JP2999866B2 - 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 to be fitted on a printed circuit board by fitting a cylindrical chip component supplied by a component supply device into a groove by a suction nozzle having a groove formed on a lower surface thereof. Related to a mounting device.

[0002]

2. Description of the Related Art Japanese Patent Application Laid-Open No. 58-105199 discloses a suction nozzle used in a component mounting apparatus of this type. According to this technique, a suction device (11) which is a suction nozzle for suctioning a cylindrical electronic component (2).
Is formed with an engagement groove (13) that fits into the electronic component (2). The suction nozzle is manually attached to the nozzle mounting portion so that the direction of the groove matches the direction of the chip component supplied to the component supply device to be suctioned.

[0003]

However, in the above-mentioned prior art, since the suction nozzle is manually attached, it is difficult to accurately adjust the direction of the groove to the direction of the supplied chip component. There is a drawback that it may not be able to be adsorbed to the water.

Accordingly, it is an object of the present invention to reliably align a groove on the lower surface of a suction nozzle with a direction of a chip component supplied to a component supply device when suctioning a cylindrical chip component, and to reliably suction the chip component. .

[0005]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a component recognition device in which a cylindrical chip component supplied by a component supply device is fitted into a groove and sucked by a suction nozzle having a groove formed on a lower surface. In a component mounting apparatus that recognizes a positional shift of the chip component with respect to the nozzle and mounts the chip component on a printed circuit board, a nozzle rotating unit that rotates the nozzle and the component recognition device do not adsorb the chip component The nozzle rotating means is configured to rotate the suction nozzle so that the direction of the groove matches the direction of the component supplied from the supply device during component suction based on the orientation of the groove recognized by imaging the suction nozzle lower surface. And control means for controlling.

[0006]

After the component recognition device recognizes the direction of the groove by imaging the lower surface of the nozzle, based on the direction of the groove recognized by the recognition device, the control means controls the nozzle rotating means to change the direction of the groove during component suction. The suction nozzle is rotated so as to match the direction of the component supplied from the component supply device.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 2, (1) is an X-axis motor (2)
And an XY table that moves in the XY directions by rotation of a Y-axis motor (3), on which a printed circuit board (5) on which chip-shaped electronic components (hereinafter, referred to as chip components or components) (4) are mounted is placed. You.

[0009] (6) is a supply stand, chip parts (4)
A large number of component supply devices (7) for supplying the components are provided. Reference numeral (8) denotes a supply stand drive motor, which rotates the ball screw (9) to fit the ball screw (9) through a nut (not shown) fixed to the supply stand (6). 6) is guided and moved by the linear guide (10).

(11) is a turntable which rotates intermittently. A suction nozzle (1) is provided on the outer edge of the turntable.
The mounting heads (13) having four (2) are arranged at equal intervals in accordance with the intermittent pitch.

The stop position of the mounting head (23) from which the suction nozzle (12) sucks and picks up the component (4) from the supply device (7) is a suction station. An outside suction nozzle (12) sucks the component (4).

The next stop position of the mounting head (13) is the recognition station, where the component recognition camera (14) recognizes the displacement of the component (4) to be sucked by the suction nozzle (12). Is done.

The next mounting head (1) of the recognition station
The position where 3) stops is the angle correction station, and the suction nozzle (12) is rotated in the θ direction by the nozzle rotation device (15) based on the recognition result by the recognition camera (14), and the rotation angle of the component (4) is determined. The displacement is corrected.

The next stop position of the angle correction station is
A mounting station, on which a component (4) to be suctioned by a suction nozzle (12) of the station is mounted on the substrate (5).

The next stop position of the mounting station is a nozzle position confirmation station. A position where any of the suction nozzles (12) can suction the component (4) in the head (13) by the nozzle position detection device (17). And the head position detecting device (18) detects the number of the head (13) stopped at this station (hereinafter referred to as head number). Further, a component discharge box (not shown) is provided in the station, and the component (4) not mounted is discharged.

The nozzle position detecting device (17) has two reflective photosensors each comprising a light projector and a light receiver, and each nozzle (12) is located above the nozzle mounting position of the head (13). The light emitted from the light emitter is reflected and received by the light receiver when located at the component suction position in the head (13), and a hole is formed at a position where the light from the light emitter is reflected. Since the holes do not reflect light, the holes are not drilled corresponding to the four nozzle mounting positions, thereby turning on / off each photo sensor as shown in FIG. The OFF state is realized. FIG. 3 shows the ON / OFF state of the photo sensor when the mounting position is at the suction position for each nozzle position number which is a number indicating the nozzle mounting position. Head (1)
The rotation position in 3) is detected. The nozzle position numbers are assigned to the respective mounting positions in the head (13) in the counterclockwise direction in FIG.

The head position detecting device (18) has a structure in which three reflective photosensors each comprising a light emitter and a light receiver are arranged side by side, and the turntable (1) on each head (13) is arranged.
As in the case of the nozzle position detecting device (17) at the predetermined position of 1), the combination of the presence or absence of the hole at the position corresponding to each photosensor is used to determine the position of each photosensor for each of eight head numbers as shown in FIG. The ON / OFF state is realized, and the head number of the head (13) stopped at the nozzle position confirmation station is detected. The head number is for each head (1
3) are sequentially assigned in the counterclockwise direction in FIG. 2 from "1". By detecting the head number, the head number of the head (13) stopped at each station can be known.

The next stop position of the nozzle position confirmation station is the nozzle selection station, and the head (1) of the nozzle (12) confirmed by the nozzle position confirmation station.
The head (13) is rotated by the nozzle selection roller (19) based on the rotation position with respect to the position (3), and the suction nozzle (12) for picking up the component (4) is positioned at the component suction position. The nozzle selection roller (19) is rotated by a nozzle selection motor (20).

After the nozzle selection station, the head (1)
3) stops at the nozzle origin adjusting station, and the suction nozzle (1) is moved by the nozzle rotating device (21).
2) is rotated to the rotation origin position of the motor.

Next, the nozzle rotating devices (15) and (21) will be described with reference to FIG.

Since the devices (15) and (21) have the same structure, the nozzle rotating device (15) will be described.

Reference numeral (23) denotes a nozzle rotation motor for rotating the suction nozzle (12) in the θ direction, and its output shaft (24) is connected to a bearing body (26) via a coupling (25). The fitted nozzle rotating body (27) is attached, and the rotating body (27) is rotated by rotation of the output shaft (24).
Is rotated in the θ direction by being guided by the bearing body (26). The inside of the rotating body (27) is hollow, and a nozzle rotating rod (29) is fitted therein, and a side face of the rotating rod (29) is inserted into a vertically long hole (30) formed in the rotating body (27). Since the more protruding pin (31) is fitted, the rotating rod (29) can move up and down with respect to the rotating body (27), but cannot rotate.

A spring (32) is engaged with a locking portion (33) provided on the rotating rod (29) to urge the rotating rod (29) downward. Reference numeral (34) denotes a swinging lever which is engaged with the locking portion from below, and is vertically swung up and down via a rod end (36) by a vertically moving lever (35) vertically moved by a driving source (not shown). Rotating rod (2
9) is moved up and down. At the lower end of the rotating rod (29), a fitting portion (3) cut diagonally from both sides toward the lower end.
7) is formed.

The nozzle rotating device (21) is provided with a rotating device (1).
It has the same structure as 5), and the reference numerals are the same except for the motor.
In the nozzle rotating device (21), the nozzle (12) is rotated by the nozzle origin adjusting motor (46). The fitting portions (3) in the respective rotating devices for the case where the nozzle origin adjusting motor (46) is rotated to the rotation origin and the case where the nozzle rotation motor (23) is rotated to the rotation origin.
The directions of 7) are the same, and if the rotation amounts of the motors (23) and (46) are the same, the rotation amount of the fitting portion (37) is also the same.

In FIG. 5, a fitting groove (3) is provided at an upper portion of a nozzle mounting body (38) which penetrates vertically in each nozzle mounting position of the mounting head (13) and is rotatably provided in the θ direction.
9) is formed, and when the rotating rod (29) is lowered, the fitting portion (37) is moved into the fitting groove (39) at a predetermined rotation position.
And the rotation of the rotating rod (29) is
8). As shown in FIG. 5, the nozzle mounting body (38) is provided with a suction nozzle (12) having a diffusion plate (40) formed therearound, as shown in FIG. Installed. Suction nozzle (1
In 2), the rotation position in the θ direction is arbitrarily selected and attached to the nozzle attachment body (38).

In FIG. 16, reference numeral (42) denotes a diffusion plate which is mounted below the mounting head (13) and has an opening at a portion where the nozzle mounting body (38) penetrates. Diffusion plate (40)
(42) is a light source (43) provided in the recognition station.
It plays a role of diffusing the light beam irradiated by (44) and hitting the chip component (4) sucked by the suction nozzle (12) from above. The camera (14) is a diffuser (40) (4
The image of the chip component (4) projected by the illumination of 2) is taken. When recognizing the position of the chip component (4), the chip component (4) becomes a projected image, and therefore its size in the longitudinal direction must be larger than the outer diameter of the nozzle (12). It must be selected depending on the size of (4). This also applies to the case of recognizing a cylindrical chip component (4). The nozzle (12) is selected so that the size in the longitudinal direction, that is, the axial direction is larger than the outer diameter of the nozzle (12).

In FIG. 17, (45) denotes a camera (1).
4) a ring light source provided in a ring shape around;
The lower surface of the nozzle (12) is illuminated from below, and the reflected image is captured by the camera (14) so that the lower surface of the nozzle (12) can be recognized.

Some suction nozzles (12) have different types such as different sizes depending on the type of the component (4) to be suctioned. The chip component (4) includes a rectangular parallelepiped component (4) and a cylindrical component (4), and the nozzle (12) for sucking the cylindrical component (4) has a V (see FIG. 6 and FIG. 7). A V-shaped groove (47) is cut into the lower surface of the nozzle (12), and a cylindrical part () is formed by vacuum suction from a vacuum hole (48) communicating with a vacuum source (not shown) at the center of the groove (47). 4) is the groove (47) that indicates the direction of the part.
It is designed to be sucked while fitted along. The nozzle (12) having a V-shaped groove (47) because the cylindrical part (4) has various sizes.
There are several types of nozzles (hereinafter referred to as "V-grooved nozzles (12)"), which are replaced as described above and attached to the nozzle attachment body (38) at each nozzle attachment position of each head (13). Can be

However, in the case of the nozzle (12) with a V-groove, depending on the angular position in the θ direction where the nozzle (12) is mounted on the nozzle mounting body (38), the fitting portion ( After fitting the cylindrical part (4) with the motor (46) rotated to the home position after the fitting of the tape (49) into the fitting groove (39), the tape (49) as shown in FIG. ), When the axial direction of the component (4) enclosed in the component storage recess (50) and the longitudinal direction of the groove (47), which is the direction of the groove (47), are greatly shifted,
The component (4) cannot be fitted and sucked by adjusting the axial direction of the component (4) to 7). In addition, a rectangular recess (5)
The component (4) is not always housed in a state where the long side of the component (0) is always parallel to the axial direction of the component (4), but varies in the θ direction as shown in FIG.

Although this variation is within a certain range, the theoretical direction of the long side of the concave portion (50), which is the direction in which the chip component (4) is correctly stored in the suction station (in the present embodiment, the supply table) (6), the groove (4).
If the longitudinal direction of 7) is largely displaced, when the chip component (4) is rotated and stored in the opposite direction to the displaced direction,
Since it may not be possible to fit the groove (47) to be sucked, it is best that the direction of the groove (47) at the suction station coincides with the theoretical direction of the long side of the concave portion (50). Must be within at least a certain allowable range in the θ direction with respect to the theoretical direction. Also, this allowable range depends on the type of the component (4) and the concave portion (50).
Therefore, since the type of the target part (4) differs depending on the nozzle (12) with the V-groove, the allowable range also differs depending on the type of the nozzle (12).

Hereinafter, the longitudinal direction of the groove (47) is fitted to the head (13) whose longitudinal direction coincides with the theoretical direction of the long side of the concave portion (50) in the suction station. It is called the reference direction.

In this embodiment, a nozzle (12) of the type shown in FIG. 9 is attached to the head (13). The V-grooved nozzle (12) is displayed with "1" in the "V-grooved" column, and in the "allowable angle" column, the angle θ of the direction of the groove (47) with respect to the aforementioned groove fitting reference direction. The allowable range of the angle shift is shown.

A nozzle (12) of the type shown in FIG. 10 is mounted on the nozzle mounting body (38) at each nozzle mounting position of each head (13).

Next, the control circuit of this embodiment will be described with reference to FIG.

In FIG. 1, (51) is a CPU,
Various data stored in the RAM (52) and the operation unit (5
3) In accordance with a program stored in the ROM (54), various operations related to the mounting operation of the chip component (4) to the printed circuit board (5) of the component mounting device are controlled based on signals from 3) and the like. For example, a nozzle origin alignment motor (4
6) and the nozzle rotation motor (23) are provided by the CPU (5).
Under the control of 1), the driving circuit (55) drives. The drive circuit (55) also drives a nozzle selection motor (56) that rotates the nozzle selection roller (19).

The operation section (53) is provided with an interface (5).
8) is connected to the CPU (51). A nozzle position detecting device (17) and a head position detecting device (18) are connected to the interface (58), and a recognition processing circuit (59) for recognizing and processing an image captured by the component recognition camera (14) and an operation. A monitor (60) for displaying an operation screen or the like for operating the unit (53) is connected.

Next, the operation section (53) will be described.
In FIG. 1, (62) is a numeric keypad for keying in a number, (63) is a cursor key for moving a cursor (64) (see FIG. 11) on a screen of a monitor (60), and (65) is a cursor key. A SET key for setting a mode and the like.

(67) is a teaching key for setting the component mounting apparatus to a teaching mode, (68) is an automatic key for setting the apparatus to an automatic operation mode, and (69) is a key for setting the same to a manual operation mode. Manual key. (70) is a start key, (71) is an operation key, and (72) is a stop key.

The RAM (52) stores the information of FIGS. 9 and 10 and the like, and also stores the recognition result of the recognition processing circuit (59). Further, the RAM (5
2) The operating part includes a holding component-to-groove deviation allowable angle indicating an allowable range of a deviation angle between the long side direction of the groove (47) and the axial direction of the chip component (4) sucked to the nozzle (12). (5
It is set and stored by the key operation of 3).

This is because, when the chip component (4) is sucked by the suction nozzle (12), the chip part (4) shown in FIG.
As shown in FIG. 2 and FIG. 13, the chip component (4) may not be able to enter the groove (47) across the groove (47) and may be held by suction. In such a case, Even if the suction force is weakened and the position of part (4) is recognized, θ
The components in such a state may be displaced by the correction rotation, displaced during the movement of the head (13), displaced when mounted, spattered, or fitted in the groove (47). (4) is an angle range for discharging without mounting.

Even if the direction of the groove (47) is different from that of the component (4), the deviation is small and if the component (4) enters the groove (47), the direction of the groove (47) will be the same. Such a state occurs when a large degree of angular deviation occurs when the component (4) is sucked.

Also, the part (4) and the groove (47) can be normally operated due to the variation in the part shape and the shape of the groove (47) and the recognition error.
May be recognized that the direction of the groove (47) and the direction of the component (4) are different or different,
The deviation angle in this case is considerably smaller than when the part (4) cannot enter the groove (47).

Accordingly, since there is a trade-off with the width and length of the groove (47) or the size of the part (4), it differs depending on the individual case, but the part (4) and the groove (47) fit normally. A value between the misalignment angle that can be guaranteed to match and the misalignment angle that can guarantee that the part (4) does not enter the groove (47) if it is more than that is taken as the allowable angle of misalignment between the holding part and the groove. Set. For example, in the present embodiment, it is set to “twice”.

Even if the part (4) enters the groove a little from the suction surface of the nozzle (12) due to a difference in the shape of the groove or the like, the part (4) may be caught and sucked in a state where it is not completely fitted in the groove. If there is, the upper limit that can be set for the allowable angle between the holding component and the groove is reduced accordingly.

The operation of the above configuration will be described below.

First, replacement of the nozzle (12) will be described. Next, each head (13) corresponding to the substrate (5) on which the chip component (4) is to be mounted and the type of nozzle (12) to be mounted on the nozzle mounting body (38) at each nozzle mounting position are shown in FIG. In this case, the operator moves each head (13) to a station such as a component mounting station by manual operation and replaces the nozzle (12).

Replacement of the nozzle (12) is carried out by loosening the screw (41) shown in FIG. 6, removing the nozzle (12), mounting the nozzle (12) to be replaced, and tightening the screw (41).

Next, when the replacement of all the nozzles (12) is completed, the operator presses the teaching key (67) of the operation section (53) to set the component mounting apparatus to the teaching mode. Then Figure 1
A mode setting screen as shown in FIG. 1 is displayed on the monitor (60). When this screen is displayed, the cursor key (63) is pressed, the cursor (64) is moved to "3" indicating "V-groove direction recognition operation mode" as shown in the screen of FIG. 65) is pressed. Then, the component mounting apparatus is set to the “V-groove direction recognition operation mode”.

In this state, when the operator presses the operation key (71), the V-groove direction recognition operation described below is started.

First, the CPU (51) checks the output state of each sensor of the nozzle position detecting device (17) and the head position detecting device (18). First in the detection device (17)
If both the sensor and the second sensor are "ON", it is determined that the nozzle position number of the suction position of the nozzle position confirmation station is "1", and the detection device (1
In 8), all of the first, second and third sensors are "O
If the number is "N", it is determined that the number of the head (13) stopped at the nozzle position confirmation station is "1".

Next, the intermittent rotation of the turntable (11) is started, the head (13) of the number "1" is moved to the nozzle selection station, and the nozzle selection roller (5) is rotated by the rotation of the nozzle selection motor (56). By the rotation of 19), the head (13) is rotated such that the mounting position of the nozzle position number "3" where the nozzle (12) with the nozzle type NO "2" with the V-groove is mounted is the suction position. .

Next, when the head (13) of the number "1" stops at the nozzle origin adjusting station by the rotation of the turntable (11), the suction nozzle (3) of the nozzle position number "3" is rotated by the nozzle rotating device (21). 12) is rotated to the rotation origin position of the motor (46).

That is, when the vertically moving lever (35) is lowered by being driven by a driving source (not shown), the swinging lever (34) swings downward, and the locking portion (33) is urged by the spring (32) and the nozzle (33) is pushed. The rotating rod (29) descends. Then, the nozzle origin aligning motor (46) rotates to rotate the nozzle rotating body (2).
7) is rotated along the bearing body (26), whereby the nozzle rotating rod (29) is rotated via the pin (31) fitted in the vertically long hole (30), and the fitting portion (37) is rotated. Rotates while descending, and fits into the fitting groove (39) at any of the rotating positions. Even after the fitting, the fitting portion (37) rotates, and the motor (46) is stopped at the rotation origin position of the motor (46) where the fitting portion (37) faces the predetermined origin direction.

The above operation is performed on the turntable (1).
1) Nozzle (12) with V-groove, which is performed every intermittent rotation
When the nozzle (12) is present, the nozzle (12) is positioned at the suction position of the component (4) in the head (13) at the nozzle selection station, and the nozzle (12) with the V-groove is moved to the nozzle rotating device ( 21) The motor (46) is positioned at the rotation origin position.

When the turntable (11) rotates intermittently and the head (13) with the number "1" stops at the recognition station as shown in FIG.
It is determined from the contents of AM (52) that the nozzle type NO “2”, which is the nozzle (12) with a V-groove, is stopped at the recognition station, and the ring light source (45) is turned on to turn on the nozzle (12). A light beam is applied to the lower surface, and the reflected image is captured by the camera (14). Assuming that the picked-up image is as shown in FIG. 14, the recognition processing circuit (59) performs, for example, the groove (47) of the nozzle (12) parallel to the Y-axis of the screen shown in FIG.
The point at which the brightness of the pixel changes from the brightly projected plane area (75) other than the groove (47) on the lower surface of the nozzle (12) along two straight lines crossing the darkly projected groove area (74) which is the image of FIG. The search is made from the same direction (for example, the direction of the arrow in FIG. 14), and the angle “θ” between the straight line connecting the changing points on each straight line and the X axis of the screen is calculated.

If the case where the longitudinal direction of the groove (47) is oriented in the X-axis direction on the screen is the case where it is oriented in the groove fitting reference direction, "θ" deviates from that direction. The angle is stored in a predetermined area of the RAM (52) together with the head number and the nozzle position number.

The recognition of the V-groove direction is performed every time the nozzle (12) with the V-groove stops at the recognition station.
The deviation angle with respect to the groove fitting reference direction is stored in the RAM (52) together with the head number and the nozzle position number.

If a plurality of V-grooved nozzles (12) are mounted in the same head (13),
During one rotation of the turntable (11), the same head (1
Since only one line can be recognized for the item (3), the turntable (11) is rotated by the same number of times as the number of the lines so that the groove (4) can be recognized.
Recognize the direction of 7). When the recognition of the deviation angle of the groove (47) from the groove fitting reference direction for all the V-grooved nozzles (12) is completed, the V-groove direction recognition operation stops. As a result, the deviation angle data as shown in FIG. 15 is stored in the RAM (52).

Next, the operator presses the automatic key (68) to set the component mounting apparatus in the automatic operation mode, and presses the start key (7).
The automatic operation of the component mounting apparatus is performed by pressing 0).

First, as described above, the head position detecting device (1)
At 8), the number of the head (13) stopped at the nozzle position confirmation station is detected.

Next, when the head (13) which starts the intermittent rotation of the turntable (11) and sucks the part (4) to be taken out first stops at the nozzle position checking station, the head (13) Nozzle at the suction position (1
The nozzle position number 2) is detected by the nozzle position detecting device (17). It is assumed that this is head number “1” and nozzle position number “2”.

Next, due to the intermittent rotation of the turntable (11), the nozzle (12) having the nozzle position number "3" from which the part (4) is to be removed is rotated by the nozzle selection roller (19) at the nozzle selection station. Selected by the head (1
3) is located at the suction position.

Next, when the turntable (11) makes one intermittent rotation, the nozzle (12) stops at the nozzle origin adjusting station. The CPU (51) confirms that the nozzle (12) is a nozzle (12) with a V-groove.
Judging from the data of FIG. 9 in M (52), the motor (4
6) While rotating the nozzle, the nozzle rotating rod (29) is lowered to fit the fitting portion (37) into the fitting groove (39) as described above. RAM
From the data of FIG. 15 stored in (52), the motor (46) is rotated and stopped after correcting the shift angle “θ1”, and the direction of the groove (47) is adjusted to the groove fitting reference direction. . The RAM (52) stores that the nozzle (12) is corrected and rotated by “θ1” together with the head number and the nozzle position number.

Next, when the head (13) with the number "1" stops at the suction station due to the intermittent rotation of the turntable (11), the supply device (7) for supplying the cylindrical chip component (4) is opened. The rotation of the motor (8) stops the nozzle (12) at the component suction position of the suction station below the nozzle (12).
2) adsorbs the chip component (4) in a state where the axial direction of the chip component (4) stored in the tape (49) matches the longitudinal direction of the groove (47), and the chip component (4) is shown in FIG. And is held by fitting into the groove (47).

Next, by turning the turntable (11), the head (13) of the number "1" moves to the recognition station as shown in FIG. 16, and the light rays emitted from the light sources (43) and (44) are diffused. The component (4) is irradiated from above through the plates (40) and (42), and the projected image is captured by the camera (14), and the displacement of the component (4) with respect to the nozzle (12) is
The recognition is performed by the recognition processing circuit (59) performing the recognition processing on the imaging screen.

In this case, the direction of the groove (47) coincides with the X axis of the screen, and the chip part (4) fits in the direction of the groove (47). Is output as the recognition result. Therefore, there is no misalignment between the direction of the component (4) and the direction of the groove (47).
(51) judges to mount the component (4) on the printed circuit board (5).

Next, by turning the turntable (11), the head (13) of the number "1" is moved to the angle correction station. When the component (4) is to be mounted on the printed circuit board (5) in a state of being rotated by 90 degrees θ, the vertical movement lever (3) is set in the nozzle rotating device (21).
5) Before lowering, the rotation of the motor (23) causes the nozzle rotation rod (29) to stop and fit at a rotation position shifted by an angle “θ1” from the position of the motor (23) at the rotation origin position. The direction of the mating portion (37) and the direction of the fitting groove (39) are matched. Then, the vertical movement lever (35) is lowered to fit the fitting portion (37) into the fitting groove (39), and the motor (23)
Rotates the nozzle (12) by 90 degrees in the θ direction.

Next, when the head (13) with the number "1" stops at the mounting station, the X-axis motor (2) is corrected by taking into account the fact that the head is rotated by 90 degrees .theta. ), The Y-axis motor (3) is rotated to move the XY table (1), and the component (4) is mounted at a predetermined position on the printed board (5) on the table (1).

Next, for the head (13) with the number "2", the nozzle (12) with the V-groove with the nozzle position number "3"
Is selected as the suction position, the nozzle origin adjusting station corrects the motor (4
6) is rotated, and the direction of the groove (47) matches the groove fitting reference direction.

Then, the head (13) of the number "2" moves to the suction station, where the chip component (4) is sucked. At this time, due to some cause such as a defect of the tape (44) or a defect of the feeding thereof, the axial direction of the chip component (4) is shifted from the longitudinal direction of the groove (47) as shown in FIGS. Assume that 4) has been sucked across the groove (47).

Next, when the head (13) moves to the recognition station by the rotation of the turntable (11),
Recognition of the position of the component (4) is performed in the same manner as described above, and recognition of the component (4) in the axial direction is performed. As a result, assuming that the direction is rotated by “3 degrees” from the X axis of the recognized screen, that is, the groove fitting reference direction, the CPU (51) determines that the groove (4
Since the direction of 7) is “0 degrees”, the deviation angle is “3 degrees”.
Degree ", which is larger than" 2 degrees "of the holding component-to-groove deviation allowable angle stored in the RAM (52), so that the component (4) is ejected without mounting the component (4) on the printed circuit board (5). Judge to do.

Here, the CPU (51) is connected to the ROM (5
It is determined that the direction of the groove (47) is programmed as "0 degree" in 4), but the RAM (52)
"0 degree" may be stored as the direction of the groove (47) for each head number and nozzle position number, and this "0 degree" may be used for calculation for determination.

Next, even if the head (13) of the number "2" is moved to the angle correction station by rotating the turntable (11), the nozzle (12) is not rotated, and the next mounting station is not rotated. Then, the part (4) is not mounted,
At the next nozzle position confirmation station, the vacuum suction of a vacuum source (not shown) is cut off to a component discharge box (not shown) provided below the station, and the component (4) is discharged by blowing air.

In this embodiment, the nozzle (1
After mounting 2), the camera (1) recognizes the direction of the groove (47).
4), the deviation angle from the groove fitting reference direction is corrected by the nozzle origin matching station, and the nozzle (12) is rotated to match the groove fitting reference direction with the component (4). However, when the nozzle (12) was mounted, the direction of the groove (47) was adjusted to the groove fitting reference direction as much as possible, and the direction of the groove (47) was recognized. ) May be performed in order to confirm whether or not it is within a certain allowable range in which the groove (47) can be fitted and sucked.

Regardless of whether the direction of the groove (47) is within a certain allowable range with respect to the groove fitting reference direction as described above or not, it is not known whether the direction is not within the allowable range. After recognizing the direction of the groove as described above, the nozzle (12) is set in the nozzle origin alignment station at the time of mounting operation of the component (4) in accordance with the rotation origin of the motor (40).
Of the part (4) by the recognition of the position of the part (4) at the recognition station,
If the angle deviation from the groove direction stored in the AM (52) is larger than the allowable angle between the holding component and the groove, the component (4) is ejected without being mounted on the printed circuit board. Can also.

The direction of the groove (47) is first stored in the RAM (52) by recognizing the image picked up by the camera (14), but the direction of the groove (47) measured by the operator without being recognized is recognized. Alternatively, it may be configured such that a key input from the operation unit (53) is stored in the RAM (52) in advance to determine whether the displacement of the component (4) is within the allowable angle between the holding component and the groove.

Further, in this embodiment, the nozzle (12) is rotated in accordance with the rotation origin of the motor (40) at the nozzle origin alignment station, and then the groove (4) is recognized at the recognition station.
7), the orientation of the fitting groove (39) at the time of recognition is, for example, the motor (2).
3) RAM as the amount of rotation from the rotation origin of (40)
If it is stored in (52), before the recognition of the groove (47), the nozzle (12)
Need not be adjusted to the rotation origin.

Further, the position of the component (4) is recognized by the light source (4).
3) It is conceivable to perform not by using the projection image transmitted by the light beam from (44) but by using the reflection image from the ring light source (45). In this case, the direction of the groove (47) must be recognized at the same time. It is preferable that the direction of the groove (47) be stored for each nozzle (12) by recognition or the like in advance, because it is difficult and time-consuming even when it is possible.

In this embodiment, after the suction nozzle (12) with the V-groove is attached, the nozzle (12) is first turned to the rotation origin at the nozzle origin alignment station, and then the groove (47) is made at the recognition station. When the component (4) is mounted, the nozzle (12) is rotated and the groove (4) is rotated based on the stored data when the component (4) is mounted.
Although the direction of 7) is corrected, it is the same as a camera for recognizing the lower surface of the nozzle (12) between the nozzle origin adjusting station and the suction station and a nozzle rotating device (21) for correcting and rotating the nozzle after the recognition. Nozzle rotating means is provided in two stations, and the suction of the component (4) is performed by a nozzle (12) with a V groove. May be recognized by the camera each time the camera stops at a station provided with the camera, and the nozzle may be corrected and rotated by the nozzle rotating means.

Further, in this embodiment, in order to fit the fitting portion (37) into the fitting groove (39) and rotate the nozzle (12), the groove (47) on the lower surface of the nozzle (12) is formed. Before recognizing the direction, the nozzle (12) had to be always rotated to the rotation origin, but a gear was provided around the nozzle, and an external gear that engages with and separated from the gear was engaged to rotate. If the rotation of the motor can be directly transmitted to the rotation of the nozzle, such as when making the rotation, the rotation of the rotation to the rotation origin and then recognition of the direction of the groove without recognizing the direction of the groove, Then, the nozzle can be corrected and rotated to suck the cylindrical chip component.

Further, since the suction nozzle cannot rotate with respect to the mounting head, the mounting head is rotated to correct the angular deviation of the component suctioned by the suction nozzle eccentrically mounted on the head. In this case, the direction of the V-shaped groove on the lower surface of the nozzle is corrected by rotating the mounting head, but the position of the nozzle is orthogonal to the direction (X direction) in which the supply table (6) moves (Y direction) in the horizontal plane (Y (Direction), the correction rotation can be performed within a range in which the movement is not affected by the component suction.

Further, in the above case where the suction nozzle is fixedly attached to the mounting head, the supply table is moved in the XY direction in the horizontal plane (in addition to the drive motor (8) in the X direction, the drive motor in the Y direction is used). Is provided, the correction rotation is performed to an arbitrary angular position, and the deviation of the suction position in the X and Y directions may be corrected by moving the supply table.

[0083]

As described above, according to the present invention, it is possible to accurately recognize the direction of a groove formed in a suction nozzle by using a component recognition device that recognizes a displacement of a chip component without using another recognition device. Accordingly, the suction nozzle can be rotated so that the direction of the groove is surely adjusted to the direction of the chip component supplied by the component supply device, so that the cylindrical chip component can be reliably suctioned at low cost.

[Brief description of the drawings]

FIG. 1 is a control block diagram of the present invention.

FIG. 2 is a plan view of a component mounting apparatus to which the present invention is applied.

FIG. 3 is a diagram illustrating a detection result according to a state of each sensor of the nozzle position detection device.

FIG. 4 is a diagram showing detection results based on the state of each sensor of the head position detection device.

FIG. 5 is a side view showing the structure of the nozzle rotating device.

FIG. 6 is a side view showing a nozzle having a V-shaped groove.

FIG. 7 is a view of a nozzle with a V-groove as viewed from below.

FIG. 8 is a plan view showing a state where a cylindrical chip component is stored in the tape.

FIG. 9 is a diagram showing types of suction nozzles.

FIG. 10 is a diagram showing nozzle type numbers attached for each head number and nozzle position number.

FIG. 11 is a view showing a screen for mode selection on a monitor.

FIG. 12 is a side view showing a state in which a cylindrical chip component is sucked by the suction nozzle.

FIG. 13 is a diagram showing a state in which a cylindrical chip component is sucked by the suction nozzle as viewed from below the nozzle.

FIG. 14 is a diagram illustrating an image screen obtained by a camera for recognizing a groove component.

FIG. 15 is a diagram showing data of recognized groove directions.

FIG. 16 is a side view showing a state in which a suction nozzle that sucks a chip component is positioned on a component recognition camera at a recognition station.

FIG. 17 is a side view showing a state where a suction nozzle is positioned on a component recognition camera at a recognition station.

[Explanation of symbols]

 (4) Chip-shaped electronic component (chip component) (5) Printed circuit board (7) Component supply device (12) Suction nozzle (14) Component recognition camera (recognition device) (21) Nozzle rotation device (nozzle rotation device) ( 47) Groove (51) CPU (control means) (59) Recognition processing circuit (recognition means)

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-3-165099 (JP, A) JP-A-3-68200 (JP, A) JP-A-3-52300 (JP, A) JP-A-2- 36597 (JP, A) (58) Fields surveyed (Int. Cl. ⁷ , DB name) H05K 13/04 H05K 13/08

Claims (1)

(57) [Claims] 1. A suction nozzle having a groove formed on a lower surface thereof fits a cylindrical chip component supplied by a component supply device into the groove and sucks the chip component.
Wherein recognizing a positional shift relative to the nozzle of the component mounting apparatus for mounting on a printed circuit board, a nozzle rotating means for rotating the nozzle, the component recognition device tip
The product is recognized by imaging the bottom surface of the suction nozzle that does not suck the product.
Intake as orientation of the groove when the component pickup based on the orientation of the grooves matches the orientation of the component supplied from the supplying apparatus
Control means for controlling the nozzle rotating means so as to rotate the receiving nozzle.