JP4226866B2 - Component recognition device for mounting machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a component recognition apparatus for a mounting machine, and more particularly, to a component recognition apparatus for a mounting machine that recognizes a suction posture (a center position of a component, a suction inclination, etc.) of a component mounted on a substrate by the component mounting machine.
[0002]
[Prior art]
Conventionally, in order to accurately mount electronic components (hereinafter simply referred to as components) on a printed circuit board in a component mounting machine, the components are picked up by an image pickup device such as a CCD camera before the components sucked by the suction nozzle are mounted on the printed circuit board. Then, the component is accurately mounted on the printed circuit board by recognizing the suction posture, calculating the amount of misalignment at the time of suction, and correcting it.
[0003]
When recognizing a component in such a mounting machine, for example, the connector component 30 as shown in FIG. 7A is pre-registered with component external size, number of leads, lead length, lead pitch, lead width information, and the like. Based on this information, the recognition device positions the parts. Further, the panel-shaped component 31 as shown in FIG. 7B registers information on the sides and corners of the component in advance and positions the component based on this information.
[0004]
Further, Patent Documents 1 and 2 describe that in order to recognize various parts, an image of the part is registered as a template, and the position of the part is recognized by template matching between the template and the part image. .
[0005]
[Patent Document 1]
Japanese Patent Application No. 6-89341 (FIG. 1)
[Patent Document 2]
Japanese Patent Application No. 8-313227 (Claim 1, FIG. 5)
[0006]
[Problems to be solved by the invention]
However, like a part 20 as shown in FIG. 7C, a part whose shape cannot be expressed by a geometrical shape such as the number of leads, lead pitch, lead length, lead width, side, corner, etc. Since the specifications cannot be registered, the conventional method cannot be recognized with high accuracy, and there is a problem that mounting accuracy is deteriorated. In addition, since it is premised that the angle at the time of definition is set in advance for the part that can define the geometric shape, the angle can be calculated at the time of recognition. For example, the image itself of the part that cannot describe the geometric shape is used. When registering as template data, since the angle at the time of registration is not known, there is a problem that the posture of the component cannot be recognized even if template matching is performed.
[0007]
The present invention has been made to solve such problems, and a component recognition device for a mounting machine that can recognize the posture of a component with high accuracy even for a component whose geometric shape cannot be defined. The issue is to provide.
[0008]
[Means for Solving the Problems]
In order to solve the above problems, the present invention
In the component recognition device of the mounting machine for recognizing the suction posture of the component mounted on the board with the mounting machine before mounting the part on the board ,
An imaging device that acquires an image of the component without mounting the component on the substrate ;
In the case of the hard component description of geometry by the data, in advance if parts were mounted manually in normal position on the substrate, the component image taken by the image pickup apparatus parts in this state by suction with the suction nozzle Alternatively, a cross-cursor indicating the angle at which the component should be mounted on the board is displayed on the monitor, and the component image is aligned with the cross-cursor, and the component image when the component is actually mounted on the board in a normal posture A means for creating a template of the part;
Storage means for storing the created template;
Adsorbed and captured before the description of the geometry according to data to mount the hard components on a substrate, of the component by template matching with the template read from the image and storage means for components that are the adsorbed Means for recognizing the suction posture;
The structure which has is adopted.
[0009]
In such a configuration, even if a part whose geometric shape cannot be defined can be registered as a template with part data of a normal posture when mounted on a board, the suction posture of various parts can be accurately detected. Can be recognized.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.
[0011]
FIG. 1 is a schematic diagram of a component mounting machine (component mounting apparatus) according to the present invention, and FIG. 2 is a block diagram showing its control configuration. The component mounting machine has a head unit 3 having a suction nozzle 3a that sucks a component (electronic component) 20 supplied from a component supply unit 9 such as a feeder or a tray. This head unit 3 is a CPU. The X axis 1 is moved along the X axis 1 by the X axis motor 11 driven by the configured controller 10, and the X axis 1 can be moved along the Y axes 2, 2 ′ by the Y axis motor 12. Thereby, the head unit 3 is configured to be movable in the XY axis directions. The head unit 3 is driven in the Z-axis direction by the Z-axis motor 13 to move up and down, and the suction nozzle 3a can be rotated about the nozzle axis by the θ-axis motor 14. Although only one suction nozzle is illustrated in FIG. 1, a plurality of suction nozzles can be provided in the head unit 3, and in this case, components can be simultaneously suctioned by a plurality of suction nozzles.
[0012]
In addition, the component mounter is provided with an imaging device 5 having a lens 5a like a CCD camera that images the component 20, and the head unit 3 moves to the imaging device 5 after the component is picked up by the illumination device 15. The illuminated component 20 is imaged by the imaging device 5, and the image is acquired. The acquired image of the component is input to an image recognition device 7 including a CPU 7a, an image memory 7b, an A / D converter 7c, and a template memory (storage means) 7d. The CPU 7a of the image recognition device 7 captures an image of the set area and recognizes the suction posture of the component by a known algorithm or by template matching with the template of the component stored in the template memory 7d or the external storage device 23. The positional deviation between the component center and the suction center and the suction angle deviation are calculated. The controller 10 composed of a CPU corrects this misalignment when driving the X-axis, Y-axis, and θ-axis motors 11, 12, and 14, and mounts the component 20 on the substrate 6 being conveyed.
[0013]
In addition, the component mounter is provided with input devices such as a keyboard 21 and a mouse 22 for inputting component data, and the generated component data can be stored in a storage device 23 including a hard disk, a flash memory, and the like. It is like that. The component data supplied from a host computer (not shown) connected to the component mounting apparatus may be stored in the storage device 23 without using the input device as described above. In addition, a monitor (display) 24 is provided, and component data, calculation data, a component image captured by the imaging device 5, a component template image, and the like can be displayed on this screen.
[0014]
FIG. 3 illustrates a state in which the component 20 sucked by the suction nozzle 3 a is illuminated by the illumination device 15 and is imaged by the imaging device 5. The captured image is input to the image recognition device 7 via the signal line 7e, converted into a digital signal via the A / D converter 7c, and then stored in the image memory 7b. Also, the CPU 7a creates a template of the component from the component image set to the angle (posture) when the component is normally mounted when registering the component data, and stores the template in the template memory 7d or the storage device 23. Store. In addition, when the component is mounted, the CPU 7a acquires an image of the component sucked by the suction nozzle 3a and stores it in the image memory 7b. The stored image and the template of the component read from the template memory are stored. The position of the part is recognized by template matching with and the center position, the suction inclination, etc. are calculated. Accordingly, the CPU 7a serves as a template creation unit and a component posture recognition unit. An image to be processed can be displayed on the monitor 24 at the time of component data registration and component mounting.
[0015]
In the mounting machine, for example, as shown in FIG. 7C, it is possible to register part data as template data even for a part whose geometrical shape is difficult to describe. It becomes possible to mount components having shapes that cannot be expressed in geometric shapes.
[0016]
Hereinafter, the flow of component data registration and component mounting will be described with reference to the flowcharts of FIGS.
[0017]
FIG. 5 shows a flow when registering component data. Normally, when registering the components 30 and 31 as shown in FIGS. 7A and 7B, an input device such as a keyboard 21 is used. Using this, the component external size, the number of leads, the lead length, the lead pitch, the lead width information, etc. are input, and these are registered in the storage device 23 as component data. However, in the case of the component 20 as shown in FIG. 7C, since the data cannot be expressed in a geometric shape, the image acquired by the photographing device 5 is registered as a template and used as the component data. Therefore, when registering the data of the component 20, the component suction nozzle 3a sucks the component 20 from the component supply unit 9 by the main controller 10 of the mounting machine (step S1), and the suction nozzle 3a moves to the position of the imaging device 5. Then, the component 20 is imaged by the imaging device 5 (step S2), and the image is stored in the image memory 7b.
[0018]
After imaging, a cross cursor 44 indicating the angle at which the component is to be mounted on the board is displayed on the monitor 24. The image of the component is aligned with the cross cursor, and the angle at which the component is to be mounted, that is, the component is actually in a normal posture. The posture of the component when mounted on the board is set (step S3). The mounting angle is determined by, for example, displaying the mounting position of the board of the component 20 in advance with a camera (not shown) attached to the head unit 3 and displaying the cross cursor 44 according to the mounting angle. The cross cursor 44 is displayed on the monitor 24 at the angle set. For example, in the example of FIG. 5, the angle (posture) of the component to be mounted is an angle at which the line connecting the terminal holes 20a and 20b of the component 20 becomes horizontal as shown on the display screen 42 of the monitor 24. The cursor 44 is displayed as a cross line of a horizontal line and a vertical line. Therefore, immediately after imaging, the cross cursor 44 and the captured image of the component 20 as shown on the display screen 40 are displayed on the monitor 24.
[0019]
Subsequently, the suction nozzle 3 a is rotated by the θ-axis motor 14 to rotate the image of the component 20 imaged by the imaging device 5, and lines connecting the component terminal holes 20 a and 20 b are displayed as shown on the display screen 41. , Rotate it so that it is parallel to the horizontal line of the cursor. Thereby, a component image is set to the angle which should be mounted.
[0020]
Thus, if the angle to be mounted is 0, 90, 180, 270 degrees, it is only necessary to rotate the component. If the angle to be mounted is known from CAD data or the like, the angle to be mounted may be set by a method such as inputting the angle and the cross cursor 44 may be displayed on the monitor 24.
[0021]
In addition, by manually mounting the component on the board in a normal posture in advance and picking up the component with the suction nozzle and taking an image with the imaging device in this state, the component image can be set to an angle to be mounted. For example, as illustrated in FIG. 4, the component 20 is mounted on the substrate 6 in a normal posture by hand, and is picked up by the suction nozzle 3 a and imaged by the imaging device 5. In this case, since the image of the component mounted in the normal posture is displayed as it is on the screen of the monitor 24, the angle at which the component image should be mounted is set without rotating the image.
[0022]
Next, a reference position at the time of component recognition is set with a cross cursor (step S4). Since the reference position is a position as shown on the display screen 42, the cross cursor 44 is set to the approximate center of the component. As described above, after determining the angle and the reference position, in order to acquire the template data of the component, the region 45 is set so as to include the component outer shape to form a template generation area (step S5). The CPU 7a creates template data from the component image in the area 45, and stores it in the template memory 7d or the external storage device 23 (step S6). In this case, the template data can be template data obtained by extracting the characteristic part of the part as described in, for example, Japanese Patent Application Laid-Open No. 2001-251097.
[0023]
In this way, after acquiring the recognition reference position, mounting angle, and feature quantity as a template that are difficult to represent with geometric shapes, each data is stored in a storage device, and this part is recognized and mounted. It is the parts data at the time.
[0024]
For actual component mounting, as shown in FIG. 6, the component is sucked from the component supply unit 9 by the suction nozzle 3a (step S10), and moved to the position of the image pickup device 5 to pick up an image (step S11). Then, the CPU 7a of the image recognition device 7 performs template matching between the captured image of the component and the template data of the component read from the storage device 23 or the template memory 7d, and recognizes the suction posture of the component (step S12). . For template matching, various well-known ones can be used. If a part extracted from a feature part is registered as a template, use template matching as described in JP-A-2001-251097. Can do.
[0025]
Since the position shift and suction tilt of the suction component can be calculated by the component recognition, the position shift and suction tilt are corrected, and the component is mounted on the substrate (step S13). The flow of FIG. 6 is repeated until all the components necessary for the production of one substrate are mounted.
[0026]
In the embodiment described above, the template data is acquired in the component registration work in the mounting machine, but other than that, the image data of the component, CAD data, etc. are displayed on an offline personal computer, and the angle to be mounted has already been determined. If known, the image may be rotated to that angle, the angle and reference position determined, and the template data obtained.
[0027]
【The invention's effect】
As described above, according to the present invention, when a mounter recognizes and mounts a component that is difficult to express a geometric shape, a component template is created from a component image set at an angle to be mounted, Since it is registered, the component data of the normal posture when mounted on the board can be registered as a template, and the suction posture of various parts is recognized with high accuracy, and the component is accurately mounted on the board. It becomes possible to do.
[Brief description of the drawings]
FIG. 1 is a top view showing a schematic configuration of a component mounter used in the present invention.
FIG. 2 is a block diagram schematically showing a system configuration of a component mounter.
FIG. 3 is a configuration diagram illustrating a configuration of an image recognition device that performs recognition processing on an image of a part imaged by the imaging device.
FIG. 4 is an explanatory diagram showing a state when a component is manually mounted on a board in a normal posture.
FIG. 5 is a flowchart showing a flow of registering a part image as a template.
FIG. 6 is a flowchart showing a flow of mounting components on a board.
FIG. 7 is an explanatory view showing shapes of various components.
[Explanation of symbols]
3 Head 3a Adsorption nozzle 5 Imaging device 7 Image recognition device 7b Image memory 7d Template memory 10 Controller 20, 30, 31 Electronic component 23 Storage device

Claims (1)

In the component recognition device of the mounting machine for recognizing the suction posture of the component mounted on the board with the mounting machine before mounting the part on the board ,
An imaging device that acquires an image of the component without mounting the component on the substrate ;
In the case of the hard component description of geometry by the data, in advance if parts were mounted manually in normal position on the substrate, the component image taken by the image pickup apparatus parts in this state by suction with the suction nozzle Alternatively, a cross-cursor indicating the angle at which the component should be mounted on the board is displayed on the monitor, and the component image is aligned with the cross-cursor, and the component image when the component is actually mounted on the board in a normal posture A means for creating a template of the part;
Storage means for storing the created template;
Adsorbed and captured before the description of the geometry according to data to mount the hard components on a substrate, of the component by template matching with the template read from the image and storage means for components that are the adsorbed Means for recognizing the suction posture;
A component recognition device for a mounting machine, comprising:

Images