JP4809094B2 - Component transfer device, surface mounter and component inspection device - Google Patents

Description

  The present invention relates to a transfer device, a surface mounter, and a component inspection device that suck and transfer electronic components by a suction nozzle.

  2. Description of the Related Art Conventionally, for example, in a surface mounter, when an electronic component is transferred from a component supply unit onto a printed wiring board, the electronic component is adsorbed by an adsorption nozzle and this adsorption nozzle is moved.

When the suction nozzle is used repeatedly, the suction surface may become dirty. In such a case, it becomes easy to cause a suction error when sucking the electronic component.
In the conventional component transfer device equipped with such a suction nozzle, when the electronic component is transferred by the suction nozzle, whether or not the electronic component is correctly sucked by the suction nozzle, whether the correct electronic component is sucked by the suction nozzle. A discriminating device is provided for discriminating whether or not it has been performed.

  As a conventional component transfer device equipped with this type of discrimination device, for example, there is one disclosed in Patent Document 1. The component transfer apparatus disclosed in Patent Document 1 is an image obtained by viewing a single suction nozzle from the side (an image of a single suction nozzle), and a state in which the suction nozzle is sucking an electronic component. A configuration is adopted in which images viewed from the side (images in an adsorbed state) are respectively picked up by cameras, and the quality is determined based on these images.

In this pass / fail judgment, the position of the lower end of the suction nozzle is detected from the image of the suction nozzle alone, and the position of the suction state is located at the determination position located below the position of the electronic component recorded in advance from the position of the lower end. This is done by determining whether or not the position of the lower end of the electronic component detected from the image matches.
JP-A-6-45790

  However, the discriminating apparatus of the component transfer apparatus disclosed in Patent Document 1 has a problem that it may be erroneously judged as good or bad. This is because the foreign matter adhering to the suction surface of the suction nozzle when capturing an image of the suction nozzle alone may be captured as a part of the suction nozzle in the image.

When the electronic component is sucked by the suction nozzle to which foreign matters are attached in this way, the electronic component may be sucked and sucked in the vertical direction as compared with the normal position. The position of the lower end of the electronic component obtained from the image of the suction state obtained by imaging such a state is the same as the position of the lower end of the suction nozzle detected from the image of the suction nozzle alone that captures the foreign matter. This corresponds to the position where the thickness is lowered.
That is, in this component transfer apparatus, the determination result is good even though the electronic component is inclined, and the determination of good or bad is wrong.

  The present invention has been made to solve such a problem, and when the image of the suction nozzle alone is used as a criterion for quality determination, the image can be captured without the suction nozzle being contaminated or adhering to foreign matter. An object is to provide a component transfer device, a surface mounter, and a component inspection device.

In order to achieve this object, a component transfer apparatus according to the present invention includes an adsorption nozzle that adsorbs an electronic component, and an imaging unit that captures an image of the adsorption nozzle and the electronic component adsorbed thereto viewed from the side. And the suction nozzle unit image captured by the imaging means as a reference, and comparing the reference image with an image of the suction nozzle and the electronic component sucked by the suction side view. In the component transfer apparatus provided with image processing means for performing pass / fail judgment of the electronic component that has been made,
An image that is provided inside the movable range of the suction nozzle and has a cleaning unit in which the suction nozzle is inserted from above, and an image that picks up the suction nozzle cleaned by the cleaning device by the imaging means and acquires a reference image The cleaning unit of the cleaning device communicates a cleaning chamber for air cleaning formed of a hole formed so that the suction nozzle can be inserted from above, and a lower end of the cleaning chamber and the outside of the cleaning chamber. An exhaust passage, a wall surface of the cleaning chamber, a cleaning air passage that opens toward a lower end portion of the suction nozzle inserted into the cleaning chamber, and the cleaning air passage and the suction nozzle suction passage The compressed air is supplied so that air flows into the cleaning chamber, and the pressurized air is jetted downward from the suction passage, and the cleaning air is applied to the side of the suction nozzle. In which it is provided an air supply device for injecting pressurized air from the road.

Surface mounting machine according to the invention described in claim 2 is the surface mounter for transferring the printed circuit board to thus mounting components on component transfer device described from the component supply section to claim 1, wherein The cleaning device includes a plurality of cleaning chambers, and these cleaning chambers are provided at positions corresponding to the respective suction nozzles of a head unit provided with a plurality of mounting heads having suction nozzles.

According to a third aspect of the present invention, a component inspection apparatus transfers an electronic component to be inspected from a component supply unit to an inspection unit by the component transfer apparatus according to the first aspect .

According to the present invention, the reference image including the single suction nozzle image is an image of the single suction nozzle cleaned by the cleaning device as viewed from the side. For this reason, in the component transfer apparatus according to the present invention, the correct shape of the suction nozzle can be captured as a reference image, so that the accuracy of pass / fail judgment performed using this reference image can be improved.
As a result, according to the present invention, there is provided a component transfer apparatus capable of accurately performing pass / fail determinations such as the presence / absence of a suction error of an electronic component, the correctness / error of the sucked electronic component, and the presence / absence of an abnormality of the suction nozzle itself. be able to.

Further , according to the present invention , the suction nozzle can be cleaned by spraying relatively high-pressure air in the opposite direction to that during component suction and blowing high-pressure air from the side. Since this cleaning is performed within the cleaning device, the foreign matter adhering to the suction nozzle does not scatter around the suction nozzle. For this reason, the suction nozzle can be sufficiently cleaned while preventing foreign matter from adhering to other suction nozzles during cleaning.

According to invention of Claim 2 , a some adsorption | suction nozzle can be cleaned at once, and it can clean efficiently. For this reason, although it employ | adopts the structure which cleans when picking up a single suction nozzle, it can fully clean, improving the efficiency which transfers components.

According to the second aspect of the present invention, there is provided a surface mounter capable of accurately performing pass / fail determinations such as whether or not there is a suction error of a mounting component, whether or not the suctioned mounting component is correct, and whether or not the suction nozzle itself is abnormal. Can be provided.

According to the third aspect of the present invention, it is possible to accurately determine whether or not the electronic component to be inspected is erroneously picked up, whether the sucked electronic component to be inspected is correct or incorrect, and whether or not the suction nozzle itself is abnormal. A component inspection apparatus can be provided.

Hereinafter, an embodiment of a surface mounter equipped with a component transfer apparatus according to the present invention will be described in detail with reference to FIGS.
FIG. 1 is a plan view of a surface mounter equipped with a component transfer apparatus according to the present invention, FIG. 2 is a cross-sectional view showing a main part, FIG. 3 is a front view showing an image pickup unit, and in FIG. It is drawn in a broken state. FIG. 4 is a front view of the blow station, in which the cleaning part is broken and the suction nozzle is inserted.

  FIG. 5 is a block diagram showing the configuration of the surface mounting machine, FIG. 6 is a flowchart showing an operation when acquiring an image of a single suction nozzle, and FIG. 7 is an operation from acquiring an image in a component suction state to mounting a component. It is a flowchart which shows. 8 is a diagram showing an image of the suction nozzle alone, FIG. 9 is a diagram schematically showing image processing performed by the image processing means, and FIG. 10 is a diagram schematically showing image processing when the suction nozzle is defective. is there. FIG. 11 is a flowchart showing another operation example when acquiring an image of a single suction nozzle.

  In these drawings, the reference numeral 1 indicates a surface mounter according to this embodiment. The surface mounter 1 includes a base 2, a conveyor 4 for transporting a printed wiring board 3 on the base 2, and a number of components mounted on component supply units 5 located on both sides of the base 2. Tape feeders 5a, 5a, etc., a component transfer device 7 for transferring mounting components 6 (see FIG. 2) from these tape feeders 5a onto the printed wiring board 3, the conveyor 4 and the tape feeder. 5 and a control device 8 for controlling operations of the component transfer device 7 and the like.

As shown in FIGS. 1 and 2, the component transfer device 7 is formed on the base 2 with two fixed rails 11 and 11 extending in the Y-axis direction and a shape extending in the X direction. 11, a support member 12 movably supported on the head 11, a head unit 13 movably supported on the support member 12 in the X-axis direction, a lower imaging unit 14 for detecting the suction state of the mounting component 6, and The side imaging unit 15 (see FIG. 2) and a blow station 16 (see FIG. 4) described later are configured.
The support member 12 includes a nut 17a that is screwed into a ball screw shaft 17 provided on one fixed rail 11, and the ball screw shaft 17 is rotationally driven by a Y-axis servo motor 18 to thereby move in the Y-axis direction. Reciprocate.

As shown in FIG. 2, the head unit 13 is supported by a guide member 19 provided on the support member 12 and screwed to a ball screw shaft 20, and the ball screw shaft 20 is an X-axis servomotor 21. By revolving in accordance with (see FIG. 1), it reciprocates in the X-axis direction.
Further, as shown in FIGS. 1 and 3, the head unit 13 is provided with a plurality of mounting heads 22 arranged at equal intervals in the X-axis direction. The head unit 13 according to this embodiment is equipped with six mounting heads 22.

  As shown in FIG. 2, these mounting heads 22 are supported so as to be movable in the Z-axis direction (vertical direction) with respect to the frame 13a of the head unit 13, and are supported so as to be rotatable around the Z-axis. A suction nozzle 23 for sucking the mounting component 6 is provided at the lower end. Further, the mounting head 22 is driven in the Z-axis direction by the elevation drive means 24 provided in the head unit 13, and is rotated around the Z axis by the rotation drive means 25 provided in the head unit 13.

The elevating drive means 24 is supported by the frame 13 a so as to be pivotable and extends in the vertical direction, a Z-axis servomotor 27 that drives the upper end of the ball screw shaft 26, and the head unit 13. A nut member 28 provided and screwed onto the ball screw shaft 26 is formed.
The rotation driving means 25 is configured to rotate the head unit 13 by an R-axis servo motor 29 (see FIG. 5), and is supported by the frame 13a.

  The lower imaging unit 14 is for imaging the bottom surface of the mounting component 6 sucked by the suction nozzle 23. As shown in FIGS. 3 and 5, the bottom image capturing camera 31 and the bottom image capturing are performed. And a bottom surface image capturing illumination 32 composed of a plurality of LEDs provided so as to surround the image capturing range of the camera 31 and expand upward.

  As shown in FIG. 1, the position where the lower imaging unit 14 is provided is positioned between the conveyor 4 and the component supply unit 5 in a plan view. The bottom image capturing camera 31 captures a reflection image of the bottom surface of the mounting component 6 adsorbed by the mounting head 22. The bottom surface image capturing camera 31 is configured to send captured image data to the control device 8 to be described later.

  The side imaging unit 15 is for imaging the suction nozzle 23 and the mounting component 6 sucked by the suction nozzle 23 from the side. As shown in FIGS. 2 to 5, the side imaging unit 15 supports the component transfer device 7. A side image capturing camera 34 attached to a camera support member 33 extending downward from the member 12, and a side image capturing illumination 36 composed of LEDs attached to a holding member 35 extending downward from the lower end of the head unit 13. It is composed of The side imaging unit 15 constitutes the imaging means referred to in the present invention.

  The side image capturing camera 34 includes a line sensor, an area sensor, and the like, and is equipped so that the optical axis is directed in front of the surface mounter 1 (downward in FIG. 1). In this embodiment, as shown in FIG. 3, one camera 34 is provided at the same position as the camera 31 of the lower imaging unit 14 in the X direction (left-right direction in the figure).

  The illumination 36 is provided for each mounting head 22. When the mounting head 22 is positioned in front of the camera 34, the illumination 36 is positioned at a position facing the camera 34 with the mounting head 22 interposed therebetween. The camera 34 images the suction nozzle 23 and the mounting component 6 sucked on the suction nozzle 23 from the side under the illumination conditions in which the illumination 36 emits light, and the captured image data is transferred to the control device 8 described later. Send it out.

  The blow station 16 is for cleaning the suction nozzle 23. As shown in FIG. 4, the blow station 16 has a structure in which a cleaning unit 42 is mounted on a support base 41. It is installed inside the movable range. The blow station 16 constitutes a cleaning device in the present invention.

  The support base 41 supports the cleaning unit 42 by an air cylinder 43 so as to be movable up and down. 43a indicates a piston rod of the air cylinder 43, and 43b indicates a guide rod that holds the cleaning unit 42 so as to be movable up and down. FIG. 4 is drawn with the cleaning portion 42 raised to the highest position by the air cylinder 43. The cleaning portion 42 has a lower end 42a on the upper surface 43c of the air cylinder 43 from the position shown in FIG. Lower to contact position. By lowering the cleaning unit 42 in this manner, the mounting head 22 can pass above the cleaning unit 42, and the cleaning unit 42 is prevented from blocking the movement path of the mounting head 22. Can do.

  The cleaning unit 42 is formed of a plurality of cleaning chambers 44 formed of a plurality of holes that open upward, and an exhaust chamber 45 connected to the lower ends of the cleaning chambers 44, and the air A filter 46 that discharges from the inside of the exhaust chamber 45 to the outside of the cleaning unit 42 is attached. The filter 46 discharges air in the lateral direction below the exhaust chamber 45. An exhaust passage referred to in the present invention is constituted by an air passage that extends from the exhaust chamber 45 to the outside of the cleaning portion 42 through the filter 46.

  The hole forming the cleaning chamber 44 is formed with an inner diameter and a depth into which the suction nozzle 23 can be inserted from above. Further, the interval between the cleaning chambers 44 is formed so as to coincide with the interval between the suction nozzles 23, 23... Provided in the head unit 22. That is, these cleaning chambers 44 are provided at positions corresponding to the respective suction nozzles 23 of the head unit 13. In the blow station 16 according to this embodiment, cleaning chambers 44 are formed at four locations, and the four suction nozzles 23 can be inserted into the cleaning chamber 44 at the same time.

  As shown in FIG. 4, an air injection port 47 is formed on the inner wall surface of each cleaning chamber 44. In this embodiment, the air injection ports 47 are formed at two locations, an upper portion that faces the suction nozzle 23 and a lower portion that is lower than the upper portion by a predetermined interval. These air injection ports 47 are connected to the air pump 50 by a cleaning air passage 49 including an air hole (not shown) extending in the cleaning unit 42 and an air pipe 48 led out from the cleaning unit 42. ing. An on-off valve 51 whose operation is controlled by the control device 8 is provided in the middle of the cleaning air passage 49.

  The air pump 50 pressurizes air and supplies it to the cleaning air passage 49. The air pump 50 can be configured to supply air for cleaning only, or an existing air supply source that supplies high-pressure air to the surface mounter 1 can be used. In this embodiment, a configuration is adopted in which high-pressure air is supplied from the air pump 50 to the ejector pump 52 and the negative pressure generated here is guided to each suction nozzle 23 of the head unit 13.

  Although not shown, the ejector pump 52 guides a negative pressure to the suction nozzle 23 at the time of suction by switching an internal air passage, supplies a relatively low positive pressure when the component is opened, In order to clean the inside of the nozzle 23, a nozzle capable of supplying a relatively high positive pressure is used. The ejector pump 52, the air pump 50, and the like constitute an air supply device 53 in the present invention.

  In the blow station 16, the on-off valve 51 is opened, the operation of the ejector pump 52 is switched so that high-pressure air is blown from the suction nozzle 23, and high-pressure air is supplied from the air pump 50. The high pressure air is injected from 47 into the cleaning chamber 44 from the lateral direction, and the high pressure air is injected into the cleaning chamber 44 from the suction air passage of the suction nozzle 23. The outer surface of the suction nozzle 23 is cleaned by the high-pressure air ejected from the lateral direction, and the inside of the suction nozzle 23 is cleaned by the high-pressure air passing through the suction air passage.

  Sensors 54 for detecting the presence / absence of the suction nozzle 23 are provided at both upper and lower ends of the cleaning unit 42. The sensor 54 is an optical sensor, and sends detection data indicating this to the control device 8 when the optical path is blocked by the suction nozzle 23. The blow station 16 according to this embodiment can detect the suction nozzle 23 from the mounting head 22 during cleaning and can be detected by the sensor 54 even if it remains after cleaning.

  The control device 8 includes a well-known CPU that executes logical operations, a ROM that stores various programs for controlling the CPU in advance, a RAM that temporarily stores various data during operation of the device, and the like. ing. As shown in FIG. 5, the control device 8 according to this embodiment includes an axis control means 61, an imaging device control means 62, an image memory 63, a mounting information storage means 64, a machine information storage means 65, and a cleaning. Device control means 66 and calculation means 67 are provided. A display device 68 for displaying various information is connected to the calculation means 67.

  The axis control means 61 includes a Y-axis servomotor 18, an X-axis servomotor 21 and a Z-axis servomotor 27 (first head Z-axis servomotor 27 to sixth head Z-axis servo) provided in the surface mounter 1. The motor 27) and the R-axis servo motor 29 (first head R-axis servo motor 29 to sixth head R-axis servo motor 29) are controlled.

The imaging device control means 62 controls the operation of the bottom image capturing camera 31, the bottom image capturing illumination 32, the side image capturing camera 34, and the side image capturing illumination 36. The imaging device control unit 62 includes a storage unit 73 to be described later, and functions as a first image acquisition unit 71 to be described later based on a program for controlling imaging timing or as a second image acquisition unit 72. Configured to work.
The first image acquisition unit 71 captures an image of the single suction nozzle 23 by the side image capturing camera 34. An image of this single suction nozzle is taken as shown in FIG. 8, for example. In this image, a relatively thick base portion 23a and a relatively thin tip portion 23b of the suction nozzle 23 are imaged. The first image acquisition means 71 constitutes an image acquisition means referred to in the present invention, and the image of the single suction nozzle 23 constitutes a reference image referred to in the present invention.

  The second image acquisition means 72 uses the side image capturing camera 34 to display the suction nozzle 23 in a state in which the mounting component 6 is sucked and the image of the mounting component 6 sucked in this (image in the component sucking state). Take an image. The image in the component suction state is picked up like a leftmost image among the three images shown in FIG.

  The storage unit 73 stores the image data of the single suction nozzle in the image memory 63 when it is determined that the suction nozzle 23 is normal from the single suction nozzle image acquired by the first image acquisition unit 71. In the determination performed here, the length of the tip 23b of the suction nozzle 23 and the flatness of the suction surface (lower end surface) of the suction nozzle 23 are measured from the image of the suction nozzle alone, and these values are set in advance and normal. This is done by comparing the value. This measurement and comparison are performed by the calculation means 67 described later.

The image memory 63 stores image data obtained by the imaging of the side image capturing camera 34 and the bottom surface image capturing camera 31.
The mounting information storage means 64 stores information related to the mounting component 6 to be mounted on the printed wiring board 3, for example, data related to the shape of the mounting component 6 such as thickness, width, height, Information such as what kind of mounting component 6 is mounted in which location is stored. The mounting information storage means stores image data obtained by capturing these mounting components 6 alone from below and image data captured from the side.

  The machine information storage means 65 stores information related to the surface mounter 1 according to this embodiment, and each normal value of the length of the tip 23b of the suction nozzle 23 and the flatness of the suction surface is stored. Is stored. This normal value is a value having a certain range of width, and is set to a value including manufacturing tolerances.

The cleaning device control means 66 is for controlling the control device 16 and performs the raising / lowering operation of the air cylinder 43, the opening / closing operation of the on-off valve 51, the switching operation of the ejector pump 52, and the like.
The calculation means 67 has a calculation function such as a CPU, and includes an image processing means 74 and a determination means 75, which will be described later. The image data stored in the image memory 63, the mounting information storage means 64, Calculation processing is performed using data stored in the machine information storage means 65 and control data from the axis control means 61, and each device of the surface mounter 1 is controlled based on the calculation result.

  The image processing unit 74 generates difference image data based on a difference between the image in the component suction state acquired by the second image acquisition unit 72 and the image of the suction nozzle alone acquired by the first image acquisition unit 71. Is configured to do. More specifically, as shown in FIGS. 9 and 10, the image processing means 74 is based on the difference between the image of the component suction state located on the leftmost side in these drawings and the image of the suction nozzle alone located in the center. The difference image data as displayed on the rightmost side is generated.

  FIG. 10A shows a case where the suction part of the suction nozzle 23 is damaged and the suction of the mounting component 6 fails, and FIG. 10B shows that the mounting part 6 is almost normal by the suction nozzle 23 whose suction part is damaged. FIG. 4C shows a case where the mounting component 6 is sucked and sucked by the suction nozzle 23 whose suction part is broken.

  The determination unit 75 compares the above-described difference image data with the image data of a single component for mounting stored in the mounting information storage unit 64, and if the two image data match, the suction nozzle 23 is normal. Otherwise, it is determined that the suction nozzle 23 is abnormal.

  Next, the operation at the time of component mounting of the surface mounter 1 according to this embodiment will be described with reference to the flowcharts shown in FIGS. The surface mounter according to this embodiment captures and stores an image of a single suction nozzle 23 at the time of factory shipment or maintenance. That is, first, in step S1 of the flowchart shown in FIG. 6, a specific mounting head 22 and a specific suction nozzle 23 among a plurality of types of suction nozzles 23 that are selectively attached to the mounting head 22 are preliminarily used as a reference. The head and the reference nozzle are set, and the setting target is first set as the reference head and the reference nozzle.

  Subsequently, in step S2, the tip portion 23b of the suction nozzle 23 is cleaned by air blowing by the blow station 16. In this cleaning, the cleaning unit 42 of the blow station 16 is raised, and high-pressure air is injected from the air injection port 47 in a state where the suction nozzle 23 is inserted into each cleaning chamber 44 from above, and the suction of the suction nozzle 23 is performed. This is performed by injecting high-pressure air downward from the air passage for use.

  This cleaning is performed for a predetermined time. After all the suction nozzles 23 have been cleaned, the suction nozzles 23 are raised and the cleaning unit 42 is lowered to move the head unit 13 in the direction in which the side image capturing camera 34 is located.

  Next, in step S3, the mounting head 22 is set to the initial height state, and the suction nozzle 23 is imaged by the side image capturing camera 34 in this state. As shown in FIG. 8, this imaging is performed so that the characteristic portion of the suction nozzle 23 (the boundary portion between the base portion 23a and the tip portion 23b) can be determined.

  After this imaging, in step S4, it is determined whether or not the length of the tip 23b of the suction nozzle 23 is within a normal value tolerance based on the image of the suction nozzle alone. At this time, if the length of the tip 23b is longer than the normal value (if foreign matter is attached), or the length of the suction nozzle 23 is shorter than the normal value (nozzle tip is missing), step Proceeding to S5, error processing is performed. As this error processing, an error is displayed on the display device 68 and a return treatment by the operator is waited for.

  That is, the head unit 13 is moved to a repair position accessible by the operator, and is stopped. When the operator replaces the suction nozzle 23 and presses the return button, the program is executed again from step S2 according to the flowchart. The operator may check the suction nozzle 23 and press the normal value correction button and then press the return button without replacing the suction nozzle 23. When the normal value correction button is pressed, the range of normal values is expanded by a predetermined amount, so that the frequency of stopping errors in step S5 can be reduced.

  If the length of the suction nozzle 23 is normal, it is determined in step S6 whether or not the flatness of the tip surface of the suction nozzle 23 is within a normal value tolerance. If it is determined that there is an abnormality, the process proceeds to step S5 to perform error processing. If the flatness is normal, an image of the suction nozzle alone is stored in the image memory 63, and then, in step 7, it is determined whether or not the scale has been calculated for the side image capturing camera 34. When the process proceeds to step S5, the suction nozzle 23 is defective, and the image of the suction nozzle alone is not stored in the image memory 63 because it is not necessary for the processing shown in the flowchart shown in FIG. This saves memory capacity. Note that the image of the suction nozzle alone may be stored in the image memory 63 during the error processing in step S5 for later verification.

  If the scale has not been calculated, in step S8, the mounting head 22 is moved up and down by a specific amount, and then a single image of the suction nozzle 23 is captured again. In step S9, a scale is calculated based on the amount of movement of the mounting head 22 and the difference between the lower end and the characteristic portion of the suction nozzle 23 detected in steps S3 and S8, respectively, and is stored in the machine information storage unit. Let

  If it is determined in step S7 that the scale has been calculated, it is determined in step 10 whether the current setting target is a reference head or a reference nozzle. At this time, if the current setting object is the reference head and the reference nozzle, the process proceeds to step S11. Otherwise, in step S12, the lower limit position at the initial height of the reference head and the reference nozzle is set to be the same. The corrected initial heights of the head and nozzle are calculated and stored in the machine information storage unit.

  In step S11, it is determined whether or not the setting process has been completed for all the suction nozzles 23 of different types that can be selectively attached to the head. If not, the next nozzle is replaced. (Step S13), the process returns to Step S2 and the following processing is repeated.

  When the setting process is completed for all different types of suction nozzles 23 for the mounting head 22 that is the current setting target, the shape of the lower edge of the component is checked in step S14. In step S15, it is determined whether or not the setting process has been completed for all the mounting heads 22. If not, the setting target is changed to the next head (step S16), and the process returns to step S2. The following processing is repeated. When the above-described setting process is completed for all the mounting heads 22, the process of this flowchart is completed.

  In the surface mounter 1 according to this embodiment, the image of the single suction nozzle 23 can be stored as shown in FIG. The flowchart shown in FIG. 11 is obtained by partially changing the procedure described with reference to the flowchart of FIG.

In the flowchart shown in FIG. 11, the processing performed in steps S101 to S103 is the same as the processing in steps S1 to S3 in the flowchart shown in FIG.
In step S <b> 104 following step S <b> 103, it is determined whether or not the scale has been calculated for the side image capturing camera 34. If the scale has not been calculated, the processes shown in steps S105 and S106 are performed. The processes in steps S104 to S106 are the same as the processes in steps S7 to S9 in the flowchart shown in FIG.

  Even if the determination result in step S104 is YES, or even if the determination result in step S104 is NO, after performing the processing in steps S105 and S106, in step S107, the suction nozzle is based on the image of the suction nozzle alone. It is determined whether or not the length of the tip 23b of 23 is within the tolerance of the normal value. At this time, the length of the tip 23b of the suction nozzle 23 is determined based on the image of the suction nozzle 23 captured by the side image capturing camera 34 and the scale calculated by the above-described processing in steps S105 and S106. Find the length and compare it to the normal value.

  If the determination result is NO in step S107, error processing is performed in step S108. If the determination result is YES in step S107, it is determined in step S109 whether the flatness of the nozzle tip surface is within the tolerance. Even when the determination result is NO, error processing is performed in step S108. The processes performed in steps S107 to S109 are the same as the processes in steps S4 to S6 of the flowchart shown in FIG.

If the determination result is YES in both step S107 and step S109, the image data of the suction nozzle alone is stored in the image memory 43 in step S110.
Next, in step S111, it is determined whether or not the current setting target is a reference head or a reference nozzle. If the determination result is YES, the process proceeds to step S112. If the determination result is NO, the corrected initial height of the nozzle is calculated in step S113, and this is stored in the machine information storage unit.

  In step S112, it is determined whether or not the setting process has been completed for all types of suction nozzles 23. As a result of the determination, if the above setting process has not been completed for all types, the next suction nozzle is replaced in step S114, and the process returns to step S102 to repeat the subsequent processes. The processes in steps S111 to S114 are the same as the processes in steps S10 to S13 of the flowchart shown in FIG.

  If the decision result in the step S112 is YES, in a step S115, it is judged whether or not the setting process has been completed for all the mounting heads 22. If the setting process is not completed as a result of this determination, the setting target is changed to the next head in step S116, and the process returns to step S102 to repeat the subsequent processes. When the setting process described above is completed for all the mounting heads 22, the process shown in the flowchart of FIG. 11 is completed. The processes in steps S115 and S116 are the same as the processes in steps S15 and S16 of the flowchart shown in FIG.

In order to mount the mounting component 6 on the printed wiring board 3 in the surface mounting machine 1 according to this embodiment, first, in step P1 of the flowchart shown in FIG. 7, all the suction nozzles 23 are placed on, for example, the tape feeder 5a. The mounting component 6 is adsorbed.
Next, in step P2 to step P3, the head unit 13 is moved above the lower imaging unit 14 and translated across the bottom image capturing camera 31 by the camera 31 while moving all of the mounting components 6. An image viewed from below (bottom image) is captured.

Thereafter, in step P4, by comparing the image data of the bottom image with the image data of the bottom image of the mounting component 6 stored in the mounting information storage means 64, the X direction and Y of the mounting component 6 are compared. The correction amount of the mounting position in the direction, the correction angle around the Z axis, and the like are calculated.
After calculating the correction amount in this way, in step P5, the image data of the suction nozzle alone stored in advance in the image memory 63 is read, and in step P6, the head unit 13 is moved to the side of the side imaging unit 15. The image is picked up by the side image pickup camera 34 and moved in the component suction state.

  After this imaging, in step P7, as shown in FIGS. 9 and 10, difference image data is generated by the difference between the image in the component suction state and the image of the suction nozzle alone, and in step P8, the quality of the suction nozzle 23 is determined. Make a decision. This pass / fail judgment is made on the side of the difference image data {image data located on the rightmost side in FIGS. 9 and 10 (a) to 10 (c)} and the mounting component alone stored in the mounting information storage means 64 in advance. This is performed by comparing the image data picked up from the image data. In step P8, as shown in FIG. 9, it is determined that the suction nozzle 23 is normal when the difference image data matches the single image data of the mounting component 6, and as shown in FIG. If the data does not match the single image data of the mounting component 6, it is determined that the suction nozzle 23 is abnormal.

  When it is determined that the suction nozzle 23 is abnormal, the process proceeds to Step P9 and error processing is performed. As an error process in this case, a display indicating the detection of contamination or breakage is performed on the display device 68, and a return treatment by the operator is waited. If the suction nozzle 23 is normal, the shape of the mounting component 6 is detected from the difference image data in step P10, and the shape is determined in step P11. At this time, if the lower end surface of the mounting component 6 is inclined, it is determined that a suction failure has occurred, and the process proceeds to step P9 to perform error processing.

  When the lower end surface of the mounting component 6 is substantially parallel to the suction surface of the suction nozzle 23, the process proceeds to Step P12, and the thickness of the mounting component 6 is measured by image processing. After measuring the thickness of the mounting component 6, in step P13, if the thickness is out of the specified value range, that is, if the thickness is larger or smaller than the dimensional tolerance range, the process proceeds to step P9 and error processing is performed. This routine ends. If the thickness is within the specified value range, the mounting component 6 is mounted on the printed wiring board 3 in step P14. The head unit 13 is provided with a plurality of mounting heads 22 and a plurality of suction nozzles 23. Even if any of the determinations of steps P8, P11, and P13 is NO at any of the suction nozzles 23, step P9 is performed. It is also possible to mount the component of the suction nozzle 23 where OK is generated without performing the error processing, and then perform the error processing in step P9. As an error process, the part of the suction nozzle 23 in which NG has come out is thrown away into the disposal box. If NO in step P8, the head unit 13 moves to a repair position accessible by the operator and enters a stopped state. If NO in step P11 or step P13, the part of the suction nozzle 23 in which NG has come out is discarded in the disposal box, the failure content is displayed on the display device, and the failure content is stored in the memory without stopping. Return to Step P1 again.

  In the surface mounting machine 1 configured as described above, an image serving as a criterion for determining the quality of the suction nozzle 23, that is, an image of the suction nozzle alone imaged in step S3 of the flowchart shown in FIG. It is the image which looked at the single adsorption | suction nozzle 23 made from the side. For this reason, in this embodiment, since the correct shape of the suction nozzle 23 can be imaged as the reference image, the quality determination using the reference image can be performed with high accuracy.

  In addition, the blow station 16 according to this embodiment causes the suction nozzle 23 to inject relatively high-pressure air in a direction opposite to that during component suction, and blows the high-pressure air from the side to the suction nozzle 23. The adhering foreign matter can be blown away from the outside and the inside, and the suction nozzle 23 can be cleaned.

  Since this cleaning is performed in the cleaning chamber 44 of the blow station 16, the foreign matter adhering to the suction nozzle 23 does not scatter around the suction nozzle 23. For this reason, by using the blow station 16 according to this embodiment, the suction nozzle 23 is sufficiently cleaned while preventing foreign matter from adhering to other suction nozzles 23 located outside the blow station 16 during cleaning. be able to.

  The blow station 16 according to this embodiment can clean the suction nozzles 23 of the plurality of mounting heads 22 at a time, and can efficiently perform cleaning. For this reason, the suction nozzle 23 can be sufficiently cleaned while improving the mounting efficiency in spite of the configuration in which the cleaning is always performed when the single suction nozzle 23 is imaged.

In the above-described embodiment, an example in which the suction nozzle 23 is cleaned with high-pressure air has been described . However, a cleaning liquid can be used for cleaning the suction nozzle . In this case, it is preferable to use a cleaning device that has a cleaning tank for storing the cleaning liquid and facing the suction nozzle so that the suction portion can be immersed in the cleaning liquid, and a cleaning unit that moves the cleaning liquid in the cleaning tank. it can. For example, alcohol is used as the cleaning liquid. In moving the cleaning liquid in the cleaning tank, for example, a configuration in which bubbles are blown into the cleaning tank so as to pass around the suction nozzle immersed in the cleaning liquid can be employed.

In this embodiment, the example in which the component transfer device according to the present invention is applied to the surface mounter 1 has been described. However, the component transfer device according to the present invention transfers an electronic component from the component supply unit to the inspection unit. It can also be used for a component inspection apparatus. That is, an electronic component is transported from an uninspected component tray by a component transfer device and placed on an inspection socket, and during this placement, an inspection current is input to the electronic component via the inspection socket and an output current is received. Whether the electronic component is good or bad is judged by a circuit inspection device separate from the component inspection device. After the inspection is completed, the electronic component is transported and placed from the inspection socket to the inspected good product tray or the inspected defective product tray by the component transfer device based on the circuit inspection result.
The component inspection apparatus equipped with the component transfer device according to the present invention makes a good / bad judgment such as whether there is a suction error of the electronic component to be inspected, whether the electronic component to be inspected is correct, whether there is an abnormality in the suction nozzle itself, or the like. Can be done accurately.

  In the above-described embodiment, the example in which the suction nozzle 23 is cleaned by the blow station 16 when the single suction nozzle 23 is imaged has been described. The cleaning of the suction nozzle 23 is performed in step P8 of the flowchart shown in FIG. It can also be performed when it is determined that is abnormal. Furthermore, even if no abnormality is detected, for example, after cleaning the suction nozzle that has been mounted a predetermined number of times, or after mounting the mounting parts on the printed wiring board a predetermined number of times, all When the suction nozzle is cleaned or the suction nozzle 23 mounted on the mounting head 22 is replaced, the new suction nozzle can be cleaned.

  Further, the imaging of the single suction nozzle 23 that does not suck the mounting component and the storage of the image data are not performed for all types of suction nozzles, but for example, a relatively small mounting component is sucked. It can be performed only for the suction nozzle or only for the replaced suction nozzle. In this case, while shortening the tact time, it is possible to reduce the probability of erroneous determination even if the erroneous determination cannot be completely eliminated.

  Further, as a modified example of the operation of the component transfer device 7, imaging is performed from the lower side of the nozzle every time the mounting component is sucked, but so-called thinning is performed so that imaging from the nozzle side surface is performed once every several times. Can do. Even in this case, it is possible to reduce the probability of erroneous determination even if the erroneous determination cannot be completely eliminated while shortening the tact time.

It is a top view of the surface mounting machine equipped with the component transfer apparatus which concerns on this invention. It is sectional drawing which shows the principal part. It is a front view which shows an imaging unit. It is a front view of a blow station. It is a block diagram which shows the structure of a surface mounter. It is a flowchart which shows operation | movement when acquiring the image of a suction nozzle single-piece | unit. It is a flowchart which shows operation | movement from acquisition of the image in a component adsorption | suction state to mounting a component. It is a figure which shows the image of a suction nozzle single-piece | unit. It is the figure which represented typically the image processing which an image processing means performs. It is the figure which represented typically the image processing in case a suction nozzle is defective. It is a flowchart which shows the other operation example when acquiring the image of a suction nozzle single-piece | unit.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Surface mounter, 6 ... Mounting component, 7 ... Component transfer apparatus, 8 ... Control apparatus, 13 ... Head unit, 14 ... Lower imaging unit, 15 ... Side imaging unit, 16 ... Blow station, 22 ... Mounting 23: suction nozzle, 23a ... base, 23b ... tip, 34 ... side image imaging camera, 42 ... cleaning unit, 44 ... cleaning chamber, 45 ... exhaust chamber, 46 ... filter, 47 ... air injection port, 49 ... Air passage for cleaning, 53 ... Air supply device, 64 ... Mounting information storage means, 71 ... First image acquisition means, 72 ... Second image acquisition means, 73 ... Storage means, 74 ... Image processing means, 75 ... determination means.

Claims (3)

A suction nozzle that picks up electronic components;
An image pickup means for picking up an image of the suction nozzle and an electronic component sucked by the suction nozzle when viewed from the side;
The image of the suction nozzle alone picked up by the image pickup means is used as a reference, and the suction nozzle and the suction nozzle and the electronic component sucked by the reference image are compared with an image of the suction nozzle and the electronic component sucked by the suction side. In a component transfer apparatus provided with an image processing means for determining pass / fail of an electronic component,
A cleaning device provided inside the movable range of the suction nozzle and having a cleaning unit into which the suction nozzle is inserted from above;
An image acquisition means for acquiring a reference image by imaging the suction nozzle cleaned by the cleaning device by the imaging means;
The cleaning unit of the cleaning device includes a cleaning chamber for air cleaning consisting of a hole formed so that the suction nozzle can be inserted from above.
An exhaust passage communicating the lower end of the cleaning chamber and the outside of the cleaning chamber;
A cleaning air passage which is a wall surface of the cleaning chamber and opens to the lower end of the suction nozzle inserted into the cleaning chamber;
Pressurized air is supplied to the cleaning air passage and the suction passage of the suction nozzle so that air is discharged into the cleaning chamber, and the compressed air is jetted downward from the suction passage, and the suction is performed. A component transfer device comprising: an air supply device for injecting pressurized air from the cleaning air passage toward a side of the nozzle. A to component transfer apparatus according to claim 1, wherein Accordingly the mounting part surface mounting apparatus for transferring the printed circuit board from the component supply section,
The cleaning device includes a plurality of cleaning rooms,
The surface mounting machine characterized in that these cleaning chambers are provided at positions corresponding to the respective suction nozzles of a head unit provided with a plurality of mounting heads having suction nozzles. An electronic component inspection device is transferred from a component supply unit to an inspection unit by the component transfer device according to claim 1 .

Images