JP3805477B2 - Method and apparatus for automatically discriminating compatible nozzles, and recording medium on which a program for automatically discriminating nozzles is recorded - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a suitable nozzle automatic discrimination method, apparatus, and program recording medium for discriminating nozzles that match electronic components to be picked up.
[0002]
[Prior art]
Conventionally, in a process of mounting an electronic component (hereinafter simply referred to as a component) on a circuit board by a component mounting apparatus, a user (operator) selects in advance a nozzle that sucks the component to be mounted, and the plurality of selected nozzles Is held by the nozzle holder of the component mounting apparatus.
[0003]
Based on the component mounting program and the data stored in advance by teaching, the work head of the component mounting apparatus selectively mounts a nozzle suitable for suction of the component to be mounted from the nozzle holder, and then uses the nozzle. The component is picked up from the component supply device, and the component is picked up from below by a recognition camera to recognize the shape and suction orientation of the component, and whether the shape is abnormal or the suction position is deviated from the reference. If there is an abnormality in the shape, the part is discarded and suctioning is performed again. If there is a positional deviation, the deviation is corrected and the part is mounted at a predetermined position on the circuit board. In recent years, a method of recognizing the shape and suction posture of a component by irradiating a laser instead of the image recognition of the component has been put into practical use.
[0004]
By the way, in general, there are various types of components mounted on a circuit board, and many types of nozzles are prepared corresponding to these types.
6A and 6B are diagrams showing examples of typical parts. FIGS. 9A and 9B are diagrams showing the names, shapes, and dimensions (length L, width W, thickness T) of parts. The figure (a) shows an example of a type without lead (electrode wire). From the top, the name column is “resistor, ceramic capacitor”, “mini mold transistor”, “mini power transistor”, etc. In the shape column, representative shapes of parts having those names are shown. In the drawings showing these shapes, the portions of length L, width W, and thickness T are clearly shown. In the dimension column, dimensions corresponding to L, W, and T are shown. If you look at the uppermost part with the name "Resistance, Ceramic Capacitor" as an example, the dimension column is displayed divided into four lines. From this, you can see that there are multiple types of dimensions for parts with the same name. . FIG. 2B shows an example of a component with leads. In this case, names and dimensions subdivided into a plurality of types are shown corresponding to one shape.
[0005]
7A, 7B, and 7C are diagrams showing examples of typical nozzles. In the same figure (a), the nozzle type is shown in a sectional side view at the bottom, and in the upper part of the frame in four rows and six stages, the nozzle numbers and the diffusion plate sizes (in this case, the same), which are different from the top, respectively, The type of the nozzle tip (same as the nozzle number in this example), the characteristics of the nozzle (distinguishment of whether or not a cushioning rubber member is attached to the tip, etc.), the inner diameter of the nozzle, and the outer diameter of the nozzle are shown. Yes. 3B and 3C show three other types of nozzles, respectively. Each of these nozzles also has a plurality of different nozzle numbers, diffusion plate sizes, nozzle tip types, nozzle inner diameters, and nozzle outer diameters, similar to the nozzle shown in FIG.
[0006]
FIG. 8 is a diagram schematically showing a list (matching correspondence table) showing the various parts (parts sample) and the various nozzles (nozzle part numbers) that are suitable for suction. B1, B2, B3,..., Bn shown from the top at the left end of the figure correspond to each row of the dimension column “L, W, T” of each part shown in FIGS. 6 (a) and 6 (b). ing. In addition, P1, P2, P3,..., Pn shown from the left in the upper part of the chart of FIG. 8 are the columns of the nozzle numbers of the nozzles shown in FIGS. 7 (a), (b), (c). It corresponds. The “◯” marks shown in the center frame to which these correspond correspond to the nozzle being suitable for suction of the part. The “Δ” mark indicates that it can be adsorbed, but sometimes it is difficult to achieve perfection, and the no mark indicates that it is not compatible.
[0007]
When the user (operator) selects the nozzle to be stored in the nozzle holder of the component mounting device, the name and part number of the part differ from manufacturing company to manufacturing company. I ca n’t add it. Therefore, first, based on the dimensions of the parts to be mounted, a similar part sample is selected from the list shown in FIG. 8, and then a column frame with a “◯” mark in the corresponding central frame is selected. A nozzle is displayed and the nozzle displayed on the row frame is determined as a compatible nozzle.
[0008]
[Problems to be solved by the invention]
However, as mentioned above, there are many types of parts, and the data to be attached is not the name or part number that is familiar to the eye, but the length, width, and thickness dimensions. It is extremely troublesome to find a part sample to be searched from a list. In addition, it is easy to select a different row frame or column frame by mistake until it reaches the compatible nozzle through the `` ○ '' mark in the subdivided frame, and the compatible nozzle is determined without notice as it is. As the preparatory work progresses, there will be a problem of causing significant flaws in the subsequent work process and significantly reducing the overall work efficiency.
[0009]
An object of the present invention is to provide a method and an apparatus capable of quickly and appropriately selecting a nozzle suitable for suction for each component in view of the above-described conventional situation.
[0010]
[Means for Solving the Problems]
First, a method for automatically determining a compatible nozzle according to the first aspect of the present invention is a method for determining a nozzle suitable for an electronic component to be picked up by a programmed computer, including the name of the nozzle, the outer diameter, the inner diameter, and the elastic pad. A procedure for inputting presence / absence data, a procedure for creating an A table for storing the input nozzle name, outer diameter, inner diameter, and presence / absence of elastic pads, and the name, length, and width of the electronic component And a procedure for inputting thickness data, a procedure for calculating the weight of the electronic component based on the input length, width and thickness data of the electronic component, and a nozzle stored in the A table. Is it possible to suck the component by the nozzle based on the procedure for calculating the suction force of the nozzle based on the inner diameter data and the calculated suction force of the nozzle and the calculated weight of the electronic component? Having a step of determining whether, and procedure for selecting from among a plurality of types of nozzles that match the nozzle to adsorb this for each of the electronic components on the basis of The procedure of determination.
[0011]
Then, as described in claim 2, for example, the suitability of the nozzle to the component is determined based on the nozzle outer diameter data stored in the table A and the input length and width data of the electronic component. The method further includes: Further, for example, as described in claim 3, a procedure for creating a B table for storing a nozzle name selected from the plurality of types of nozzles in correspondence with input data of the component for which the nozzle is adapted is further provided. Have.
[0012]
Next, the apparatus for automatically determining a compatible nozzle according to claim 2 is a means for inputting the nozzle name, outer diameter, inner diameter, and presence / absence of an elastic pad, and the input nozzle name, outer diameter, inner diameter. And an A creating means for creating an A table for storing the presence / absence data of the elastic pad in the memory, an input means for inputting data on the name, length, width and thickness of the electronic component, and the length of the inputted electronic component Weight calculating means for calculating the weight of the electronic component based on the data of width, thickness, and suction force calculating means for calculating the suction force of the nozzle based on the inner diameter of the nozzle stored in the A table. Determining means for determining whether or not the nozzle can be sucked by the nozzle based on the calculated suction force of the nozzle and the calculated weight of the electronic component, and based on the determination by the determining means For each electronic component Constructed and a selection means for selecting from among a plurality of types of nozzles nozzles suitable to adsorb.
[0013]
For example, as described in claim 6, the compatibility of the nozzle with the component is determined based on the nozzle outer diameter data stored in the table A and the input length and width data of the electronic component. Means for further comprising. Further, for example, as described in claim 7, a B creating means for creating a B table for storing a nozzle name selected from the plurality of types of nozzles in correspondence with input data of the component to which the nozzle is adapted. Is further provided.
[0014]
Further, the weight calculating means calculates the weight of the electronic component by using the length, width and thickness data of the electronic component and preset specific gravity data of the component, for example. Configured to calculate.
[0015]
According to a third aspect of the present invention, there is provided a recording medium in which a control program for discriminating nozzles that are compatible with electronic components to be picked up by a computer is recorded, and the control program stores the name of the nozzle and the outer diameter in the computer. , Input the data on the presence / absence of the inner diameter and elastic pad, create the A table that stores the input nozzle name, outer diameter, inner diameter and presence / absence of the elastic pad, and name, length, width of the electronic component And the thickness data is input, the weight of the electronic component is calculated based on the input length, width and thickness data of the electronic component, and the nozzle inner diameter data stored in the A table is used. The suction force of the nozzle is calculated, and it is determined whether or not the component can be sucked by the nozzle based on the calculated suction force of the nozzle and the calculated weight of the electronic component. Allowed, and records the adaptation nozzle automatic discrimination program for selecting from among a plurality of types of nozzles that match the nozzle to adsorb this for each of the electronic components on the basis of this determination.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1A is a diagram showing a configuration of a compatible nozzle automatic discrimination device in one embodiment, and FIG. 1B is a block diagram showing the system configuration. As shown in FIG. 1A, the automatic matching nozzle discriminating apparatus 10 is composed of, for example, a personal computer, and a main body 11 is connected with a display 12, a keyboard 13, and a pointing device (mouse) 14 via a connection cable. Has been. Further, a floppy disk (FD) 15 and a compact disk (CD) 16 for loading a program or storing created data are detachably mounted on the main body 11.
[0017]
As shown in FIG. 2B, the system of the adaptive nozzle automatic discrimination device 10 includes a CPU (central processing unit) 20 and a ROM (read only memory) 22 connected to the CPU 20 via a bus 21, A RAM (read / write memory) 23, an HDD (built-in hard disk) 24, an I / O control unit 25, and the like are included. The above-described display 12, keyboard 13, mouse 14, FD 15, CD 16 and the like are connected to the I / O control unit 25.
[0018]
The ROM 22 stores a control program for the adaptive nozzle automatic discrimination device 10. The CPU 20 controls the operation of each unit by the control program. The RAM 23 temporarily stores data input from the keyboard 13, intermediate data being calculated by the CPU 22, and the like.
[0019]
The HDD 24 stores various data, files, tables and the like input from the keyboard 13 or read from an external recording medium (FD15, CD16). Under the control of the CPU 20, the data, files, The table or the like is transferred to the RAM 23.
[0020]
The I / O control unit 25 controls input / output of each of the connected units under the control of the CPU 20. The display 12 is composed of a CRT display device (or an LCD display device or the like), and displays input data or a calculation result performed by the CPU 20.
[0021]
The keyboard 13 includes a plurality of operation keys for inputting numbers, characters, and various commands, and outputs status signals of these operation keys to the CPU 20. The mouse 14 outputs a two-dimensional movement speed signal and designates an arbitrary position on the screen displayed on the display 12.
[0022]
The FD 15 records the above-mentioned various data, files, tables, etc., or outputs those data, files, tables, etc. to the RAM 23 or the HDD 24. A compatible nozzle automatic discrimination program is recorded on the CD 16, and the program is output to the HDD 24 or the RAM 23 as needed. The compatible nozzle automatic discrimination program may be recorded in the FD 15.
[0023]
The CPU 20 controls the respective parts described above, and based on the length, width, and thickness data of the components input from the keyboard 13, the nozzle outer diameter, inner diameter, and presence / absence of an elastic pad stored in advance by input. For each component to be mounted, select a nozzle that is suitable for adsorbing it, and select the name (or product number) of the selected nozzle. Displayed on the display 12. Hereinafter, this processing operation will be described.
[0024]
2 (a), 2 (b) and 3 are flowcharts of processing performed by the CPU 20 of the above-described adaptive nozzle automatic discrimination device 10. FIG. FIG. 4A is a nozzle master table created by the nozzle data creation process described above, and FIG. 4B is a component master table created by the main process. These are created in a predetermined area of the RAM 23 or the HDD 24.
[0025]
First, the process shown in FIG. This process is a process for creating data for various nozzles in advance by an input from the keyboard 13 by an operator prior to the determination of the compatible nozzles. In FIG. 6A, first, nozzle data is input from the keyboard 13 by the operator (step S1). In this process, for example, the name “NP2”, the inner diameter data “0.8” of the nozzle of this name, the outer diameter data “1.7”, and the data “none” indicating the presence or absence of the elastic pad member are input.
[0026]
When the part to be sucked is heavy, the suction surface is wide, or the surface is not smooth, the elastic pad member described above may be displaced due to inertia when the work head is rotated during angle correction of the suction posture. In order to prevent this, an elastic member having a large friction coefficient is formed in a pad shape and disposed at the tip of the nozzle.
[0027]
Subsequent to the above, each input data is stored in a predetermined storage area of the RAM 23 (or HDD 24) (step S2). As a result, as shown in FIG. 4 (a), the nozzle name “NP2”, the inner diameter data “0.8”, the outer diameter data “1.7”, and the elasticity Data “None” indicating the presence or absence of the pad member is stored.
[0028]
Next, it is determined whether or not the data input is completed (step S3). This process is a process of determining whether or not a predetermined key input operation has been performed with the keyboard 13 or whether or not a predetermined button on the display screen of the display 12 has been designated and input with the mouse 14.
[0029]
If it is not finished yet (S3 is N), the process returns to step S1, and steps S1 to S3 are repeated. As a result, as shown in the second, third,... In FIG. 4 (a), the nozzle name, inner diameter data, outer diameter data, and presence / absence of the elastic pad member are sequentially recorded (stored). The
[0030]
Then, when the data input is finished (S3 is Y), this process is finished. As a result, data on the outer diameter, inner diameter, and presence / absence of an elastic pad of a plurality of types of nozzles is recorded in the nozzle master table shown in FIG. 4A in a predetermined storage area of the RAM 23 (or HDD 24). The nozzle master table in which this data is recorded may be stored in the FD 15 and read from the FD 15 into the RAM 23 (or the HDD 24) when the compatible nozzle automatic discrimination process is performed again later.
[0031]
Next, the process shown in FIG. 2 (b) will be described. The flowchart shown in FIG. 5B is a main flowchart of the compatible nozzle discrimination process. In FIG. 5B, first, component data is input from the keyboard 13 by the operator (step S11). In this processing, for example, the name of the part, the length (L), the width (W), and the thickness (T) while viewing the parts table created based on the design drawing of the circuit board created by CAD or the like. Data is input. For example, the name “R1608”, the length data “1.6”, the width data “0.8”, and the thickness data “0.5” of the part with this name are input. The length (L), width (W), and thickness (T) mentioned here are the X-axis direction (substrate transport direction) and the Y-axis direction (substrate perpendicular to the X-axis) in the component mounting posture, respectively. In the width direction) and the height direction (direction perpendicular to the substrate).
[0032]
Subsequent to the above, each input data is stored in a predetermined storage area of the RAM 23 (or HDD 24) (step S12). As a result, first, as shown in FIG. 4B, in the upper part of the part master table, the part name “R1608”, the length data “1.6”, the width data “0.8”, and the thickness Data “0.5” is stored.
[0033]
Then, a nozzle determination process, which will be described later in detail, is performed (step S13), and the name of the compatible nozzle obtained by the nozzle determination process is displayed on the display 12 based on a predetermined display format, and the stored component master table is stored. Is stored in a predetermined area (column) (step S14). As a result, as shown in FIG. 4B, the part number (“NP2” in the example in the figure) of the nozzle suitable for sucking the part is stored in the head (first area) of the suitable nozzle column. .
[0034]
Subsequently, it is determined whether or not the data input is completed (step S15). This process is also a process of determining whether or not a predetermined key input operation has been performed with the keyboard 13 or whether or not a predetermined button on the display screen of the display 12 has been designated and input with the mouse 14.
[0035]
If not finished yet (S15 is N), the process returns to step S11, and steps S11 to S15 are repeated. As a result, as shown in FIG. 4B, the part name and its length (L), width (W), and thickness (T) data are changed to “R2125” following the above part “R1608”. , “2.0”, “1.25”, “0.6”, “R3216”, “3.2”, “1.6”, “0.6”,... . In response to this, if there is only one nozzle that is suitable for adsorbing these components, the nozzle plate is placed in the first area as shown in the compatible nozzle column of the component name “R2125”. Is stored as “NP2”. When there are two compatible nozzles, as shown in the compatible nozzle column of the part name “R3216”, the product numbers of the two nozzles are “NP2” and “NP7” in the first and second areas. The component master table as shown in FIG. 4B is created after being stored.
[0036]
On the other hand, if the data input is completed in step S15 (Y in S15), the process is terminated. The data stored in the compatible nozzle column is not limited to the name and may be other identification information such as a product number as long as the operator can immediately identify the nozzle.
[0037]
Next, the nozzle determination process in step S13 will be further described with reference to the flowchart shown in FIG. In this process, the counter i built in the CPU 20 and the register E are used. The counter i is the nozzle arrangement order of the nozzle master table created in the RAM 23 (or HDD 24) based on the nozzle data input performed in advance as described above (in the example of FIG. 4B, the first “R1608 from the top”). , Second “R2125”, third “R3216”,...). In the register E, constants that differ depending on the process are stored each time. In the following description, “i” of the counter i represents the name of the counter i and the data content thereof. The same applies to the register E.
[0038]
In FIG. 3, first, the value of the counter i indicating the nozzle arrangement is initially set to “1” (step S20). As a result, the first nozzle i (i = 1, R1608) is first designated as the i-th nozzle in the nozzle arrangement stored in the nozzle master table. Subsequently, it is determined whether or not an elastic pad member is attached to the tip of the i-th nozzle (step S21). This process is determined by referring to the data in the “presence / absence of rubber” column of the stored nozzle master table.
[0039]
If the elastic pad member is attached (determination of S21 is “with rubber”), in this case, after setting the constant “300” corresponding to the case with the elastic pad member in the register E (step S22), The process proceeds to the next step S24. Further, when the elastic pad member is not attached (determination of S21 is “no rubber”), in this case, the constant “55” corresponding to the case without the elastic pad member is set in the register E (step S23). The process proceeds to step S24. In step S24, it is determined whether or not the i-th nozzle can pick up a component (the component whose dimension data has been input in step S11 of FIG. 2B).
[0040]
Here, calculation for discriminating a nozzle capable of attracting the component based on the component dimension will be described. First, when the relationship between the maximum weight of the component and the suction port inner diameter of the nozzle is obtained, if the nozzle has no elastic pad member (hereinafter simply referred to as no rubber), the inner diameter of the nozzle is ID (mm) and the specific gravity of mercury is calculated. If the degree of vacuum at the time of suction is 65 (cmHg) and the coefficient of friction between the part and the nozzle obtained by the experiment is 0.008, the area of the suction port of this nozzle is M (cm ² ), The maximum weight of adsorbable parts is Wmx (g)
M = (ID / 2) ² × π / 100
Wmx (g) = M × 13.6 × 65 × 0.008
Holds. And from this, the approximate expression
Wmx (g) ≒ ID ² × 0.055 ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (1)
Is obtained. When the nozzle is provided with an elastic pad member (hereinafter simply referred to as rubber), only the friction coefficient between the component and the nozzle is different among the above numerical values. That is, in this case, the friction coefficient obtained by experiment is 0.047. In this case, the area of the suction port of this nozzle is M (cm ² ), The maximum weight of adsorbable parts is Wmx (g)
M = (ID / 2) ² × π / 100
Wmx (g) = M × 13.6 × 65 × 0.047
Holds. And from now on, similar to the above,
Wmx (g) ≒ ID ² × 0.3 (2)
Is obtained. On the other hand, when the external dimensions L, W, and T of the component are known, in this example, the weight of the component is calculated using the specific gravity “4” of the component obtained empirically. That is, assuming that the weight of the part is W (g), the specific gravity of the part is “4”, the external dimensions of the part are the length L, the width W, and the thickness T of the dimension data input in step S11.
W (g) = L × W × T × 4/1000 (3)
Calculated by Further, in the relationship between the nozzle having the inner diameter ID of the suction port and the component, the weight W (g) of the component obtained by the above-described equation (3) is the maximum weight Wmx obtained by the equation (1) or (2). Must be less than or equal to (g). Otherwise, the weight component obtained by the equation (3) cannot be adsorbed by the nozzle having the inner diameter obtained by the equation (1) or (2). That is,
W (g) ≤ Wmx (G) (4)
Must. Applying the relationship of equation (4) to the case of a nozzle with rubber, from equations (3) and (2),
(L × W × T × 4) / 1000 ≦ ID ² × 0.3
That is,
√ ((L × W × T × 4) / 300) ≦ ID (5)
The relationship is obtained. The constant “300” set in the register E corresponding to the case of “with rubber” is based on this equation. This constant “300” is a constant for obtaining the inner diameter of the nozzle with the rubber capable of adsorbing the component when the weight of the component is known.
[0041]
Also, if the relationship of equation (4) is applied to the case of a nozzle without rubber, in this case, from equations (3) and (1),
(L × W × T × 4) / 1000 ≦ ID ² × 0.055
That is,
√ ((L × W × T × 4) / 55) ≦ ID (6)
The relationship is obtained. The constant “55” set in the register E corresponding to the case of “no rubber” is based on this equation. That is, the constant “55” is a constant for obtaining the inner diameter ID of the rubberless nozzle that can adsorb the component when the weight of the component is known. The above formulas (5) and (6) are generally calculated using the value E of the register E.
√ ((L × W × T × 4) / E) ≦ ID (7)
Can be expressed as In step S24 described above, the determination is performed using the equation (7).
[0042]
If the determination is appropriate (S24 is Y), the determination is further made based on the relationship between the suction surface of the component and the inner diameter ID of the nozzle i (step S25). In this process, since the inner diameter ID of the nozzle i that is determined to be suitable in the determination in step S24 is only determined based on the weight of the component, the size of the suction surface is further determined as the determination target. Whether or not the inner diameter of the nozzle i is within the component size is checked to determine suitability.
[0043]
In this process, in this example, the smaller “min (L, W)” of the component length L or width W, which is further reduced by 10%, “min (L, W) /1.1”, The inner diameter ID of the nozzle i is compared to determine whether or not “ID ≦ min (L, W) /1.1”. As described above, as the value to be compared with the inner diameter ID of the nozzle i, the smaller one of the part length L and the width W, “min (L, W)”, is set to be smaller by 10%. This is because if the inner diameter of the nozzle is exactly the same as the smaller one of the widths, there is a risk that air will leak from the outside into the nozzle at the suction portion. By making the value 10% smaller than the smaller one of the length and width, the possibility of air leakage can be eliminated, and the nozzle i can reliably adsorb the part.
[0044]
If the inner diameter of the nozzle i is within the component size in the above determination (S25 is Y), then the outer diameter of the nozzle i is further within the component size (does not protrude from the outer shape of the component). Is determined (step S26). In general, when a component is picked up by the nozzle i when performing the component mounting operation, when the component is picked up from the bottom and the image is recognized, if the outer diameter of the nozzle i protrudes from the outer shape of the component, the component is accurately The image cannot be recognized. The processing in step S26 is for ensuring that image recognition is performed correctly. When there is no rubber, the tip of the nozzle is transparent, so there is no problem for the time being without performing the discrimination process in step S26. However, if the use of the nozzle i is repeated, the tip becomes dirty and the part is still dirty. Will interfere with the recognition work. Accordingly, the comparison / discrimination processing between the outer diameter of the nozzle i and the component size cannot be omitted regardless of whether there is no rubber or rubber.
[0045]
If the outer diameter of the nozzle i is within the component size in this determination (S26 is Y), it is determined that the nozzle i is suitable for the component (step S27). As a result, after the process is completed, the information on the suitable nozzle i is displayed on the display 12 in step S14 in FIG.
[0046]
Subsequent to the above, the counter i is incremented by “1”, the next rank nozzle in the nozzle array is designated (step S28), and then the designated rank does not exceed the maximum rank of the nozzle array. It is determined whether or not (step S29). If not exceeded (Y in S29), the above steps S21 to S29 are repeated again. As a result, it is determined whether or not all nozzles are compatible with the dimension-input component, and information on a plurality of compatible nozzles is sequentially displayed on the display 12.
[0047]
If it is determined in step S29 that the order specified by the counter i exceeds the maximum order of the nozzle arrangement (N in S29), the process ends. If it is determined in step S26 that the outer diameter of the nozzle i protrudes from the component size (N in S26), the process immediately proceeds to step S28. If it is determined in step S25 that the inner diameter ID of the nozzle i is larger than a certain dimension of the part (S25 is N), the process immediately proceeds to step S28 in this case as well. If it is determined in step S24 that the inner diameter ID of the nozzle i is smaller than a certain value obtained by calculation from the component dimensions (N in S24), the process immediately proceeds to step S28.
[0048]
In this way, information on nozzles that can reliably pick up the component can be sequentially displayed on the display 12 simply by inputting the dimension data of the component.
The above-described processing shown in FIG. 3 is a pre-processing for recognizing a picked-up component when the component picked up by the nozzle i is recognized by picking up an image from the bottom with a camera when performing the component mounting operation. As described above, there are cases where recognition is performed by a laser. In this case, since the direction of laser irradiation and the part location are different from those in the case of image recognition by a camera, there is no problem even if the outer diameter of the nozzle protrudes beyond the part size. Therefore, the determination process in step S26 is unnecessary.
[0049]
FIG. 5 is a flowchart showing the operation of the nozzle discrimination process when the component is recognized by the laser. The process of steps S30 to S35 shown in the figure is the same as the process of steps S20 to S25 shown in FIG. Further, the processes in steps S36 to S38 in FIG. 5 are the same as the processes in steps S27 to S29 shown in FIG.
[0050]
【The invention's effect】
As described above in detail, according to the present invention, since the nozzles that are suitable for suction are automatically determined and displayed simply by inputting the electronic component size data, the operator can select the component size in the component / nozzle correspondence table. The operation of searching for a compatible nozzle while comparing the size of the mounted component and the size of the mounted component can be performed simply by inputting the size data of the mounted component. Therefore, the efficiency of the mounting preparation operation for determining the compatible nozzle is improved. In addition, the compatible nozzle is automatically notified on the display screen simply by entering the size of the mounted component, so there is no need for the operator to search the component / nozzle correspondence table, and therefore a search error that tends to occur manually. As a whole, the progress of work can be accelerated.
[Brief description of the drawings]
FIG. 1A is a diagram showing a configuration of a compatible nozzle automatic discrimination device according to an embodiment, and FIG. 1B is a block diagram showing a system configuration thereof.
FIG. 2A is a flowchart of nozzle data creation processing that is performed prior to the adaptive nozzle automatic discrimination processing, and FIG. 2B is a main flowchart of the adaptive nozzle automatic discrimination processing.
FIG. 3 is a flowchart showing details of a nozzle determination process in the main flowchart.
4A is a diagram showing a nozzle master table created by pre-processing, and FIG. 4B is a diagram showing a component master table created by main processing.
FIG. 5 is a flowchart showing an operation of nozzle discrimination processing when a component is recognized by a laser.
FIGS. 6A and 6B are diagrams showing examples of typical parts. FIGS.
FIGS. 7A, 7B, and 7C are diagrams showing examples of typical nozzles. FIGS.
FIG. 8 is a chart schematically showing a list showing various parts and various nozzles suitable for suction of these parts.
[Explanation of symbols]
10 Applicable nozzle automatic discrimination device
11 Body
12 display
13 Keyboard
14 Pointing device (mouse)
15 Floppy disk (FD)
16 Compact disc (CD)
20 CPU (Central Processing Unit)
21 Bus
22 ROM (read only memory)
23 RAM (Read-write memory)
24 HDD (internal hard disk)
25 I / O controller

Claims (8)

A nozzle master table that stores pre-filled nozzle names, outer diameters, inner diameters, and presence / absence of elastic pads is provided in the memory, and the operator determines the nozzles that match the electronic components to be picked up by a programmed computer. A method for automatically determining a compatible nozzle to notify
A procedure for inputting data on the name, length, width and thickness of the electronic component;
A procedure for calculating the weight of the electronic component based on the inputted length, width and thickness data of the electronic component;
Calculating the suction force of the nozzle based on the nozzle inner diameter data stored in the nozzle master table and the presence / absence of an elastic pad;
Determining whether or not the electronic component can be sucked by the nozzle based on the calculated suction force of the nozzle and the calculated weight of the electronic component;
A procedure for selecting a nozzle suitable for adsorbing each electronic component based on the determination of the procedure from a plurality of types of nozzles;
A procedure for displaying the nozzle selected by the procedure on the screen;
A method for automatically determining a compatible nozzle, comprising: The method further comprises a step of determining suitability of the nozzle with respect to the component based on the nozzle outer diameter data stored in the nozzle master table and the input length and width data of the electronic component. The method for automatically determining a compatible nozzle according to claim 1. 2. The method according to claim 1, further comprising: creating a component master table that stores a nozzle name selected from the plurality of types of nozzles in correspondence with input data of the component to which the nozzle is adapted. 2. A method for automatically discriminating compatible nozzles according to 2. Nozzle data input means for inputting data on the name of the nozzle, outer diameter, inner diameter, and presence / absence of an elastic pad;
Storage means for storing a nozzle master table comprising the nozzle name, outer diameter, inner diameter and presence / absence data of an elastic pad input by the nozzle data input means;
A component data input means for inputting data on the name, length, width and thickness of the electronic component;
Component weight calculation means for calculating the weight of the electronic component based on the length, width and thickness data of the electronic component input by the component data input means;
Suction force calculating means for calculating the suction force of the nozzle based on the inner diameter data of the nozzle of the nozzle master table stored in the storage means and data on the presence or absence of an elastic pad;
Suction for determining whether the electronic component can be sucked by the nozzle based on the suction force of the nozzle calculated by the suction force calculating unit and the weight of the electronic component calculated by the component weight calculating unit. Availability determination means;
A nozzle selecting unit that selects a nozzle that is suitable for sucking the component for each electronic component based on the determination by the suction possibility determination unit;
Display notification means for displaying the nozzle selected by the nozzle selection means on the screen;
An adaptive nozzle automatic discrimination device characterized by comprising: 5. The component weight calculating means calculates the weight of the electronic component using length, width and thickness data of the electronic component and preset specific gravity data of the component. The compatible nozzle automatic discrimination device described. The apparatus further comprises suitability judging means for judging suitability of the nozzle with respect to the component based on the outer diameter data of the nozzle of the nozzle master table and the inputted length and width data of the electronic component. 6. The automatic matching nozzle discriminating apparatus according to claim 4 or 5, characterized in that: The apparatus further comprises a generation unit configured to generate a component master table in which a name of the nozzle selected from the plurality of types of nozzles is associated with input data of the component to which the nozzle is adapted. Item 7. The automatic nozzle discriminating device according to item 5, 5 or 6. A storage medium that records a control program for determining a nozzle that matches an electronic component to be picked up by a computer,
Processing to input the nozzle name, outer diameter, inner diameter and presence / absence data of an elastic pad;
A process of generating a nozzle master table composed of the nozzle name, outer diameter, inner diameter, and presence / absence data of an elastic pad inputted by the process and storing it in a storage device;
A process for inputting data on the name, length, width and thickness of the electronic component;
Processing for calculating the weight of the electronic component based on the length, width, and thickness data of the electronic component input by the processing;
A process for calculating the suction force of the nozzle based on the inner diameter data of the nozzle and the data on the presence or absence of an elastic pad of the nozzle master table stored in the storage device;
Processing for determining whether or not the component can be sucked by the nozzle based on the suction force of the nozzle calculated by the processing and the calculated weight of the electronic component;
A process of selecting a nozzle suitable for adsorbing the electronic component for each electronic component based on the determination by the processing from a plurality of types of nozzles;
A process of displaying and notifying the nozzle selected by the process by screen display;
A storage medium in which a control program for performing the above is recorded so as to be readable by a computer.

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