JP2019067943A - Setting device and surface mounting machine - Google Patents

Abstract

To achieve highly efficient setting of determination parameters for determining a rotational angle and a posture of a component such as its front and rear.SOLUTION: A setting device 2 includes: a substrate imaging camera 17 which images a component E with a feature part 54 capable of determining a rotational angle θ and creates an image; a control unit 30. The control unit 30 executes recognition processing (S107) for recognizing the feature part 54 on an image and setting processing (S108) for setting a rotational angle determination parameter for determining the rotational angle θ on the basis of the feature part 54 recognized by the recognition processing.SELECTED DRAWING: Figure 4

Description

  The technology disclosed herein relates to a setting device and a surface mounter.

  Conventionally, in a surface mounter that holds a component supplied from a component supply device and mounts it on a substrate, when the rotation angle of the component around the center point of the component is determined and the determined rotation angle and component are mounted on the substrate It is known to correct the rotation angle of a part according to the angle difference with the mounting angle of (see, for example, Patent Document 1).

JP 2007-103436 A (paragraph 0049)

  Generally, the rotation angle of a part can be determined from the outer peripheral shape of the part. However, depending on the part, the rotation angle may not be determined from the outer peripheral shape. For example, in the case where the outer peripheral shape is a square, the outer peripheral shapes match at 0 degree, 90 degrees, 180 degrees and 270 degrees, where a given arbitrary rotation angle is 0 degree, so the rotation angle is 0 degrees, 90 degrees, It can not be determined from the outer peripheral shape which of 180 degrees and 270 degrees.

  However, in general, such a component has a feature that can determine the rotation angle. For this reason, in the case of such a part, the rotation angle of the part can be determined by setting in advance a determination parameter for determining the rotation angle based on the characteristic part.

  Also, parts may be turned over. In general, parts have characteristic portions that can determine front and back. Therefore, by setting in advance determination parameters for determining front and back based on the characteristic portions, the front and back of the parts can be determined. can do.

However, in general, the supplier of the component does not provide data on the feature of the component. For this reason, conventionally, the operator manually sets the determination parameters, and there is a problem that the efficiency is low.
The present specification discloses a technique capable of efficiently setting determination parameters for determining the orientations of parts such as the rotation angle and the front and back.

  The setting apparatus disclosed in the present specification includes an imaging unit configured to capture an image by imaging a component having a feature portion whose posture can be determined, a recognition process for recognizing the feature portion on the image, and the recognition process. The control part which performs the setting process which sets the determination parameter for determining the said attitude | position based on the said characteristic part recognized by these.

  According to the above setting apparatus, the time required for setting can be shortened as compared with the case where the operator manually sets the determination parameter, so that the determination parameter can be set efficiently.

  Further, the posture is a rotation angle around the center point of the part, and the control unit rotates the image in the recognition processing, and is based on a difference image between the image before rotation and the image after rotation. The feature portion may be recognized.

  According to the above setting device, it is possible to set a determination parameter that can determine the rotation angle of the part.

  The posture includes the front and back of the component, and the imaging unit captures a surface of the component to generate a surface image, and the imaging unit captures a back of the component to generate a back surface image. The control unit may recognize the feature portion based on a difference image between the front surface image and the back surface image in the recognition processing.

  According to the above setting apparatus, it is possible to set a determination parameter capable of determining the front and back of the part.

  In addition, the component has an electrode on the front and back, and the control unit indicates the density of a pixel representing the electrode in the surface image and the electrode in the back image before the recognition process. A correction process may be performed to correct the density of at least one of the front image and the back image based on the density of the target pixel.

Even when the same subject is imaged, the density of the pixels may be different between the first imaging unit and the second imaging unit due to the difference in sensitivity of the imaging sensor or the difference in luminance of the light source. In other words, the lightness and darkness of the pixel may be different between the first imaging unit and the second imaging unit. If the density of the pixel differs between the front and the back, the accuracy of the determination parameter may be reduced.
According to the above setting apparatus, the density of at least one of the front image and the back image is determined based on the density of the pixel representing the electrode of the component in the front image and the density of the pixel representing the electrode of the component in the back image. Therefore, it is possible to suppress the decrease in the accuracy of the determination parameter due to the difference in density of the pixels.

  In addition, after the setting process, the control unit may execute a verification process of verifying the determination parameter by determining a posture on each of the images using the determination parameter.

  According to the above setting apparatus, the reliability of the determination parameter can be improved.

  In addition, the surface mounter disclosed in the present specification includes the setting device described above and a mounting unit that holds the component supplied by the component supply device and mounts the component on a substrate.

  According to the above-mentioned surface mounting machine, the judgment parameter can be set efficiently as compared with the case where the operator manually sets the judgment parameter.

  Further, the control unit may hold the component by the mounting unit, and the imaging unit may image the component held by the mounting unit.

  Conventionally, the operator manually holds the component on the mounting unit in order to image the back surface of the component by the imaging unit. In other words, the operator hand-painted the part on the mounting unit. For this reason, it was troublesome for the operator. In particular, it is difficult for the operator to hold a very small component in the mounting portion. On the other hand, according to the surface mounter, the operator does not have to carry out the work of holding the components in the mounting portion, so that the labor of the operator can be reduced.

A schematic view showing an entire configuration of a surface mounter according to Embodiment 1. Front view of head unit and substrate imaging camera Block diagram showing the electrical configuration of the surface mounter A schematic diagram showing an image of a part (PLCC) taken from above A schematic diagram showing an image of a part (SOP) taken from above A schematic diagram showing the judgment area (detection circle) Schematic diagram showing rotation angle determination parameters A schematic diagram showing an image of a part (PLCC) taken from above Flow chart of setting process of rotation angle judgment parameter A schematic view showing an example of a difference image Flow chart of rotation angle determination processing Schematic diagram of parts according to the second embodiment A schematic view showing an example of a difference image A schematic diagram showing front and back judgment parameters Flow chart of setting process of front and back judgment parameter Schematic diagram of parts according to the third embodiment A schematic diagram showing front and back judgment parameters

First Embodiment
The first embodiment will be described with reference to FIGS. In the following description, the left-right direction shown in FIG. 1 is referred to as the X-axis direction, the front-rear direction as the Y-axis direction, and the up-down direction shown in FIG. 2 as the Z-axis direction. In the following description, the right side shown in FIG. 1 is referred to as the upstream side, and the left side is referred to as the downstream side. Further, in the following description, reference numerals of the drawings may be omitted except for some of the same constituent members.

(1) Overall Configuration of Surface Mount Machine The overall configuration of the surface mount machine 1 will be described with reference to FIG. The surface mounter 1 includes a base 10, a transfer conveyor 11, a tape component supply device 12, a tray component supply device 13, a head unit 14, a head transfer unit 15, two component imaging cameras 16 (imaging unit, second imaging unit An example), a substrate imaging camera 17 (an imaging unit, an example of a first imaging unit), a control unit 30 shown in FIG. 3, an operation unit 31, and the like are provided. The component imaging camera 16, the substrate imaging camera 17, and the control unit 30 constitute the setting device 2 (see FIG. 3) according to the first embodiment. The head unit 14 and the head conveyance unit 15 are an example of a mounting unit.

The base 10 has a rectangular shape in plan view and a flat upper surface. A rectangular frame A indicated by a two-dot chain line in FIG. 1 indicates a working position when the component E is mounted on the substrate P.
The transport conveyor 11 carries the substrate P from the upstream side in the X-axis direction to the work position A, and carries out the substrate P on which the component E is mounted at the work position A to the downstream side. The conveyer 11 includes a pair of conveyer belts 11A and 11B cyclically driven in the X-axis direction, a conveyer drive motor 44 (see FIG. 3) driving the conveyer belts 11A and 11B, and the like. The rear conveyor belt 11A can move in the front-rear direction, and the distance between the two conveyor belts 11A and 11B can be adjusted according to the width of the substrate P.

  The two tape component supply devices 12 are disposed side by side in the X-axis direction on the front side of the transport conveyor 11. The tape component feeding device 12 feeds a relatively small component E, and a plurality of feeders 12A are attached side by side in the lateral direction. Each feeder 12A is provided with a reel (not shown) around which a component tape (not shown) in which a plurality of components E are accommodated is wound, an electrically driven delivery device (not shown) for pulling out the component tape from the reel, etc. Parts E are supplied one by one from the parts supply position provided at the end located on the side of the conveyer 11.

  The two tray component supply devices 13 are disposed side by side in the X-axis direction on the rear side of the transport conveyor 11. The tray component supply device 13 supplies a relatively large component E, and is housed inside the vertically elongated box-like main body portion 13D and the main body portion 13D so as to be able to move up and down, and a plurality of pallets 13A are stored. A magazine (not shown), a magazine elevating part (not shown) for raising and lowering the magazine, a substantially flat supply stage 13C provided to extend forward from the main body 13D, and a pallet for conveying the pallet 13A in the front-rear direction A transport unit (not shown) and the like are provided. A tray 13B is mounted on each pallet 13A. Parts E are placed on the tray 13B in an aligned state, and the pallet 13A is pulled out onto the supply stage 13C by a pallet transport unit (not shown), so that a plurality of parts E are collectively supplied.

  The head unit 14 supports a plurality (five in this case) of mounting heads 20 so as to be movable up and down and rotatably around an axis. The configuration of the head unit 14 will be described later.

  The head transport unit 15 transports the head unit 14 in the X-axis direction and the Y-axis direction within a predetermined movable range. The head transport unit 15 includes a beam 21 supporting the head unit 14 so as to reciprocate in the X axis direction, a pair of Y axis guide rails 22 supporting the beam 21 so as to reciprocate in the Y axis direction, and the head unit 14 And the Y axis servomotor 41 for reciprocating the beam 21 in the Y axis direction.

  The two component imaging cameras 16 image the component E adsorbed by the mounting head 20 from below. The front side component imaging camera 16 is disposed on the front side of the transport conveyor 11 between two tape component supply devices 12 aligned in the X-axis direction. The rear side component imaging camera 16 is disposed between the two tray component supply devices 13 aligned in the X-axis direction on the rear side of the transport conveyor 11. Each component imaging camera 16 has an imaging sensor, a light source such as an LED for emitting light to the component E, and an optical system for forming the light emitted from the light source and reflected by the component E on the light receiving surface of the imaging sensor It is arranged in a posture in which the light receiving surface faces upward.

  The substrate imaging camera 17 is provided in the head unit 14. The substrate imaging camera 17 is for imaging a fiducial mark attached to the substrate P from above. Further, the substrate imaging camera 17 is also used for imaging the component E supplied by the tape component supply device 12 and the tray component supply device 13. The configuration of the substrate imaging camera 17 will be described later.

(1-1) Head Unit and Substrate Imaging Camera Next, the head unit 14 and the substrate imaging camera 17 will be described with reference to FIG. The head unit 14 according to the first embodiment is a so-called in-line type, and a plurality of mounting heads 20 are provided side by side in the X-axis direction. In addition, the head unit 14 includes a Z-axis servomotor 42 (see FIG. 3) for moving the mounting heads 20 individually up and down, and an R-axis servomotor 43 for rotating the mounting heads 20 around the axis at the same time (see FIG. 3). Etc. are provided.

  Each mounting head 20 suctions (parts an example of holding) and releases the component E, and has a nozzle shaft 23 and a suction nozzle 24 detachably attached to the lower end of the nozzle shaft 23. Negative pressure and positive pressure are supplied to the suction nozzle 24 from an air supply device (not shown) via the nozzle shaft 23. The suction nozzle 24 sucks the component E by being supplied with a negative pressure, and releases the component E by being supplied with a positive pressure.

  Here, although the in-line type head unit 14 is described as an example, the head unit 14 may be a so-called rotary head in which a plurality of mounting heads 20 are arranged on the circumference, for example.

  The substrate imaging camera 17 is provided at the lower end of the head unit 14. The substrate imaging camera 17 is an imaging sensor, a light source such as an LED for emitting light to a subject (a fiducial mark and a part E), and an optical for imaging light emitted from the light source and reflected by the subject on a light receiving surface of the imaging sensor It has a system, etc., and is disposed in a posture in which the light receiving surface faces obliquely downward.

(1-2) Electrical Configuration of Surface Mount Machine Next, the electrical configuration of the surface mount machine 1 will be described with reference to FIG. The surface mounter 1 includes a control unit 30 and an operation unit 31. The control unit 30 includes an arithmetic processing unit 32, a motor control unit 33, a storage unit 34, an image processing unit 35, an external input / output unit 36, a communication unit 37, and the like.

  The arithmetic processing unit 32 includes a CPU, a ROM, a RAM, and the like, and controls each part of the surface mounter 1 by executing a control program stored in the ROM.

  The motor control unit 33 rotates motors such as the X-axis servomotor 40, the Y-axis servomotor 41, the Z-axis servomotor 42, the R-axis servomotor 43, and the conveyor drive motor 44 under the control of the arithmetic processing unit 32.

  The storage unit 34 stores various data. Various data include information on the number and types of substrates P to be produced, information on the number and types of components E to be mounted on the substrate P, information on mounting positions at which the components E are to be mounted on the substrate P, The information on the mounting order of the parts E, shape data representing the outer peripheral shape of the parts E when the rotation angle of the parts E is 0 degree, determination parameters to be described later, and the like are included.

  The image processing unit 35 is configured to receive an image signal output from the component imaging camera 16 or the substrate imaging camera 17, and generates a digital image based on the output image signal.

  The external input / output unit 36 is a so-called interface, and is configured to receive detection signals output from various sensors 45 provided in the main body of the surface mounter 1. The external input / output unit 36 is configured to perform operation control on the various actuators 46 based on a control signal output from the arithmetic processing unit 32.

  The communication unit 37 is for the control unit 30 to communicate with the tape component supply device 12 and the tray component supply device 13.

  The operation unit 31 includes a display device such as a liquid crystal display, and an input device such as a touch panel, a keyboard, and a mouse. The operator can operate the operation unit 31 to perform various settings and the like.

  The control unit 30 may include an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like instead of or in addition to the CPU.

(2) Determination of Rotation Angle of Part Next, determination of the rotation angle of the part E will be described with reference to FIGS. 4 and 5. Here, PLCC (Plastic leaded chip carrier) and SOP (Small Outline Package) will be described as parts E as an example.

In FIG. 4, an image 51 </ b> A is an image obtained by photographing from above the PLCC placed so that the rotation angle θ around the center point S becomes 0 degree (or an angle close to it). Although PLCC rotates around central point S in image 51A, for convenience, the PLCC angle shown in image 51A is assumed to be 0 degrees here.
Images 51B to 51D are images generated by rotating the image 51A by 90 degrees, 180 degrees, and 270 degrees. In the following description, the image 51A is referred to as a 0 degree image, the image 51B as a 90 degree image, the image 51C as a 180 degree image, and the image 51D as a 270 degree image. As shown in FIG. 4, the PLCC has a substantially square outer peripheral shape, and the outer peripheral shapes coincide at four angles of 0 degrees, 90 degrees, 180 degrees, and 270 degrees. Therefore, the rotation angle θ can not be determined only by the outer peripheral shape.

  In FIG. 5, an image 52A is an image obtained by photographing from above the SOP placed so that the rotation angle θ is 0 degree (or an angle close to it). The outer shape of the SOP is a horizontally long rectangular shape, and the same number of leads extend from the left and right. As shown in FIG. 5, the SOPs have the same outer circumferential shape at two angles of 0 degrees and 180 degrees. Therefore, the rotation angle θ can not be determined only by the outer peripheral shape.

However, these parts E have features capable of determining the rotation angle θ. For example, as shown in FIG. 4, the PLCC has leads 53 which are longer than the other leads 56 by one. As shown in the images 51A to 51D, the position of the portion 54 which is longer than the other leads 56 in the long lead differs depending on the rotation angle θ of the PLCC. Therefore, the rotation angle θ of the PLCC can be determined by detecting the part 54 on the image obtained by imaging the PLCC. That is, the portion 54 is a feature portion capable of determining the rotation angle θ of the PLCC.
In the case of the SOP shown in FIG. 5, a mark 55 is attached on the surface by printing or the like. The mark 55 is a feature portion capable of determining the rotation angle θ of the SOP.

  Therefore, before starting the mounting of the component E on the substrate P, the control unit 30 sets the rotation angle determination parameter 91 (see FIG. 7, an example of the determination parameter) in advance based on the characteristic portion, When mounting, the rotation angle θ of the component E is determined using the rotation angle determination parameter 91. The details will be described below.

(2-1) Rotation Angle Determination Parameter Here, with reference to FIG. 6, a circular determination area 61 (hereinafter referred to as a detection circle 61) used to set the rotation angle determination parameter 91 will be described. The detection circle 61 indicates the position of the feature portion 54 on the 0 degree image, and is set as a circle inscribed in the feature portion 54. The shape of the determination area 61 is not limited to a circle, and can be determined as appropriate. For example, the determination area 61 may be a quadrilateral inscribed in the feature portion 54. Further, the determination area 61 may be set inside the feature portion 54 and may not necessarily be inscribed.

  Next, the rotation angle determination parameter 91 will be described with reference to FIG. The rotation angle determination parameter 91 includes “detection angle”, “detection circle diameter”, “detection circle center position X”, “detection circle center position Y”, “feature portion color”, and “minimum density difference” Be

  The “detection angle” is the number of rotation angles θ at which the outer peripheral shape matches the shape data. Specifically, as described above, shape data representing an outer peripheral shape of the part E when the rotation angle θ of the part E is 0 degree is stored in the storage unit 34. Since the outer peripheral shape of the PLCC matches the shape data at four angles of 0 degrees, 90 degrees, 180 degrees and 270 degrees, 4 is set as the "detection angle". Further, since the outer peripheral shape of the SOP matches the shape data at two angles of 0 degree and 180 degrees, 2 is set as the "detection angle".

"Detection circle diameter" is the diameter of detection circle 61, "detection circle center position X" is the X coordinate of the center point of detection circle 61, and "detection circle center position Y" is the Y coordinate of the center point of detection circle 61 is there.
Here, as shown in the image 51A, the part E may be slightly rotated on the 0 degree image. Therefore, for example, these coordinates are set in an XY coordinate system in which the upper left corner of the part E on the 0 degree image is the origin, the upper side of the part E is the X axis, and the left side of the part E is the Y axis.

  "Color of feature" indicates the color of the feature. For example, in the example shown in FIG. 4, since the color of the feature portion 54 is white, white is set. On the other hand, in the example shown in FIG. 8, the leads 53 longer than the other leads 56 are present on the upper side, the right side and the lower side, and the long leads 53 are not present on the left side. That is, there are long leads 53 at three positions and no leads 53 long at one position. In this case, a position without the long lead 53 is recognized as a feature. Therefore, the color of the feature portion is black.

  The “minimum density difference” is a value serving as a reference for determining whether or not the rotation angle θ can be determined. As shown in FIG. 6, the control unit 30 obtains the average value of the density of the pixels in the detection circle 61 described above in the 0 degree image, and 90 around the center point S of the part E on the 0 degree image. The angle is rotated 180 degrees and 270 degrees, and the average value of the density of the pixels in the detection circle 61 is obtained at each angle. Then, the control unit 30 sets the difference between the maximum average value and the minimum average value as the “minimum density difference”. The reason for setting the "minimum density difference" will be described below.

  Essentially, the difference between the largest average value and the smallest average value among the average values at each angle should be somewhat large, but the difference may be small for some reason. In such a case, the reliability may be reduced even if the rotation angle determination parameter 91 is set. Therefore, the control unit 30 determines whether or not the difference between the maximum average value and the minimum average value is equal to or more than the "minimum density difference", and in the case where the difference is equal to or more than the "minimum density difference" On the other hand, if the difference is less than the "minimum density difference", it is determined that the determination is not possible.

(2-2) Setting Process of Rotation Angle Determination Parameter Next, a setting process of the rotation angle determination parameter 91 will be described with reference to FIG. The present process is started when the operator places the component E to be set on a predetermined position (for example, the tray 13B) and then operates the operation unit 31 to instruct setting of the rotation angle determination parameter 91. Here, when placing the part E at the predetermined position, the operator places it so that the rotation angle θ becomes 0 degree (or an angle close to it).

In S101, the control unit 30 captures an image of the component E placed at the above-described predetermined position by using the substrate imaging camera 17. In the following description, the image generated in step S101 is referred to as a 0 degree image.
In S102, the control unit 30 generates a 90 degree image, a 180 degree image, and a 270 degree image by rotating the 0 degree image by 90 degrees, 180 degrees, and 270 degrees.

  In S103, the control unit 30 determines whether the outer peripheral shape of the part E matches the shape data for each of the images of 0 degrees to 270 degrees. For example, in PLCC, since the outer peripheral shape matches the shape data in any of the 0 ° to 270 ° images, it is determined that the outer peripheral shapes match. On the other hand, in SOP, the outer peripheral shapes coincide with each other in the 0 degree and 180 degree images, but since the outer peripheral shapes do not match in the 90 degree and 270 degree images, it is determined that they do not match.

Here, since the part E is not necessarily placed so as to be completely 0 degrees, the control unit 30 sets the rotation angle θ of the part E in the 0 degree image to 0 degrees so that the rotation angle θ of the part E becomes 0 degrees. After correcting the rotation angle θ, it may be compared with the shape data. In that case, the same angle correction is performed for the 90 ° to 270 ° image.
If the control unit 30 matches the shape data in any of the images, the control unit 30 determines that the rotation angle θ can not be determined only by the outer peripheral shape (in other words, the part E that needs to recognize the feature portion). If they do not match, the process proceeds to step S104.

  In S104, the control unit 30 determines whether the outer peripheral shape of the part E matches the shape data for each of the 0 ° and 180 ° images. For example, since the outer peripheral shape of the SOP matches the shape data in any of the 0 degree and 180 degree images, it is determined that the outer peripheral shape matches. If the control unit 30 matches the shape data in any of the images, the control unit 30 determines that the rotation angle θ can not be determined only by the outer peripheral shape (in other words, the part E that needs to recognize the feature portion). If they do not match, the process proceeds to step S105.

  At S105, the control unit 30 executes an error process. Specifically, the control unit 30 cancels the setting of the rotation angle determination parameter 91 and causes the display device of the operation unit 31 to display an error message indicating that the rotation angle determination parameter 91 can not be set.

At S106, the control unit 30 generates a difference image to be described next.
The difference image will be described with reference to FIG. Here, PLCC will be described as an example. In the difference image 65, when four images of 0 degree to 270 degrees are overlapped, the density of the pixel having almost the same density in all four images is 0 (black), and the density of the other pixels is 255 (white). It is For example, the density of the pixel representing the feature of the PLCC in the 0 ° image does not match the density of the pixel at the same position in the 90 ° to 270 ° image when these four images are superimposed. Therefore, in the difference image 65, the pixel corresponding to the characteristic part of the 0 degree image is white. The same applies to the 90 ° to 270 ° images. On the other hand, the density of the pixels other than the feature portion is black because they are almost the same in the four images. For this reason, as shown in FIG. 10, the difference image 65 is an image obtained by extracting characteristic portions from four images.

In S107, the control unit 30 recognizes the feature portion on the 0-degree image based on the difference image (an example of recognition processing). Specifically, for example, the control unit 30 detects the outline of the part E by the outline tracking process on the 0 degree image, detects the outline of the feature portion by the outline tracking process on the difference image, and detects the outline on the 0 degree image A portion of the contour of the part E that matches the contour detected on the difference image is recognized as a feature portion. The method of recognizing the characteristic part is not limited to this, and can be recognized by an appropriate method.
In S108, the control unit 30 sets the rotation angle determination parameter 91 based on the characteristic part on the 0 degree image (an example of setting processing). The setting of the rotation angle determination parameter 91 is as described above, so the description is omitted.

In S109, the control unit 30 verifies the set rotation angle determination parameter 91 (an example of verification process). Specifically, the control unit 30 uses the rotation angle determination parameter 91 set in S108 for four images of 0 degree to 270 degree images (two images of 0 degree and 180 degree images when “detection angle” is 2). Of the part E is determined. The method of determining the rotation angle θ of the component E using the rotation angle determination parameter 91 will be described later.
The control unit 30 ends the processing as verification success if the rotation angle θ can be correctly determined in any of the images, and proceeds to S110 as a verification failure if it can not be determined correctly in at least one image.

  At S110, the control unit 30 executes an error process. Specifically, the control unit 30 cancels the setting of the rotation angle determination parameter 91 and causes the display device of the operation unit 31 to display an error message indicating that the rotation angle determination parameter 91 can not be set.

(2-3) Determination Processing of Rotation Angle of Component Using Rotation Angle Determination Parameter Next, determination processing of the rotation angle θ of the component using the rotation angle determination parameter 91 will be described with reference to FIG. Here, PLCC will be described as an example. When the control unit 30 sucks the component E placed on the tray 13B (or the component E stored in the component tape) by the mounting head 20 and mounts the component E on the substrate P, the substrate is not removed by the mounting head 20. The component E is imaged by the imaging camera 17 to generate an image. The process is started when the image is generated. The determination of the rotation angle θ performed in S109 described above is also performed in the same procedure as this process.

In S201, the control unit 30 sets a detection circle 61 on the image based on "detection circle diameter", "detection circle center position X" and "detection circle center position Y" of the rotation angle determination parameter 91.
Here, the part E may be imaged in a state where it is rotated or deviated in position. Therefore, for example, the control unit 30 sets the detection circle 61 in an XY coordinate system in which the upper left corner of the part E is the origin, the upper side of the part E is the X axis, and the left side of the part E is the Y axis.

In S202, the control unit 30 obtains an average value of the densities of the pixels in the set detection circle 61. Here, the average value is referred to as an average value at 0 degrees.
In S203, the control unit 30 rotates the detection circle 61 by 90 degrees, 180 degrees, and 270 degrees around the center point of the part E on the image, and obtains the average value of the densities of the pixels in the detection circle 61 at each angle.

In S204, the control unit obtains the difference between the maximum average value and the minimum average value.
In step S205, the control unit 30 determines whether the difference obtained in step S204 is equal to or greater than the "minimum density difference". If the difference is equal to or greater than the "minimum density difference", the control unit 30 determines that the rotation angle θ is acceptable. If the difference is less than "density difference", it is determined that the determination is not possible. If the control unit 30 determines that the determination is possible, the process proceeds to S206, and if it is determined that the determination is not possible, the process proceeds to S207.

In S206, the control unit 30 determines the angle corresponding to the maximum average value as the rotation angle θ of the part E when the “color of the feature portion” is white, and when the “color of the feature portion” is black. The angle corresponding to the minimum average value is determined as the rotation angle θ of the part E.
At S207, the control unit 30 executes an error process. Specifically, the control unit 30 stops the determination of the rotation angle θ, and causes the display device of the operation unit 31 to display an error message indicating that the rotation angle θ can not be determined.

(3) Effects of the Embodiment According to the setting apparatus 2 (the component imaging camera 16, the substrate imaging camera 17, and the control unit 30) according to the first embodiment described above, the operator manually sets the rotation angle determination parameter 91 Since the time required for setting can be shortened as compared with the above, the rotation angle determination parameter 91 can be set efficiently.
Further, according to the setting device 2, the workload on the operator can be reduced as compared with the case where the operator manually sets it. In addition, when the operator manually sets, there is a concern about setting errors. However, according to the setting device 2, such setting errors can be reduced, so the reliability of the rotation angle determination parameter 91 can be improved. Also, conventionally, skill was required to manually set the rotation angle determination parameter 91 that can determine the rotation angle θ correctly. For example, the operator had to understand the meaning of each parameter and set an appropriate value. Therefore, the operator who can set the rotation angle determination parameter 91 is limited. On the other hand, according to the setting device 2, since the rotation angle determination parameter 91 can be set without skill, the rotation angle determination parameter 91 capable of correctly determining the rotation angle θ can be set regardless of the skill of the operator.

  Furthermore, according to the setting device 2, since the set rotation angle determination parameter 91 is verified (S109), the reliability of the rotation angle determination parameter 91 can be improved.

  Further, according to the surface mounter 1 of the first embodiment, the rotation angle determination parameter 91 can be set efficiently as compared with the case where the operator manually sets it.

Second Embodiment
Next, Embodiment 2 will be described with reference to FIGS. 12 to 15. In the first embodiment described above, the rotation angle θ of the part E is determined as the posture of the part E. On the other hand, in the second embodiment, the front and back of the part E are determined as the posture of the part E.

  First, an example of a part E according to the second embodiment will be described with reference to FIG. The component E is a two-terminal component, and has a component body 70A and an electrode 70B. The color of the component body 70A is gray, and a white letter "A" is printed on the surface.

  In the case of the component E shown in FIG. 12, when a difference image between the image 71 (hereinafter referred to as “rear surface image”) obtained by imaging the back surface of the component E and the image 72 (hereinafter referred to as “surface image”) obtained by imaging the front surface is generated. A difference image 76 is generated, and the feature portion 75 is recognized. As shown in FIG. 13, the characteristic portion 75 includes the character “A”. In that case, assuming that a rectangular determination area 73 circumscribing the character “A” is set on the surface image 72 as shown in FIG. 12, pixels representing gray and pixels representing white are included in the determination area 73. Mixed.

  On the other hand, if the determination area 73 described above is set at the same position on the back surface image 71, the color of the pixels in the determination area 73 is substantially gray, the density of the pixels in the determination area 73 compared to the surface image 72. Variation in For this reason, it is possible to determine the front and back of the component E from the variation in the density of the pixels. That is, front and back can be determined based on the characteristic portion 75.

  Here, for the sake of convenience, the case where the rectangular determination area 73 circumscribing the character “A” is set is described as an example, but as shown in FIG. 13, the characteristic portion 75 is a portion other than the character “A”. (Specifically, a vertically long white region 74 on the left side of the character “A” in the front surface image 72, and a portion of the back surface image which is inside the component main body 70A of the electrode 70B) is also included. The determination area 73 is set as a rectangular area circumscribing the entire feature portion 75 including these. However, the determination area 73 does not necessarily need to be set so as to circumscribe the entire feature 75, and is set as an area surrounding only a part of the feature 75 (for example, the character “A”) as shown in FIG. May be

(1) Front / Back Determination Parameter Next, the front / back determination parameter 92 (an example of the determination parameter) will be described with reference to FIG. For the front / back judgment parameter 92, “dispersion threshold”, “NG judgment condition”, “judged area size X”, “judged area size Y”, “judged area offset x”, “judged area offset y” and “judged area offset valid” "Invalid" is included.

  The “dispersion threshold” is a reference value for determining the front and back sides, and is intermediate between the dispersion of the density of the pixels in the judgment area 73 of the front image 72 and the dispersion of the density of the pixels in the judgment area 73 of the back surface image 71. The value is set. The “dispersion” is not limited to the intermediate value, and can be set as appropriate. Further, although the dispersion is used as an index of the dispersion of the density of the pixels here, the index of the dispersion may be a standard deviation or a difference between the maximum density and the minimum density in the determination area 73. .

  “NG determination condition” indicates whether the table is determined if the value is larger than the value set in the “dispersion threshold” or the table is determined if the value is smaller. For example, when it is determined that the front side dispersion is larger than the back side dispersion, "big" is set in the "NG determination condition", and the front side dispersion is determined as the front side when it is smaller than the back side dispersion. In the case, "small" is set.

  “Judged area size X”, “judged area size Y”, “judged area offset X”, and “judged area offset Y” are the width of the judged area 73 in the X direction, the width in the Y direction, and the center position of the part E The deviation width (offset) of the center position of the area 73 in the X direction and the deviation width (offset) of the center position of the determination area 73 with respect to the center position of the part E in the Y direction.

  The “determination area offset valid / invalid” indicates whether the “determination area offset X” and the “determination area offset Y” described above are valid or invalid. When the center position of the part E is set as the center position of the determination area 73, “invalid in the determination area offset valid / invalid” is set. Whether or not the center position of the part E is to be the center position of the determination area 73 can be determined as appropriate.

(2) Setting Process of Front / Back Determination Parameter Next, setting process of the front / back determination parameter 92 will be described with reference to FIG. The present process is started when the operator places the component E to be set at a predetermined position and operates the operation unit 31 to instruct setting of the front / back determination parameter 92.

In S301, the control unit 30 generates a surface image by imaging the component E placed at the above-described predetermined position from above with the substrate imaging camera 17.
In S302, the control unit 30 adsorbs the component E by the mounting head 20, and generates a back surface image by capturing the component E absorbed by the mounting head 20 from below by the component imaging camera 16.

In step S303, the control unit 30 performs soft gain correction on the basis of the color of the electrode to tune the density of the pixels of each image (an example of correction processing). The details will be described below.
The board image pickup camera 17 and the component image pickup camera 16 may sometimes have different shades of pixels (it is possible to say color) even if they capture the same subject due to the difference in sensitivity of the image sensor or the difference in brightness of the light source. . If the density of the pixel is different, there is a possibility that the front and back determination parameter 92 can not be set with high accuracy.

  Therefore, the control unit 30 sets the absolute value of the difference between the average value of the density of the pixels representing the electrode 70B in the front surface image and the average value of the density of the pixels representing the electrode 70B in the back surface image as the correction value If the average value of the density of the pixels representing the electrode 70B in the front surface image is larger than the average value of the density of the pixels representing the electrode 70B in the back surface image, the correction value is added to each pixel of the back surface image (or The correction value is subtracted from each pixel of the surface image). Conversely, if the average value of the density of the pixels representing the electrode in the front surface image is smaller than the average value of the density of the pixels representing the electrode in the back surface image, the correction value is subtracted from each pixel of the back surface image Alternatively, the correction value is added to each pixel of the surface image). As a result, it is possible to match the density of the pixel with reference to the color of the electrode.

In S304, the control unit 30 generates a difference image between the front surface image and the back surface image.
In S305, the control unit 30 recognizes the feature portion based on the difference image (an example of recognition processing).
In S306, the control unit 30 sets the front and back determination parameter 92 (an example of setting processing). The setting of the front / back determination parameter 92 is as described above, and thus the description thereof is omitted.

  In S308, the control unit 30 verifies the set front / back determination parameter 92 (an example of verification processing). Specifically, the control unit 30 determines the front and back of the component E using the front and back determination parameter 92 set in S306 for the front surface image and the rear surface image, and if the front and back are correctly determined in all images, The processing ends as the verification success, and if it can not be determined correctly with at least one image, the processing proceeds to S309 as the verification failure.

  At S309, the control unit 30 executes an error process. Specifically, the control unit 30 cancels the setting of the front and back determination parameter 92 and causes the display device of the operation unit 31 to display an error message indicating that the front and back determination parameter 92 can not be set.

(4) Effects of the Embodiment According to the setting device 2 of the second embodiment described above, determination parameters capable of determining the front and back of the part E can be set.

  Furthermore, according to the setting device 2, since the soft gain correction is performed based on the color of the electrode, it is possible to suppress the decrease in the accuracy of the front / back determination parameter 92 due to the difference in density of the pixel between the front surface image and the back surface image. .

Furthermore, according to the surface mounter of the second embodiment, the component E is adsorbed by the mounting head 20, and the component E being adsorbed is imaged from below by the component imaging camera 16. Conventionally, in order to image the back of the component E by the component imaging camera 16, the operator manually sucks the component E on the mounting head 20. In other words, the operator has handed the component E to the mounting head 20. For this reason, it was troublesome for the operator. In particular, it is difficult for the operator to attach the minimal component E to the mounting head 20 because it is difficult. On the other hand, according to the surface mounter, the operator does not have to perform the work of causing the mounting head 20 to adsorb the component E, so that the labor of the operator can be reduced.
In addition, in the case where the component E is manually adsorbed to the mounting head 20, the operator needs to check whether the component E is appropriately adsorbed or not, but it took time, but according to the surface mounter, such time is required Since it becomes unnecessary, the time required for setting can be further shortened.

Embodiment 3
The third embodiment will now be described with reference to FIGS. The third embodiment is another example of determining the front and back of the part E.

First, an example of a part E according to the third embodiment will be described with reference to FIG. The component E is a chip resistor, and has a component body 80A and an electrode 80B. The component main body 80A is white on the back and black on the surface.
In the case of the component E shown in FIG. 16, when a difference image between the front surface image 82 and the back surface image 81 is generated and the feature portion is recognized, a portion (black portion of the surface image 82) representing the component body 80A is a feature portion. Be recognized. In that case, for example, assuming that a circular determination area 84 is set at an arbitrary position of the characteristic portion of the surface image 82, the density of the pixel 87 in the determination area 84 is substantially black (0). Becomes smaller. Further, assuming that the determination area 84 described above is set at the same position on the back surface image, the density of the pixels 86 in the determination area 84 is almost white (255), so the variance of the density of the pixels 86 is small. For this reason, in the case of the part E, the front and back can not be determined from the dispersion of the density of the pixel.

  However, in the case of the part E, the density of the pixels 87 in the determination area 84 in the surface image is almost 0 (black), and the density of the pixels 86 in the determination area 84 in the back surface image is approximately 255 (white). The front and back can be determined by comparing the average value of the density of the pixels 86 and 87. That is, front and back can be determined based on the characteristic part.

(1) Front and Back Determination Parameter Here, first, with reference to FIG. 16, the circular determination area 84 (hereinafter referred to as “detection circle”) used for setting the top and bottom determination parameter (an example of the determination parameter) according to the third embodiment will be described. Do. The detection circle 84 is set as a circle that falls within the feature with the center position of the part E as the center point. The shape of the determination area 84 is not limited to a circle, and can be determined as appropriate. For example, the determination area 84 may be a square that fits within the feature.

Next, front and back determination parameters 93 will be described with reference to FIG. The front and back determination parameters 93 include “density threshold”, “detection circle diameter”, and “color of characteristic portion”.
“Density threshold” is a value serving as a reference for determining front and back, and an intermediate value between the average value of the density in the detection circle 84 of the surface image 82 and the average value of the density in the detection circle 84 of the back surface image 81 It is set. Note that the “density threshold” is not limited to the intermediate value, and can be set as appropriate.

The “detection circle diameter” is the diameter of the detection circle 84. The diameter of the detection circle 84 can be appropriately determined as long as the detection circle 84 falls within the feature portion. However, if the diameter is small, the number of pixels decreases, which may lower the reliability of the determination. For this reason, it is desirable that the diameter be somewhat large.
The “color of feature portion” indicates the color of the feature portion in the surface image 82. For example, when “color of characteristic portion” is black, it is determined that the average value of the density of the pixels of the surface image 82 is less than the “density threshold”, and is determined reverse when it is “density threshold” or more. Ru. Conversely, if the “color of the feature portion” is white, it is determined that the average value of the density of the pixels of the surface image 82 is the “density threshold” or more, and it is determined to be the front. It is judged. The “color of the characteristic portion” may be the color of the characteristic portion in the back surface image 81.
Embodiment 3 is substantially the same as Embodiment 2 in other points.

Other Embodiments
The art disclosed by the present specification is not limited to the embodiments described above with reference to the drawings, and, for example, the following embodiments are also included in the technical scope disclosed by the present specification.

  (1) In the first embodiment, “detection angle”, “detection circle diameter”, “detection circle center position X”, “detection circle center position Y”, “feature portion color”, and “rotation angle determination parameters” The rotation angle determination parameter 91 including the “minimum density difference” has been described as an example. However, the rotation angle determination parameter is not limited to this as long as the rotation angle θ of the part E can be determined. For example, unnecessary ones of these six parameters may not be included. For example, when setting the determination area 61 which is not a circle but a rectangle, a “determination area size X” or a “determination area size Y” may be set instead of the “detection circle diameter”.

  (2) Although PLCC and SOP were demonstrated to an example as parts E in the above-mentioned embodiment, parts E are not limited to these.

  (3) Although the board imaging camera 17 of the surface mounting machine, the component imaging camera 16 and the control unit 30 have been described as an example of the setting apparatus in the above embodiment, the setting apparatus may be configured as an apparatus different from the surface mounting machine Good.

  (4) Although the case where the set determination parameter is verified has been described as an example in the above embodiment, the verification may not necessarily be performed.

  (5) Although the case where the component E is held by suctioning the component E by the suction nozzle 24 has been described as an example in the above embodiment, the holding of the component E is not limited to this. For example, using a so-called chuck It may hold by sandwiching the part E.

DESCRIPTION OF SYMBOLS 1 ... surface mounting machine, 12 ... tape component supply apparatus (component supply apparatus), 13 ... tray component supply apparatus (component supply apparatus), 14 ... head unit (an example of mounting part), 15 ... head conveyance part, of a mounting part An example), 16 ... parts imaging camera (an imaging unit, an example of a second imaging unit), 17 ... a board imaging camera (an example of an imaging unit, a first imaging unit), 30 ... a control unit, 32A ... recognition processing, 32B ... setting processing, 51A ... image (an example of an image before rotation), 51B to 51D ... an image (an example of an image after rotation), 52A ... an image (an example of an image before rotation), 52B ... an image (image after rotation Examples of 54) characteristic part 55 characteristic part 65 difference image 70B electrode 71 back surface image 72 surface image 80B electrode 81 back surface image 82 surface image E component , P: substrate, S: central point of parts, 91: rotation Degree determination parameter, 92, 93 ... front and back decision parameters, theta ... rotation angle

Claims (7)

An imaging unit that generates an image by imaging a component having a characteristic portion whose posture can be determined;
A control unit that executes a setting process of setting a determination parameter for determining the posture based on a recognition process of recognizing the feature part on the image, and the feature part recognized in the recognition process;
Setting device. The setting device according to claim 1, wherein
The posture is a rotation angle around the center point of the part,
The setting device, wherein the control unit is configured to rotate the image and to recognize the characteristic portion based on a difference image between the image before rotation and the image after rotation in the recognition process. The setting device according to claim 1 or 2, wherein
The attitude includes the front and back of the part,
The imaging unit is
A first imaging unit configured to image the surface of the component to generate a surface image;
A second imaging unit configured to image a back surface of the component to generate a back surface image;
Have
The setting device, wherein the control unit recognizes the characteristic portion based on a difference image between the front surface image and the back surface image in the recognition processing. The setting device according to claim 3, wherein
The part has electrodes on the front and back,
The control unit, before the recognition process, determines the front image and the back image based on the density of pixels representing the electrode in the front image and the density of pixels representing the electrode in the back image. A setting device that executes a correction process to correct the density of at least one pixel of the image. The setting device according to any one of claims 2 to 4, wherein
The setting device, wherein the control unit executes a verification process of verifying the determination parameter by determining a posture on each of the images using the determination parameter after the setting process. The setting device according to any one of claims 1 to 5.
A mounting unit that holds the component supplied by the component supply device and mounts the component on a substrate;
Surface mounter equipped with 7. A surface mounter according to claim 6, wherein
The control unit holds the component by the mounting unit, and images the component held by the mounting unit by the imaging unit.

Images