JP2792829B2 - Component recognition device for mounting machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates to a mounting machine configured to adsorb a component such as a chip component by a head unit provided with a nozzle member and mount it at a predetermined position on a printed circuit board. The present invention relates to a component recognizing device of a mounting machine configured to recognize a component picked up.

[0002]

2. Description of the Related Art Conventionally, a head unit having a nozzle member for mounting components sucks a component such as an IC from a component supply unit, transfers the component onto a printed circuit board positioned at a predetermined position on the printed circuit board. A mounting machine designed to be mounted is generally known. Recently, there has been proposed a mounting machine in which a plurality of nozzle members are arranged in a head unit so as to improve mounting efficiency so that a plurality of components can be transferred at a time.

In such a mounting machine, there is a certain degree of variation in the position of the component when the component is sucked by the nozzle member, and it is required to correct the mounting position in accordance with the shift in the component suction position. For this reason, the picked-up component is recognized to detect a shift in the suction position with respect to the nozzle member, or to detect an abnormality of the component, for example, if the component has a lead, the lead is broken.

[0004] As an apparatus for performing such component recognition, for example, a line sensor is installed on a base of a mounting machine, and a head unit after picking up components passes over the line sensor to obtain a required component recognition. There has been proposed an apparatus that irradiates a suction component with light to capture a component image, and performs component recognition based on the captured image.

[0005]

In a conventional apparatus, the amount of light applied to a suction component during component recognition is generally fixed, and the brightness of an image captured by a line sensor is determined by image recognition. In order to maintain a constant optimal brightness, it is necessary to move the head unit with respect to the line sensor at a predetermined constant speed set based on the amount of light emitted.

[0006] Therefore, in the conventional apparatus, the line sensor is required to perform a run-up operation for keeping the moving speed of the head unit at a predetermined constant speed, and a run-up space and a run-up time of the head unit are required. Therefore, due to these restrictions, there is naturally a limitation imposed on solving the problems such as space saving of the mounting machine and improvement of the mounting efficiency, and effective improvement for these problems cannot be achieved. Further, if the moving speed fluctuates, the brightness of the image changes, so that there is a problem that the component recognition accuracy is easily affected by the fluctuation of the moving speed of the head unit.

Further, in a device equipped with a plurality of nozzle members in a head unit, a plurality of components can be sucked at a time, so that component recognition can be performed continuously while changing the component image taking speed according to the type of component. This is convenient from the viewpoint of increasing the mounting efficiency, but in the conventional device, it is necessary to move the head unit with respect to the line sensor at a constant speed as described above in relation to the component recognition accuracy. Therefore, it has been difficult to efficiently capture a component image while changing the moving speed of the head unit according to the type of the component, and to accurately recognize the component.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem. The present invention aims at improving the mounting efficiency by increasing the degree of freedom of the component image capturing speed, and further improving the component recognition accuracy and the space saving of the apparatus. It is an object of the present invention to provide a component recognition device for a mounting machine capable of realizing integration.

[0009]

According to a component recognition apparatus of the present invention, a component is adsorbed by a nozzle member provided in a head unit, and then the head unit and a line sensor disposed in a moving path of the component are compared. In a mounting machine configured to recognize a component sucked by a nozzle member by moving the head unit relative to a line sensor in a corresponding state, a plurality of the nozzle members are provided in parallel. A head unit and a line sensor arranged so as to extend in a direction orthogonal to the arrangement direction of the nozzle members and configured to sequentially capture a component image of each component adsorbed to each nozzle member, At least while the head unit is relatively moved with respect to the line sensor, the suction component is irradiated with light necessary for component recognition. That the light emitting means is one having a speed detecting means for detecting a moving speed of the head unit, and a light amount adjusting means adjusts the amount of light of the light emitting means in accordance with the detected speed by the speed detection means.

[0010]

[0011]

According to the apparatus of the present invention, the head unit relatively moves on the line sensor after the component is picked up, so that the component image of the component picked up by the head unit during this movement period is taken in from the line sensor. Recognition is performed. At this time, the light amount of the light emitting means is controlled according to the moving speed of the head unit. That is, the light amount of the light emitting unit is adjusted according to the moving speed of the component so that a component image having the optimal brightness for component recognition is captured.

Further, a head unit having a plurality of nozzle members arranged in parallel moves on a line sensor,
The component image of each component picked up by each nozzle member is sequentially taken in, and the components are recognized. At this time, the moving speed of the head unit is adjusted according to the type of the component passing on the line sensor, that is, the component to be image-captured, and the light amount of the light emitting unit is adjusted according to the moving speed.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of a component recognition apparatus according to the present invention will be described with reference to the drawings.

FIGS. 1 and 2 show the structure of a mounting machine on which a component recognition device according to the present invention is mounted. As shown in FIG. 1, a conveyor 2 for transporting a printed board is arranged on a base 1 of a mounting machine, and a printed board 3 is transported on the conveyor 2 and stopped at a predetermined mounting work position. It has become. A component supply unit 4 is arranged on the side of the conveyor 2. The component supply unit 4 includes a component supply feeder, for example, a multi-row tape feeder 4.
a.

Above the base 1, a head unit 5 for mounting components is provided. The head unit 5 is movable across the component supply unit 4 and the component mounting unit where the printed circuit board 3 is located.
It can move in the axial direction (the direction of the conveyor 2) and the Y-axis direction (the direction orthogonal to the X-axis on a horizontal plane).

That is, a fixed rail 7 in the Y-axis direction and a ball screw shaft 8 rotated and driven by a Y-axis servomotor 9 are disposed on the base 1, and a head unit is mounted on the fixed rail 7. A support member 11 is provided, and a nut portion 12 provided on the support member 11 is screwed to the ball screw shaft 8. The support member 11 has X
An axial guide member 13 and a ball screw shaft 14 driven by an X-axis servo motor 15 are provided, and the head unit 5 is movably held by the guide member 13,
A nut portion (not shown) provided on the head unit 5 is screwed to the ball screw shaft 14. And
By the operation of the Y-axis servo motor 9, the support member 11
The head unit 5 is moved in the X-axis direction with respect to the support member 11 by the operation of the X-axis servo motor 15 while moving in the axial direction.

The Y-axis servomotor 9 and the X-axis servomotor 15 are provided with position detecting devices 10 and 16 each comprising a rotary encoder, and thereby detect the moving position of the head unit 5. It has become.

The head unit 5 is provided with a nozzle member 20 for sucking chip components. As shown in FIG. 2, in this embodiment, eight nozzle members 20 are arranged in the X-axis direction. Each nozzle member 20 moves up and down with respect to the frame of the head unit 5 (movement in the Z-axis direction).
And rotation about the nozzle center axis (R-axis) is enabled, and is operated by a Z-axis servo motor and an R-axis servo motor (not shown). Further, each of these servo motors is provided with a position detecting device to detect the moving position of each nozzle member 20.

Further, a sensor unit 23 for taking in a component image when recognizing a component adsorbed by each nozzle member 20 of the head unit 5 is disposed beside the component supply unit 4. ing.

The sensor unit 23 includes a large number of LEDs.
23a (light emitting means) and line sensor 24
And a sensor main body 23b having the same. As shown in FIG. 3, the line sensor 24 is an image sensor in which CCD solid-state imaging devices 24a are arranged in a direction (Y-axis direction) orthogonal to the arrangement direction of the nozzle members 20, and is formed in the illumination unit 23a. The part image is taken in one-dimensionally through the slit part.

At the time of mounting, after the components are sucked by the nozzle members 20 of the head unit 5, the arrangement direction of the elements 24a of the line sensor 24 (main scanning direction; Y
The head unit 5 is moved in a direction (sub-scanning direction; X-axis direction; arrow S direction in FIGS. 1 and 2) orthogonal to the axis direction), and is attracted to each nozzle member 20 by the line sensor 24. Images of the component in the main scanning direction are sequentially captured in the sub-scanning direction and output to the image processing unit 30 as a predetermined image signal. Then, when the head unit 5 completely passes over the sensor unit 23, images of all the components that are sucked are captured.

On the base 1 of the mounting machine, the head is located in the movement path of the head unit 5 for component recognition, that is, at a predetermined position on the right side of the movement path of the head unit 5 with respect to the sensor unit 23. A head detection sensor 25 (shown in FIG. 4) for detecting the unit 5 is provided. At the time of component recognition, when the head unit 5 is detected by the head detection sensor 25, the capture of a component image by the line sensor 24 is started. Timing is planned.

Although the overall configuration of the mounting machine configured as described above is omitted, the mounting machine includes a control device having a microcomputer as a component, and the Y-axis and X-axis servomotors 9, 15 and the head Each suction nozzle 20 of the unit 5
, The Z-axis servo motor, the R-axis servo motor, the line sensor 24 of the sensor unit 23, and the like are all electrically connected to the control device so as to be integrally controlled.

The control device includes an image processing unit 30 and an illumination control unit 60 as shown in FIG.

The image processing section 30 controls and controls the capture of a component image by the sensor unit 23, and performs component recognition based on the captured image data. 32, a start signal generating means 33, a one-part end signal generating means 34 and an all-part end signal generating means 35.

The clock signal generating means 32 comprises a frequency dividing counter 40, a comparator 41, a frequency dividing register 42, and first and second gate circuits 43 and 44.
The clock signal in the image processing unit 30 is generated and output by dividing the frequency of the pulse train signal output from the position detection device 16.

More specifically, the number of pulses of the pulse train signal output from the position detecting device 16 is counted by a frequency dividing counter 40, and a frequency dividing register 42 is provided in a comparator 41.
Is compared with a preset count N. When the set count number N is reached, the comparator 4
It outputs a signal of one to one pulse.

That is, with the head unit 5 corresponding to the line sensor 24, the head unit 5 is moved relative to the line sensor 24 by driving the X-axis servo motor 15, The clock signal is generated by dividing the pulse train signal output from the position detecting device 16 by 1 / N times with the movement of the pulse train 5 in the X-axis direction.

The generated clock signal is output from the comparator 41 to the first and second gate circuits 43 and 44. The first gate circuit 43 includes the head detection sensor 2
5, and a clock signal is output from the first gate circuit 43 to the start signal generating means 33 in response to the input of the detection signal.
The second gate circuit 44 includes a start signal generation unit 33.
Is input from the second gate circuit 44 in response to the input of the signal.
To output a clock signal to the sensor unit 23 and the one-component end signal generating means 34.

The start signal generating means 33 comprises a fetch start counter 46, a comparator 47 and a fetch start register 48, and fetches the clock signal output from the first gate circuit 43.
The count is made at 6, and the comparator 47 compares the count with the count set in the fetch start register 48 in advance. The count number is set so as to correspond to a moving distance from when the head unit 5 is detected by the head detection sensor 25 to when the head unit 5 reaches just before the sensor unit 23. When the set count is reached, the comparator 47 outputs a capture start signal to the second gate circuit 44.
When the capture start signal is output to the second gate circuit 44 in this manner, the output of the clock signal to the sensor unit 23 is started as described above, and the component by the line sensor 24 is synchronized with the clock signal. Capture of an image is started.

The one-component end signal generating means 34 comprises a line number counter 49, a comparator 50 and a line number register 51.
The clock signal output from the line number counter 4
The number is counted at 9, and the comparator 50 compares it with the count number set in the line number register 51 in advance. When the set count is reached, the comparator 50 sends a one-part end signal to the all-parts end signal generating means 35, that is, the line sensor 24.
Output a signal indicating that the capture of the component image of one component has been completed.

The count number set in the line number register 51 is set to a value at which one component image can be captured based on the type of the component to be recognized.

The all-parts end signal generating means 35 comprises a parts number counter 52, a comparator 53 and a parts number register 54. The one-part end signal output from the one-part end signal generating means 34 Counter 5
The number is counted at 2, and the comparator 53 compares the count with a count previously set in the component count register 54. Then, when the set count number is reached, the comparator 53 sends to the image recognition unit 31 and the lighting switch circuit 62 an end-of-all-parts signal, that is, a signal indicating that the line sensor 24 has finished capturing all part images. Output.

The image recognizing unit 31 writes the image data fetched by the line sensor 24 into the image memory in synchronization with the clock signal, and performs predetermined image processing on the image data to recognize the component. Things.

On the other hand, the illumination control section 60 comprises an F / V conversion section 61, an illumination switch circuit 62, and an illumination drive circuit 63 (light quantity adjusting means), and is outputted from the position detection device 16. The light amount of the illumination unit 23a in the sensor unit 23 is adjusted based on the pulse train signal.

More specifically, based on the on-density (or off-density) of the pulse train signal output from the position detecting device 16, a voltage of a predetermined level indicating the rotation speed of the X-axis servo motor 15 is converted to an F / V converter. Drive circuit 63 for lighting from 61
And a current corresponding to the output voltage level is output from the illumination drive circuit 63 to the illumination section 23a. That is, in the above mounting machine, the head unit 5 is controlled by the position detecting means 16 and the F / V converter 61.
Speed detecting means is configured.

The lighting drive circuit 63 includes the F
Voltage level output from / V conversion unit 61 and illumination unit 23
a table that defines a correspondence relationship with the current value supplied to the head unit 5. For example, as shown in FIG. 5, the illuminance on the suction component increases in proportion to the moving speed of the head unit 5. The table is set so that the light amount of the light 23a becomes high. In this table, the brightness of the image captured by the line sensor 24 based on the relative relationship between the moving speed of the head unit 5 and the light amount of the illumination unit 23a is optimal for the image recognition by the image recognition unit 31. Brightness is set to

The detection signal from the head detection sensor 25 and the all component end signal from the all component end signal generating means 35 are input to the illumination switch circuit 62. An ON signal is output to the illumination drive circuit 63 based on the input, and an OFF signal is output to the illumination drive circuit 63 based on the input of the all component end signal. The lighting drive circuit 63 is turned on / off from the lighting switch circuit 62.
Based on the input of the OFF signal, when the ON signal is input, the current supply to the lighting unit 23a is started, while when the OFF signal is input, the current supply is cut off.

Next, the component recognition operation of the mounting machine configured as described above will be described.

When the mounting operation is started in the mounting machine, the head unit 5 is moved to the component supply unit 4 and the components are sucked by the nozzle members 20. When the suction of the component is completed, the head unit 5 is moved with respect to the sensor unit 23 for component recognition. Specifically, after the head unit 5 is set at the right end of the movement path for the sensor unit 23, the head unit 5 is moved leftward (in the direction of the arrow S in FIGS. 1 and 3) from this position.

Then, the movement for component recognition is started as described above, and the head unit 5 is moved to the head detection sensor 25.
When the clock signal is detected, the start signal generator 33 of the image processor 30 starts counting the clock signal output from the clock signal generator 32. Further, in the lighting control unit 60, an ON signal is output from the lighting switch circuit 62 to the lighting drive circuit 63, whereby a current corresponding to the moving speed of the head unit 5 is supplied, and the lighting unit 23a recognizes a component. Is started.

When the count number in the start signal generating means 33 reaches a predetermined count number, the start signal generating means 33 outputs a component image fetching start signal and the line sensor 24 starts fetching a component image. .

When the capturing of the component image is started, the image of the suction component in the main scanning direction is sequentially captured in the sub-scanning direction at a timing synchronized with the clock signal. Stored in memory. When the counting of the clock signal is started in the one-component end signal generating means 34 and the count reaches a predetermined count, that is, when the image capturing of one component is completed, the one-component end signal generating means 34 An end signal is output. Then, the image capturing of the next component is performed in the same manner, and the image of each component is sequentially captured.

The all-parts end signal generating means 35
, A one-component end signal is counted, and when this count reaches a predetermined count, that is, when the capturing of the component images of all the components is completed, the image recognition unit 31 and the An all-components end signal is output to the lighting switch circuit 62.

When the all-parts end signal is input to the image recognizing unit 31, the image recognizing unit 31 reads out the image data of each component stored in the memory and performs predetermined image processing on the image data. Thereby, each component adsorbed to the head unit 5 is recognized.

When the all-components end signal is input to the illumination switch circuit 62, an OFF signal is output from the illumination switch circuit 62 to the illumination drive circuit 63 based on the signal, whereby the illumination unit 23a receives the OFF signal. The current supply is cut off, and the illumination unit 23a is turned off.

According to the mounting machine configured as described above, the brightness of the image captured by the line sensor 24 is adjusted to the optimum brightness for image recognition by the image recognition unit 31 according to the moving speed of the head unit 5. Since the light amount of the illumination unit 23a is adjusted so as to be constant, it is not necessary to perform the approach operation of the head unit for maintaining a constant speed as in the related art. Therefore,
The approach space can be shortened, and thereby the degree of freedom of the location of the line sensor can be increased, and the space saving of the mounting machine can be effectively achieved. In addition, since the run-in operation of the head unit with respect to the line sensor is not necessary, the mounting time can be reduced by the run-in operation as compared with the conventional device, and the mounting efficiency can be improved.

In the conventional apparatus, when the moving speed of the head unit fluctuates, the optimum brightness required at the time of image recognition is determined by the relationship between the moving speed of the head unit and the amount of light emitted. By the way, according to the above-described mounting machine, the component image can be captured with the optimal brightness for image recognition regardless of the moving speed of the head unit 5. Even if the moving speed of the head unit 5 fluctuates, the component recognition accuracy does not deteriorate, and therefore, the component recognition can be performed more accurately than the conventional device.

Further, according to the mounting machine of the above embodiment, a plurality of components are sucked by the head unit 5 and the images of the picked-up components are sequentially taken while the head unit 5 is moved relatively to the sensor unit 23. However, in this case, since the brightness of the captured image is not affected by the moving speed of the head unit 5 as described above, for example, a simple shape having a relatively easy recognition can be used. In the case where only components are mounted, the moving speed of the head unit 5 with respect to the sensor unit 23 is increased to capture component images, so that the component image capturing time is reduced, and a simple and relatively recognizable image is obtained. When simultaneously mounting a component having a complex shape and a component having a complex shape, the moving speed of the head unit 5 is set to be the same as that for capturing the component image of the component having the simple shape. A component recognition method in which the moving speed of the head unit 5 with respect to the sensor unit 23 is changed in accordance with the type of the component while continuously capturing each of the suctioned component images, for example, by efficiently increasing the component image. Can be adopted. Therefore, in the mounting machine of the above embodiment, by adopting such a component recognition method, it is possible to perform component recognition with high accuracy while improving component recognition efficiency.

The above mounting machine is an embodiment of a mounting machine to which an example of the component recognition device according to the present invention is applied.
The specific structure can be appropriately changed without departing from the gist of the present invention.

For example, in the above embodiment, the light amount of the illumination unit 23a in the sensor unit 23 is increased in proportion to the moving speed of the head unit 5, but the light amount is
It is not necessary to set strictly to increase in proportion to the moving speed of the head unit 5. For example, the amount of light of the illumination unit 23 a within a certain speed region of the head unit 5 depends on the type of component to be recognized. In the case where accurate component recognition can be performed even when the component is held constant, the light amount of the illumination unit 23a may be increased stepwise as the moving speed of the head unit 5 increases. In short, the light amount of the illumination unit 23a may be set according to the moving speed of the head unit 5 so that the component image can be captured with the optimum brightness required for image recognition.

[0052]

As described above, according to the component recognition device of the present invention, the head unit relatively moves on the line sensor after the component is picked up, so that the component picked up by the head unit during this movement period is removed. The image is fetched from the line sensor and component recognition is performed. At this time, the light amount of the light emitting means is controlled according to the moving speed of the head unit,
Light that matches the moving speed of the suction part is emitted, that is,
The light amount of the light emitting means is adjusted according to the moving speed of the component so that a component image with the optimal brightness for component recognition is captured. There is no need for the head unit to perform the relative movement, which eliminates the need for a head unit running space and increases the degree of freedom in the location of the line sensor, effectively saving space in the mounting machine. Can be planned. In addition, since the run-in operation of the head unit with respect to the line sensor is not required, the mounting time is reduced by the run-in operation as compared with the conventional device, thereby improving the mounting efficiency.

Further, even if the moving speed of the head unit fluctuates, it is possible to capture a component image having the optimum brightness for image recognition, thereby performing component recognition with higher accuracy. it can.

Further, since a plurality of nozzle members are provided in parallel in the head unit and the component images of each component sucked by the nozzle members are sequentially taken in by the line sensor, the component images pass through the line sensor. By adjusting the moving speed of the head unit according to the type of the component to be captured, that is, the type of the component for which the image is to be captured, and by adjusting the light amount of the light emitting means in accordance with the moving speed, the efficiency of capturing the component image by the line sensor Component recognition can be performed with high accuracy.

[Brief description of the drawings]

FIG. 1 is a plan view of a mounting machine to which an example of a component recognition device according to the present invention is applied.

FIG. 2 is a front view of the same.

FIG. 3 is an enlarged schematic view of a main part showing a line sensor.

FIG. 4 is a circuit configuration diagram illustrating an image processing unit and an illumination control unit.

FIG. 5 is a graph illustrating a relationship between a moving speed of a head unit and a light amount of an illumination unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base 2 Conveyor 3 Printed circuit board 4 Component supply part 5 Head unit 15 X-axis servo motor 16 Position detection means 20 Nozzle member 23 Sensor unit 23a Illumination part 23b Sensor main body part 24 Line sensor 25 Head detection sensor 60 Lighting control part 61F / V converter 62 Lighting switch circuit 63 Lighting drive circuit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) H05K 13/04 H05K 13/08

Claims (1)

(57) [Claims] 1. A nozzle member provided in a head unit.
The head unit and its movement
A mounting configured to recognize a component adsorbed on a nozzle member by moving the head unit relative to the line sensor in a state where the line sensor arranged in the path corresponds to the line sensor. in the machine, the Roh
A head unit provided with a plurality of chisel members in parallel,
It is arranged to extend in the direction orthogonal to the arrangement direction of the nozzle members.
Parts for each part placed and adsorbed by each of the nozzle members
Line sensor configured to capture images sequentially
If, while at least the head unit is moved relative to the line sensor, and light emitting means for irradiating light required for the component recognition on the suction part, the moving speed of the head unit detection Speed detecting means for
A component recognition device for a mounting machine, comprising: a light amount adjusting unit that adjusts a light amount of the light emitting unit according to a speed detected by the speed detecting unit.