JP6259331B2 - Component mounting equipment - Google Patents

Description

  The present invention relates to a component mounting apparatus, and more particularly to a component mounting apparatus for mounting a component placed on a tray on a substrate.

  2. Description of the Related Art Conventionally, a component mounting apparatus that mounts a component placed on a tray on a substrate is known (see, for example, Patent Document 1).

  Patent Document 1 discloses an electronic component mounting apparatus including a mounting head that mounts a component mounted on a tray on a substrate, a substrate recognition camera, and a control device that controls imaging of the substrate recognition camera. (Component mounting apparatus) is disclosed. In the electronic component mounting apparatus of Patent Document 1, the tray is arranged at a predetermined position on the pallet so as to supply the components. Further, in the electronic component mounting apparatus disclosed in Patent Document 1, the control device is set by capturing an image of a tray placed on the pallet using a board recognition camera and recognizing a mark formed by a chamfered portion provided at a corner of the tray. It is configured to determine whether the tray position is normal.

JP 2013-080747 A

  However, in the electronic component mounting apparatus disclosed in Patent Document 1, the tray placed on the pallet is imaged by the board recognition camera, and the position of the tray set by recognizing the mark formed by the chamfered portion provided at the corner of the tray is recognized. Therefore, there is a problem in that it cannot be determined whether or not the set position of the tray in which the mark having the chamfered portion is not provided at the corner is normal. For this reason, there is a problem that it is difficult to determine whether or not a tray having no mark made of a chamfered portion at a predetermined position is disposed at an appropriate position with respect to the pallet.

  The present invention has been made to solve the above-described problems, and one object of the present invention is to provide a tray with respect to the pallet even when the mark for position confirmation is not provided on the tray. Therefore, it is an object to provide a component mounting apparatus capable of determining whether or not it is arranged at an appropriate position.

In order to achieve the above object, a component mounting apparatus according to one aspect of the present invention includes a head for mounting components on a substrate, an imaging unit, and a tray on which components mounted on the substrate are placed. A position restraining member that restrains the position by applying a tray to the positioning portion of the pallet so as not to move with respect to the pallet on which the pallet is disposed, and a control unit that controls the imaging of the imaging unit. The position restricting member that restricts the position of the tray is imaged by the imaging unit, and based on the result of imaging the position restricting member, it is determined whether the position restricting member is arranged at an appropriate position with respect to the pallet, It is configured to determine whether or not the tray is arranged at an appropriate position with respect to the pallet.

  In the component mounting apparatus according to one aspect of the present invention, as described above, the control unit captures an image of the position restricting member that restricts the position of the tray with respect to the pallet by the imaging unit, and based on the result of imaging the position restricting member. By configuring the tray so as to determine whether or not the tray is positioned at an appropriate position, even if the tray is not provided with a mark for position confirmation, the tray Based on the imaging result of the position restricting member that restricts the position, it can be determined whether or not the position restricting member is arranged at an appropriate position. Thereby, even when the mark for position confirmation is not provided on the tray, it can be determined whether or not the tray is disposed at an appropriate position with respect to the pallet.

  In the component mounting apparatus according to the above aspect, preferably, the imaging unit is configured to be movable in the horizontal direction, and the control unit is a tray position restraining member when the tray is in an appropriate position with respect to the pallet. The image is captured while moving the imaging unit along the side that is constrained by the position, and it is determined whether the tray is arranged at an appropriate position with respect to the pallet based on the result of imaging the position restraining member. It is configured as follows. If comprised in this way, even if the imaging range of an imaging part cannot image the whole tray, whether a position constraint member is in an appropriate position by imaging a position constraint member while moving an imaging part Therefore, it can be easily determined whether or not the tray is disposed at an appropriate position with respect to the pallet.

  In the configuration in which the imaging unit is movable in the horizontal direction, preferably, the control unit is configured to capture the imaging unit along a side that is restrained by a position restraining member of the tray when the tray is at an appropriate position with respect to the pallet. When the position of the position restraining member imaged along the moving direction of the imaging unit is equal to or longer than a predetermined length, the tray is disposed at an appropriate position with respect to the pallet. It is configured to judge. With this configuration, it is possible to determine whether or not the position of the position restricting member is appropriate based on the length of the imaged position restricting member. Therefore, a position confirmation mark is provided on the position restricting member. Even if it is not, it can be easily determined whether or not the position of the position restraining member is appropriate. In addition, when the length of the imaged position constraint member is equal to or longer than the predetermined length, the position constraint member is determined to be appropriate by determining that the tray is disposed at an appropriate position with respect to the pallet. In the case where the tray is restrained at a position that is not, and when a part of the position restraining member at an inappropriate position is imaged, the length of the imaged position restraining member becomes less than the predetermined length, It is possible to suppress erroneous recognition that the restraining member is disposed at an appropriate position. Thereby, it is possible to accurately determine whether or not the tray is arranged at an appropriate position with respect to the pallet.

  In this case, preferably, the position restricting member is configured to constrain the position of the tray with respect to the pallet by arranging the position restricting member adjacent to the tray with its longitudinal direction parallel to the side of the tray. The predetermined length is configured to be set with reference to the length in the longitudinal direction of the position restricting member. By configuring in this way, it is possible to easily determine whether or not the position restraining member is adjacent to the tray over the long side direction of the position restraining member and the tray is reliably restrained at an appropriate position. It is possible to easily determine whether or not the tray is disposed at an appropriate position with respect to the pallet.

  In the component mounting apparatus according to the above aspect, preferably, the position restraining member is configured to have a different color or luminance value with respect to the pallet and the tray when imaged by the imaging unit. If comprised in this way, a position constraint member can be easily recognized based on the image imaged by the imaging part.

  In the component mounting apparatus according to the above aspect, the control unit preferably images the position restraining member with the imaging unit based on the fact that the pallet on which the tray is placed is set in the component mounting apparatus, and the position restraining member The tray is configured to determine whether or not the tray is disposed at an appropriate position with respect to the pallet based on the result of imaging. With this configuration, when a pallet on which a tray is newly placed is set in the component mounting apparatus, it is determined whether or not the position of the tray is appropriate only once. As compared with a case where it is determined whether or not the position of the same tray is appropriate for a plurality of times each time it is sucked or the like, it is possible to suppress an increase in tact time.

  In the component mounting apparatus according to the above aspect, the tray is preferably formed in a rectangular shape, and the position restricting member is disposed on the rectangular first side and the second side orthogonal to the first side of the tray. By being arranged adjacent to each other, the position of the tray is constrained with respect to the pallet, and the control unit is configured to control the first side of the tray when the tray is at an appropriate position with respect to the pallet. And it is comprised so that it may judge whether a tray is arrange | positioned in the appropriate position with respect to a pallet based on the result imaged with the imaging part along the 2nd edge | side, and imaged the position restraint member. . With this configuration, the rectangular tray can be restrained from two orthogonal directions so that it does not move reliably. Therefore, the tray is disposed at an appropriate position where the tray is reliably restrained with respect to the pallet. It can be determined whether or not.

  According to the present invention, as described above, even when a mark for position confirmation is not provided on the tray, it can be determined whether or not the tray is arranged at an appropriate position with respect to the pallet. .

1 is a plan view schematically showing an overall configuration of a component mounting apparatus according to an embodiment of the present invention. It is the block diagram which showed the control structure of the component mounting apparatus by one Embodiment of this invention. It is the longitudinal cross-sectional view which showed the tray component supply apparatus by one Embodiment of this invention. It is the top view which showed the tray arrange | positioned at the pallet by one Embodiment of this invention. It is the figure which showed the example in case the tray arrange | positioned at the pallet by one Embodiment of this invention is appropriate. It is the figure which showed the example when the tray arrange | positioned at the pallet by one Embodiment of this invention is not appropriate. It is a flowchart for demonstrating the tray proper arrangement | positioning check process by the control apparatus of the component mounting apparatus by one Embodiment of this invention. It is the top view which showed the tray arrange | positioned at the pallet by the modification of one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  With reference to FIGS. 1-6, the structure of the component mounting system 100 by one Embodiment of this invention is demonstrated.

  As shown in FIG. 1, a component mounting system 100 according to an embodiment of the present invention includes a component mounting device 1 and a tray component supply device 2. In addition, the component mounting apparatus 1 includes a control device 16 (see FIG. 2), and the control device 16 is configured to control not only the component mounting apparatus 1 but also the tray component supply device 2.

  The component mounting apparatus 1 is an apparatus for mounting (mounting) various components (electronic components) 5 on a substrate (wiring substrate) 4 printed with cream solder (not shown) using a head unit 14 described later. . Here, the component 5 is a small piece of electronic component such as an LSI, an IC, a transistor, a capacitor, or a resistor. These various components 5 are supplied not only from the tray component supply device 2 but also from the tape feeder 3.

  The component mounting apparatus 1 includes a base 10, a substrate transport unit 11 provided on the base 10, component supply regions 12 and 13 disposed on both sides (Y1 side and Y2 side) of the substrate transport unit 11, A head unit 14 that can move along the XY plane above the substrate transport unit 11 (front side in FIG. 1), and a component imaging unit that captures the state of the component 5 before mounting acquired by the head unit 14. 15 and a control device 16 (see FIG. 2). The control device 16 is an example of the “control unit” in the present invention.

  The substrate transport unit 11 disposed on the base 10 has a pair of conveyors 11 a extending in the transport direction (X direction) of the substrate 4. The pair of conveyors 11a has a function of receiving the substrate 4 from one side (X1 side) and transporting the substrate 4 to a predetermined work position and holding the substrate 4 at the work position. Further, the pair of conveyors 11a further has a function of carrying out the mounted substrate 4 to the other side (X2 side) after the mounting of the component 5 is completed.

  In two component supply areas 12 secured on the Y2 side of the substrate transport unit 11, tray component supply devices 2 are arranged, respectively. A plurality of tape feeders 3 are arranged side by side along the horizontal direction (X direction) in the component supply region 13 secured on the Y1 side of the substrate transport unit 11. These tape feeders 3 are detachably mounted in slots (not shown) provided in the component supply area 13. The tray component supply device 2 and the tape feeder 3 are connected to the control device 16 of the component mounting device 1 while being set in the component supply region 12 and the component supply region 13, and the operation is controlled by the control device 16. It is configured as follows.

  Here, the tape feeder 3 is configured to be able to hold a reel (not shown) around which a component tape (not shown) holding the components 5 at a predetermined interval is wound. The tape feeder 3 is configured to convey the component 5 to a predetermined component extraction position at the tip by intermittently feeding out the component tape from the reel. For this reason, the tape feeder 3 supplies a small component 5 that can be stored in a component tape.

  On the other hand, the tray component supply device 2 normally supplies large package components 5 such as QFP (Quad Flat Package) and BGA (Ball Grid Array). The tray component supply device 2 stores a large number of pallets 6 holding the components 5 in a rack 20 and is configured to supply the components 5 by moving the pallets 6 from the rack 20 to a predetermined component extraction position. ing. On the pallet 6, a tray 7 in which an installation area for the parts 5 is partitioned is installed, and the large parts 5 are placed side by side on the tray 7.

  The head unit 14 sucks the component 5 supplied from the component supply areas 12 and 13 and transfers the sucked component 5 to a predetermined position (mounting position) above the substrate 4 (front side in FIG. 1). , And has a function of mounting the component 5 on the substrate 4 at that position. Specifically, a plurality of (here, six) mounting heads 14 a are attached to the lower surface of the head unit 14. In addition, each mounting head 14a is attached with a suction nozzle (not shown) for sucking components whose tip is directed downward (in the direction toward the back of the paper in FIG. 1). Thus, during the component mounting operation, the tray component supply device 2 and the tape are generated by the negative pressure generated at the tip (lower end) of the suction nozzle by the negative pressure generator (not shown) provided in the surface mounter 1. The components 5 of the feeder 3 are individually attracted to the mounting head 14a. The mounting head 14a is an example of the “head” in the present invention.

  The head unit 14 is movably supported on a base 10 via a support portion 14b extending in the X direction. The head unit 14 is moved in the X direction when the ball screw shaft 14d is rotated by an X-axis motor (servo motor) 14c provided in the support portion 14b. A pair of elevated frames 17 extending in the Y direction are disposed on the upper surface of the base 10. The elevated frame 17 is provided with a Y-axis motor (servo motor) 17 a and a ball screw shaft 17 b. . Here, the support portion 14b straddles the elevated frame 17 in the X direction via a pair of fixed rails 17c. The support portion 14b is moved in the Y direction along the fixed rail 17c on the elevated frame 17 as the ball screw shaft 17b is rotated by the servo motor 17a. Accordingly, the head unit 14 is configured to be able to move to an arbitrary position in the XY plane on the base 10 by rotating the ball screw shafts 14d and 17b.

  Each mounting head 14a is configured to be vertically movable (Z direction) by a Z-axis motor (servo motor) 14e (see FIG. 2) and a lifting mechanism (not shown). In the component mounting apparatus 1, the component 5 is sucked from the tray component supply device 2 while the mounting head 14 a has lowered the suction nozzle to the lowered position, and the component 5 is temporarily returned to the raised position while the component 5 is sucked. It is conveyed to above the predetermined mounting position. Then, the suction nozzle is lowered again at the mounting position, and the component 5 is mounted on the substrate 4. Further, the mounting head 14a is rotated in a rotation direction with a vertical axis (Z direction) passing through the center of the suction nozzle as a rotation center by an R-axis motor (servo motor) 14f (see FIG. 2) and a rotation mechanism (not shown). It is configured to be. Thereby, the attitude | position (direction in an XY plane) of the components 5 hold | maintained at the front-end | tip part of the suction nozzle is adjusted in detail. The component 5 supplied by the tape feeder 3 is also mounted on the substrate 4 by the same operation.

  The head unit 14 is provided with a substrate imaging unit 14g. Thereby, the board | substrate imaging part 14g is comprised so that a movement in a horizontal direction (XY direction) is possible. The component mounting apparatus 1 is configured to pick up an image of a fiducial mark (not shown) attached to the board 4 from above by the board imaging unit 14g and recognize the position and posture of the board 4. Thereby, it is possible to position the suction nozzle of the mounting head 14a above an arbitrary mounting position of the substrate 4 and perform component mounting. The board imaging unit 14g is used when imaging the tray 7 and the pallet 6 of the tray component supply device 2. The board imaging unit 14g is an example of the “imaging unit” in the present invention.

  As shown in FIG. 1, the component imaging unit 15 is fixedly installed on the base 10. In addition, the component imaging unit 15 has a function of imaging the component 5 immediately before mounting taken out from the tray component supply device 2 or the tape feeder 3 by the head unit 14 from the lower surface side. More specifically, the component imaging unit 15 is configured to capture the shape of the lower surface side of the component 5 while the head unit 14 moves in the X direction over the component imaging unit 15. Thus, the component mounting apparatus 1 is configured to recognize the holding (suction) state of the suction component 5 immediately before mounting with respect to the suction nozzle.

  As shown in FIG. 2, the control device 16 is configured to control operations related to the component mounting operation of the entire component mounting system 100. Specifically, the control device 16 includes an arithmetic processing unit including a CPU. The control device 16 includes a storage unit 16a that stores programs, component mounting data, and the like. The storage unit 16 a stores the size of the tray 7 of the component 5 supplied by the tray component supply device 2 for each type of component 5.

  In addition, the component mounting apparatus 1 includes a notification unit 18 that notifies that the tray 7 is not appropriate when it is determined that the tray 7 is disposed at an inappropriate position with respect to the pallet 6. For example, the notification unit 18 includes a display unit, and notifies by displaying that the position of the tray 7 is not appropriate. In addition, the notification unit 18 may notify by voice that the position of the tray 7 is not appropriate.

  As shown in FIG. 3, the tray component supply device 2 includes a rack 20 that stores a plurality of pallets 6 on which trays 7 on which components 5 are placed are arranged in the vertical direction (Z direction), and pallets 6 that are racks 20. And a mounting table 21 for pulling out and mounting. Further, the mounting table 21 is provided with a drawing mechanism 22 for taking in and out the pallet 6 between the rack 20 and the mounting table 21.

  The racks 20 are fixedly arranged in the vertical direction so that three racks 20 are arranged in the vertical direction inside the tray component supply device 2. Each rack 20 has the same configuration. The rack 20 has a rectangular frame shape penetrating in the Y direction. Rails 20a extending in the horizontal direction (Y direction) are arranged inside the both side surfaces in the X direction of the rack 20 so as to be lined up and down at intervals. For the sake of explanation, FIG. 3 shows a state in which the pallet 6 is extracted from the lowermost rack 20.

  As shown in FIG. 4, the pallet 6 is a flat thin plate-shaped member whose upper side (Z1 side) is open, and is made of a magnetic metal material such as stainless steel. The pallet 6 is formed to have a long rectangular shape in the width direction (X direction) orthogonal to the loading / unloading direction (Y direction). The pallet 6 includes an arrangement surface 61 and side surfaces 62. The side surface 62 includes a side surface 62a on the X2 direction side, a side surface 62b on the Y1 direction side, a side surface 62c on the X1 direction side, and a side surface 62d on the Y2 direction side.

  As shown in FIG. 4, the tray 7 is arranged on the pallet 6 in a state where the component 5 is placed. The tray 7 is formed in a rectangular shape. Further, the tray 7 is arranged on the pallet 6 in a state where the position is restrained by a position restraining member 8 that restrains the position so as not to move with respect to the pallet 6. Specifically, the tray 7 is restrained by the position restraining member 8 in a state in which the tray 7 is positioned by being brought into contact with the side face 62 on the side close to the substrate 4 of the pallet 6. For example, when the substrate 4 is disposed on the X2 direction side and the Y1 direction side of the tray 7, the tray 7 is positioned by being brought into contact with the side surface 62a on the X2 direction side and the side surface 62b on the Y1 direction side of the pallet 6. Thus, the position restricting member 8 is arranged so as to abut each of the first side 7a on the X1 direction side and the second side 7b on the Y2 direction side, and the position is constrained. When the substrate 4 is disposed on the X1 direction side and the Y1 direction side of the tray 7, the tray 7 is positioned by being brought into contact with the side surface 62c on the X1 direction side and the side surface 62b on the Y1 direction side of the pallet 6. Thus, the position restricting member 8 may be disposed so as to abut on the side on the X2 direction side and the side on the Y2 direction side, and the position may be restricted.

  The position restraining member 8 includes a magnet. Thereby, the position restricting member 8 is configured to be attracted to the arrangement surface 61 of the pallet 6. Further, the position restraining member 8 is configured to restrain the position of the tray 7 so that the tray 7 does not move relative to the pallet 6. Specifically, the position restricting member 8 has a width W in the short side direction and a length L in the long side direction. The position restraining member 8 is configured to restrain the position of the tray 7 with respect to the pallet 6 by being disposed adjacent to the tray 7 with its longitudinal direction parallel to the side of the tray 7. ing.

  Further, the position restricting member 8 is disposed adjacent to the rectangular first side 7 a of the tray 7 and the second side 7 b orthogonal to the first side 7 a, so that the tray 7 is placed on the pallet 6. 7 is constrained.

  Further, the position restricting member 8 is configured to have different colors or luminance values with respect to the pallet 6 and the tray 7 when imaged by the board imaging unit 14g. For example, the position restricting member 8 has a yellow surface color, the tray 7 has a black surface, and the pallet 6 has a silver surface color. Further, the light reflectance of the position restricting member 8 may be configured to be different from the light reflectance of the tray 7 and the pallet 6 so that the luminance value when captured is different. Thereby, when the position restricting member 8 is imaged, the position restricting member 8 can be easily identified with respect to the tray 7 and the pallet 6. Further, the position restricting member 8 is configured to have a color or luminance value that allows the boundary between the position restricting member 8 and the tray 7 and the pallet 7 to be discriminated when imaged by the board imaging unit 14g. It's okay. That is, the boundary between the position restricting member 8 (for example, yellow) and the tray 7 (for example, black), the boundary between the position restricting member 8 (for example, black) and the pallet 6 (for example, silver), and the tray 7 (for example, black) , Black) and the pallet 6 (for example, silver) may be checked so that the imaging state of the position restricting member 8 can be determined.

  As shown in FIG. 3, the rail 20 a of the rack 20 has a function as a guide when the pallet 6 is taken in and out (moved in the Y direction) in addition to supporting the pallet 6. In addition, the door part 2a is provided in the Y2 direction side of the tray component supply apparatus 2, and it can be opened and closed, and the pallet 6 can be replaced from the Y2 direction side of the tray component supply apparatus 2.

  The mounting table 21 is disposed on the Y1 side of the rack 20 in the tray component supply device 2. The mounting table 21 has support rails 23 extending in the Y direction on the side walls at both ends in the width direction (X direction), and supports both end portions in the width direction of the lower surface of the pallet 6 in a state movable in the Y direction. It is configured. Thereby, the mounting table 21 supports the pallet 6 in the rack 20 by pulling it out to the pulling-out position.

  The mounting table 21 is configured to be supported and driven in the vertical direction (Z direction) by the elevating mechanism unit 26. Specifically, a slider 25 that engages with a vertically extending guide rail 24 arranged on the outer side in the width direction is attached to the mounting table 21, and the mounting table 21 moves vertically along the guide rail 24 via the slider 25. It is configured to be movable. The elevating mechanism 26 includes a mounting table elevating motor (servo motor) 26a and a belt-pulley mechanism 26b, and a slider fixed to the driving belt by rotating a driving belt extending vertically by the mounting table elevating motor 26a. 25 is configured to move up and down. As a result, the mounting table 21 moves up and down as the belt-pulley mechanism 26b rotates, so that the mounting table 21 can be positioned according to the height position of an arbitrary pallet 6 held by the rack 20. is there.

  An opening 2b is formed at the front end of the upper surface of the tray component supply device 2. When the pallet 6 is pulled out to the pulling position, the mounting table 21 is raised and the tray 7 set on the pallet 6 is opened. It is arranged at the lower position (Z2 side) of 2b. Thereby, the mounting head 14a of the head unit 14 can adsorb and take out the component 5 on the tray 7 from above through the opening 2b.

  Here, in the present embodiment, the control device 16 images the position restricting member 8 that restricts the position of the tray 7 with respect to the pallet 6 by the board imaging unit 14g, and based on the result of imaging the position restricting member 8, It is configured to determine whether or not the tray 7 is disposed at an appropriate position with respect to the pallet 6. Specifically, the control device 16 moves the board imaging unit 14g along the side of the tray 7 that is restrained by the position restraining member 8 when the tray 7 is at an appropriate position with respect to the pallet 6. It is configured to perform imaging and determine whether or not the tray 7 is arranged at an appropriate position with respect to the pallet 6 based on the result of imaging the position restricting member 8.

  In addition, the control device 16 performs imaging while moving the board imaging unit 14g along the side of the tray 7 that is restrained by the position restraining member 8 when the tray 7 is in an appropriate position with respect to the pallet 6. When the length of the position restraining member 8 imaged along the moving direction of the board imaging unit 14g is equal to or longer than a predetermined length, it is determined that the tray 7 is disposed at an appropriate position with respect to the pallet 6. It is configured as follows. The predetermined length is configured to be set based on the length L in the longitudinal direction of the position restricting member 8.

  Here, as shown in FIG. 4, the corner of the tray 7 that is positioned against the side surface 62 of the pallet 6 is used as a reference. For example, when the tray 7 is positioned against the side surface 62 on the X2 direction side and the side surface 62 on the Y1 direction side of the pallet 6, the corners in the X2 direction and the Y1 direction where the tray 7 is properly positioned are used as the reference (( a, b) = (0, 0)). Based on the size of the tray 7 (the length in the X direction and the length in the Y direction), the coordinates of the other corners when the tray 7 is at an appropriate position are as follows. The corners of the tray 7 in the X1 direction and the Y1 direction are expressed as (a, b) = (a1, 0). Further, the corners of the tray 7 in the X2 direction and the Y2 direction are expressed as (a, b) = (0, b1). Further, the corners of the tray 7 in the X1 direction and the Y2 direction are expressed as (a, b) = (a1, b1). When the tray 7 is positioned by being applied to corners other than the X2 direction side and Y1 direction side of the pallet 6, the corners of the tray 7 applied to the pallet 6 (for example, the X1 direction side and the Y1 direction). The reference angle ((a, b) = (0, 0)) may be used as the reference. A place other than the corner may be used as a reference.

  Further, the tray 7 is restrained in the X direction from the X1 direction side by one position restraining member 8, and is restrained in the Y direction from the Y2 direction side by another one position restraining member 8. In this case, the properly arranged position restraining members 8 are arranged along a = a2 = a1 + W / 2 and b = b2 = b1 + W / 2, respectively. Then, the board imaging unit 14g images the position restricting member 8 while moving in the Y direction along a = a2, changes the direction at (a, b) = (a2, b2), and follows b = b2. The position restraining member 8 is imaged while moving in the X direction. Here, in the b direction (Y direction) and the a direction (X direction), when the imaged position restraining member 8 is longer than a predetermined length, the tray 7 is disposed at an appropriate position with respect to the pallet 6. It is judged that For example, the predetermined length is set to L / 2.

  That is, as shown in FIG. 5, the length of the position restraining member 8 imaged along the moving direction of the board imaging unit 14g is equal to or longer than a predetermined length in the X direction (a direction) and the Y direction (b direction). In this case, it is determined that the tray 7 is disposed at an appropriate position with respect to the pallet 6. In the case of the example of OK1, the two position restricting members 8 are arranged so as to contact each other at the corners of the tray 7 in the X1 direction and the Y2 direction. In this case, the length of the imaged position restraining member 8 is equal to or longer than a predetermined length in the X direction and the Y direction, and it is determined that the position of the tray 7 is an appropriate position.

  In the case of OK2, one position restricting member 8 is disposed so as to contact the corners of the tray 7 in the X1 direction and the Y1 direction, and the other one position restricting member 8 is disposed in the X2 direction and Y2 of the tray 7. It is arranged to touch the corner of the direction. In this case, the length of the imaged position restraining member 8 is equal to or longer than a predetermined length in the X direction and the Y direction, and it is determined that the position of the tray 7 is an appropriate position. In the case of the example of OK3, one position restricting member 8 is disposed on the X1 direction side of the tray 7, and two position restricting members 8 are disposed on the tray 7Y2 direction side. In this case, the length of the imaged position restraining member 8 is equal to or longer than a predetermined length in the X direction and the Y direction, and it is determined that the position of the tray 7 is an appropriate position.

  Further, as shown in FIG. 6, the length of the position restricting member 8 imaged along the moving direction of the board imaging unit 14g is less than a predetermined length in each of the X direction (a direction) and the Y direction (b direction). In this case, it is determined that the tray 7 is not disposed at an appropriate position with respect to the pallet 6. In the case of the example of NG1, the tray 7 is disposed in a state of being applied to the corners of the pallet 6 in the X1 direction and the Y1 direction. In this case, the length of the imaged position restraining member 8 is less than a predetermined length in the Y direction, and it is determined that the position of the tray 7 is not an appropriate position. In the case of the NG2 example, the tray 7 is arranged in a state of being rotated 90 degrees with respect to the pallet 6. In this case, the length of the imaged position restraining member 8 is less than a predetermined length in the X direction and the Y direction, and it is determined that the position of the tray 7 is not an appropriate position.

  Further, in the case of the NG3 example, the wrong tray 7 having a larger tray 7 than the proper one is disposed. In this case, the length of the imaged position restraining member 8 is less than a predetermined length in the X direction and the Y direction, and it is determined that the position of the tray 7 is not an appropriate position. Even when the wrong tray 7 smaller than the proper tray 7 is disposed, the length of the imaged position restraining member 8 is less than a predetermined length in at least one of the X direction and the Y direction. It is determined that the position 7 is not an appropriate position. In the case of the NG4 example, the corners of the tray 7 are not applied to the corners of the pallet 6 and are arranged in a poorly applied state. In this case, the length of the imaged position restraining member 8 is less than a predetermined length in the X direction and the Y direction, and it is determined that the position of the tray 7 is not an appropriate position.

  Further, the control device 16 images the position constraint member 8 by the board imaging unit 14 g based on the fact that the pallet 6 on which the tray 7 is placed is set in the component mounting apparatus 1, and images the position constraint member 8. Based on the result, it is configured to determine whether or not the tray 7 is disposed at an appropriate position with respect to the pallet 6. Specifically, when the door part 2a of the tray component supply device 2 is opened and the pallet 6 (tray 7) is replaced or replenished, a new one is not performed while the component mounting operation is being performed such as when the board 4 is being transported. The placed (set) pallet 6 is pulled out to the mounting table 21, and it is determined whether or not the tray 7 is arranged at an appropriate position with respect to the pallet 6.

  Next, with reference to FIG. 7, the tray proper arrangement check process performed by the control device 16 of the component mounting apparatus 1 will be described.

  In step S1, after the tray 7 is newly supplied (set), it is determined whether or not it is the first operation. That is, it is determined whether or not it has already been checked whether or not the newly supplied tray 7 is arranged at an appropriate position with respect to the pallet 6. If it is the first operation after the tray 7 is supplied, the process proceeds to step S2, and if it is not the first operation after the tray 7 is supplied, the tray proper arrangement check process is terminated. In step S <b> 2, it is determined whether or not the newly supplied component 5 of the tray 7 is scheduled to be mounted on the substrate 4. If the component 5 of the tray 7 is to be mounted, the process proceeds to step S3. If the component 5 of the tray 7 is not to be mounted, the tray proper arrangement check process is terminated.

  In step S <b> 3, the tray 7 (pallet 6) to be checked is pulled out from the rack 20 (see FIG. 3) of the tray component supply device 2 to the mounting table 21. In step S4, the size of the tray 7 to be checked is acquired. Specifically, based on the tray size stored in the storage unit 16a of the control device 16, the lengths of the tray 7 to be checked in the X direction and the Y direction are acquired.

  In step S5, as shown in FIG. 4, based on the size of the tray 7, appropriate a direction (X direction) coordinates and b direction (Y direction) coordinates of the position restricting member 8 are calculated. When the size of the tray 7 is a1 in the X direction and b1 in the Y direction, based on the size of the tray 7 and the width W of the position restricting member 8, the center coordinates in the proper a direction of the position restricting member 8 Is calculated as a2 = a1 + W / 2. Further, an appropriate center coordinate in the b direction of the position restricting member 8 is calculated as b2 = b1 + W / 2.

  In step S6, the position restricting member 8 is imaged while moving the board imaging unit 14g along a = a2 (from (a2, 0) to (a2, b2)). In step S7, it is determined whether or not the position restricting member 8 has been detected for a predetermined length or more. For example, as a result of imaging while moving along a = a2, it is determined whether or not the position restricting member 8 has been detected for a length of L / 2 (half the length in the longitudinal direction) or more. If a predetermined length or more is detected, the process proceeds to step S8, and if only less than the predetermined length is detected, the process proceeds to step S11.

  In step S8, the position restricting member 8 is imaged while moving the board imaging unit 14g along b = b2 (from (a2, b2) to (0, b2)). In step S9, it is determined whether or not the position restricting member 8 has been detected for a predetermined length or more. For example, as a result of imaging while moving along b = b2, it is determined whether or not the position restraining member 8 has been detected for a length of L / 2 (half the length in the longitudinal direction) or more. If a predetermined length or more is detected, the process proceeds to step S10, and if only less than the predetermined length is detected, the process proceeds to step S11.

  In step S10, it is determined that the position of the position restricting member 8 is appropriate. That is, it is determined that the position of the tray 7 restrained by the position restraining member 8 with respect to the pallet 6 is appropriate. Thereafter, the tray proper arrangement check process is terminated.

  If it is determined in step S7 or step S9 that the position restricting member 8 is detected less than a predetermined length, it is determined in step S11 that the position restricting member 8 is improper. That is, it is determined that the position of the tray 7 restrained by the position restraining member 8 with respect to the pallet 6 is inappropriate.

  In step S12, the operation of the component mounting apparatus 1 is stopped. In step S <b> 13, the notification unit 18 notifies that the position of the tray 7 with respect to the pallet 6 is inappropriate, and the tray proper arrangement check process is ended.

  When there are a plurality of trays 7 for checking whether or not the positions are appropriate, the processes in steps S3 to S13 are repeated, and then the proper tray arrangement check process is terminated.

  In the present embodiment, the following effects can be obtained.

  In the present embodiment, as described above, the control device 16 images the position restricting member 8 that restricts the position of the tray 7 with respect to the pallet 6 by the board imaging unit 14g, and based on the result of imaging the position restricting member 8. Thus, it is configured to determine whether or not the tray 7 is arranged at an appropriate position with respect to the pallet 6. Thereby, even when the mark for position confirmation is not provided on the tray 7, the position restricting member 8 is appropriate based on the imaging result of the position restricting member 8 that restricts the position of the tray 7 with respect to the pallet 6. It can be determined whether or not it is arranged at a proper position. Thereby, even when the mark for position confirmation is not provided on the tray 7, it can be determined whether or not the tray 7 is arranged at an appropriate position with respect to the pallet 6.

  Further, in the present embodiment, as described above, the control device 16 moves the substrate along the side of the tray 7 that is restrained by the position restraining member 8 when the tray 7 is at an appropriate position with respect to the pallet 6. Imaging is performed while moving the imaging unit 14g, and it is configured to determine whether or not the tray 7 is disposed at an appropriate position with respect to the pallet 6 based on the result of imaging the position restricting member 8. Thereby, even when the imaging range of the board imaging unit 14g cannot capture the entire tray 7, the position constraint member 8 is brought to an appropriate position by imaging the position constraint member 8 while moving the board imaging unit 14g. Since it can be determined whether or not there is, it can be easily determined whether or not the tray 7 is disposed at an appropriate position with respect to the pallet 6.

  Further, in the present embodiment, as described above, the control device 16 moves the substrate along the side of the tray 7 that is restrained by the position restraining member 8 when the tray 7 is at an appropriate position with respect to the pallet 6. When the image capturing unit 14g is moved to perform image capturing, and the length of the position restricting member 8 imaged along the moving direction of the board image capturing unit 14g is equal to or longer than a predetermined length, the tray 7 is appropriate for the pallet 6. It is configured so as to be determined to be arranged at a proper position. Accordingly, since it is possible to determine whether or not the position of the position restricting member 8 is appropriate based on the length of the imaged position restricting member 8, no mark for position confirmation is provided on the position restricting member 8. However, it can be easily determined whether or not the position of the position restricting member 8 is appropriate. In addition, when the length of the imaged position constraint member 8 is equal to or longer than a predetermined length, the position constraint is performed by determining that the tray 7 is disposed at an appropriate position with respect to the pallet 6. In the case where the tray 8 is restrained at a position where the member 8 is not appropriate, when a part of the position restraining member 8 at an inappropriate position is imaged, the length of the imaged position restraining member 8 is a predetermined length. By becoming less than this, it can suppress misrecognizing that the position restraining member 8 is arrange | positioned in the appropriate position. Thereby, it can be accurately determined whether or not the tray 7 is disposed at an appropriate position with respect to the pallet 6.

  Further, in the present embodiment, as described above, the position restricting member 8 is disposed adjacent to the tray 7 with its longitudinal direction parallel to the side of the tray 7, so that the tray 7 with respect to the pallet 6 is disposed. The predetermined length is configured based on the length of the position restricting member 8 in the longitudinal direction. Thereby, it is possible to easily determine whether or not the tray 7 is reliably restrained at an appropriate position by making the position restraining member 8 adjacent to the tray 7 over the long side direction of the position restraining member 8. It can be easily determined whether or not the tray 7 is disposed at an appropriate position with respect to the pallet 6.

  In the present embodiment, as described above, the position restricting member 8 is configured to have different colors or luminance values with respect to the pallet 6 and the tray 7 when imaged by the board imaging unit 14g. Thereby, based on the image imaged by the board | substrate imaging part 14g, the position constraint member 8 can be recognized easily.

  In the present embodiment, as described above, the controller 16 controls the position restraining member 8 by the board imaging unit 14g based on the fact that the pallet 6 on which the tray 7 is placed is set in the component mounting apparatus 100. It is configured to determine whether or not the tray 7 is disposed at an appropriate position with respect to the pallet 6 based on the result of imaging and imaging the position restraining member 8. Thus, when the pallet 6 on which the tray 7 is newly placed is set in the component mounting apparatus 100, it is determined whether or not the position of the tray 7 is appropriate only once. As compared with a case where it is determined whether or not the position of the same tray 7 is appropriate a plurality of times each time 5 is sucked, it is possible to suppress the tact time from becoming longer.

  In the present embodiment, as described above, the position restricting member 8 is disposed adjacent to the rectangular first side 7a of the tray 7 and the second side 7b orthogonal to the first side 7a. Thus, the position of the tray 7 is constrained with respect to the pallet 6, and the control device 16 controls the first side 7 a and the first side 7 a of the tray 7 when the tray 7 is at an appropriate position with respect to the pallet 6. It is configured to determine whether or not the tray 7 is disposed at an appropriate position with respect to the pallet 6 based on the result of imaging by the board imaging unit 14g along the two sides 7b and imaging the position restricting member 8. To do. Thereby, the rectangular tray 7 can be restrained from two orthogonal directions (X direction and Y direction) so as not to move reliably, so that the tray 7 is reliably restrained against the pallet 6. It can be determined whether or not it is arranged at a proper position.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the said embodiment, although the position restraint member contains a magnet and the example of the structure attracted | sucked to the pallet of a magnetic body is shown, this invention is not limited to this. In the present invention, for example, as shown in FIG. 8, the position restraining member may be fixed to the pallet by a fastening member. Specifically, the pallet 60 includes a guide hole 60a. The position restraining member 80 includes a position restraining portion 80a, a guide hole 80b, and a fastening member 80c. The position restraining portion 80a has an L shape and is configured to restrain movement of the tray 7 on which the component 5 is placed in the X direction and the Y direction. The fastening member 80 c is configured to fix the position restricting member 80 and the pallet 60 by fastening through the guide hole 60 a of the pallet 60 and the guide hole 80 b of the position restricting member 80. When the fastening of the fastening member 80c is loosened, the position restraining member 80 is configured to be movable in the Y direction along the guide hole 60a, and is configured to be movable in the X direction along the guide hole 80b. ing. In addition, after the X and Y directions of the position restricting member 80 are moved to appropriate positions, the position restricting member 80 is fixed to the pallet 60 by the fastening member 80c.

  Moreover, in the said embodiment, although the example of the structure which makes a position restraint member adsorb | suck to a pallet with magnetic force was shown, this invention is not limited to this. In the present invention, the position restricting member may be attracted to the pallet by a force other than the magnetic force. For example, the position restricting member may be attracted to the pallet by surface tension or adhesive force.

  Moreover, in the said embodiment, it was judged whether the position of the tray arrange | positioned on the pallet was appropriate using the board | substrate imaging part for recognizing the position of a board | substrate, However, This invention is not limited to this. In this invention, you may judge whether the position of the tray arrange | positioned on the pallet is appropriate using imaging parts other than a board | substrate imaging part. In this case, the imaging unit is preferably movable in the horizontal direction.

  Moreover, in the said embodiment, although the example of the structure which images a position restraint member was shown, moving a board | substrate imaging part (imaging part), this invention is not limited to this. In the present invention, the position restraining member may be imaged collectively without moving the imaging unit.

  In the above-described embodiment, an example in which the predetermined length is set to L / 2 based on the length L in the longitudinal direction of the position restricting member has been described. However, the present invention is not limited to this. In the present invention, the predetermined length may be set to a length other than L / 2. In this case, it is preferable to set the predetermined length longer than the length W in the short direction.

  In the above embodiment, for convenience of explanation, the processing operation of the control device (control unit) has been described using a flow-driven flowchart that performs processing in order along the processing flow. However, the present invention is not limited to this. Absent. In the present invention, the processing operation of the control unit may be performed by event-driven (event-driven) processing that executes processing in units of events. In this case, it may be performed by a complete event drive type or a combination of event drive and flow drive.

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 4 Board | substrate 5 Components 6, 60 Pallet 7 Tray 8 Position restraint member 14a Mounting head (head)
14g Substrate imaging unit (imaging unit)
16 Control device (control unit)

Claims (7)

A head for mounting components on a board;
An imaging unit;
A position restraining member for restraining the position of the tray on which the component mounted on the substrate is placed against the positioning portion of the pallet so as not to move with respect to the pallet on which the tray is placed;
A control unit that controls imaging of the imaging unit,
The control unit images the position restricting member that restricts the position of the tray with respect to the pallet by the imaging unit, and the position restricting member with respect to the pallet is based on a result of imaging the position restricting member. The component mounting apparatus is configured to determine whether or not the tray is disposed at an appropriate position and to determine whether or not the tray is disposed at an appropriate position with respect to the pallet. The imaging unit is configured to be movable in the horizontal direction,
The controller performs imaging while moving the imaging unit along a side of the tray that is restrained by the position restraining member when the tray is in an appropriate position with respect to the pallet, and The component mounting apparatus according to claim 1, wherein the component mounting apparatus is configured to determine whether the tray is disposed at an appropriate position with respect to the pallet based on a result of imaging the restraining member.   The controller performs imaging while moving the imaging unit along a side of the tray that is restrained by the position restraining member when the tray is in an appropriate position with respect to the pallet, and the imaging When the length of the position restraining member imaged along the moving direction of the part is equal to or longer than a predetermined length, the tray is determined to be disposed at an appropriate position with respect to the pallet. The component mounting apparatus according to claim 2. The position restricting member is configured to constrain the position of the tray with respect to the pallet by arranging the position restricting member adjacent to the tray with its longitudinal direction parallel to the side of the tray. ,
The component mounting apparatus according to claim 3, wherein the predetermined length is configured to be set based on a length in a longitudinal direction of the position restricting member.   The said position restraint member is comprised so that it may have a different color or brightness | luminance value with respect to the said pallet and the said tray, when imaged by the said imaging part. Component mounting equipment.   The control unit captures the position restraining member with the imaging unit based on the fact that the pallet on which the tray is placed is set in the component mounting apparatus, and based on a result of imaging the position restraining member. The component mounting apparatus according to claim 1, wherein the component mounting apparatus is configured to determine whether or not the tray is disposed at an appropriate position with respect to the pallet. The tray is formed in a rectangular shape,
The position restricting member is disposed adjacent to the rectangular first side of the tray and the second side orthogonal to the first side, thereby positioning the tray with respect to the pallet. Configured to restrain,
Wherein the control unit, the tray is picked up by said first side and said second side image pickup unit along the trays when located in the correct position relative to the pallet, imaging the position restraining member The component mounting apparatus according to claim 1, wherein the component mounting apparatus is configured to determine whether or not the tray is disposed at an appropriate position with respect to the pallet based on the result obtained. .

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