JP6770170B2 - Parts recognition device - Google Patents

Description

The present specification relates to a component recognition device that is mainly incorporated in a component mounting machine and that captures and recognizes an electronic component (hereinafter referred to as a component) adsorbed on a suction nozzle of a component transfer device.

A technique for mass-producing circuit boards by performing various operations (hereinafter referred to as substrate-to-board operations) for mounting components on a printed circuit board has become widespread. There are a solder printing machine, a component mounting machine, a reflow machine, a board inspection machine, and the like as a board working machine that performs board working. It has become common to connect these anti-board working machines to form a component mounting line. Of these, the component mounting machine includes a board transfer device, a component supply device, and a component transfer device. In order to recognize the parts sucked by the suction nozzle of the parts transfer device, a parts recognition device having an imaging unit that images the parts and acquires image data and an image processing unit that processes the image data is often used. Will be done. A technical example relating to this type of component recognition device is disclosed in Patent Document 1.

The component mounting machine of Patent Document 1 sets a mounting head that has a reference mark and holds the component, an image pickup unit that captures the image of the mounting head, and an image processing area including the component based on the position of the reference mark in the image data. The setting means is provided, and the detection means for processing the image data in the image processing area to detect the holding state of the component is provided. Further, the mounting head has a plurality of suction nozzles for holding the parts on the circumference, and the setting means discloses an embodiment in which the shape of the image processing region is a quadrangle. According to this, since the reference mark is used as a reference first, the image processing area can be made into a small area, and the holding state of the component can be efficiently detected.

International Publication No. 2015/019487

By the way, in Patent Document 1, if a large quadrangular image processing region is set for each component sucked by a plurality of suction nozzles on the circumference, an overlap occurs between adjacent image processing regions. Then, in a certain image processing area, in addition to the original component to be image-processed, a part of the component sucked by the adjacent suction nozzle is reflected, which may cause an image processing error. Further, if a small quadrangular image processing area is set so as not to cause overlap, it is not possible to secure an image processing area sufficiently large for the position error and the rotation angle error of the parts. Therefore, the size of the parts that can be sucked by the suction nozzle is limited.

In the present specification, it is solved to provide a component recognition device that prevents other components from being reflected in an image processing area set for each suction nozzle in image data acquired by imaging a plurality of components. It should be an issue.

In the present specification, a plurality of parts that are each adsorbed to a plurality of suction nozzles arranged in an annular shape, and a plurality of the parts that may cause a position error and a rotation angle error with respect to the suction nozzles are collectively imaged. A plurality of imaging units that acquire image data, and a plurality of existing regions that individually include a plurality of possible regions in which the plurality of components may exist when the position error and the rotation angle error occur in the image data. An area setting unit that sets a plurality of the image processing areas that do not overlap each other in the image processing area, and an image processing unit that performs image processing on each of the plurality of the image processing areas and recognizes the plurality of the parts. The image processing region is an equilateral trapezoidal region in which the upper bottom is arranged on the central side of the annular arrangement and the lower base is arranged on the outer peripheral side in the image data, and is in the circumferential direction. Disclosed is a component recognition device in which two adjacent equal-legged trapezoidal legs overlap each other .

According to the component recognition device disclosed in the present specification, the image pickup unit captures a plurality of components and acquires image data, and the area setting unit individually includes a possible region in which the component can exist, and Set multiple image processing areas that do not overlap each other. Therefore, even if a position error and a rotation angle error occur, the component sucked by the suction nozzle is reflected only in the image processing area set for this component. Therefore, other parts are not reflected in the image processing area set for each suction nozzle.

It is a perspective view which shows typically the whole structure of the component mounting machine equipped with the component recognition device of 1st Embodiment. It is a side partial sectional view which shows the structure of the component recognition apparatus of 1st Embodiment. It is a figure which shows the operation flow of the component recognition apparatus which operates mainly by the control from an image pickup control part. It is a figure which represents typically the image data acquired by the image pickup part of a component recognition apparatus. In the image data, one of the individually set circular image processing areas is schematically represented by a thick line. It is a figure explaining the rectangular image processing area and the image processing area set by the component recognition apparatus of the comparative example. It is a figure which showed the circular image processing area which sets for a rectangular part, and the rectangular image processing area. It is a figure which showed the circular image processing area and the rectangular image processing area set for the part which has the electrode part protruding from the rectangular body part. It is a block diagram which shows the control structure of the component recognition apparatus of 2nd Embodiment. It is a figure which shows the operation flow of the component recognition apparatus of 2nd Embodiment which operates mainly by the control from an image pickup control part. In the image data, one of the individually set isosceles trapezoidal image processing areas is schematically represented by a thick line. It is a figure which shows an example of the product area obtained in the image data schematically by a thick line.

1. 1. Overall Configuration of Parts Mounting Machine 9 The parts recognition device 4 of the first embodiment will be described with reference to FIGS. 1 to 5. FIG. 1 is a perspective view schematically showing an overall configuration of a component mounting machine 9 equipped with the component recognition device 4 of the first embodiment. In FIG. 1, two component mounting machines 9 of the same type are arranged on the common base 91. The component mounting machine 9 is configured by assembling a component transfer device 1, a board transfer device 2, a component supply device 3, a component recognition device 4, a control device 5, and the like to the machine base 92. In the figure, the X-axis direction is the direction in which the substrate K is carried in and out, the Y-axis direction is the direction orthogonal to the X-axis direction in the horizontal plane, and the Z-axis direction is the vertical direction.

The board transfer device 2 is arranged on the upper surface of the machine base 92 near the center in the longitudinal direction (Y-axis direction) of the component mounting machine 9. The substrate transfer device 2 is a so-called double lane type device in which the first transfer device 21 and the second transfer device 22 are arranged side by side. The first transfer device 21 includes a pair of guide rails parallel to the X-axis direction, and a pair of conveyor belts (not shown) that are guided by the guide rails and carry the substrate K on the guide rails. Further, the first transfer device 21 is provided with a clamp device (not shown) for pushing up and positioning the substrate K transported to the mounting implementation position. The second transfer device 22 is also configured in the same manner as the first transfer device 21.

The parts supply device 3 is provided on the front side of the parts mounting machine 9. The component supply device 3 is composed of a large number of removable cassette type feeders 31. The cassette type feeder 31 includes a main body 32, a supply reel 33 provided on the front side of the main body 32, and a component take-out portion 34 provided on the upper rear end of the main body 32. A carrier tape in which a large number of parts are sealed at a predetermined pitch is wound and held on the supply reel 33. This carrier tape is fed at a predetermined pitch by a tape feeding mechanism (not shown). As a result, the parts are released from the sealed state and sequentially sent to the part take-out unit 34.

The component transfer device 1 is a so-called XY robot type device that can move in the X-axis direction and the Y-axis direction. The component transfer device 1 is arranged from the rear portion (upper right side in FIG. 1) in the longitudinal direction of the component mounting machine 9 to the upper portion of the component supply device 3 in the front portion. The component transfer device 1 includes a head drive mechanism 11, a mounting head 12, a nozzle holder 13, a plurality of suction nozzles 14, and the like. The head drive mechanism 11 drives the mounting head 12 in the X-axis direction and the Y-axis direction in the horizontal plane. The head drive mechanism 11 can be configured by appropriately adopting various known techniques.

The mounting head 12 rotatably supports the nozzle holder 13 on the lower side. The nozzle holder 13 has a plurality of suction nozzles 14 arranged in an annular shape. The suction nozzle 14 sucks the component from the component take-out unit 34 and mounts the component at a predetermined mounting coordinate position on the substrate K. The component transfer device 1 moves to the component supply device 3, sucks the components by the plurality of suction nozzles 14, moves to the substrate K via the component recognition device 4 described later, and mounts the components. Perform a cycle. Further, the component transfer device 1 carries out the component mounting operation by repeating the suction mounting cycle.

The component recognition device 4 is provided upward on the upper surface of the machine base 92 between the board transfer device 2 and the component supply device 3. The component recognition device 4 photographs a state in which a plurality of suction nozzles 14 suck the components by the component take-out unit 34 and move to the substrate K. As a result, the component recognition device 4 can collectively image a plurality of components. The acquired image data is image-processed to confirm the suction state of the parts. When the suction position of the part, the deviation of the rotation angle, the bending of the lead, etc. are confirmed, the mounting work is finely adjusted as necessary. In addition, parts that are difficult to install are discarded.

The control device 5 is arranged at the front portion of the cover 93 that covers the upper part of the machine base 92. The control device 5 is configured by using a computer device having a CPU and operating by software. The control device 5 includes an input unit 51 and a display unit 52 as a man-machine interface. The control device 5 controls the mounting work of the parts according to the mounting job data set in advance. The mounting job data specifies the type, quantity, mounting order, and the like of the parts to be mounted on the board K by the component mounting machine 9. Further, the mounting job data also specifies the position of the cassette type feeder 31 for sucking the parts, the mounting coordinate position on the substrate K, the type of the suction nozzle 14 used for mounting, and the like.

2. Configuration of the Parts Recognition Device 4 of the First Embodiment The detailed description of the parts recognition device 4 of the first embodiment will be given. FIG. 2 is a side partial sectional view showing the configuration of the component recognition device 4 of the first embodiment. The component recognition device 4 performs on-the-fly imaging in which the plurality of suction nozzles 14 are moving from the component supply device 3 to the substrate K without stopping, or images are taken at the timing when the plurality of suction nozzles 14 are temporarily stopped. Either stop imaging may be performed. The component recognition device 4 includes an imaging unit 71, a connecting unit 72, an upper bowl unit 73, a lighting unit 74, an imaging control unit 8, and the like.

The imaging unit 71 has a light incident axis AO extending in the Z-axis direction, and is mounted on the machine base 92 via a support base 711. The upper center of the image pickup unit 71 is a light incident portion 712 on which light from above is incident. A cylindrical connecting portion 72 having a rectangular cross section is arranged above the imaging unit 71. Further, on the upper side of the connecting portion 72, a bowl-shaped upper bowl portion 73 that is open upward and has no bottom is arranged. According to the control from the image pickup control unit 8, the image pickup unit 71 collectively takes an image of the plurality of suction nozzles 14 arranged in a ring shape and the plurality of components P sucked on each of them, and acquires image data. Further, the image pickup unit 71 outputs the acquired image data to the image pickup control unit 8.

The lighting unit 74 is arranged from the inner surface of the connecting portion 72 to the inner surface of the upper bowl portion 73. More specifically, an epi-illumination light source 741 composed of a large number of LEDs is provided on one side surface of the inner wall of the connecting portion 72. Further, a half mirror 742 is provided diagonally across the inside of the connecting portion 72. The half mirror 742 reflects the horizontal epi-illuminated light emitted from the epi-illuminated light source 741 upward in the Z-axis direction, and transmits the light from above toward the light incident portion 712 of the imaging unit 71. On the bowl-shaped inner surface of the upper bowl portion 73, a tilting light source 744 composed of a large number of LEDs is arranged in four stages. Further, a side-emitting light source 746 composed of a large number of LEDs is arranged in one stage near the upper edge of the bowl-shaped inner surface of the upper bowl portion 73. When the imaging unit 71 takes an image, the illumination unit 74 irradiates the subject with illumination light according to the control from the image pickup control unit 8.

As shown in FIG. 2, a central marker 131 is attached to the center of the bottom surface of the nozzle holder 13. Further, FIG. 2 illustrates a situation in which the suction nozzle 14 on the right side does not hold the component P in the suction port 141 at the lower end, and the suction nozzle 14 on the left side holds the component P in the suction port 141. The suction nozzle 14 has a background plate 142 at a position higher than the suction port 141. The background plate 142 is a member that extends horizontally from the outer periphery of the suction nozzle 14 in a brim shape. The background plates 142 of the adjacent suction nozzles 14 are arranged so as to be slightly separated from each other and do not come into contact with each other.

Based on the diameter of the background plate 142, the size of the component P to which the suction nozzle 14 can suck is determined. More specifically, the component P to which the suction nozzle 14 sucks may have a position error and a rotation angle error with respect to the suction nozzle 14. When these errors occur, the region where the component P can exist is referred to as an existable region. The largest part that can be adsorbed is defined within the range in which this presentable region is included in the background plate 142.

The lower surface of the background plate 142 has a color different from that of the component P, for example, black. The background plate 142 is located behind the component P at the time of imaging by the imaging unit 71. As a result, the contrast between the background plate 142 and the component P becomes clear in the image data, and the outer shape of the component P is recognized with high accuracy.

The image pickup control unit 8 is configured by using a computer device. The image pickup control unit 8 controls the image pickup operation of the image pickup unit 71 while controlling the illumination unit 74 according to the image pickup command from the control device 5. Further, the image pickup control unit 8 acquires image data from the image pickup unit 71 that has completed the image pickup operation. The image pickup control unit 8 has the functions of the area setting unit 81 and the image processing unit 82. The detailed functions of the area setting unit 81 and the image processing unit 82 will be described later together with the operation and operation.

3. 3. Operation and operation of the component recognition device 4 of the first embodiment Next, the operation of the component recognition device 4 of the first embodiment will be described. FIG. 3 is a diagram showing an operation flow of the component recognition device 4 that mainly operates under the control of the image pickup control unit 8. In step S1 of FIG. 3, the imaging control unit 8 waits for an imaging command from the control device 5. The control device 5 grasps the driving state of the head driving mechanism 11, detects the timing when the plurality of suction nozzles 14 arrive directly above the component recognition device 4, or issues an imaging command in anticipation of the timing. Upon receiving the imaging command, the imaging control unit 8 advances the execution of the operation flow to step S2.

In step S2, the image pickup control unit 8 controls the image pickup unit 71 and the illumination unit 74 to perform the image pickup operation. FIG. 4 is a diagram schematically showing image data Gd acquired by the image pickup unit 71 of the component recognition device 4. In FIG. 4, the number of suction nozzles 14 included in the nozzle holder 13 is eight. The image data Gd shows the entire background plate 142 of the eight suction nozzles 14. Further, in FIG. 4, two suction nozzles 14 each hold a component P, and three to eight suction nozzles 14 may hold a component P.

In the next step S3, the area setting unit 81 detects the central marker 131 of the nozzle holder 13. As a result, the area setting unit 81 recognizes the central position of the nozzle holder 13 in the image data Gd. In the next step S4, the area setting unit 81 recognizes the center position of each suction nozzle 14 based on the center position and rotation phase of the nozzle holder 13. Not limited to this recognition method, the area setting unit 81 may perform image processing on the background plate 142 in the image data Gd to recognize the central position of each suction nozzle 14. The recognition of the central position of each suction nozzle 14 is performed regardless of the presence or absence of the component P and the suction posture.

In the next step S5, the area setting unit 81 sets the image processing area R1 individually for each suction nozzle 14 in the image data Gd. That is, the image processing region R1 is set for each suction nozzle 14, and a total of eight are set. FIG. 5 is a diagram schematically showing one of the individually set circular image processing regions R1 in the image data Gd with a thick line. In the first embodiment, the image processing region R1 is a circular region centered on the center of the suction nozzle 14. The eight image processing regions R1 do not overlap each other.

In the image processing region R1, the center coordinate value of the circular region is set at the center of the suction nozzle 14. Therefore, the image processing region R1 is arranged concentrically with the background plate 142. Further, the radius of the image processing region R1 is set so as to include the region where the component P can exist. The radius of the image processing area R1 may be automatically calculated based on the size of the component P or the like, or may be based on the operator's setting.

When the suction nozzle 14 is sucking the largest component that can be sucked, the image processing region R1 becomes equal to or larger than the background plate 142. Nevertheless, the radius of the image processing area R1 is limited to the state in which the image processing areas R1 are in contact with each other. When the suction nozzle 14 is sucking a small component, the image processing region R1 may be smaller than the background plate 142. Further, when the types of parts to which the plurality of suction nozzles 14 are sucked are different, the radii of the plurality of image processing regions R1 may be different from each other. That is, regardless of the combination of the size of the parts and the types of parts held by the plurality of suction nozzles 14 at the same time, the plurality of image processing regions R1 include the regions where the respective parts can exist, but do not overlap each other. Set.

In the next step S6, the image processing unit 82 performs image processing on each of the eight image processing regions R1 to recognize the component P, respectively. Various known techniques can be applied to the recognition method of the component P. In the first embodiment, the shape and size of the component P, and the position error and rotation angle error of the component P with respect to the suction nozzle 14 are recognized. If the component P cannot be detected by performing image processing, the image processing unit 82 recognizes that the suction nozzle 14 is not sucked.

In the next step S7, the image processing unit 82 transmits the image processing result to the control device 5. After that, the control device 5 finely adjusts the operation of the suction nozzle 14 mounting the component P on the substrate K based on the received image processing result. If the image processing result is an error, the control device 5 causes the suction nozzle 14 to discard the component P. After step S7, the image processing unit 82 returns the execution of the operation flow to step S1.

Next, the operation of the component recognition device 4 of the first embodiment will be described in comparison with a comparative example. FIG. 6 is a diagram illustrating a rectangular image processing area Q1 and an image processing area Q2 set by the component recognition device of the comparative example. In the comparative example, a large rectangular image processing area Q1 including the background plate 142 is set so that the blind spot of the image processing is eliminated. Then, an overlap occurs between the image processing areas Q1 regardless of whether the adjacent image processing areas Q1 are arranged in parallel movement or in the arrangement of rotational movement. As a result, in any of the image processing regions Q1, in addition to the original component P to be image-processed, a part of the component P sucked by the adjacent suction nozzle 14 is reflected, resulting in an image processing error. There is a risk of becoming.

Further, if a small rectangular image processing area Q2 is set so as not to cause overlap, the image processing area Q2 does not include a part of the background plate 142. Therefore, in this image processing area Q2, it is not possible to secure a sufficient area for the position error and the rotation angle error of the component P. As a result, the size of the component P that can be sucked by the suction nozzle 14 is limited.

On the other hand, in the component recognition device 4 of the first embodiment, the image processing region R1 is set so as to include the region in which each component can exist and not to overlap with each other. For example, the background plate 142 is wider than the possible region in which the position error and the rotation angle error are taken into consideration for the largest component that the suction nozzle 14 can suck. The image processing region R1 has an area equal to or larger than the background plate 142. Therefore, the size of the component P that can be sucked by the suction nozzle 14 is not limited. Further, since the image processing regions R1 do not overlap each other, the background plate 142 of the adjacent suction nozzle 14 and the component P are not reflected. Therefore, there is no risk of image processing error.

Further, the operation of the circular image processing region will be described with reference to another embodiment. FIG. 7 is a diagram showing a circular image processing area R3 and a quadrangular image processing area Q3 set for rectangular parts Ps. Further, FIG. 8 is a diagram showing a circular image processing region R4 and a quadrangular image processing region Q4 set for the component Pe having the electrode portion E protruding from the rectangular main body portion B.

In FIG. 7, assuming a case where a positional error and a rotation angle error occur in the rectangular component Ps, it is necessary to consider the possible region indicated by the broken line. Then, in the first embodiment, the circular image processing region R3 is set so as to include the existable region. The diameter D3 of the image processing region R3. On the other hand, in the comparative example, the rectangular image processing area Q3 is set so as to include the existable area. The short side Y3 and the long side X3 of the image processing area Q3.

Next, the main body B of the component Pe shown in FIG. 8 is a rectangle having the same size as the component Ps of FIG. The component Pe has a pair of electrode portions E protruding from the center of the two short sides of the main body portion B. Assuming that the component Pe has a position error and a rotation angle error, it is necessary to consider the existence region indicated by the broken line. Then, in the first embodiment, the circular image processing region R4 is set so as to include this possible region. The diameter D4 of the image processing region R4. On the other hand, in the comparative example, the rectangular image processing area Q4 is set so as to include this possible area. The short side Y4 and the long side X4 of the image processing area Q4.

Here, in the first embodiment, the diameter D4 of the image processing region R4 of FIG. 8 may have the same size as the diameter D3 of the image processing region R3 of FIG. Therefore, the size of the adsorbable component is expanded from the component Ps to the component Pe. On the other hand, in the comparative example, the short side Y4 of the image processing area Q4 of FIG. 8 coincides with the short side Y3 of the image processing area Q3 of FIG. However, the long side X4 of the image processing area Q4 needs to be larger than the long side X3 of the image processing area Q3. Therefore, increasing the size of the adsorbable component Ps is limited.

4. Aspects and Effects of the Part Recognition Device 4 of the First Embodiment The part recognition device 4 of the first embodiment is a plurality of parts P sucked by a plurality of suction nozzles 14 arranged in an annular shape, respectively, with respect to the suction nozzle 14. When a position error and a rotation angle error occur in the image pickup unit 71 that collectively captures a plurality of parts P in which a position error and a rotation angle error can occur and acquires the image data Gd, and in the image data Gd. A plurality of image processing regions R1 individually including a plurality of possible regions in which a plurality of components P can exist, and a plurality of region setting units 81 for setting a plurality of image processing regions R1 that do not overlap each other. An image processing unit 82 that performs image processing on each of the image processing regions R1 and recognizes a plurality of parts P, respectively, is provided.

According to this, the image pickup unit 71 images a plurality of component Ps to acquire image data Gd, and the area setting unit 81 individually includes a possible region in which the component P can exist and overlaps with each other. A plurality of image processing areas R1 that do not become are set. Therefore, even if a position error and a rotation angle error occur, the component P sucked by the suction nozzle 14 is reflected only in the image processing region R1 set for the component P. Therefore, other parts P are not reflected in the image processing area R1 set for each part P.

In addition, since the other component P is not reflected in the image processing area R1, there is no risk of an image processing error. Further, the size of the component P that can be sucked by the suction nozzle 14 is not limited as compared with the comparative example in which the image processing area Q2 of a small quadrangle is set. Further, in the first embodiment, the hardware configuration is the same as that of the conventional apparatus, and only the software of the imaging control unit 8 is different. Therefore, the increase in the equipment cost is suppressed, and even the delivered conventional equipment can be dealt with by changing the software.

Further, the suction nozzle 14 has a background plate 142 located behind the component P at the time of imaging by the imaging unit 71, and the image processing region R1 includes the background plate 142 in the image data Gd. According to this, the image processing region R1 is wider than the region where the component P sucked by the suction nozzle 14 can exist. Therefore, the image of the component P does not come out of the image processing area R1. In addition, the background plate 142 has a lower side surface having a color different from that of the component P, and is located behind the component P when the imaging unit 71 takes an image. Therefore, the contrast of the image of the component P becomes clear, and the outer shape of the component P is accurately recognized.

Further, the image processing region R1 is a circular region centered on the center of the suction nozzle 14 in the image data Gd. According to this, since the image processing area R1 can be easily set, the image processing time is shortened.

5. Configuration and Operation of the Part Recognition Device 4A of the Second Embodiment Next, the parts recognition device 4A of the second embodiment will be mainly described as being different from the first embodiment. The component recognition device 4A of the second embodiment has the same hardware configuration as that of the first embodiment, but the function of the image pickup control unit 8A and the shape of the image processing area are different from those of the first embodiment. FIG. 9 is a block diagram showing a control configuration of the component recognition device 4A of the second embodiment. Further, FIG. 10 is a diagram showing an operation flow of the component recognition device 4A of the second embodiment, which is mainly operated by control from the image pickup control unit 8A.

In the second embodiment, as shown in FIG. 9, the image pickup control unit 8A has the functions of the area setting unit 83 and the image processing unit 82. Further, the area setting unit 83 includes a component-specific area designation unit 84 and a product area calculation unit 85. The operations from step S1 to step S4 in FIG. 10 are the same as those in the first embodiment. In step S11 following step S4, the area setting unit 83 sets the image processing area R5 individually for each suction nozzle 14 in the image data Gd. FIG. 11 is a diagram schematically showing one of the individually set isosceles trapezoidal image processing regions R5 in the image data Gd with thick lines. Eight image processing regions R5, which is equal to the number of suction nozzles 14, are set.

In the second embodiment, the image processing region R5 is an isosceles trapezoidal region. The area setting unit 83 sets the image processing area R5 by performing the following steps 1) to 4).
Step 1) Divide the central angle around the center marker 131 of the nozzle holder 13 into eight equal parts, and set eight dividing lines F (indicated by the broken line) so that the center of the suction nozzle 14 is located at the center of the 45 ° pitch. To do.
Step 2) Of the peripheral edges of each background plate 142, the upper base B1 in contact with the central position of the annular arrangement is arranged within a range of 45 °.
Step 3) Of the peripheral edges of each background plate 142, the lower base B2 in contact with the outer peripheral side position of the annular arrangement is arranged within a range of 45 °.
Step 4) On the dividing line F, connect the end of the upper base B1 and the end of the lower base B2 to form a leg L.

In the image processing region R5 set as described above, two isosceles trapezoidal legs L adjacent to each other in the circumferential direction overlap each other. Further, the image processing region R5 includes the background plate 142. Therefore, even if the suction nozzle 14 sucks the largest component that can be sucked and a position error and a rotation angle error occur in the component, the image of the component does not come out from the image processing region R5.

In the next step S12, the component-specific region designation unit 84 of the region setting unit 83 operates when the component-specific region R6 corresponding to the component sucked by the suction nozzle 14 is set, and the component-specific region R6 To specify. The component-specific region R6 is set in consideration of a possible region that changes depending on the type of component and an image processing algorithm that differs depending on the type of component. The component-specific region R6 is designated to exclude an region unnecessary for image processing to reduce the final image processing region, and its shape is not limited.

For example, the component-specific area designation unit 84 stores in advance data in which the component type and the component-specific area R6 are associated with each other. Then, the component-specific area designation unit 84 designates the component-specific region R6 by reading out the data corresponding to the type of the component sucked by the suction nozzle 14. Alternatively, the component-specific area designation unit 84 may be configured to designate the component-specific area R6 based on the input operation of the operator each time step S12 is executed. The component-specific area designation unit 84 does not operate when the component-specific area R6 is not set.

In the next step S13, the product area calculation unit 85 of the area setting unit 83 determines whether or not the component-specific area R6 is designated. In step S14 when the component-specific area R6 is specified, the product area calculation unit 85 obtains the product area R7 between the image processing area R5 and the component-specific area R6. Further, the product area calculation unit 85 uses the product area R7 as the final image processing area. After that, the product area calculation unit 85 advances the execution of the operation flow to step S6. If the component-specific area R6 is not specified in step S13, the product area calculation unit 85 joins the execution of the operation flow to step S6.

FIG. 12 is a diagram schematically showing an example of the product region R7 obtained in the image data Gd with a thick line. When the components P adsorbed on the eight suction nozzles 14 are of the same type, eight product regions R7 are obtained. However, the number of product regions R7 may vary depending on the combination of types of parts P. That is, there may be a case where the image processing area R5 is set for a part of a maximum of eight parts and the product area R7 is set for the remaining part. In the example of FIG. 12, the component-specific area R6 corresponds to the large rectangular image processing area Q1 shown in FIG. In this example, the product area R7 is a hexagonal area excluding the portions near both ends of the isosceles trapezoidal lower base B2. Nevertheless, the product area R7 includes the background plate 142.

In step S6, the image processing unit 82 performs image processing on the product area R7 or the image processing area R5, respectively, and recognizes the component P, respectively. In the next step S7, the image processing unit 82 transmits the image processing result to the control device 5. After step S7, the image processing unit 82 returns the execution of the operation flow to step S1.

In the component recognition device 4A of the second embodiment, the product area R7 and the image processing area R5 include the background plate 142 and do not overlap with each other. Therefore, the size of the component P that can be sucked by the suction nozzle 14 is not limited. Further, the background plate 142 of the adjacent suction nozzle 14 and the component P are not reflected in the product area R7 and the image processing area R5. Therefore, there is no risk of image processing error.

6. Aspects and Effects of the Part Recognition Device 4A of the Second Embodiment In the part recognition device 4A of the second embodiment, the image processing region R5 has an upper bottom B1 arranged on the central side of the annular arrangement in the image data Gd and is on the outer peripheral side. It is an isosceles trapezoidal region in which the lower bottom B2 is arranged, and two isosceles trapezoidal legs L adjacent to each other in the circumferential direction overlap each other. According to this, as in the first embodiment, the other parts P are not reflected in the image processing area R5 set for each part P. In addition, there is no risk of image processing error, and the size of the component P that can be sucked by the suction nozzle 14 is not limited.

Further, the image processing region can be a polygonal region of pentagon or more, and as a specific example, the product region R7 is a hexagonal region. According to this, it is possible to set an area with good processing efficiency without sticking to the rectangular image processing area.

Further, the area setting unit 83 obtains a product area R7 of the image processing area R5 and the component-specific area R6 designated according to the type of the component, and sets the product area R7 as the final image processing area. According to this, the area to be image-processed becomes smaller, so that the image processing time is shortened.

7. Application and Modification of the Embodiment It is possible to use an image processing region other than the image processing region (R1, R5) and the product region R7 described in the first and second embodiments. For example, the image processing may be performed by obtaining the product area of the circular image processing area R4 shown in FIG. 8 and the rectangular image processing area Q4. Further, the number of suction nozzles 14 held by the nozzle holder 13 is not limited to eight, and 12 or 24 suction nozzles can be used. However, the shape of the isosceles trapezoid of the image processing area R5 of the second embodiment is appropriately changed. Various other modifications and applications are possible in the first and second embodiments.

1: Parts transfer device 13: Nozzle holder 14: Suction nozzle 142: Background plate 2: Substrate transfer device 3: Parts supply device 4, 4A: Parts recognition device 5: Control device 71: Image pickup unit 74: Lighting unit 8, 8A : Image control unit 81: Area setting unit 82: Image processing unit 83: Area setting unit 84: Area designation unit for each part 85: Product area calculation unit 9: Parts mounting machine P: Parts Gd: Image data R1, R3, R4: (Circular) image processing area R5: (isosceles trapezoidal) image processing area B1: Upper bottom B2: Lower bottom L: Leg R6: Parts-specific area R7: Product area Q1, Q2, Q3, Q4: (square) Image processing area

Claims (4)

A plurality of parts sucked by a plurality of suction nozzles arranged in a ring shape, and a plurality of the parts that may cause a position error and a rotation angle error with respect to the suction nozzles are collectively imaged and image data is acquired. Imaging unit and
In the image data, there are a plurality of image processing regions that individually include a plurality of possible regions in which the plurality of parts may exist when the position error and the rotation angle error occur, and mutually. An area setting unit that sets a plurality of the image processing areas that do not overlap,
An image processing unit that performs image processing on each of the plurality of the image processing areas and recognizes the plurality of the parts is provided .
The image processing region is an isosceles trapezoidal region in which the upper base is arranged on the center side of the annular arrangement and the lower base is arranged on the outer peripheral side in the image data, and the two said regions adjacent to each other in the circumferential direction. Isosceles trapezoidal legs overlap,
Parts recognition device. A plurality of parts sucked by a plurality of suction nozzles arranged in a ring shape, and a plurality of the parts that may cause a position error and a rotation angle error with respect to the suction nozzles are collectively imaged and image data is acquired. Imaging unit and
In the image data, there are a plurality of image processing regions that individually include a plurality of possible regions in which the plurality of parts may exist when the position error and the rotation angle error occur, and mutually. An area setting unit that sets a plurality of the image processing areas that do not overlap,
An image processing unit that performs image processing on each of the plurality of the image processing areas and recognizes the plurality of the parts is provided .
The area setting unit obtains a product area of the circular image processing area centered on the center of the suction nozzle in the image data and a component-specific area designated according to the type of the component. The product area is used as the final image processing area.
Parts recognition device. A plurality of parts sucked by a plurality of suction nozzles arranged in a ring shape, and a plurality of the parts that may cause a position error and a rotation angle error with respect to the suction nozzles are collectively imaged and image data is acquired. Imaging unit and
In the image data, there are a plurality of image processing regions that individually include a plurality of possible regions in which the plurality of parts may exist when the position error and the rotation angle error occur, and mutually. An area setting unit that sets a plurality of the image processing areas that do not overlap,
An image processing unit that performs image processing on each of the plurality of the image processing areas and recognizes the plurality of the parts is provided .
The area setting unit obtains a product area of the image processing area having a polygonal shape of pentagon or more and a component-specific area designated according to the type of the component, and the product area is used as the final image processing area. To
Parts recognition device. The suction nozzle has a background plate located behind the component at the time of imaging of the imaging unit.
The image processing area includes the background plate in the image data.
The component recognition device according to any one of claims 1 to 3 .

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