JPH05191094A - Component mounting device - Google Patents

Abstract

PURPOSE:To enable the image of a component to be quickly and accurately picked up by a simple structure. CONSTITUTION:A first and a second lever, 13 and 14, which pivot interlocking with a nozzle 8 are rotatably supported on a head 7, and a first and a second mirror, 15 and 16, are provided onto the levers 13 and 14. The first and the second lever, 13 and 14, are made to rotate interlocking with the nozzle 8, whereby the mirrors 15 and 16 can be optically positioned to a component 9 and a TV camera corresponding to the position of the nozzle 8. When the nozzle 8 is made to ascend or descend, the mirrors 15 and 16 can be automatically positioned high in accuracy, so that a drive mechanism can be dispensed with, and thus a component mounting device can be made compact and prevented from increasing in weight. A controller high in processing capacity is not required to be provided to the component mounting device, so that the device can be lessened in cost and enhanced in reliability as the reading of image by a TV camera hardly gets out of timing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting device for mounting a component such as an electronic component on a board or the like.

[0002]

2. Description of the Related Art As a conventional component mounting device, a T
There is a system in which a V camera is attached, a component held by a nozzle is captured by a TV camera, the component is visually recognized, and whether the component suction state or the component shape is determined based on the recognition result. As an example of this type of component mounting apparatus, a head is provided with a mirror moving mechanism that horizontally moves a mirror, and when recognizing a component held by a nozzle, the mirror is advanced to the lower part of the nozzle, and a TV camera is provided with a mirror. There are some that are designed to incorporate parts images. Further, as another example of the component mounting device equipped with the TV camera, a mechanism for adjusting the angle of the nozzle, which is normally directed downward, is provided so as to be within the field of view of the TV camera. There is one in which the nozzle is directed toward the TV camera through an adjustment mechanism so that the TV camera captures the component image.

[0003]

By the way, in the above-described component mounting apparatus, the mirror is displaced or the nozzle angle is changed within a short time after the component is picked up by the nozzle and before this component is mounted on the mounted component. Need to be adjusted. For this reason, there were the following problems. High-speed and high-accuracy mirror movement mechanisms and angle adjustment mechanisms are required, and accordingly, these mirror movement mechanisms and angle adjustment mechanisms become heavy, which increases the mass of the head as a whole and moves and establishes the head. It takes a long time. To move the mirror and rotate the nozzle,
A separate drive source (motor or the like) that is not used for component mounting operation is required. Control of the timing of moving the mirror or rotating the nozzle requires high speed and high responsiveness, and a controller with high processing capability is required. To change the mirror movement mechanism and angle adjustment mechanism over time,
The timing of capturing an image may be shifted, resulting in low reliability. A high-speed and high-precision mechanism, drive unit, and controller are required, and the device becomes expensive.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a component mounting device which can achieve image reading of components quickly and highly accurately with a simple structure.

[0005]

In order to achieve the above-mentioned object, the present invention provides a component mounting device in which a nozzle for adsorbing and holding a component is provided on the head so as to be movable up and down. Image reading means for reading an image of the held component through an image reflecting member is provided, a nozzle is provided with an interlocking mechanism that interlocks with vertical movement of the nozzle, and the image reflecting member is attached to the interlocking mechanism. ..

[0006]

With this structure, when the nozzle is moved up and down, the position of the image reflecting member with respect to the nozzle is changed through the interlocking mechanism, so that the nozzle corresponds to the position of the nozzle while holding the component. The optical position of the image reflection member can be set with respect to the component and the image reading means held by the image reflection member. By thus setting the position of the image reflection member corresponding to the position of the nozzle, the image reflection member can be moved when the nozzle moves up and down. Is automatically and accurately positioned.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. In the figure, convex portions 2 and 3 are formed on the upper surface of the base 1 so as to face each other so as to secure a groove-shaped space.

A supporting member 4, which is substantially U-shaped, is formed on the protrusions 2, 3.
5 are fixed respectively, and XY is attached to the support members 4 and 5.
A robot 6 is provided. The XY robot 6 is provided with a head 7 so that it can be driven by the XY robot 6 and moved in the left-right direction and the front-back direction (the XY direction in FIG. 2).

A nozzle 8 is attached to the head 7 through a nozzle driving mechanism (not shown) with its suction port facing downward, and is moved and rotated in the vertical direction (Z direction in FIGS. 1 and 2) (FIG. 1). And around the Z axis in FIG. 2). The nozzle 8 is composed of a small diameter portion 8a on the tip side, a large diameter portion 8b on the base end side, and a step portion 8c formed by connecting the small diameter portion 8a and the large diameter portion 8b in a substantially conical shape. An air pressure control mechanism (not shown) is connected to the large diameter portion 8b so that the pressure in the nozzle 8 is reduced by the operation of the air pressure control mechanism so that the component 9 can be adsorbed to the tip of the small diameter portion 8a. ..

A TV camera 10 is attached to the side surface of the head 7 with the image input side facing downward. A pair of first and second support shafts 11 and 12 are attached to the head 7. A pair of first levers 13, 13 having a substantially V shape are rotatably supported on the first support shaft 11 and are arranged to face each other. Similarly, the second support shaft 12 is rotatably supported by a pair of second levers 14, 14 having a substantially V shape, and is arranged to face each other.

The first and second levers 13 and 14 are arranged such that the inner sides of the bends face each other. First lever 13,13
The first and second mirrors 15 and 16 are attached to the insides of the tips of the second levers 14 and 14, respectively. Nozzle abutting portions 13a, 14a abutting on the outer peripheral portion of the nozzle 8 are provided on the support shaft 11 side of the first lever 13 and the support shaft 12 side of the second lever 14, respectively. Moves up and down so that the nozzle contact portions 13a and 14a come into contact with portions having different diameters such as the large diameter portion 8b and the stepped portion 8c, so that the first and second levers 13 and 14 move to the first and second portions. The support shafts 11 and 12 are rotated.
The nozzle 8 has an axially symmetric shape, and the first and second levers 13 and 14 are not displaced even if the nozzle 8 rotates about the Z axis.

A belt conveyor 17 is provided on the upper surface of the base 1 so as to bridge the projections 2 and 3, and a substrate 18 on which the component 9 is mounted is loaded from the rear side in the X direction, and the front side in the X direction. It is designed to be shipped to.

A tape feeder 19 and a tray setting section 20 are provided on the side of the belt conveyor 17. The tape feeder 19 can accommodate a component 9 such as a chip component in a tape (not shown) and supply it to the nozzle 8 as appropriate. Further, a tray 21 on which a plurality of components 9 such as IC components are placed with their XY coordinates specified is placed in the tray installation section 20 so that they can be supplied to the nozzles 8.

The nozzle 8 sucks the tape feeder 19 or the component 9 of the tray installation section 20, or the substrate.
As shown in FIG. 4, when mounting on the nozzle 18, the large diameter portion 8b is located at the lowermost end and the large diameter portion 8b is located at the nozzle contact portion 13a.
, 14a, and when displacing the component 9 in the XY directions for mounting the component 9 on the substrate 18, the component 9 is lifted up and positioned at the uppermost end as shown in FIG. The portion 8c contacts the nozzle contact portions 13a and 14a. As described above, when the nozzle contact portions 13a, 14a contact the step portion 8c, the first and second nozzle contact portions 13a, 14a contact each other.
The mirrors 15 and 16 are arranged orthogonally to each other as shown in FIG. 1, and in this state, the image of the component 9 attracted to the nozzle 8 is passed through the first and second mirrors 15 and 16. TV camera
Readable in 10. Further, when the nozzle 8 is located at the lowermost end as shown in FIG.
The first and second mirrors 15 and 16 are opened by the contact of the nozzle contact portions 13a and 14a by the nozzle 8b, and the first and second levers 13 and 14 and the first and second mirrors are opened. The components 15 and 16 do not interfere with the component 9.

A light source 23 is provided on the front end side of the head 7 via a holding member 22 so that the TV camera 10 can obtain an image of the component 9 having high contrast.

A controller 24 is provided in connection with the XY robot 6, the nozzle drive mechanism, the TV camera 10, the belt conveyor 17, the pneumatic control mechanism, etc., and signals from the operation panel 25 connected to the TV camera 10 or the controller 24 are provided. Is input to execute a preset program to perform arithmetic processing. Based on the arithmetic processing result, the XY robot 6,
Parts 9 by controlling the nozzle drive mechanism 9 and the belt conveyor 17
Set the suction position of and the mounting position of the component 9,
The air pressure control mechanism is controlled to attach / detach the component 9 to / from the nozzle 8, the TV camera 10 is also controlled to perform image reading, and the read image is compared with a preset reference image to compare the component 9 with the reference image. Adhesion status judgment and parts 9
The quality of the shape is determined.

In the component mounting device thus constructed,
When picking up the component 9, the nozzle 8 is lowered. Then, the contact portions of the nozzle contact portions 13a and 14a with respect to the nozzle 8 move from the stepped portion 8c to the large diameter portion 8b, and accordingly, the first and second levers 13 and 14 receive the rotational force to move to the first position. The first and second mirrors 15 and 16 are opened. When the first and second mirrors 15 and 16 are opened, the first and second mirrors 15 and 16 and the first and second mirrors 15 and 16 are opened.
The component 9 is adsorbed by the nozzle 8 in a state in which the component 9 does not receive the interference of the second levers 13 and 14.

With the component 9 sucked, the nozzle 8 is lifted and set to the uppermost end as shown in FIG. By the upward movement of the nozzle 8, the nozzle contact portion 13a,
The first and second levers 13 and 14 are rotated as shown in FIG. 1 by the contact of the stepped portion 8c with the stepped portion 8c, and the first and second mirrors 15 and 16 are arranged orthogonally. In this state, the image of the component 9 sucked by the nozzle 8 is read by the TV camera 10 through the first and second mirrors 15 and 16, whereby the suction position displacement amount is measured and the shape of the component 9 is judged to be good or bad. Is performed. Then, if the component 9 is good and is adsorbed by the slide 8 which is in an appropriate state, the component 9 will be mounted on the substrate 18. In this case, the nozzle 8 is lowered. Then, the first and second levers 13 and 14 are opened to avoid interference with the component 9, and the component 9 is mounted on the substrate 18.

As described above, the first and second levers 13 and 14 rotate in conjunction with the vertical movement of the nozzle 8 and the nozzle 8 is positioned at the uppermost end, so that the first and second mirrors 15 are provided. ， 16
Are orthogonally arranged and the image of the component 9 adsorbed by the nozzle 8 is read by the TV camera 10 through the first and second mirrors 15 and 16, so that the first and second mirrors 15 and 16 Positioning is performed automatically and with high accuracy, and the mirror timing setting and the mirror driving mechanism, which are required in the conventional art for image reading, are unnecessary. Since the mirror drive mechanism is not provided in this way, the device can be made compact and the weight increase can be suppressed.

First and second mirrors for image reading
Since the positioning of 15 and 16 is performed automatically and with high accuracy, the conventional one needs a controller with high processing capability to perform the mirror movement timing or nozzle rotation timing control at high speed and high responsiveness. On the other hand, it is not necessary to prepare such a controller having high processing capability, and the apparatus can be made inexpensive accordingly.

Further, in the conventional one, there is a possibility that the image reading timing may be deviated due to the change with time of the mirror moving mechanism and the angle adjusting mechanism, but the component 9 is sucked in conjunction with the vertical movement of the nozzle 8. After that, the image reading is performed with the nozzle 8 positioned at the uppermost end, so that the above-described conventional problems of the component mounting apparatus do not occur and the reliability is high.

Next, a second embodiment of the present invention will be described with reference to FIGS. The same parts and members as those shown in FIGS. 1 to 4 are designated by the same reference numerals,
The description is omitted.

In the figure, the shape is different from that of the nozzle 8 of the above-mentioned embodiment, and a mounting plate 31 is fitted to a pipe-shaped nozzle 30 having the same diameter as a whole, and its movement is restricted in the axial direction. On the other hand, the nozzle 30 is rotatable so that the nozzle 30 can rotate relative to the mounting plate 31.

The head 7 has a pair of first and second shafts 32,
33 is installed. A pair of first link members 34, 34 having a shape bent at a right angle are rotatably supported by the first shaft 32, and are arranged to face each other. Also, the first axis
A first gear 35 is rotatably supported by 32. The first gear 35 is fixed to the first link member 34,
It is adapted to rotate together with the first link member 34.
A first mirror 36 is attached to the tip ends of the pair of first link members 34, 34 so as to bridge the first link members 34, 34.

A pair of second U-shaped second link members 37, 37 are rotatably supported on the second shaft 33 by fitting the second link member 33 in the middle thereof. , Are arranged to face each other. A second mirror 38 is attached to one end side of the pair of second link members 37, 37 so as to bridge the pair of second link members 37, 37.

A second gear 39 that meshes with the first gear 35 is rotatably supported on the second shaft 33. This second
The gear 39 is fixed to the second link member 37,
It rotates together with the link member 37 and the first gear 35 rotates with this rotation. On the other end side of the second link member 37, a long third link member 41 is rotatably supported via a shaft 40. The other end of the third link member 41 is rotatably supported by the mounting plate 31 via a shaft 42.

The nozzle 30 is adapted to move up and down within a range from the lowermost end position shown in FIG. 7 to the uppermost end position shown in FIG. As the nozzle 30 moves up and down, the second link member 37 is rotated, and the first link member 34 and thus the first mirror 36 are rotated via the second gear 39 and the first gear 35. Is becoming In this case, when the nozzle 30 is at the lowermost end position as shown in FIG. 7, the first link member 34 and the second link member 37 are in the open state, and the tape feeder 19 or the component 9 of the tray installation unit 20 is not attached. Make sure that the first and second link members 34 and 37 and the first and second mirrors 36 and 38 do not interfere with the component 9 when sucking or mounting the component 9 on the substrate 18. Has been done.
Further, when the nozzle 30 is at the uppermost position as shown in FIG. 5, the first and second mirrors 36 and 38 are orthogonal to each other.

In the component mounting device constructed as described above,
The second link member 37 and the second gear 39 rotate via the third link member 41 in conjunction with the vertical movement of the nozzle 30,
The first gear 35 and the first link member 34 are rotated by the rotation of the gear 39, and the second mirror 38 is rotated by the rotation of the second link member 37 as described above. Further, the first mirror 36 is rotated by the rotation of the first link member 34.

When sucking the component 9, the nozzle 30 is lowered. Then, when the mounting plate 31 descends and the nozzle 30 reaches the lowermost end, the first and second mirrors 36 and 38 are opened and the component 9 is moved to the first and second mirrors 36 and 38 and the first and second mirrors 36 and 38, as shown in FIG. The nozzle 30 without the interference of the first and second link members 34 and 37
Is adsorbed on.

With the component 9 sucked, the nozzle 30 is lifted and set to the uppermost end as shown in FIG. The mounting plate 31 moves upward due to the upward movement of the nozzle 30, and the second link member 37, the second gear 39, and the second mirror 38 move around the second shaft 33 as indicated by an arrow A. 5 and the second gear 39 rotates in the direction of arrow A, the first gear 35, and thus the first link member 34 and the first mirror 36 rotate in the direction of arrow B, and the nozzle 30 moves to the direction shown in FIG. As shown in the drawing, the first and second mirrors 36 and 38 are set to be orthogonal to each other when set to the uppermost end. In this state, the image of the component 9 sucked by the nozzle 30 is read by the TV camera 10 through the first and second mirrors 36, 38, and thereby the suction position displacement amount is measured and the shape of the component 9 is judged to be good or bad. Is performed. Then, when the component 9 is good and is adsorbed in an appropriate state, the component 9 is mounted on the substrate 18. To mount the component 9 on the board 18, the nozzle 30 is lowered to set it at the lowermost end as shown in FIG.
The mirrors 36 and 38 are opened so that the first and second mirrors 36 and 38 and the first and second link members 34 and 37 do not interfere with the component 9.

The first and second mirrors 36 and 38 include the first to third link members 34, 37 and 41 and the first and second gears 35 and 35, respectively.
The nozzle 30 is rotated in conjunction with the vertical movement of the nozzle 30 via 39, and the nozzle 30 is positioned at the uppermost end, so that the first and second mirrors 36 and 38 are arranged orthogonally and held by the nozzle 30. Since the image of the component 9 is read by the TV camera 10 through the first and second mirrors 36 and 38, the positioning of the first and second mirrors 36 and 38 is automatically and accurately performed.
As in the case of the above-described first embodiment, the mirror timing setting and the mirror driving mechanism, which are required in the conventional art, are not required for image reading. Since the mirror drive mechanism is not provided in this way, the device can be made compact and the weight increase can be suppressed.

Similar to the first embodiment described above, the positioning of the first and second mirrors 36 and 38 is automatically and accurately performed in reading an image, so that it is necessary for the conventional one. Since it is not necessary to prepare a controller with high processing capacity, the device can be made inexpensive accordingly.

Further, the component 9 is interlocked with the vertical movement of the nozzle 30.
Since the image is read while the nozzle 30 is adsorbed and then the nozzle 30 is located at the uppermost end, there is a possibility that the image reading timing may shift due to the change over time of the mirror moving mechanism and the angle adjusting mechanism. On the other hand, there is no deviation in the image reading timing, and the reliability is high.

[0034]

Since the present invention is the component mounting apparatus configured as described above, when the nozzle is moved up and down, the position of the image reflecting member with respect to the nozzle is changed via the interlocking mechanism, and the nozzle is moved. The optical position of the image reflecting member with respect to the component and the image reading means held by
By thus setting the position of the image reflecting member in correspondence with the position of the nozzle, the image reflecting member is automatically and accurately positioned when the nozzle moves up and down, which is conventionally required for image reading. Mirror timing setting and mirror drive mechanism are unnecessary. Since the mirror drive mechanism is not provided in this way, the device can be made compact and the weight increase can be suppressed. further,
In order to perform the mirror movement timing or the nozzle rotation timing with high speed and high responsiveness, it is not necessary to prepare a controller with high processing capacity required for the conventional one, and the apparatus is made inexpensive accordingly. It is possible,
In addition, there is no deviation in the image reading timing, and the reliability can be improved.

[Brief description of drawings]

FIG. 1 is a front view showing a head portion of a component mounting device according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing the component mounting device.

FIG. 3 is a side view showing a head portion of the component mounting apparatus.

FIG. 4 is a front view showing an operation example of the component mounting apparatus.

FIG. 5 is a perspective view showing a component mounting device according to a second embodiment of the present invention.

FIG. 6 is a side view showing a head portion of the component mounting apparatus.

FIG. 7 is a front view showing an operation example of the component mounting apparatus.

[Explanation of symbols]

 7 Head 8 Nozzle 9 Parts 10 TV Camera 13 First Lever 14 Second Lever 15 First Mirror 16 Second Mirror

Claims (1)

[Claims] 1. A component mounting apparatus in which a nozzle for adsorbing and holding a component is provided on a head so as to be movable up and down, and an image reading means for reading an image of the component held by the nozzle on the head through an image reflecting member. A component mounting apparatus, wherein a nozzle is provided with an interlocking mechanism that interlocks with the vertical movement of the nozzle, and the image reflecting member is attached to the interlocking mechanism.