JP6974101B2 - Setting device and surface mounter - Google Patents

Description

The techniques disclosed herein relate to setting devices and surface mounters.

Conventionally, in a surface mounter that holds a component supplied from a component supply device and mounts the component on a board, when the rotation angle of the component around the center point of the component is determined and the determined rotation angle and the component are mounted on the substrate. There is known one that corrects the rotation angle of a component according to the angle difference from the mounting angle of the above (see, for example, Patent Document 1).

JP-A-2007-103436 (paragraph 0049)

By the way, in general, the rotation angle of a component can be determined from the outer peripheral shape of the component. However, depending on the component, the rotation angle may not be determined from the outer peripheral shape. For example, when the outer peripheral shape is a square, when a certain arbitrary rotation angle is 0 degrees, the outer peripheral shapes match at 0 degrees, 90 degrees, 180 degrees, and 270 degrees, so that the rotation angles are 0 degrees, 90 degrees, and so on. It is not possible to determine whether it is 180 degrees or 270 degrees from the outer peripheral shape.

However, in general, such a component has a characteristic portion capable of determining the rotation angle. Therefore, in the case of such a component, the rotation angle of the component can be determined by setting the determination parameter for determining the rotation angle in advance based on the feature portion.

Parts may also be supplied inside out. Generally, a part has a feature portion that can determine the front and back, so the front and back of the part can be determined by setting the determination parameters for determining the front and back based on the feature portion in advance. can do.

However, in general, the parts supplier does not provide data on the characteristic parts of the parts. For this reason, conventionally, the operator manually sets the determination parameters, which causes a problem of inefficiency.
This specification discloses a technique capable of efficiently setting determination parameters for determining the rotation angle and the postures of parts such as front and back.

The setting device disclosed in the present specification includes an image pickup unit that captures an image of a component having a feature portion capable of determining a posture to generate an image, a recognition process for recognizing the feature portion on the image, and the recognition process. A control unit for executing a setting process for setting a determination parameter for determining the posture based on the feature portion recognized in the above is provided.

According to the above setting device, the time required for setting can be shortened as compared with the case where the operator manually sets the determination parameter, so that the determination parameter can be set efficiently.

Further, the posture is a rotation angle around the center point of the component, and the control unit rotates the image in the recognition process and is based on a difference image between the image before rotation and the image after rotation. The feature portion may be recognized.

According to the above setting device, it is possible to set a determination parameter capable of determining the rotation angle of the component.

Further, the posture includes the front and back of the component, and the image pickup unit captures a first image pickup unit that images the surface of the component to generate a front surface image and images the back surface of the component to obtain a back image. It has a second image pickup unit to be generated, and the control unit may recognize the feature portion based on the difference image between the front surface image and the back surface image in the recognition process.

According to the above setting device, it is possible to set a determination parameter capable of determining the front and back of a component.

Further, the component has electrodes on the front and back surfaces, and the control unit represents the electrodes in the back image and the density of pixels representing the electrodes in the front image before the recognition process. A correction process for correcting the density of at least one pixel of the front surface image and the back surface image may be executed based on the density of the pixels.

Even if the same subject is imaged, the pixel density may differ between the first image pickup unit and the second image pickup unit due to differences in the sensitivity of the image pickup sensor and the brightness of the light source. In other words, the shading of the pixels may differ between the first image pickup unit and the second image pickup unit. If the shading of the pixels is different on the front and back, the accuracy of the determination parameter may decrease.
According to the above setting device, the density of at least one pixel of the front image and the back image is based on the density of the pixel representing the electrode of the component in the front image and the density of the pixel representing the electrode of the component in the back image. Therefore, it is possible to prevent the accuracy of the determination parameter from being lowered due to the difference in the shading of the pixels.

Further, after the setting process, the control unit may execute a verification process for verifying the determination parameter by determining the posture using the determination parameter on each image.

According to the above setting device, the reliability of the determination parameter can be improved.

Further, the surface mounter disclosed in the present specification includes the above-mentioned setting device and a mounting unit that holds the component supplied by the component supply device and mounts the component on a substrate.

According to the above surface mounter, the determination parameters can be set more efficiently than when the operator manually sets the determination parameters.

Further, the control unit may hold the component by the mounting unit and may image the component held by the mounting unit by the imaging unit.

In the past, the operator manually held the component in the mounting unit in order to image the back surface of the component with the image pickup unit. In other words, the operator was handing the parts to the mounting part. Therefore, it was troublesome for the operator. In particular, it is difficult for the operator to hold the extremely small parts in the mounting portion, which is a great trouble for the operator. On the other hand, according to the surface mounter, the operator does not have to perform the work of holding the component in the mounting portion, so that the operator's labor can be reduced.

Schematic diagram showing the overall configuration of the surface mounter according to the first embodiment Front view of head unit and board imaging camera Block diagram showing the electrical configuration of a surface mounter Schematic diagram showing an image of a component (PLCC) taken from above Schematic diagram showing an image of a component (SOP) taken from above Schematic diagram showing the determination area (detection circle) Schematic diagram showing rotation angle determination parameters Schematic diagram showing an image of a component (PLCC) taken from above Flowchart of rotation angle judgment parameter setting process Schematic diagram showing an example of a difference image Flow chart of rotation angle determination process Schematic diagram of parts according to the second embodiment Schematic diagram showing an example of a difference image Schematic diagram showing front and back judgment parameters Flowchart of setting process of front and back judgment parameters Schematic diagram of parts according to the third embodiment Schematic diagram showing front and back judgment parameters

<Embodiment 1>
The first embodiment will be described with reference to FIGS. 1 to 11. In the following description, the left-right direction shown in FIG. 1 is referred to as an X-axis direction, the front-back direction is referred to as a Y-axis direction, and the up-down direction shown in FIG. 2 is referred to as a Z-axis direction. Further, in the following description, the right side shown in FIG. 1 is referred to as an upstream side, and the left side is referred to as a downstream side. Further, in the following description, the reference numerals of the drawings may be omitted for the same constituent members except for a part.

(1) Overall Configuration of Surface Mounter The overall configuration of the surface mounter 1 will be described with reference to FIG. The surface mounter 1 includes a base 10, a transport conveyor 11, a tape component supply device 12, a tray component supply device 13, a head unit 14, a head transfer section 15, and two component image pickup cameras 16 (image pickup section, second image pickup section). An example), a substrate image pickup camera 17 (an image pickup unit, an example of a first image pickup unit), a control unit 30 shown in FIG. 3, an operation unit 31, and the like are provided. The component image pickup camera 16, the substrate image pickup camera 17, and the control unit 30 constitute the setting device 2 (see FIG. 3) according to the first embodiment. The head unit 14 and the head transport unit 15 are examples of mounting units.

The base 10 has a rectangular shape in a plan view and has a flat upper surface. In FIG. 1, the rectangular frame A shown by the alternate long and short dash line indicates the working position when the component E is mounted on the substrate P.
The conveyor 11 carries the substrate P from the upstream side in the X-axis direction to the working position A, and carries out the substrate P on which the component E is mounted at the working position A to the downstream side. The conveyor 11 includes a pair of conveyor belts 11A and 11B that circulate and drive in the X-axis direction, a conveyor drive motor 44 that drives the conveyor belts 11A and 11B (see FIG. 3), and the like. The rear conveyor belt 11A is movable in the front-rear direction, and the distance between the two conveyor belts 11A and 11B can be adjusted according to the width of the substrate P.

The two tape component supply devices 12 are arranged side by side in the X-axis direction on the front side of the conveyor 11. The tape component supply device 12 supplies a relatively small component E, and a plurality of feeders 12A are attached side by side in a horizontal direction. Each feeder 12A is provided with a reel (not shown) around which a part tape (not shown) containing a plurality of parts E is wound, an electric delivery device (not shown) for pulling out the part tape from the reel, and the like. The parts E are supplied one by one from the parts supply position provided at the end located on the reel 11 side.

The two tray component supply devices 13 are arranged side by side in the X-axis direction on the rear side of the conveyor 11. The tray component supply device 13 supplies a relatively large component E, and is housed inside a vertically long box-shaped main body 13D and the main body 13D so as to be able to move up and down, and a plurality of pallets 13A are stored. A magazine (not shown), a magazine elevating part (not shown) that raises and lowers the magazine, a substantially flat plate-shaped supply stage 13C provided so as to extend forward from the main body 13D, and a pallet that conveys the pallet 13A in the front-rear direction. It is equipped with a transport unit (not shown). A tray 13B is placed on each pallet 13A. Parts E are placed on the tray 13B in an aligned state, and a plurality of parts E are collectively supplied by pulling out the pallet 13A onto the supply stage 13C by a pallet transport unit (not shown).

The head unit 14 supports a plurality of (here, five) mounting heads 20 so as to be able to move up and down and rotatably around an axis. The configuration of the head unit 14 will be described later.

The head transport unit 15 transports the head unit 14 in the X-axis direction and the Y-axis direction within a predetermined movable range. The head transport unit 15 includes a beam 21 that supports the head unit 14 so as to be reciprocally movable in the X-axis direction, a pair of Y-axis guide rails 22 that support the beam 21 so that the beam 21 can be reciprocated in the Y-axis direction, and a head unit 14. The X-axis servomotor 40 for reciprocating in the X-axis direction, the Y-axis servomotor 41 for reciprocating the beam 21 in the Y-axis direction, and the like are provided.

The two component image pickup cameras 16 capture the component E adsorbed on the mounting head 20 from below. The component image pickup camera 16 on the front side is arranged between two tape component supply devices 12 arranged in the X-axis direction on the front side of the conveyor 11. The rear component imaging camera 16 is arranged between the two tray component supply devices 13 arranged in the X-axis direction on the rear side of the conveyor 11. Each component imaging camera 16 has an imaging sensor, a light source such as an LED that irradiates component E with light, and an optical system that forms an image of light emitted from the light source and reflected by component E on the light receiving surface of the imaging sensor. It is arranged so that the light receiving surface faces upward.

The substrate image pickup camera 17 is provided in the head unit 14. The substrate image pickup camera 17 is for taking an image of the fiducial mark attached to the substrate P from above. The substrate image pickup camera 17 is also used for imaging the component E supplied by the tape component supply device 12 and the tray component supply device 13. The configuration of the substrate imaging camera 17 will be described later.

(1-1) Head Unit and Substrate Imaging Camera Next, the head unit 14 and the substrate imaging camera 17 will be described with reference to FIG. 2. The head unit 14 according to the first embodiment is a so-called in-line type, and a plurality of mounting heads 20 are provided side by side in the X-axis direction. Further, the head unit 14 includes a Z-axis servomotor 42 (see FIG. 3) that raises and lowers these mounting heads 20 individually, and an R-axis servomotor 43 (see FIG. 3) that simultaneously rotates these mounting heads 20 around an axis. ) Etc. are provided.

Each mounting head 20 sucks (an example of holding) and releases the component E, and has a nozzle shaft 23 and a suction nozzle 24 detachably attached to the lower end of the nozzle shaft 23. Negative pressure and positive pressure are supplied to the suction nozzle 24 from an air supply device (not shown) via the nozzle shaft 23. The suction nozzle 24 sucks the component E by supplying a negative pressure, and releases the component E by supplying a positive pressure.

Although the inline type head unit 14 will be described here as an example, the head unit 14 may be, for example, a so-called rotary head in which a plurality of mounting heads 20 are arranged on the circumference.

The substrate imaging camera 17 is provided at the lower end of the head unit 14. The substrate image pickup camera 17 is an image pickup sensor, a light source such as an LED that irradiates a subject (fiducial mark or component E) with light, and optics that forms an image of light emitted from the light source and reflected by the subject on the light receiving surface of the image pickup sensor. It has a system, etc., and is arranged so that the light receiving surface faces diagonally downward.

(1-2) Electrical Configuration of Surface Mounter Next, the electrical configuration of the surface mounter 1 will be described with reference to FIG. The surface mounter 1 includes a control unit 30 and an operation unit 31. The control unit 30 includes an arithmetic processing unit 32, a motor control unit 33, a storage unit 34, an image processing unit 35, an external input / output unit 36, a communication unit 37, and the like.

The arithmetic processing unit 32 includes a CPU, ROM, RAM, and the like, and controls each unit of the surface mounter 1 by executing a control program stored in the ROM.

The motor control unit 33 rotates each motor such as the X-axis servo motor 40, the Y-axis servo motor 41, the Z-axis servo motor 42, the R-axis servo motor 43, and the conveyor drive motor 44 under the control of the arithmetic processing unit 32.

Various types of data are stored in the storage unit 34. Various data includes information on the number and types of boards P to be produced, information on the number and types of parts E mounted on the board P, and information on the mounting position where each part E is mounted on the board P. Information on the mounting order of the parts E, shape data representing the outer peripheral shape of the parts E when the rotation angle of the parts E is 0 degrees, determination parameters described later, and the like are included.

The image processing unit 35 is configured to capture image signals output from the component image pickup camera 16 and the substrate image pickup camera 17, and generates a digital image based on the output image signals.

The external input / output unit 36 is a so-called interface, and is configured to capture detection signals output from various sensors 45 provided in the main body of the surface mounter 1. Further, the external input / output unit 36 is configured to control the operation of various actuators 46 based on the control signal output from the arithmetic processing unit 32.

The communication unit 37 is for the control unit 30 to communicate with the tape component supply device 12 and the tray component supply device 13.

The operation unit 31 includes a display device such as a liquid crystal display and an input device such as a touch panel, a keyboard, and a mouse. The operator can operate the operation unit 31 to make various settings and the like.

The control unit 30 may include an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like in place of the CPU or in addition to the CPU.

(2) Determination of Rotation Angle of Part E Next, determination of the rotation angle of component E will be described with reference to FIGS. 4 and 5. Here, PLCC (Plastic led chip carrier) and SOP (Small Outline Package) will be described as examples of the component E.

In FIG. 4, the image 51A is an image taken from above of the PLCC placed so that the rotation angle θ around the center point S is 0 degrees (or an angle close to it). In the image 51A, the PLCC is rotated around the center point S, but for convenience, the angle of the PLCC shown in the image 51A is set to 0 degrees.
Images 51B to 51D are images generated by rotating the image 51A by 90 degrees, 180 degrees, and 270 degrees. In the following description, the image 51A is referred to as a 0-degree image, the image 51B is referred to as a 90-degree image, the image 51C is referred to as a 180-degree image, and the image 51D is referred to as a 270-degree image. As shown in FIG. 4, the outer peripheral shape of the PLCC is substantially square, and the outer peripheral shapes match at four angles of 0 degree, 90 degree, 180 degree, and 270 degree. Therefore, the rotation angle θ cannot be determined only by the outer peripheral shape.

In FIG. 5, the image 52A is an image obtained by capturing the SOP placed so that the rotation angle θ is 0 degrees (or an angle close to it) from above. The outer peripheral shape of the SOP is a horizontally long rectangular shape, and the same number of leads extend from the left and right. As shown in FIG. 5, the SOP has the same outer peripheral shape at two angles of 0 degree and 180 degrees. Therefore, the rotation angle θ cannot be determined only by the outer peripheral shape.

However, these parts E have a characteristic portion capable of determining the rotation angle θ. For example, as shown in FIG. 4, the PLCC has only one lead 53 that is longer than the other leads 56. As shown in the images 51A to 51D, the position of the portion 54 longer than the other leads 56 in the long reed differs depending on the rotation angle θ of the PLCC. Therefore, the rotation angle θ of the PLCC can be determined by detecting the portion 54 on the image captured by the PLCC. That is, the portion 54 is a characteristic portion capable of determining the rotation angle θ of the PLCC.
In the case of the SOP shown in FIG. 5, a mark 55 is attached to the surface by printing or the like. The mark 55 is a characteristic portion capable of determining the rotation angle θ of the SOP.

Therefore, the control unit 30 sets the rotation angle determination parameter 91 (see FIG. 7, an example of the determination parameter) based on the feature portion in advance before starting the mounting of the component E on the substrate P, and mounts the component E on the substrate P. At the time of mounting, the rotation angle θ of the component E is determined using the rotation angle determination parameter 91. Hereinafter, a specific description will be given.

(2-1) Rotation Angle Determination Parameter Here, first, with reference to FIG. 6, a circular determination region 61 (hereinafter referred to as a detection circle 61) used for setting the rotation angle determination parameter 91 will be described. The detection circle 61 indicates the position of the feature portion 54 on the 0 degree image, and is set as a circle inscribed in the feature portion 54. The shape of the determination region 61 is not limited to the circle, and can be appropriately determined. For example, the determination area 61 may be a quadrangle inscribed in the feature portion 54. Further, the determination region 61 may be set inside the feature portion 54 and may not necessarily be inscribed.

Next, the rotation angle determination parameter 91 will be described with reference to FIG. 7. The rotation angle determination parameter 91 includes "detection angle", "detection circle diameter", "detection circle center position X", "detection circle center position Y", "characteristic part color", and "minimum density difference". Is done.

The “detection angle” is the number of rotation angles θ whose outer peripheral shape matches the shape data. Specifically, as described above, the storage unit 34 stores shape data representing the outer peripheral shape of the component E when the rotation angle θ of the component E is 0 degrees. Since the outer peripheral shape of the PLCC matches the shape data at four angles of 0 degree, 90 degree, 180 degree and 270 degree, 4 is set in the "detection angle". Further, since the outer peripheral shape of the SOP matches the shape data at two angles of 0 degree and 180 degrees, 2 is set in the "detection angle".

The "detection circle diameter" is the diameter of the detection circle 61, the "detection circle center position X" is the X coordinate of the center point of the detection circle 61, and the "detection circle center position Y" is the Y coordinate of the center point of the detection circle 61. be.
Here, as shown in the image 51A, the component E may be slightly rotated on the 0 degree image. Therefore, it is assumed that these coordinates are set in an XY coordinate system in which, for example, the upper left corner of the component E on the 0 degree image is the origin, the upper side of the component E is the X axis, and the left side of the component E is the Y axis.

The "color of the feature portion" indicates the color of the feature portion. For example, in the example shown in FIG. 4, since the color of the feature portion 54 is white, white is set. On the other hand, in the example shown in FIG. 8, there is a lead 53 longer than the other leads 56 on the upper side, the right side, and the lower side, and there is no long lead 53 on the left side. That is, there are long leads 53 at three positions and no long leads 53 at only one position. In this case, the position without the long lead 53 is recognized as a feature portion. Therefore, the color of the characteristic portion is black.

The "minimum concentration difference" is a value that serves as a reference for determining whether or not the rotation angle θ can be determined. As shown in FIG. 6, the control unit 30 obtains the average value of the densities of the pixels in the detection circle 61 described above in the 0-degree image, and 90 the detection circle 61 around the center point S of the component E on the 0-degree image. Rotate by degrees, 180 degrees, and 270 degrees, and obtain the average value of the densities of the pixels in the detection circle 61 at each angle. Then, the control unit 30 sets the difference between the maximum average value and the minimum average value as the "minimum concentration difference". The reason for setting the "minimum concentration difference" will be described below.

Originally, the difference between the maximum average value and the minimum average value among the average values at each angle should be large to some extent, but the difference may be small for some reason. In that case, even if the rotation angle determination parameter 91 is set, the reliability may decrease. Therefore, the control unit 30 can determine whether or not the difference between the maximum average value and the minimum average value is the "minimum concentration difference" or more, and if it is the "minimum concentration difference" or more, the rotation angle θ can be determined. On the other hand, if it is less than the "minimum concentration difference", it is judged that the judgment is impossible.

(2-2) Rotation Angle Determination Parameter Setting Process Next, the rotation angle determination parameter 91 setting process will be described with reference to FIG. 9. This process is started when the operator places the component E to be set in a predetermined position (for example, the tray 13B) and then operates the operation unit 31 to instruct the setting of the rotation angle determination parameter 91. Here, when the component E is placed at the predetermined position, the operator shall place the component E so that the rotation angle θ is 0 degrees (or an angle close to it).

In S101, the control unit 30 takes an image of the component E placed at the predetermined position described above by the substrate image pickup camera 17 and generates an image. In the following description, the image generated in S101 is referred to as a 0 degree image.
In S102, the control unit 30 generates a 90-degree image, a 180-degree image, and a 270-degree image by rotating the 0-degree image by 90 degrees, 180 degrees, and 270 degrees.

In S103, the control unit 30 determines whether or not the outer peripheral shape of the component E matches the shape data for each image of 0 to 270 degrees. For example, in PLCC, since the outer peripheral shape matches the shape data in any of the 0-270 degree images, it is determined that the outer peripheral shape matches. On the other hand, in the SOP, the outer peripheral shapes match in the 0-degree and 180-degree images, but the outer peripheral shapes do not match in the 90-degree and 270-degree images, so it is judged that they do not match.

Here, since the component E is not always placed so as to be completely 0 degrees, the control unit 30 uses the 0 degree image so that the rotation angle θ of the component E in the 0 degree image is 0 degrees. The rotation angle θ may be corrected and then compared with the shape data. In that case, the same angle correction shall be applied to the 90-degree to 270-degree image.
If the control unit 30 matches the shape data in any of the images, the control unit 30 proceeds to S106 assuming that the rotation angle θ cannot be determined only by the outer peripheral shape (in other words, the component E that needs to recognize the feature portion). If they do not match, the process proceeds to S104.

In S104, the control unit 30 determines whether or not the outer peripheral shape of the component E matches the shape data for each of the 0 degree and 180 degree images. For example, in SOP, since the outer peripheral shape matches the shape data in both the 0-degree and 180-degree images, it is determined that the outer peripheral shape matches. If the control unit 30 matches the shape data in any of the images, the control unit 30 proceeds to S106 assuming that the rotation angle θ cannot be determined only by the outer peripheral shape (in other words, the component E that needs to recognize the feature portion). If they do not match, the process proceeds to S105.

In S105, the control unit 30 executes error processing. Specifically, the control unit 30 cancels the setting of the rotation angle determination parameter 91 and causes the display device of the operation unit 31 to display an error message indicating that the rotation angle determination parameter 91 cannot be set.

In S106, the control unit 30 generates the difference image described below.
The difference image will be described with reference to FIG. Here, PLCC will be described as an example. In the difference image 65, when four images of 0 to 270 degrees are superimposed, the density of the pixels whose densities are almost the same in all the four images is 0 (black), and the density of the other pixels is 255 (white). It was done. For example, in a 0 degree image, the density of the pixel representing the characteristic portion of the PLCC does not match the density of the pixel at the same position in the 90 degree to 270 degree image when the four images are overlapped. Therefore, in the difference image 65, the pixels corresponding to the characteristic portion of the 0 degree image are white. The same applies to 90-degree to 270-degree images. On the other hand, the densities of the pixels other than the featured portion are almost the same in the four images, so that the image is black. Therefore, as shown in FIG. 10, the difference image 65 is an image obtained by extracting a characteristic portion from four images.

In S107, the control unit 30 recognizes the feature portion on the 0 degree image based on the difference image (an example of the recognition process). Specifically, for example, the control unit 30 detects the contour of the component E by the contour tracking process on the 0 degree image, detects the contour of the feature portion by the contour tracking process on the difference image, and detects it on the 0 degree image. A portion of the contour of the removed component E that matches the contour detected on the difference image is recognized as a feature portion. The method of recognizing the feature portion is not limited to this, and can be recognized by an appropriate method.
In S108, the control unit 30 sets the rotation angle determination parameter 91 based on the feature portion on the 0 degree image (an example of the setting process). Since the setting of the rotation angle determination parameter 91 is as described above, the description thereof will be omitted.

In S109, the control unit 30 verifies the set rotation angle determination parameter 91 (an example of the verification process). Specifically, the control unit 30 uses the rotation angle determination parameter 91 set in S108 for 4 images of 0 degree to 270 degree images (2 images of 0 degree and 180 degree images when the "detection angle" is 2). The rotation angle θ of the component E is determined. A description of how to determine the rotation angle θ of the component E using the rotation angle determination parameter 91 will be described later.
If the rotation angle θ can be correctly determined in any of the images, the control unit 30 ends this process as a verification success, and if the rotation angle θ cannot be correctly determined in at least one image, proceeds to S110 as a verification failure.

In S110, the control unit 30 executes error processing. Specifically, the control unit 30 cancels the setting of the rotation angle determination parameter 91, and causes the display device of the operation unit 31 to display an error message indicating that the rotation angle determination parameter 91 could not be set.

(2-3) Rotation angle determination process of the component using the rotation angle determination parameter Next, with reference to FIG. 11, a determination process of the rotation angle θ of the component using the rotation angle determination parameter 91 will be described. Here, PLCC will be described as an example. When the control unit 30 sucks the component E (or the component E housed in the component tape) mounted on the tray 13B by the mounting head 20 and mounts it on the board P, the control unit 30 sucks the component E (or the component E housed in the component tape) on the board P before being sucked by the mounting head 20. The component E is imaged by the image pickup camera 17 to generate an image. This process starts when the image is generated. The determination of the rotation angle θ executed in S109 described above is also executed by the same procedure as this process.

In S201, the control unit 30 sets the detection circle 61 on the image based on the "detection circle diameter", "detection circle center position X", and "detection circle center position Y" of the rotation angle determination parameter 91.
Here, the component E may be imaged in a state of being rotated or being displaced. Therefore, for example, the control unit 30 sets the detection circle 61 in the XY coordinate system in which the upper left corner of the component E is the origin, the upper side of the component E is the X axis, and the left side of the component E is the Y axis.

In S202, the control unit 30 obtains the average value of the densities of the pixels in the set detection circle 61. Here, the average value is referred to as the average value at 0 degrees.
In S203, the control unit 30 rotates the detection circle 61 by 90 degrees, 180 degrees, and 270 degrees around the center point of the component E on the image, and obtains the average value of the densities of the pixels in the detection circle 61 at each angle.

In S204, the control unit obtains the difference between the maximum average value and the minimum average value.
In S205, the control unit 30 determines whether or not the difference obtained in S204 is equal to or greater than the "minimum concentration difference", and if it is greater than or equal to the "minimum concentration difference", determines that the rotation angle θ can be determined, while "minimum". If it is less than "concentration difference", it is judged that the judgment cannot be made. If the control unit 30 determines that the determination is possible, the process proceeds to S206, and if the determination is not possible, the control unit 30 proceeds to S207.

In S206, the control unit 30 determines that the angle corresponding to the maximum average value is the rotation angle θ of the component E when the "color of the feature portion" is white, and when the "color of the feature portion" is black, the control unit 30 determines. The angle corresponding to the minimum average value is determined to be the rotation angle θ of the component E.
In S207, the control unit 30 executes error processing. Specifically, the control unit 30 stops the determination of the rotation angle θ, and causes the display device of the operation unit 31 to display an error message indicating that the rotation angle θ cannot be determined.

(3) Effect of the Embodiment According to the setting device 2 (component image pickup camera 16, substrate image pickup camera 17 and control unit 30) according to the first embodiment described above, the operator manually sets the rotation angle determination parameter 91. Since the time required for setting can be shortened as compared with the above, the rotation angle determination parameter 91 can be set efficiently.
Further, according to the setting device 2, the work load of the operator can be reduced as compared with the case where the operator manually sets the setting. Further, when the operator manually sets the setting, there is a concern about a setting error, but according to the setting device 2, such a setting error can be reduced, so that the reliability of the rotation angle determination parameter 91 can be improved. Further, conventionally, skill is required to manually set the rotation angle determination parameter 91 that can correctly determine the rotation angle θ. For example, the operator had to understand the meaning of each parameter and set an appropriate value. Therefore, the operators who can set the rotation angle determination parameter 91 are limited. On the other hand, according to the setting device 2, since the rotation angle determination parameter 91 can be set without skill, the rotation angle determination parameter 91 that can correctly determine the rotation angle θ can be set regardless of the skill of the operator.

Further, according to the setting device 2, since the set rotation angle determination parameter 91 is verified (S109), the reliability of the rotation angle determination parameter 91 can be improved.

Further, according to the surface mounter 1 according to the first embodiment, the rotation angle determination parameter 91 can be set more efficiently than when the operator manually sets the parameters 91.

<Embodiment 2>
Next, the second embodiment will be described with reference to FIGS. 12 to 15. In the first embodiment described above, the rotation angle θ of the component E is determined as the posture of the component E. On the other hand, in the second embodiment, the front and back of the component E are determined as the posture of the component E.

First, an example of the component E according to the second embodiment will be described with reference to FIG. 12. The component E is a two-terminal component and has a component body 70A and an electrode 70B. The color of the component body 70A is gray, and the white letter "A" is printed on the surface.

In the case of the component E shown in FIG. 12, when a difference image between the image 71 (hereinafter referred to as “back surface image”) obtained by capturing the back surface of the component E and the image 72 (hereinafter referred to as “front surface image”) obtained by capturing the front surface is generated, FIG. The difference image 76 shown in the above is generated, and the feature portion 75 is recognized. As shown in FIG. 13, the feature portion 75 includes the letter “A”. In that case, assuming that a rectangular determination area 73 circumscribing the character "A" is set on the surface image 72 as shown in FIG. 12, a pixel representing gray and a pixel representing white are located in the determination area 73. Mixed.

On the other hand, when the above-mentioned determination area 73 is set at the same position on the back surface image 71, the color of the pixels in the determination area 73 is almost gray, so that the density of the pixels in the determination area 73 is higher than that of the front surface image 72. The variation of is small. Therefore, it is possible to determine the front and back of the component E from the variation in the density of the pixels. That is, the front and back can be determined based on the feature portion 75.

For convenience, the case where the rectangular determination area 73 circumscribing the character "A" is set as an example has been described here, but as shown in FIG. 13, the feature portion 75 has a portion other than the character "A". (Specifically, a vertically long white region 74 on the left side of the letter "A" in the front surface image 72, and a portion of the electrode 70B in the back surface image that is inside the component main body 70A) are also included. The determination area 73 is set as a rectangular area circumscribing the entire feature portion 75 including these. However, the determination area 73 does not necessarily have to be set to circumscribe the entire feature portion 75, and is set as an area surrounding only a part of the feature portion 75 (for example, the letter "A") as shown in FIG. You may.

(1) Front-back determination parameter Next, the front-back determination parameter 92 (an example of the determination parameter) will be described with reference to FIG. The front and back judgment parameters 92 include "dispersion threshold", "NG judgment condition", "judgment area size X", "judgment area size Y", "judgment area offset X", "judgment area offset Y", and "judgment area offset valid". / Invalid "is included.

The "dispersion threshold" is a value that serves as a reference for determining the front and back sides, and is intermediate between the dispersion of the density of the pixels in the determination area 73 of the front surface image 72 and the dispersion of the density of the pixels in the determination area 73 of the back surface image 71. The value is set. The "variance" is not limited to the intermediate value and can be set as appropriate. Further, although the variance is used here as an index of the variation in the pixel density, the index of the variation may be the standard deviation or the difference between the maximum density and the minimum density in the determination region 73. ..

The "NG determination condition" indicates whether the table is determined when the value is larger than the value set in the "dispersion threshold" or the table is determined when the value is smaller. For example, if the dispersion on the front surface is larger than the dispersion on the back surface, it is determined to be the front surface, the "NG judgment condition" is set to "Large", and if the dispersion on the front surface is smaller than the dispersion on the back surface, it is determined to be the front surface. If so, "small" is set.

The "judgment area size X", "judgment area size Y", "judgment area offset X", and "judgment area offset Y" are determined for the width in the X direction, the width in the Y direction, and the center position of the component E, respectively. The deviation width (offset) of the center position of the region 73 in the X direction and the deviation width (offset) of the center position of the determination region 73 with respect to the center position of the component E in the Y direction.

The "determination area offset valid / invalid" indicates whether the above-mentioned "determination area offset X" and "determination area offset Y" are valid or invalid. When the center position of the component E is set as the center position of the determination area 73, invalidity is set in "determination area offset valid / invalid". Whether or not the center position of the component E is the center position of the determination region 73 can be appropriately determined.

(2) Front / Back Judgment Parameter Setting Process Next, the front / back determination parameter 92 setting process will be described with reference to FIG. This process is started when the operator places the component E to be set in a predetermined position and then operates the operation unit 31 to instruct the setting of the front / back determination parameter 92.

In S301, the control unit 30 generates a surface image by taking an image of the component E placed at the predetermined position described above from above by the substrate image pickup camera 17.
In S302, the control unit 30 sucks the component E by the mounting head 20, and the component E sucked by the mounting head 20 is imaged from below by the component imaging camera 16 to generate a back surface image.

In S303, the control unit 30 tunes the shading of the pixels of each image by performing soft gain correction based on the color of the electrodes (an example of correction processing). Hereinafter, a specific description will be given.
Even if the same subject is imaged, the shades of pixels (which can also be called tint) may differ between the substrate image pickup camera 17 and the component image pickup camera 16 due to differences in the sensitivity of the image pickup sensor and the brightness of the light source. .. If the shading of the pixels is different, the front / back determination parameter 92 may not be set accurately.

Therefore, the control unit 30 sets the absolute value of the difference between the average value of the densities of the pixels representing the electrode 70B in the front image and the average value of the densities of the pixels representing the electrodes 70B in the back image as the correction value, for example. If the average value of the densities of the pixels representing the electrode 70B in the front image is larger than the average value of the densities of the pixels representing the electrodes 70B in the back image, a correction value is added to each pixel of the back image (or Subtract the correction value from each pixel of the surface image). On the contrary, when the average value of the densities of the pixels representing the electrodes in the front image is smaller than the average value of the densities of the pixels representing the electrodes in the back image, the correction value is subtracted from each pixel of the back image ( Alternatively, the correction value is added to each pixel of the surface image). As a result, the shading of the pixels can be adjusted based on the color of the electrodes.

In S304, the control unit 30 generates a difference image between the front surface image and the back surface image.
In S305, the control unit 30 recognizes the feature portion based on the difference image (an example of the recognition process).
In S306, the control unit 30 sets the front and back determination parameters 92 (an example of the setting process). Since the setting of the front-back determination parameter 92 is as described above, the description thereof will be omitted.

In S308, the control unit 30 verifies the set front / back determination parameter 92 (an example of the verification process). Specifically, the control unit 30 determines the front and back of the component E using the front and back determination parameters 92 set in S306 for the front and back images, and if the front and back can be correctly determined in all the images, This process is terminated as the verification is successful, and if it cannot be correctly determined with at least one image, the process proceeds to S309 as a verification failure.

In S309, the control unit 30 executes error processing. Specifically, the control unit 30 cancels the setting of the front / back determination parameter 92 and causes the display device of the operation unit 31 to display an error message indicating that the front / back determination parameter 92 could not be set.

(4) Effect of Embodiment According to the setting device 2 according to the second embodiment described above, it is possible to set a determination parameter capable of determining the front and back of the component E.

Further, according to the setting device 2, since the soft gain correction is performed based on the color of the electrodes, it is possible to prevent the accuracy of the front / back determination parameter 92 from being lowered due to the difference in the shading of the pixels between the front image and the back image. ..

Further, according to the surface mounter according to the second embodiment, the component E is sucked by the mounting head 20, and the sucked component E is imaged from below by the component image pickup camera 16. Conventionally, in order to image the back surface of the component E with the component imaging camera 16, the operator manually sucks the component E to the mounting head 20. In other words, the operator has handed the component E to the mounting head 20. Therefore, it was troublesome for the operator. In particular, it is difficult for the extremely small component E to be attracted to the mounting head 20, which is a great effort for the operator. On the other hand, according to the surface mounter, the operator does not have to perform the work of sucking the component E to the mounting head 20, so that the operator's labor can be reduced.
Further, when the component E is manually adsorbed on the mounting head 20, it takes time because the operator needs to confirm whether or not the component E is properly adsorbed, but according to the surface mounter, such time is required. Since it is no longer necessary, the time required for setting can be further shortened.

<Embodiment 3>
Next, the third embodiment will be described with reference to FIGS. 16 to 17. The third embodiment is another example of determining the front and back of the component E.

First, an example of the component E according to the third embodiment will be described with reference to FIG. The component E is a chip resistor and has a component body 80A and an electrode 80B. The back surface of the component body 80A is white, and the front surface is black.
In the case of the component E shown in FIG. 16, when the difference image between the front surface image 82 and the back surface image 81 is generated and the feature portion is recognized, the portion representing the component body 80A (black portion of the front surface image 82) is used as the feature portion. Be recognized. In that case, for example, if the circular determination region 84 is set at an arbitrary position of the feature portion of the surface image 82, the density of the pixel 87 in the determination region 84 is almost black (0), so that the density of the pixel 87 is dispersed. Becomes smaller. Further, if the above-mentioned determination area 84 is set at the same position on the back surface image, the density of the pixel 86 in the determination area 84 is almost white (255), so that the dispersion of the density of the pixel 86 becomes small. Therefore, in the case of component E, it is not possible to determine the front and back from the dispersion of pixel densities.

However, in the case of the component E, the density of the pixel 87 in the determination area 84 in the front image is almost 0 (black), and the density of the pixel 86 in the determination area 84 in the back image is almost 255 (white). The front and back can be determined by comparing the average values of the densities of the pixels 86 and 87. That is, the front and back can be determined based on the feature portion.

(1) Front / Back Judgment Parameter Here, first, with reference to FIG. 16, a circular judgment area 84 (hereinafter referred to as “detection circle”) used for setting the front / back judgment parameter (an example of the judgment parameter) according to the third embodiment will be described. do. The detection circle 84 is set as a circle that fits within the feature portion with the center position of the component E as the center point. The shape of the determination region 84 is not limited to the circle, and can be appropriately determined. For example, the determination area 84 may be a quadrangle that fits within the feature portion.

Next, the front and back determination parameters 93 will be described with reference to FIG. The front and back determination parameters 93 include a "density threshold value", a "detection circle diameter", and a "characteristic portion color".
The "density threshold value" is a value that serves as a reference for determining the front and back sides, and is an intermediate value between the average value of the densities in the detection circle 84 of the front surface image 82 and the average value of the densities in the detection circle 84 of the back surface image 81. Set. The "concentration threshold value" is not limited to the intermediate value and can be set as appropriate.

The "detection circle diameter" is the diameter of the detection circle 84. The diameter of the detection circle 84 can be appropriately determined within the range in which the detection circle 84 fits within the feature portion. However, if the diameter is small, the number of pixels is small, which may reduce the reliability of the determination. Therefore, it is desirable that the diameter is large to some extent.
The "color of the feature portion" indicates the color of the feature portion in the surface image 82. For example, when the "color of the feature portion" is black, it is determined to be front when the average value of the densities of the pixels of the surface image 82 is less than the "density threshold", and it is determined to be the back when the average value of the densities of the pixels of the surface image 82 is equal to or more than the "density threshold". NS. On the contrary, when the "color of the characteristic portion" is white, it is determined to be the front when the average value of the densities of the pixels of the surface image 82 is equal to or more than the "density threshold", and the back when the average value is less than the "density threshold". It is judged. The "color of the feature portion" may be the color of the feature portion in the back surface image 81.
The third embodiment is substantially the same as the second embodiment in other respects.

<Other embodiments>
The techniques disclosed herein are not limited to the embodiments described above and in the drawings, and for example, the following embodiments are also included in the technical scope disclosed herein.

(1) In the first embodiment, the rotation angle determination parameters are "detection angle", "detection circle diameter", "detection circle center position X", "detection circle center position Y", "color of characteristic portion", and " The rotation angle determination parameter 91 including the “minimum concentration difference” has been described as an example. However, the rotation angle determination parameter is not limited to this as long as it can determine the rotation angle θ of the component E. For example, unnecessary parameters may not be included among these six parameters. Further, for example, when setting a rectangular determination area 61 instead of a circle, "determination area size X" or "determination area size Y" may be set instead of "detection circle diameter".

(2) In the above embodiment, PLCC and SOP have been described as an example of the component E, but the component E is not limited to these.

(3) In the above embodiment, the substrate image pickup camera 17, the component image pickup camera 16, and the control unit 30 of the surface mounter have been described as examples of the setting device, but the setting device may be configured as a device different from the surface mounter. good.

(4) In the above embodiment, the case of verifying the set determination parameter has been described as an example, but the verification does not necessarily have to be performed.

(5) In the above embodiment, the case where the component E is held by sucking the component E by the suction nozzle 24 has been described as an example, but the holding of the component E is not limited to this, and for example, a so-called chuck is used. It may be held by sandwiching the component E.

1 ... Surface mounting machine, 12 ... Tape parts supply device (parts supply device), 13 ... Tray parts supply device (parts supply device), 14 ... Head unit (example of mounting unit), 15 ... Head transfer unit, mounting unit Example), 16 ... component image pickup camera (an example of an image pickup unit, a second image pickup unit), 17 ... a substrate image pickup camera (an example of an image pickup unit, a first image pickup unit), 30 ... a control unit, 32A ... a recognition process, 32B. ... Setting process, 51A ... Image (an example of an image before rotation), 51B to 51D ... Image (an example of an image after rotation), 52A ... Image (an example of an image before rotation), 52B ... Image (an example of an image after rotation) Example), 54 ... feature part, 55 ... feature part, 65 ... difference image, 70B ... electrode, 71 ... back image, 72 ... front image, 80B ... electrode, 81 ... back image, 82 ... front image, E ... parts , P ... Board, S ... Center point of component, 91 ... Rotation angle judgment parameter, 92, 93 ... Front and back judgment parameter, θ ... Rotation angle

Claims (6)

An imaging unit that generates an image by imaging a component that has a characteristic part that can determine the posture,
A control unit that executes a recognition process for recognizing the feature portion on the image and a setting process for setting a determination parameter for determining the posture based on the feature portion recognized by the recognition process.
Equipped with
The posture is a rotation angle around the center point of the component.
The control unit is a setting device that rotates the image in the recognition process and recognizes the feature portion based on the difference image between the image before rotation and the image after rotation. An imaging unit that generates an image by imaging a component that has a characteristic part that can determine the posture,
A control unit that executes a recognition process for recognizing the feature portion on the image and a setting process for setting a determination parameter for determining the posture based on the feature portion recognized by the recognition process.
Equipped with
The posture includes the front and back of the component.
The image pickup unit is
A first image pickup unit that images the surface of the component and generates a surface image,
A second image pickup unit that captures the back surface of the component and generates a back surface image,
Have,
In the recognition process, the control unit recognizes the feature portion based on the difference image between the front surface image and the back surface image.
The component has electrodes on the front and back,
Prior to the recognition process, the control unit performs the front surface image and the back surface image based on the density of the pixel representing the electrode in the front surface image and the density of the pixel representing the electrode in the back surface image. A setting device that performs a correction process that corrects the density of at least one of the pixels. The setting device according to claim 1 or 2.
The control unit is a setting device that executes a verification process for verifying the determination parameter by determining a posture using the determination parameter on each image after the setting process. The setting device according to any one of claims 1 to 3, and the setting device.
A mounting unit that holds the components supplied by the component supply device and mounts them on the board.
A surface mounter equipped with. The surface mounter according to claim 4.
The control unit is a surface mounter that holds the component by the mounting unit and images the component held by the mounting unit by the imaging unit. It ’s a surface mounter,
A head unit that holds the components supplied by the component supply device and mounts them on the board.
A head transport unit that transports the head unit in a direction parallel to the plate surface of the substrate, and a head transport unit.
A substrate imaging camera provided on the head unit to image the substrate and generate an image.
A component imaging camera that generates an image by imaging the component held in the head unit from below, and
Control unit and
Equipped with
The control unit
The first imaging process of generating a surface image by imaging the component having a characteristic portion capable of determining the front and back and placed at a predetermined position from above by the substrate imaging camera.
A second image pickup process for generating a back surface image by taking an image of the component held in the head unit from below by the component image pickup camera, and
A recognition process for recognizing the feature portion based on the difference image between the front surface image and the back surface image,
A setting process for setting a determination parameter for determining the front and back of the component based on the feature portion recognized in the recognition process, and a setting process.
A surface mounter that runs.

Images