JPH06112691A - Installing apparatus for component - Google Patents

Abstract

PURPOSE:To a ratio of installation of components and to shorten the total time for the installation by a method wherein the height position of a lead of a component is corrected and then recognized again visually and the component is installed on a CONSTITUTION:First, a component installation head 23 positioned at a station A of a rotary head part 2 is made to take up a component by suction from a component supply set 31 of a component supply part 3 and, with an index table 22 rotated intermittently, the head is made to transfer the component to a station C. Then, a lift of a lead of the component is determined, and when the lift of the lead is present, the component is transferred to a station D so that the lead be corrected. Thereafter the component is transferred to the station C again and it is checked up on the basis of the average height whether the correction of the lead is executed as intended, by operating an image pickup unit 7. In the case when no lift of the lead is present, the component is fitted on a board P from the component installation head 23 at a station F with an X-Y table part 4 moved. In the case when the lift of the lead is present, the correction is executed by a lead correcting unit 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus for transferring a component held by suction and automatically mounting it on a predetermined position on a substrate.

[0002]

2. Description of the Related Art Conventionally, various methods have been proposed as a method for inspecting the leads of a suction-held component and mounting them on a substrate. Japanese Patent Laid-Open No. 1-320 listed as an example.
In Japanese Patent No. 000, a camera for picking up an image of a component gripped by a robot from below and a laser slit light source having a certain angle with respect to the optical axis of the camera are provided, and laser slit light is projected onto a component lead. A "method and apparatus for mounting components" which visually recognizes a positional deviation of reflected light from a normal lead and a floating lead is disclosed. As a result of the recognition inspection, this device mounts only non-defective parts on the substrate, and discharges the parts in which lead floating is detected into a predetermined collection box or the like.

There have also been proposed various devices for inspecting the leads of components and detecting lead floating as a result, and correcting the leads. Japanese Utility Model Application Laid-Open No. 62-32547, which is given as an example, detects the position of a component lead with respect to the main body, and for the component to be corrected, holds the root of the lead in a fixed manner and grasps the tip end portion to correct and move it. A correction device "is disclosed. In this device, the amount of movement required for straightening the tip of the lead is controlled according to the degree of floating of the lead.

[0004]

In the above-mentioned "method and apparatus for mounting parts", the parts in which lead floating is detected are not mounted but are once discharged outside the mounting process.
The next part must be returned to the part supply position, picked up, and the lead inspected again, which may increase mounting time. Further, in the “lead correction device” described later, although the straightening movement amount is determined according to the floating amount of the lead, it is said that the lead whose gripping of the post-correction tip is released is maintained at the straightening position due to residual stress. Not necessarily. Therefore, even if this is added to the above-mentioned "part mounting method and device" and the part where lead floating is detected is corrected, the lead floating cannot be improved within the allowable range, and the part is mounted on the board. It may end up. In consideration of such a point, the present invention provides an apparatus for mounting a component on a substrate by performing correction and recognition confirmation of the correction result in the mounting step without discharging the component in which lead floating is detected. The purpose is to improve the component mounting rate and shorten the total mounting time.

[0005]

In the present invention, the component mounting apparatus is provided with a lead shape detection station, a lead correction station, and a lead shape confirmation station. Then, the lead shape detection station visually recognizes the height position of the lead of the component, corrects the lead whose height position recognized by the lead correction station deviates from the reference value, and then corrects it at the lead shape confirmation station. After visually recognizing the card again and confirming that the height position of the lead is within the reference value, the component is mounted on the board.

[0006]

[Operation] Lead floating detection in a series of mounting steps,
The lead floating correction and the lead correction result confirmation are performed, and the components are mounted on the substrate without waste.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the component mounting apparatus of the present invention will be described with reference to the drawings. FIG. 1 is a schematic plan view showing the main configuration of the component mounting apparatus in this embodiment. The component mounting apparatus 1 includes a rotary head unit 2 in which a plurality of component mounting heads 23 are provided at equal intervals on a peripheral edge of an index table 22 that rotates intermittently around a drive shaft 21.
And a component supply unit 3 that supplies a component to the component mounting head 23, an XY table unit 4 that horizontally supports a substrate P on which the component mounting head 23 should mount a component, and a loader that sends the substrate P to the XY table unit 4. 5. The unloader 6 receives the substrate P from the XY table unit 4 and sends it to the next process. The component supply unit 3 includes a component mounting table 30 that horizontally moves in the left and right directions in the figure, and a plurality of component supply cassettes 31 that are aligned and placed on the component mounting table 30. Then, the component mounting head 23 sucks and holds the component of the component supply unit 3, and XY
A detection unit 7 for picking up an image of a component from below to detect the position is provided at any intermittent stop position (hereinafter referred to as a station) while the substrate P is mounted on the table portion 4. The lead straightening unit 8 is provided at the station.

Here, the lead floating detection portion, which is one of the main points of the present invention, will be described in detail. FIG. 2 is a schematic explanatory view showing a slit light imaging state of the detection unit 7, and the detection unit 7 includes a camera 71 arranged on an XY table 70,
It is composed of a slit light source 72. In this embodiment, the XY table 70 is arranged to position the camera 71 under the component mounting head 23 that has arrived at the station C, and its X axis is aligned with the diameter direction of the index table 22, as shown in FIG. . The camera 71 is fixed on the XY table 70 in a vertical posture, and the slit light source 72 is fixed at a constant inclination angle by a support block 73 toward the imaging center of the camera 71 as illustrated. The slit light is emitted obliquely upward at this inclination angle. 9 is an XY table 70
Is driven to move the camera 71 and the slit light source 72 to a position of the station C corresponding to the size of the component Q sucked and held by the component mounting head, and 91 is an image for recognizing an image captured by the camera 71. It is a recognition unit. Further, the control unit 9 corrects the component in which the lead floating is detected at the next station D based on the recognition result of the image recognition unit 91, and returns it to the station C to check the correction result to improve the lead floating. The mounting operation is also controlled, for example, the mounted component is mounted on the board at the station F.

Next, the lead straightening section will be described in detail. FIG. 3 is a schematic explanatory view showing the lead straightening unit 8 when straightening the lead of the component Q.
The XY table 80 includes a component support portion 81, a lead holding plate 82, and a lead correction nail 83. XY
In this embodiment, the table 80 is arranged to position the component support 81 below the component mounting head 23 that has arrived at the station D, and its X axis is aligned with the diametrical direction of the index table 22, as shown in FIG. To do. Therefore, the lead projecting direction of the part Q arriving at the station D on the side that coincides with the diametrical direction of the index table 22 coincides with the X axis, and similarly, the lead row arrangement direction of the component Q coincides with the Y axis. . Reference numeral 84 is an air cylinder fixed vertically upward on the XY table 80, and the component support portion 81 is horizontally fixed to the tip portion of the rod 841 thereof. The component supporting portion 81 moves up and down by driving the air cylinder 84, and supports the main body of the component Q held by the component mounting head 23 between the component mounting head 23 and the upper surface of itself. Then, as shown in FIG.
Has an upward protrusion 811 at one end in order to support the vicinity of the root of the lead row protruding from one side of the component Q. The height of the protruding portion 811 corresponds to the dimension from the bottom surface of the component Q to the root of the lead.

The lead holding plate 82 is connected to a pneumatic actuator (not shown) to move up and down, and the component support 81
After supporting the component Q, it descends and clamps the lead between the protrusion of the component supporting portion and the lower surface of itself. The projecting portion 811 of the component support portion and the lead contact surface of the lead holding plate 82 are long in the lead row arranging direction of the component Q and have a length sufficiently larger than the width dimension of the component body. Reference numeral 85 denotes a ball screw rotatably supported on the XY table 80 in a vertical posture so as to be parallel to the vertical line passing through the center of the component support portion 81, and the ball nut 86 is fitted therein. The ball nut 86 is also fitted to a linear guide shaft (not shown) and is guided in the vertical direction. The lead straightening claw 83 is attached to the ball nut 86 via a mounting plate 831 and has a predetermined distance from the protrusion 811 so as to enter the space above and below the lead tip of the component Q. The lead straightening claw 83 moves up and down by rotating the ball screw 85 by a predetermined amount with a pulse motor or the like (not shown). The tip of the lead correction nail 83 has an X
The width of the Y table 80 is such that the Y table 80 moves upward or downward of the leads of the component Q and individually presses the leads downward or upward.

The operation of this embodiment will be described with reference to the drawings. The control unit 9 first causes the component mounting head 23 located at the station A of the rotary head unit 2 to adsorb and pick up the component Q from the component supply cassette 31 of the component supply unit 3, and intermittently rotates the index table 22. , The component Q is transferred to the station C. Before the component Q reaches the station C, the control unit 9 moves the XY table 70 to the component mounting head 23 located at the station C.
The camera 71 is moved so as to be located at the slit light image pickup position below. FIG. 2 shows the slit light imaging state of the camera 71. When the slit light source 72 irradiates the slit light obliquely from below, the camera 71 shows a reflected light image group Rm of the slit light reflected from the component lead in the imaging visual field.
Take in. The image recognition unit 91 obtains the centroids of the respective slit light reflection images that have been input, and calculates the average of the X-direction coordinate values for the centroid position data. The difference between this average value and the X-direction coordinate value of the individual center-of-gravity position data in the image group Rm is obtained, and how far each lead of the component Q is apart from the average height is calculated by the inclination angle of the slit light. To do. The image recognition unit 91 compares with the allowable displacement amount from the average height regarding the lead of the component Q that is input in advance, determines that the lead is not within the allowable range as lead floating, and the lead The Y-direction coordinate value of is stored.

Further, the control unit 9 rotates the component mounting head 23 by 90 ° after the image of the lead projecting from one side of the component Q is completed, and the image recognition unit 91 causes the individual slit light beams to rotate in the same manner as described above. The position of the reflection image is recognized, the lead floating amount on the four sides of the component Q is detected, and the detection result is transmitted to the control unit 9.

Based on the lead floating detection information on the component Q received from the image recognizing means 91, the control unit 9 moves the XY table unit 4 in the station F to move the component mounting head 23 on the substrate when the lead floating does not occur. It is lowered to a predetermined position on P and the suction of the component Q is released and the component Q is mounted. When the lead floats, the component Q is transferred to the station D, and at the same time, the control unit 9 moves the XY table 80,
The component support 81 is moved below the component mounting head 23 located at the station D in the X direction.
Further, at this time, the control unit 9 selects the correction direction based on the information whether the lead to be straightened is lower than the average height or lifted out of the lead floating detection information of the component Q, and the position of the lead straightening nail is determined. Move it above or below the component lead. When the component Q stops at the station D, the control unit 9 causes the XY table 80 to correct the lead correction shown in FIG. 3 based on the Y-direction coordinate value of the lead in which floating has occurred in the lead floating detection information of the component Q. The claw is moved in the Y direction so that the center of the claw coincides with the center of the lead in the width direction.

The controller 9 drives the air cylinder 84 to eject the rod 841 and mount the component Q on the mounting head 2.
3 and the component support 81, the lead clamp plate 82 is lowered by driving an air pressure actuator (not shown) to clamp and hold the vicinity of the root of the lead of the component Q.
After the root of the lead is held, the control unit 9 drives a pulse motor (not shown) to rotate the ball screw 85 by a corresponding amount in order to correct the lead in which the floating is occurring according to the degree. Then, the tip of the lead correction nail 83 pushes down or pushes up the lead. (FIG. 4 shows the positional relationship when the lifted lead is pushed down.)

When the correction of the lead is completed, the control unit 9
Returns the lead straightening claw 83, the lead holding plate 82, and the component support 81 to their original positions in this order. When there are a plurality of lead floats, the above-described operation is repeated, and the correction is performed according to the extent of each. If the leads on the other side are also lifted, the component mounting head 23 may be rotated by 90 ° and the above-described operation may be repeated.

When the lead straightening of the component Q in which the lead floating is detected is completed, the controller 9 transfers the component Q to the station C again and operates the image pickup unit 7 in the same manner as described above. The image recognition unit 91 again determines whether the lead of the component Q is within the allowable displacement amount from the average height, and confirms whether the lead is corrected as intended. In this way, the control unit 9 is based on the lead shape confirmation information regarding the component Q after the lead correction, which is received from the image recognition unit 91, and when the lead does not float,
At the station F, the XY table 4 is moved to lower the component mounting head 23 to a predetermined position on the board P,
The suction of the component Q is released and mounted. When the lead floats, an alarm or the like is issued, and the operator adjusts the setting of the straightening stroke of the lead straightening claw 83 of the lead straightening unit 8.

FIG. 5 is a schematic explanatory view showing another embodiment of the detection unit 7, that is, the distance sensor 7 without using the image pickup means.
In this example, 4 is provided to detect the position of the component lead. As shown in FIG. 4, the distance sensor 74 has a light projecting portion 741 and a light receiving portion 742 on the opposite slopes of the V-block-shaped main body, and is fixed upward on the XY table 70. The light projecting unit 741 faces the position measurement target,
Laser light is emitted obliquely from below at a constant inclination angle, and the laser light reflected from the measurement object enters the light receiving unit 742. Reference numeral 92 denotes an arithmetic unit attached to the distance sensor 74, and the laser light emitted from the light projecting unit 741 is reflected from the measurement object and reaches the light receiving unit 742 depending on the time required. Calculate the distance to an object. In FIG. 5, the arithmetic unit 92 compares the lead position of the component Q, which is input in advance, with the allowable range data and calculates that the lead position of the component Q is within the allowable range. A lead which is not present is determined to be a lead float, and the determination information is transmitted to the control unit 9. When the information indicating that the lead is floating is received from the arithmetic unit 92, the control unit 9 stores the Y-direction coordinate value of the XY table 70 at that time.

The operation of the detection unit 7 of FIG. 5 which uses a distance sensor to detect the position of the lead will be described. As in the case of the detection unit of FIG. 2 described above, the control unit 9 causes the component mounting head 23 to adsorb and pick up the component Q from the component supply cassette 31, and transfers the component Q to the station C. Before the component Q reaches the station C, the control unit 9
Moves the XY table 70 so that the distance sensor 74 is located immediately below the lead row of the component Q held by the component mounting head 23 located at the station C. The initial distance sensor 74 is held directly below the lead located at one end of the lead row, and the Y of the XY table 70 is directed toward the lead located at the other end each time the position of each lead is detected.
It moves sequentially by moving in the direction. When the laser light is emitted from the light projecting unit 741 at a constant inclination angle, the laser light is reflected by the lead, and the reflected light enters the light receiving unit 742. The arithmetic unit 92 calculates the distance to each lead based on the time when the laser light enters. Then, the computing device 92 compares the respective calculated distances to the leads with the positions of the leads of the component Q that should be input in advance and the allowable range data, and finds leads that are not within the allowable range. It is determined that the lead is floating, and the determination information is transmitted to the control unit 9. When receiving the information indicating that the lead is floating, the control unit 9 stores the Y-direction coordinate value of the XY table 70 at that time.

Further, the control unit 9 detects the position of the lead protruding from one side of the component Q, and then, the component mounting head 2
3 is rotated by 90 °, the arithmetic unit 92 calculates each lead position in the same manner as described above, detects lead floating on the four sides of the component Q, and transmits the detection result to the control unit 9. The control unit 9 is based on the lead floating detection information about the component Q received from the arithmetic unit 92, and when there is no lead floating,
At the station F, the XY table 4 is moved to lower the component mounting head 23 to a predetermined position on the board P,
The suction of the component Q is released and mounted. When the lead is floating, the component Q is transferred to the station D, and the lead straightening unit 8 is driven to correct the lead in which the floating has occurred, and is returned to the station C again for straightening in the same manner as described above. After confirming the result, the component Q is mounted on the board at the station F.

In this embodiment, after the floating lead is corrected, the lead floating detection station is returned to and the lead position is confirmed, and the floating detection and the correction confirmation are carried out in the same station. The lead position may be confirmed with. That is, the detection unit is arranged at any station between the lead straightening station and the component mounting station, and the index table 2
The object of the present invention can be achieved by carrying out lead floating detection, lead floating correction, and correction result confirmation while feeding 2 in the forward direction. In this case, as a matter of course, the detection unit in the lead floating detection station or the lead correction confirmation station selectively uses either the method using the slit light image recognition in FIG. 2 or the method using the distance sensor in FIG. You can also do it.

Further, in the lead straightening unit of the present embodiment, the pinching position at the base of the lead and the distance between the straightening claws are made constant, but in order to cope with various lead shapes, the component support portion and the lead pinching plate are It is also possible to mount it on the XY table 80 so as to be movable in the X direction, and change the distance between the lead holding position and the correction nail to a desired size. Further, although the rotary head type component mounting apparatus is described in the present embodiment, the component mounting apparatus of the type in which the component mounting head 23 moves XY also has the detection unit and the lead straightening unit arranged at a fixed position and the component Q. Can be easily applied by sequentially transferring the above to the unit.

[0022]

As described above, in a series of mounting steps, lead floating detection, lead floating correction, and lead correction result confirmation of the component are performed, and the component is mounted on the substrate without waste, so that the component mounting efficiency is improved. improves. Also, like the conventional component mounting device, once the component with lead floating is discarded,
It is not necessary to pick up the same component again from the component supply unit and repeat the mounting operation, and the total mounting time can be shortened.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing a main configuration of a component mounting apparatus according to an embodiment of the present invention.

FIG. 2 is a schematic front view of a detection unit according to the present embodiment.

FIG. 3 is a front view of a main part of the lead straightening unit according to the present embodiment.

FIG. 4 is a front view of relevant parts for explaining the operation of the lead straightening unit according to the present embodiment.

FIG. 5 is a schematic front view showing another embodiment of the detection unit in the present embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Component mounting device 2 Rotary head part 23 Component mounting head 3 Component supply part 4 XY table part 7 Detection unit 70 XY table 71 Camera 72 Slit light source 74 Distance sensor 8 Lead correction unit 80 XY table 81 Component support part 83 Lead correction nail 9 Control unit 91 Image recognition unit 92 Computing device Q parts

Claims (5)

[Claims] 1. A component mounting apparatus for recognizing an image of a lead shape of a component while transferring the component held by suction and mounting the component at a predetermined position on the substrate, and controlling the mounting operation based on the recognition result. Visually recognize the height position of the lead of the component, correct the lead whose recognized height position is out of the reference value,
A component mounting apparatus which mounts the component on a substrate after visually recognizing the corrected lead again to confirm that the height position of the lead is within a reference value. 2. A component having the following configuration, which recognizes an image of a lead shape of the component and controls the mounting operation based on the recognition result while the component held by suction is transferred and mounted at a predetermined position on a substrate. Mounting device. a. An image pickup means for picking up an image of a component held by suction, a slit light source for irradiating a slit light from a diagonally lower side at a constant inclination angle toward a lead of the component, and a lead light of the component for slit light by the slit light source A lead shape detection station having image recognition means for recognizing a reflected image. b. Clamping means for collectively clamping the roots of the lead rows arranged on one side surface of the component and only the leads where the lead floating is recognized are pressed from above or below according to the floating amount of the lead to correct the lead floating. A lead straightening station having straightening means. c. An image pickup means for picking up an image of a component whose lead is corrected by the lead correction station from below, a slit light source for irradiating a slit light from a diagonally lower side at a constant inclination angle toward the lead of the component, and a lead shape of the component. A lead shape confirmation station having image recognition means for recognizing a slit light reflection image by the slit light source. d. The suction-held component is transferred to the lead shape detection station to recognize the lead shape, and based on the recognition result, for a part with lead float, the lead correction station is moved to correct the lead float. Control means to transfer the corrected parts to the lead shape confirmation station in the previous term, confirm the improvement of the lead floating, and then perform the component mounting operation. 3. A component mounting having the following configuration, which detects the lead position of the component while controlling the mounting operation based on the detection result while transferring the component held by suction and mounting it at a predetermined position on the substrate. apparatus. a. It has a light projecting part that emits laser light from a diagonally lower angle toward the leads of the components that are held by suction, and a light receiving part that receives the laser light reflected from the leads. A lead position detection station having a distance sensor for detecting a position and a sweeping means for sweeping the distance sensor in the lead row installation direction. b. Clamping means for collectively clamping the roots of the lead rows arranged on one side surface of the component and only the leads where the lead floating is recognized are pressed from above or below according to the floating amount of the lead to correct the lead floating. A lead straightening station having straightening means. c. Heading toward the lead of the component straightened by the lead straightening station, it has a light projecting portion for irradiating a laser beam from a diagonally lower angle with a constant inclination angle and a light receiving portion for receiving the laser beam reflected from the lead. A lead position confirmation station having a distance sensor for detecting the lead position according to the light reception time and a moving means for moving the distance sensor to the corrected lead position. d. The suction-held component is transferred to the lead position detection station to detect the lead position, and based on the detection result, for the component having the lead floating, the lead straightening station is moved to correct the lead floating, Control means to transfer the corrected components to the lead position confirmation station in the previous term, confirm the improvement of lead floating, and then perform the component mounting operation. 4. The component mounting apparatus according to claim 2, further comprising a lead position detection station in the component mounting apparatus according to claim 3, instead of the lead shape detection station. 5. The component mounting apparatus according to claim 2, further comprising a lead position confirmation station in the component mounting apparatus according to claim 3, instead of the lead shape confirmation station.