JPH0623645B2 - Parts position recognition method and device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component position recognizing method and device, and more particularly, to a mounting head in a component mounting machine for automatically mounting components such as chip type electronic components on a substrate constituting an electronic circuit. The present invention relates to a component position recognizing method and device which can be suitably applied for recognizing the position of a component that has been picked up.

2. Description of the Related Art A component position recognition device conventionally used in a component mounting machine is shown in FIG. In this conventional example, a ring-type illuminator b equipped with an optical fiber is attached to a suction nozzle a of a mounting head, and a shadow image of a component c obtained by a light beam emitted from the ring-type illuminator b is input to an image of a television camera or the like. The data is input to the device d.

Further, the present applicant first installed a reflecting mirror or a diffuse reflection illuminating body instead of the ring type illuminating device, irradiating a light beam from the illuminating device and inputting the image of the component obtained by the reflected light to the image input device. I am also proposing something to do.

Problems to be Solved by the Invention However, in any of the above examples, the image input device is fixedly installed, and the size of the component picked up by the suction nozzle is large, for example, about 40 mm on a side. In this case, the image input device also needs to have a recognition area corresponding to the size of the component, which causes a problem of high cost.

Therefore, it is conceivable to move the image input device to expand the recognition area, but there is a problem that the recognition cannot be performed with high accuracy because the recognition accuracy is restricted by the operation accuracy of the moving mechanism. Further, it is possible to expand the recognition area by changing the magnification of the image with an optical lens or the like, but this also has a problem in accuracy.

The present invention aims to solve such problems.

Means for Solving the Problems In order to achieve the above object, the present invention selectively irradiates a component with light having different wavelengths, and images the image on the optical axis 4
It is intended to provide a component position recognition method in which light is made incident on an image input device through a pair of filters which are inclined by 5 ° and are arranged to be parallel to each other and selectively reflect / transmit according to the wavelength of light.

Further, in order to carry out the above method according to the present invention, a light source unit that irradiates components with lights having different wavelengths, an image input device that recognizes the position of a component image by making it enter, and these components and the image input device. And an image area conversion body interposed between the image area conversion body, and the image area conversion body is a central prism having a right-angled triangular cross section and its cross-section parallel four sides overlapped so that the entire shape is an inverted trapezoidal shape. Position of parts characterized in that it is composed of a side prism with a shape and a filter having reflective / transmissive properties is selectively provided on the slope of the central prism and the slope of the outside of the side prism according to the wavelength of light. A recognition device is provided.

Effects Since the present invention has the above-described configuration, when the size of the component is within the recognition area of the image input device, the component position is recognized as it is by irradiating the component with light having a wavelength that passes through the filter. it can. On the other hand, when the size of the part is beyond the recognition area, when the part is irradiated with light having a wavelength that is reflected by the filter, the image is bent at a right angle by the one filter located outside. After that, it is bent again at a right angle by the other filter, and as a result, the image moves in parallel by the placement interval of the filter and enters the recognition area, and the position of the part is recognized from the position recognized as the parallel movement amount. Can be done.

Embodiments Embodiments of the present invention will be described below with reference to FIGS. 1 to 10.

FIG. 10 shows an electronic component mounting machine. A large number of tape-shaped electronic component assemblies 2 are arranged in parallel in the component supply unit 1, and a large number of electronic components 3 (see FIGS. 1 and 2) are mounted in a row on each tape-shaped component assembly 2. It is included. The tape-shaped electronic component assembly 2 is intermittently sent out in the X direction, and the optional component 3 at the pickup position is selectively picked up by the mounting head 4 for each mounting operation. The mounting head 4 picks up the component 3 with a suction force, then moves in the Y direction to reach the component position recognition device 5, where the component position is recognized, and then moves in the Y direction again to move to the work line 6 The component 3 is conveyed to the work position, and the component 3 is mounted on the board 7 there. The suction nozzle 8 of the mounting head 4 moves up and down in the Z direction at the time of pickup and component mounting. The movement of the mounting head 4 in the Y direction is controlled by the head moving means 9, and the movement of the substrate 7 in the X direction is performed by the substrate moving means 10.
Is provided.

The mounting position of the component 3 on the board 7 is determined by the mounting head 4
Is determined by deciding the position in the Y direction and the position in the X direction of the substrate moving means 10 according to a predetermined program. The positional deviation of the component 3 that occurs during pickup or the like is caused by the position of the component position recognizing device 5. It is corrected based on the recognition data.

A component position recognition device 5 for recognizing the position of the component 3 picked up by the mounting head 4 by the image input device 11.
Is constructed as shown in FIGS. A cone-shaped diffuse reflection illuminating body 12 made of a material such as polyacetal resin (DuPont's trademark “DURACON”) which diffuses internally to generate scattered light is arranged around the suction nozzle 8 at the lower end of the mounting head 4. ing. Further, the outer peripheral surface of the irregular reflection illuminating body 12 is roughened to be an irregular reflection surface. Around the diffuse reflection illuminator 12, a plurality of illuminators 13 using optical fibers for irradiating light rays toward the diffuse reflection illuminator are arranged at appropriate intervals.
The scattered light generated by diffusely reflecting the light emitted from the diffused illumination body 12 on the outer peripheral surface and the inside of the diffused illumination body 12 is applied to the component 3 adsorbed by the adsorption nozzle 8, and its image is incident on the image input device 11. It is configured.

A light source filter 14 is arranged in the portion of the illuminator 13 so as to irradiate light of a specific wavelength arbitrarily selected from the light emitted from the illuminator 13. Further, between the component 3 and the image input device 11, a pair of image area conversion bodies 15a and 15b are arranged vertically along the optical axis so as to be orthogonal to the optical axis and orthogonal to each other. The two image area converters 15a and 15b are central prisms 16a and 16b each having a right-angled triangular cross section, and side prisms 17a and 17b having parallelogrammic cross-sections formed by superimposing the slopes on both sides thereof so as to have an inverted trapezoidal shape as a whole. The central prisms 16a and 16b and the lateral prisms 17a and 17b are provided with filters 18a and 18b selectively reflecting and transmitting the light depending on the wavelength of light.

The image input device 11 is configured to be able to accurately recognize the position on the XY plane of the input image of the component 3 by using the television camera.

In the above configuration, the light emitted from the illuminator 13 passes through the light source filter 14 only at a predetermined wavelength, enters the diffuse reflection illumination body 12 and is diffusely reflected, and some light rays are diffuse reflection illumination body. The image of the component 3 that is diffusely reflected by the surface of 11 and is generated by the scattered light is the image area converters 15a, 1
The image is input to the image input device 14 via 5b, and the position of the component 13 is surely recognized by the good image with contrast. Specifically, the position and orientation of the component 3 can be recognized by recognizing the two corners of the component 3.

By the way, the filter 18a has the characteristic I in FIG.
Of the filter (hereinafter referred to as filter I),
The filter 18b is composed of a filter having a characteristic II in FIG. 4 (hereinafter, referred to as a filter II), and the filter 14 is one of the lights radiated from the illuminating device 12, which are A, B in FIG.
Light having wavelengths in the ranges of C and D (hereinafter, light A, light B, and
Light C and light D) are selectively passed through to irradiate the diffuse reflection illumination body 12.
In this case, the emitted light and the transmission by the filters I and II
The relationship of reflection is as shown in the table below. In the table, ◯ is transmission and X is reflection.

Accordingly, for example, as shown in FIG. 5, the position a to be recognized of the component 3 is located in the diagonally-divided area deviated from the recognition area of the image input device 11 displayed in the cross-hatched area. In this case, when the light source filter 14 irradiates the light A, the image is reflected by the filters I and II, so that the position to be recognized moves to a → a ″ → a ′ and is positioned within the recognition area. The position can be accurately recognized, and the actual position to be recognized can be calculated from the translation amount and the position recognized by the image input device 11. Further, as shown in FIG. 6, the position b to be recognized is one direction shaded with respect to the recognition area (horizontal direction in the figure).
When it is located in a region deviated to the side of, the image is reflected by the filter I and transmitted by the filter II when the light B is radiated, so that the position to be recognized moves as b → b ′. Located within the recognition area. Similarly, as shown in FIG. 7, when the position c to be recognized is located in a region deviated laterally in the other direction (vertical direction in the figure) with respect to the recognition region, the light C is not emitted. For example, since the image passes through the filter I and is reflected by the filter II, the position to be recognized moves to c → c ′ and is positioned within the recognition area. If the position d to be recognized is located in the recognition area as shown in FIG.
By irradiating the light, both the filters I and II are transmitted and the position can be recognized as it is.

In the above embodiment, a pair of upper and lower image area conversion bodies 15 are arranged.
Examples in which a and 15b are provided to selectively irradiate light of four different wavelengths to enable position recognition of a region four times as large as the recognition region of the image input device 11 are exemplified. When it is sufficient to expand the recognition area only on both sides in one direction, a single image area converter may be provided to selectively irradiate light with two different wavelengths. In that case,
In order to make the expanded recognition area square, as shown in FIG. 9, it is preferable to use a rectangular recognition area 19 of the image input device as shown by cross-hatching. Further, when it is sufficient to expand the recognition area to only one side, the pair of filters may be inclined by 45 ° and arranged in parallel. Further, the structure of the image area conversion body is not limited to the one using a prism, in short, it suffices to have at least one pair of filters which are inclined by 45 ° and are parallel to each other, and various modifications can be made.

Advantageous Effects of Invention According to the component position recognition method and device in the component mounting machine of the present invention, as described above, when the size of the component is within the recognition region of the image input device and when it extends beyond the recognition region, By irradiating components with light of the corresponding wavelengths, if it is within the recognition area, the image can be directly incident on the image input device to recognize the component position, and if it is outside the recognition area, the image can be filtered by a filter. It is reflected and translated, converted into an image that enters the recognition area, incident on the image input device, and the component position can be recognized from the position recognized as the translation amount, a pair of filters and an image area equipped with it. Just insert the converter between the parts and the image input device,
The position of a large component can be reliably recognized using an inexpensive image input device having a small recognition area.

[Brief description of drawings]

FIG. 1 is a front view of an embodiment of the present invention, FIG. 2 is a side view of the same, FIG. 3 is a perspective view thereof, FIG. 4 is a characteristic diagram of a filter, and FIGS. 9 is an explanatory view of another embodiment, FIG. 10 is a perspective view of a component mounting device, and FIG. 11 is a front view of a conventional component position recognition device. 3 ... component 5 ... component position recognition device 11 ... image input device 13 ... illuminator 14 ... light source filter 15a, 15b ... image area converter 18a, 18b ... filter.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location H05K 13/08 B 8315-4E

Claims (3)

[Claims] 1. A method for recognizing the position of a component by irradiating light from the back surface of the component and making its image incident on an image input device, wherein the position of the component and the image input device is adjusted according to the wavelength of light. A pair of filters with selective reflection / transmissivity are arranged parallel to each other and obliquely with respect to the incident light, and if the size of the component is within the recognition area of the image input device, the filter passes through the filter. If the size of the part exceeds the recognition area of the image input device, the light of the wavelength reflected by the filter is applied to the part, and the part is placed outside the recognition area. After the incident light is reflected by the first filter, the incident light is further reflected by the second filter arranged on the recognition area side, whereby the incident light is moved in parallel to the recognition area side. Part position recognition method. 2. A light source unit for irradiating a component with light of different wavelengths from the back surface, an image input device for recognizing the position of a component image by illuminating the image, and an interface between the component and the image input device. And the image area conversion body, wherein the image area conversion body has a side surface prism having a parallelogram-shaped cross-section, which is inverted on the slope of the central prism having an isosceles triangular cross-section. A trapezoidal shape is provided, and a filter having a reflective / transmissive property according to the wavelength of light is provided on the slanted surface of the central prism and the outer slanted surface of the side prism, and the upper surface and the lower surface of the image area conversion body. The component position recognizing device is characterized in that is arranged so as to be orthogonal to the optical axis. 3. A light source unit for irradiating a component with light of different wavelengths from the back surface, an image input device for recognizing the position of a component image, and a light between the component and the image input device. A pair of image area conversion bodies interposed along the axis are provided, and each image area conversion body has a side surface prism having a parallelogram-shaped cross section on the slope of the central prism having an isosceles triangular cross section. The cross-sectional shape is an inverted trapezoidal shape, and a filter having a reflective / transmissive property is selectively provided on the slope of the central prism and the slope of the outer side of the side prism. Of the image area converter are arranged such that the upper and lower surfaces thereof are orthogonal to the optical axis and are also orthogonal to each other, and the filters of the image area converters have different reflection / transmission properties with respect to the wavelength of light. , Some heavy Component position recognition apparatus characterized by having a reflective-transmissive common in the wavelength band.