JP2018098311A - Component removal method component removal device and component mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component removal method excellent in versatility and capable of realizing high production efficiency.SOLUTION: A component method includes a component supply step (ST1) of supplying a removal object component in an irregular posture, a search window setting step (ST2) of setting a search window, i.e., the imaging range of a supplied component by a first camera, an imaging step (ST3) of imaging the search window thus set by the first camera, a component detection step (ST4) of detecting a removal component in the search window thus imaged, a component selection step (ST5) of selecting a component to be removed, out of the removable components thus detected, and a component transport step (ST6) of removing the component to be removed thus selected while holding by a component holding part. In the search window setting step (ST2), the size of a search window set initially is set larger than the size of a search window set at the second and subsequent times.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a component take-out method, a component take-out device, and a component mount device used in the component mounting field for mounting components on a board.

  In a component mounting apparatus, various types of components are mounted on a substrate. Of these parts, power transistors and connector parts, such as power transistors and connector parts, are inserted by inserting the leads into mounting holes formed in the board. (See, for example, Patent Document 1). In the prior art shown in this patent document example, an axial component supplied in the form of a taping component series in which both ends of a lead are held by a tape is separated from the taping component series and mounted on a substrate.

JP 2014-063937 A

  However, in the prior art using the dedicated equipment for each part including the above-mentioned patent document examples, there are the following inconveniences from the viewpoint of versatility of the parts to be applied. In other words, in the dedicated equipment used in the prior art, the parts are regularly arranged / posted, such as a form in which the parts are supplied in a predetermined posture by taping as a form for supplying a plurality of parts, or a form in which the parts are stored in a tray-like holder. It was necessary to supply with.

  For this reason, it is difficult to pick out multiple types of parts with different shapes and sizes of common equipment, and it is difficult to produce parts manually by mounting parts, or dedicated equipment for each part type. It has been forced to select one of the work modes having a high equipment cost to be prepared, and there has been a demand for a component take-out technique that is excellent in versatility and can realize high production efficiency at low cost. This problem is common not only to the inserted parts but also to so-called deformed parts that are difficult to supply by taping or trays.

  Therefore, an object of the present invention is to provide a component take-out method, a component take-out device, and a component mounting device that are excellent in general versatility and can realize high production efficiency.

  The component picking method of the present invention includes a component supplying step of supplying a component to be picked up in an irregular posture by a component supply tray, and a search window for setting a search window that is a range in which the supplied component is imaged by a camera. A setting step; an imaging step of imaging the set search window by the camera; a component detection step of detecting a removable component in the captured search window; and the detected removable component Including a part selection step for selecting a part to be taken out and a part transporting step for holding and taking out the selected part to be taken out by a part holding unit, and setting the first time in the search window setting step The size of the search window is larger than the size of the search window set for the second time or later. Characterized in that it is largely set.

  The component take-out device of the present invention includes a component supply unit that supplies a component to be taken out in an irregular posture by a component supply tray, and a search window setting unit that sets a search window that is a range for imaging the supplied component. A camera that captures the set search window, a component detection unit that detects a component that can be removed within the captured search window, and a component that should be removed from the detected components that can be removed A component selection unit that selects the component to be extracted and a component conveyance unit that holds and extracts the selected component to be extracted by a component holding unit, and the search window setting unit sets the size of the search window to be set for the first time. The size is set larger than the size of the search window set for the second time and thereafter.

  A component mounting apparatus according to the present invention is a component mounting apparatus that transfers and mounts a component taken out by a component take-out device onto a board held by a board holding unit, and the component take-out apparatus is set forth in claim 3 or 4. It is a component extraction apparatus of description.

  According to the present invention, it is possible to achieve high production efficiency with excellent versatility.

The perspective view of the component mounting apparatus with which the component picking_out | removing apparatus of one embodiment of this invention was integrated The fragmentary perspective view of the components pick-up apparatus of one embodiment of this invention (A) (b) Structure explanatory drawing of the component holding part used for the component pick-up apparatus of one embodiment of this invention The fragmentary top view of the component mounting apparatus with which the component pick-up apparatus of one embodiment of this invention was integrated The block diagram which shows the structure of the control system of the component mounting apparatus with which the component pick-up apparatus of one embodiment of this invention was integrated (A) (b) Explanatory drawing of the component basic shape and component attitude | position in the component pick-up apparatus of one embodiment of this invention (A) (b) (c) (d) Explanatory drawing of the magnitude | size of the components taken out in the components extraction apparatus of one embodiment of this invention, and the magnitude | size of the search window set initially. (A) (b) (c) Explanatory drawing of the magnitude | size of the components taken out in the components extraction apparatus of one embodiment of this invention, and the magnitude | size of the search window set after the 2nd time The flowchart of the component mounting method by the component mounting apparatus with which the component pick-up apparatus of one embodiment of this invention was integrated (A) (b) Explanatory drawing of component conveyance operation | movement by the component pick-up apparatus of one embodiment of this invention (A) (b) Explanatory drawing of component mounting operation | movement by the component mounting apparatus with which the component pick-up apparatus of one embodiment of this invention was integrated (A) (b) Explanatory drawing of component mounting operation | movement by the component mounting apparatus with which the component pick-up apparatus of one embodiment of this invention was integrated The flowchart of the search window setting method by the components pick-up apparatus of one embodiment of this invention (A) (b) Explanatory drawing which shows the example of the component detected by the search window set in the components pick-up apparatus of one embodiment of this invention (A) (b) Explanatory drawing which shows the example of the component detected by the search window set in the components pick-up apparatus of one embodiment of this invention

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. The configuration, shape, and the like described below are illustrative examples, and can be appropriately changed according to the specifications of the component mounting apparatus and the component take-out apparatus. Below, the same code | symbol is attached | subjected to the element which respond | corresponds in all the drawings, and the overlapping description is abbreviate | omitted. In FIG. 1 and a part to be described later, the X direction in the substrate transfer direction, the Y direction orthogonal to the substrate transfer direction, and the Z direction as the height direction orthogonal to the horizontal plane are shown as two axial directions orthogonal to each other in the horizontal plane. . The Z direction is the vertical direction when the component mounting apparatus is installed on a horizontal plane.

  First, with reference to FIG. 1 and FIG. 2, the structure of the component mounting apparatus 1 in which the component pick-up apparatus in this Embodiment is integrated is demonstrated. In FIG. 1, a substrate transport mechanism 3 is disposed on the upper surface of the base 2 in the X direction. The board transport mechanism 3 receives the board 4 to be mounted from the upstream device (not shown), transports it in the X direction, and positions and holds it at a mounting work position by the component mounting mechanism described below. That is, the substrate transport mechanism 3 serves as a substrate holding unit that positions and holds the substrate 4.

  A component supply unit 5 is disposed on one side of the substrate transport mechanism 3. A tray feeder 6 is disposed in the component supply unit 5. The tray feeder 6 supplies the tray 7 in which the components 8 to be mounted are accommodated to an extraction position by the component extraction head 12 provided in the component mounting mechanism. The tray feeder 6 provided in the component supply unit 5 used in the present embodiment does not supply the components to be taken out in a grid-like regular arrangement like a generally used tray feeder, but the components 8 to be taken out. The supply form is irregular. That is, the component supply unit 5 supplies the component 8 to be taken out in an irregular posture by the tray 7 (component supply tray).

  In FIG. 1, Y-axis beams 10 are disposed in the Y direction on the upper surfaces of a pair of frame portions 9 disposed at both ends of the base 2 in the X direction. A component picking head 12 is mounted on the X-axis beam 11 installed on the Y-axis beam 10 so as to be movable in the X direction. Each of the Y-axis beam 10 and the X-axis beam 11 includes a linear motor driven linear motion mechanism. By driving the Y-axis beam 10 and the X-axis beam 11, the component take-out head 12 moves in the X direction and the Y direction, and the component 8 taken out from the tray 7 is transferred to the substrate 4 positioned and held by the substrate transfer mechanism 3. Mount.

  In the present embodiment, the Y-axis beam 10, the X-axis beam 11, and the component extraction head 12 constitute a component conveyance unit 13 that conveys the component 8 extracted from the tray 7. In the present embodiment, the component transport unit 13 also serves as a component mounting mechanism. That is, the component pick-up head 12 has a function as a mounting head for transferring and mounting the component 8 on the substrate 4.

  In FIG. 1, a first camera 14 that moves in the X direction and the Y direction integrally with the component pickup head 12 and images the lower side is disposed on the side of the component pickup head 12. The first camera 14 moves above the tray 7 and images the component 8 supplied to the tray 7. The first camera 14 images the tray 7 (arrow b in FIG. 2) while moving in the X and Y directions (arrow a in FIG. 2) according to the size and position of a search window to be described later. Thereby, an image of the component 8 supplied in an irregular posture on the tray 7 can be acquired.

  The first camera 14 may be disposed in front of or behind the component picking head 12 instead of on the side of the component picking head 12. Further, the first camera 14 may be configured to move in the X direction and the Y direction by a mechanism different from the Y axis beam 10 and the X axis beam 11 that move the component picking head 12. The first camera 14 may be a wide-field camera that is fixed above the tray 7 and can image the entire tray 7. In this case, the wide-field camera images the set search window range in the tray 7.

  In FIG. 1, a second camera 15 is disposed in a transfer path along which the component pickup head 12 that has extracted the component 8 from the tray 7 transfers to the substrate 4. The second camera 15 lowers the component 8 held by the component pickup head 12 in the process of transferring the component 8 to the substrate 4 held by the substrate transfer mechanism 3 which is a substrate holding unit by the component pickup head 12. Take an image from.

  In FIG. 2, the component picking head 12 includes a plurality of (three in the illustrated example) chuck units 16 extending downward from the lower surface side. The chuck unit 16 has a function of sandwiching and holding the component 8 from both sides by a pair of chuck claws 17.

  Next, the configuration and function of the chuck unit 16 will be described with reference to FIG. In FIG. 3A, the chuck unit 16 includes an elevating / rotating shaft 16 b that extends upward from the main body 16 a and is coupled to the component picking head 12. By driving an elevating mechanism and a θ rotating mechanism (both not shown) built in the component picking head 12, the chuck unit 16 is moved up and down (arrow c), and further rotated around the elevating / rotating shaft 16b by θ rotation (arrow d). ).

  The main body 16a is provided with a pair of chuck claws 17 extending downward so as to be able to turn around a horizontal turning shaft 17a. By driving an opening / closing mechanism (not shown) built in the main body portion 16a, the pair of chuck claws 17 move toward and away from each other (arrow e). As a result, the component 8 to be held can be held and held by the pair of chuck claws 17. Further, a pushing mechanism 18 is provided on the front surface of the main body 16a. A pushing member 18b is coupled to a lower end portion of the lifting shaft 18a extending downward from the pushing mechanism 18.

  As shown in FIG. 3 (b), by driving a claw turning mechanism (not shown) built in the main body 16a, the pair of chuck claws 17 turn around the turning shaft 17a (arrow f). Thereby, the chuck unit 16 can change the posture of the component 8 held in the horizontal posture to the vertical posture. Further, by driving the pushing mechanism 18, the pushing member 18b moves up and down (arrow g). The component 8 held in the vertical posture by the chuck claw 17 is pushed down by the pushing member 18b, whereby the lead 8b of the component 8 is inserted into the insertion hole 4a of the substrate 4 (see FIG. 12B).

  When the components 8 are picked up from the tray 7 by the component pickup head 12, the recognition result of the first camera 14 is recognized by the recognition processing unit 19 (see FIG. 5), so that the position of the individual component 8 in the tray 7 is And posture is acquired. Then, by controlling the component picking head 12 and the chuck unit 16 based on these recognition results, the component 8 can be held by each chuck unit 16 and taken out from the tray 7 (see FIG. 10B).

  As shown in FIG. 4, the component 8 accommodated in the tray 7 is a so-called insertion component having a configuration in which a plurality of leads 8 b extend from a rectangular component main body portion 8 a such as a power transistor. An insertion hole 4 a into which the lead 8 b is inserted is formed in the substrate 4 positioned and held by the substrate transport mechanism 3. When the component 8 is mounted on the substrate 4, the component pickup head 12 that holds the component 8 by each chuck unit 16 moves above the second camera 15, so that the second camera 15 removes the component 8. An image is taken from below (see FIG. 11B).

  And the position of the lead 8b in each component 8 is recognized by carrying out recognition processing of the imaging result by the 2nd camera 15 by the recognition process part 19 (refer FIG. 5). When the component 8 is mounted on the substrate 4 by the component pick-up head 12 moved above the substrate 4, the lead 8b is aligned with the insertion hole 4a based on the recognition result described above (FIG. 12A). reference).

  In FIG. 4, when a component replenishing operation for storing the component 8 in the tray 7 is performed, the operator, as a general rule, does not overlap the component mounting surface 7 a of the tray 7 with one layer only. Level the parts so that they are unfolded. At this time, the direction and the front and back of each component 8 are irregular in the tray 7, and the components in the inverted state (labeled with “8 *”) and the two components 8 partially overlap each other Exists. In addition, the components 8 may be unevenly spread on the tray 7. In taking out the components according to the present embodiment, the following configuration is used in order to take out the components 8 supplied in such an irregular posture as efficiently as possible.

  Here, the configuration of the control system will be described with reference to FIG. In FIG. 5, the control device 20 built in the component mounting apparatus 1 controls work operations by the component supply unit 5, the component transport unit 13, and the board transport mechanism 3 shown in FIG. 1. Furthermore, the control device 20 is connected to the recognition processing unit 19, and the recognition processing unit 19 recognizes the imaging results obtained by the first camera 14 and the second camera 15 and transmits the recognition results to the control device 20. The recognition processing unit 19 recognizes the imaging result obtained by the first camera 14, whereby the position and orientation of the component 8 on the tray 7 are determined. The recognition processing unit 19 recognizes the component 8 held by the chuck unit 16 of the component pick-up head 12 by performing recognition processing on the imaging result obtained by the second camera 15.

  The control device 20 includes a control processing unit 21, a program storage unit 28, and a data storage unit 35. Furthermore, the control processing unit 21 includes a mounting control unit 22, a search setting unit 23, an imaging processing unit 24, a component detection unit 25, a component selection unit 26, and a conveyance control unit 27 as internal control functions. The mounting control unit 22 controls a component mounting operation for mounting the component 8 taken out from the component supply unit 5 on the substrate 4 positioned and held by the substrate transport mechanism 3. The component mounting operation is controlled by executing the mounting operation program 29 stored in the program storage unit 28 while referring to the mounting data 36 stored in the data storage unit 35. In this control, the component mounting mechanism is controlled based on the recognition result of the component 8 by the recognition processing unit 19 to mount the component 8 on the substrate 4.

  In FIG. 5, the component data 37 stored in the data storage unit 35 includes component basic shape information, component posture information, and the like. Here, with reference to FIG. 6, each information included in the component data 37 will be described. FIG. 6A shows component basic shape information of the component 8 to be taken out. The component basic shape information includes the planar dimensions A and B of the component main body portion 8a constituting the component 8, the width w of the lead 8b, the lead length l, and the lead pitch p. The component 8 placed in a plane in a normal posture (hereinafter referred to as “normal posture”) that does not overlap or tilt on the component placement surface 7a of the tray 7 has a horizontal length of a plane dimension A and a vertical length. Falls within the rectangular range of the length (B + 1) obtained by adding the lead length l to the plane dimension B. That is, the size of the normal posture of the component 8 is A for the horizontal length and (B + l) for the vertical length.

  The component posture information shown in FIG. 6B includes a basic posture pattern in a state where the component 8 is planarly placed on the component placement surface 7a of the tray 7, and recognition corresponding to each posture pattern. A correspondence with an image, ie, an image acquired by the first camera 14, is included. First, FIGS. 6B and 1A show the component posture (normal posture) in which the component main body portion 8a is completely in contact with the component placement surface 7a and the surface 8c is placed in a horizontal state. In this state, the shape of the surface 8c and the lead 8b appears as they are in the recognition image by the first camera 14. FIGS. 6B and 6B show the component posture (tilted posture) in which the component main body portion 8a is inclined on the component placement surface 7a and the tip of the lead 8b is in contact with the component placement surface 7a. ing. In this state, a shape in which the surface 8c and the lead 8b are inclined appears in the recognition image.

  6 (b) (3), 6 (b) and 4 (4) show the postures in which the component 8 is placed on the component placement surface 7a in a state where the front and back are reversed, and FIG. 6 (b) ( 1) corresponds to the states shown in FIGS. 6B and 6B. FIGS. 6B and 6C show the component posture (reverse posture) in which the component main body portion 8a is placed in a state where the back surface 8d faces upward and is completely in contact with the component placement surface 7a. In this state, in the recognition image by the first camera 14, the shape of the back surface 8d and the lead 8b appears as they are. 6B and 6B show the component posture in which the component main body portion 8a is inclined on the component placement surface 7a with the back surface 8d facing upward, and the tip of the lead 8b is in contact with the component placement surface 7a. (Inverted tilt posture). In this state, a shape in which the back surface 8d and the lead 8b are inclined appears in the recognition image.

  By preparing and storing such component posture information in advance, it is possible to determine the posture including the front and back of the actual component 8 based on the recognition result imaged by the first camera 14. Whether it is possible or not can be determined with high accuracy. Note that the example shown in FIG. 6B is an example of the component posture, and various posture patterns can be set according to the characteristics of the target component type and shape.

  In FIG. 5, the search setting unit 23 performs a search window setting process for setting a search window W that is a range in which the part 8 is imaged by the first camera 14 in a part detection process described later. This search window setting process is performed by executing the search setting process program 30 stored in the program storage unit 28 while referring to the component basic shape information included in the component data 37 stored in the data storage unit 35. . The size of the search window W set by the search window setting process and the position of the search window W in the tray 7 are stored in the data storage unit 35 as search window data 38.

  Based on the set search window W, the imaging processing unit 24 performs an imaging process in which the first camera 14 captures an image of the range of the search window W. This imaging process is performed by executing the imaging process program 31 stored in the program storage unit 28 while referring to the search window data 38 stored in the data storage unit 35. The imaging result captured by the first camera 14 is recognized by the recognition processing unit 19. As described above, the search setting unit 23 serves as a search window setting unit that sets the search window W that is a range in which the supplied component 8 is imaged, and the first camera 14 serves as a camera that captures the set search window W. .

  The component detection unit 25 performs component detection processing for detecting a component 8 that can be taken out in the search window W based on the image of the search window W captured by the first camera 14. This component detection process is performed by executing the component detection processing program 32 stored in the program storage unit 28 while referring to the component posture information included in the component data 37 stored in the data storage unit 35. Information on the component 8 detected by the component detection processing is stored in the data storage unit 35 as detected component data 39.

  The component selection unit 26 performs a component selection process for selecting a plurality of components 8 to be taken out of the removable components 8 detected by the component detection unit 25. This component selection processing is performed by executing the component selection processing program 33 stored in the program storage unit 28 while referring to the detected component data 39 stored in the data storage unit 35. Information on the component 8 selected by the component selection processing is stored in the data storage unit 35 as selected component data 40.

  The conveyance control unit 27 controls a component conveyance operation in which the selected component 8 to be extracted is held and taken out by the chuck unit 16 as a plurality of component holding units provided in the component extraction head 12. The control of the component conveying operation is performed by executing the component conveying operation program 34 stored in the program storage unit 28 while referring to the selected component data 40 stored in the data storage unit 35. As described above, the component transport unit 13 having the above-described configuration has a function of holding the component 8 to be taken out selected by the component selection unit 26 and taking it out by a plurality of component holding units.

  In the present embodiment, in the process of taking out a plurality of parts 8 to be taken out by the parts transport unit 13, a state in which a plurality of parts 8 to be taken out is simultaneously held by a chuck unit 16 as a plurality of part holding parts is surely passed. I am doing so. Thereby, a plurality of parts 8 can be taken out by one operation of the part picking head 12, and the work efficiency of picking up the parts can be improved.

  Among the components shown in FIG. 5, elements for mounting the component 8 taken out from the component supply unit 5 in the component mounting apparatus 1 on the substrate 4 (specifically, the second camera 15, the mounting control unit 22, The components excluding the mounting operation program 29 and the mounting data 36) constitute the component take-out device in the present embodiment. That is, the component take-out device includes a component supply unit 5, a search setting unit 23 (search window setting unit), a first camera 14 (camera), a component detection unit 25, a component selection unit 26, and a component transport unit 13. . Then, the component mounting apparatus 1 transfers and mounts the component 8 taken out by the component take-out device onto the substrate 4 held by the substrate transfer mechanism 3 (substrate holding unit).

  Next, an example of the search window W set in the search window setting process by the search setting unit 23 (search window setting unit) will be described with reference to FIGS. In FIG. 7, after the parts 8 are supplied from the tray 7 in the parts supply unit 5, the first search window W (hereinafter referred to as “first search window We”) set by first executing the search window setting process. .) Example. In FIG. 8, the component 8 is detected in the second and subsequent component detection processes in which the component 8 is detected by moving the initial search window We when the component 8 is not detected in the second or subsequent component detection process. An example of a search window W (hereinafter referred to as a “normal search window Wg”) set after being set.

  FIG. 7A shows a planar dimension A (L) which is the horizontal length of a large component 8 (L), a medium component 8 (M), and a small component 8 (S) placed in a plane. ), A multiplication length that is a length obtained by multiplying the planar dimension A (M) and the planar dimension A (S) by the number of chuck units 16 (part holding portions) provided in the part pick-up head 12 (three in this case), A comparison with the length Xt of the tray 7 in the X direction is shown.

  For the large component 8 (L), the multiplication length (3 × A (L)) obtained by multiplying the planar dimension A (L) by the number of chuck units 16 is the length of the tray 7 (component supply tray) in the X direction. It is larger than half of the length Xt (the length Yt in the Y direction). In this case, the length of one side in the X direction (Y direction) of the initial search window We (L) is set to the length Xt in the X direction (length in the Y direction) of the tray 7 shown in FIG. Yt).

  Similarly, the multiplication length (3 × A (M)) of the medium-sized component 8 (M) is a quarter of the X-direction length Xt (Y-direction length Yt) of the tray 7 (component supply tray). Greater than 1 and less than or equal to half. In this case, the length of one side in the X direction (Y direction) of the initial search window We (M) is 2 of the X direction length Xt (Y direction length Yt) of the tray 7 shown in FIG. It is set to 1 / minute. Similarly, the multiplication length (3 × A (S)) of the small component 8 (S) is four times the X-direction length Xt (Y-direction length Yt) of the tray 7 (component supply tray). Less than 1. In this case, the length of one side of the initial search window We (S) in the X direction (Y direction) is 4 in the X direction length Xt (Y direction length Yt) of the tray 7 shown in FIG. It is set to 1 / minute.

  As described above, the horizontal length (planar dimension A) or vertical length (the sum of the planar dimension B and the REIT length l) of the component 8 and the number of the chuck units 16 (component holding portions), that is, component removal By setting the appropriate size of the initial search window We based on the number Nh of the components 8 held by the head 12, the number of component detection processes and the time required for the component detection processing can be appropriately set. . In the search window setting process, the length of the initial search window We is determined by comparing the vertical length of the component 8 (the sum of the plane dimension B and the REIT length l) with the length Yt of the tray 7 in the Y direction. You may make it set.

  7C and 7D, when the component 8 is not detected in the first component detection process, the second search window W is the first search window We (M), We ( It is set to the same size as S) and moved vertically and horizontally. Similarly, after the third time, when the component 8 is not detected in the previous component detection process, the search window W having the same size as the initial search windows We (M) and We (S) is set. In this example, the setting position of the search window W starts from the upper left, and is set in the priority order from the upper side to the lower side and from the left side to the right side. The priority order for setting the search window W is not limited to this and can be set as appropriate.

  FIG. 8 shows an example of the normal search window Wg. The size of the normal search window Wg is the horizontal length (planar dimension A) of the component 8 placed in a plane on the tray 7 and the vertical length of the component 8 (the sum of the planar dimension B and the lead length l). ) And the number (A + B + l) of the component 8 and the number of chuck units 16 (component holding units) that take out the component 8 (the number of holding components Nh). FIG. 8A shows a normal search window Wg1 when the holding number Nh of the component 8 is one, and FIG. 8B shows a normal search window Wg2 when the holding number Nh of the component 8 is two. FIG. 8C shows a normal search window Wg3 in the case where the holding number Nh of the component 8 is three.

  When the number Nh of the parts 8 is 1 (FIG. 8A), the normal search window Wg1 having a side length of the dimension (A + B + l) of the part 8 is set. When the number of holding parts Nh is two (FIG. 8B), a normal search window Wg2 having a length of one side twice the dimension (A + B + l) of the part 8 is set. When the number Nh of the parts 8 is three (FIG. 8C), the normal search window Wg3 having a side length three times the dimension (A + B + l) of the part 8 is set.

  In other words, in the search window setting process, the normal search window Wg is set to a rectangle having a length obtained by multiplying the dimension (A + B + l) of the component 8 by the number Nh of the component 8 as one side. As described above, by setting the normal search window Wg having an appropriate size based on the dimensions of the component 8 and the number of held components Nh, the number of component detection processes and the time required for the component detection process are set appropriately. Is done.

  Next, a component mounting method by the component mounting apparatus 1 in which the component take-out device is incorporated will be described along the flow of FIG. 9 with reference to FIGS. First, the tray feeder 6 supplies the tray 7 (component supply tray) on which the components 8 are placed in an irregular posture to the take-out position (ST1: component supply step). That is, the component 8 to be taken out is supplied in an irregular posture by the tray 7 (component supply tray). Next, the search setting unit 23 executes a search window setting process for setting a search window W that is a range in which the supplied component 8 is imaged by the first camera 14 (ST2: search window setting step). The search window setting step (ST2) (search window setting method) will be described in detail later.

  Next, the imaging processing unit 24 executes an imaging process for imaging the set search window W with the first camera 14 (ST3: imaging process). The imaging result is recognized and processed by the recognition processing unit 19. Next, the component detection unit 25 performs component detection processing for detecting the component 8 that can be taken out within the imaged search window W (ST4: component detection step). Next, the component selection unit 26 executes a component selection process for selecting the component 8 to be extracted among the detected removable components 8 (ST5: component selection process). Next, the conveyance control unit 27 controls the component conveyance unit 13 to execute a component conveyance process in which the selected component 8 to be taken out is held and taken out by the chuck unit 16 (component holding unit) (ST6: component conveyance step).

  In the component conveying step (ST6), as shown in FIG. 10A, the chuck unit 16 in which the chuck claw 17 is in the open state and the pushing member 18b is in the raised position is positioned on the component placement surface 7a of the tray 7. The selected part 8 is moved upward and lowered with respect to the part 8 (arrow h). Here, the component 8 is placed on the component placement surface 7a in a normal posture with the surface 8c of the component body portion 8a facing upward, and the sandwiching side surfaces 8e on both sides of the component body portion 8a are in a free state. It has become. In the process of lowering the chuck unit 16 with respect to the component 8, alignment is performed so that the clamping side surface 8 e can be clamped by the chuck claw 17.

  In FIG. 10B, the chuck unit 16 is lowered with respect to the component 8 in this state, and the chuck claw 17 is closed (arrow i). Thereby, the chuck unit 16 clamps the clamping side surface 8e of the component main body 8a from both sides by the chuck claws 17. Thereby, the holding of the component 8 by the chuck unit 16 is completed. Then, the chuck unit 16 in this state is raised and moved in the take-out direction (arrow j). In this process, by rotating the chuck claw 17 by 90 degrees in the clockwise direction in the YZ plane, the part 8 held by the chuck claw 17 is converted into a posture in which the lead 8b is directed downward. Thereby, the removal of the component 8 by one chuck unit 16 provided in the component extraction head 12 is completed.

  This component extraction operation is sequentially executed for a plurality (three in this case) of chuck units 16 provided in the component extraction head 12. As a result, as shown in FIG. 11A, the lead 8b is directed downward to each of the three chuck units 16 (1), (2), and (3) provided in the component picking head 12. The component 8 is held. That is, in the component take-out apparatus shown in the present embodiment, in the process of taking out the plurality of components 8 to be taken out by the component carrying unit 13 in the component carrying step, the chuck unit that is a plurality of component holding units. 16 (1), (2), and (3) are in the form of being held simultaneously.

  In FIG. 9, when the components 8 are not held in all of the chuck units 16 provided in the component take-out head 12 (No in ST7), the process returns to the search window setting step (ST2). Then, a search window W for the next component detection process is set, and the component 8 to be taken out by the chuck unit 16 that cannot hold the component 8 is selected. When each of all the chuck units 16 included in the component pick-up head 12 can hold the component 8 (Yes in ST7), the mounting control unit 22 controls the component conveying unit 13 to hold the component 8 held by the chuck unit 16. A component mounting operation is performed to mount the component on the substrate 4 positioned and held by the substrate transport mechanism 3 (ST8: component mounting step).

  In the component mounting step (ST8), as shown in FIG. 11B, the component pickup head 12 holding the component 8 in each of the chuck units 16 (1), (2), and (3) is used as the second camera 15. Move upwards. Then, the second camera 15 captures an image of the component 8 held by each chuck unit 16 (1), (2), (3) from below. Next, the positional deviation of the component 8 is recognized based on the captured image. In other words, the recognition processing unit 19 performs recognition processing on the imaging result, thereby recognizing the positional deviation of the held lead 8b of the component 8 from the normal position where it should be originally positioned.

  Based on these recognition results, the positional deviation is corrected and the component 8 is mounted on the substrate 4. That is, as shown in FIG. 12A, the chuck unit 16 holding the component 8 with the lead 8b facing downward by the chuck claws 17 is aligned with the mounting position of the component 8 on the substrate 4 and lowered. (Arrow k). Here, the positional deviation of the lead 8b detected by the component recognition is corrected so as to coincide with the insertion hole 4a.

  Next, as shown in FIG. 12B, the pushing mechanism 18 is operated to lower the pushing member 18b (arrow m). Accordingly, the component main body portion 8a is pushed down by the pushing member 18b, and the lead 8b is inserted into the insertion hole 4a. When the operation of mounting the component 8 on the substrate 4 is executed in all the chuck units 16 that hold the component 8, the component mounting step (ST8) is completed.

  In this way, the component supply step (ST1), the search window setting step (ST2), the imaging step (ST3), the component detection step (ST4), the component selection step (ST5), and the component transport step (ST6) are performed on the tray 7 ( This is a component extraction process (component extraction method) in which the component 8 to be supplied to the component supply tray) in an irregular posture is held and extracted by the chuck unit 16 (component holding unit) provided in the component extraction head 12. Then, until all the components 8 to be extracted with the components 8 supplied to the tray 7 are extracted (Yes in ST9), the component extracting step and the component mounting step (ST8) are repeatedly executed (No in ST9).

  Next, the details of the search window setting step (ST2) (search window setting method) for setting the search window W will be described along the flow of FIG. 13 with reference to FIGS. First, the search setting unit 23 determines whether or not it is the first search window setting process after the component supply process (ST1) in which the tray 7 is supplied to the take-out position is executed (ST11). In the first case (Yes in ST11), the search setting unit 23 sets the initial search window We (ST12: initial search window setting step).

  FIG. 14A shows an example of the tray 7 in which the initial search window We is set. In this example, the size of the part 8 is the medium-sized part 8 (M) shown in FIG. 7A and the length of one side is one half of the length (Xt, Yt) of the tray 7. We is set at the upper left position of the tray 7.

  That is, in the search window setting step (ST2), as the initial search window We, the length of one side of the search window W is the horizontal (plane dimension A) or vertical (plane dimension) of the component 8 placed in a plane. The multiplication length, which is a length obtained by multiplying the length of B and the lead length l) by the number of chuck units 16 (component holding portions) for taking out the components 8, is 4 as the length of the tray 7 (component supply tray). If it is greater than one half and less than one half, it is set to one half of the length of the tray 7. Similarly, when the multiplication length is larger than half of the length of the tray 7, the length of the tray 7 is set. When the multiplication length is smaller than one quarter of the length of the tray 7, It is set to ¼ of the length of the tray 7.

  When the component detection processing is executed within the range of the initial search window We shown in FIG. 14A, five components 8 (1), 8 (4), and 8 (6) -8 (8) can be taken out. Detected as a new component 8. On the other hand, the parts 8 (2) and 8 (5) are in an inverted posture, the part 8 (3) is in an inclined posture, and the entire part 8 (9) is not detected. Not detected. In the component selection process, the component 8 (1), the component 8 (4), and the component 8 (6) are selected as the components 8 to be taken out. That is, in the part selection process, the parts 8 to be picked up are selected in order from the pickable parts 8 in the direction (left side) opposite to the direction (right side) in which the next search window W is set.

  In the case of the second and subsequent search window setting processes (No in ST11), the search setting unit 23 determines whether or not a part has been imaged in the search window W in the previous imaging process (ST3). (ST13: Imaging component determination step). If the part 8 has not been imaged last time (No in ST13), the size of the search window W is moved to the next without changing the size from the previous time (ST14). That is, when the part 8 is not imaged in the first imaging step (ST3), the search setting unit 23 moves the initial search window We to the next position.

  When the part 8 has been imaged last time (Yes in ST13), the search setting unit 23 determines whether or not there is a part 8 that has been detected as being able to be taken out but has not yet been taken out (ST15: remaining). Part judgment process). When the part 8 that has not been removed remains (Yes in ST15), the search setting unit 23 sets a normal search window Wg that includes the part 8 that has not been removed (ST16).

  That is, in the search window setting step (ST2), the component 8 detected as the component 8 that can be taken out in the previous component detection step (ST4) is selected as the component 8 to be taken out in the previous component selection step (ST5). A range including the part 8 that has not been set is set in the next search window W. That is, the search setting unit 23 (search window setting unit) is the component 8 that was previously detected as the component 8 that can be extracted by the component detection unit 25, but was selected as the component 8 that should be extracted by the component selection unit 26 last time. A range including the missing part 8 is set in the next search window W.

  In FIG. 14A, in the range of the initial search window We, the parts 8 (1), 8 (4), and 8 (6) are taken out in the parts transporting process (ST6), but the parts that can still be taken out. 8 (7) and part 8 (8) remain. Therefore, as shown in FIG. 14B, the normal search window Wg (1) is set in a range including the parts 8 (7) and 8 (8).

  At this time, the size of the normal search window Wg (1) (search window W) is set to the dimension (A + B + l) of the part 8 which is the sum of the horizontal length and the vertical length of the part 8 placed in a plane. The length multiplied by the number of chuck units 16 (component holding units) is set to a rectangle having one side. In the range of the normal search window Wg (1), three parts 8 (7) to 8 (9) are detected as the removable parts 8, and the part 8 (10) is not detected as the removable part 8.

  In FIG. 13, when it is determined in the remaining part determination step (ST 15) that there is no part 8 that can be taken out (No), the search setting unit 23 includes the part 8 that has not been detected as the part 8 that can be taken out. A normal search window Wg is set (ST17).

  That is, in the search window setting step (ST2), the component 8 that has been imaged in the previous imaging step (ST3) but has not been detected as the component 8 that can be taken out in the previous component detection step (ST4). The range to be included is set in the next search window W. That is, the search setting unit 23 (search window setting unit) is the component 8 previously captured by the first camera 14 (camera), but is not detected as the component 8 that can be taken out by the component detection unit 25 last time. The range including the selected component 8 is set in the next search window W.

  In FIG. 14B, in the range of the normal search window Wg (1), the part 8 (7), the part 8 (8), and the part 8 (9) are taken out in the part transporting step (ST6), but a part of them is taken out. The imaged part 8 (10) remains. Therefore, as shown in FIG. 15A, the range includes the part 8 (10) that was captured in the previous imaging step (ST3) but was not detected as being removable in the previous component detection step (ST4). The normal search window Wg (2) is set.

  In the range of the normal search window Wg (2), two parts 8 (10) and 8 (13) are detected as removable parts 8, but the parts 8 (12) and 8 (14) overlap. Therefore, the parts 8 (15) and 8 (16) are not detected as a whole because they are not detected as a whole. Then, the parts 8 (10) and the parts 8 (13) are taken out in the part conveying step (ST6), but one chuck unit 16 that does not hold the parts 8 remains. Therefore, as shown in FIG. 15 (b), the normal search window Wg (3) is set in a range including the parts 8 (15) and the parts 8 (16), and the parts 8 (15) are set in the parts conveying step (ST6). ) Is taken out.

  In the search window setting step (ST2) described above, the size of the search window W (first search window We) set for the first time (ST12) is set as the search window W (normal search) set for the second time or later (ST16, ST17). It is set larger than the size of the window Wg). That is, the search setting unit 23 (search window setting unit) sets the size of the search window W set for the first time to be larger than the size of the search window W set for the second time or later. Thereby, even when an empty tray 7 is supplied to the take-out position, it can be determined that there is no part 8 to be taken out from the tray 7 with a small number of parts detection processes.

  In the search window setting step (ST2) described above, the size of the normal search window Wg (search window W) is the size of the part 8 (A + B + l) and the chuck unit 16 (part holding part) that takes out the part 8. Set based on the number. Thereby, the normal search window Wg having an appropriate size can be set, and the number of parts detection processing and the time required for the parts detection processing are appropriately set.

  As described above, in the component extraction method of the present embodiment, the component supply step (ST1) for supplying the component 8 to be extracted in an irregular posture by the tray 7 (component supply tray) and the search window W are set. A search window setting step (ST2), an imaging step (ST3) for imaging the search window W by the first camera 14, and a component detection step (ST4) for detecting a component 8 that can be taken out in the search window W. The component selection step (ST5) for selecting the component 8 to be extracted from the components 8 that can be extracted, and the component conveyance step (ST6) for holding and extracting the component 8 to be extracted by the chuck unit 16 (component holding unit) are included. It is out. In the search window setting step (ST2), the size of the search window W set for the first time is set larger than the size of the search window W set for the second time and thereafter.

  As a result, the part 8 can be taken out in an appropriate time according to the shape and size of the part 8, and high production efficiency can be realized with excellent versatility. In the above-described embodiment, the component 8 to be taken out is the component 8 which is an insertion component having a shape in which a plurality of leads 8b extend from the component main body portion 8a, but the object of the present invention is as described above. It is not limited to a simple insertion part. In other words, any deformed part that is not suitable for a part supply form using a taping or a tray is applicable to the present invention.

  INDUSTRIAL APPLICABILITY The component extraction method, component extraction apparatus, and component mounting apparatus of the present invention have an effect that high productivity can be realized with excellent versatility, and are useful in the field of mounting components on a substrate.

7 Tray (component supply tray)
8 Parts 14 First camera (camera)
16 Chuck unit (part holding part)
We first search window (search window)
Wg Normal search window (search window)

Claims (5)

A component supply process for supplying parts to be taken out in an irregular posture by a component supply tray;
A search window setting step for setting a search window that is a range in which the supplied part is imaged by a camera;
An imaging step of imaging the set search window with the camera;
In the imaged search window, a component detection step for detecting a removable component;
Of the detected parts that can be taken out, a part selection step for selecting a part to be taken out;
Including a component transporting process in which the selected component to be taken out is held and taken out by a component holding unit,
In the search window setting step, the size of the search window set for the first time is set larger than the size of the search window set for the second time or later. In the search window setting step, the length of one side of the search window is:
The multiplication length, which is a length obtained by multiplying the horizontal or vertical length of the component placed in a plane by the number of the component holding portions that take out the component, is one half of the length of the component supply tray. If larger, it is set to the length of the parts supply tray,
When the multiplication length is greater than a quarter of the length of the component supply tray and equal to or less than a half, it is set to one half of the length of the component supply tray;
The length of the component supply tray is set to a quarter of the length of the component supply tray when the multiplication length is less than a quarter of the length of the component supply tray. How to take out parts. A component supply unit that supplies parts to be taken out in an irregular posture by a component supply tray;
A search window setting unit for setting a search window that is a range for imaging the supplied component;
A camera that images the set search window;
In the imaged search window, a component detection unit that detects a component that can be removed;
Of the detected parts that can be taken out, a part selection unit that selects a part to be taken out;
A component transport unit that holds and picks out the selected component to be removed by a component holding unit;
The search window setting unit sets the size of the search window set for the first time to be larger than the size of the search window set for the second time or later. The search window setting unit determines the length of one side of the search window,
The multiplication length, which is a length obtained by multiplying the horizontal or vertical length of the component placed in a plane by the number of the component holding portions that take out the component, is one half of the length of the component supply tray. If larger, set to the length of the parts supply tray,
If the multiplication length is greater than one-quarter of the length of the component supply tray and less than or equal to one-half, set it to one-half of the length of the component supply tray;
4. The component according to claim 3, wherein when the multiplication length is smaller than a quarter of the length of the component supply tray, the length is set to a quarter of the length of the component supply tray. Take-out device. A component mounting device for transferring and mounting a component taken out by a component take-out device onto a substrate held by a substrate holding unit,
The component picking device is a component picking device according to claim 3 or 4.

Images