogonal to the X direction on the horizontal plane, and the Z direction is a direction orthogonal to the X direction and the Y direction. In the following description, the Y direction is appropriately referred to as front and rear, and in this case, the Y2 direction is front and the Y1 direction is rear. In this example, the Y direction corresponds to the first direction of the present invention, and the X direction corresponds to the second direction of the present invention.

  The component mounting apparatus M includes a base 1, a substrate transport mechanism 2 that is disposed on the base 1 and transports a substrate P such as a printed wiring board (PWB), and component supply units 4 and 4. , A component mounting head unit 5, a head unit driving mechanism for driving the head unit 5, and component recognition units 6 and 6 (corresponding to the imaging apparatus of the present invention).

  The substrate transport mechanism 2 includes a pair of conveyors 2 a and 2 a that transport the substrate P in the X direction on the base 1. These conveyors 2a and 2a receive the substrate P from the right side (X1 direction side) of FIGS. 1 and 2 and convey it to a predetermined mounting work position (the position shown in the figure / corresponding to the mounting work part of the present invention). The substrate P is held by a substrate holding device (not shown). Then, after the mounting operation, the board P is unloaded to the left side (X2 direction side) of FIGS.

  The component supply units 4 and 4 are disposed on both front and rear sides of the substrate transport mechanism 2. In each component supply unit 4, a plurality of tape feeders 4a are arranged along the conveyor 2a. Each tape feeder 4a supplies a small piece of electronic component (chip component) such as an IC, a transistor, or a capacitor using the tape as a carrier.

  The head unit 5 takes out components from each component supply unit 4 and mounts them on the substrate P, and is arranged above the substrate transport mechanism 2 and the component supply unit 4.

  The head unit 5 is movable in the X direction and the Y direction within a certain region by the head unit driving mechanism. The head unit drive mechanism is fixed to a pair of elevated frames provided on the base 1, and is supported by the pair of fixed rails 8 and extends in the X direction. A member 11 and a ball screw shaft 9 screwed into the unit support member 11 and driven by a Y-axis servomotor 10 are included. The head unit drive mechanism is fixed to the unit support member 11 and supports the head unit 5 so as to be movable in the X direction. The head unit drive mechanism is screwed into the head unit 5 so as to drive the X-axis servo motor 15 as a drive source. And a ball screw shaft 14 driven as follows. In other words, the head unit driving mechanism moves the head unit 5 in the X direction via the ball screw shaft 14 by driving the X axis servo motor 15, and via the ball screw shaft 9 by driving the Y axis servo motor 10. The unit support member 11 is moved in the Y direction. As a result, the head unit 5 is moved in the X direction and the Y direction within a certain region.

  The head unit 5 includes a unit support 51 that is driven by the head unit drive mechanism and a unit main body that is detachably mounted (supported) on the unit support 51. The unit main body is a replaceable unit member including a plurality of heads 16 for sucking and holding components. In this example, two types of unit main body portions, the first unit main body portion 52A and the second unit main body portion 52B, are prepared as unit main body portions, and those suitable for production according to the type of the substrate P are arbitrary. Is selected and attached to the unit support 51. 1 and 2 show a state in which the first unit main body 52A is attached to the head unit 5 (unit support portion 51).

  As shown in FIGS. 1 and 2, the first unit main body 52 </ b> A is a so-called inline unit main body in which a plurality of shaft-shaped heads 16 are arranged in the X direction.

  In this example, the first unit main body 52A includes two head rows (a total of ten heads 16) in which five heads 16 are arranged in the X direction, and raises and lowers each head 16 (in the Z direction). And a head drive mechanism using a servo motor or the like as a drive source for rotation (rotation in the R direction in FIG. 2) around the central axis.

  On the other hand, the second unit main body 52B is a so-called rotary unit main body in which a plurality of heads 16 are arranged on a circumference centered on a vertical axis, as schematically shown in FIG.

  In this example, the second unit main body 52B includes 16 heads 16 and each head 16 sequentially reaches the lower end position at a specific position in the circumferential direction while the heads 16 integrally move in the circumferential direction. The head drive mechanism using a servo motor or the like as a drive source is provided so that each head 16 can be moved up and down and the head 16 can be individually rotated around its central axis.

  The head 16 of each unit main body 52A, 52B has a component suction nozzle at its tip. The nozzles can communicate with any one of the negative pressure generator, the positive pressure generator, and the atmosphere via an electric switching valve. In other words, the negative pressure is supplied to the front end of the nozzle through the passage inside the head, so that the part is sucked by the nozzle, and then the positive pressure is supplied to release the suction state of the part by the nozzle. .

  A board recognition unit 18 is further mounted on each unit main body 52A, 52B. The board recognition unit 18 images a fiducial mark written on the upper surface of the board P in order to recognize the position of the board P arranged at the mounting work position. The board recognition unit 18 includes an area sensor camera such as a CCD camera having an area sensor in which a plurality of image sensors are two-dimensionally arranged, and an illumination device having a plurality of LEDs. The board recognition unit 18 is fixed downward on the frame part of each unit main body 52A, 52B, so that the mark on the board P can be imaged while moving integrally with the head unit 5. .

  On the other hand, the component recognition unit 6 is installed on the base 1. The component recognition unit 6 images the component in order to recognize the suction state of the component taken out from the component supply unit 4 by the head unit 5, and between the component supply unit 4 and the substrate transport mechanism 2. Each is installed in a position.

  As shown in FIGS. 4 and 5, the component recognition unit 6 includes a line sensor camera 22 such as a CCD camera having a line sensor in which a plurality of imaging elements are arranged in a one-dimensional (columnar) manner, and a plurality of LEDs 24 a. And a support member that supports the line sensor camera 22 so as to be rotatable about a vertical axis, and a fixing mechanism that fixes the line sensor camera 22 at a specific position in the rotation direction (corresponding to the fixing device of the present invention). Including.

  The line sensor camera 22 is provided upward so as to image the suction component of the head 16 from directly below, and the lighting device 24 is integrally fixed to the upper portion of the line sensor camera 22. The line sensor camera 22 is supported by the support member installed on the base 1. The support member includes a support base 20 fixed on the base 1 and a bearing 26 installed on the support base 20, and the line sensor camera 22 is attached to the support base 20 via the bearing 26. It is supported. Accordingly, the line sensor camera 22 is supported by the support member so as to be rotatable about the vertical axis (R direction). Specifically, the line sensor camera 22 is disposed so that its optical axis is vertical (parallel to the Z direction), and is supported by a support member so as to be rotatable about the optical axis.

  The fixing mechanism is configured so that the position of the line sensor camera 22 in the rotation direction is different from each other, specifically, as shown in FIG. (Corresponding to the first position of the present invention) and the second rotational position rotated by 90 ° from this first rotational position (rotated counterclockwise in FIG. 5), that is, as shown in FIG. The line sensor camera 22 is fixed at a position where the direction is parallel to the X direction (corresponding to the second position of the present invention).

  The fixing mechanism includes a fixing flange portion 28 provided on a side surface of the lower end portion of the line sensor camera 22, and abuts the line sensor camera 22 on the first rotation position and the second rotation position by abutting on the fixing flange portion 28. A pair of positioning pins 21a and 21b that are positioned to each other, a screw hole 20a formed in the support base 20, and a bolt 29 are included. That is, the fixing mechanism is configured such that the fixing flange portion 28 is fixed to the support base 20 by the bolt 29 in a state where the fixing flange portion 28 is in contact with the positioning pin 21a or 21b. Is fixed to the first rotation position or the second rotation position.

  In this embodiment, the pitch Wi (see FIG. 1) of the head rows before and after being mounted on the first unit main body 52A is the radial pitch Wr (see FIG. 1) of the head 16 mounted on the second unit main body 52B. 3), that is, among the plurality of heads 16 arranged on the circumference, the pitch is set slightly smaller than the pitch of the two heads 16 positioned in the radial direction. The light receiving width (length dimension of the element array 23) Wc of the line sensor camera 22 is set slightly larger than the radial pitch Wr. With this configuration, when the first unit main body 52 </ b> A is mounted on the head unit 5, the line sensor camera 22 is fixed at the first rotation position, and then the head unit 5 is attached to the line sensor camera 22. By moving once in the X direction, the suction component of each head 16 can be imaged. On the other hand, when the second unit main body 52B is mounted on the head unit 5, the line sensor is placed at the second rotational position. By fixing the camera 22 and moving the head unit 5 once in the Y direction with respect to the line sensor camera 22, it is possible to image the suction component of each head 16. That is, the first rotation position is the rotation position of the line sensor camera 22 for imaging the suction component of the first unit main body 52A, and the second rotation position is the suction component of the second unit main body 52B. This is the rotational position of the line sensor camera 22 for imaging.

  On the support base 20, position detection sensors 32 a and 32 b such as a reflection type photosensor for detecting the position of the line sensor camera 22 are positioned in the vicinity of the pair of positioning pins 21 a and 21 b, respectively. Position detection sensor 32a and second position detection sensor 32b) are installed. Among these position detection sensors 32a and 32b, the first position detection sensor 32a detects the fixing flange portion 28 when the line sensor camera 22 is fixed at the first rotation position, and sends the detection signal to the control device described later. The second position detection sensor 32b detects the fixing flange portion 28 and outputs a detection signal to the control device 40 when the line sensor camera 22 is fixed at the second rotational position. In this example, these position detection sensors 32a and 32b correspond to the detection device of the present invention.

  4 to 6, reference numeral 25 denotes a fiducial mark written on the upper surface of the illumination device 24. This fiducial mark 25 (hereinafter abbreviated as “mark 25”) is for recognizing the position of the component recognition unit 6, and this mark 25 is imaged by the board recognition unit 18 prior to the mounting operation. Thus, the position of the component recognition unit 6 is recognized. As described above, the component recognition unit 6 can change the position of the line sensor camera 22 between the first rotation position and the second rotation position. The position of the component recognition unit 6 is recognized.

  The component mounting apparatus M described above includes a control device 40 (shown in FIG. 1) based on a well-known microcomputer. The control device 40 includes a central processing unit (CPU) that executes a program, a memory that includes, for example, a RAM and a ROM and stores programs and data, and an input / output (I / O) that inputs and outputs electrical signals. The operation of the head unit 5 and each head 16 is comprehensively controlled by the control device 40.

  Next, component mounting operation control by the control device 40 will be described with reference to the flowchart of FIG.

  First, preparation for mounting work will be described before the description of the mounting operation control.

  As described above, in this component mounting apparatus M, the first unit main body 52A and the second unit main body 52B can be selectively mounted on the head unit 5 and can be produced according to the type of the board P. A suitable one is mounted on the unit support 51. For example, the first unit main body 52A is selected for the production of the board P that needs to mount various types of parts, while the first unit main body 52A is selected for the production of the board P that needs to mount many parts of the same type. The two unit main body portions 52B are selected and attached to the unit support portions 51, respectively.

  In addition, the position of the line sensor camera 22 in the component recognition unit 6 is changed along with the mounting work of the unit main body portions 52A and 52B. Specifically, when the first unit main body 52A is mounted on the head unit 5, the line sensor camera 22 is fixed at the first rotation position (see FIG. 5), and the second unit main body is attached to the head unit 5. When the part 52B is mounted, the line sensor camera 22 is fixed at the second rotational position (see FIG. 6).

  Further, the tape feeder 4a is fixed to the component supply unit 4 in a predetermined arrangement. Each tape feeder 4a is fixed in accordance with an arrangement obtained according to a predetermined optimization method so that the mounting operation is performed as efficiently as possible. In this case, particularly when the head unit 5 is provided with the first unit main body 52A, the tape feeder 4a of the target component is mainly fixed at a position adjacent to the component recognition unit 6 (see the position of the broken line in FIG. 9). The

  The operation so far is the preparation of the mounting operation, and the preparation operation is performed manually by the operator except for the setting (optimization) of the arrangement of the tape feeders 4a.

  When the preparation for the mounting work is completed and the operator performs a starting operation for the mounting work via the input device (not shown), the control shown in FIG. 7 starts. When this control starts, the control device 40 first determines whether or not the first unit body 52A is mounted on the head unit 5 (step S1). If YES is determined here, the control device 40 determines whether or not the line sensor camera 22 of each component recognition unit 6 is fixed at the first rotation position based on the input signals from the position detection sensors 32a and 32b. (Step S3) If YES is determined here, the process proceeds to Step S4. In addition, the determination process of step S1 is performed by electrical communication between the control device 40 and each unit main body 52A, 52B.

  On the other hand, when it is determined NO in step S1, that is, when it is determined that the second unit main body 52B is mounted on the head unit 5, the control device 40 receives input signals from the position detection sensors 32a and 32b. Based on the above, it is determined whether or not the line sensor camera 22 of each component recognition unit 6 is fixed at the second rotational position (step S9). If YES is determined here, the process proceeds to step S4.

  In addition, when it determines with NO by step S3, S9, ie, when it determines with the correspondence of unit main-body part 52A, 52B mounted in the head unit 5 and the position of the line sensor camera 22 not matching. The control device 40 activates a warning lamp 42 (see FIG. 1) to notify the operator of the abnormality, or displays an abnormality on the display device attached to the control device 40 (step S11). finish. In this example, the control device 40 functions as a determination device of the present invention, and the warning lamp 42 and the display device correspond to the notification device of the present invention.

  In the process of step S4, the control device 40 moves the head unit 5 above the component recognition unit 6 and causes the board recognition unit 18 to image the mark 25 marked on the component recognition unit 6 (illumination device 24). As a result, the position recognition process of the component recognition unit 6 is executed. In this case, the control device 40 controls the head unit 5 based on the position data of the mark 25 at each rotational position stored in advance as known (design) information based on the determination result of step S1.

  When this recognition process is completed, the control device 40 controls the head unit 5 to execute the component mounting process (step S5).

  Here, when the first unit main body 52A is mounted on the head unit 5, that is, when it is determined YES in the processes of steps S1 and S3, the control device 40 controls the head unit 5 as follows. . That is, the control device 40 moves the head unit 5 above the component supply unit 4 and picks up the component from the component supply unit 4 by adsorbing the component by raising and lowering the head 16. At this time, if possible, the control device 40 simultaneously sucks components from the plurality of tape feeders 4a by the plurality of heads 16 arranged in the X direction.

  When the suction of the component is completed, the control device 40 moves the head unit 5 and passes the component recognition unit 6 above. Thereby, the suction component of each head 16 is imaged, and the suction state of each component is recognized based on the image data. At this time, when the first unit main body 52A is mounted on the head unit 5, the line sensor camera 22 is fixed at the first rotation position, that is, the direction of the element array 23 is parallel to the Y direction. Since the line sensor camera 22 is fixed as shown in FIG. 8, the control device 40 moves from the component supply unit 4 to the position corresponding to the component recognition unit 6 in the Y direction (Y1 direction in the figure). After the head unit 5 is moved, the head unit 5 is moved in the X direction (X2 direction in the figure) to pass above the component recognition unit 6. As described above, the light receiving width (the length dimension of the element row 23) Wc of the line sensor camera 22 is provided larger than the pitch Wi (see FIG. 1) of the head rows before and after being mounted on the first unit main body 52A. Therefore, the control device 40 can recognize the suction state of the components of all the heads 16 only by passing the head unit 5 once along the X direction above the component recognition unit 6. In this component recognition process, the control device 40 can accurately pass the head unit 5 through the component recognition unit 6 by controlling the head unit 5 based on the recognition process result in step S4.

  When the head unit 5 passes above the component recognition unit 6 and the component recognition process is completed, the control device 40 moves the head unit 5 above the substrate P and moves the head 16 up and down to move the component. Is mounted at a predetermined position on the substrate P. At this time, if necessary, the control device 40 corrects the mounting position and orientation (orientation in the R direction) of the component based on the recognition result.

  On the other hand, when the second unit main body 52B is mounted on the head unit 5, that is, when it is determined NO in the process of step S1 and YES in the process of step S9, the control device 40 performs the following operation of the head unit. 5 is controlled. That is, the control device 40 moves the head unit 5 above the component supply unit 4 and moves the heads 16 up and down sequentially at the position of the specific tape feeder 4a while moving the heads 16 integrally in the circumferential direction. Adsorb parts. As a result, the components are continuously taken out from the same tape feeder 4a mainly by each head 16.

  When the suction of the component is completed, the control device 40 moves the head unit 5 and passes the component recognition unit 6 above. Thereby, the suction component of each head 16 is imaged, and the suction state of each component is recognized based on the image data. At this time, when the second unit main body 52B is mounted on the head unit 5, the line sensor camera 22 is fixed at the second rotational position, that is, the direction of the element array 23 is parallel to the X direction. The line sensor camera 22 is fixed so as to be. Moreover, since the tape feeder 4a of the target component is fixed at a position adjacent to the component recognition unit 6 (position adjacent to the Y direction), the control device 40, as shown in FIG. The head unit 5 is moved from the component supply unit 4 in the Y direction so as to pass above the component recognition unit 6. In this case, as described above, the light receiving width (the length dimension of the element array 23) Wc of the line sensor camera 22 is the radial pitch Wr of the heads 16 mounted on the second unit main body 52B so as to be arranged on the circumference. (See FIG. 3), the control device 40 only has to pass the head unit 5 once along the Y direction above the component recognition unit 6, so that the components are picked up by all the heads 16. Can be recognized. Also in this recognition processing, the component supply unit 4 can accurately pass the head unit 5 through the component recognition unit 6 by controlling the head unit 5 based on the recognition processing result in step S4.

  When the component recognition processing is completed in this way, the control device 40 moves the head unit 5 above the substrate P and moves each head 16 at a specific position in the circumferential direction while moving each head 16 integrally in the circumferential direction. The head unit 5 is moved up and down sequentially, and the head unit 5 is moved intermittently, thereby mounting the component at a predetermined position on the substrate P. At this time, if necessary, the control device 40 corrects the mounting position and orientation (orientation in the R direction) of the component based on the recognition result.

  When the mounting of the components on the board P is completed, the control device 40 determines whether or not all the components are mounted on the board P (step S7). Returning to S5, the process of step S5 is repeated. And if it determines with YES by the process of step S7 finally, the said flowchart will be complete | finished.

  According to the component mounting apparatus M according to the present invention as described above, the line sensor camera 22 is moved to the first rotational position in accordance with the configuration of the head unit 5, that is, the unit main body portions 52A and 52B supported by the unit support portion 51. Alternatively, the component recognition can be performed using the common line sensor camera 22 by fixing the second rotation position. Therefore, it is possible to efficiently perform component recognition with a simple and rational configuration while selectively using the inline-type first unit body 52A and the rotary-type second unit body 52B. That is, according to this component mounting apparatus M, when the inline-type first unit main body 52A is mounted on the head unit 5, the line is arranged at the first rotation position where the direction of the element row 23 is parallel to the Y direction. Since the sensor camera 22 is fixed and the head unit 5 is moved in the X direction, which is the arrangement direction of the heads 16, to image the part, the light receiving width Wc of the line sensor camera 22 is significantly increased and the illumination device 24 is extremely The components attracted to each head 16 of the first unit main body 52A can be recognized without increasing the size. On the other hand, when the rotary-type second unit main body 52B is mounted on the head unit 5, the line sensor camera 22 is fixed at the second rotation position where the direction of the element row 23 is parallel to the X direction. Since the component is imaged by moving the head unit 5 in the Y direction, the head unit 5 is linearly moved along the X direction from the component supply unit 4 as in the conventional component mounting apparatus including this type of rotary head unit. The components can be recognized while being moved onto the board. Moreover, according to the component recognition unit 6, a general (general-purpose) CCD camera can be used as the line sensor camera 22. Therefore, as described above, according to the component mounting apparatus M, the components can be easily and rationally configured while selectively using the inline-type first unit body 52A and the rotary-type second unit body 52B. Recognition can be performed efficiently.

  Further, according to the component mounting apparatus M, the line sensor camera 22 is fixed in a state where the line sensor camera 22 is positioned by the positioning pins 21a and 21b at each rotational position. Further, the component mounting process is based on the mark 25 of the illumination device 24. Since the position of the line sensor camera 22 is recognized in advance, the head unit 5 is moved at an appropriate position with respect to the line sensor camera 22 while the position of the line sensor camera 22 is changed as described above. Thus, the suction component can be recognized.

  Furthermore, according to the component mounting apparatus M, the position detection sensors 32a and 32b for detecting whether the line sensor camera 22 is fixed at the first rotation position or the second rotation position are provided, and the unit support section When the correspondence between the unit main bodies 52A and 52B supported by 51 and the rotational position of the line sensor camera 22 is not correct, the warning lamp 42 and the like are operated to notify the operator of the abnormality. There is also an advantage that it is possible to prevent the occurrence of a trouble that the mounting operation can proceed while the correspondence between the unit main body portions 52A and 52B supported by 51 and the rotational position of the line sensor camera 22 is not correct. .

  By the way, the component mounting apparatus M described above is an example of a preferred embodiment of the component mounting apparatus according to the present invention, and the specific configuration thereof can be appropriately changed without departing from the gist of the present invention.

  For example, in the above-described embodiment, each unit main body 52A, 52B mounted on the head unit 5 and the control device 40 perform electrical communication, so that the unit main body mounted on the head unit 5 is identified (see FIG. 7). Step S1) is performed. For example, an identification mark is written on the lower surface of each unit main body 52A, 52B, and the identification mark is recognized by using the component recognition unit 6, so that the above determination is performed. You may comprise. Of course, the operator may input information that can specify the unit main body 52A (52B) mounted on the head unit 5 directly to the control device 40 via the input device.

  Further, in the above embodiment, when the correspondence between the unit main body portions 52A and 52B mounted on the head unit 5 and the rotational position of the line sensor camera 22 is not correct, the control is performed without executing the component mounting process. The device 40 operates the warning light 42 and the like to notify the operator. For example, the control device 40 executes the mounting process while the warning light 42 is operated (or not operated). May be. Specifically, when the first unit main body portion 52A is mounted on the head unit 5 and the line sensor camera 22 is fixed at the second rotational position, the control device 40 is connected to the component recognition unit 6, for example. The head unit 5 is reciprocated along the Y direction, and the position of the head unit 5 is displaced in the X direction, thereby picking up the suction component of each head 16. When the 52B is mounted and the line sensor camera 22 is fixed at the first rotation position, the control device 40 moves the head unit 5 in the X direction with respect to the component recognition unit 6 so that each head Sixteen suction parts are imaged. According to such a configuration, since it is different from the original component recognition operation, it is expected that the component recognition efficiency is somewhat lowered. However, without correcting the rotational position of the line sensor camera 22, the component mounting is performed as it is. There is an advantage that the work can be continued.

  Moreover, in the said embodiment, although it is the structure which fixes the line sensor camera 22 to each rotation position by fastening the fixing flange part 28 provided in the line sensor camera 22 to the support base 20 with the volt | bolt 29, for example, A toggle clamp may be provided on the support base 20 so that the fixing flange portion 28 can be fixed with one touch. According to this configuration, the fixing operation of the line sensor camera 22 is facilitated, and the rotational position of the line sensor camera 22 can be changed more quickly. In addition, troubles such as losing the bolt 29 during work can be avoided in advance.

  In the above embodiment, the line sensor camera has two positions, the first rotation position where the direction of the element row 23 is parallel to the Y direction, or the second rotation position where the direction of the element row 23 is parallel to the X direction. However, if necessary, the line sensor camera 22 may be fixed at three or more different positions in the rotational direction of the line sensor camera 22. Further, the rotation range of the line sensor camera 22 is not limited to 90 °, and may be rotatable within a range of less than 90 ° or more than 90 °.

  In the above embodiment, the line sensor camera 22 is provided so as to be rotatable around its optical axis, but may be provided so as to be rotatable around other axes. However, according to the configuration of the embodiment, since the space required for the rotation of the line sensor camera 22 is small, there is an advantage that the space efficiency is good.

  In the embodiment, the operator manually changes and fixes the rotational position of the line sensor camera 22. However, for example, the component recognition unit 6 uses a rotary drive mechanism that uses an actuator such as a servo motor or an air cylinder. And the change of the rotational position of the line sensor camera 22 may be automated under the control of the control device 40.

DESCRIPTION OF SYMBOLS 5 Head unit 6 Component recognition unit 22 Line sensor camera 24 Illumination device 51 Unit support part 52A 1st unit main-body part 52B 2nd unit main-body part M Component mounting apparatus

Claims (5)

In a component mounting apparatus comprising a component supply unit, a mounting operation unit, and a head unit that holds components from the component supply unit and mounts them on a substrate disposed in the mounting operation unit.
An image pickup device for picking up an image of the component held by the head unit from below before mounting on the substrate;
The imaging device includes a line sensor, a support member that rotatably supports the line sensor around a vertical axis, and a fixing device that fixes the line sensor at different first and second positions around the vertical axis, A component mounting apparatus comprising: The component mounting apparatus according to claim 1,
The head unit is detachable from a first unit main body and a second unit main body for holding each component, and a unit main body selected from the first unit main body and the second unit main body. A unit support unit to be mounted, and
The first position is a position of a line sensor for imaging the component held in the first unit main body, and the second position is a line for imaging the component held in the second unit main body. A component mounting apparatus characterized by being a position of a sensor. In the component mounting apparatus according to claim 2,
A detection device for detecting whether the line sensor is fixed at the first position or the second position;
A discriminating device for discriminating which one of the first unit main body and the second unit main body is mounted on the unit support,
The discriminating device determines whether the correspondence between the fixed position of the line sensor and the unit main body mounted on the unit support is good or bad based on the detection result of the detection device. In the component mounting apparatus according to claim 3,
A component mounting apparatus, comprising: a notifying device for notifying an abnormality when a correspondence relationship between a fixed position of the line sensor and a unit main body mounted on the unit support is incorrect. In the component mounting apparatus according to claim 2,
A control device for controlling the driving of the head unit;
The component supply unit and the mounting work unit are arranged in a first direction,
The first unit main body includes a plurality of component holding heads arranged in a second direction orthogonal to the first direction, and the second unit main body is used for adsorbing components arranged on a circumference. With multiple heads
The first position is a position where the direction of the image sensor array of the line sensor is parallel to the first direction, and the second position is a direction of the image sensor array of the line sensor parallel to the second direction. The position
The control device moves the head unit in the second direction relative to the imaging device when the first unit main body is attached to the unit support, while the unit support is configured to move the second unit to the unit support. When the unit main body is mounted, the head unit is moved in the first direction with respect to the imaging device, and the parts held by the head are respectively imaged by the line sensor. A component mounting device.

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