JP5014083B2 - Side image acquisition device for suction nozzle and parts to be sucked - Google Patents

Side image acquisition device for suction nozzle and parts to be sucked Download PDF

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Publication number
JP5014083B2
JP5014083B2 JP2007301238A JP2007301238A JP5014083B2 JP 5014083 B2 JP5014083 B2 JP 5014083B2 JP 2007301238 A JP2007301238 A JP 2007301238A JP 2007301238 A JP2007301238 A JP 2007301238A JP 5014083 B2 JP5014083 B2 JP 5014083B2
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side image
position
suction nozzle
nozzle
suction
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JP2009130014A (en
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武義 磯貝
瑞穂 野沢
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富士機械製造株式会社
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    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04Mounting of components, e.g. of leadless components
    • H05K13/0404Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408Incorporating a pick-up tool
    • H05K13/041Incorporating a pick-up tool having multiple pick-up tools
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04Mounting of components, e.g. of leadless components
    • H05K13/0452Mounting machines or lines comprising a plurality of tools for guiding different components to the same mounting place
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08Monitoring manufacture of assemblages
    • H05K13/081Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0812Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement

Abstract

Provided are a component mounting head, a component mounting device, and a side surface image acquiring device for an adsorption nozzle and a component to be adsorbed which can prevent the extension of cycle time even in the case where a side surface recognition function is used. The component mounting head comprises a rotatable nozzle holder (17), a plurality of adsorption nozzles (18) which are held movable in an axis line direction and which mount a component on a printed-circuit board, a nozzle holder locating device for rotating the nozzle holder about the axis line and sequentially locating the plurality of adsorption nozzles on a working position, a back-and-forth adsorption nozzle transfer device for transferring the adsorption nozzle back and forth in the axis line direction, and a side surface recognition camera for acquiring the side surface image of the component. In the component mounting head, the side surface image acquiring device for acquiring the side surface images of the leading ends of the adsorption nozzles located on a posterior position (S1-1) and an anterior position (S1+1) posterior to and anterior to the working position is provided.

Description

  The present invention relates to a component mounting head that sucks a component with a suction nozzle mounted on a substrate that can be raised and lowered on a rotary indexable nozzle holder, and mounts the component on a substrate. The present invention relates to a suction nozzle for acquiring the side image and a side image acquisition device for the part to be sucked.

  In the component mounting head in which the suction nozzle is mounted on the rotary indexable nozzle holder so that the suction nozzle can be moved up and down, when the component mounting head is moved onto the component supply position of the component supply device, the work is performed by the indexing rotation of the nozzle holder. The suction nozzle that has been indexed moves down and picks up the component at the component supply position and moves up, and when the component mounting head is moved to the mounting position for mounting the component on the board, the suction nozzle moves down. The component is mounted on the board and raised. As described in the specification of Japanese Patent Application No. 2007-158658 relating to the prior application of the present applicant, the suction nozzle indexed to the preceding position ahead of the work position in the rotation direction of the nozzle holder and the tip of the suction nozzle A side image of the preceding position side image of the component adsorbed on the front side, and the suction nozzle indexed at the rear succeeding position and the rear position side image of the component adsorbed on the tip of the adsorption nozzle with one side imaging camera A side image acquisition device has been developed that captures images on one screen as a preceding position side image and a following position side image.

Further, Patent Document 1 describes an IC inspection apparatus that acquires a back image and a side image of a bumped IC with a single imaging camera.
JP 2007-149908 A (summary)

  When the component mounting head is moved onto the component supply position of the component supply device and the components are sequentially sucked and held by the plurality of suction nozzles, in the normal state, the rotation direction of the nozzle holder from the work position where the suction nozzle sucks the components In FIG. 5, the suction nozzle located at the preceding preceding position sucks the component, and the suction nozzle located at the rear succeeding position does not suck the component. Therefore, since the presence / absence check of the part, the height measurement of the part, the posture confirmation, the front / back determination, etc. are performed by the preceding position side image, the preceding position side image needs a large area in which a little more than half of the part is reflected. Since only the presence / absence confirmation of the part is performed depending on the subsequent position side image, the subsequent position side image may be an area small enough to show the tip portion of the suction nozzle.

  However, in the side image acquisition device described in the specification of Japanese Patent Application No. 2007-158658, the areas of the preceding position side image and the subsequent position side image acquired on one screen by one side imaging camera are made equal. Therefore, the area of the preceding position side image cannot be set to a size that can capture a little more than half of the part, and there are cases where it is impossible to measure the height of the part, confirm the posture, determine the front and back, and the like. On the contrary, the succeeding position side image occupies a half of one screen of the side imaging camera although the presence or absence of the component can be confirmed if a part of the component adsorbed at the tip of the adsorption nozzle is reflected.

  When the component mounting head is moved to the mounting position where the component is mounted on the board, the suction nozzle located at the subsequent position sucks the component, and the suction nozzle located at the preceding position sucks the component. Not. When checking the presence / absence of a part, measuring the height of the part, checking the posture, and checking the front / back, etc., using the trailing position side image before mounting the part on the board, the trailing position side image shows a little over half of the part. Since a large area is required and only the presence / absence confirmation of parts is performed depending on the preceding position side image, the preceding position side image may be small enough to show the tip portion of the suction nozzle.

  Further, in the IC inspection apparatus described in Patent Document 1, the suction nozzle indexed at the preceding position and the succeeding position and the preceding position side image and the succeeding position side image of the parts sucked by the suction nozzle are combined. It is impossible to capture an image on one screen with the side imaging camera of the table.

  SUMMARY OF THE INVENTION The present invention has been made in view of the related circumstances, and an object of the present invention is to provide a suction nozzle indexed to a preceding position and a succeeding position behind the working position in the rotation direction of the nozzle holder, and the suction nozzle. That is, it is possible to pick up the preceding position side image and the succeeding position side image of the picked-up parts on one screen with different image areas with one side image pickup camera.

  In order to solve the above-described problem, the structural features of the suction nozzle and the side image acquisition device of the part to be sucked according to claim 1 are: a nozzle holder that is rotatable about an axis, and the axis on the nozzle holder. A plurality of suction nozzles that are held so as to be movable in the axial direction on a concentric circumference, and that suck the component and mount the component on the substrate, and the nozzle holder is rotated about the axis to rotate the plurality In a component mounting head having a nozzle holder indexing device for sequentially indexing the suction nozzles to the working position and a suction nozzle advancing / retreating device for moving the suction nozzle back and forth in the axial direction at the work position, the rotation direction of the nozzle holder The suction nozzle indexed to the preceding position ahead of the working position, the preceding position side image of the component sucked to the tip of the suction nozzle, and the rotation direction of the nozzle holder The suction nozzle indexed to the trailing position behind the working position and the trailing position side image of the component sucked to the tip of the suction nozzle are passed through the first optical path and the second optical path. In this case, the preceding position side image and the succeeding position side surface are obtained by using the suction nozzle and the attracted part side image acquisition device which are introduced into the side imaging camera and are imaged on one screen as the preceding position side image and the following position side image. The first optical path and the second optical path are set so that one of the images occupies a larger area on the one screen than the other.

  According to a second aspect of the present invention, there is provided a structural feature of the suction nozzle and the side image acquisition device of the part to be sucked, according to the first aspect, wherein the first optical path and the front position side image are larger than the subsequent position side image. The second optical path is set.

  According to a third aspect of the present invention, in the configuration of the suction nozzle and the side image acquisition device of the part to be suctioned, the center of the suction nozzle in the preceding position side image is relative to the center of the preceding position side image. That is, the first optical path is set so as to be offset.

  According to a fourth aspect of the present invention, in the configuration of the suction nozzle and the side image acquisition device of the part to be sucked, the range of the preceding position side image and the subsequent position side image in any one of claims 1 to 3 is described. In order to set, an opening frame whose opening region can be adjusted on a blocking wall that blocks the first optical path and the second optical path includes a tip end portion of the suction nozzle indexed at the preceding position and the succeeding position, and the suction That is, it is provided so as to face the component adsorbed by the nozzle.

  According to the suction nozzle and the side image acquisition device of the part to be suctioned according to claim 1, the suction nozzle indexed to the preceding position and the succeeding position behind the work position in the rotation direction of the nozzle holder, and the suction nozzle The preceding position side image and the succeeding position side image of the component adsorbed on the surface are introduced into one side imaging camera in the first optical path and the second optical path, and are displayed on one screen as the preceding position side image and the following position side image. To be imaged. Since the first optical path and the second optical path are set so that one of the preceding position side image and the succeeding position side image occupies one screen more than the other, the preceding position side image and the following position For example, part height measurement, posture confirmation, and front / back determination can be performed on the larger side surface image. If the area is smaller, the presence or absence of a component can be determined sufficiently.

  According to the suction nozzle and the side image acquisition device of the part to be sucked according to the second aspect, the preceding position side image is larger than the following position side image on one screen. When the component mounting head is moving above the component supply position of the component supply device, the suction nozzle located at the preceding preceding position in the rotation direction of the nozzle holder from the work position facing the component supply position is sucking the component. The suction nozzle located at the rear succeeding position does not suck parts. Therefore, since a wide range of parts is included in the large area preceding position side image obtained by imaging the suction nozzle indexed to the previous position after suction and the parts sucked by the suction nozzle, the parts sucked to the tip of the suction nozzle It is possible to confirm the presence of the parts together with the measurement of the height, confirmation of the suction in the correct posture, that is, whether it is not sucked in the tilted posture or not in the opposite direction. It can be confirmed that the component is not accidentally sucked at the tip of the suction nozzle by a small area of the succeeding position side image obtained by imaging the suction nozzle portion indexed at the subsequent position.

  In addition, immediately after the suction nozzle picks up the part, it measures the height of the part and confirms that it is picked up in the correct posture. And erroneous mounting can be prevented efficiently and reliably.

  According to the suction nozzle and the side image acquisition device of the part to be sucked according to the third aspect, the center of the suction nozzle in the preceding position side image is offset with respect to the center of the preceding position side image. Accordingly, the center of the suction nozzle is further offset in the large-area preceding position side image obtained by imaging the tip portion of the suction nozzle indexed to the preceding position after suction, for example, at least half of the considerably large parts are leading. Since the side area image has a wider area on both sides of the suction nozzle center, it is possible to reliably measure the height of the parts sucked at the tip of the suction nozzle and confirm that they are sucked in the correct posture. it can.

  According to the suction nozzle and the side image acquisition device of the part to be sucked according to claim 4, the opening frame whose opening region can be adjusted on the blocking wall that blocks the first optical path and the second optical path is provided at the preceding position and the following position. Since the tip of the indexed suction nozzle is opposed to the part sucked by the suction nozzle, the size and range of the preceding position side image and the succeeding position side image are set appropriately. It is possible to use one screen effectively.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a suction nozzle and a side image acquisition device for sucked parts according to the present invention will be described below with reference to the drawings. As shown in FIG. 1, the component mounting device 30 including the suction nozzle and the side image acquisition device for the component to be suctioned according to the present embodiment includes a component supply device 70, a substrate transfer device 60, and a component transfer mounting 80. ing.

  The component supply device 70 is configured by arranging a plurality of cassette type feeders 71 in parallel on a base frame 90. The cassette type feeder 71 includes a main body 72 that is detachably attached to the base frame 90, a supply reel 73 that is detachably attached to the rear portion of the main body 72, and a component supply position 74 that is provided at the tip of the main body 72. The supply reel 73 is wound and held with a long and narrow tape in which components are sealed at a predetermined pitch. The tape is pulled out at a predetermined pitch by a sprocket, and the components are released from the sealed state and sequentially fed to the component supply position 74. In addition, a CCD camera 75 that detects the holding position of the component is provided between the component supply device 70 and the substrate transfer device 60. The component transfer device 80 is retracted rearward in FIG. 1, but when the component P is mounted on the substrate, the component transfer device 80 is conveyed to a predetermined position by the substrate conveyance device 60 via the upper part of the CCD camera 75. It moves on the substrate.

  The substrate transport device 60 transports substrates in the X-axis direction, and is a so-called double conveyor type in which two rows of first transport devices 61 and second transport devices 62 are arranged side by side. The first transport device 61 and the second transport device 62 have a pair of guide rails 64a, 64b, 65a, 65b arranged on the base 63 in parallel and facing each other in parallel, and the guide rails 64a, 64b. , 65a, 65b, and a pair of conveyor belts that support and convey the substrates respectively, and are arranged in parallel so as to face each other. The substrate transport device 60 is provided with a clamp device that pushes up and clamps the substrate transported to a predetermined position, and the substrate is positioned and fixed at the predetermined position by the clamp device.

  The component transfer device 80 is of the XY robot type, is mounted on the base frame 90 and is disposed above the substrate transfer device 60 and the component supply device 70, and is moved in the Y axis direction by the Y axis servo motor 11. The Y-axis slider 12 is provided. As shown in FIG. 2, an X-axis slider 13 is guided by the Y-axis slider 12 so as to be movable in the X-axis direction orthogonal to the Y-axis direction.

  That is, the X-axis slider 13 is connected to the Y-axis slider 12 via a pair of guide rails 12 a that are fixed to the Y-axis slider 12 and extend in the X-axis direction, and a pair of guide blocks 13 a that are fixed to the X-axis slider 13. It is held movable. An X-axis servo motor (not shown) is fixed to the Y-axis slider 12, and a ball screw shaft 12b extending in the X-axis direction is connected to the output shaft of the X-axis servo motor. The ball screw shaft 12b is screwed to a ball nut 13b fixed to the X-axis slider 13 via a ball. Accordingly, when the X-axis servo motor rotates, the ball screw shaft 12b rotates, and the X-axis slider 13 is guided by the guide rail 12a via the ball nut 13b and moves in the X-axis direction.

  On the X-axis slider 13, a component mounting head 10 that attaches components to the substrate is attached. As shown in FIG. 2, the component mounting head 10 includes an R-axis motor 15, an index shaft 16, a nozzle holder 17, a suction nozzle 18, a θ-axis motor 19, a Z-axis motor 20, and a CCD camera 21. It is comprised by the side image acquisition apparatus 50 etc. provided as.

  The X-axis slider 13 is integrally provided with first and second frames 25 and 26 extending in the horizontal direction so as to be separated from each other in the vertical direction, and the R-axis motor 15 is fixed to the first frame 25. The output shaft of the R-axis motor 15 is connected to an index shaft 16 that is supported on the first frame 25 so as to be rotatable about the vertical axis AL (R-axis direction). A rotating body 28 having a driven gear 27 and a θ-axis gear 29 formed thereon is supported on the index shaft 16 so as to be rotatable only. A cylindrical nozzle holder 17 is fixed to the lower end portion of the index shaft 16. The R-axis motor 15 and the index shaft 16 constitute a nozzle holder indexing device 55 that indexes the rotation of the nozzle holder 17 in the R-axis direction.

  As shown in FIG. 4, the nozzle holder 17 holds a plurality of suction nozzles 18 movably in the vertical direction on a circumference 17a concentric with the vertical axis AL. As shown in FIG. 3, each suction nozzle 18 is attached to the lower end of a nozzle spindle 33 that is supported by the nozzle holder 17 so as to be slidable in the vertical direction (Z-axis direction). A large diameter portion 33 a is formed at the lower end portion of the nozzle spindle 33, and a nozzle gear 34 is fixed to the upper end portion of the nozzle spindle 33. A compression spring 35 is provided between the nozzle gear 34 and the nozzle holder 17. The compression spring 35 urges the nozzle spindle 33 and the suction nozzle 18 upward, and the large-diameter portion 33 a is the lower surface of the nozzle holder 17. The upper movement of the nozzle spindle 33 and the suction nozzle 18 is restricted. Further, each suction nozzle 18 is supplied with a negative pressure from a negative pressure generator (not shown) via a nozzle spindle 33, and each suction nozzle 18 can suck the component P at its tip. it can.

  Furthermore, a cylindrical reflector 31 capable of reflecting light is fixed to the center of the lower end of the nozzle holder 17. Therefore, the nozzle holder 17 and the reflector 31 are rotated around the vertical axis AL together with the index shaft 16. As a result, when the R-axis motor 15 is rotated, the nozzle holder 17 holding the plurality of suction nozzles 18 can be rotated around the vertical axis AL (R-axis direction) via the index shaft 16. The suction nozzle 18 can be sequentially indexed to the work position S1.

  A θ-axis motor 19 is fixed to the first frame 25, and a drive gear 36 is fixed to the output shaft of the θ-axis motor 19. The drive gear 36 is meshed with a driven gear 27 on a rotating body 28 that is rotatably supported by the index shaft 16. A θ-axis gear 29 is formed on the rotating body 28 over a predetermined length in the axial direction, and the θ-axis gear 29 is slidably engaged with each nozzle gear 34 fixed to the nozzle spindle 33. ing. Accordingly, when the θ-axis motor 19 is rotated, all the suction nozzles 18 can be rotated with respect to the nozzle holder 17 via the drive gear 36, the driven gear 27, the θ-axis gear 29, and the nozzle gear 34.

  A Z-axis motor 20 is fixed to the first frame 25, and a ball screw shaft 37 is connected to the output shaft of the Z-axis motor 20. The ball screw shaft 37 is supported by a bearing 38 fixed to the first frame 25 and a bearing 39 fixed to the second frame 26 so as to be rotatable about an axis parallel to the vertical axis AL. A ball nut 40 that converts the rotational motion of the Z-axis motor 20 into a linear motion is screwed onto the ball screw shaft 37 via a ball. The ball nut 40 is fixed to a nozzle lever 41 slidably guided in a vertical direction by a guide 42 extending in the vertical direction fixed to the first and second frames 25 and 26.

  The nozzle lever 41 is provided with a pressing portion 41a that abuts the upper end of the nozzle spindle 33 indexed at the work position S1 and presses the nozzle spindle 33 downward in the Z-axis direction. Accordingly, when the Z-axis motor 20 is rotated, the ball screw shaft 37 is rotated, and the nozzle lever 41 is guided by the guide 42 via the ball nut 40 and moves up and down. When the nozzle lever 41 moves up and down, the nozzle spindle 33 and the suction nozzle 18 corresponding to the pressing portion 41a can be moved up and down. The Z-axis motor 20, the ball screw shaft 37, the ball nut 40, the nozzle lever 41, and the like constitute the suction nozzle advance / retreat device 56 that moves the suction nozzle 18 back and forth in the Z-axis direction.

  As shown in FIG. 6, the pressing portion 41a of the nozzle lever 41 has a predetermined width W1 around the work position S1 in the rotation direction of the nozzle holder 17, and the suction nozzle 18 has a predetermined width before and after the work position S1. The pressing portion 41a can come into contact with the upper end of the nozzle spindle 33 of the suction nozzle 18. Thus, the suction nozzle 18 can be moved up and down during the rotation of the nozzle holder 17 in a predetermined angular range before and after the work position S1.

  A support bracket 43 is suspended from the second frame 26. The support bracket 43 has a leading position S1 + 1 ahead of the working position S1 in the rotational direction of the nozzle holder 17 and a trailing position S1-1 behind one pitch. The front position side image and the succeeding position side image of the indexed two suction nozzles 18 and the part P (part to be sucked P) sucked to the tip of the suction nozzle 18 are captured by the light reflected by the reflector 31. As shown in FIG. 8, one CCD camera 21 that acquires the preceding position side image 77a and the following position side image 77b on one screen 78 is fixed.

  An imaging case body 45 is fixed to the housing of the CCD camera 21 so as to face the suction nozzle 18 indexed at the work position S1, and the side of the imaging case body 45 facing the reflector 31 is shown in FIG. As shown, an arcuate wall surface 45d having the vertical axis AL as the arc center is formed across the working position S1, the preceding position S1 + 1, and the following position S1-1 so as to surround the nozzle holder 17. A plurality of irradiating bodies 46 made of LEDs that irradiate light toward the reflector 31 are mounted on the arcuate wall surface 45 d of the imaging case body 45. Opening frames 45a and 45b are opened in the arcuate wall surface 45d at positions facing the preceding position S1 + 1 and the succeeding position S1-1 of the work position S1. Movable walls 68a and 68b are provided on both side edges of the opening frames 45a and 45b so as to be capable of adjusting the position, and the opening regions of the opening frames 45a and 45b, that is, the width and position of the nozzle holder 17 in the rotational direction can be adjusted. Yes. The imaging case body 45 is bent by two first prisms 47a and 47b that receive reflected light reflected by the reflector 31 through the opening frames 45a and 45b, respectively, and these two first prisms 47a and 47b. A mountain-shaped second prism 48 is provided that makes the bent light incident and bends toward the CCD camera 21.

  By the opening frame 45a, the first prism 47a, and the second prism 48, the front end portion of the suction nozzle 18 indexed to the preceding position S1 + 1 and the preceding position side image of the part to be sucked P are irradiated from the irradiation body 46 and the reflector 31 is irradiated. A first optical path 49a is configured to be introduced into the CCD camera 21 by the reflected light reflected by. The irradiation body 46 irradiates the front end portion of the suction nozzle 18 indexed to the subsequent position S1-1 and the subsequent position side image of the suction target component P by the opening frame 45b, the first prism 47b, and the second prism 48. A second optical path 49b that is introduced into the CCD camera 21 by the reflected light reflected by the reflector 31 is configured. A blocking wall that blocks the first optical path 49a and the second optical path 49b is configured by the arc-shaped wall surface 45d. An opening frame is configured in which the tip of the suction nozzle 18 indexed to the subsequent position S1-1 and the opening region provided facing the part P sucked at the tip of the suction nozzle 18 can be adjusted. .

  Thus, the suction nozzle and the side image acquisition device 50 of the part to be sucked are configured by the first optical path 49a, the second optical path 49b, the CCD camera 21 as one side imaging camera, and the like, and the rotation direction of the nozzle holder 17 The suction nozzle 18 indexed to the preceding position S1 + 1 ahead of the working position S1 and the side image of the preceding position of the part P sucked to the tip of the suction nozzle 18 and the rotation direction of the nozzle holder 17 are behind the working position S1. The suction nozzle 18 indexed to the subsequent position S1-1 and the side image of the subsequent position of the component P sucked to the tip of the suction nozzle 18 pass through the first optical path 49a and the second optical path 49b. Are taken on a single screen 78 as a preceding position side image 77a and a following position side image 77b.

  Thereby, the light irradiated from the irradiation body 46 is reflected by the reflector 31, and the suction nozzle 18 indexed to the preceding position S1 + 1, the part to be suctioned P, and the suction nozzle indexed to the subsequent position S1-1. 18 and the outer peripheral edge of the part P to be sucked and the opening frames 45a and 45b, and is incident on the CCD camera 21. The reflector 31 portion becomes a bright background, and the preceding position side image and the following position side image are obtained. Images are captured on one screen 78 as a darker preceding position side image 77a and following position side image 77b (see FIG. 8). At this time, the first optical path 49a and the second optical path 49b are set so that the area occupied by the preceding position side image 77a on the one screen 78 is larger than that of the following position side image 77b. That is, the opening frame 45a is adjusted by adjusting the position of the CCD camera 21, adjusting the positions of the first and second prisms 47a and 47b, and adjusting the positions of the movable walls 68a and 68b provided on both side edges of the opening frames 45a and 45b. 45b, the width and position of the nozzle holder 17 in the rotational direction are adjusted, the imaging positions of the preceding position side image and the succeeding position side image, and the preceding position side image 77a on the one screen 78 captured by the CCD camera 21; The position and size of the succeeding position side image 77b can be set.

  When the component mounting head 10 moves to the component supply position 74 of the component supply device 70 and performs a suction operation in which the plurality of suction nozzles 18 sequentially hold and hold the components P, the work position S1 that faces the component supply position 74 is displayed. The suction nozzle 18 located at the preceding position S1 + 1 sucks the part P, and the suction nozzle 18 located at the subsequent position S1-1 does not suck the part P. Then, the height of the part P sucked by the suction nozzle 18 indexed at the preceding position S1 + 1 is confirmed, and it is confirmed that it is sucked in the correct posture, that is, whether it is sucked in the opposite direction (FIG. 8 ( Since it is necessary to check whether or not it is adsorbed in an inclined posture (see FIG. 8B) together with the presence or absence of a component, a wide range of the component P is captured in the preceding position side image 77a. Need to be. For example, whether or not the component P is sucked upside down is determined based on the position of the lead provided on the side of the component P. Therefore, the preceding position side image 77a is at least one side of the component P. A large area is required to contain. At the subsequent position S1-1, it is only necessary to confirm that no foreign matter is accidentally adsorbed to the front end of the suction nozzle 18 before the suction, so the front end portion of the suction nozzle 18 is imaged in the subsequent position side image 77b. It is enough. Accordingly, the first optical path 49a and the second optical path 49b are set so that the area occupied by the preceding position side image 77a on the one screen 78 is larger than that of the following position side image 77b.

  Furthermore, the center 22 of the suction nozzle 18 in the preceding position side image 77a occupying a large area on one screen 78 is offset from the center 79 of the preceding position side image 77a. The width and position in the rotation direction and the position of the CCD camera 21 are adjusted. As a result, as shown in FIG. 8A, for example, in the large-area preceding position side image 77a obtained by imaging the tip portion of the suction nozzle 18 indexed to the preceding position S1 + 1 after suction and the part P to be sucked, for example, a large suction Since at least half of the parts enter the larger area of both sides of the center 22 of the suction nozzle 18 of the preceding position side image 77a, the height measurement of the part P sucked at the tip of the suction nozzle 18 and the determination of the front and back are ensured. Can be done. As shown in FIG. 8B, even when the part P to be picked up appears only in the smaller area of both sides of the center 22 of the suction nozzle 18 of the preceding position side image 77a, the part P is inclined. The adsorption can be detected.

  Further, the opening frames 45a and 45b opened in the arcuate wall surface 45d as a blocking wall that blocks the first optical path 49a and the second optical path 49b are suction nozzles indexed to the preceding position S1 + 1 and the succeeding position S1-1. The front end portion of 18 is provided opposite to the part P to be attracted. As a result, by adjusting the positions of the movable walls 68a and 68b and adjusting the positions and widths of the opening frames 45a and 45b and the position of the CCD camera 21, the size and imaging of the preceding position side image 77a and the succeeding position side image 77b are obtained. The range can be set easily and appropriately, and one screen 78 can be used effectively.

  As illustrated in FIG. 5, the control device 51 includes a computer 52 including a CPU and a memory. The computer 52 includes a follow-up position S <b> 1-1 immediately before the work position S <b> 1 imaged by the side image acquisition device 50. The suction nozzle 18 at the preceding position S1 + 1 and the image recognition means 53 for recognizing the side images 77a and 77b of the part P to be sucked are connected.

  The computer 52 is connected to simultaneous operation control means 57 and sequence control means 58 for controlling the R-axis motor 15 of the nozzle holder indexing device 55 and the Z-axis motor 20 of the suction nozzle advance / retreat movement device 56. The sequence control means 58 sequentially controls the operation of the R-axis motor 15 and the Z-axis motor 20, and which control means 57, 58 is controlled by the computer 52.

  Next, an operation of mounting the component P on the board by the component mounting apparatus having the above-described configuration will be described. First, based on a command from the control device 51, the conveyor belt of the substrate transport device 60 is driven, and the substrate is guided to the guide rails 64a and 64b (65a and 65b) and transported to a predetermined position. Then, the substrate is pushed up and clamped by the clamp device, and is positioned and fixed at a predetermined position.

  Subsequently, by driving the Y-axis servo motor 11 and the X-axis servo motor (not shown), the Y-axis slider 12 and the X-axis slider 13 are moved, and the component mounting head 10 is moved to the component supply position 74 of the component supply device 70. Moved to.

  Thereafter, when the R-axis motor 15 is rotated by the control device 51, the nozzle holder 17 is rotated by one pitch, and the nozzle spindle 33 to which the suction nozzle 18 that has been indexed at the subsequent position S1-1 is mounted. It is indexed to the work position S1. When the Z-axis motor 20 is rotated forward while the nozzle holder 17 is rotated by one pitch, the nozzle spindle 33 is pushed downward by the nozzle lever 41 against the urging force of the compression spring 35 and descends. Is done. Before the nozzle spindle 33 is positioned at the descending end, the nozzle holder 17 is indexed to the working position S1 and stopped. In this state, the nozzle spindle 33 is pushed down to a position where the tip of the suction nozzle 18 approaches the component P conveyed to the component supply position 74, and negative pressure is supplied to the suction nozzle 18 from a negative pressure generator (not shown). The component P is sucked and held at the tip of the suction nozzle 18. Thereafter, when the Z-axis motor 20 is reversed, the nozzle lever 41 is moved upward, and the suction nozzle 18 is pushed up to the rising end position by the urging force of the compression spring 35. Before the suction nozzle 18 moves back to the ascending end position, the nozzle holder 17 is rotated by the R-axis motor 15, and the suction nozzle 18 indexed at the work position S1 is indexed at the subsequent position S1 + 1. By repeating such an operation, the parts P are sequentially sucked and held by the plurality of suction nozzles 18. Accordingly, as shown in FIG. 7, during the rotation indexing operation of the nozzle holder 17, so-called simultaneous operation control in which the suction nozzle 18 is simultaneously moved in the vertical direction can be performed, and the component P is sucked. Cycle time can be shortened and productivity can be improved.

  While the nozzle holder 17 is stopped rotating and the suction nozzle 18 indexed to the work position S1 is lowered to suck the component P, the suction indexed to the preceding position S1 + 1 and the succeeding position S1-1, respectively. The preceding position side image 77a and the succeeding position side image 77b of the nozzle 18 and the sucked part P are acquired on one screen 78 by the side image acquisition device 50. These two side images 77a and 77b are input to the image recognition means 53 of the control device 51, are image-recognized, and measure the height of the part P sucked at the tip of the suction nozzle 18 based on the preceding position side image 77a. Determination or the like is performed, and whether or not the component P is attracted is determined based on the succeeding position side image 77b.

  In this way, immediately after the suction nozzle 18 picks up the component P, the height of the component P is measured, and it is confirmed that it is sucked in the correct posture. In addition, it is possible to efficiently and reliably prevent wasteful conveyance and erroneous mounting.

  When the component P is attracted to all the suction nozzles 18, the Y-axis servo motor 11 and the X-axis servo motor (not shown) are driven to move the Y-axis slider 12 and the X-axis slider 13, and the component mounting head 10 is connected to the CCD. The component P that is moved onto the camera 75 and sucked and held by the plurality of suction nozzles 18 is imaged by the CCD camera 75, and a positional shift and an angular shift of the component P with respect to the suction nozzle 18 are detected. Thereafter, the component mounting head 10 is moved by being corrected by the Y-axis servo motor 11 and an unillustrated X-axis servo motor in accordance with the positional deviation and the angular deviation, and is moved onto the substrate positioned at a predetermined position. Next, the rotation of the θ-axis motor 19 controls the component P sucked and held at the tip of the suction nozzle 18 indexed to the work position S1 of the nozzle holder 17 to be controlled to a predetermined posture by correcting the angular deviation. When the Z-axis motor 20 is rotated forward, the nozzle spindle 33 is pushed downward against the urging force of the compression spring 35 by the nozzle lever 41, and the component P adsorbed at the tip of the adsorption nozzle 18 is the substrate. It is pushed down until it is attached. Thereafter, when the Z-axis motor 20 is reversed, the nozzle lever 41 is moved upward, and is pushed up to the state where the suction nozzle 18 is moved to the uppermost end by the urging force of the compression spring 35. When the component mounting head 10 is moved to the mounting position, the vertical movement of the suction nozzle 18 is simultaneously performed during the rotation indexing operation of the nozzle holder 17 as in the case of the movement to the supply position 74 described above. To do. When the mounting of the component P is completed at the mounting position of the board, the component mounting head 10 is moved to the next mounting position of the board by the Y-axis servo motor 11 and the X-axis servo motor (not shown). At the mounting position, it is confirmed that the component is sucked to the tip of the suction nozzle 18 before mounting based on the subsequent position side image 77b, and the component is attached to the tip of the suction nozzle 18 after mounting based on the preceding position side image 77a. It is confirmed that P is not adsorbed.

  Further, according to the above-described embodiment, the side image acquisition device 50 uses the one side imaging camera to adsorb the tip of the suction nozzle 18 at the preceding position S1 + 1 immediately after the work position S1 and the immediately succeeding position S1-1 and the suction portion. Since it is configured to acquire the leading position side image 77a and the trailing position side image 77b of the part P, it is possible to reduce the space and cost of the side image acquisition device 50.

  In the above-described embodiment, the side images of the two suction nozzles 18 and the part to be sucked that are indexed to the preceding position S1 + 1 immediately after the work position S1 and the immediately following position S1-1 are acquired. However, the position does not necessarily have to be immediately after and immediately before the work position S1, but may be any position after and before the work position S1.

  In the first embodiment described above, the CCD camera 21 is used as the side image acquisition device 50. However, any device capable of acquiring a two-dimensional image may be used. For example, a CMOS camera may be used. .

  In the above embodiment, the first optical path 49a and the second optical path 49b are set so that the area occupied by the preceding position side image 77a on the one screen 78 is larger than that of the following position side image 77b. When the component mounting head 10 moves to the substrate mounting position and performs the mounting operation to mount the component on the substrate, the height of the component P is measured based on the trailing position side image 77b and is sucked in the correct posture. In the case where the presence or absence of the part P that has not detached from the suction nozzle 18 is checked based on the preceding position side image 77b, the position adjustment of the CCD camera 21 and the first and second prisms 47a are performed. , 47b, and the positions of the movable walls 68a, 68b provided on the both side edges of the opening frames 45a, 45b, the trailing position side image 77b. It is may set the first optical path 49a and the second optical path 49b so that the area occupied on the single screen 78 than the prior position side image 77a is increased.

1 is a perspective view of a component mounting device including a suction nozzle and a side image acquisition device for a component to be sucked according to an embodiment of the present invention. It is a front view of the component mounting head provided with the suction nozzle which concerns on embodiment of this invention, and the side image acquisition apparatus of a to-be-sucked component. It is the figure which expanded the principal part of FIG. FIG. 4 is a view taken in the direction of arrow 4 in FIG. 3. It is a block diagram which shows the control apparatus in embodiment. It is operation | movement explanatory drawing explaining the operation | movement in embodiment. It is a figure which shows schematically the operation | movement in embodiment. It is a figure shown in the side image in embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Component mounting head, 15 ... R-axis motor, 17 ... Nozzle holder, 18 ... Suction nozzle, 20 ... Z-axis motor, 21 ... CCD camera (one side imaging camera), 22 ... Center of suction nozzle, 30 ... Component mounting device, 31 ... reflector, 41 ... nozzle lever, 45 ... imaging case body, 45a, 45b ... opening frame, 45d ... arcuate wall surface, 46 ... illuminator, 49a, ... first optical path, 49b ... second optical path 50 ... Side image acquisition device, 51 ... Control device, 55 ... Nozzle holder indexing device, 56 ... Suction nozzle advance / retreat device, 57 ... Simultaneous operation control means, 68a, 68b ... Movable wall, 74 ... Supply position, 77a ... Preceding position side image, 77b ... following position side image, 78 ... one screen, 79 ... center of preceding position side image, P ... part, S1 ... working position, S1 + 1 ... preceding position, S1-1 ... following position.

Claims (4)

  1. A nozzle holder that can rotate around an axis, and a plurality of suctions that are held by the nozzle holder so as to be movable in the axial direction on a circumference concentric with the axis, and that attracts components and mounts the components on a substrate A nozzle, a nozzle holder indexing device for sequentially indexing the plurality of suction nozzles to a working position by rotating the nozzle holder around the axis, and suction for moving the suction nozzle back and forth in the axial direction at the working position In a component mounting head having a nozzle advance / retreat movement device,
    The suction nozzle indexed at the preceding position ahead of the work position in the rotation direction of the nozzle holder, the preceding position side image of the part sucked at the tip of the suction nozzle, and the work in the rotation direction of the nozzle holder The side surface image of the suction nozzle indexed to the rear position after the position and the rear position of the part sucked by the tip of the suction nozzle passes through the first optical path and the second optical path. In the side image acquisition device of the suction nozzle and the part to be sucked that is introduced on the one screen as the preceding position side image and the subsequent position side image,
    The suction nozzle, wherein the first optical path and the second optical path are set so that one of the preceding position side image and the subsequent position side image occupies a larger area on the one screen than the other; Side image acquisition device for attracted parts.
  2.   2. The side image acquisition of a suction nozzle and a suction target component according to claim 1, wherein the first optical path and the second optical path are set so that the preceding position side image is larger than the following position side image. apparatus.
  3.   3. The suction nozzle and the suction target according to claim 2, wherein the first optical path is set such that a center of the suction nozzle in the preceding position side image is offset from a center of the preceding position side image. Side image acquisition device for parts.
  4.   4. The opening region according to claim 1, wherein an opening region is adjusted in a blocking wall that blocks the first optical path and the second optical path in order to set a range of the preceding position side image and the subsequent position side image. A possible opening frame is provided opposite to the tip of the suction nozzle indexed at the preceding position and the succeeding position and the part sucked by the suction nozzle. Side image acquisition device for suction parts.
JP2007301238A 2007-11-21 2007-11-21 Side image acquisition device for suction nozzle and parts to be sucked Active JP5014083B2 (en)

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JP2007301238A JP5014083B2 (en) 2007-11-21 2007-11-21 Side image acquisition device for suction nozzle and parts to be sucked

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007301238A JP5014083B2 (en) 2007-11-21 2007-11-21 Side image acquisition device for suction nozzle and parts to be sucked
PCT/JP2008/070556 WO2009066592A1 (en) 2007-11-21 2008-11-12 Component mounting head, component mounting device, and side surface image acquiring device for adsorption nozzle and component to be adsorbed
CN2008801171999A CN101869012B (en) 2007-11-21 2008-11-12 Component mounting head, component mounting device, and side surface image acquiring device for adsorption nozzle and component to be adsorbed
CN201210248932.9A CN102753006B (en) 2007-11-21 2008-11-12 Component mounting method

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WO2016072014A1 (en) * 2014-11-07 2016-05-12 富士機械製造株式会社 Rotary head component mounter
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CN107535088A (en) * 2015-07-31 2018-01-02 伊斯梅卡半导体控股公司 Component and method for control member
WO2017042929A1 (en) * 2015-09-10 2017-03-16 ヤマハ発動機株式会社 Component mounting device and nozzle imaging method
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CN101869012B (en) 2012-09-05
CN102753006B (en) 2015-05-27
JP2009130014A (en) 2009-06-11
CN101869012A (en) 2010-10-20
CN102753006A (en) 2012-10-24
WO2009066592A1 (en) 2009-05-28

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