JP4787694B2 - Mounting machine - Google Patents

Description

  The present invention relates to a mounting machine for mounting electronic components on a substrate.

  Conventionally, as a mounting machine for mounting electronic components on a substrate, an electronic component such as an IC supplied from a component supply device is picked up by a suction head and transferred to a predetermined position on the substrate for mounting. It has been.

In such a mounting machine, the component supplied from the component supply device is imaged with a camera, and the angle of the component is determined from the position where the mark provided on the component is divided into four parts of the package of the component. A method of correcting the angle of a component according to the angle has been proposed (see Patent Document 1 below).
JP-A-7-66595 (paragraph 0011, etc.)

  However, the above method requires a camera with a large angle of view that can shoot the entire part, so there is room for improvement in that the apparatus configuration is restricted.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a mounting machine that can prevent erroneous mounting of components with the wrong orientation without requiring a camera with a large angle of view. .

The present invention provides the following means. That is,
[1] A mounting machine that picks up components from a component supply unit and mounts them on a substrate,
Prior to picking up a component from the component supply unit, a candidate region consisting of a corner of the component or the component storage container is captured by a camera capable of photographing the component supplied from the component supply unit or the component storage container containing the component. among them, it has rows capturing of the first candidate area feature indicating the orientation when the component or the component receiving container is placed in a correct orientation is located,
If a feature is detected in the first candidate area, pick up the component and mount it on the board;
If not detected in the first candidate area, the other candidate area where the feature portion is located when the component or the component storage container is placed in an irregular orientation,
A part or part that is discriminated from the candidate area in which the feature is detected when the feature is detected in any one of the other candidate areas and no feature is detected in the remaining other candidate areas In accordance with the mounting direction of the container, in at least one of the pick-up operation or mounting operation of the component, the component is angle-corrected and mounted on the substrate by angle correction of the head that picks up the component,
Even if a feature portion is detected in any one of the candidate regions, if a feature portion is detected in the other remaining candidate regions, the pickup operation and the mounting operation of the component are stopped. A mounting machine.

[2] Even if the feature is not detected in any of the candidate regions, and even when the feature is detected in any of the candidate regions, the feature is detected in the remaining other candidate regions If it is, the mounting machine according to the preceding item 1, which determines an error and notifies an alarm .

[3] whether crab more of the features that against the part or part container having features detection is for determining whether or not successful, the features of the predetermined number or more in the candidate region is recognized 3. The mounting machine according to 1 or 2 above, which is determined based on the above.

According to the above invention [1], since a part or a region of the part container is photographed, a high-accuracy captured image is obtained without requiring a camera with a large angle of view. In addition, when the part or the component storage container is placed in a normal orientation, the part or the component storage container is placed in a regular orientation in order to take an image of the first candidate area where the feature portion is located. It is possible to promptly confirm that this is the case, and it is possible to prevent erroneous mounting in which the component mounting direction is incorrect.
In addition, when the feature portion is not recognized in the first candidate area, the other candidate areas are photographed, so that the orientation of the component or the component container can be determined.
Furthermore, since the angle of the component is corrected according to the mounting direction of the component or the component storage container and mounted on the substrate, even if the component or the component storage container is mounted in an incorrect direction, etc. Mounting operation can be performed and high production efficiency can be obtained.
In addition, for other candidate areas that should not have a characteristic part, the characteristic part is not recognized in the remaining candidate areas, that is, the characteristic part is recognized only in the candidate area, and the characteristic is detected in two or more candidate areas. By confirming that the feature is not recognized in the candidate area by confirming that the part is not recognized, the angle correction based on the misrecognition is performed to perform mounting with the angle correction of the component. It is possible to prevent the implementation with accompanying from being performed.

According to the above invention [2], since it is judged as an error and an alarm is notified, an operator or the like can easily know the fact.

According to the above invention [ 3 ], the orientation of the component or the component storage container is determined on the condition that a predetermined number or more of the feature portions are recognized for a component or a component storage container having a plurality of features. Therefore, it is possible to more reliably determine the orientation of the component or the component storage container.

  FIG. 1 is a plan view showing an example of a mounting machine. As shown in the figure, the mounting machine 1 is provided above the base 11, a conveyor 12 that is disposed on the base 11 and conveys the substrate W, component supply units 13 that are disposed on both sides of the conveyor, and the base 11. And a head unit 14 for mounting electronic components.

  The component supply unit 13 is provided on the upstream side and the downstream side of the conveyor 12 on the front side and the rear side, respectively. In this embodiment, the front side and the rear side upstream part are provided with a part supply unit 15 to which a plurality of parts supply devices such as tape feeders can be arranged side by side, and a component storage container such as a pallet is laminated on the rear side downstream part. A tray-type component supply unit 16 that can be attached is provided. The components supplied from these component supply units 13 can be picked up by the head unit 14.

  Further, between the component supply unit 13 divided into the upstream side and the downstream side, component photographing cameras 17 and 17 are provided on both the front side and the rear side. The component photographing cameras 17 and 17 image the state of the component sucked by the head unit 14 and detect a positional deviation of the component.

  The head unit 14 is movable in a region extending between the component supply unit 13 and the mounting position on the substrate W so that components can be picked up from the component supply unit 13 and mounted on the substrate W. Specifically, the head unit 14 is supported by a head unit support member 142 extending in the X-axis direction (the substrate transport direction of the conveyor 12) so as to be movable in the X-axis direction. The head unit support member 142 is supported at both ends thereof by guide rails 143 and 143 extending in the Y-axis direction (a direction orthogonal to the X-axis in a horizontal plane) so as to be movable in the Y-axis direction. The head unit 14 is driven in the X axis direction by the X axis motor 144 via the ball screw shaft 145, and the head unit support member 142 is driven in the Y axis direction by the Y axis motor 146 via the ball screw shaft 147. Driving is performed.

  A plurality of heads 148 are mounted on the head unit 14 side by side in the X-axis direction. Each head 148 is driven in the vertical direction (Z-axis direction) by an elevating mechanism using a Z-axis motor as a drive source, and is driven in the rotation direction (R-axis direction) by a rotary drive mechanism using an R-axis motor as a drive source. It has come to be.

  At the tip of each head 148, a suction nozzle for picking up electronic components and mounting them on the substrate is provided. It can be done.

  Further, the head unit 14 is provided with a board photographing camera 18 composed of, for example, a CCD camera equipped with illumination. The board photographing camera 18 can photograph a position reference mark and a board ID mark provided on the board W carried into the mounting machine 1. The board photographing camera 18 photographs the component supplied from the tray-type component supply unit 16 or a component storage container that stores the component, and determines the orientation (posture) of the component supplied from the component supply unit 16. It can be discriminated.

  FIG. 2 is a functional block diagram showing an example of the configuration of the control system of the mounting machine. As shown in the figure, the control system of the mounting machine 1 is connected to a control device 6 composed of a personal computer or the like, with an arithmetic processing unit 191, mounting program storage unit 192, transport system data storage unit 193, motor control unit 194, external input. Each function of the output unit 195, the image processing unit 196, and the like is configured.

  The arithmetic processing unit 191 comprehensively controls various operations in the mounting machine 1.

  The mounting program storage unit 192 stores a production program (mounting program) for mounting each electronic component on the substrate W. This production program includes data indicating the mounting position (coordinates) and orientation of each electronic component based on the circuit pattern of the substrate W, shape data for recognizing each electronic component, a feeder to which each electronic component is supplied, etc. The position (coordinates) and the like are included.

  The transport system data storage unit 193 stores various data related to transport of the substrate W on the production line.

  The motor control unit 194 controls the operation of the drive motors for the XYZR axes of the head unit 14.

  The external input / output unit 195 inputs and outputs various types of information to and from various sensors and stoppers provided in the mounting machine 1.

  The image processing unit 196 performs image processing for extracting necessary information from data captured by the component photographing camera 17 and the board photographing camera 18.

  In the mounting machine 1 according to this embodiment, when performing the component mounting operation on the substrate W that has been carried in, the components supplied from the component supply unit 16 are picked up before the components are picked up from the component supply unit 16. The direction is discriminated.

  As shown in FIG. 3, this determination is provided on the component storage container (pallet) 20 set in the component supply unit 16 or the components 30 and 40 themselves stored in the component storage container 20 by the board photographing camera 18. This is done by recognizing the feature portions 22, 32, 42 indicating the direction. The board imaging camera 18 is not a large angle of view capable of imaging the entire component storage container 20 and the parts 30 and 40, but relatively a part of the component storage container 20 and the parts 30 and 40 is an imaging range. It has a small angle of view. For this reason, the board imaging camera 18 can obtain a high-accuracy captured image in a relatively small area, thereby accurately identifying the characteristic portions 32, 42, 52 provided in the component container 20 and the components 30, 40. The position reference mark and the like provided on the substrate W can be detected with high accuracy.

  FIG. 4 is a plan view showing an example of a component storage container (pallet). The component storage container 20 is configured in, for example, a rectangular tray shape, and a relatively large component 30 such as an integrated circuit component is placed in each pocket 21 formed by dividing the component container vertically and horizontally. Has been. In the component storage container 20 of this example, as a characteristic part 22 indicating the direction, a mark by printing or the like is provided at one corner (lower right corner in FIG. 4) of the upper surface of the container side wall.

  Such a component container 20 is placed on a drawer-shaped tray in a predetermined direction set in advance, and is set in the component supply unit 16.

  In this example, since the component storage container 20 is configured in a rectangular shape, an error in the mounting direction when setting the component storage container 20 is only the direction rotated 180 degrees with respect to the normal direction. . For this reason, as an area where the characteristic portion 22 may be located when the component storage container 20 is placed on the component supply unit 16, in the example of FIG. There are two areas: a region 23 at the lower right corner when placed, and a region 24 at the upper left when the component container P is placed in the wrong orientation.

  In this embodiment, the regions 23 and 24 in which the feature 22 may exist are referred to as “candidate regions”, and the feature 22 is located particularly when the component container 20 is placed in a normal orientation. The area 23 to be operated is referred to as a “first candidate area”, and the candidate area in which the characteristic portion 22 is located when the component container 20 other than the first candidate area is placed in an irregular direction is referred to as “other candidate area”. It is called “candidate area”.

  FIG. 5 is a plan view showing an example of a rectangular part, and FIG. 6 is a plan view showing an example of a square part. Also in the rectangular part 30 and the square part 40, as the characteristic parts 32 and 42 indicating the orientation of the parts such as polarity, for example, a mark by printing or the like is a corner of the upper surface of the part packaging (in FIGS. 5 and 6). In the lower right corner). In this example, the parts 30 and 40 are each provided with a plurality of feature portions 32 and 42 (two in this case).

  These components 30 and 40 are placed and accommodated in the aforementioned component storage container (pallet) 20 or the like in a predetermined direction set in advance.

  In the case of the rectangular component 30 shown in FIG. 5, as in the rectangular component storage container 20 described above, as an error in the orientation when placing the component 30, the component 30 is rotated 180 degrees with respect to the normal orientation. Only the direction. For this reason, as an area in which the characteristic portion 32 may be located when the component 30 is placed on the component storage container 20, in the example of FIG. The lower right corner area 33 and the upper left area 34 when the component 30 is placed in the wrong orientation.

  On the other hand, in the case of the square-shaped component 40 shown in FIG. 6, the orientation error when placing the component 40 includes a direction rotated 90 degrees with respect to the normal direction, a direction rotated 180 degrees, and 270. There are three rotation directions. For this reason, as an area in which the characteristic portion 42 may be located when the component 40 is placed on the component storage container 20, the component 40 is placed in a normal orientation in the example of FIG. 6. The lower right corner area 43, and the lower left area 44, the upper left area 45, and the upper right area 46 when the component 30 is placed in the wrong orientation.

  In this embodiment, as in the case of the component container 20 described above, the regions 30, 34, 43, 44, 45, 46 in which the characteristic portions 32, 42 may exist are also provided for the components 30, 40. The areas 33 and 43 where the feature parts 32 and 42 are located when the parts 30 and 40 are placed in a normal orientation are called “first candidate areas” and are designated as “first candidate areas”. When the parts 30 and 40 other than the candidate areas are placed in the non-normal orientation, the candidate areas 34, 44, 45, and 46 where the characteristic portions 32 and 42 are located are referred to as “other candidate areas”. To do.

  5 and FIG. 6, since there are a plurality of feature portions 32 and 42, respectively, each of the plurality of feature portions 32 and 42 is obtained for each candidate region when photographing with the board photographing camera 18. To take pictures.

  Next, a component mounting procedure in the mounting machine according to the present embodiment will be described with reference to a flowchart. The following determination processes are mainly performed by the arithmetic processing unit 191 included in the control device 6 of the mounting machine 1.

  FIG. 7 is a flowchart showing a component mounting operation. This flowchart is for mounting a component whose orientation is confirmed prior to pickup according to a mounting program. In the following description, the case where the part itself is photographed will be described as an example in order to determine the orientation of the part.

  In the component mounting operation, as shown in the figure, first, the counter i is reset to 1 (step S11). The counter i indicates each candidate area that is a candidate for the placement direction determined according to the shape of the component and the like, and the feature recognition process is performed on the candidate area indicated by the counter i (step S12). . That is, when the counter i is set to 1, the search for the characteristic portion is first performed from the first candidate area for any part.

  FIG. 8 is a flowchart showing the flow of the feature recognition process. This feature recognition processing determines whether or not there is a feature in the candidate area indicated by the counter i.

  Also in this feature recognition process, the counter j is first reset to 1 (step S13). The counter j indicates each feature when the component has a plurality of features.

  Next, in the candidate area indicated by the counter i, the board photographing camera is moved to the position of the characteristic part (mark) indicated by the counter j (step S14), and the characteristic part is imaged and recognized in the candidate area (step S14). S15). This photographing and recognition processing is repeated until j = M is satisfied while incrementing the counter j to change the feature to be recognized (NO in step S16). M is the number of feature parts in the part. For example, if there are three feature parts, photographing and recognition processing are repeated three times, and recognition processing is attempted for all three feature parts. If there is only one feature, it will be completed in one shooting and recognition process.

  If the recognition process has been performed for all the feature parts (YES in step S16), it is determined whether or not the recognition process has been successful more than a predetermined number of times among the M recognition processes (step S17). If the recognition has succeeded more than the set number of times (YES in step S17), it is determined that the feature detection is successful (step S18), and if it has failed (NO in step S17), it is determined that the feature detection has failed (step S18). S19), the feature recognition ends.

  The M recognition processes are recognition processes for each of M feature parts, and it is determined how many of the M feature parts have been recognized. For example, for a part having three feature parts, if the predetermined number of times is set to two, if at least two feature parts among the three feature parts are recognized, one feature part cannot be recognized. Even in such a case, the candidate area is determined to be an area where a feature portion exists.

  Returning to the flowchart of FIG. 7, if the above-described feature recognition processing (step S12) is completed for the candidate area indicated by the counter i, it is determined whether or not the feature has been successfully detected (step S20). If it has failed (NO in step S20), the feature i recognition process and the like are repeated (NO in step S21) until i = S while incrementing the counter i and changing the candidate area. S is a candidate for the placement direction determined according to the number of candidate areas in the part, that is, the shape of the part. For example, two candidate areas can be assumed for rectangular parts, and four candidate areas for square parts.

  If no feature is detected in all candidate areas (YES in step S21), it is determined that there is no part error, and a warning lamp (not shown) is turned on and a warning is displayed on a display device (not shown). An alarm is notified so that the screen is displayed (step S22). Then, without proceeding to the pick-up operation of the component and the mounting operation on the board, a series of processing for the component is finished.

  On the other hand, if the feature portion in the candidate region i is successfully detected (YES in step S20), whether or not the counter i = 1, that is, whether or not the candidate region in which the feature portion is detected is the first candidate region. Is determined (step S23).

  If the candidate area having the characteristic portion is the first candidate area (YES in step S23), the component is placed in the normal direction, and therefore, the supply direction of the component is determined to be OK (step S24). ), A mounting operation for picking up the component and picking it up and mounting it on the substrate is executed (step S25).

  On the other hand, if the candidate area having the characteristic portion is not the first candidate area but another candidate area (NO in step S23), the part is placed in an irregular direction, and thus the supply direction of the part A difference error is determined and an alarm is issued (step S26), and the series of processing for the component ends without proceeding to the pickup operation of the component and the mounting operation on the board.

  As described above, according to the mounting machine according to the present embodiment, a part of the part or the part container is photographed, not a whole area, so that a high-accuracy captured image is obtained without requiring a camera with a large angle of view. It is done.

  In addition, when the part is placed in the normal orientation, the first candidate area where the feature portion is located is photographed. Therefore, when the part is placed in the regular direction, the part is It is possible to quickly confirm that the component is placed in the direction, and to prevent erroneous mounting in which the component is mounted in the wrong direction.

  In addition, when the feature portion is not recognized in the first candidate area, the other candidate areas are photographed, so that the orientation of the component or the component container can be determined.

  In addition, for a component having a plurality of features, the orientation of the component is determined on the condition that a predetermined number or more of features are recognized, so that the orientation of the component can be determined more reliably. .

  In addition, since the alarm is notified when the component is not mounted, the operator or the like can easily know the fact.

  Next, as a mounting machine according to the second embodiment, a case will be described in which mounting is performed by correcting the angle of a component when the orientation of the component is incorrect. The mounting machine according to the second embodiment has the same basic configuration as that of the above-described embodiment, and thus a duplicate description is omitted.

  FIG. 9 is a flowchart showing the mounting operation when the angle of the component is corrected. In the following, description of parts common to the above-described embodiment that does not perform the above-described angle correction will be omitted, and differences will be mainly described.

  Even when component angle correction is performed, first, the counter i indicating each candidate region is reset to 1 (step S51), and the feature recognition process is performed (step S52). The feature recognizing process is the same as the feature recognizing process when the angle of the component is not corrected.

  If the feature detection in the candidate area indicated by the counter i fails (NO in step S53), the feature recognition process and the like are repeated while incrementing the counter i and changing the candidate area until i = S. (NO in step S54).

  On the other hand, if the feature portion in the candidate region i is successfully detected (YES in step S53), whether or not the feature portion is detected is the first search range, that is, the candidate region having the feature portion is the first one. It is determined whether or not it is a candidate area (step S55).

  If the candidate area with the characteristic portion is the first candidate area (YES in step S55), it is determined that the component supply direction is OK because the component is placed in the normal orientation (step S56). ), A mounting operation for picking up the component and picking it up and mounting it on the substrate is executed (step S57).

  On the other hand, if the candidate area with the characteristic portion is not the first candidate area but another candidate area (NO in step S55), it is considered that the part is placed in an irregular direction. However, since the other candidate areas are areas where the characteristic portion should not exist, in this embodiment, the orientation (orientation) of the part is not immediately determined based on the other candidate areas where the characteristic portion is detected. After confirming that no feature portion is detected for the remaining other region, the other candidate region is determined to be a region where the feature portion exists.

Thus, if the candidate region feature is detect is another candidate area (NO in step S55), whether the feature for that component is detected is second time If it is determined (step S58) and the feature has been detected for the part for the first time (NO in step S58), the process returns to step S54 in order to continue searching for other candidate areas.

  On the other hand, the feature is detected for the second time for the same component (YES in step S58), that is, the feature is detected in a region other than the first candidate region, and the other candidate regions remain for confirmation. When the part detection is attempted, if the feature part is detected also in the remaining candidate regions, at least one of the first or second feature part detection for the part is an error. For this reason, the orientation of the component cannot be determined, and it is determined that there is an error that has detected more features than the actual number, and an alarm is issued (step S59), without proceeding to the pickup operation of the component and the mounting operation on the board. Then, a series of processes for the part is finished.

  As described above, when a feature is detected in the first candidate region (YES in step S55), or when a feature is detected twice for the same component, a series of processes for the component is performed. The process ends, but in other cases, detection of the feature portion is attempted for all candidate areas.

  Thus, when an attempt to detect a feature for all candidate regions is completed (YES in step S54), if no feature is detected in any candidate region (YES in step S60), it is determined that there is no component error. Then, an alarm is notified (step S61), and the series of processing for the component ends without proceeding to the pickup operation and mounting operation of the component.

  On the other hand, if a feature is detected in any of the candidate regions (other candidate regions other than the first candidate region) (NO in step S60), based on the position of the candidate region where the feature is detected. After determining the orientation of the component and correcting the suction angle of the component in comparison with the orientation of the component in the mounting program (step S62), the mounting operation of picking up the component and picking it up and mounting it on the board is performed. This is executed (step S57). Note that in step S57 when the component angle is corrected in this way, at least one of the component pick-up operation or the mounting operation on the board is different from the case where the component supply direction is correct (step S56). The angle of the head for picking up the component is corrected, so that the component is angle-corrected in the normal direction and mounted on the substrate.

  As described above, when the mounting direction of the component according to the second embodiment is incorrect, the mounting angle is corrected by correcting the angle of the component, and the angle correction of the component is performed according to the mounting direction of the component. Since the mounting is performed on the board, the mounting operation can be performed even when the component or the component container is placed in the wrong direction, and high production efficiency can be obtained.

  In addition, for other candidate areas that should not have a characteristic part, the characteristic part is not recognized in the remaining candidate areas, that is, the characteristic part is recognized only in the candidate area, and the characteristic is detected in two or more candidate areas. By confirming that the feature is not recognized in the candidate area by confirming that the part is not recognized, the angle correction based on the misrecognition is performed to perform mounting with the angle correction of the component. It is possible to prevent the implementation with accompanying from being performed.

  As described above, the present invention has been described based on the embodiment, but the present invention is not limited to the above-described configuration, and may be appropriately changed as follows.

  For example, in the above-described embodiment, a mark by printing or the like is used as an example of the characteristic portion that indicates the orientation of the component storage container or the component. Also good.

  In the above embodiment, the component whose direction is to be determined is the component supplied from the tray-type component supply unit 16, but the component using another type of component supply device such as a tape feeder or a bulk feeder. Parts supplied from the supply unit may be targeted.

It is a top view which shows an example of a mounting machine. It is a functional block diagram which shows an example of a structure of the control system of a mounting machine. It is explanatory drawing which shows the imaging | photography state of the characteristic part of the components storage container (components) by a camera. It is a top view which shows an example of a components storage container (pallet). It is a top view which shows an example of a rectangular-shaped component. It is a top view which shows an example of square-shaped components. It is a flowchart which shows the mounting operation | movement when not correct | amending a component angle. It is a flowchart which shows the flow of a feature part recognition process. It is a flowchart which shows the mounting operation | movement in the case of correct | amending a component angle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mounting machine 14 Head unit 16 Component supply part 18 Board | substrate photography camera 20 Component storage container (pallet)
30, 40 Parts 22, 32, 42 Feature 23, 33, 43 First candidate area 24, 34, 44, 45, 46 Other candidate areas

Claims (3)

A mounting machine that picks up components from a component supply unit and mounts them on a substrate,
Prior to picking up a component from the component supply unit, a candidate region consisting of a corner of the component or the component storage container is captured by a camera capable of photographing the component supplied from the component supply unit or the component storage container containing the component. among them, it has rows capturing of the first candidate area feature indicating the orientation when the component or the component receiving container is placed in a correct orientation is located,
If a feature is detected in the first candidate area, pick up the component and mount it on the board;
If not detected in the first candidate area, the other candidate area where the feature portion is located when the component or the component storage container is placed in an irregular orientation,
A part or part that is discriminated from the candidate area in which the feature is detected when the feature is detected in any one of the other candidate areas and no feature is detected in the remaining other candidate areas In accordance with the mounting direction of the container, in at least one of the pick-up operation or mounting operation of the component, the component is angle-corrected and mounted on the substrate by angle correction of the head that picks up the component,
Even if a feature portion is detected in any one of the candidate regions, if a feature portion is detected in the other remaining candidate regions, the pickup operation and the mounting operation of the component are stopped. A mounting machine. When the feature is not detected in any of the candidate regions, and when the feature is detected in the remaining other candidate regions even if the feature is detected in any of the candidate regions The mounting machine according to claim 1, wherein the mounting machine is determined to be an error and an alarm is notified . Determining a plurality of features the of whether the detection of the feature succeeded judgment against the part or part container having, based on whether the features of the predetermined number or more is recognized in the candidate region The mounting machine according to claim 1 or 2.

Images