JP2015226040A - Method for registering reference pattern in component mounting device and component mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for registering a reference pattern in a component mounting device that can shorten the time required for a work of registering a reference pattern, and a component mounting device.SOLUTION: A first image containing a first position as one of plural mounting positions JS on a substrate 2 is achieved, and an operation for setting a registration frame F for the first image and registering an image within the registration frame F as a reference pattern KPT is requested to an operator. The image within the registration frame F set by the operator is registered as a first reference pattern KPTa, and information on the position and size of the registration frame F in the first image is stored as first registration frame information, and a second image containing a second position different from the first position out of the plural mounting positions JS on the substrate 2 is achieved. The first registration frame information is applied to the second image to set a registration frame F, an image within the registration frame F is registered as a second reference pattern KPTb, and the first registration frame information is stored as second registration information.

Description

  The present invention relates to a reference pattern registration method and a component mounting apparatus in a component mounting apparatus including a recognition device that recognizes a plurality of mounting positions on a board using a reference pattern registered for each of a plurality of mounting positions on the board. .

  2. Description of the Related Art Conventionally, in a component mounting apparatus, a method using pattern matching is known as a method for finding a mounting position of an electronic component on a substrate (for example, Patent Document 1). This is because the image in the registration frame set in the acquired image of the board is registered as a reference pattern for each of a plurality of mounting positions on the board, and when a predetermined area is searched for in the registration frame, the level higher than the reference pattern The location where a matching image is obtained is specified as the mounting position. For this reason, in the case of pattern matching, as preparation, for each mounting position on the substrate, an operation of acquiring an image of an area including a pattern located at the mounting position, and a registration frame for each acquired image It was necessary to set the position and size.

JP 2002-269560 A

  In general, the number of mounting positions on the substrate is large, and therefore the number of reference patterns to be registered is also large. For this reason, it is necessary to register the reference pattern for each mounting position, which takes a lot of time.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a reference pattern registration method and a component mounting apparatus in a component mounting apparatus that can shorten the time required for reference pattern registration work.

  The method for registering a reference pattern in a component mounting apparatus according to the present invention includes a reference pattern in a component mounting apparatus including a recognition device that recognizes a plurality of mounting positions on the board using a reference pattern registered for each of the plurality of mounting positions on the board. The first registration method includes acquiring a first image including a first position that is one of the plurality of mounting positions based on mounting coordinate data that specifies a plurality of mounting positions on the substrate. One image acquisition step, a reference pattern registration request step for requesting an operator to set a registration frame for the first image and register the image in the registration frame as a reference pattern, and the operator sets The registered image in the registration frame is registered as a first reference pattern, and the position and size information of the registration frame in the first image is stored as first registration frame information. A first reference pattern registration step, and a second image that includes a second position different from the first position among a plurality of mounting positions on the substrate based on the mounting coordinate data. A second image acquisition step, the first registration frame information is applied to the second image to set a registration frame, the image in the registration frame is registered as a second reference pattern, and the first A second reference pattern registration step of storing the registration frame information as second registration frame information.

  The component mounting apparatus of the present invention includes a recognition device for recognizing a plurality of mounting positions on the substrate using a reference pattern registered for each of the plurality of mounting positions on the substrate, and an electronic device is provided at each mounting position recognized by the recognition device. A component mounting apparatus for mounting a component, wherein the recognition device includes a first position that is one of the plurality of mounting positions based on mounting coordinate data that specifies a plurality of mounting positions on the substrate. First image acquisition means for acquiring a first image to be performed, and reference pattern registration for requesting an operator to set a registration frame for the first image and register an image in the registration frame as a reference pattern Registering the image within the registration frame set by the requesting means and the operator as a first reference pattern, and information on the position and size of the registration frame in the first image as the first registration frame information And acquiring a second image including a second position different from the first position among the plurality of mounting positions on the substrate based on the mounting coordinate data. A second image acquisition unit configured to apply the first registration frame information to the second image to set a registration frame, register the image in the registration frame as a second reference pattern, and And second reference pattern registration means for storing one registration frame information as second registration frame information.

  According to the present invention, it is possible to shorten the time required for the registration work of the reference pattern.

The block diagram of the component mounting apparatus in one embodiment of this invention (A) (b) The top view of the board | substrate with which an electronic component is mounted by the component mounting apparatus in one embodiment of this invention (A) (b) The top view of the unit board | substrate with which an electronic component is mounted by the component mounting apparatus in one embodiment of this invention The top view of the unit board by which an electronic component is mounted by the component mounting apparatus in one embodiment of this invention The flowchart which shows the procedure of the teaching of the reference pattern by the recognition apparatus of the component mounting apparatus in one embodiment of this invention The figure which shows an example of the screen which the operation and display part with which the component mounting apparatus in one embodiment of this invention is equipped displays The figure which shows an example of the screen shown by the operation and the display part with which the component mounting apparatus in one embodiment of this invention is provided The figure which shows an example of the screen which the operation and display part with which the component mounting apparatus in one embodiment of this invention is equipped displays (A)-(d) The figure which shows an example of the screen which the operation and display part with which the component mounting apparatus in one embodiment of this invention is provided displays (A)-(d) The figure which shows the example of the reference | standard pattern taught by the recognition apparatus of the component mounting apparatus in one embodiment of this invention

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a component mounting apparatus 1 according to an embodiment of the present invention. First, the configuration will be described. The component mounting apparatus 1 is an apparatus for mounting an electronic component 3 on a substrate 2, and includes a substrate holding unit 11, a component supply unit 12, a supply unit recognition camera 13, a mounting position recognition camera 14, a component recognition camera 15, and an adhesive. The coating head 16, the pickup head 17, the mounting head 18, and a control unit 19 that controls the operation thereof are provided. The control unit 19 stores data necessary for controlling the component mounting apparatus 1 such as mounting coordinate data for specifying the mounting position JS.

  As shown in FIG. 2A, the substrate 2 used in the present embodiment includes a plurality (here, eight) of unit substrates 2T. These unit substrates 2T are of the same type, and have the same mounting position JS (position where the electronic component 3 is mounted) at the same location. The same type of electronic component 3 is mounted at the same mounting position JS (FIG. 2B).

  The board holding unit 11 holds the board 2 and moves in a horizontal plane direction, and positions an arbitrary mounting position JS on the board 2 at a mounting point K1 defined as a fixed point of the component mounting apparatus 1.

  The component supply unit 12 positions the electronic component 3 at a pickup point K <b> 2 defined as a fixed point of the component mounting apparatus 1. In the present embodiment, the component supply unit 12 arranges a plurality (here, four) of carriers 12a on which the electronic component 3 is placed for each type on the index table 12b, and horizontally rotates the index table 12b. The carrier 12a on which a desired type of electronic component 3 is placed is positioned on the pickup point K2 side. The index table 12b is moved horizontally to position the electronic component 3 of the carrier 12a at the pickup point K2.

  The supply unit recognition camera 13 is located above the pickup point K2, and images the electronic component 3 located at the pickup point K2 from above. The image of the electronic component 3 obtained by this imaging is recognized by the image recognition unit 19a (FIG. 1) (FIG. 1), and the control unit 19 grasps the position of the electronic component 3 based on the image recognition result.

  The mounting position recognition camera 14 is located above the mounting point K1, and images the mounting position JS on the substrate 2 positioned at the mounting point K1 from above. A pattern PT for recognizing the position is formed at the mounting position JS (FIG. 3), and the mounting position recognizing camera 14 images a region including the pattern PT. The image obtained by this imaging is image-recognized by the image recognition unit 19a, and the control unit 19 grasps the position of the mounting position JS as a position shift from the mounting point K1 based on the image recognition result.

  The adhesive application head 16 is controlled by the control unit 19 to move in the horizontal plane and apply the adhesive to the mounting position JS on the substrate 2 located at the mounting point K1. The pickup head 17 moves under the control of the control unit 19 and picks up the electronic component 3 located at the pickup point K2 based on the image of the electronic component 3 obtained by the imaging of the supply unit recognition camera 13. Then, with the electronic component 3 turned upside down, the electronic component 3 is positioned at a delivery point K3 defined as a fixed point of the component mounting apparatus 1.

  The mounting head 18 moves under the control of the control unit 19 and receives the electronic component 3 located at the delivery point K3. Then, at the mounting point K1, the electronic component 3 is mounted at the mounting position JS where the adhesive is applied.

  The component recognition camera 15 is disposed upward and below the movement path of the mounting head 18 that moves from the delivery point K3 to the mounting point K1. The component recognition camera 15 images the electronic component 3 held by the mounting head 18. The image obtained by this imaging is recognized by the image recognition unit 19a.

  Based on the image recognition result, the control unit 19 calculates a positional deviation (suction deviation) of the electronic component 3 with respect to the mounting head 18. Then, position correction is performed to correct the position of the substrate 2 with respect to the mounting point K1 by moving the substrate holding part 11 so that the suction deviation is corrected. The control unit 19 also includes a storage unit that stores data necessary for controlling the component mounting apparatus 1 such as mounting coordinate data for specifying the mounting position JS.

  Next, the operation of the component mounting apparatus 1 will be described. As shown in FIG. 3A, the substrate 2 of the present embodiment is partitioned into a plurality of unit substrates 2T, and there are four mounting positions JS (JSa, JSb, JSc, JSd) of the unit substrate 2T. As shown in 3 (b), the electronic component 3 (3a, 3b, 3c, 3d) is mounted. Each of the four mounting positions JS is provided with a pattern PT (PTa, PTb, PTc, PTd) for recognizing the mounting position JS.

  First, the substrate holder 11 positions the substrate 2 so that the mounting position JSa is positioned at the mounting point K1. Next, the mounting position recognition camera 14 images the mounting position JSa located at the mounting point K1 from above. The image recognizing unit 19a recognizes the captured image and recognizes the pattern PTa, thereby obtaining a displacement of the mounting position JSa from the mounting point K1.

  The pickup head 17 picks up the electronic component 3 located at the pickup point K2 and transfers it to the delivery point K3. This transfer is executed in parallel with imaging by the mounting position recognition camera 14. The mounting head 18 receives the electronic component 3 from the pickup head 17 at the delivery point K3 and moves to the mounting point K1. At this time, the component recognition camera 15 images the electronic component 3 held by the mounting head 18 that passes over the sky. The image recognition unit 19a recognizes an image obtained by this imaging. Based on the image recognition result, the control unit 19 calculates a positional deviation (suction deviation) of the electronic component 3 with respect to the mounting head 18. The control unit 19 performs position correction for correcting the position of the board 2 with respect to the mounting point K1 by moving the board holding unit 11 based on the suction deviation calculated here and the positional deviation of the mounting position JSa from the mounting point K1. Thereafter, the mounting head 18 moves to the mounting point K1 and then descends to mount the held electronic component 3 at the mounting position JS. At this time, the electronic component 3 is mounted in a state in which the electronic component 3 is accurately aligned with the mounting position JSa since the suction displacement of the electronic component 3 and the positional shift of the mounting position JSa are corrected by the above-described position correction.

  The component mounting apparatus 1 repeats the above procedure to mount the electronic component 3 at the mounting positions JSa on all other unit substrates 2T, and similarly mounts in the order of JSb, JSc, JSd of each unit substrate 2T.

  Next, recognition of the pattern PTa by the image recognition unit 19a from imaging of the mounting position JS by the mounting position recognition camera 14 will be described in detail by taking the mounting position JSa as an example. First, the mounting position recognizing camera 14 images the mounting position JS to obtain an image including the pattern PTa in the imaging area RA (FIG. 4). Then, pattern matching using the reference pattern KPT registered in advance is executed to search for the pattern PTa. In this pattern matching, an image having the same shape as the reference pattern KPT is extracted from the inspection region (search area) W set in the image obtained as described above, and the matching rate is compared with the extracted image and the reference pattern KPT. Ask. This process is performed while changing the image extraction position, and the distribution of the coincidence rate in the inspection region W is obtained. Then, it judges (recognizes) an area having a high matching rate in the distribution as a position where the pattern PT exists. The component mounting apparatus 1 according to the present embodiment has a feature in the registration method of the reference pattern KPT used as master data at the time of recognition, which will be described below.

  In the present embodiment, the mounting position recognition camera 14, the control unit 19, and the image recognition unit 19a use a reference pattern KPT registered for each of a plurality of mounting positions JS of the substrate 2 (unit substrate 2T). It functions as the recognition device 20 (FIG. 1) that recognizes the mounting position JS.

  In teaching of the reference pattern KPT in such a recognition device 20, first, the operator activates the reference pattern teaching function of the control unit 19 to start the flow shown in FIG. Thus, the first image acquisition process (ST1) starts. In the first image acquisition process, the component mounting apparatus 1 positions the mounting position JSa first designated by the mounting coordinate data at the mounting point K1 based on the mounting coordinate data, and the mounting position recognition camera 14 mounts the mounting position JSa. An image P1 (first image) including That is, a first image acquisition step is executed for acquiring a first image including a first position that is one of a plurality of mounting positions based on the mounting coordinate data. This first image includes an image of a pattern PTa to be registered as a reference pattern.

  When the image P1 is acquired, the control unit 19 serving as a reference pattern registration requesting unit displays a teaching screen GM on the operation / display unit 30 (FIGS. 1 and 6A) such as a touch panel to display a reference pattern to the operator. An operation for registration is requested (ST2: reference pattern registration request step).

  Here, the teaching screen GM will be described. The teaching screen GM includes an image display area GH for displaying the image P1 acquired in the first image acquisition process, a cross key 31, an enlargement / reduction button 32, a registration button 33, and an end button 34. The cross key 31 is an operation button for moving the board holding unit 11 horizontally, and adjusts the position of the board 2 with respect to the mounting position recognition camera 14. The enlargement / reduction button 32 is an operation button for enlarging / reducing an image displayed in the image display area GH. In addition, a registration frame F and an inspection area W are displayed in the image display area GH.

  When the teaching screen GM is displayed, the operator moves / deforms the registration frame F to align the registration frame F with an area to be registered as the reference pattern KPTa. When the setting of the registration frame F is completed, the registration button 33 is pressed to perform an operation for registering the image in the registration frame F as the reference pattern KPTa (first reference pattern). When setting the inspection area W, the setting operation is also performed. The operator sets the position and size of the inspection region W in consideration of the positioning variation with respect to the mounting point K1 of the substrate 2.

  When the operator operates the registration button 33 (ST3), the control unit 19 as the first reference pattern registration means displays the image in the registration frame F as a reference pattern KPTa (first reference pattern) at the mounting position JSa. ) And the position and size information of the registration frame F are stored as registration frame information (first registration frame information) of the mounting position JSa, and when the inspection area W is set, The position and size are also stored together (ST4: first reference pattern registration step). In the present embodiment, the reference pattern KPTa registered in ST4, the position and size of the registration frame F, and the position and size of the inspection area W are used as the mounting position recognition data (first mounting position recognition data) of the first mounting position JSa. Data).

  FIG. 7 is a diagram for explaining an example of a method for specifying the positions of the registration frame F and the inspection region W in the image P1. When the upper left corner of the image P1 is defined as the reference point GO, and the representative point G1 of the registration frame F and the representative point G2 of the inspection area W are defined as the upper left corner, the position of the registration frame F in the image P1 is the origin of the reference point GO. And the position of the inspection area W is the coordinates (SH, SV) of the representative point G2 with the reference point GO as the origin. In ST4, the coordinates (TH, TV) of the representative point G1 as the position of the registration frame F and the coordinates (SH, SV) of the representative point G2 as the position of the inspection area W are stored in the control unit 19.

  The control unit 19 performs recognition (pattern matching) on the mounting position JS using the reference pattern KPTa registered in ST4 (ST5), and determines whether or not this is successful (ST6). In most cases, the recognition succeeds, but if the recognition fails, the process returns to ST2 and the setting / registration of the registration frame F and the like is performed again. On the other hand, if successful, it is determined that an appropriate reference pattern KPTa has been registered, and the process proceeds to ST7. In ST7, it is determined whether there is another mounting position JS where the reference pattern should be registered. If there is no mounting position JS where the reference pattern is to be registered, the process ends. If there is, the process proceeds to ST8. In this embodiment, since it is necessary to register a reference pattern for each of the mounting positions JSb, JSc, and JSd, the processes of ST8 to ST14 are repeated.

  In ST8, the component mounting apparatus 1 positions the mounting position JSb specified by the mounting coordinate data at the mounting point K1 based on the mounting coordinate data, and the mounting position recognition camera 14 includes an image P2 (first image) including the mounting position JSb. 2 image). That is, based on the mounting position data, a second image including a second position different from the first position described above among the plurality of mounting positions JS on the unit substrate 2T is acquired (ST8: second Image acquisition process).

  When acquiring the image P2, the control unit 19 displays the image P2 on the teaching screen GM of the operation / display unit 30, and applies the first registration frame information to the image P2 to apply the reference pattern KPTa (first (Reference matching) is performed (pattern matching) (ST9), and it is determined whether or not this is successful (ST10). As a result, when the recognition is successful, the control unit 19 stores the reference pattern KPTa (first reference pattern) as the reference pattern KPTb (second reference pattern) of the mounting position JSb and registers the mounting position JSa. The frame information (first registered frame information) is stored as registered frame information (second registered frame information) of the mounting position JSb. If the inspection area W is set at the mounting position JSa, information on the position and size of the inspection area W at the mounting position JSa is also stored as position and size information of the inspection area W at the mounting position JSb (ST11: No. 1). 2 reference pattern registration step).

  For example, if the patterns PT at a plurality of mounting positions JS have the same shape, it is considered that the same reference pattern KPT can be used at each mounting position JS. Therefore, recognition is performed using the first registration frame information with the first reference pattern at the first mounting position that has already been registered, and if successful, the mounting position has the same shape as the pattern PT at the first mounting position. The first reference pattern and the first registration frame information are registered as they are as the second reference pattern and the second registration frame information, assuming that the pattern PT exists. This eliminates the need for an operator's operation for registering the second reference pattern and the second registration frame information.

  On the other hand, if the shape of the pattern PT at the mounting position JSa is different from the shape of the pattern PT at the mounting position JSb, the recognition fails. However, since the position and size of the pattern PT at each mounting position JS are often the same or similar, the control unit 19 uses the already registered first registration frame information to register the second reference pattern. Execute. That is, when the recognition fails, the control unit 19 sets a registration frame F defined by the position and size of the first registration frame information in the image P2 (second image), Are extracted and displayed in the confirmation message window M (ST12, FIG. 8). The operator confirms the image displayed in the confirmation message window M and operates the OK button 35.

  When the operator operates the OK button 35 (ST13), the control unit 19 displays the image displayed in the confirmation message window M, that is, the registration frame defined by the position and size of the first registration frame information. The image extracted from the image P2 (second image) by F is stored as the reference pattern KPTb (second reference pattern) of the mounting position JSb, and the registration frame information of the mounting position JSa is registered as the registration frame information of the mounting position JSb. It is stored as (second registration frame information) (ST14: second reference pattern registration step). Further, when the inspection area W is set at the mounting position JSa, the position and size information of the inspection area W at the mounting position JSa is also stored as the position and size information of the inspection area W at the mounting position JSb. Thus, in ST14, the second reference pattern KPTb is registered without requiring the operator to set the position and size of the registration frame F. When the process of ST11 or ST14 is completed, the control unit 19 returns to ST7 and determines whether there is another mounting position JS where the reference pattern KPT is to be registered.

  FIGS. 9A to 9D show images P1, P2, P3, and P4 obtained by imaging the four mounting positions JSa, JSb, JSc, and JSd shown in FIG. 4 in the imaging area RA. FIGS. 10A to 10D show reference patterns KPTa, KPTb, KPTc, and KPTd registered based on the four images shown in FIGS. 9A to 9D. Here, the reference pattern KPTa shown in FIG. 10A is a first reference pattern obtained from the image in the registration frame F set by the operator based on the image of FIG. KPTb and KPTc are the second reference patterns registered in ST14. These second reference patterns are all obtained by applying the first registration frame information. The reference pattern KPTd is the second reference pattern registered in ST11. The second reference pattern is obtained by duplicating the first reference pattern.

  Here, all of the reference patterns KPT shown in FIGS. 10B, 10C, and 10D are within the registration frame F, but are registered without verifying whether they are appropriate as the reference patterns. . That is, the second reference pattern can be said to be a provisional reference pattern. For this reason, when the reference pattern is inappropriate, it is dealt with by individually resetting the registration frame F by a method not based on the flowchart shown in FIG. Specifically, after all the reference patterns are registered, a test operation (trial operation) of the component mounting apparatus 1 is performed using the registered reference patterns. If the electronic component 3 is mounted at the correct position on the substrate 2, it is determined that the registered reference pattern has no problem, and if there is a defect such as a positional deviation, the corresponding reference pattern is individually re-registered.

  As described above, in the reference pattern registration method by the component mounting apparatus 1 according to the present embodiment, among the plurality of mounting positions based on the mounting coordinate data specifying the plurality of mounting positions on the board 2 (unit board 2T). A first image including a first position that is one of the above is acquired (first image acquisition step). Then, an operation for setting a registration frame for the first image acquired in the first image acquisition step and registering the image in the registration frame as a reference pattern is requested to the operator (reference pattern registration request step). The image in the registration frame set by the user is registered as the first reference pattern, and the position and size information of the registration frame in the first image is stored as the first registration frame information (first reference pattern registration step) ). Next, when a second image including a second position different from the first position among a plurality of mounting positions on the substrate is acquired based on the mounting coordinate data (second image acquisition step), the second A registration frame is set for the second image acquired in the image acquisition process, and the image within the set registration frame is registered as a reference pattern for the second position (second reference pattern registration process). ing.

  In the component mounting apparatus 1 according to the present embodiment, the registration frame information used when setting the reference pattern for the first mounting position is also applied (applied) when setting the reference pattern for the second mounting position. Therefore, it is sufficient to perform the registration frame setting operation on the first image at the mounting position. Therefore, the time required for the operator to register the reference pattern can be shortened.

  Provided are a reference pattern registration method and a component mounting apparatus in a component mounting apparatus capable of shortening the time required for reference pattern registration work.

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 2 Board | substrate 3 Electronic component 14 Mounting position recognition camera (1st image acquisition means, 2nd image acquisition means)
19 Control unit (reference pattern registration request means, first reference pattern registration means, second reference pattern registration means)
20 recognition device JS mounting position F registration frame KPT reference pattern KPTa first reference pattern KPTb, KPTc, KPTd second reference pattern

Claims (2)

A method of registering a reference pattern in a component mounting apparatus including a recognition device that recognizes a plurality of mounting positions of the board using a reference pattern registered for each of a plurality of mounting positions of the board,
A first image acquisition step of acquiring a first image including a first position which is one of the plurality of mounting positions based on mounting coordinate data specifying a plurality of mounting positions on the substrate;
A reference pattern registration requesting step for requesting an operator to set a registration frame for the first image and register the image in the registration frame as a reference pattern;
A first image that registers the image within the registration frame set by the operator as a first reference pattern and stores information on the position and size of the registration frame in the first image as first registration frame information. A reference pattern registration process;
A second image acquisition step of acquiring a second image including a second position different from the first position among the plurality of mounting positions on the substrate based on the mounting coordinate data;
The first registration frame information is applied to the second image to set a registration frame, the image in the registration frame is registered as a second reference pattern, and the first registration frame information is set to the second image. A reference pattern registration method in a component mounting apparatus, comprising: a second reference pattern registration step stored as registration frame information. A component mounting apparatus comprising a recognition device for recognizing a plurality of mounting positions of the substrate using a reference pattern registered for each of a plurality of mounting positions of the substrate, and mounting an electronic component at each mounting position recognized by the recognition device. There,
The recognition device is
First image acquisition means for acquiring a first image including a first position which is one of the plurality of mounting positions based on mounting coordinate data specifying a plurality of mounting positions on the substrate;
Reference pattern registration requesting means for requesting an operator to set a registration frame for the first image and register an image in the registration frame as a reference pattern;
A first image that registers the image within the registration frame set by the operator as a first reference pattern and stores information on the position and size of the registration frame in the first image as first registration frame information. A reference pattern registration means;
Second image acquisition means for acquiring a second image including a second position different from the first position among the plurality of mounting positions on the substrate based on the mounting coordinate data;
The first registration frame information is applied to the second image to set a registration frame, the image in the registration frame is registered as a second reference pattern, and the first registration frame information is set to the second image. A component mounting apparatus comprising: second reference pattern registration means for storing as registration frame information.

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