JP2889662B2 - Component mounting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Industrial application field In the present invention, an image pickup camera picks up an image of a component sucked by a plurality of suction nozzles provided on a mounting head, and based on the recognition result of the image screen. The present invention relates to a component mounting apparatus that corrects and mounts components on a printed circuit board.

(B) Prior art Japanese Patent Application Laid-Open No. 1-117397 discloses a component mounting apparatus of this type which is provided with one suction nozzle and a camera for recognizing a positional shift of a component sucked by the suction nozzle. ing. In the prior art, only one suction nozzle for sucking a component is provided on a mounting head that moves from a component supply unit to a printed circuit board. Therefore, a plurality of suction nozzles are provided on the mounting head to increase the speed of component mounting. Can be considered.

(C) Problems to be Solved by the Invention However, in the above-described conventional technology, the mounting head stops above the recognition camera for each of the suction nozzles that are picking up the component at the time of component recognition. There is a disadvantage that it takes time to stop and to accelerate from a stopped state to a constant speed.

Therefore, an object of the present invention is to reduce the time required to image a component when a plurality of suction nozzles are provided in a mounting head.

(D) Means for Solving the Problems To this end, the present invention provides a movable mounting head having a plurality of suction nozzles for sucking a component and an imaging camera for imaging the component sucked by the suction nozzle. The imaging camera takes an image of a component sucked by the suction nozzle of the mounting head that has moved to the imaging position of the imaging camera and stopped, and based on the recognition result of the imaging screen, the mounting head moves relative to the printed circuit board. In a component mounting apparatus that moves and corrects component misalignment and mounts components on the board, based on an imaging screen in which the imaging camera simultaneously images a plurality of components adsorbed by a plurality of nozzles. A recognition processing means for recognizing a displacement of the component with respect to the suction nozzle is provided.

(E) Operation With the above configuration, the imaging camera simultaneously captures images of the plurality of components sucked by the plurality of suction nozzles of the mounting head stopped at the imaging position, and the recognition processing unit performs the suction nozzle of the component based on the image screen. To recognize the positional deviation from.

(F) Example An example of the present invention will be described below with reference to the drawings.

In FIG. 1, (1) is a component mounting apparatus to which the present invention is applied. (2) is a pair of supply conveyors,
(3) is an X table unit, (4) is a pair of discharge conveyors, (5) is a Y head unit, and (6) is a component supply unit that supplies a chip component (7).

The supply conveyor (2) transports the printed circuit board (10),
The board (10) is supplied to the X table section (3), and the discharge conveyor (4) conveys the printed circuit board (10) discharged from the X table section (3) for discharge to a downstream device. Things.

Next, the Y head (5) will be described in detail. 1 and 2, (12) and (12) denote mounting heads,
Attached to the head nuts (14) (14) fitted to the head ball screws (13) (13), the ball screws (13) (13) are rotated by the head drive motors (15) (15) The head linear guide (16) (16) (1
6) It is guided by (16) and moves in the Y direction, and the chip component (7) supplied from the component supply unit (6) is mounted on the printed circuit board (10) by the X table unit (3).

The mounting head (12) will be described in detail. In FIG. 2, reference numeral (18) denotes a vertical moving body having a suction nozzle (19) for sucking a chip component (7) at its tip.
In 2), three are provided to be able to move up and down.

(20) is a stopper mechanism for regulating the vertical moving body (18) so as not to descend, (21) is a vertical moving driving mechanism for moving the vertical moving body (18) up and down, and (22) is a vertical moving body (1).
8) is a turning mechanism for turning in the θ direction. (23) is an illumination unit for illuminating the chip component (7).

A tool (24) having a nozzle (19) at the tip is exchangeably mounted below the vertical moving body (18) by exchange means (not shown). A milky white diffusing plate (26) is provided above the nozzle (19) of the tool (24) for transmitting and diffusing light from the upper illumination unit (23) and irradiating the component (7).

A flange (28) is formed on the upper part of the vertical moving body (18). A regulated member (30) whose rotation is restricted by the rotation mechanism (22) is fixed to the vertical moving body (18).

Next, the stopper mechanism (20) will be described in detail. (32)
Is a stopper lever having a claw (33) at the lower end, and the upper end is pivotally mounted on a solenoid (36) provided on a mounting plate (35) mounted on the head nut (14). The back and forth movement of the solenoid (36) causes the support shaft (37) to swing about a fulcrum.

That is, when the solenoid (36) protrudes in a demagnetized state, the claw (33) is locked to the lower surface of the flange (28) to restrict the downward movement of the vertical moving body (18) and to move the vertical moving body (18). When the solenoid locks and the solenoid (36) excites and retracts, the claw (33) is disengaged from the flange (28), and the vertical moving body (18) can move downward.

Next, the vertical drive mechanism (21) will be described in detail. When the vertical motion motor (39) rotates the vertical motion ball screw (40), the vertical motion plate (42) mounted on the vertical motion nut (41) is moved to the linear guide (4) provided on the mounting plate (35).
3) Move up and down along (43). A cam follower (44) which is engaged with the lower surface of the flange (28) at three places and supports the vertical movements (18), (18) and (18), respectively.
(44) (44) are provided, and the stopper lever (32)
The vertically movable body (18) unlocked moves vertically while being supported by the cam follower (44) by the rotation of the motor (39).

Next, the rotation mechanism (22) will be described in detail. In FIG. 2, (46) is a block suspended from the mounting plate (35), and (47) is a vertically moving guide body that rotates in the θ direction.
The vertical moving body (18) is guided by a vertical moving guide body (47) and can move up and down.

A timing pulley (48) is fitted on the outer periphery of the lower part of the vertical movement guide body (47), and a motor timing pulley (50) is mounted on the lower part of the nozzle rotation motor (49) installed in the block (46). Is mounted on the shaft. By driving the motor (49), both pulleys (48), (50) and both pulleys (48),
The vertically moving guide body (47) rotates through the timing belt (51) attached between the (50).

The detent roller (5
A pair of detents (54) having 3) are formed,
The rollers (53) and (53) are locked from both sides to the regulated member (30) fixed to the vertical moving body (18), and the vertical moving body (18)
Is restricted in the θ direction. Therefore, when the vertically moving guide body (47) is rotated by the motor (49), the vertically moving body (18) is rotated in the θ direction via the detent (54) and the regulated member (30).

1 and 2, reference numeral (56) denotes a component imaging camera, and a chip component (7) picked up by a nozzle (19) by a component supply unit (6) is taken out of a mounting head (12). The camera (56) recognizes the suction position, posture, lead bending, lead floating, and the like.

Although only one component imaging camera (56) is provided, the camera (56) is attached to three nozzles (19) (19) (19) attached to the mounting head (12), respectively. It is possible to simultaneously image and recognize all of the components (7), (7), and (7). Naturally, the camera (56) is 3
Two or one of the nozzles (19), (19) and (19)
It is also possible to image only the component (7) sucked by the book nozzle (19). The camera (56) has a wide angle and a high resolution so that a plurality of components can be imaged as described above.

Here, the lighting unit (23) attached to the lower part of the mounting head (12) will be described. The illumination unit (23) illuminates the chip part (7) when the chip part (7) sucked by the nozzle (19) is imaged by the camera (56). 2 and 3, reference numeral (58) denotes a frame fixedly mounted on the mounting plate (35),
Pins (59) (59) (59) (59) are arranged at the four corners. (60) is the pin (59) on the nozzle (19) (19) (19)
(59) (59) (59)
A lighting board in which a large number of LEDs (61) are arranged on the lower surface, and a portion where the vertical moving body (18) penetrates and moves up and down is open.

At the lower part of the lighting board (60), one unit-diffusion plate (62) of milky white is provided with pins (59) (59) (5) at regular intervals.
9) It is attached to (59), and transmits and diffuses the light emitted by the LED (61) to make the light and shade uniform depending on the location. The light beam uniformized by the unit diffusion plate (62) is transmitted through and diffused through the diffusion plate (26) to be further uniform, and is applied to the chip component (7). Also in the unit diffusion plate (62), the portion where the vertical moving body (18) penetrates is open.

Next, the X table section (3) will be described. In FIG. 1, reference numeral (64) denotes an X table on which the printed circuit board (10) supplied to the supply conveyors (2) and (2) is placed.
A nut (not shown) fitted to the X ball screw (65) is attached, and the X ball screw (65) is driven by the X motor (66).
Is rotated in the X direction along the X linear guides (67) and (67).

The chip component (7) sucked by the nozzle (19) and moved by the mounting head (12) moves the X table (64) by moving the mounting head (12) in the Y direction and moving the X table (64) in the X direction. It is mounted on the upper printed circuit board (10).

Next, the component supply unit (6) will be described. In FIGS. 1 and 4, in the case of the present embodiment, the component supply section (6) is provided with a table component supply device (70) for supplying chip components (7) stored in a table (69). It is configured. There are many types of chip components (7) supplied by the tape component supply device (70). Usually, one supply device (70) supplies one type of chip component (7) and a large number of supply devices (70).
Supplies various types of components (7), but adjacent supply devices (70) are arranged side by side at predetermined intervals.

 The operation of the above configuration will be described below.

First, the printed circuit board (10) is the supply conveyor (2)
When transported to (2) and supplied to the X table section (3), the printed circuit board (10) is placed on the X table (64).

Next, the mounting head (12) moves to the component supply section (6) along the linear guide (16) by the rotation of the ball screw (13) driven by the motor (15). At this time, the vertical moving body (18) is locked by the three stopper levers (32). First, when the rightmost nozzle (19) of the three nozzles (19) is positioned above the tape component supply device (70) for supplying the component (7) to be taken out next, the rightmost solenoid (36) Is excited, the stopper lever (32) is attracted, the claw (33) comes off the flange (28), and the vertical moving body (18) is unlocked.

Then, the vertical moving body (18) is lowered by being driven by the motor (39) while being supported by the cam follower (44).
Is absorbed by the nozzle (19) and rises.

Then, the solenoid (36) protrudes and the stopper lever (3
2) swings on the support shaft (37) as a fulcrum, the claw (33) is locked on the lower surface of the flange (28), and the vertical moving body (18) is locked.
Next, the mounting head (12) moves and the central nozzle (19) is located above the supply device (70) for supplying the component (7) to be taken out next, and the above-mentioned right-end nozzle (19) is used. Similarly, the component (7) is sucked, and then the vertical moving body (18) is locked by the stopper lever (32).

Next, in the same manner as described above, the leftmost nozzle (19) performs the suction operation of the component (7) to be taken out next.

After the three nozzles (19) suck the component (7), the mounting head (12) is moved over the imaging camera (56) by the motor (15).

Then, all the stopper levers (32), (32), (32) release the lock of the vertical moving bodies (18), (18), (18) by the excitation of the solenoids (36), (36), (36), and the motor (39) The nozzles (19), (19), and (19) that are holding the components (7), (7), and (7) are lowered by driving. Parts (7) (7)
When (7) is located at the focal length of the imaging camera (56), the motor (39) stops the stop nozzles (19), (19), and (19).

The focusing operation of this part (7) is performed by the mounting head (12)
May be completed before the camera moves onto the camera (56).

Thereafter, the LEDs (61), (61),... Of the lighting unit (23) emit light, and the light beams diffused by the unit diffuser (62) and the diffuser (26) irradiate the component (7). 56)
Indicates the nozzles (19), (19), and (19) of the mounting head (12)
The positions of the components (7), (7), and (7) that have been sucked are simultaneously imaged. Based on this imaging screen, the positional deviation of each component (7) with respect to each nozzle (19) and the angular deviation in the θ direction are recognized simultaneously or sequentially by a recognition processing device (not shown).

Next, when the imaging of the component (7) by the imaging camera (56) is completed, the mounting head (12) moves in the Y direction, and the X table (64) is driven by the motor (66) to drive the ball screw (65).
Is moved in the X direction along the linear guide (67) through the rotation of.

Parts (7) based on the recognition results obtained by the imaging camera (56)
When there is a positional deviation, the mounting head (12) and the X table (64) move by the distance corrected for the amount of deviation.

If there is an angle shift in the θ direction, the motor (49) rotates by an angle to correct the angle shift and pulleys (48), (50)
And the vertical movement guide body (47) is rotated via the timing belt (51). At this time, the regulated member (30) is prevented from rotating (5) by the rotation of the vertically moving guide body (47).
The nozzle (19) is rotated by the correction angle (4), and the nozzle (19) is rotated by the correction angle.

After that, the solenoid (36) on the right end is excited, the stopper lever (32) releases the regulation, and the nozzle (19) is lowered by the driving of the motor (39), and the component (7) is moved to the printed circuit board (10). Be attached.

The nozzle (19) that has been mounted is moved upward by the drive of the motor (39). Thereafter, the up-and-down moving body (18) is locked by the stopper lever (32). Thereafter, the component (7) sucked by the remaining two nozzles (19) is mounted on the printed circuit board (10) in the same manner as described above.

When the mounting operation of all three components (7) is completed as described above, the mounting head (12) moves to the next component (7) to be mounted.
It moves to the parts supply part (6) to take out.

When the above operation is repeated and the components are mounted on the printed board (10), the printed board (10) is discharged by the discharge conveyor (4).

Note that when imaging the part with the imaging camera (56), a plurality of nozzles (19) (1) attached to the mounting head (12) are used.
Even when all of the components (7) sucked to the component (9) cannot be placed within the focal length of the camera (56) due to the difference in component thickness, each of the vertical moving members (1) of the mounting head (12) can be used.
8) A drive source is provided for each, and if each can be moved up and down independently, all parts (7) can be placed within the focal length of the camera (56) and the parts can be imaged at the same time. it can.

(G) Effects of the Invention As described above, the present invention can reduce the loss time caused by stopping the mounting head to image a plurality of components, and can perform component mounting at high speed.

[Brief description of the drawings]

FIG. 1 is a plan view of a component mounting apparatus to which the present invention is applied, and FIG.
FIG. 3 is a perspective view of a mounting head located at the upper part of the component imaging camera, FIG.
FIG. 4 is a perspective view of a component supply unit. (1) ... component mounting device, (7) ... chip component, (1
0) Printed circuit board (12) Mounting head (19)
... Suction nozzle, (56) ... Component imaging camera.

Claims (1)

(57) [Claims] A movable mounting head having a plurality of suction nozzles for sucking a component; and an imaging camera for imaging the component sucked by the suction nozzle, and moving to an imaging position of the imaging camera. The imaging camera picks up an image of the component sucked by the suction nozzle of the mounting head that has stopped, and based on the recognition result of the imaging screen, moves the mounting head relative to the printed circuit board to correct the positional deviation of the component. In the component mounting apparatus that mounts the component on the substrate, the position shift of the component with respect to the suction nozzle is recognized based on an imaging screen in which the imaging camera simultaneously captures the plurality of components sucked by the plurality of nozzles. A component mounting device comprising a recognition processing means.