JP2675469B2 - Component mounting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus for mounting an electronic component on a substrate.

[0002]

2. Description of the Related Art Conventionally, when a flat package type IC or the like is mounted on a printed circuit board, for example, Japanese Patent Application Laid-Open No. 62-8 / 1987.
As disclosed in Japanese Patent No. 6789, in order to improve the mounting accuracy, a component gripped by a hand is moved onto a TV camera fixed upward on a base, and the gripped center is recognized by image recognition of the gripped component. Then, the positional deviation between the component center and the component center is obtained, the positional deviation amount is corrected, and the component is mounted on the substrate.

Further, in the component mounting apparatus disclosed in Japanese Patent Laid-Open No. 3-76300, the image recognition means is attached to the elevating member together with the suction nozzle, and the elevating member is attached to the component mounting portion that moves horizontally to adsorb the component. It is possible to recognize the component image at the time of component transportation, component transportation, and component mounting.

Furthermore, Japanese Patent Application No. 3-1 filed by the present applicant
In No. 94217, an imaging means is arranged in the center of a horizontally moving component mounting portion, and a pair of component mounting heads are attached to the left and right thereof, and a horizontally moving 45 ° reflecting mirror is provided below the imaging means and each component mounting head. It is provided so that the image of the suction-held component can be recognized when the component is transported.

[0005]

First, in the above-described first component mounting method, the IC on the IC supply device is picked up by the hand, and then the TV is moved to the component recognition TV camera for image recognition. After that, since it moves to the mounting position and is mounted while correcting the displacement, the movement time inevitably becomes long, which is an obstacle to high-speed mounting.

Next, in the second component mounting apparatus, since the position of the component is recognized while the component is sucked and conveyed, the mounting time can be shortened. But above the nozzle
Because it is a method of providing an image through a perspective unit and a recognition camera,
The lifting part is complicated and large. In addition, the upper surface of the component
(Surface) is irradiated with light and the reflected light image is recognized.
It is possible that the reflected light of the
It is.

Further, in the third component mounting apparatus, although the component mounting time can be shortened as in the former case, an image cannot be captured unless the horizontal movement of the 45 ° reflecting mirror is completed.
When applied to a component mounting part having only a single mounting head, the recognition time may affect the mounting time.

Therefore, according to the present invention, the mounting head is attached to the horizontally moving component mounting portion, and the component sucked by the suction nozzle provided on the mounting head is removed from the surface state of the component or the nozzle.
Without Rukoto be affected by reflected light, it is intended to provide a position recognizing device during transport.

[0009]

Therefore, in the present invention, X
-The component mounting head provided in the component mounting unit that moves in the Y direction picks up the component, recognizes the holding state of the sucked component by image recognition, detects the suction position shift, corrects the shift amount, and mounts the component on the substrate. A device to be mounted at a predetermined position, which is provided in the component mounting head, and which advancing downwards during component suction and mounting, and a vertically moving space of the suction nozzle in a direction parallel to the inclined reflecting surface. The tilting mirror that specularly reflects the image of the component sucked by the suction nozzle when entering or exiting, and by moving the tilting mirror in the direction parallel to the reflection surface, the suction nozzle is moved up and down when mounting and mounting the component. Moving means for evacuating from the moving space and advancing directly below the suction nozzle when recognizing an image of a component, and imaging for performing capturing of the specular reflection component image while the tilting mirror is being moved by the moving means. Stage and an image processing means for image processing component image captured by the image pickup device, in which a control means for controlling the apparatus operation based on the processing result of the image processing unit. Further, according to the present invention, the component mounting head provided in the component mounting unit that moves in the XY direction sucks the component, the holding state of the sucked component is image-recognized, the suction position shift is detected, and the shift amount is corrected. A device for mounting a component at a predetermined position on a board, the component mounting head comprising:
A suction nozzle that advances downward when picking up and mounting a component, and a vertical movement space of the suction nozzle that enters or exits in a direction parallel to the inclined reflecting surface. By moving the first tilting mirror for reflecting and the first tilting mirror in a direction parallel to the reflecting surface, the first tilting mirror is retracted from the vertically moving space of the suction nozzle at the time of suctioning and mounting the component, and the suction nozzle of the suction nozzle is recognized at the time of image recognition of the component. A moving means for making a direct entry below, a second tilting mirror for making a specular reflection of the specular reflection component image, the second tilting mirror corresponding to the first tilting mirror when going under the suction nozzle.
An image capturing means for capturing an image of the specular reflection component from the tilted mirror,
The image processing means includes image processing means for image-processing the component image captured by the imaging means, and control means for controlling the operation of the apparatus based on the processing result of the image processing means. Further, according to the present invention, in the component mounting apparatus according to the first aspect, the tilt mirror is a 45 ° mirror having a reflection surface of 45 °. According to the present invention, in the component mounting apparatus according to claim 2, the first inclined mirror is a first 45 ° mirror having a reflection surface of 45 °, and the second inclined mirror is a first 45 °. This is a second 45 ° mirror having a 45 ° reflecting surface facing the mirror. According to the present invention, in the component mounting device according to the first, second, third, and fourth aspects, the specular reflection component image captured by the image pickup means is a silhouette image of the attracted component.

[0010]

[Function] The component is held by the suction nozzle of the component mounting head,
While moving to the component mounting position, the component can be image-recognized. In addition, the mirror arranged obliquely with respect to the vertical movement axis of the suction nozzle enters in the direction parallel to the inclined reflecting surface, and the entire image of the part is projected without waiting for the movement of the inclined mirror to stop. All you have to do is start capturing images.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the component mounting apparatus of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic view showing an embodiment of the component mounting apparatus of the present invention. The component mounting device 1 has a box-shaped base 10.
XY stage 2, component mounting part 3,
A conveyor unit 4 and a first component supply unit 5 are arranged. 6
Is a second component supply unit arranged beside the base 10 and supplies components to a component temporary positioning table 7 provided on the base 10. In addition, the image processing means 8,
The control means 9 is built in.

Next, the component mounting portion 3 which is the gist of the present invention will be described in detail.

FIG. 2 is a schematic front view of the component mounting portion 3 in one embodiment of the component mounting apparatus of the present invention. Component mounting part 3
Is supported by the XY stage 2 in a suspended state, and includes a mechanism shown in FIG. 2 in a cover portion. 30 is X
-A linear motion unit 311 for vertically moving the mounting head 31 is vertically mounted on the front surface of a support plate of a component mounting portion mounted on the lower surface of the Y stage 2. The linear motion unit 311 includes a ball screw (not shown), a ball nut,
The mounting head 31 is attached to a slider 312 that is made up of a linear guide bearing, a servomotor, and the like and that moves up and down while being fixed to a ball nut.

The mounting head 31 is mounted vertically downward on the slider 312, and holds a suction nozzle 32 for sucking or mounting a component at its lower end. Suction nozzle 32
Has a square reflector 321 at the top, and this reflector 32
Reference numeral 1 denotes a nozzle body that is attached to its own center position so as to penetrate therethrough. Reference numeral 33 denotes an illuminating unit that illuminates the component sucked by the suction nozzle 32, and has a plurality of LEDs 332 arranged in a ring shape at regular intervals on the inner peripheral surface of the cylindrical member 331, and at the lower end thereof. A cylindrical light-shielding plate 333 with a collar is provided so that the light from these LEDs is not directly reflected in a 45 ° mirror described later. The illumination unit 33 is located below the suction nozzle 32, and the center of the cylindrical member 331 is
It is fixed to the support plate 30 so as to be the same as the center of the component mounting head. Then, the cylindrical member 331 and the light shielding plate 3
Reference numeral 33 denotes L, as shown in FIG.
The suction nozzle and a part of the mounting head can pass through the space surrounded by the ED 332 and the hollow portion of the light shielding plate.

Reference numeral 34 denotes LE when the components held by the suction nozzles stop at predetermined positions in their respective illumination units 32.
It is a first 45 ° mirror that horizontally reflects each component image (hereinafter, referred to as a silhouette image of the component) illuminated by the D332 and the reflection plate 321. First 45 ° Mi
The rail 34 is mounted on the mounting head 31 with respect to the vertical movement axis.
It is attached to the moving means 35 via a relay plate 341 so as to move linearly at an angle of 5 °.

The moving means 35 comprises a timing belt, a pulley, a servo motor (not shown), a linear guide bearing 351, and a slider 352 which linearly moves along the linear guide bearing 351. This linear guide bearing 351 is attached to the support plate 30 at an angle of 45 °
Part of 2 meshes with the teeth of the timing belt. Then, when the timing belt is rotated by the specified amount by the servomotor and the pulley, the slider 352 linearly moves by the specified amount along the linear guide bearing 351. Relay board 34
Reference numeral 1 denotes an L-shaped section, one end of which is attached to the lower side surface of the slider 352, and has a protruding surface on the front side in FIG. 2, and the first 45 ° mirror 34 is fixed to the upper surface of this protruding surface. ing. In this way, the first 45 ° mirror 34 is retracted upward by 45 ° from the vertical movement space of the suction nozzle 32 at the time of component suction and mounting, and immediately below the suction nozzle 32 at the time of component recognition.
Enter from a 45 ° direction.

[0018] 36 when the first 45 ° mirror 34 is in the component recognition position, in the second 45 ° mirror is provided at a position facing the support plate 3 via the support block 361
It is attached to 0 and reflects the image of the horizontal reflection from the first 45 ° mirror 34 vertically upward when the component is recognized.

[0019] 37, an imaging means for the second 45 ° mirror 36 captures an image that reflects vertically, a second 45 ° mirror
It is attached vertically downward to the support plate 30 so as to be located right above the -36.

Reference numeral 8 is an image processing means for recognizing and processing the image captured by the image pickup means 37, and based on the processing result,
The control means 9 controls the component mounting operation. In addition, the control means 9 controls the vertical movement amount of the mounting head, that is, the movement amount of the slider 312 in the linear movement unit 311.
The slider 352 is linearly moved by instructing the rotation of the servo motor of the moving means 35, the first 45 ° mirror 34 is retracted from the vertically moving space of the suction nozzle 32 at the time of component suction and component mounting, and the suction nozzle at component recognition. It works just below.

The operation of the component mounting apparatus of this embodiment having such a configuration will be described.

When the substrate P on which a component is to be mounted is conveyed on the conveyor section 4 and held by a substrate positioning mechanism (not shown), first, the control means 9 drives the XY stage 2 to mount the component. The component mounting head 31 of the part 3,
For example, it stops just above the component A supplied from the second component supply unit 6 to the component temporary positioning table 7. Then, a servo motor (not shown) is driven to lower the slider 312, that is, the mounting head 31. At this time, the first 45 ° Mi
Since the rail 34 is at the rising end and is apart from the vertically moving space of the suction nozzle 32, the suction nozzle 32 reaches the component A and suction-holds it.

After picking up the components, the control means 9 controls the mounting head 3
1 is moved up to a predetermined position (a position where the lower end of the sucked and held component A does not come into contact with the first 45 ° mirror 34 entering from the 45 ° direction) while moving up. The servo motor (not shown) is rotated by a predetermined amount. Then, the slider 352 moves along the linear guide bearing 351 to move the first 45 ° mirror 34 into the vertical movement space of the suction nozzle from the 45 ° direction.

When the suction nozzle reaches the height for recognizing the component, the control means 9 stops the raising of the mounting head 31 and stops the component A at a predetermined position in the illumination section 33, as shown in FIG. . At this time, the first 45 ° mirror 34 is in the middle of movement, but since the mirror enters directly under the component A from the 45 ° direction, even if the movement is not stopped, the left end of the component A in FIG. When the part is reflected on the first 45 ° mirror 34, the imaging means 37 can capture the silhouette image of the part A and start inputting it to the image processing means 8. That is, as long as the first 45 ° mirror 34 moves in the direction of the reflecting surface without including a motion component at right angles to the reflecting surface, the part A
The distance between the lower surface of the first 45 ° mirror 34 and the first 45 ° mirror 34 is constant, and the positional relationship that the lower surface of the component A is at the focal length of the imaging means 37 does not change during the movement period of the mirror 34. When the first 45 ° mirror 34 goes under the part A, a partial image which should later form the entire lower surface image of the part A appears on the reflecting surface of the part A in an increasing size, and faces each other. A corresponding image also appears on the second 45 ° mirror 36, which is reflected vertically upward, and is sent to the imaging visual field of the imaging means 37. Overview of Part A (Sirue
Image is obtained when the input to the image processing means 8 is started.

While the image processing means 8 is recognizing the input image information of the part A, the control means 9 controls the XY direction.
The stage 2 is driven, and the mounting head 31 is moved to the conveyor section 4.
The substrate P positioned above is moved to a specified mounting position. The image processing means 8 finishes the image recognition of the component A during the movement of the mounting head, and the recognition result, that is, the component A
Is transmitted to the control means 9. Then, the control means 9 reversely rotates the servo motor (not shown) of the moving means 35 by a predetermined amount to cause the slider 352 and the first 45 ° mirror to rotate.
The mounting head 31 is corrected by the amount of the suction position shift and stopped on the mounting position of the substrate P while the rail 34 is retracted upward by 45 °. In this way, the first 45 ° mirror 34 exits the descending space of the component A and the suction nozzle 32, and then the suction nozzle 32 is lowered onto the substrate P to mount the component A.

[0026] In this embodiment, a second 45 ° mirror is arranged.
Then, the silhouette image of the adsorbed parts is reflected vertically upward.
I decided to image it, but this second 45 ° mirror
The image pickup means is placed at the position of and the water is fed from the first 45 ° mirror.
With a configuration that directly captures a flat silhouette image of a component
May be. Also, the tilt angle of the tilt mirror is set to 45 °.
However, the installation position of the image pickup means is not limited to this.
It is also possible to adopt various inclination angles depending on the position.

[0027]

As described above, according to the component mounting apparatus of the present invention, the component can be held in the suction nozzle of the component mounting head, and the image of the component can be recognized while moving to the component mounting position. It is not necessary to move the above-mentioned parts to the recognition camera, and the mounting time can be shortened. In addition, the mirror, which is arranged to be inclined with respect to the vertical movement axis of the suction nozzle, enters in parallel with the inclined reflecting surface,
Since the image capturing is started without waiting for the movement of the tilted mirror to be stopped, the image pickup means provided in itself can reduce the influence on the component recognition time even for the component mounting unit which recognizes the component during movement. Further, since the silhouette image of the component is image-recognized and the mounting position is corrected, the suction position can be accurately recognized without being affected by the surface condition of the component surface to be imaged or the diffused reflection light from the nozzle or the like.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing the configuration of an embodiment of the component mounting apparatus of the present invention.

FIG. 2 is a schematic front view showing a configuration of a component mounting section in the embodiment.

FIG. 3 is a schematic front view illustrating an operation of a component mounting unit in the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Component mounting device 2 XY stage 3 Component mounting part 31 Component mounting head 32 Adsorption nozzle 33 Illumination part 34 1st 45 degree mirror 35 Moving means 36 2nd 45 degree mirror 37 Imaging means 8 Image processing means 9 Control means A component P substrate

Claims (5)

(57) [Claims] 1. A component mounting head provided in an X-Y moving component mounting portion picks up a component, and an image of the holding state of the sucked component is image-recognized to detect a suction position shift, and the shift amount is corrected. Is a device for mounting a component at a predetermined position on a substrate, the suction nozzle being provided in the component mounting head and advancing downward at the time of component suction and mounting, and the inclined reflection in the vertically moving space of the suction nozzle. A tilted mirror that specularly reflects the image of the component sucked by the suction nozzle when entering or exiting in the direction parallel to the surface, and the tilted mirror is moved in the direction parallel to the reflecting surface to pick up the component A moving means for retracting from the vertically moving space of the suction nozzle at the time of mounting and advancing directly below the suction nozzle at the time of image recognition of the component, and a means for taking in the specular reflection component image by the moving means.
The image pickup device is provided with an image pickup device performed while the tilted mirror is moving, an image processing device for image-processing the component image captured by the image pickup device, and a control device for controlling the device operation based on the processing result of the image processing device. Parts mounting device. 2. A component mounting head provided in a component mounting section that moves in an XY direction picks up a component, recognizes a holding state of the sucked component by image recognition, detects a suction position shift, and corrects the shift amount. Is a device for mounting a component at a predetermined position on a substrate, the suction nozzle being provided in the component mounting head and advancing downward at the time of component suction and mounting, and the inclined reflection in the vertically moving space of the suction nozzle. A first tilting mirror that moves in or out in a direction parallel to the surface, and at the time of entering the first tilting mirror that specularly reflects the image of the component sucked by the suction nozzle; and by moving the first tilting mirror in a direction parallel to the reflecting surface. Corresponding to the moving means that retracts from the vertically moving space of the suction nozzle during component suction and mounting, and moves directly under the suction nozzle when recognizing the image of the component, and the first tilting mirror when directly under the suction nozzle A second tilting mirror that further specularly reflects the specular reflection component image; an image capturing unit that captures the specular reflection component image from the second tilting mirror; and an image processing unit that image-processes the component image captured by the image capturing unit. And a control unit that controls the device operation based on the processing result of the image processing unit. 3. The component mounting apparatus according to claim 1, wherein the tilted mirror is a 45 ° mirror having a reflection surface of 45 °. 4. The component mounting apparatus according to claim 2, wherein the first inclined mirror is a first 45 ° mirror having a reflection surface of 45 °, and the second inclined mirror is a first 45 ° mirror.
° second 45 with a 45 ° reflective surface facing the mirror
° Parts mounting device characterized by being a mirror. 5. The component mounting apparatus according to claim 1, wherein the specular reflection component image captured by the image pickup unit is a silhouette image of a suctioned component. .