JPH04107999A - Method of recognizing part - Google Patents

Abstract

PURPOSE:To improve the accuracy of mounting a chip part by moving the suction nozzle attracting a part to a position that is the same in height as a position of mounting the part to a printed circuit board, followed by using a recognition camera to recognizing the part at that position. CONSTITUTION:A part 7 taken out by suction by a nozzle 19 from a part supply section 6 is transferred by moving a mounting head 12, followed by using a recognition camera to recognize the part for position, attitude, lead bend, lead rise, and so on. Letting the height of the upper surface of a printed circuit board 10 to which the part 7 is to be mounted by a X-table section 3 be the part mounting level and the focal length of camera 71 be 'L2', each camera 71 is installed at a position lower by a focal length of 'L2' than the part mounting level, or when part 7 stops above the camera 71, if the height of the position of the lower surface of part 7 is at the part mounting level, the focus of camera 71 conforms with the lower surface of part 7, enabling camera 71 to pick up the image of part 7. As a result of recognizing part 7 using cameras 71, if it is found that there is a dislocation of part 7, both the mounting head 12 and the X-table 81 move by a distance equal to an amount of correction done for the dislocation.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field The present invention corrects the positional deviation of a chip component picked up by a vertically moving suction nozzle and corrects the positional shift of the chip component before mounting the component on a printed circuit board. The present invention relates to a component recognition method that uses a component recognition camera to determine the positional shift of a component.

(B) Prior art A component recognition method in which a component recognition camera is used to detect the positional shift of a component picked up by a suction nozzle of this type is disclosed in Japanese Patent Laid-Open No. 1-26
It is disclosed in Japanese Patent No. 5144.

According to this prior art, the chip component sucked by the suction nozzle moves above the component recognition camera, and positional deviation is recognized.

(c) Problems to be Solved by the Invention However, in the above-mentioned prior art, since the component is lowered further from the recognized high position to be fully attached to the printed circuit board, the suction nozzle is twisted due to twisting of the mechanical system during this downward movement. There is a drawback that the amount of positional deviation of the chip component relative to the recognition result differs from the recognition result, and the chip component cannot be mounted in an accurate position.

Therefore, an object of the present invention is to improve the accuracy of mounting chip components.

(d) Means for Solving the Problems Therefore, the present invention corrects the positional deviation of a chip component picked up by a vertically moving suction nozzle, and corrects the position of the chip component before mounting the component on a printed circuit board. In a component recognition method in which misalignment is detected using a component recognition camera, the suction nozzle that has suctioned the component moves to the same height position as when mounting the component on a printed circuit board, and then the recognition camera detects the displacement at this position. It recognizes parts.

(Water) Action Before correcting the positional shift of the chip component picked up by the vertically moving suction nozzle and mounting the component on the printed circuit board, the suction nozzle that picked up the component mounts the component on the printed circuit board. After moving to the same height position as in the previous case, the component recognition camera recognizes the displacement of the component at this position.

(f) Example An embodiment of the present invention will be described below based on the drawings.

In FIG. 1, (1) is a component mounting device to which the present invention is applicable. (2) is a pair of supply conveyors, and (3)
is an X table section, (4) is a pair of discharge conveyors, (5) is a Y heno 1 section, (6) is a component supply section that supplies chip components (7), and (8) is the tool exchange section.

The supply conveyor (2) transports the printed circuit board (lO),
The substrate (10) is supplied to the X table section (3), and the discharge conveyor (4) conveys the substrate (10) discharged from the X table section (3) to be discharged to a downstream device. It is.

Next, the Y heno 1 part (5>) will be explained in detail. In Figs. It is attached to the head nut (14) (14>) and is driven by the head drive motor (15) (15) to drive the pole screw (
13) When (13) rotates, it is guided by the head linear guides (16) (16) (16) (16) and moves in the Y direction, and the parts (7) supplied from the parts supply section (6)
) is attached to the substrate (10) using the X table section (3).

The mounting head (12) will be explained in detail. In FIG. 3, (18) is a vertically movable body having a nozzle (19) at its tip for sucking the component (7), and three vertically movable bodies are provided on the mounting head (12) so as to be movable vertically.

(20) is a stopper mechanism that restricts the vertically movable body (18) from descending, and (21) is a stopper mechanism that prevents the vertically movable body (18) from descending.
(22) is a rotation mechanism that rotates the vertical movement body (18) in the θ direction.

(23) is a lighting unit for illuminating the parts 7).

The structure of the vertically moving body 18) will be explained in detail. In FIGS. 2 and 3, (24) is a tool having a nozzle (19) at the tip, and a component suction vacuum passage (25) for suctioning the component (7) is formed inside. A milky white diffuser plate (
26> is provided. Tool (24) is part (7)
Depending on the size and shape of the nozzle (19) and diffuser plate (
26) are available in many different sizes.

(27) is a shaft that sucks and holds the tool (24), and is composed of an inner cylinder (28) and an outer cylinder (29).
8) has a component vacuum passage (30) communicating with the component suction vacuum passage (25) of the tool (24), and an inner cylinder (2).
A tool vacuum passage (31) for sucking the tool (24) is formed between the tool (24) and the outer cylinder (29). A pair of leaf springs (32) are attached to the lower end of the outer cylinder (29).
The tool (24) is removably held at the lower end of the shaft (27) by vacuum suction from the tool vacuum passageway (31) and a leaf spring (32).

(34) is a double pipe joint attached to the upper part of the shaft (27), and consists of a rotation guide nut (36) and a nut (37) on which a flange (35) is formed. The rotation guide nut (36) is rotatable with respect to the shaft (27) via a bearing (38), and is connected to the tool vacuum passage (
31), a vacuum pipe (39) is fitted up to the outer cylinder of the shaft (27).

A groove (40) is carved all around the part of the shaft (27) that the vacuum pipe (39) reaches, and a part of the line groove (40) is open (40A).
27) rotates the rotation guide nut (36) by the rotation mechanism (21).
〉 Even if the inside is rotated, the vacuum passage (31〉
) and a groove (40) to communicate with the vacuum pipe (39).

The nut (37) is fixed to the outer cylinder (29) and rotates as the shaft (27) rotates. (41) is a nut O-ring that seals the vacuum passage (31) in the nut (37) to prevent vacuum from leaking; (42) (42)
is a rotary nut O-ring that seals the rotary guide nut (36) from the groove (40) through the bearing (38) to prevent vacuum leakage. The vacuum pipe (39) and the component suction vacuum passage (25) are each connected to a vacuum source (not shown) via a valve (not shown). Vacuum vibrator (3
9) is further connected to a compressed air source via a valve (not shown). (43) is a regulated member whose rotation is regulated by a rotation mechanism (22) fixed to the shaft (27).

Next, the stopper mechanism (20) will be explained in detail. (46
) is a stopper lever having a claw part (47) at the lower end, and a mounting plate (49) attached to the head nut (14).
) The upper end is rotatably attached to a solenoid (50), and the solenoid (50) swings about a support shaft (51) as a back and forth movement.

That is, when the solenoid (50) protrudes in a demagnetized state, the claw portion (47) engages with the lower surface of the flange (35) to restrict the downward movement of the vertically movable body (18).
When the solenoid (50) is energized and retreats, the claw (47) comes off from the flange (35) and the vertically moving body 1
8) allows for downward movement.

Next, the vertical movement drive mechanism (21) will be described in detail.

When the vertical movement motor (56) rotates the vertical movement ball screw (54), the vertical movement plate (57) attached to the vertical movement nut (55) moves from the linear guide (53) provided on the mounting plate (49). ) (53). Cam followers (58) (58) (58) are attached to the lower surface of the flange (35) at three locations on the vertically movable plate (57) to support the vertically movable bodies (18) (1g) (1g>), respectively. When the stopper lever (46) is unlocked, the vertically movable body 18) moves vertically while being supported by the cam follower (58) by rotation of the motor (56).

Next, the rotation mechanism (22) will be explained in detail. In FIGS. 2 and 3, (60) is a block vertically installed on the mounting plate (49), (61) is a rotary bearing body embedded in the block (60), and ( 62) is a vertically movable guide body that is guided by the rotary bearing body (61) and rotates in the θ direction. The shaft (27) is guided by the vertical movement guide body (62) and can move up and down.

A timing pulley (64) is fitted to the outer periphery of the lower part of the vertical movement guide body (62), and a motor timing pulley (66) is fitted to the lower part of the nozzle rotation motor (65) installed in the block (60). is attached to the shaft. Motor (6
5) drives the vertical movement guide body (62) through both pulleys (64), (66) and the timing belt (67) which is stuck between both pulleys (64) and (66).
performs rotation.

A rotation prevention roller (6
A pair of detents (69) having a rotation stopper (8) are formed, and the regulated member (43) fixed to the shaft (27)
) The rollers (6g) (68) are locked from both sides and the
F) The rotation of (27) in the θ direction is restricted. Therefore,
When the vertical movement guide body (62) is rotated by the motor black 5), the shaft (27) and the nozzle (19) are rotated in the θ direction via the rotation stopper (69) and the regulated member (43). .

In Fig. 1, Fig. 2, Fig. 4, Fig. 5, and Fig. 6,
(71) (71) is a parallel parts recognition camera,
The nozzle (19) in the component supply unit (6) picks up the component (7) by moving the mounting head (12), and the camera (71) detects the pickup position, posture, and lead. Bends, lead floating, etc. are recognized.

If the height of the top surface of the printed circuit board (10) on which the component (7) can be completely mounted on the X table section (3) is the component mounting level, and the focal length of the camera (71) is "Ll," then each camera (71) is It is located below the component mounting level by a focal length rL. In other words, when the component (7>) stops on the camera (71), the height position of the bottom surface of the component (7) is below the component mounting level. , the camera (71) focuses on the bottom surface of the component (7), and the component (7>) can be imaged.

Here, the lighting unit (23) attached to the lower part of the mounting head (12) will be explained. The illumination unit (23) illuminates the component (7) when the component (7) completely absorbed by the nozzle (19) is recognized by the camera (71). In Figures 2, 7 and 8, (73
) is a frame fixedly attached to the mounting plate (49), and bins (75) (75) (75) (75) are arranged at the four corners. (74) is nozzle (19) (19)
(19) Light-emitting LED (76) installed on top of the bottle (75) (75) (75) (75)
It is a lighting board with a large number of shafts (2
7) penetrates and the part that moves up and down is open.

At the bottom of the lighting board (74), one milky white unit diffuser plate (77) is placed at a certain interval between the bottles (75) (75).
)(75)(75), L E D
The light emitted by (76) is transmitted and diffused to equalize the brightness and darkness depending on the location. The light rays that have been made uniform by the unit diffuser plate (77) are transmitted through the diffuser plate (26>) and diffused to become even more uniform light beams that can be irradiated onto the chip component (7). The portion where 27) penetrates is open.

The diffuser plate (26) is prepared according to the size of the component (7) so that the illumination light transmitted through the diffuser plate (26) can illuminate the entire component (7). ) can be illuminated with a large diffuser plate (26), but a small diffuser plate (2
6) requires less space.

Next, the X table section (3) will be explained. In FIG. 1, (81) is an X table on which the board (10) whose supply is blocked is placed on the supply conveyor (2) (2), and a nut (not shown) that fits into the X ball screw (82) is attached. X ball screw (82) installed and driven by X motor (83)
The rotation moves in the X direction along the X linear guide (84).

The chip component (7) that has been attracted by the nozzle (19) and moved by the mounting head (12>) is
It is mounted on the substrate (10) on the table (81).

Next, the tool exchange section (8) will be explained in detail. In FIGS. 1 and 9, (85) shows that tools (24) of different types are placed side by side in the X direction due to the different sizes and shapes of the nozzle (19) and diffuser plate (26). This is a tool table for storage. A recess (86) is formed in the tool table (85) to match the size of the diffuser plate (26) so that the tool (24) does not shift. A through hole <87) is open for tool exchange.

The tool table (85) is attached to the moving table (88). The moving table (88) is a tool ball screw (91)
is attached to the tool nut (92) to which it is fitted, and when the tool hexameter (93) rotates the ball screw (91), it moves in the X direction along the tool linear guide (94). Therefore, the tool table (85) will move in the X direction.

In FIG. 10, (95) is a cylinder fixedly provided on the base (96), and the rod (97) of the cylinder (95>) is connected to the pad holding member via the attachment piece (98). (99) is installed.

The pad holding member (99>) is cylindrical and has a suction pad (100) fitted therein for exchanging the tool (24), but the suction part of the suction pad (100) is widened to form a stepped part, so that the suction A spring (
101) engages with the stepped portion to urge and support the suction pad (1,00> upwards.A recess is formed in the center of the upper surface of the suction pad (100), and the cylinder (95) is actuated. When the tool (24) to be replaced comes into contact with the lower surface of the diffuser plate (26), the nozzle (19) escapes.

Inside the suction pad (100) there is a vacuum air passage for vacuum suction (
104) is formed and has openings at several locations on the upper surface of the suction pad (ioo). The vacuum air passage (104) is connected from below the suction pad (100) to a vacuum source (not shown) via a valve (not shown).

The through hole (87) opens at a position large enough to accommodate the suction pad (100) that has been moved upward by the operation of the cylinder (95).The pad (100) is attached to the mounting head (12).
The mounting heads (12) are provided at the intersection of the trajectory through which the nozzle (19) that is fully held in the tool table (85) passes and the trajectory through which the through hole (87>) of the tool table (85) passes. Therefore, two pads (100) are also provided.When the cylinder (95) is activated, the pad (100) is attached to the lower surface of the diffuser plate (26) of the tool (24) that is fully held by the vertically movable body (18). It is located at a position where it comes into contact with the spring (101) even though it is not fully biased.

Next, the parts supply unit (6>) will be explained. In FIGS. The tape component supply unit (106) is arranged in parallel.The components (7) supplied by the supply device (106) are of many types, and usually one supply device (106) only supplies one type of component. (
7) and a large number of supply devices <106) supply a wide variety of parts (7), but adjacent supply devices (106)
) are arranged in parallel with a predetermined interval.

Vertical moving body 18 attached to the mounting head (12)
〉 is 3 as mentioned above, but the vertically moving body (1
8) (18) The installation interval of (18) matches the installation interval of the supply device (106), and the installation interval of the tool (24)
) is suitable for the part (7), the three nozzles (19) (19) (19) can descend at the same time and pick up the part (7) (7X7) at the same time.

In FIG. 12, (110) is the CPU and RAM (11
1) Based on the NC data, component type data, etc. stored in ROM (113), operations related to component mounting are controlled according to a program stored in ROM (113). The CPU (110) connects the vertical movement motor (5) via the interface (114>
6), Solenoid (50), Head drive motor (15)
, the nozzle rotation motor (65), the X motor (83), the tool motor (93), and the LED (76).

The NC data that has not been stored in RAM (III) is
As shown in Fig. 13, in the order of the steps, the tool (24) indicated by the tool number is placed at the position indicated by the X coordinate data and Y coordinate data of the Bunometo board (10) at the angle indicated by the angle data. A data type component (7) will be installed. There is a tool (24) with a corresponding tool number for each type of part (7).

The part type data stored in the same RAM (111) includes the part length, part width, and part thickness for each type of part (7) indicated by the unrepresented part data as shown in Fig. 14. 0 parts data where each data is stored' RsJ
v' RIJ and "R6" part (7) part type data
Taha't, J, 't, J and Hirt,
, 3. RAM (111) also contains
The distance "LI" that the tip of the nozzle (19) descends from the position where the vertical movable body (1g) is fully locked by the stopper lever (46) to the component mounting level is stored.

A mark (102) indicating the type of tool (24) by tool number is attached to the lower surface of the diffuser plate (26) so that it can be recognized by the camera (71).

The mark (102) is attached to the diffuser plate (26) as shown in FIG.
It is attached to a predetermined part of the lower surface, and in this case, the type of tool (24) is represented by the length in the longitudinal direction.
Length data corresponding to the type 4) is stored in the RAM (111).

The operation of the above configuration will be explained below.

First, the exchanging operation of the tool <24> will be explained. The tool (24) is replaced in a timely manner based on the tool number in the NC data, but the operation of replacing it with the tool (24) with tool number "10." in order to mount the part (7) in step M1 will be explained.

First, the mounting head (12) holding the tool (24) to be replaced is driven by the motor (15) and is moved to the linear guide (1) via the ball screw (13) and nut (14).
6) in the Y direction and select the tool you want to replace (24).
) is positioned above the suction pad (100). At this time, the movable table (88) to which the tool table (85> is fixed)
) is driven by a motor (93) and moves in the X direction along a linear guide (94) via a ball screw (91) and a nut (92), and moves the tool (24) of the mounting head (12).
) is placed above the pad (100).

Then, the stopper lever (46>, which is engaged with the flange (35) of the vertically movable body 18) holding the tool (24) to be replaced, is released from the flange (35>) by the operation of the solenoid (50). , the ball screw (54) is rotated by the drive of the motor (56), and the vertical moving plate (57) is lowered along the linear guide (53) via the nut (55), and is supported by the cam follower (58). The moving body (18) descends while being fully guided by the vertical movement guide body (62). When the tool (24) has descended to a predetermined position, the motor (56) stops and the tool (24) stops.

Then, the cylinder (95) is actuated, the rod (97) rises, the suction pad (100) passes through the through hole (87) via the mounting piece (98) and the pad holding member (99), and the diffusion plate rises. The nozzle (19) escapes and comes into contact with the lower surface of (26). The rod (97) is raised further by the spring (1).
Due to the urging force of the pad (100), the diffuser plate (26
) while pressing the button to reach the state shown in FIG. 16.

At this time, a valve (not shown) is switched and compressed air is supplied into the vacuum vibrator (39), the groove (40), and the tool vacuum passage (31>), and a vacuum (not shown) is supplied through the vacuum ventilation passage (104). The diffuser plate (26) is attracted to the suction pad (100) by the source.After this, the cylinder (95)
) is activated and the rod (97) is lowered, the tool (24
) is pressed by the compressed air in the tool vacuum passage (31) and moves against the urging force of the leaf spring (32).
) and descends. Then, the tool (24) is placed in the recess (86>) of the tool table (85).At this time, each pulp is switched and the tool vacuum passage (31)
The inside of the vacuum ventilation path (104) is at atmospheric pressure.

After that, the vertically moving body 18) is driven by the motor (56) and rises.The tool table (85) is then driven by the motor (93).
The tool (24) with the tool number "10" to be used is positioned at the position where the vertical moving body (18) is waiting.

Then, when the vertical movable body (18) is lowered by the motor (56) and the tool vacuum passage (31) is suctioning a vacuum, the suction pad (100) is raised by the operation of the cylinder (95) and the tool (24) is vacuumed. The tool (24) is fitted onto the push-up shaft (27) as shown in Fig. 14 while adsorbing it through the ventilation passage (104).
) and the vacuum suction through the tool vacuum passage (31) to hold it on the shaft (27).

After this, the suction pad (100) is moved to the vacuum ventilation channel (104).
The cylinder (95) stops the suction through the cylinder (95), and the vertically movable body (18) is raised by the motor (56). In this way, the operation of exchanging the tool 24) is completed.

Thereafter, the mounting head (12) moves to above the camera (71) and places the replaced tool (24) on the camera (71).
1) Stop directly above. Then, the solenoid (50)
The lock of the vertically moving body (18) is released, and the vertically moving body (18) is released.
18) is lowered until the lower surface of the diffuser plate (26) reaches the focal point of the camera (71), resulting in the state shown in FIG. Then, the camera (71) recognizes the mark (102) in FIG. 15 indicating the tool (24) of the tool data 110 attached to the bottom of the diffuser plate (26), and the CPU (110) recognizes the tool number. It is determined that the tool (24) of "110" is attached.

In addition, if a different type of tool (24) is mistakenly placed in the position where the tool (24) with tool number "10" on the tool table (85) should be placed, the tool (24)
4) is replaced and the mark (102) on the diffuser plate (26) is recognized in the same manner as described above, but the CPU (110)
determines that the mark (102) is of a different type. Thereafter, a notification device (not shown) notifies the operator of the abnormality, and the mounting device (1) stops operating.

In addition, if the tool (24) with the tool number "10" on the tool table (85) is not placed in the position where it should be placed by mistake, the mounting head (12)
) is recognized by the camera (71) in the state shown in FIG. 6 in which the tool (24) is not attached to the shaft (27). At this time, the mark (102) to be imaged
Since there is no tool (24), the CPU (110) determines that there is a possibility that the tool (24) is missing, and then moves the vertically moving body so that the bottom surface of the nozzle (19) is at the component mounting level (18).
to rise.

Then, the camera (71) takes an image, but since the nozzle (19) is not imaged, the CPU (110) determines that the nozzle (19) is not present, that is, the tool (24) is not attached, and the above-mentioned procedure is performed. Similarly, an abnormality is notified and the operation of the mounting device (1) is stopped.

Next, the tool (24) is replaced normally and the tool number "10.
The operation of mounting the component (7) onto the board (10>) will be described assuming that the tool (24) with the tool number "20" is attached to the vertically movable body (18) in the center.

First, the mounting head (12) is mounted on a linear guide (16) by rotation of a ball screw (13) driven by a motor (15).
) to the parts supply section (6). At this time,
All three vertically movable bodies (18) are locked by stopper levers (46). First, among the three nozzles 19), the rightmost nozzle (19) in FIG. Once positioned, the right end solenoid (50) is energized, the stop lever lever 46) is attracted, and the pawl (47) comes off the flange (35) and the vertically moving body (
18) will be unlocked.

The vertically moving body (18) is then driven by the motor (56).
is lowered while being supported by the cam follower (58), and the part (
7> is connected to the component suction vacuum passage (25) by a vacuum source (not shown).
), the parts are attracted to the tip of the nozzle (19) through the vacuum passage (30) and rise.

Then, the solenoid (50) protrudes and the stopper lever (4
6) swings around the support shaft (51), the claw portion (47) engages with the lower surface of the flange (35), and the vertically movable body (18) is locked.0 Next, the mounting head (12) moves. The center nozzle (19) is located above the supply device (106) that supplies the part (7) of the part data 1R0 of step M2, and supplies the part (7) in the same way as the right-most nozzle (19) described above. After adsorption, the vertically moving body (18) moves to the stopper lever (46).
) is locked.

Next, similarly to the above, the leftmost nozzle (19) is moved to step M3.
A suction operation is performed for component (7) of component data 'R1J.

After the three nozzles (19) adsorb the component (7), the mounting head (12) is moved to the camera (71) by the motor (15).
/71) Move to the sky. At this time, the rightmost nozzle (
19) is located above the right camera (71), and the center nozzle (19) is located above the left camera (71) as shown in FIG.

Then, the right end and center stopper levers (46) (46
) unlocks the vertical movable bodies (1B) (1g) by excitation of the solenoids (50) (50), and the right end and center vertical movable bodies (18) (18) descend by driving the motor (56). The CPU (110) lowers the rightmost nozzle ( 19) The parts (
7) Position the bottom of the motor (56) at the component mounting level.
) to stop.

Next, based on the angle data rz, , in step M1, C
P U (110) rotates the motor (65) and pulley (
64), (66) and the timing belt (67), the vertical movement guide body (62) is connected to the rotation bearing body (6).
1).

At this time, as the rotary bearing body (61) rotates, the restricted member (43) is restricted by the rotation stopper (69) and rotates, and the nozzle (19) and the component (7) are rotated according to the angle data "Z".
," will be rotated based on. When the nozzle (19) rotates, the nut (37) rotates together with the shaft (27), but the rotation guide nut (36) does not rotate, and the shaft (27) is completely guided by the bearing (38). 36) It will rotate inside.

Then, the L E D (76)... in the necessary range around the shaft (27) on the right end emits light, and the light rays that have been diffused into the unit diffuser plate (77) and the diffuser plate (26) reach the parts (
7), and the camera (71) recognizes the suction position and orientation of the part (7).

Next, the CPU (110) subtracts the component thickness 1tIJ of the component data rH, , from the descending distance "Ll".

Based on the distance -t+J, the motor (56) is driven to position the lower surface of the component (7) attracted to the central nozzle (19) at the focal position of the left camera (71), that is, at the component mounting level.

Next, step M2 is performed in the same manner as the rightmost nozzle (19).
The center nozzle (19) is also rotated based on the angle data "2.".

Then, the required range of LEDs (76) around the central shaft (27) emits light, and the component (7) is emitted through the Uni-Met diffuser plate (77) and the diffuser plate (26). In the 0th order, where the lighting reference component (7) is recognized, the motor
56>, the mounting plate (49) moves upward, and the vertically movable body (18) at the right end and center moves upward. Solenoid (50)
is demagnetized and the stopper lever (46) swings, thereby locking the vertically movable body (18).

After that, the mounting head (12) moves to the right in FIG. ), it will stop when it is located in the sky. Then, the leftmost solenoid (5
0) is excited, the vertical moving body (18) is unlocked by the stopper lever (46), and the motor (56) ) to lower the vertically movable body (18) and position the lower surface of the component (7) that the nozzle (19) attracts at the focus position of the recognition camera (71). Next, the right end and center nozzle (19) Similarly, the motor (65) is rotated based on the angle data 1z3 in step M3.

Then, L E D around the left end shaft (27)
(76X76)... emits light, and the camera (71) recognizes the part (7). Thereafter, the vertically movable body (18) moves upward and is locked by the stopper lever (46).

In this way, when the recognition of the component (7) by the camera (71) (71) is completed, the mounting head (12) moves in the X direction, and the X table (81) rotates the ball screw (82) by driving the motor (83). Linear guide through motion (84)
Move in the X direction along.

If the recognition result of the camera (71) (71) shows that the component (7) is misaligned, the mounting head (12) and the X table (
81) Move by the distance corrected for the deviation amount.

Further, if there is an angular deviation in the θ direction, the motor (65) rotates by an angle to correct the angular deviation, as described above.

After that, the right end solenoid (50) is energized, the stopper lever (46> releases the restriction, and the motor (56) is driven to move the nozzle (19) down and drop the component (10) onto the board (10).
7) is installed.

The nozzle (19) that has been installed is moved upward by the drive of the motor (56).After this, the vertically moving body 18) that has been moved upward
is locked by the stopper lever (46). Thereafter, the parts (7) adsorbed by the remaining two nozzles (19) are also attached to the substrate (10) in the same manner as described above. At this time, each vertically movable body (18) is locked by the stopper lever (46).

When the mounting operation of all three parts (7) is completed as described above, the mounting head (12) selects the next part (7) to be mounted.
Move to the parts supply section (6) to take out the parts.

The above-mentioned operations are repeated to perform the component mounting operation, but in some cases, such as when the held nozzle (19) cannot pick up the component (7) to be taken out, one or more In some cases, only the two nozzles (19) attract the component (7) and the component is mounted.

In some cases, the tool (24) may be replaced in a timely manner as described above.

When the mounting of components onto the board (10) placed on the X table (81) is completed up to step M100 as described above, the board (10) is transferred to the discharge conveyor (4>), and the board (10) is transferred to the discharge conveyor (4>). 4) transports and discharges the substrate (1o).

Mata, after replacing the tool (24), the tool (24) (7)
) To check the type, use the camera (71) to check the diffuser plate (26).
Check the mark (102), but if there is no mark (102), insert the tip of the shaft (27) into the camera (7).
Even if the camera (71) is lowered to the focal point of 1) and allowed to recognize a characteristic part such as a leaf spring (32), and if that part is recognized, it is determined that the tool (24) is not present. If there is no mark (102), it may be immediately determined that there is no tool <24).

Furthermore, after the tool (24) is replaced, only the presence or absence of the tool (24) is detected by recognizing the tip of the nozzle (19) as in this embodiment or by recognizing the tip of the shaft (27). 24) is the correct type (7)
”/-L (24) is attached to the tail and CPU
(110) may make the determination.

In addition, the shape, nozzle diameter or area of the bottom surface of the nozzle (19) is stored in the RAM (111) for each tool number, and after the tool (24) is replaced, the bottom surface of the nozzle (19) is attached to the camera (71). If the shape, nozzle diameter, or area corresponds to the tool number, the correct tool (
24) is installed, and if not, it may be determined that an abnormality has occurred during tool replacement. In this case, first check whether the nozzle (19) has taken an image and then check the tool (24). Determine the presence and use the correct tool (2)
4). In this case as well as in this example, when capturing an image of the bottom surface of the nozzle (19), the nozzle (19)
The nozzle (19) does not have to be lowered so that the lower surface of the nozzle (19) is accurately aligned with the component mounting level, as long as the image of the nozzle <19) can be recognized.

Furthermore, the above-mentioned check of the tool (24) is performed not only immediately after tool replacement, but also automatically after turning on the power, when starting automatic operation, or when restarting operation after a long period of suspension. Alternatively, a switch for performing the check may be provided so that the tool (24) is checked by pressing the switch.

(G) Effects of the Invention As described above, according to the present invention, there is no difference in the positional deviation of the component during recognition and mounting, so that the accuracy of component mounting can be improved.

[Brief explanation of drawings]

Fig. 1 is a plan view of a component mounting device to which the present invention is applied;
The figure is a perspective view of the mounting head, Figure 3 is a vertical cross-sectional view of the vertically movable body, Figure 4 is a side view showing the positional relationship of the suction nozzle, printed circuit board, and component recognition camera, and Figure 5 is the component recognition camera with tools. Figure 6 is a side view of what the camera recognizes when there is no tool, Figure 7 is a plan view of the lighting unit partially cut away, and Figure 8 is a partially cutaway side view of the lighting unit. A front view, FIG. 9 is a perspective view of the tool exchange section,
FIG. 10 is a side view of the main parts of the tool exchange section, FIG. 11 is a perspective view of the parts supply section, and FIG. 12 is a control block diagram of the present invention.
FIG. 13 is a diagram showing NC data, FIG. 14 is a diagram showing part type data, FIG. 15 is a diagram of the tool seen from the suction nozzle side, and FIG. 16 is a side view showing the tool exchange operation. (7)...Chip component, (10)...Printed circuit board, (19)...Suction nozzle, (71>...Component recognition camera.

Claims (1)

[Claims] (1) In a component recognition method that uses a component recognition camera to correct the displacement of a chip component picked up by a vertically moving suction nozzle and before mounting the component on a printed circuit board. , a component recognition method characterized in that the suction nozzle that has suctioned the component moves to the same height position as when mounting the component on a printed circuit board, and then the component is recognized by the recognition camera at this position. .