JP2023160248A - Component mounting device - Google Patents

Abstract

To provide a component mounting device capable of detecting the absolute rotational position of a rotating body with a simple configuration.SOLUTION: The component mounting device includes: a background member B that is provided to a rotating body 11 that holds multiple shafts at equal intervals on the circumference centered on the rotation axis CL, which has a feature part F for identifying a specific shaft (the shaft to which nozzle 13(1) is attached) at a position included in an imaging field of view A of camera for picking up components held by nozzles 13(1) to 13(12) on a component recognition station ST7; a feature recognition unit that recognizes the feature part F with a camera; and a nozzle shaft position identification unit that identifies the stations ST1 to ST12 where multiple shafts are located, on the basis of the rotation position when the feature recognition unit detected the feature part F.SELECTED DRAWING: Figure 4

Description

The present invention relates to a component mounting apparatus that holds components using negative pressure and mounts them on a board.

A component mounting apparatus that mounts components on a board takes out components from a component supply section and mounts them on the board using a work head equipped with a nozzle that holds the components using suction force generated by a negative pressure source. As this work head, a rotary type is known, in which a plurality of shafts each having a nozzle attached to the lower end thereof are arranged at equal intervals on a rotating body that indexes rotation (see, for example, Patent Document 1).

In the mounting head (work head) described in Patent Document 1, a plurality of nozzle stop stations having different roles are arranged at a position where a rotating body index-rotates and a nozzle stops. For example, at a work station, a nozzle is raised and lowered to hold a component in the nozzle, and the held component is mounted on a substrate. Furthermore, the component detection station detects whether or not a component is held in the nozzle. Furthermore, the component recognition station images the component held by the nozzle. With a rotary work head, components can be mounted efficiently by simultaneously performing each task at each station while index-rotating the rotating body.

Japanese Patent Application Publication No. 2018-133438

By the way, in order for the rotary type work head to properly perform work at each station, the component mounting apparatus needs to recognize and store the absolute rotational position of the rotating body. Therefore, conventional technologies including Patent Document 1 include an absolute encoder that detects the absolute rotational position of a motor that rotates a rotating body, a light-shielding sensor that detects a predetermined pin, and the like. However, when an absolute encoder or a light-shielding sensor is placed on the work head, the weight of the work head, which moves at high speed in a horizontal plane, increases due to the weight of the absolute encoder's battery, the bracket for mounting the sensor, etc. However, there were problems such as vibrations occurring as the work head moved and a decrease in the accuracy of the stopping position.

Therefore, an object of the present invention is to provide a component mounting apparatus that can detect the absolute rotational position of a rotating body with a simple configuration.

The component mounting apparatus of the present invention is a component mounting apparatus that holds components with a nozzle and mounts them on a board, and includes a plurality of shafts having the nozzles at their lower ends, and a plurality of shafts arranged on a circumference around a rotation axis. a rotating body that holds the shafts at equal intervals and rotates about the rotating shaft to sequentially position the plurality of shafts at a plurality of stations; and a rotational position detection unit that relatively detects the rotational position of the rotating body. a camera that photographs a component held by the nozzle at a specific station among the plurality of stations; a component recognition unit that recognizes the position or state of the component based on the image captured by the camera; a background member provided on the body and provided with a characteristic part for identifying a specific shaft of the plurality of shafts at a position included in the imaging field of view of the camera, and recognizing the characteristic part with the camera; The apparatus includes a characteristic part recognition part and a nozzle shaft position identification part which identifies stations where the plurality of shafts are located based on the rotational position when the characteristic part recognition part detects the characteristic part.

According to the present invention, the absolute rotational position of the rotating body can be detected with a simple configuration.

A perspective view showing the overall configuration of a component mounting apparatus according to an embodiment of the present invention A configuration explanatory diagram of main parts of a work head included in a component mounting apparatus according to an embodiment of the present invention A configuration explanatory diagram of a camera of a work head included in a component mounting apparatus according to an embodiment of the present invention A bottom view of essential parts of a work head included in a component mounting apparatus according to an embodiment of the present invention (a) A diagram showing a state in which a nozzle having a characteristic part is located in the imaging field of a camera of a work head provided in a component mounting apparatus according to an embodiment of the present invention.(b) A diagram showing a state in which a nozzle without a characteristic part is located. Diagram shown A block diagram showing the configuration of a control system of a component mounting apparatus according to an embodiment of the present invention

Next, embodiments of the present invention will be described with reference to the drawings. First, the structure of the component mounting apparatus 1 will be explained with reference to FIG. Hereinafter, the conveyance direction of the substrate is the X-axis direction, the direction perpendicular to the X-axis direction in the horizontal plane is the Y-axis direction, the direction perpendicular to the XY plane is the Z-axis direction, and the direction in the horizontal plane rotating around the Z-axis direction is the Y-axis direction. The direction is defined as the θ direction.

In FIG. 1, a component mounting apparatus 1 has a function of applying negative pressure to the nozzle opening of a nozzle, holding components by vacuum suction, and mounting the components onto a substrate. A substrate transport mechanism 2 including a pair of transport conveyors extending along the X-axis is arranged at the center of the base 1a. The board transport mechanism 2 receives a board 3 on which a component is to be mounted from an upstream device, transports it, and positions and holds the board 3 at a mounting work position by the component mounting mechanism described below.

Component supply units 4 are arranged on both sides of the board transport mechanism 2. The component supply unit 4 is configured by arranging a plurality of tape feeders 5 in parallel along the X axis on a feeder table 4a. The tape feeder 5 pitch-feeds a carrier tape containing components to be mounted on the board 3, thereby feeding the components to be mounted to a take-out position by the work head 8 of the component mounting mechanism.

Next, the component mounting mechanism will be explained. In FIG. 1, a Y-axis table 6 equipped with a linear drive mechanism is arranged at the end of the base 1a in the X-axis direction. A beam 7 equipped with a linear drive mechanism 7a (see FIG. 2) is mounted on the Y-axis table 6 so as to be movable along the Y-axis. A main body frame 9 of a working head 8 is attached to the beam 7 so as to be movable along the X-axis.

The work head 8 has a function of picking up and holding components to be mounted on the substrate 3 from the component supply section 4 using a nozzle 13 (see FIG. 2). The nozzle 13 holds the component by applying negative pressure generated by a negative pressure source to the nozzle opening at the tip. The work head 8 moves horizontally in the X-axis direction and the Y-axis direction by driving the Y-axis table 6 and the beam 7, and transfers the component held by the nozzle 13 to the substrate 3 held by the substrate transfer mechanism 2. Mount. That is, the Y-axis table 6 and the beam 7 constitute an XY moving section 18 (see FIG. 6) that moves the work head 8 in the X-axis direction and the Y-axis direction. Each part of the component mounting apparatus 1 is controlled by a control device C included in the component mounting apparatus 1.

Next, the structure of the main parts of the working head 8 will be explained with reference to FIG. A rotor holding portion 10 is provided at the lower part of the main body frame 9 of the work head 8 and extends in the horizontal direction. A rotating body 11 is rotatably held in the rotor holding part 10 with a rotation axis CL in the Z-axis direction as a rotation axis. A plurality of shafts 12 (twelve in this example) are held at equal intervals on the circumference of the rotating body 11 around the rotation axis CL in a movable state. A nozzle 13 for holding a component is attached to each of the shafts 12 at its lower end.

A rotating shaft 14 is connected to the upper part of the rotating body 11. The rotating shaft 14 is rotated by a rotor drive unit 15 fixedly provided to the main body frame 9, with the rotating shaft CL serving as a rotating shaft. The control device C controls the rotor drive unit 15 to rotationally drive the rotating shaft 14, so that the rotating body 11 rotates in the θ direction about the rotation axis CL. As the rotating body 11 rotates, the plurality of shafts 12 move around the rotation axis CL. A substantially disc-shaped background member B is disposed below the rotating body 11 at a height above the nozzle 13 attached to the shaft 12.

In FIG. 2, the rotor drive unit 15 includes an encoder 16 that detects the rotation angle of the rotating body 11 that is rotationally driven by the rotor drive unit 15. The encoder 16 is, for example, an incremental rotary encoder. The rotor drive unit 15 rotates the rotating body 11 to sequentially position the plurality of shafts 12 at a plurality of (12 in this example) stations ST1 to ST12 (see FIG. 4) set on the work head 8. . A shaft elevating section 17 is fixedly disposed on the main body frame 9 for elevating and lowering the shaft 12 stopped at the work station ST1 of the plurality of stations ST1 to ST12.

In FIGS. 2 and 3, a camera 20 is fixedly disposed in the rotor holding unit 10 to photograph a component held by a nozzle 13 at a component recognition station ST7 (specific station) among a plurality of stations ST1 to ST12. has been done. The camera 20 includes a light guide tube 21 that extends downward on the side of the rotor holding part 10 and further extends horizontally below the nozzle 13 that stops at the component recognition station ST7. Inside the light guide tube 21, an image sensor 22 with its optical axis directed downward is disposed in a downwardly extending portion.

Further, a camera opening 23 is formed on the upper surface of the horizontally extending portion of the light guide tube 21 and below the nozzle 13 that stops at the component recognition station ST7. A plurality of mirrors 24 are arranged inside the light guide tube 21 to guide the image of the nozzle 13 stopped at the component recognition station ST7 to the image pickup device 22 through the camera opening 23. Further, around the camera opening 23 of the light guide tube 21, an illumination unit 25 such as an LED that illuminates the nozzle 13 to be imaged and a portion of the background member B is arranged.

In this way, the rotating body 11 holds a plurality of shafts 12 at equal intervals on a circumference centered on the rotation axis CL, and rotates around the rotation axis CL to move the plurality of shafts 12 to a plurality of stations ST1 to ST1. They are sequentially placed in ST12. Then, the control device C controls the shaft lifting section 17 to raise and lower the shaft 12 that has stopped at the position of the work station ST1. As a result, the nozzle 13 attached to the shaft 12 moves up and down. The control device C also controls the image pickup device 22 and illumination unit 25 of the camera 20 to photograph the nozzle 13 stopped at the component recognition station ST7 from below.

In FIGS. 2 and 3, a background member B is attached to the lower surface of the rotating body 11. As shown in FIGS. Next, the detailed configuration of the background member B will be described with reference to FIGS. 4 and 5. In FIG. 4, the background member B has a substantially circular shape centered on the rotation axis CL, and has a size such that a part of the nozzle 13 attached to the shaft 12 and a part of the outer periphery of the background member B overlap when viewed from below. are doing. The background member B is made of a material having a significantly different reflectance from that of the nozzle 13. In this example, the nozzle 13 is made of a material with high reflectance, and the background member B is made of a material with low reflectance (dark color).

FIG. 4 shows a state in which nozzle 13(1) among the twelve nozzles 13(1) to 13(12) is stopped at component recognition station ST7 (specific station). The imaging field of view A of the camera 20 includes a part of the background member B in addition to the nozzle 13(1). The background member B is provided with a feature F at the position of the nozzle 13(1) to distinguish it from the other nozzles 13(2) to 13(12). In this example, a feature portion F is formed by cutting out a portion of the background member B, including a portion that overlaps with the nozzle 13(1) when viewed from below.

FIG. 5A shows a captured image 26 taken by the camera 20 of the nozzle 13(1) stopped at the component recognition station ST7. Further, FIG. 5(b) shows a captured image 26 taken by the camera 20 of the nozzle 13(2) stopped at the component recognition station ST7. The captured image 26 of the nozzle 13(1) shows a portion of the background member B and a characteristic portion F obtained by cutting out the background member B. On the other hand, the background member B shown in the captured image 26 of the nozzle 13(2) does not have the characteristic part F and can be distinguished from the nozzle 13(1). Similarly, the background member B shown in the captured image 26 of the nozzles 13(3) to 13(12) also does not have the characteristic portion F.

In this way, the work head 8 is provided on the rotary body 11 and located at a position included in the imaging field of view A of the camera 20 and located at a specific shaft of the plurality of shafts 12 (the shaft on which the nozzle 13(1) is attached). 12) is provided with a background member B provided with a feature F for identifying. Furthermore, the background member B is located on a circumference centered on the rotation axis CL and overlaps with the feature F, and is included in the imaging field of view A together with the nozzles 13(2) to 13(12) of shafts other than the specific shaft. It has a characteristic portion CF (FIG. 5(b)).

Next, with reference to FIG. 6, the configuration of the control system of the component mounting apparatus 1 will be described. The control device C included in the component mounting apparatus 1 includes a component mounting work execution unit 30 which is an arithmetic processing unit including a CPU, a rotational position detection unit 31, an image recognition unit 32, a nozzle shaft position identification unit 33, and a nozzle which is a storage device. A shaft position storage section 34 and a work program storage section 35 are provided. The rotational position detection section 31 relatively detects the rotational position of the rotating body 11 based on the detection signal of the encoder 16.

The image recognition unit 32 recognizes the position or state of the component based on the image captured by the camera 20. The image recognition unit 32 includes a component recognition unit 32a and a characteristic part recognition unit 32b as internal processing units. The component recognition unit 32a recognizes and processes the captured images 26 taken by the camera 20 of the nozzles 13(1) to 13(12) sequentially stopped at the component recognition station ST7, and recognizes the nozzles 13(1) to 13(12). Recognize the status of each part to be held.

In FIG. 6, the characteristic part recognition unit 32b performs recognition processing on the captured image 26 taken by the camera 20 of the nozzles 13(1) to 13(12) sequentially stopped at the component recognition station ST7, and recognizes the characteristic part of the background member B. Detect F. For example, the feature recognition unit 32b horizontally scans a position (detection line SL) where the feature F or non-feature CF is included, and if a bright part is detected, the feature recognition unit 32b recognizes that the feature F exists. However, if a bright part is not detected, it is recognized that there is no characteristic part F (there is a non-characteristic part CF).

That is, the feature recognition unit 32b recognizes the feature F using the difference between the brightness of the non-feature part CF and the brightness of the feature F. In this way, the feature recognition unit 32b recognizes the feature F using the camera 20. Note that when the feature recognition unit 32b recognizes the presence or absence of the feature F, the camera 20 may scan only the detection line SL one-dimensionally. When the camera 20 scans only the detection line SL and the characteristic portion recognition unit 32b recognizes the presence or absence of the characteristic portion F, the nozzle 13(1) having the characteristic portion F can be detected in a short time.

The nozzle shaft position identifying section 33 identifies stations ST1 to ST12 where the plurality of shafts 12 are located, based on the rotational position when the characteristic section F is detected by the characteristic section recognizing section 32b. Specifically, the nozzle shaft position specifying unit 33 controls the rotor drive unit 15 to sequentially stop the nozzles 13(1) to 13(12) at the component recognition station ST7. When the characteristic part recognition part 32b detects the characteristic part F, the nozzle shaft position identification part 33 determines that the nozzle 13(1) is stopped at the component recognition station ST7. Then, the nozzle shaft position specifying section 33 causes the nozzle shaft position storage section 34 to store the rotational position of the rotating body 11 detected by the rotational position detection section 31 at that time.

The detection of the specific shaft 12 (the shaft 12 to which the nozzle 13(1) is attached) by the nozzle shaft position identifying unit 33 is performed, for example, immediately after the component mounting apparatus 1 is powered on. When a specific shaft 12 is detected, the nozzle shaft position specifying unit 33 then uses the rotation angle stored in the nozzle shaft position storage unit 34 and the relative rotational position of the rotating body 11 detected by the rotational position detection unit 31. Based on this, the stations ST1 to ST12 where the plurality of shafts 12 are located are specified.

In FIG. 6, the component mounting work execution section 30 uses the work program stored in the work program storage section 35 and the plurality of shafts 12 (or nozzles 13(1) to 13(12) specified by the nozzle shaft position specifying section 33). Based on the rotational position of )), the work head 8 is operated to perform a component mounting operation of mounting the component onto the board 3. At this time, the component mounting work execution unit 30 determines whether or not the component is mounted based on the state of the component held by the nozzles 13(1) to 13(12) recognized by the component recognition unit 32a (presence or absence of the component, amount of deviation with respect to the nozzle). Correct the mounting position on the board 3.

As described above, the component mounting apparatus 1 of the present embodiment includes a plurality of shafts 12 having nozzles 13(1) to 13(12) at the lower end, and a plurality of shafts 12 on the circumference centered on the rotation axis CL. A rotating body 11 that holds shafts 12 at equal intervals and sequentially positions them at a plurality of stations ST1 to ST12, a rotational position detection unit 31 that relatively detects the rotational position of the rotating body 11, and a rotational position detection unit 31 that relatively detects the rotational position of the rotating body 11, The station ST7) includes a camera 20 for photographing the parts held by the nozzles 13(1) to 13(12), and a parts recognition unit 32a for recognizing the position or state of the parts based on the image taken by the camera 20. There is.

Furthermore, the component mounting apparatus 1 is provided on the rotating body 11, and is located at a position included in the imaging field of view A of the camera 20 for identifying a specific shaft 12 (the shaft 12 to which the nozzle 13(1) is attached). A background member B provided with a feature F, a feature recognition unit 32b that recognizes the feature F with the camera 20, and a plurality of shafts based on the rotational position when the feature recognition unit 32b detects the feature F. 12 is located.

In this way, the component mounting apparatus 1 of the present embodiment uses the encoder 16 that detects the relative rotational position of the rotating body 11 and the camera 20 that photographs the component held by the nozzle 13 during component mounting work. The position of the shaft 12 is detected. Thereby, the absolute rotational position of the rotating body 11 can be detected with a simple configuration.

INDUSTRIAL APPLICATION The component mounting apparatus of this invention has the effect of being able to detect the absolute rotational position of a rotating body with a simple structure, and is useful in the field of mounting components on a board.

1 Component mounting device 3 Board 8 Working head 9 Main body frame 11 Rotating body 12 Shaft 13, 13 (1) to 13 (12) Nozzle 20 Camera A Imaging field of view B Background member CF Non-characteristic part F Characteristic part ST1 to ST12 Station ST7 Parts Recognition station (specific station)

Claims (3)

A component mounting device that holds components with a nozzle and mounts them on a board,
a plurality of shafts having the nozzles at their lower ends;
a rotating body that holds the plurality of shafts at equal intervals on a circumference centered on a rotation axis, and rotates around the rotation axis to sequentially position the plurality of shafts at a plurality of stations;
a rotational position detection unit that relatively detects the rotational position of the rotating body;
a camera that photographs the part held by the nozzle at a specific station among the plurality of stations;
a component recognition unit that recognizes the position or state of the component based on the image captured by the camera;
a background member provided on the rotating body and provided with a characteristic portion located at a position included in the imaging field of view of the camera and for identifying a specific shaft among the plurality of shafts;
a feature recognition unit that recognizes the feature with the camera;
A component mounting apparatus comprising: a nozzle shaft position specifying section that specifies a station where the plurality of shafts are located based on a rotational position when the characteristic section recognition section detects the characteristic section. The background member has a non-featured portion on a circumference centered on the rotation axis that overlaps with the feature portion and is included in the imaging field of view together with a nozzle of a shaft other than the specific shaft,
2. The component mounting apparatus according to claim 1, wherein the characteristic portion recognition unit recognizes the characteristic portion using a difference in brightness between the non-characteristic portion and the characteristic portion. 3. The component mounting apparatus according to claim 1, wherein the background member is attached to a lower surface of the rotating body.

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