JP7457919B2 - Stick feeder, stick feeder control method, component mounting device, and component mounting method - Google Patents

Description

The present disclosure relates to a stick feeder, a stick feeder control method, a component mounting device, and a component mounting method.

In a component mounting system for mounting electronic components on a board, a component mounting operation is repeatedly performed in which electronic components are taken out from a component supply device set in a component mounting device and transferred and mounted on a board.

2. Description of the Related Art As a component feeding device, a stick feeder using a long hollow stick case that accommodates a plurality of electronic components is known, as described in Patent Document 1.

The stick feeder described in Patent Document 1 is equipped with a stick case detection unit that detects the presence or absence of multiple stick cases stacked in the loading section, and compares the detection results of the stick case detection unit with the part information of the stick cases stored in the part information storage unit. As a result, it is determined whether a stick case should be removed or an unchecked stick case should be added.

In the stick feeder, a plurality of stick cases containing a plurality of parts are stacked in advance, and a part is taken out from one of the plurality of stick cases. The parts stored in one stick case are pushed out to the parts passage, and when all the parts pushed out to the parts passage are used, they are replaced with the next stick case and parts are taken out from the next stick case. .

Some stick feeders take out parts by pushing out the parts in a stick case with a pusher. In this case, after all the parts being extruded by the pusher are taken out, the pusher is pulled back to the starting point and then replaced with the next stick case. Therefore, after extruding all the parts from one stick case, it takes a long time to replace the stick and supply parts from the next stick case.

JP 2017-22329 Publication

The stick feeder described in Patent Document 1 has room for improvement in terms of shortening the stick replacement time.

Therefore, the present disclosure provides a stick feeder and a stick feeder control method that can shorten the time for changing sticks.

A stick feeder according to one aspect of the present disclosure has a loading section that has one end and the other end and stacks a plurality of sticks that accommodate a plurality of parts therein, and communicates with one end of one of the plurality of sticks. A component passageway through which a plurality of parts supplied from one stick pass through, the part passageway having a parts supply position where the plurality of parts are picked up at an end opposite to one end of the one stick. and a component sensor that detects the presence or absence of a component at the component supply position; a pusher for pushing the component into the component passage so that the component is positioned at the component supply position; a pusher drive section for driving the pusher; and a control section for controlling the pusher drive section. is detected, and if the control unit detects that the pusher has exceeded one end of one stick, the pusher drive unit is controlled to move the pusher to the starting point, and the one stick is moved over the end of one stick. The sticks can be exchanged for other sticks.

A method for controlling a stick feeder according to an aspect of the present disclosure includes a loading section that has one end and the other end and stacks a plurality of sticks each containing a plurality of parts therein; A passage communicating with one end and through which a plurality of parts supplied from one stick pass, and a parts supply position where a plurality of parts are picked up is provided at an end opposite to one end of one stick. In a stick feeder, the stick feeder is equipped with a parts passage, a parts sensor that detects the presence or absence of a plurality of parts at a parts supply position, and a pusher that pushes out a plurality of parts from one stick into the parts passage. moving the pusher so as to push out the plurality of parts in one stick into the parts passage from a starting point located outside of the stick, sequentially positioning each of the plurality of parts at a parts supply position, and at the parts supply position, When the presence of a component is detected by the component sensor and the pusher is detected to have exceeded one end of one stick, the pusher is moved back to the starting point and the one stick is moved over the other stick among the multiple sticks. to be exchangeable.

According to the present disclosure, it is possible to provide a stick feeder and a stick feeder control method that can shorten stick replacement time.

A schematic diagram showing a component mounting device according to an embodiment of the present disclosure A block diagram showing the system configuration of the component mounting device shown in Figure 1. FIG. 2 is a schematic diagram illustrating a mounting head of the component mounting apparatus of FIG. 1; A schematic diagram showing the configuration of a stick feeder arranged in the component placement device of FIG. 1 Side view of the stick feeder in Figure 4 Schematic diagram for explaining each component of the stick feeder in Figure 4 FIG. 2 is a side view of a component mounted by the component mounting apparatus of FIG. A plan view of the component P mounted by the component mounting device in Figure 1. FIG. 2 is a perspective view of a component P to be mounted by the component mounting apparatus of FIG. A flowchart illustrating the operation of the pusher of the stick feeder of FIG. Schematic diagram for explaining the flow of sticks in FIG. 8 in the stick feeder in FIG. 6 Schematic diagram for explaining the flow of sticks in FIG. 8 in the stick feeder in FIG. 6 Schematic diagram for explaining the flow of sticks in FIG. 8 in the stick feeder in FIG. 6 FIG. 8 is a schematic diagram for explaining the flow of sticks in the stick feeder of FIG. 6; Schematic diagram for explaining the flow of sticks in FIG. 8 in the stick feeder in FIG. 6 A flowchart explaining the operation of replacing sticks in the stick feeder 4. Schematic diagram for explaining the operation of stick exchange in Figure 12 Schematic diagram for explaining the operation of stick exchange in Figure 12 Schematic diagram for explaining the operation of stick exchange in Figure 12 Flowchart explaining the operation of component polarity recognition in the component mounting apparatus of FIG. 1 Schematic diagram for explaining the first imaging process Schematic diagram showing images acquired by the first imaging process Schematic diagram for explaining the second imaging process FIG. 13 is a schematic diagram showing an image acquired by a second imaging process; Schematic diagram showing a stick feeder according to Embodiment 2 FIG. 13 is a schematic diagram showing a stick feeder according to a modification of the second embodiment. Schematic diagram showing a stick feeder according to Embodiment 3 Schematic diagram showing a stick feeder according to Embodiment 4

A stick feeder according to one aspect of the present disclosure has a loading section that has one end and the other end and stacks a plurality of sticks that accommodate a plurality of parts therein, and communicates with one end of one of the plurality of sticks. A component passageway through which a plurality of parts supplied from one stick pass through, the part passageway having a parts supply position where the plurality of parts are picked up at an end opposite to one end of the one stick. and a component sensor that detects the presence or absence of multiple components at the component supply position, and a component sensor that detects the presence or absence of multiple components. a pusher for pushing out a plurality of parts into a parts passage so as to position them at a parts supply position; a pusher driving part for driving the pusher; and a control part for controlling the pusher driving part. When the controller detects that the pusher has exceeded one end of one stick, the pusher drive unit is controlled to move the pusher to the starting point, and the one stick is moved over one end of one stick. The sticks can be exchanged for other sticks.

According to this configuration, it is possible to provide a stick feeder that can shorten the time for changing sticks.

The pusher driving section may detect the forward distance of the pusher from the starting point, and the control section may detect that the pusher has exceeded one end of the one stick based on the forward distance of the pusher.

According to this configuration, the moving distance of the pusher can be shortened by calculating the forward distance of the pusher, so that the time required for replacing the stick can be shortened.

The control unit may detect that the pusher has passed one end of one stick based on the forward movement distance of the pusher exceeding a predetermined threshold.

With this configuration, by setting a threshold for the forward movement distance of the pusher, the distance the pusher moves can be shortened, thereby shortening the time required to replace the stick.

The control unit may have information regarding the length of the one stick, and the predetermined threshold may be determined based on the length of the one stick.

According to this configuration, the threshold value can be changed depending on the length of the stick.

Furthermore, a stick sensor is provided on the other end side of the one stick to detect the position of the other end of the one stick, and the position of the starting point of the pusher changes depending on the length of the one stick. , the stick length from the position of the other end of the stick detected by the stick sensor to the entrance position of the component passage is calculated, and based on the forward movement distance of the pusher exceeding the stick length, the pusher moves forward. It may be detected that one end of the stick has been exceeded.

According to this configuration, it is possible to set a threshold value for the forward distance of the pusher according to the length of the stick without inputting information regarding the length of the stick in advance.

The control unit further includes a pusher sensor disposed on the component passage outside one end of the one stick, and the control unit is configured to detect when the pusher exceeds one end of the one stick based on the pusher sensor detecting the pusher. may be detected.

According to this configuration, the pusher sensor that detects the pusher can detect that the pusher has exceeded one end of one stick, regardless of the length of the stick.

The control unit has information regarding the length of the parts passage, the number of parts remaining on the parts passage, and the width of the plurality of parts, and the value calculated by the product of the width of the plurality of parts and the number of parts remaining is the length of the parts passage. It may be detected that the pusher has exceeded one end of the stick based on the fact that the length of the pusher has fallen below the length of the stick.

With this configuration, the pusher detects when it has passed one end of one stick based on the remaining number of components pushed into the component passage, so the pusher can be moved to the starting point in accordance with the progress of component mounting.

A method for controlling a stick feeder according to an aspect of the present disclosure includes a loading section that has one end and the other end and stacks a plurality of sticks each containing a plurality of parts therein; A passage communicating with one end and through which a plurality of parts supplied from one stick pass, and a parts supply position where a plurality of parts are picked up is provided at an end opposite to one end of one stick. In a stick feeder, the stick feeder is equipped with a parts passage, a parts sensor that detects the presence or absence of a plurality of parts at a parts supply position, and a pusher that pushes out a plurality of parts from one stick into the parts passage. The pusher is moved so as to push out the multiple parts in one stick into the parts passage from the starting point located outside the stick, and each of the multiple parts is sequentially positioned at the parts supply position. If a component is detected and the pusher is detected to have passed one end of one stick, the pusher can be moved back to the starting point and one stick can be replaced with another stick among multiple sticks. Let it be.

According to this configuration, it is possible to provide a stick feeder control method that can shorten the time for changing sticks.

A component mounting device according to one aspect of the present disclosure includes the above-described stick feeder, a nozzle that holds a component at a component supply position and mounts it on a board, a camera that images the component held by the nozzle, and a component that the camera images. a first light source and a second light source that illuminate the camera; an imaging control unit that controls the first light source and the second light source; one or more lead wires, and the imaging control unit performs a first imaging process of illuminating the lower surface of the component held by the nozzle with a first light source, focusing on the lower surface, and capturing an image with the camera. The polarity of the component is recognized based on the image captured by the first imaging process, and the tip of the one or more lead wires of the component held in the nozzle is irradiated with the second light source. A second imaging process is performed in which the camera focuses on the ends of the plurality of lead wires and images are taken by the camera, and the positions of the ends of the lead wires are recognized based on the images taken by the second imaging process.

According to this configuration, it is possible to provide a component mounting device with improved reliability in component recognition.

A component mounting method according to one aspect of the present disclosure includes a stick feeder having a loading section for stacking a plurality of sticks, each having one end and the other end and housing a plurality of components therein, a component passage in which an entrance is connected to one end of one of the plurality of sticks and in which one of the plurality of components is picked up from a component supply position located at the end opposite the entrance, a component sensor for detecting the presence or absence of the plurality of components at the component supply position, and a pusher for pushing the plurality of components from the stick into the component passage, a nozzle for holding the components at the component supply position and attaching them to a board, a camera for capturing an image of the components held by the nozzle, first and second light sources for illuminating the components captured by the camera, and the camera, the first light source, and the second light source. In a component mounting device having an imaging control unit that controls the component mounting apparatus, the method includes steps of holding a component with a nozzle, taking an image of the underside of the component, taking an image of the tip of one or more lead wires arranged on the underside of the component, recognizing the polarity of the component based on a first image acquired in the step of taking an image of the underside of the component, recognizing the position of the tip of one or more lead wires of the component based on a second image acquired in the step of taking an image of the tip of the one or more lead wires of the component, moving the nozzle to move the component onto a board based on the polarity of the component and the position of the tip of the one or more lead wires, and mounting the component on the board.

According to this configuration, it is possible to provide a component mounting method with improved component recognition reliability.

Hereinafter, embodiments will be described based on the drawings.

(Embodiment 1)
[overall structure]
FIG. 1 is a schematic diagram showing a component mounting apparatus 1 according to an embodiment of the present disclosure. FIG. 2 is a block diagram showing the system configuration of the component mounting apparatus 1 of FIG. 1. As shown in FIG.

<Component mounting device>
As shown in FIGS. 1 and 2, the component mounting apparatus 1 is a device that mounts a component P, such as a chip component or a component with leads, onto a board 3 on which the component is to be mounted. The component mounting device 1 includes a component supply device, a mounting head 10, a mounting head moving device 12, a substrate transport section 2, a component recognition unit 14, and an imaging control section 16.

The board transport unit 2 is a device that transports the board 3 to a mounting work position located in the center of the base 1a, and also transports the board 3 from the mounting work position. More specifically, the board transport unit 2 transports the board 3, which is transported in the X direction from the upstream side of a component mounting system (not shown) including the component mounting device 1, and positions and holds it at the mounting work position. When the component mounting work is completed, the board transport unit 2 transports the board 3 downstream of the component mounting system.

The component supply devices are arranged at both ends of the base 1a in the Y direction. The component supply device includes a stick feeder 4, a tape feeder 5, and a tray feeder 7 as a plurality of component supply devices. Specifically, a plurality of stick feeders 4 are arranged along the X direction on the upper end side of the base 1a in FIG. Moreover, a plurality of tape feeders 5 are arranged along the X direction below the base 1a in FIG. Furthermore, a tray feeder 7 having a component tray 6 is arranged on the lower right side of FIG.

The component supply devices, stick feeder 4, tape feeder 5, and tray feeder 7, supply components P for mounting on the board 3.

The mounting head moving device 12 includes a Y-axis table 8 and a beam 9. The Y-axis table 8 has linear drive devices at both ends in the X direction on the upper surface of the base 1a. Beam 9 has a similar linear drive and is connected to Y-axis table 8. Furthermore, a mounting head 10 is mounted on the beam 9 so as to be movable in the X direction. A linear drive device included in the Y-axis table 8 moves the beam 9 in the Y direction. Furthermore, the mounting head 10 is moved in the X direction by the linear drive device included in the beam 9.

The mounting head moving device 12 controls the above-mentioned linear drive device to move the mounting head 10 to the component supply position 21b of the stick feeder 4 (see FIG. 4), the component supply position of the tape feeder 5, or the component supply position of the component tray 6. move. The component P picked up by the mounting head 10 at the component supply position 21b is transferred to the mounting position of the board 3 held by the board transport section 2 and mounted thereon. The component mounting apparatus 1 repeatedly executes a series of processes from transporting the board 3 to mounting the component P described above.

FIG. 3 is a schematic diagram illustrating the mounting head 10 of the component mounting apparatus 1 of FIG. 1. As shown in FIG. As shown in FIG. 3, the mounting head 10 includes a plurality of mounting units 10a each having an elevating drive device. Four nozzles 11 for holding the component P are arranged in the X direction at the lower end of each of the mounting units 10a. The nozzle 11 can hold the component P by vacuum suction, for example. Each mounting unit 10a raises and lowers the nozzle 11 by driving the lifting drive device (arrow a). The mounting head 10 also includes a nozzle rotation device 10c that rotates the nozzle 11 about the nozzle axis AN in the Z direction as a rotation axis (arrow b).

As shown in FIG. 2, the component recognition unit 14 includes a camera 14a, a first light source 14b, and a second light source 14c. The camera 14a images the component held by the nozzle 11. The first light source 14b and the second light source 14c are lights that illuminate the part P imaged by the camera 14a.

When the mounting head 10 is positioned above the component recognition unit 14, the component P held by the nozzle 11 is imaged by the camera 14a from below, i.e., in the Z+ direction in FIG. 3. Based on the image of the component P captured by the camera 14a, the polarity of the component P can be recognized and the lead wires can be aligned, as described below.

The imaging control section 16 controls the camera 14a, the first light source 14b, and the second light source 14c of the component recognition unit 14. For example, it can be configured with a CPU, MPU, DSP, FPGA, ASIC, etc. The functions of the imaging control section 16 may be configured only by hardware, or may be realized by a combination of hardware and software. The imaging control unit 16 realizes predetermined functions by reading data and programs stored in a storage area (not shown) in the imaging control unit 16 and performing various arithmetic processes.

<Operation of component mounting device>
Here, the operation of the component mounting apparatus 1 will be explained. The component mounting device 1 is a device that mounts a component P supplied from a component supply device (for example, a stick feeder 4) onto a board 3 that is carried in from the upstream side of a component mounting system (not shown). A board transport unit 2 transports a board 3 from upstream of the component mounting system to a component mounting position. Next, the mounting head moving device 12 moves the mounting head 10 to pick up the component supplied from the component supply device, and the component recognition unit 14 identifies the polarity of the component P and the position of the lead wire.

Based on the identified polarity of the component P and the position of the lead wire, the mounting head moving device 12 further moves the mounting head 10 and mounts the component P on the board 3. When the mounting of the component P onto the board 3 is completed, the board transport section 2 carries out the board 3, and then carries the board 3 to which the component P is to be mounted into the component mounting apparatus 1.

<Stick feeder>
FIG. 4 is a schematic diagram showing the configuration of the stick feeder 4 arranged in the component mounting apparatus 1 of FIG. 1. FIG. 5 is a side view of the stick feeder 4 of FIG. 4. FIG. 6 is a schematic diagram for explaining each component of the stick feeder 4 in FIG. 4.

As shown in FIGS. 4 and 5, the stick feeder 4 includes a loading section 23, a component passage 21, a component sensor 22 (see FIG. 6), a pusher 24, a pusher drive section 25 (see FIG. 2), A control unit 32 (see FIG. 2) is provided.

Each component of the stick feeder 4 will be explained with reference to FIG. 6. The stacking section 23 stacks a plurality of sticks ST. The plurality of sticks ST have one end and the other end, and house a plurality of parts P therein. In this embodiment, the plurality of sticks ST are formed in a cylindrical shape, and accommodate the plurality of parts P in a line inside. Here, stacking a plurality of sticks ST means stacking the sticks ST in the +Z direction.

The component passage 21 is connected to one end E1 of one stick ST1 (hereinafter referred to as stick ST1) among the multiple sticks ST, and is a passage through which multiple components P supplied from the stick ST1 pass. That is, the component passage 21 has an inlet 21a connected to one end E1 of the stick ST1. The component passage 21 has a component supply position 21b at the end opposite the inlet 21a. The component passage 21 refers to the path through which the components P pass from one end E1 of the stick ST1 to the component supply position 21b. In this embodiment, as shown in FIG. 6, the component passage 21 has a support that supports multiple components P in the +Z direction, but a gap may be formed between the stick ST1 and the support to prevent the components P from falling.

In the component passage 21, a plurality of components P that have passed through the entrance 21a are arranged in the component passage 21, and one of these components P located at the component supply position 21b is picked up by the mounting head 10.

The component sensor 22 is arranged at the component supply position 21b of the component passage 21. The component sensor 22 is a sensor that detects the presence or absence of the component P or the pusher 24 at the component supply position 21b. That is, the component sensor 22 outputs an ON signal when the component P or the pusher 24 is located at the component supply position 21b, and outputs an OFF signal when neither the component P nor the pusher 24 is located at the component supply position 21b. do. The ON/OFF signal of the component sensor 22 is transmitted to a control section 32, which will be described later. As the component sensor 22, for example, a sensor such as a photo sensor that can detect the presence or absence of the component P or the pusher 24 can be used.

The pusher 24 passes through the stick ST1 from a starting point S1 located outside the other end E2 of the stick ST1 and pushes the multiple parts P contained inside the stick ST1 into the part passage 21 so that they are positioned at the part supply position 21b.

The pusher 24 can be moved forward and backward in the Y direction by a pusher drive section 25 (see FIG. 2). The pusher 24 is connected to a wire 26, and the pusher 24 is moved when the wire 26 is moved forward and backward by the pusher drive unit 25. When the pusher 24 moves in the -Y direction from the starting point S1, it pushes out the plurality of parts P accommodated in the stick ST1 into the parts passage 21. After pushing out the component P into the component path 21, the pusher drive unit 25 moves the pusher 24 in the +Y direction and returns to the starting point S1.

In this embodiment, the origin sensor 29 is arranged at the starting point S1 of the pusher. The origin sensor 29 detects the presence or absence of the origin mark 24a provided on the pusher 24 at the starting point S1. When the pusher 24 is located at the starting point S1, the origin sensor 29 detects the presence of the origin mark 24a at the starting point S1. As the origin sensor 29, for example, a sensor such as a photo sensor that can detect the presence or absence of the origin mark 24a can be used.

Further, in this embodiment, a pusher sensor 31 is arranged above the component passage 21 outside one end E1 of the stick ST1. The pusher sensor 31 detects whether the pusher 24 is located at a predetermined position in the component passage 21. As the predetermined position, any position between the entrance 21a of the parts passage 21 and the parts supply position 21b can be set. In this embodiment, in the component passage 21, a position closer to the entrance than the component supply position 21b is set as a predetermined position. As shown in FIG. 6, the pusher sensor 31 is disposed above the component passage 21 and detects that the pusher 24 has come out from one end E1 of the stick ST1. As will be described later, since the main body Pa of the component P (see FIGS. 7A to 7C) is made of resin, if the pusher 24 is made of metal and a metal proximity sensor is used as the pusher sensor 31, the pusher 24 can be easily detected. Alternatively, the pusher 24 may be formed in a different color from the main body portion Pa of the component P, and a color identification sensor may be used as the pusher sensor 31.

The pusher drive unit 25 moves the pusher 24 forward and backward in the Y direction. In the present embodiment, the pusher drive section 25 includes a servo motor (not shown) and a pair of rollers 27. The wire 26 moves forward and backward in the Y direction depending on the direction and amount of rotation of the roller 27. As the wire 26 moves, the pusher 24 moves in the +Y direction or the -Y direction.

That is, when the roller 27 is rotationally driven in the -Y direction by the pusher drive section 25, the wire 26 is sent in the -Y direction according to the amount of rotational drive of the roller 27, and the pusher 24 moves forward in the -Y direction. As a result, the plurality of parts P housed in the stick ST1 can be pushed out toward the parts passage 21 by the pusher 24, and after pushing out the parts P into the parts passage 21, the pusher 24 can retreat to the starting point S1. .

On the other hand, when the roller 27 is rotationally driven in the +Y direction by the pusher drive unit 25, the wire 26 is sent in the +Y direction according to the amount of rotational drive of the roller 27, and the pusher 24 is retreated in the +Y direction. In this case, the pusher drive unit 25 moves the pusher 24 backward until the origin sensor 29 detects the origin mark 24a at the starting point S1.

A portion of the wire 26 that extends outward from the roller 27 is stored and protected in a tubular wire storage portion 28 .

The control section 32 controls the pusher drive section 25. Further, in the present embodiment, the control unit 32 controls each component of the stick feeder 4 based on the detection results of the component sensor 22, pusher sensor 31, and origin sensor 29. Specifically, the control unit 32 drives the pusher drive unit 25 to move the pusher 24 forward and backward. The control unit 32 controls the forward distance of the pusher based on the drive amount of the servo motor and the radius of the roller 27.

The control unit 32 can be configured with, for example, a CPU, MPU, DSP, FPGA, ASIC, or the like. The functions of the control unit 32 may be configured only by hardware, or may be realized by a combination of hardware and software. The control unit 32 realizes predetermined functions by reading data and programs stored in a storage area (not shown) in the control unit 32 and performing various arithmetic processing.

A stick exchange lever 30 is arranged on the loading section 23. One end 30a of the stick exchange lever 30 supports the stick ST1, and the other end 30b supports the stick ST stacked on the stick ST1. A rotation center 30c is provided between one end 30a and the other end 30b of the stick exchange lever 30. The stick exchange lever 30 can be moved between a posture in which the stick ST1 is supported at one end 30a and a posture in which support for the stick ST1 is released and the stick ST above it is supported at the other end 30b (see FIG. 15). The stick exchange lever 30 rotates. Rotation of the stick exchange lever 30 is controlled by, for example, a control section 32. When all the parts P accommodated in the stick ST1 are pushed out into the parts passage 21 and the stick ST1 becomes empty, the pusher 24 is moved back to the starting point S1 by the pusher drive unit 25. At this time, the stick ST1 can be replaced with the next stick ST.

With reference to FIGS. 7A to 7C, the configuration of the component P to be mounted by the component mounting apparatus 1 of this embodiment will be described. 7A is a side view of the component P mounted by the component mounting apparatus 1 of FIG. 1. FIG. FIG. 7B is a plan view of the component P mounted by the component mounting apparatus 1 of FIG. 1. FIG. FIG. 7C is a perspective view of the component P mounted by the component mounting apparatus 1 of FIG. 1. FIG.

The component P is an electronic component with a lead having polarity, such as a bullet-shaped LED, for example. As shown in FIGS. 7A to 7C, the component P includes a main body Pa having a lower surface Pe and two lead wires L extending from the main body Pa. The main body part Pa is formed with a cup-shaped upper part Pb and a flange Pc that is located on the lower surface side than the upper part Pb and extends in the radial direction of the upper part Pb. The main body portion Pa is made of resin. A polarity identifying portion Pd indicating the polarity of the lead wire L is formed on the flange Pc. In the present embodiment, the polarity identifying portion Pd is formed by cutting a portion of a disc-shaped flange Pc. The shape of the polarity identification part Pd is not limited to this, and the polarity identification part Pd can be formed by extending a part of the flange Pc to the outside or by coloring a part of the flange Pc.

[motion]
The operations of the component mounting device 1 and the stick feeder 4 will be explained.

<Parts sending>
The operation of feeding parts by the pusher 24 of the stick feeder 4 will be described with reference to FIGS. 8 to 12. FIG. 8 is a flowchart illustrating the operation of the pusher 24 of the stick feeder 4 in FIG. 4. 9 to 12 are schematic diagrams for explaining the flow of the stick ST in FIG. 8 in the stick feeder 4 of FIG. 6. In the following description, the sticks stacked on the stacking section 23 will be referred to as a first stick ST1, a second stick ST2, and a third stick ST3, respectively.

First, the control unit 32 controls the pusher drive unit 25 to move the pusher 24 forward (step S101). Here, moving the pusher 24 forward means that, as shown in FIG. 9, the pusher 24 passes from the starting point S1 through the first stick ST1 and moves the component P accommodated inside the first stick ST1 to the component supply position 21b. This is to move the pusher 24 so as to push it toward the target. That is, the pusher 24 is moved in the -Y direction by the pusher drive section 25.

Next, the control unit 32 determines whether the component sensor 22 detects that the component P or the pusher 24 is present at the component supply position 21b (step S102). As shown in FIG. 9, when the component P or the pusher 24 is located at the component supply position 21b, the component sensor 22 outputs an ON signal, and the control unit 32 controls the component supply position 21b based on the ON signal from the component sensor 22. It is determined that the part P or the pusher 24 is present in the position. In this state, the component P located at the component supply position 21b is picked up by the mounting head 10.

In a state such as after the component P is picked up from the component supply position 21b, the control unit 32 determines that the component sensor 22 detects that there is no component P or pusher 24 at the component supply position 21b (step S102). No). In this case, that is, when the OFF signal is output from the component sensor 22, the process returns to step S101 and the pusher 24 is further advanced. In this way, when the pusher 24 is further advanced to position the component P at the component supply position 21b, the stick feeder 4 will be in the state shown in FIG. 10.

When the component sensor 22 detects the presence of the component P or the pusher 24 (Yes in step S102), the control section 32 controls the pusher drive section 25 to move the pusher 24 backward by a predetermined distance (step S103). The predetermined distance is, for example, about 10 mm. After retracting the pusher 24 by a predetermined distance, the control unit 32 again determines whether the component sensor 22 detects the presence of the component P or the pusher 24 at the component supply position 21b (step S104). Here, if the component sensor 22 is OFF, that is, if it is detected that there is no component P or pusher 24 at the component supply position 21b (No in step S104), the process proceeds to step S106.

As shown in FIG. 11, when the component sensor 22 detects that the component P or the pusher 24 is present (Yes in step S104), the control unit 32 determines whether the pusher 24 is beyond one end E1 of the first stick ST1. is determined (step S105). Whether the pusher 24 exceeds the one end E1 of the first stick ST1 is determined based on the presence of the pusher 24 being detected by the pusher sensor 31 arranged outside the one end E1 of the first stick ST1. That is, when the pusher sensor 31 detects that the pusher 24 is present, the control unit 32 determines that the pusher 24 is beyond one end E1 of the first stick ST1.

If the control unit 32 determines that the pusher 24 has not passed one end E1 of the first stick ST1 (No in step S105), the control unit 32 determines that a part P remains in the first stick ST1, and returns to step S101, where it controls the pusher drive unit 25 to move the pusher 24 further forward.

If it is determined that the pusher 24 is beyond one end E1 of the first stick ST1 (Yes in step S105), the control unit 32 pushes all the parts P of the first stick ST1 from the first stick ST1 to the parts path 21. It is determined that the Therefore, the control unit 32 controls the pusher drive unit 25 to move the pusher 24 to the starting point S1 (step S106). That is, as shown in FIG. 12, the control unit 32 controls the pusher drive unit 25 to move the pusher 24 backward to the starting point S1.

As shown in FIG. 13, when the pusher 24 retreats to the starting point S1, the process of feeding parts from the first stick ST1 is completed, and the first stick ST1 becomes ready to be replaced with the second stick ST2.

At the component supply position 21b, when the component sensor 22 detects the presence of the component P and also detects that the pusher 24 has exceeded one end E1 of the first stick ST1, the pusher 24 is moved backward by moving the pusher 24 backward. The travel distance can be shortened. That is, since the pusher 24 can be moved backward before the pusher 24 moves to the component supply position 21b of the component passage 21, the moving distance of the pusher 24 is shortened. Therefore, the time from when the first stick ST1 becomes empty to when the stick can be replaced can be shortened.

<Stick replacement operation>
Next, with reference to Figures 14 to 17, the operation of stick replacement in stick feeder 4 after all components P contained in first stick ST1 have been pushed out into component passage 21 and pusher 24 has retreated to starting point S1 will be described. Figure 14 is a flow chart explaining the operation of stick replacement in stick feeder 4. Figures 15 to 17 are schematic diagrams for explaining the operation of stick replacement in Figure 14.

First, the control unit 32 determines whether the pusher 24 has returned to the starting point S1 (step S201). When the origin sensor 29 detects that the origin mark 24a of the pusher 24 is present at the starting point S1, the control unit 32 determines that the pusher 24 has returned to the starting point S1. When the control unit 32 determines that the pusher 24 has not returned to the starting point S1 (No in step S201), the pusher 24 enters a standby state until the pusher 24 returns to the starting point S1.

If the control unit 32 determines that the pusher 24 has returned to the starting point S1 (Yes in step S201), the control unit 32 operates the stick exchange lever 30 and tilts the stick exchange lever 30, as shown in FIG. Step S202). Since the first stick ST1 is supported by the stick exchange lever 30, when the stick exchange lever 30 is activated, the first stick ST1 falls under its own weight and is ejected, and is returned to the stick collection unit 33 (see FIGS. 4 and 5). It is received and collected (step S203).

When the first stick ST1 is ejected, the stick exchange lever 30 is returned to its original position by the control unit 32 (step S204). When the stick exchange lever 30 returns to its original position, the second stick ST2 is attached as shown in FIG. 16 (step S205). When the second stick ST2 is attached, the stick exchange ends.

After the stick exchange is completed, as shown in FIG. 17, the control unit 32 controls the pusher drive unit 25 to move the pusher 24 and push the component P accommodated in the second stick ST2 into the component path 21. Can be done.

<Component polarity recognition>
When the stick feeder 4 pushes out the component P to the component supply position 21b, the component P is picked up by the nozzle 11 of the mounting head 10 of the component mounting device 1 and mounted on the board 3. At this time, the component recognition unit 14 recognizes the polarity and lead wire position of the component P held by the nozzle 11 of the mounting head 10. The component P is mounted on the board 3 based on the polarity and lead wire position of the component P recognized by the component recognition unit 14.

Here, the operation of recognizing the polarity of the component P will be described with reference to FIGS. 18 to 20B. FIG. 18 is a flowchart illustrating the operation of recognizing the polarity of the component P in the component mounting apparatus 1 of FIG. FIG. 19A is a schematic diagram for explaining the first imaging process. FIG. 19B is a schematic diagram showing an image acquired by the first imaging process. FIG. 20A is a schematic diagram for explaining the second imaging process. FIG. 20B is a schematic diagram showing an image acquired by the second imaging process.

As shown in FIGS. 19A and 20A, the component recognition unit 14 includes a camera 14a, a first light source 14b, and a second light source 14c. The camera 14a photographs the component P held by the nozzle 11 of the mounting head 10 from the lower surface Pe side. The first light source 14b illuminates the lower surface Pe of the component P. The first light source 14b emits light as vertically as possible so as to illuminate the lower surface Pe of the component P. The second light source 14c emits light from an oblique direction closer to the horizontal direction than the first light source 14b so as to illuminate the tip of the lead wire L of the component P.

First, the component P is held by the nozzle 11 of the mounting head 10 (step S301). The mounting head 10 holding the component P by the nozzle 11 moves above the component supply position, and the nozzle 11 holds the main body Pa of the component P at the component supply position. The mounting head 10 holding the component P by the nozzle 11 then moves above the component recognition unit 14 .

Next, the imaging control unit 16 executes a first imaging process of controlling the component recognition unit 14 to image the lower surface Pe of the component P (step S302). At this time, as shown in FIG. 19A, the lower surface Pe of the component P is irradiated with light by the first light source 14b. Further, the focus of the camera 14a is at the height H1 of the lower surface Pe of the component P.

An example of an image acquired by the first imaging process is shown in FIG. 19B. As shown in FIG. 19B, in the first imaging process, the lower surface Pe of the component P is imaged, and in the first image i1 acquired by the first imaging process, the position of the polarity identification part Pd formed on the flange Pc of the component P is can be recognized.

Next, the imaging control unit 16 recognizes the polarity of the main body of the component P based on the first image i1 acquired by the first imaging process (step S303). The polarity of the main body of the component P can be recognized by specifying the position of the polarity identification part Pd by image processing on the first image i1.

Next, the imaging control unit 16 executes a second imaging process in which the component recognition unit 14 is controlled to image the lead wire L of the component P (step S304). At this time, as shown in FIG. 20A, the second light source 14c irradiates the tip of the lead wire L of the component P with light. The focus of the camera 14a is set on the tip of the lead wire L. Since the position of the camera 14a is the same as in the first imaging process, the mounting head 10 is moved in the +Z direction so that the tip of the lead wire L is located at height H1.

Note that step S303 and step S304 can be executed in parallel.

An example of an image acquired by the second imaging process is shown in FIG. 20B. As shown in FIG. 20B, in the second imaging process, the tip of the lead wire L of the component P is imaged. In step S304, the tip of the lead wire L is irradiated with light from the second light source, so the bottom surface Pe of the component P appears dark in the second image i2, making it difficult to easily recognize the tip position of the lead wire L. can.

Next, the imaging control unit 16 recognizes the position of the lead wire L of the component P based on the second image i2 acquired by the second imaging process (step S305). The position of the tip of the lead wire L of the component P can be recognized by specifying the position of the tip of the lead wire L through image processing on the second image i2.

In the case of a component having a lead wire L, such as the component P, in order to recognize the tip position of the lead wire L, it is preferable to avoid irradiating the main body portion Pa (lower surface Pe) with light and keep it dark. On the other hand, if the main body portion Pa (lower surface Pe) is darkened without being irradiated with light in order to make it easier to recognize the tip position of the lead wire L, it becomes difficult to recognize the polarity identification portion Pd.

In addition, due to the length of the lead wire L, when focusing on the main body Pa, the tip of the lead wire L is not in focus, making it difficult to recognize the tip position. When focused, it becomes difficult to recognize the polarity identification portion Pd.

Therefore, as in the present embodiment, by imaging the component P in two steps, the first imaging process and the second imaging process, it is possible to achieve reliable recognition of both the polarity of the component P and the tip position of the lead wire L. can improve sex.

Next, the mounting head 10 is moved to move the component P to the mounting position on the board 3 (step S306). Then, based on the recognized polarity of the component P and the position of the tip of the lead wire L, the nozzle 11 is rotated, the orientation of the component P is adjusted, and the component P is mounted on the board (step S307). When the mounting of the component P onto the board 3 is completed, the component recognition process ends.

[effect]
According to the stick feeder 4 according to the embodiment described above, the time for changing sticks can be shortened.

With conventional stick feeders, the pusher was returned to the starting point when all the parts pushed out into the parts path were picked up, which resulted in a longer distance for the pusher to retreat, and it took time for the pusher to return to the starting point. For this reason, it took a long time after the stick became empty until the stick could be replaced.

According to the stick feeder 4 according to the embodiment described above, when the pusher 24 exceeds one end E1 of the first stick ST1, the pusher 24 is moved back to the starting point. Therefore, the moving distance of the pusher 24 is shortened, and the time required until the stick ST1 can be replaced can be shortened.

In addition, according to the component mounting device 1 of the above-described embodiment, the component P is imaged twice, in a first imaging process and a second imaging process, thereby improving the reliability of recognition of both the polarity of the component P and the tip position of the lead wire L.

In the above embodiment, the pusher sensor 31 is disposed above the component passage 21, but the position of the pusher sensor 31 is not limited to this. For example, the pusher sensor 31 may be disposed so as to be embedded in the component passage 21, like the component sensor 22.

Furthermore, in the embodiment described above, an example has been described in which the pusher 24 is moved by rotating the roller 27 by the pusher drive unit 25, but the pusher 24 is not limited to this. For example, various drive mechanisms that can move the wire forward and backward can be employed.

Further, in the embodiment described above, an example was described in which the component P has two lead wires L on the lower surface Pe, but the number of lead wires L is not limited to this. One or more lead wires L can be arranged on the component P.

Furthermore, in the above-described embodiment, an example was explained in which the second imaging process is executed after the first imaging process in the component polarity recognition process, but the order of execution of the first imaging process and the second imaging process is May be different.

Furthermore, in the embodiment described above, an example has been described in which the height (focal position) of the component P is changed between the first imaging process and the second imaging process, but the present invention is not limited to this. If the difference in height between the lower surface Pe of the component P and the tip of the lead wire L is small, the height of the component P does not need to be changed between the first imaging process and the second imaging process.

(Embodiment 2)
Embodiment 2 will be described with reference to FIG. 21. In the second embodiment, the same or similar configurations as those in the first embodiment will be described with the same reference numerals. Furthermore, in the second embodiment, descriptions that overlap with those in the first embodiment will be omitted.

FIG. 21 is a schematic diagram showing a stick feeder 40 according to the second embodiment. The second embodiment differs from the first embodiment in that the pusher sensor 31 is not arranged on the stick feeder 40.

As shown in FIG. 21, in the stick feeder 40, the pusher drive unit 25 calculates the forward distance D1 from the starting point S1 of the pusher 24. The forward distance D1 can be calculated, for example, based on the motor drive amount of the pusher drive unit 25 and the radius of the roller 27. In the second embodiment, instead of the detection result of the pusher sensor 31 of the stick feeder 4 in the first embodiment, the control unit 32 detects that the pusher 24 has passed one end E1 of the first stick ST1 based on the forward distance D1 of the pusher 24.

Specifically, the control unit 32 detects that the pusher 24 has passed one end E1 of the first stick ST1 based on the fact that the forward movement distance D1 of the pusher 24 has exceeded a predetermined threshold (step S105 in FIG. 8). The predetermined threshold may be a preset value, or may be determined based on information regarding the length N1 of the multiple sticks ST held by the control unit 32.

Since the length N1 of the plurality of sticks ST varies depending on the type of part P, for example, the threshold value may be set according to the maximum length Nmax among the plurality of sticks ST.

Alternatively, the threshold value may be changed depending on the length of one stick ST1 among the plurality of sticks ST. Information on the length N1 of each stick ST is input in advance to the control unit 32, and the threshold value can be changed in accordance with the stick length N1 each time the stick ST is replaced.

[effect]
According to the embodiment described above, it is possible to detect that the pusher 24 has exceeded one end E1 of the first stick ST1 without using a pusher sensor, so that the time for changing sticks can be shortened with a simple configuration.

(Modification)
FIG. 22 is a schematic diagram showing a stick feeder 41 according to a modification of the second embodiment.

The predetermined threshold value may be determined based on the width W1 and the number of parts P accommodated in the stick ST, as shown in FIG. 22. Specifically, a value obtained by adding predetermined margins M1 and M2 to a length D2 calculated by multiplying the width W1 and the number of parts P accommodated in the stick ST is regarded as the length N1 of the stick ST. Margins M1 and M2 may have the same value. Alternatively, different values may be set for the margins M1 and M2. The predetermined threshold value is determined based on the values of length D2+margin M1+margin M2.

Information on the width W1 and the number of parts P accommodated in the stick ST is input to the control unit 32 in advance. Therefore, the control unit 32 can determine the threshold by calculating a value corresponding to the length N1 of the stick ST based on the information on the width W1 and the number of parts P accommodated in the stick ST1 in use. can.

The information on the margins M1 and M2 may be input to the control unit 32 for each stick ST together with the information on the part P. Alternatively, a common value may be used for all sticks ST.

(Embodiment 3)
Embodiment 3 will be described with reference to FIG. 23. In addition, in Embodiment 3, the same code|symbol is attached|subjected and demonstrated about the same or similar structure as Embodiment 2. Furthermore, in the third embodiment, descriptions that overlap with those in the second embodiment will be omitted.

FIG. 23 is a schematic diagram showing the stick feeder 42 according to the third embodiment. The third embodiment differs from the second embodiment in that a stick sensor 34 is disposed on the stick feeder 42.

The stick sensor 34 is disposed on the side of the other end E2 of one of the sticks ST1, and detects the position of the other end E2 of the stick ST1. In this embodiment, a plurality of photosensors are arranged as the stick sensor 34 on the other end E2 side of the stick ST1. The stick sensor 34 is not limited to this, and for example, a linear scale or the like may be used.

In this embodiment, as shown in FIG. 23, the position of the starting point S1 of the pusher 24 changes depending on the length N1 of the stick ST. Similarly, the positions of the origin sensor 29, stick exchange lever 30, and roller 27 also change depending on the length N1 of the stick ST. That is, the starting point S1, the origin sensor 29, the stick exchange lever 30, and the roller 27 move integrally according to the length N1 of the stick ST.

In this embodiment, the stick sensor 34 detects the stick exchange lever 30, thereby detecting the position of the other end E2 of the stick ST. Alternatively, the stick sensor 34 may be configured to detect marks placed on the outer surface of the stick ST.

In the stick feeder 40 of the second embodiment, the information regarding the length N1 of the stick ST is input into the control unit 32 in advance, but in the present embodiment, the information regarding the length N1 of the stick ST is , the control unit 32 calculates an approximate value D3 of the length of the stick ST. Based on this approximate value D3, the control unit 32 determines a predetermined threshold value.

[effect]
According to the embodiment described above, it is possible to save the effort of inputting information regarding the length N1 of the stick ST into the control unit 32 in advance.

(Embodiment 4)
Embodiment 4 will be described with reference to FIG. 24. In addition, in Embodiment 4, the same code|symbol is attached|subjected and demonstrated about the same or similar structure as Embodiment 2. Further, in the fourth embodiment, descriptions that overlap with those in the second embodiment will be omitted.

FIG. 24 is a schematic diagram showing a stick feeder 43 according to the fourth embodiment. The fourth embodiment differs from the second embodiment in that it is detected that the pusher 24 has exceeded one end E1 of the first stick ST1 based on the width W1 and the remaining number of parts P on the parts path 21.

In this embodiment, the control unit 32 has information regarding the length D5 of the component passage 21, the number of remaining parts P on the component passage 21, and the width W1 of the parts P. Information regarding the length D5 of the component passage 21 and the width W1 of the component P is input to the control unit 32 in advance. The remaining number of parts P on the parts passage 21 can be determined by subtracting the number of parts P already mounted on the board 3 from the number of parts P accommodated in one stick ST1 among the plurality of sticks ST. Calculated by the control unit 32.

The control unit 32 compares the value D4 calculated by multiplying the width W1 of the part P by the remaining number of parts P with the length D5 of the part passage 21. As a result, the control unit 32 detects that the pusher 24 has passed one end E1 of the first stick ST1 based on the fact that the value D4 calculated by multiplying the width W1 of the part P by the remaining number of parts P is less than the length D5 of the part passage 21.

The value D4 is the total length of the parts P pushed out into the parts passage 21, and if this value D4 is less than the length D5 of the parts passage 21, it is determined that all the parts P have been pushed out into the parts passage 21. can be judged.

Further, as shown in FIG. 24, based on the fact that the sum of the value D4 calculated by the product of the width W1 of the part P and the remaining number of parts P and the margin M3 is less than the length D5 of the part passage 21, , it may be detected that the pusher 24 has exceeded one end E1 of the first stick ST1.

The value D4 is calculated each time the mounting head 10 of the component mounting device 1 picks up a component P, and when the above-mentioned condition (D4<D5) is met, the control unit 32 causes the pusher 24 to move backward.

Alternatively, the control unit 3 may cause the pusher 24 to retreat.

By inputting information regarding the mounting of the board 3 into the control unit 32 in advance and retracting the stick ST when it is determined that the component P is not to be used on the board 3, the stick ST is Waiting for replacement can be prevented from occurring.

Furthermore, the value D4 is calculated at the timing when the board 3 being mounted is completed in the component mounting device 1 and the board 3 is transported, and if the above-mentioned condition (D4<D5) is satisfied, the pusher 24 is moved back. You may let them.

In this case, it is not necessary to input information regarding mounting of the board 3 into the control section 32 in advance. Moreover, the transportation of the substrate 3 and the exchange of the stick ST can be performed in parallel.

The stick feeder, stick feeder control method, component mounting device, and component mounting method of the present disclosure are useful in the field of mounting components on a board.

1 Component mounting devices 4, 40, 41, 42, 43 Stick feeder 11 Nozzle 14 Component recognition unit 14a Camera 14b First light source 14c Second light source 16 Imaging control section 21 Component passage 21a Entrance 21b Component supply position 22 Component sensor 23 Loading section 24 Pusher 25 Pusher drive unit 31 Pusher sensor 32 Control unit 34 Stick sensor D1 Advance distance E1 One end E2 Other end i1 First image i2 Second image L Lead wire P Part S1 Starting point ST Stick ST1 One stick W1 Width

Claims (10)

a loading section that stacks a plurality of sticks having one end and the other end and accommodating a plurality of parts therein;
A passage that is in communication with the one end of one of the plurality of sticks and through which the plurality of parts supplied from the one stick passes, and an end opposite to the one end of the one stick. a parts passageway provided with a parts supply position from which the plurality of parts are picked up;
a component sensor that detects the presence or absence of a component at the component supply position;
The parts are passed through the one stick from a starting point located outside the other end of the one stick to position the plurality of parts housed inside the one stick at the parts supply position. A pusher that pushes out into the aisle,
a pusher drive unit that drives the pusher;
a control unit that controls the pusher drive unit;
Equipped with
The control unit controls the pusher drive unit when the component sensor detects that a component is present and the control unit detects that the pusher has exceeded the one end of the one stick. and moving the pusher to the starting point, so that the one stick can be replaced with another stick among the plurality of sticks,
stick feeder. The pusher driving unit detects a forward distance of the pusher from the starting point,
The control unit detects that the pusher has passed the one end of the one stick based on a forward movement distance of the pusher.
2. The stick feeder of claim 1. The control unit detects that the pusher has exceeded the one end of the one stick based on the advance distance of the pusher exceeding a predetermined threshold.
The stick feeder according to claim 2. The control unit has information regarding the length of the one stick,
the predetermined threshold is determined based on the length of the one stick;
The stick feeder according to claim 3. moreover,
a stick sensor arranged on the other end side of the one stick and detecting the position of the other end of the one stick;
Equipped with
The position of the starting point of the pusher changes depending on the length of the one stick,
The control unit calculates a stick length from a position of the other end of the one stick detected by the stick sensor to a position of an entrance of the component passage, and determines that the forward distance of the pusher is the stick length. Detecting that the pusher has exceeded the one end of the one stick based on the fact that the pusher has exceeded the one end of the one stick.
The stick feeder according to claim 2. moreover,
a pusher sensor disposed on the part passage outside the one end of the one stick;
Equipped with
The control unit detects that the pusher has passed the one end of the one stick based on the detection of the pusher by the pusher sensor.
2. The stick feeder of claim 1. The control unit has information regarding the length of the parts path, the number of parts remaining on the parts path, and the width of the plurality of parts, and the information is calculated by multiplying the width of the plurality of parts and the number of parts remaining. detecting that the pusher has exceeded the one end of the one stick based on the fact that the value of the pusher is less than the length of the component path;
The stick feeder according to claim 1. a loading section that has one end and the other end and stacks a plurality of sticks containing a plurality of parts therein; and a loading section that is in communication with the one end of one of the plurality of sticks and is supplied from the one stick. a parts passage through which the plurality of parts to be picked up pass, the parts passage having a parts supply position where the plurality of parts are picked up at an end opposite to the one end of the one stick; A stick feeder including a component sensor that detects the presence or absence of the plurality of components at a feeding position, and a pusher that pushes the plurality of components from the one stick to the component path,
The pusher is moved so as to push out the plurality of parts in the one stick into the parts passage from a starting point located outside the other end of the one stick, and each of the plurality of parts is fed into the part supply. position in sequence,
At the component supply position, when the presence of a component is detected by the component sensor and it is detected that the pusher has exceeded the one end of the one stick, the pusher is retreated to the starting point, and the pusher is moved back to the starting point. allowing one stick to be replaced with another stick among the plurality of sticks;
How to control a stick feeder. The stick feeder according to any one of claims 1 to 7,
a nozzle that holds the component at the component supply position and attaches it to the board;
a camera that images the component held by the nozzle;
a first light source and a second light source that illuminate the component imaged by the camera;
an imaging control unit that controls the camera, the first light source, and the second light source;
Equipped with
The component includes a main body portion having a lower surface, and one or more lead wires disposed on the lower surface,
The imaging control section includes:
performing a first imaging process of irradiating the lower surface of the component held by the nozzle with the first light source and imaging the lower surface with the camera;
recognizing the polarity of the component based on the image captured by the first imaging process;
irradiating the tips of the one or more lead wires of the component held by the nozzle with the second light source, focusing on the tips of the one or more lead wires and imaging them with the camera; 2 Execute imaging processing,
recognizing the tip position of the lead wire based on the image captured by the second imaging process;
Parts mounting device. a loading section that has one end and the other end and stacks a plurality of sticks each containing a plurality of parts therein; an inlet is connected to the one end of one of the plurality of sticks; and an inlet is connected to the one end of the plurality of sticks; a component passage from which one of the plurality of components is picked up from a component supply position located at an end of the stick; a component sensor that detects the presence or absence of the plurality of components at the component supply position; a stick feeder having a pusher for pushing the plurality of parts into a passage;
a nozzle that holds the component at the component supply position and attaches it to the board;
a camera that images the component held by the nozzle;
a first light source and a second light source that illuminate the component imaged by the camera;
an imaging control unit that controls the camera, the first light source, and the second light source;
In a component mounting device equipped with,
holding the part by the nozzle;
imaging a bottom surface of the component;
imaging tips of one or more leads disposed on the lower surface of the component;
recognizing the polarity of the component based on the first image acquired in the step of imaging the lower surface of the component;
recognizing the position of the tip of the one or more lead wires of the component based on a second image obtained in the step of imaging the tip of the one or more lead wires of the component;
moving the nozzle to move the component onto the substrate based on the polarity of the component and the position of the tip of the one or more leads;
mounting the component on the board;
including,
How to install parts.

Images