JP4405012B2 - Component recognition method and component mounting method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a component recognition facility for mounting a component such as an electronic component or an optical component, in particular, a component recognition method for recognizing the component before mounting the component on a mounted body such as a board or component. Law, In addition, the component mounting method for mounting the recognized components on the substrate, components, etc. To the law It is related.
[0002]
[Prior art]
Conventionally, for example, a head unit 700 as shown in FIG. 3 is known as a head unit having a suction nozzle for sucking and holding components in such a component mounting apparatus. The head unit 700 is mounted on an XY robot 500X that moves the head unit 700 in the X and Y directions, for example, in a component mounting apparatus 500 as shown in FIG. 7, and the head unit 700 is sucked by driving the XY robot 500X. The nozzle sucks and holds the components supplied from the component supply units 500H and 500I in order to produce the mounting substrate 500J, performs component shape recognition, corrects the posture, and then mounts on the substrate 500J.
[0003]
A head unit 770 as shown in FIG. 5 is also known, and has the same configuration and function as the head unit 700 of FIG.
[0004]
Hereinafter, the configuration of the head units 700 and 770 will be described.
[0005]
In FIG. 3, reference numeral 701 denotes a frame serving as a base of the head unit 700, which moves on the component mounting apparatus together with a robot unit that drives the head unit 700 in the XY directions of the component mounting apparatus. Reference numeral 702 denotes a motor as a driving source, which is integrated with the frame, and thereby the table 703 is moved in the E and F directions which are vertical directions. Reference numerals 724 to 733 denote nozzles that attract and hold the components, and in a normal state, the nozzles 724 to 733 are pressed in the E direction by the springs 714 to 723 to be stationary. Reference numerals 704 to 713 denote cylinders that select transmission of driving in the E and F directions from the table 703 to the nozzles 724 to 733. Of the cylinders 704 to 713, only the cylinder corresponding to the nozzle that transmits the operation from the table 703 to the nozzle is driven, and only the nozzle among the nozzles 724 to 733 is brought into contact so that a force acts in the E direction. Thus, the vertical movement of the table 703 is connected to the movement of the selected nozzles in the E and F directions via the driven cylinder. On the other hand, since the cylinders 704 to 713 are not driven and do not come into contact with the nozzles 704 to 713, those that do not transmit the E and F direction operations are prevented from performing the E and F direction operations.
[0006]
The operation of the head unit 700 configured as described above will be described below. In FIG. 4, only four nozzles 724, 725, 726, and 727 out of the ten nozzles are shown for simplification.
[0007]
At the start of recognition in FIG. 4A, for example, four nozzles 724, 725, 726, 727 out of the ten nozzles are simultaneously held at a constant height while holding the parts 695, 696, 697, 698. Then, the recognition camera 600, which is a component shape recognition unit, recognizes in the order of the component 695 → the component 696 → the component 697 → the component 698 in the R direction in which the head unit 700 moves. At this time, since the recognition camera 600 is focused in a range P indicated by hatching in FIG. 4A and can be recognized only within this range P, the component 695 is moved by the vertical movement of the nozzles 724, 725, and 726. , 696, 697 can be recognized by the recognition camera 600 because the lower surface of the component can be positioned in the recognizable range P. However, since the lower surface of the component 698 is out of the recognizable range P, It cannot be recognized by the recognition camera 600. Therefore, the parts having different heights such as the parts 695, 696, 697 and the part 698 cannot be continuously recognized in the form of the part 695 → the part 696 → the part 697 → the part 698.
[0008]
Therefore, in practice, as shown in FIG. 4B, the parts 695, 696, 697 held by the nozzles 724, 725, 726 and capable of simultaneously recognizing the shapes are continuously recognized. After holding, the height of the nozzle 727 with respect to the recognition camera 600 is switched to recognize the component 698.
[0009]
Next, the configuration of the head unit 770 shown in FIG. 5 will be described.
[0010]
Reference numeral 771 denotes a frame that serves as a base of the head portion 770, and is integrated with a motor that is a drive source of 772, 773, and 774. 775, 776, and 777 are ball screws that are individually rotated by motors 772, 773, and 774, and 778, 779, and 780 are nozzles that hold components. The rotational drive generated by the motors 772, 773, 774 is transmitted as vertical movement to the nozzles 778, 779, 780 via the ball screws 775, 776, 777. Therefore, the vertical movements of the nozzles 778, 779, and 780 can be individually set by the motors 772, 773, and 774.
[0011]
The operation of the head unit 770 configured as described above will be described below.
[0012]
In FIG. 6, since the nozzles 778, 779, and 780 are individually controlled by the motors 772, 773, and 774 in the U and V directions that are the vertical directions in FIG. 5, the components 787, 788, and 789 are held, respectively. Thereafter, the position is individually adjusted so that the lower surface of each component falls within the recognizable range P in which the component shape recognition unit 600 is focused. Thus, the components 787, 788, and 789 having different heights are continuously recognized in the order of the component 787 → the component 788 → the component 789 and mounted.
[0013]
[Problems to be solved by the invention]
However, in the configuration of the head unit 700 of FIG. 3 as described above, the number of component shape recognitions increases as the height of components to be mounted increases, and at the same time, the head unit 700 has to supply each component. Since it takes time to move, it also affects the productivity of the mounting board due to an increase in the board mounting tact time.
[0014]
On the other hand, in recent years, there is a high need for mounting various components, and in order to perform highly efficient board mounting, a component mounting apparatus that can continuously recognize various components has become essential.
[0015]
In the configuration of the head unit 770 shown in FIG. 5 as described above, the component shape can be recognized continuously regardless of the difference in component height, but a plurality of drive sources are required, and only the price of the head unit itself is increased. However, the influence on the dynamic characteristics of the robot for driving the head part due to the increase in the weight of the head part can be considered. Therefore, it is difficult to improve the component mounting efficiency by limiting the number of nozzles.
[0016]
Accordingly, an object of the present invention is to solve the above-described problem, and a component recognition method capable of continuously recognizing components having various heights held by a plurality of component holding members. as well as Component mounting method The law It is to provide.
[0017]
[Means for Solving the Problems]
In order to achieve the above object, the present invention is configured as follows.
[0019]
First of the present invention 1 According to an aspect When recognizing the recognition target surfaces of a plurality of components held by a plurality of component holding members that are selectively raised and lowered by a single driving unit and having different recognition target surface heights, The height of each component holding member is controlled by the single drive unit so that the recognition target surface of each component falls within the recognizable range where the recognition unit is focused. A component recognition method for recognizing the recognition target surface, The plurality of components held by the plurality of component holding members and having different heights of the recognition target surface are recognized when the lower end surfaces of the plurality of component holding members are positioned at the same height. There is a variation in height between the plurality of parts so that all of the target surfaces do not fall within the recognizable range where the recognition unit is in focus. , A component recognition method is provided.
[0020]
First of the present invention 2 According to the aspect, the plurality of components held by the plurality of component holding members and having different heights of the recognition target surface are the plurality of components when the lower end surfaces of the plurality of component holding members are positioned at the same height. When all of the recognition target surfaces of the parts have a height variation between the plurality of parts so that they do not fall within a recognizable range where the recognition unit is focused, the recognition among the plurality of parts is performed. When a target surface recognizes a component that falls within the recognizable range where the recognition unit is in focus, the height is maintained without driving up and down the component holding member that selectively holds the component by driving the single driving unit. In addition, when recognizing a component that does not fall within the recognizable range where the recognition target is in focus, the component holding member that holds the component is moved up and down. The above recognition target surface to recognize the recognition target face After positioning operation controlled to enter into a recognizable range focus of the recognition unit fits 1 A component recognition method according to an aspect is provided.
[0039]
First of the present invention 3 According to the aspect, after holding the plurality of components from the component supply unit by the plurality of component holding members, 1 or 2 A component that is recognized by the component recognition method described in the aspect, and then mounted on the mounted body after correcting the postures of the plurality of components held by the plurality of component holding members based on the recognition result Provide an implementation method.
[0041]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments according to the present invention will be described below in detail with reference to the drawings.
[0042]
(First embodiment)
Hereinafter, a component recognition method and apparatus and a component mounting method and apparatus according to a first embodiment of the present invention will be described with reference to the drawings.
[0043]
FIG. 1 shows a component mounting apparatus according to a first embodiment of the present invention.
[0044]
In FIG. 1, reference numeral 1 denotes a frame that serves as a base of the head unit 60, and moves along with the head unit driving robot unit. 2 is a motor as a drive source attached to the frame 1, 3 is screwed with a rotary shaft constituted by a ball screw of the motor 2, and the frame 1 is moved in the vertical direction, that is, the A or B direction by forward and reverse rotation of the rotary shaft of the motor 2. The table 3 can be controlled to stop at an arbitrary position within the movable range. Reference numerals 4 to 13 denote first to tenth cylinders that are fixed to the table 3 and function as drive transmission units that select transmission of the vertical movement of the table 3, and 24 to 33 are supported by the frame 1 and the first to tenth cylinders 4. The first to tenth nozzles having an upper end that can be contacted when the pistons 13 to 13 move to the lower end position and sucking and holding the parts to be mounted, and 14 to 23 always move the first to tenth nozzles 24 to 33. These are first to tenth springs that press down the first to tenth nozzles 24 to 33 in the downward direction, that is, the A direction, to be stationary.
[0045]
The configuration of the component mounting apparatus excluding the head unit 60 is substantially the same as that of the conventional component mounting apparatus as shown in FIG.
[0046]
Hereinafter, the operation of the head unit 60 of the component mounting apparatus according to the first embodiment will be described with reference to FIG. In FIG. 2, for simplification, only four first to fourth nozzles 24, 25, 26, and 27 out of the ten first to tenth nozzles 24 to 33 are illustrated.
[0047]
The head portion 60 moves the table 3 in the vertical direction by forward / reverse rotation driving of the rotation shaft of the motor 2 installed in the fixed frame 1, and the power of the vertical movement is the first to tenth cylinders 4. To overcome the reaction force in the upward direction, that is, the B direction of the spring corresponding to the selected cylinder of the first to tenth springs 14 to 23 by the driving force of the selected cylinder of It is transmitted to the nozzle corresponding to the selected cylinder among the tenth nozzles 24 to 33 and moves up and down corresponding to the operation of the table 3. Specifically, for example, as shown in FIG. 1, when the eighth nozzle 31 is raised and lowered together with the vertical movement of the table 3, the eighth cylinder 11 is driven and the lower end surface of the piston is set to the upper end of the eighth nozzle 31. After the contact, the vertical movement of the table 3 causes the biston of the eighth cylinder 11 and the eighth nozzle 31 to move up and down against the reaction force of the eighth spring 21 integrally. The nozzles corresponding to the cylinders that are not selected and not transmitted with driving are stationary at the same position without being transmitted with the vertical movement of the table 3.
[0048]
In FIG. 2A, the first to fourth nozzles 24, 25, 26, and 27 holding the components 56, 57, 58, and 59 having different heights from the component supply unit such as a component supply cassette are driven by the head unit. While the head unit 60 is continuously moved in the arrow N direction (lateral direction) as the head unit moving direction by the robot unit, the recognition camera 61, which is an example of a recognition unit, uses the component 56 → the component 57 → the component 58 → the component 59. In this order, the part shape and part position are recognized. At this time, the table 3 of the head unit 60 is moved up and down by driving the motor 2 so that the recognition target surface of the component 56 that first recognizes the shape, for example, the lower surface of the component falls within the recognizable range L at the start of recognition. The cylinder is driven by the first nozzle 24 shown in FIG. 2 to lower the biston to the lower end position to transmit the vertical movement on the table side to the first nozzle 24. The first nozzle 24 is positioned in the direction A or B in FIG. After the adjustment, the shape of the component 56 sucked and held by the first nozzle 24 is recognized with the position adjusted.
[0049]
Next, in FIG. 2B, when recognizing the component 57 sucked and held by the second nozzle 25, the shape recognition of the component 56 is finished, and at the same time, the component 57 has a lower component lower surface than the component 56. The second nozzle 25 is raised in the B direction by raising the table 3 of the head unit 60 in the B direction by driving the motor 2 so that the lower surface of the component falls within the recognizable range L. This ascending operation is performed before the shape recognition of the component 57, and when the shape recognition of the component 57 is started, the lower surface of the component is in the recognizable range L of the recognition camera 61, and the shape recognition of the component 57 can be appropriately performed.
[0050]
Next, in FIG. 2C, when recognizing the component 58 sucked and held by the third nozzle 26, the shape recognition of the component 57 is completed, and at the same time, the component 58 has a higher bottom surface than the component 57. The third nozzle 26 is lowered in the A direction by lowering the table 3 of the head unit 60 in the A direction by driving the motor 2 so that the lower surface of the component falls within the recognizable range L. This lowering operation is performed before the shape of the component 58 is recognized. When the shape recognition of the component 58 is started, the lower surface of the component is in the recognizable range L of the recognition camera 61, and the shape of the component 58 can be recognized appropriately.
[0051]
Next, in FIG. 2D, when recognizing the component 59 sucked and held by the fourth nozzle 27, the shape recognition of the component 58 is completed, and at the same time, the component 59 has a lower bottom surface than the component 58. The fourth nozzle 27 is raised in the B direction by raising the table 3 of the head unit 60 in the B direction by driving the motor 2 so that the lower surface of the component falls within the recognizable range L. This ascending operation is performed before the shape of the component 59 is recognized. When the shape recognition of the component 59 is started, the lower surface of the component is in the recognizable range L of the recognition camera 61, and the shape of the component 59 can be recognized appropriately.
[0052]
Similarly, with respect to a component that is sucked and held by another nozzle (not shown in FIG. 2), the head corresponding to the component height is measured between the end of shape recognition of the component immediately before the component and the start of shape recognition of the component. By moving the table 3 of the unit 60 up and down in the A or B direction, the component lower surface can always be adjusted to the component recognizable range L during component recognition, and the component shape can be recognized continuously.
[0053]
After that, based on the recognized recognition result, the posture of the component sucked and held by the nozzle is corrected, and then mounted at a predetermined position of a mounted body such as a substrate.
[0054]
When correcting the orientation of the component, in order to correct the rotation direction around the nozzle axis, that is, the θ direction, the θ direction driving motor 215 is provided in the frame 1, and the gear 215a of the rotating shaft of the θ direction driving motor 215 is provided. , The rack 216 meshed with the gear 215a is moved forward and backward in the horizontal direction, and the gear 217 fixed to each nozzle is rotated in the forward and reverse directions, so that all the nozzles are simultaneously rotated in the θ direction. It can be rotated in reverse.
[0055]
As an example of the first embodiment, in an electronic component mounting apparatus as shown in FIG. 1, up to 10 nozzles are moved up and down to continuously recognize and recognize up to 10 different height electronic components. There is a component mounting apparatus for mounting up to ten electronic components having different heights on a substrate. The parts for shape recognition are, for example, those having a height of about 1 mm to a maximum of 25 mm, and each of the ten nozzles 24 to 33 is connected by one motor 2 and ten selection cylinders 4 to 13. Position control in the vertical direction. At this time, since the recognizable range L is, for example, 0.5 mm in the height direction, a mechanism capable of performing position control with a resolution of 0.01 mm or more can be realized.
[0056]
According to the first embodiment, the nozzles 24 to 33 of the head unit 60 are moved substantially in the vertical direction for each height of the recognition target surface of the components 56 to 59 to be recognized when the component shape is recognized in the component mounting apparatus. Accordingly, it is possible to continuously recognize the shapes and heights of the parts 56 to 59 having different recognition target surface heights. This eliminates the need to repeat component recognition such as holding a component for each height of the recognition target surface and performing component recognition multiple times, and allows components with different recognition target surface heights to be used regardless of the height of the recognition target surface. The component recognition operation can be continuously performed while simultaneously holding the components, and the component mounting tact can be improved. That is, even if the recognition target surfaces of the components 56 to 59 held by the plurality of nozzles 24 to 33 do not all fall within the recognizable range L of the recognition camera 61, the recognition target surfaces of the components 56 to 59 are recognized. By moving the respective nozzles 24 to 33 in the vertical direction so as to fall within the possible range L, it is possible to simultaneously perform the component recognition operation while simultaneously holding the components having different recognition target surface heights.
[0057]
In addition, since the drive unit corresponding to the number of nozzles is conventionally required to adjust the height of the component by the motor 2 of a single drive unit, the cost of the device is reduced and the weight of the device is reduced. Can be made.
[0058]
The recognition target surface of the component recognized by the recognition camera 61 is not limited to the lower surface of the component. For example, there are the following. For parts with protruding electrodes such as balls on the underside of parts such as BGA (Ball Grid Array) and CSP (Chip Size Package) as shown in FIGS. 8A and 8B, the recognition target surface is the part body. It is not the lower surface of the ball but the ball itself, and it is necessary to detect the height (in the case of a three-dimensional recognition camera) and shape (in the case of a two-dimensional recognition camera) of the ball. On the other hand, in a part having a lead portion protruding from the component body, such as a QFP (Quad Flat Package) as shown in FIGS. 8C, 8D, and 8E, the recognition target surface is that of the component body. It is necessary to detect the height (in the case of a three-dimensional recognition camera) and the shape (in the case of a two-dimensional recognition camera) of the lead portion, not the lower surface but near the tip of the lead portion. On the other hand, in the chip components as shown in FIGS. 8F and 8G, the recognition target surface is the lower surface of the component main body, and the height (in the case of a three-dimensional recognition camera) and shape (two-dimensional recognition) of the lower surface of the component main body. Need to be detected). Thus, even if the parts to be recognized are the same as the surface to be picked up by the nozzle, that is, the top surface, the ball part, the lead part, and the bottom surface of the parts, which are the recognition symmetrical surfaces, are located at completely different positions. . As described above, even when the heights of the recognition target surfaces are varied, in the first embodiment, all recognition can be performed by one recognition operation.
[0059]
(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described with reference to the drawings.
[0060]
In the positioning control device and method according to the second embodiment of the present invention, when the height of the recognition target surface of the component is recognized in the first embodiment, the height of the recognition target surface of the suction component is different. It is necessary to change the height of the recognition target surface of the component while moving up and down in the vertical direction, and in other words, the drive start timing of the up and down movement, in other words, the positioning timing can be detected with high accuracy. That is, an actuator such as a servo motor corresponding to the motor 2 of the driving unit is driven, and the position of the load is controlled by a ball screw or the like that is a rotating shaft of the motor 2. A positioning control device and method for performing positioning control by creating a speed curve based on parameters of a target position that is a height position to be positioned, a maximum speed to the target position, and a maximum acceleration to the target position, The present invention is suitable for a component recognition apparatus and method and a component mounting apparatus and method according to an embodiment.
[0061]
In other words, the positioning control device and method according to the second embodiment are provided with a positioning operation start position and an axis designation parameter to be positioned, and automatically when a given axis designation axis reaches the positioning operation start position. By starting the positioning operation, the detection delay of the positioning operation start timing can be reduced, and the vertical operation can be started at an arbitrary timing at a low cost.
[0062]
Here, the operation start position is a position for creating a timing for starting the positioning operation in the vertical direction in order to put the recognition target surface within the recognizable range when moving in the lateral direction that is the N direction in FIG. In other words, it is the lift drive start position. That is, for example, when moving in the lateral direction that is the N direction, if the position in the N direction is completed for the part 56 of the first nozzle 24, the positioning operation in the vertical direction for the second nozzle 25 is performed. And move to a position to recognize the component 57 of the second nozzle 25 in the vertical direction. The axis designation means designation of an N-direction actuator. The provision of the parameter means means for notifying the positioning controller 102 of the axis designation from the main controller 101.
[0063]
The positioning control apparatus according to the second embodiment of the present invention is configured to control the raising / lowering of the selected component holding member via the drive unit to a position where the recognition target surface of the component enters a recognizable range of the recognition unit. A target position in the height direction, a maximum speed when the selected component holding member moves up and down to the target position, and a maximum acceleration when the selected component holding member moves up and down to the target position. Based on the parameters, create a speed curve when the selected component holding member moves up and down during vertical movement, and position the selected component holding member moving laterally toward the recognition unit. When the operation start position is reached, the positioning operation start command automatically starts the positioning operation of the selected component holding member by driving the driving unit based on the speed curve. In, at any time, it can be started up or down operation without delay detection. Here, the target position is the final position to be moved up and down. For example, if the target position is raised from the first nozzle 24 to the second nozzle 25, the height at which the component 57 of the second nozzle 25 can be recognized. It is the position of the direction. A positioning control device according to a first aspect of the present invention includes a positioning operation start position and an axis designation parameter. When a given axis designation axis reaches the positioning operation start position together with a positioning operation start command, an automatic operation is performed. In this way, the positioning operation is started.
[0064]
Thereby, it is possible to perform positioning in which any positioning operation start timing is configured accurately and inexpensively.
[0065]
A positioning control device according to a second aspect of the present invention comprises a plurality of parameters of the target position and positioning operation start position of the first aspect, and a given axis designation axis starts positioning operation together with a positioning operation start command. When the position is reached, the positioning operation is automatically started and performed a plurality of times.
[0066]
Thereby, the positioning which comprised the some arbitrary positioning operation start timing correctly and cheaply can be performed, and the continuous positioning can be performed.
[0067]
A positioning control device according to a third aspect of the present invention includes a positioning control device according to the second aspect, which includes a plurality of positioning operation end position parameters, and detects that each positioning operation in a continuous operation has been normally performed. It is.
[0068]
As a result, it is possible to detect that the individual positioning operations of the continuous positioning operations have been normally performed, and to stop instantaneously when abnormal.
[0069]
A positioning control device according to a fourth aspect of the present invention is such that the positioning control device according to the first aspect is provided in an electronic component mounting apparatus.
[0070]
A positioning control device according to a fifth aspect of the present invention is such that the positioning control device according to the second aspect is provided in an electronic component mounting apparatus.
[0071]
A positioning control device according to a sixth aspect of the present invention is such that the positioning control device according to the third aspect is provided in an electronic component mounting apparatus.
[0072]
FIG. 9 is a block diagram showing a positioning control configuration applicable to the component mounting apparatus according to the second embodiment of the present invention. As shown in FIG. 9, this positioning control configuration has a load target position (Pt), a maximum speed (Vmax) when moving to the target position, a maximum acceleration (αmax) when moving to the target position, and a positioning operation start. A main controller 101 that outputs each command of position (Pa), axis designation (A), and positioning operation start command (C), a speed curve is calculated based on the given command, and a first speed is output. A positioning controller 102 that functions as an example of a control unit, and servo drivers 103 and 106 that function as an example of a second control unit that drives and controls a servo motor based on a given command {for example, a plurality of component holding members Of the plurality of suction nozzles (suction nozzle 211 in FIG. 17 described later, suction nozzles 24 to 33 in FIG. ) Servo driver 103 for horizontal movement and servo driver 106 for vertical driving, and servo motors 104 and 107 attached to a mechanical mechanism, that is, a mechanical mechanism {for example, servo motor 104 for horizontal movement of a plurality of suction nozzles and vertical movement Servo motor 107 for driving (transversely moving servomotor and vertical driving actuator 212 in FIG. 17 to be described later, laterally moving servomotor and vertical driving motor 2 in FIG. 18) and the mechanism that is the final positioning target Mechanisms or mechanical mechanisms 105 and 108.
[0073]
Specifically, this configuration will be described with reference to the first embodiment. In the main controller 101, the load target position (Pt) is determined by the nozzle up-and-down mechanism (the motor 2, the table 3, the first to the first). In the mechanism composed of 10 cylinders 4 to 13 and the like, the selected component holding member is controlled to move up and down through the drive unit to a position where the recognition target surface of the component enters a recognizable range of the recognition unit. In the horizontal movement mechanism of the nozzle, that is, the horizontal movement mechanism of the head (mechanism constituted by the horizontal movement motor or the like), the recognition target surface of the component can be recognized by the recognition unit. This is the raising / lowering driving start position for recognition in the range, that is, the raising / lowering driving start position of the selected component holding member. The maximum speed (Vmax) when moving to the target position is the maximum speed when the selected component holding member is moved up and down or moved laterally to each target position. The maximum acceleration (αmax) when moving to the target position is the maximum acceleration when the selected component holding member is moved up and down or moved laterally to each target position. The positioning operation start position (Pa) is the positioning operation start position in the height and lateral direction of the selected component holding member by driving the motor 2 and the lateral movement motor. The axis designation (A) is selection of the selected component holding member. The positioning operation start command (C) is a positioning operation start command in the height and lateral direction of the selected component holding member by driving the motor 2 and the lateral movement motor.
[0074]
Here, the load means an actuator that moves the frame 1 that is the base of the table 3 in the horizontal direction, that is, the left-right direction (N direction) and a mechanical mechanism thereof. That is, in the mechanism that moves in the horizontal direction, that is, in the left-right direction, the load is the base 1, and in the mechanism that moves in the vertical direction, the load is the table 3. In addition, the positioning controller 102 calculates the speed curves for both the up and down movement and the lateral movement of the selected component holding member based on the command given from the main controller 101, respectively. A speed command based on each speed curve is output. The servo drivers 103 and 106 drive and control the servo motor based on the speed command given from the positioning controller 102. The servo drivers 103 and 106 are arranged side by side with a plurality of suction nozzles 24-33 as examples of a plurality of component holding members. A direction moving servo driver 103 and a vertical driving servo driver 106. The servo motors 104 and 107 attached to the mechanical mechanism are a servo motor for lateral movement of a plurality of suction nozzles and a motor 2 for vertical driving. Further, the mechanical mechanism, that is, the mechanical mechanisms 105 and 108, which are the final positioning targets, are the lateral movement mechanism for lateral movement and the vertical mechanism of the suction nozzle.
[0075]
The speed curve calculation and command speed output operations performed by the positioning controller 102 will be described with reference to FIGS.
[0076]
First, the main controller 101 does not issue a command for positioning operation start position and axis designation (nozzle selection) to the lateral movement driver 103, and the lateral movement target position, the maximum speed (V103max), and the maximum acceleration ( α103max) command, and the vertical drive driver 106 outputs the positioning operation start position and axis designation command, and the vertical drive target position, maximum speed (V106max) and maximum acceleration (α106max) commands. When the positioning operation start command is output, the positioning controller 102 shifts from the state waiting for the positioning operation start command (step # 1 in FIG. 11) to the next step # 2, and determines whether there is an axis designation. (Step # 2 in FIG. 11).
[0077]
Next, since there is no axis designation in the lateral movement driver 103, the process proceeds from step # 2 in FIG. 11 to step # 3 in FIG. 11, and speed commands for maximum speed (V103max) and maximum acceleration (α103max) are sent. This is output to the lateral movement driver 103 (step # 3 in FIG. 11). As a result, the lateral movement driver 103 drives and controls the lateral movement servo motor based on the speed commands for the maximum speed (V103max) and the maximum acceleration (α103max), and sets each nozzle to a predetermined lift drive start position. The movement to the target position is controlled in the lateral direction, and a recognizable posture with respect to the recognition camera 61 is maintained.
[0078]
Next, since the vertical drive driver 106 has axis designation for designating a nozzle to be selected for selecting a nozzle to be driven up and down from a plurality of nozzles, step # 2 in FIG. 11 to step 11 in FIG. The process proceeds to step # 4 and waits for the designated axis, that is, the selected nozzle, to reach the positioning operation start position (step # 4 in FIG. 11). Here, whether or not the nozzle reaches the positioning operation start position can be detected by the positioning controller 102. That is, since the positioning controller 102 controls the positioning of the servo driver 103 during lateral movement in the N direction, the positioning controller 102 can detect the position in the N direction and can also detect the positioning operation start position.
[0079]
Next, when the selected nozzle reaches the positioning operation start position, a speed command for maximum speed (V106max) and maximum acceleration (α106max) is output to the vertical drive driver 106 (step # 5 in FIG. 11). As a result, the vertical drive driver 106 controls the vertical drive servomotor 2 to drive each nozzle to a predetermined height, which is the target position, based on the speed command for maximum speed (V106max) and maximum acceleration (α106max). The recognition target surface of the part sucked by the nozzle is controlled to move up and down and falls within the recognizable range L of the recognition camera 61.
[0080]
Thereafter, the positioning controller 102 waits for the next positioning operation start command (step # 1 in FIG. 11). That is, the next nozzle is in a state of waiting for a command to move up and down or move laterally.
[0081]
With this configuration, the positioning operation of each selected nozzle can be started accurately and inexpensively at an arbitrary timing.
[0082]
According to the second embodiment, when the selected component holding member moves laterally toward the recognition unit and reaches the positioning operation start position, the positioning operation start command causes the above-described speed based on the speed curve. Since the positioning operation of the selected component holding member by driving the driving unit is automatically started, the positioning operation can be accurately and inexpensively started at an arbitrary timing.
[0083]
In addition, this invention is not limited to the said embodiment, It can implement with another various aspect.
[0084]
For example, a plurality of parameters for the target position and the positioning operation start position may be provided and the process shown in FIG. 12 may be performed. That is, in step # 6, after starting the positioning operation from one positioning operation start position, it is detected whether or not the positioning operation is completed. Only when the positioning operation is completed, the process proceeds to step # 7, and the next target position is found. For example, the process may return to step # 4 to start the positioning operation from the next positioning operation start position, while returning to step # 1 if there is no next target position in step # 7. In this way, as shown in FIG. 14, the continuous positioning operation can be performed accurately and inexpensively at an arbitrary timing.
[0085]
Further, a plurality of positioning operation end positions may be added and the processing shown in FIG. 13 may be performed. That is, in step # 6, after starting the positioning operation from the positioning operation start position, it is detected whether or not the positioning operation is completed. When the positioning operation has not been completed, it is detected at step # 8 whether or not the positioning operation has been completed. When the positioning operation has not been completed, the process returns to step # 6. In step # 8, when it is located at the positioning operation end position without completing the positioning operation, an abnormality detection is notified in step # 9. Also, the process proceeds to step # 7 only when it is located at the positioning operation end position in step # 6. If there is a next target position, the process returns to step # 4, and if there is no next target position, the process returns to step # 1. Also good. In this way, it is possible to detect that each positioning operation in the continuous positioning operation has been performed normally. Here, whether or not the positioning operation has been completed is determined (detected) by the output of the command speed or by an encoder (position detector) attached to the servo motor 104. Whether or not the position is at the positioning operation end position is determined by controlling the servo driver 106 that moves up and down according to the position in the N direction. That is, if it is at a certain position in the N direction (for example, the recognition end position of the first nozzle 24), it rises to a position for recognizing the second nozzle 25, and another position (for example, a position at which recognition of the second nozzle 25 is started). ) Until the rise is completed, and when the rise is not completed (absence of recognition), an abnormality is detected.
[0086]
Further, when such a positioning control device is provided or applied to the electronic component mounting apparatus as in the first embodiment that requires high-speed and high-precision positioning, positioning operation can be performed accurately and inexpensively at any timing. It goes without saying that it is possible to start, but not limited to this.
[0087]
Further, the second embodiment is not limited to the component mounting apparatus and method, and is applied to a positioning control apparatus and method that drives a plurality of actuators such as servo motors and controls the position of a load by a ball screw or the like. In addition, the positioning operation can be started accurately and inexpensively at an arbitrary timing. That is, in an apparatus that drives a plurality of actuators such as servo motors and controls the position of a load with a ball screw or the like, the target position, the maximum speed when moving to the target position, and the time when moving to the target position Creates a speed curve by the component recognition device parameter with the maximum acceleration, has a function to start positioning operation by positioning operation start command, provides positioning operation start position and axis designation parameters, and gives positioning operation start command, If the given axis designated axis reaches the positioning operation start position, the positioning operation can be automatically started to perform positioning at an arbitrary timing.
[0088]
In other words, in the positioning control in which an actuator such as a servo motor is driven and the position of the load is controlled by a ball screw or the like, it is necessary to take the timing for starting the positioning of the other load by the position of one load. When it is necessary to change the start timing, if the position of one load reaches the positioning operation start position, the positioning operation of the other load is automatically started, thereby reducing detection delay and reducing the cost. The positioning operation can be started at an arbitrary timing. Here, when it is necessary to take the timing to start positioning of the other load depending on the position of one load, for example, the servo driver 103, 106, the motor 104, 107, and the mechanical mechanism 105, 108 move up and down. When moving in the horizontal direction, that is, in the horizontal direction, the position in the horizontal direction changes depending on the size of the component in the height of the component and the direction in which the component moves upward. Accordingly, since the timing for starting the up / down motion changes, it may be necessary to take the timing for starting positioning of the other load, for example, the vertical direction, depending on the position of one load, for example, the horizontal direction.
[0089]
Therefore, the positioning operation start position and the axis designation parameter are provided, and if the given axis designation axis reaches the positioning operation start position, the positioning operation is automatically started, thereby reducing the detection delay and reducing the cost. Positioning control for starting the positioning operation at an arbitrary timing can be performed.
[0090]
In such a configuration, by providing a plurality of parameters for the target position and the positioning operation start position, the continuous positioning operation can be performed accurately and inexpensively at an arbitrary timing.
[0091]
Further, in such a configuration, by adding a plurality of positioning operation end positions, it is possible to detect that each positioning operation in the continuous positioning operation has been normally performed.
[0092]
According to the second embodiment, the following problems can be solved.
[0093]
That is, conventionally, such a load positioning control configuration has a load target position (Pt), a maximum speed (Vmax) up to the target position, a maximum acceleration (αmax) up to the target position, and positioning as shown in FIG. A main controller 201 that outputs an operation start command (C); a positioning controller 202 that outputs a command speed based on the given command; a servo driver 203 that drives and controls a servo motor based on the given command speed; A servo motor 204 attached to a mechanical mechanism, that is, a mechanical mechanism, and a mechanical mechanism, that is, a mechanical mechanism 205 that is a final positioning target, are provided, and the positioning controller 202 is given as shown in FIG. The command speed is output based on the command.
[0094]
As shown in FIG. 17, an electronic component mounting apparatus equipped with such a load positioning device sucks and holds an electronic component by a component supply unit such as a component supply cassette and mounts the electronic component on the substrate at a mounting position on the substrate. A plurality of component suction nozzles 211,..., 211 are provided. Each of the plurality of component suction nozzles 211,..., 211 has an actuator 212,. A lateral movement mechanism having a direction movement servomotor A is provided.
[0095]
In recent years, in particular, high-speed and high-precision mounting has been demanded. As shown in FIG. 19, the recognition unit 211 recognizes the shape and suction posture of the component 220 sucked and held by the nozzle while moving the nozzle in the arrow direction. By recognizing with, it has a mechanism for recognizing a plurality of components and mounting them at high speed.
[0096]
However, when recognizing the height of the recognition target surface of the component, the vertical mechanism is used to change the height of the recognition target surface of the component by the vertical mechanism while moving each time the height of the recognition target surface of the suction component is different. The means for detecting the positioning timing is necessary, and the timing changes for each part. Therefore, it is complicated and expensive, and hinders speeding up due to detection delay.
[0097]
On the other hand, in the second embodiment, means for detecting the positioning timing of the vertical mechanism is unnecessary, and the target position, the maximum speed when moving to the target position, and the time when moving to the target position are not detected. Creates a speed curve by the component recognition device parameter with the maximum acceleration, has a function to start positioning operation by positioning operation start command, provides positioning operation start position and axis designation parameters, and gives positioning operation start command, When the given axis specified axis reaches the positioning operation start position, it can be positioned at any timing by automatically starting the positioning operation, so it can be accurately and inexpensively at any timing. The positioning operation can be started.
[0098]
In particular, in order to realize high speed, as described in the first embodiment, as shown in FIG. 18, the number of nozzles is increased, and the actuators 14 to 33 that perform the vertical movement collectively and the lateral movement operation are performed. In a component mounting apparatus in which a lateral movement servo motor is mounted on an actuator that performs an XY robot for driving a head, for example, when the height of the recognition target surface of the component is recognized, the height of the recognition target surface of the suction component is When changing the height of the recognition target surface of the component by the vertical mechanism while moving at different times, a means for detecting the positioning timing of the vertical mechanism becomes unnecessary, and the positioning operation is started accurately and inexpensively at any timing. Therefore, it can be made suitable.
[0099]
【The invention's effect】
As described above, according to the present invention, at the time of component recognition in the recognition unit, the component holding member is moved up and down for each height of the recognition target surface of the component, thereby continuously recognizing components having different recognition target surfaces. Can be done. This makes it possible to hold components that have been repeatedly recognized multiple times for each height of the recognition target surface at the same time, regardless of the height of the recognition target surface, and perform component recognition operations continuously. Tact improvement can be realized.
[0100]
In addition, since it is possible to realize a single drive unit that has conventionally required a drive unit corresponding to the number of nozzles to adjust the height of the recognition target surface, the cost of the device is reduced and the weight of the device is reduced. it can.
[0101]
Further, a target position in the height direction when the selected component holding member is controlled to move up and down through the drive unit to a position where the recognition target surface of the component falls within a recognizable range of the recognition unit, and the target position Parameters of the selected component holding member up to the target position and the maximum acceleration during the up / down movement of the selected component holding member up to the target position. Create a speed curve when moving up and down, and when the selected component holding member moves laterally toward the recognition unit and reaches the positioning operation start position, the positioning operation start command is used to generate the speed curve. By automatically starting the positioning operation of the selected component holding member by driving the driving unit, the positioning operation can be started accurately and inexpensively at an arbitrary timing. Rukoto can.
[Brief description of the drawings]
FIG. 1 is a perspective view of a component mounting apparatus showing a first embodiment of the present invention.
FIG. 2 is an explanatory diagram for explaining a positioning operation mode of the component mounting apparatus of FIG. 1;
FIG. 3 is a perspective view of a component mounting apparatus according to a first conventional example.
FIG. 4 is an explanatory diagram for explaining a positioning operation mode of the component mounting apparatus;
FIG. 5 is a perspective view of a component mounting apparatus according to a second conventional example.
FIG. 6 is an explanatory diagram for explaining a positioning operation mode of the component mounting apparatus.
FIG. 7 is an overall perspective view of a component mounting facility showing a conventional example and an embodiment of the present invention.
FIG. 8 is a diagram illustrating an example of a component to be recognized.
FIG. 9 is a block diagram showing a positioning control configuration of the component mounting apparatus according to the second embodiment of the present invention.
FIG. 10 is a diagram showing command speed output of the component mounting apparatus according to the second embodiment of the present invention.
FIG. 11 is a flowchart of the positioning operation of the component mounting apparatus according to the second embodiment of the present invention.
FIG. 12 is a flowchart of the positioning operation according to claim 2 of the present invention.
FIG. 13 is a flowchart of the positioning operation according to claim 3 of the present invention.
FIG. 14 is a diagram showing command speed output in claims 2 and 3 of the present invention.
FIG. 15 is a configuration diagram of a conventional system.
FIG. 16 is a diagram showing command speed output in a conventional system.
FIG. 17 is a diagram showing an example of a mechanical mechanism, that is, a mechanical mechanism.
FIG. 18 is a diagram showing an example of a mechanical mechanism, that is, a mechanical mechanism.
FIG. 19 is a diagram illustrating an example of a system that recognizes a component while moving.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Frame, 2 ... Motor, 3 ... Table, 4-13 ... 1st-10th cylinder, 14-23 ... 1st-10th spring, 24-33 ... 1st-10th nozzle, 60 ... Head part, 61 ... Recognition camera, 76, 77, 78, 79 ... Parts, 101 ... Main controller, 102 ... Positioning controller, 103, 106 ... Servo driver, 104, 107 ... Servo motor, 105, 108 ... Mechanical mechanism, that is, mechanical mechanism, a ... target position (Pt), b ... maximum speed (Vmax), c ... maximum acceleration (αmax), d ... positioning operation start position (Pa), e ... axis designation (A), f ... positioning operation start command (C ).

Claims (3)

A plurality of components (56, 57, 58, 59) held by a plurality of component holding members (24 to 33) selectively lifted and lowered by a single drive unit (2) and having different recognition target surfaces. When the recognition target surface is recognized by one recognition unit (61), the single recognition unit (61) is configured so that the recognition target surface of each of the plurality of parts falls within a recognizable range (L) where the recognition unit is focused. the driving unit performs recognition of the recognition target surface of the control the height and continuously the plurality of components of the respective component holding members, a component recognizing method,
The plurality of components held by the plurality of component holding members (24 to 33) and having different recognition target surfaces are different when the lower end surfaces of the plurality of component holding members are positioned at the same height. the recognition of all of the target surface has a variation in height between the plurality of components, such as entering the recognizable range in focus of the recognition unit, the component recognition process parts. The plurality of components held by the plurality of component holding members (24 to 33) and having different heights of the recognition target surface are the plurality of components when the lower end surfaces of the plurality of component holding members are positioned at the same height. When all of the recognition target surfaces of the parts have a height variation between the plurality of parts so that they do not fall within a recognizable range where the recognition unit is focused, the recognition among the plurality of parts is performed. When a target surface recognizes a component that falls within the recognizable range where the recognition unit is in focus, the height is maintained without driving up and down the component holding member that selectively holds the component by driving the single driving unit. In addition, when recognizing a component that does not fall within the recognizable range where the recognition target is in focus, the component holding member that holds the component is moved up and down. Parts recognition method according to claim 1 in which the recognition target surface to recognize the recognition target face After positioning operation controlled to enter into a recognizable range focus of the recognition unit fits. After holding the plurality of components from the component supply unit by the plurality of component holding members, the components are recognized by the component recognition method according to claim 1 , and then, based on the recognition result, the plurality of component holding members. A component mounting method in which the posture of the plurality of components held by the step is corrected and then mounted on the mounted body.

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