JPH0677298U - Printed circuit board assembly equipment - Google Patents

Abstract

(57) [Abstract] [Purpose] To reduce the time required to recognize the positioning reference part of the printed circuit board. [Structure] After the recognition camera (19) recognizes the board recognition mark (22), the amount of positional deviation is calculated as
When the recognition mark (22) is recognized for the set number of boards (5) stored in 1), the CPU (25) performs statistical processing and determines that the positional deviation is stable. If the recognition mark (22) of (5) is not recognized, and in the case of mode 3, there are two recognition marks (22).
Only the first mark (22) of (1) is recognized.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 According to the present invention, a positioning reference part attached to a predetermined position of a printed circuit board is recognized by a board recognition device, and the positional deviation of the recognized board is corrected by a position correction means to perform a predetermined work on the printed circuit board. Assembling device

[0002]

[Prior art]

 This type of printed circuit board assembling apparatus is disclosed in Japanese Patent Application Laid-Open No. 2-123788. According to the technique disclosed in the publication, the recognition camera recognizes the reference position of the printed circuit board (positioning reference portion), and the displacement of the circuit board is corrected based on the result. This positioning reference part is usually provided at two points on the printed circuit board, and the recognition camera recognizes these two positioning reference parts each time the board is changed.

[0003]

[Problems to be solved by the device]

 However, in the above-mentioned prior art, the camera or the XY table on which the printed circuit board is mounted moves to image the positioning reference portion for recognition of the board, but it takes a short time to perform the imaging although it is a short time compared to the movement and the movement. It takes time each time, and it takes time to recognize the position of the board.

Therefore, an object of the present invention is to shorten the time for recognizing the positioning reference portion of the printed circuit board.

[0005]

[Means for Solving the Problems]

 Therefore, according to the present invention, the positioning reference portion attached to a predetermined position of the printed circuit board is recognized by the board recognition device, and the positional deviation of the recognized board is corrected by the position correction means to perform the predetermined work on the printed circuit board. In the printed circuit board assembling apparatus, storage means for storing the positional displacement amount recognized by the recognition device, and determination means for determining whether or not the positional displacement amounts of the plurality of substrates stored in the storage means are stable. A control means is provided for controlling the board recognition device so as not to recognize the board when the judgment means judges that the positional deviation amount is stable.

Further, according to the present invention, a plurality of positioning reference parts attached to predetermined positions of a printed circuit board are recognized by a board recognition device, and the positional deviation of the recognized board is corrected by a position correction means to be printed on the printed circuit board. In a printed circuit board assembling apparatus that performs a predetermined work, it is determined whether or not the amount of positional deviation recognized by the recognition device is stored, and whether the amount of positional deviation of a plurality of substrates stored in the memory is stable. And a control means for controlling the board recognition device so as to recognize the board by reducing the number of positioning reference parts to be recognized when the judgment means judges that the positional deviation amount is stable.

[0007]

[Action]

 According to the configuration of claim 1, the board recognition device recognizes the positioning reference portion for each board, the storage means stores the positional deviation amount, and the positional deviation amounts of the plurality of substrates stored in the storage means are stable. When the determination means determines that the determination is made, the control means controls the substrate recognition device so as not to recognize the substrate.

According to the configuration of claim 2, the board recognition device recognizes the plurality of positioning reference parts for each board, the storage means stores the positional deviation amount, and the positions of the plurality of boards stored in the storage means. When the determination means determines that the amount of deviation is stable, the control means controls the board recognition device so as to recognize the board by reducing the number of positioning reference parts to be recognized.

[0009]

【Example】

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In FIGS. 5, 2 and 3, (1) is an XY table that moves in the XY directions by the rotation of the X-axis motor (2) and the Y-axis motor (3). A printed circuit board (5) on which a chip component or a component) (4) is mounted is placed.

Reference numeral (6) is a supply table, and a large number of component supply devices (7) for supplying the chip components (4) are arranged. Reference numeral (8) is a supply table driving motor, and by rotating the ball screw (9), a supply table is inserted through a nut (not shown) fitted to the ball screw (9) and fixed to the supply table (6). (6) is guided by the linear guide (10) and moves.

Reference numeral (11) is a turntable that rotates intermittently, and mounting heads (13) having four suction nozzles (12) are arranged on the outer edge of the table (11) at equal intervals according to the intermittent pitch. Has been done. The suction nozzle (12) lowers the component (4) from the supply device (7) and sucks and picks it up. The mounting head (13) stops at the suction station, and the suction station is located at the outermost side of the turntable (11). The suction nozzle (12) located at the position suctions the component (4).

The position at which the mounting head (13) stops next is the recognition station, and based on the recognition result of the station by the recognition camera (14), the suction is performed at the angle stop station, which is the next stop position. The nozzle (12) is rotated in the θ direction by the nozzle rotating roller (15), and the positional deviation of the rotation angle of the component (4) is corrected. (18) is a base, and the XY table (1) moves XY with respect to the base (18), but (19) is a substrate recognition camera, and the base (18) An image of the print substrate (5) fixed on the fixed support plate (20) and placed on the XY table (1) is picked up.

As shown in FIG. 5, a printed circuit board (5) is provided with a board recognition mark (22) as a positioning reference portion, and the recognition camera (19) captures the mark (22) to pick up the mark. The position of the board (5) on the XY table (1) is recognized. The positional relationship between the mark (22) and the outer shape of the substrate (5) may change depending on the lot, but the relationship with the position where the component (4) should be mounted does not change. As shown in FIG. 5, two marks (22) are usually attached to each of the opposite corners (corners) of the substrate (5) in total, but the two marks (22) cause the position of the substrate (5) to be different. The shift, the angle shift in the θ direction (horizontal direction), and the expansion / contraction amount of the substrate (5) can be recognized. Even if the number of the marks (22) is only one, it is possible to recognize the positional deviation in the XY directions. Further, three or more pieces may be provided at a place other than the place shown in FIG. 5 (for example, at another corner of the board (5)) to enable more accurate position recognition of the board (5). Although the mark (22) shown in FIG. 5 is circular, it may have another shape such as a triangle or a square, or a part of the pattern on the substrate (5) may be used.

Reference numeral (23) is a supply conveyor that conveys the printed circuit board (5) and supplies it onto the XY table (1). Next, the control circuit of this embodiment will be described with reference to FIG. In FIG. 4, reference numeral (25) is a CPU, which is based on various data stored in the RAM (26) and signals from the operation unit (27) and the like, and which is stored in the R0M (28) according to the program. It controls various operations related to the mounting operation of the chip component (4) on the printed circuit board (5) of the automatic component mounting apparatus, and the transfer and recognition of the circuit board (5).

A drive circuit (31), a recognition processing circuit (32), and an operation unit (27) are connected to the CPU (25) via an interface (30). The X-axis motor (2) and the Y-axis motor (3) are driven by the drive circuit (31), and the recognition processing circuit (32) displays the image of the recognition mark (22) taken by the board recognition camera (19). Perform recognition processing.

The operation unit (27) is provided with a lot change switch (33) for informing the CPU (25) of the lot change when pushed by the operator when the lot of the printed circuit board (5) is changed. At the same time, a mode 1 switch (34), a mode 2 switch (35), a mode 3 switch (36), etc. for setting the recognition operation mode of the recognition mark (22) are provided.

When the mode 1 switch (34) is pressed and the mode 1 is selected, all the prints conveyed by the supply conveyor (23) and supplied onto the XY table (1) as shown in FIG. When the recognition operation of the two board recognition marks (22) is performed on the board (5) and the switch (35) is pressed to select the mode 2, as shown in FIG. When the switch (36) is pressed and mode 3 is selected after the switch (36) is pressed, the displacement of the substrate (5) becomes stable, and then each of the substrates is stabilized. Only one point of the recognition mark (22) of (5) is recognized. The RAM (26) stores the set mode. Alternatively, the switches (34), (35) and (36) may retain the state without storing it in the RAM (26), and the CPU (25) may check and determine the state.

In the RAM (26), a statistical processing completion flag (38) that is turned “ON” when it is determined that the amount of displacement of the substrate (5) is stable, displacement of the substrate (5) A sample counter (39) that counts the number of substrates (5) that have recognized the recognition mark (22) in order to determine that the amount has stabilized, an image captured by the recognition camera (19), and a recognition processing circuit (32). Whether or not the positional displacement amount of the correction calculation memory (40) and the substrate (5) capable of storing the position coordinates of the recognized recognition mark (22) in the XY directions for each of the two recognition marks (22) is stable. A statistical processing memory (41) capable of storing the position coordinates of the recognition mark (22) picked up by the recognition camera (19) and recognized by the recognition processing circuit (32) for each of the two recognition marks (22). ) Is installed It has been burned. The correction calculation memory (40) is updated for each board (5), and the statistical processing memory (41) stores the same data as the correction calculation memory (40). Data (5) is held until the recognition mark (22) is recognized, and is used to determine whether the amount of positional deviation of the substrate (5) is stable by statistical processing.

The RAM (26) is further provided with a set number memory (42) for setting and storing a count value which is counted by the sample counter (39) and statistically processed. The set value in the set number memory (42) can be set to an arbitrary value using a display CRT or the like (not shown). In the RAM (26), the average value of the position coordinates of the recognition mark (22) that has been recognized and stored in the memory for statistical processing (41) (average coordinate described later) and the allowable value of the difference between the position coordinates are stored. A permissible value memory (43) is provided. If the difference between the average position coordinates and each position coordinate is within the stored allowable value, the CPU (25) determines that the positional deviation amount of the substrate (5) is stable. The permissible value data can be arbitrarily set for each of the X direction and the Y direction, and is set, for example, according to the chip component (4) having the most severe mounting position deviation. Alternatively, the permissible value may be set to the angular displacement in the θ direction and the expansion / contraction amount calculated from the positional displacement of the two recognition marks (22).

The operation will be described below with the above configuration. First, the automatic operation is started by a switch (not shown) of the operation unit (27), but before the start, the operator pushes the mode 1 switch (34) to select the mode 1. Further, it is assumed that the switch for selecting whether or not to use the board recognition (not shown) is selected to use the board recognition.

Next, the printed circuit board (5) is conveyed from an upstream device (device for applying an adhesive) by the supply conveyor (23) and transferred onto the XY table (1) to a position (not shown). The positioning device fixes and fixes the table (1) at a predetermined position. Next, according to the flowchart of FIG. 1, the board recognition operation is performed because the board recognition is used and the mode 1 is selected.

That is, the X-axis motor (2) and the Y-axis motor (3) are driven and rotated by the drive circuit (31) under the control of the CPU (25), and the XY table (1) moves to the substrate (5). The one board recognition mark (22) moves so as to be located below the board recognition camera (19). At this time, the theoretical (design) position of the board recognition mark (22) is positioned at the center of the screen of the camera (19), and even if the actual mark (22) deviates, the recognition process is not hindered. The field of view of the camera (19) is secured so that The position coordinates of the mark (22) are calculated by the recognition processing circuit (32) and the CPU (25) stores the value in the correction calculation memory (40).

Next, similarly, the XY table (1) is moved so that the other board recognition mark (22) is located below the camera (19), and the position coordinates are stored in the memory (40). Based on the two position coordinates, the CPU (25) calculates the positional deviation of each recognition mark (22) from the theoretical position and calculates the positional deviation of the substrate (5) in the XY directions, the angular deviation in the θ direction, and the substrate (5). ).

Next, the suction head (13) is moved to the suction station based on the data stored in the RAM (26) indicating the component type, the mounting position, etc. in the mounting order (not shown), and the suction nozzle (12). ) Is lowered, and the component supply device (7) for supplying the desired component (5) is positioned at the suction position by the rotation of the motor (8), and the chip component (4) is taken out.

Next, the suction nozzle (12) that suction-holds the chip component (4) moves to each work station by the intermittent rotation of the turntable (11) and the camera ( The position deviation of the component (5) with respect to the suction nozzle (12) is recognized by 14), and the angle correction station corrects the angle of the component (4) by rotating the nozzle rotation roller (15) based on the recognition result. It is performed and reaches the wearing station. At this time, the angle deviation in the θ direction of the substrate (5) already calculated by the substrate recognition is also added and corrected.

Next, position correction of the recognition result in the recognition station and correction of the positional deviation with respect to the theoretical position already calculated at the time of board recognition are performed, so that the desired mounting position is obtained. The bull (1) moves and the suction nozzle (12) descends to mount the chip component (4) on the printed circuit board (5). The suction head (13) next to the suction nozzle (12) described above also performs the suction of the chip component (4) or the mounting operation to the printed circuit board (5) in the same manner. Parts are attached to 5).

Next, when component mounting on the printed circuit board (5) is completed, the circuit board (5) is discharged from the XY table (1) and the next circuit board (5) is supplied in the same manner as described above. It is conveyed by the conveyor (23), positioned and fixed on the table (1), and the recognition operation of the two recognition marks (22) is performed in the same manner as described above. The component mounting operation is performed in the same manner, and the same board recognition operation is performed every time the board (5) is transported.

Next, a case where the operator uses the board recognition to press the mode 2 switch (35) will be described. At the start of automatic operation, the sample counter (39) is in a cleared state, and the statistical processing completion flag (38) is set to "OFF" indicating that it is not completed. Alternatively, when the mode 2 switch is pressed, the flag (38) and the counter (39) may be set to "OFF" and cleared.

The printed circuit board (5) is transported and positioned and fixed on the XY table (1) as in the case of mode 1, and the position of the recognition mark (22) is recognized in the same manner, and the position coordinates Is stored in the correction calculation memory (40) and the statistical processing memory (41), and the sample counter (39) counts up “1”. Since it is not the set value of the set number memory (42), only the positional deviation, the angular deviation, and the expansion / contraction amount of the substrate (5) are calculated in the same manner as in the mode 1.

Next, as in the case of the mode 1, the chip component (4) is sucked or mounted, and when all the chip components (4) have been mounted on the substrate (5), the next The base plate (5) is positioned and fixed on the XY table (1), and the board recognition operation is similarly performed for the two marks (22). The recognized position coordinates are updated and stored in the correction calculation memory (40), additionally stored in the statistical processing memory (41), and the counter (39) counts up to count “2”. To do.

When the sample counter (39) reaches the number set in the set number memory (42) by repeating the above operation, the CPU (25) performs statistical processing. This processing calculates the average value of the X-direction data and the Y-direction data of the first and second points of the position coordinates stored in the memory (41) for the statistical processing, and calculates the average value of each data. The difference is calculated, and whether the difference is within the allowable value stored in the allowable value memory (43) is compared. If all the data are within the allowable value, it is judged to be stable, and “OK” is determined. The statistical processing completion flag (38) is turned on.

For example, the coordinates of the first point of each substrate (5) stored in the statistical processing memory (4) are (XA1, YA1), (XA2, YA2), ... (XAN, YAN) (Assuming that the set number memory (42) is N.), the second point of each board (5) is (XB1, YB1), (XB2, YB2), ... (XBN). , YBN), the average value for XA1, XA2 ... XAN is calculated, and the difference between the average value (XA1 + XA2 + ... + XAN) / N and each data XA1, XA2 ... It is compared whether the absolute value of each is within the allowable value of the allowable value memory (43), and then, for YA1, YA2 ... YAN, XB1, XB2 ... YB2: Each data is the same for YBN. And the difference between the average value of each data group to which the data belongs is within the allowable value. If all the comparison results are within the allowable value, it is judged to be stable.

Next, when the counter (39) reaches the set number memory (42), component mounting on the printed circuit board (5) is completed, and the next circuit board (5) is XY table (1). When the CPU (25) determines that the mode 2 is set as shown in FIG. 1 after the positioning, the statistical processing completion flag (38) is turned "ON". It is determined that the statistical processing has been completed, and the correction calculation memory (40) stores the coordinates (hereinafter referred to as average coordinates) based on the average value of the statistically calculated data. For example, the above calculation result ((XA1 + XA2 + ... XAN) / N, (YA1 + YA2 + ... + YAN) / N) is the first point and the second point has the same average coordinates. Is stored.

Next, when the component (4) is sucked in the same manner as described above, the positional deviation recognized by the recognition camera (14) and the correction calculation for the angle correction station and the mounting station are performed. The displacement of the substrate (5) from the theoretical position calculated as the position of the recognition mark (22) where the average coordinates of the memory (40) is recognized is corrected to correct the nozzle rotation roller (15). The parts are mounted by rotating and moving the XY table (1).

If, as a result of the statistical processing, even one piece of data is larger than the allowable value in the allowable value memory (43), the flag (38) is left “OFF” and the sample is sampled. The counter (39) is cleared and the next board (5) is subjected to board recognition operation for two points. Next, when it is determined that all are within the allowable value and the flag (38) is “ON”, the subsequent substrate (5) similarly mounts the components without performing the substrate recognition operation. When the lot in (5) has been changed and there is a possibility that the positional deviation from the current one may change, the operator pushes the lot change switch (33) to turn the flag (38) to “OFF”. Then, the sample counter (39) is cleared to perform the board recognition operation for recognizing the two recognition marks (22) again for each board, and the statistical processing is performed when the counter (39) reaches the set number. be able to.

Next, a case where the operator uses the board recognition to press the mode 3 switch (35) will be described. At the start of automatic operation, the sample counter (39) is in a cleared state, and the statistical processing completion flag (38) is set to "OFF" indicating that it is not completed.

The printed circuit board (5) is transported and positioned and fixed on the XY table (1) as in the case of mode 1, and the position of the recognition mark (22) is recognized in the same manner, and the position coordinates are determined. Is stored in the memory for correction calculation (40) and the memory for statistical processing (41), the sample counter (39) counts up “1”, and in the same manner as in mode 2 below, for each substrate (5). When the board is recognized and the sample counter (39) reaches the set number, the statistical processing is performed, and the difference between the average value of each data in the statistical processing memory (41) and each data is less than the allowable value in the allowable value memory (43). If it is smaller, it is judged as “OK”, the statistical processing completion flag (38) is set to “ON”, and the correction calculation for the substrate (5) is performed.

When the next board (5) is fixed to the XY table (1), the CPU (25) performs the one-point recognition process because the statistics completion flag (38) is “ON”. That is, only the board recognition mark (22) close to the recognition camera (19) is moved to the lower side of the camera (19) by the movement of the XY table (1), and the recognition processing of only this mark (22) is performed. For one point, the XY table (1) is not moved and therefore not recognized. The difference between the X component data of the position coordinate of the one point mark (22) and the X component data of the average coordinate of the first point which has already been statistically processed is within the allowable value of the allowable value memory (43). Whether or not (within the allowable range) and similarly whether the Y component data is within the allowable value is determined, and if it is within the allowable value, the average coordinates of the statistical processing results are stored in the correction calculation memory (40). Then, the angle correction and the XY direction correction are performed based on the contents of the memory (40). At this time, the recognized position coordinates of one mark (22) itself may be stored in the correction calculation memory (40) and the correction may be performed based on the contents.

The recognition processing of the mark (22) is similarly performed on only one point of the subsequent substrate (5), but the difference between the recognized position coordinate and the X component data or the Y component data of the average coordinate is recognized. If either is outside the range of the allowable values stored in the allowable value memory (43), move the other mark (22) to the XY table (1) and move it below the camera (19). The mark (22) is positioned, the recognition result of the two points is stored in the correction calculation memory (40), and the angle correction and the position correction are performed in the same manner as described above based on the recognition result.

For the next board (5), only one board recognition mark (22) is first recognized, and if this result is within the allowable range compared with the statistical processing result, the average coordinate of the statistical processing result is The correction is stored in the correction calculation memory (40) and the correction is performed. Although the board recognition is performed in this way, it is continuously judged that it is out of the allowable range by the recognition of one point in the following board (5). If it occurs, it means that the position of the peak in the graph of the deviation of the positional deviation with the horizontal axis as the positional deviation amount and the vertical axis as the number of substrates (5) is deviated, that is, the average value of the positional deviation. If the statistical processing completion flag (38) is set to “OFF” and the sample counter (39) is cleared, the same statistical processing as in mode 2 for determining whether the positional deviation is stable again The operation of. The reason why statistical processing is not performed again before the number of N sheets is reached is that during this period, the average value itself has not changed and it can be judged that it is exceptionally outside the allowable range. If this "N" is set to "1", exceptions will not be accepted, and if even one point is outside the allowable range, the statistical processing can be performed again.

Alternatively, when only one point of the M number of substrates (5) for which the determination of whether or not to perform the statistical processing again is set in advance is recognized, the statistical processing is performed for N or more substrates (5) set in advance. It is also possible that the difference from the average coordinate of the result is outside the range of the permissible value of the permissible value memory (43), that is, when the ratio outside the permissible range is N / M or more. (The N and M sheets may always be calculated in the latest M sheet range, or the N and M sheet counts may be cleared when the M sheet is counted.) In 3 as well, when the lot change switch (33) is pressed at any time to change the lot, the flag (38) is set to “OFF” and the counter (39) is cleared to perform statistical processing. can do.

In addition, even if the statistical processing is performed in the mode 2 or the mode 3 and it is determined that the board is stable and the board recognition is not performed, the board recognition is performed again at a predetermined number of boards or at a predetermined time, and the statistics are obtained. You may make it process. Although the electronic component automatic mounting apparatus for mounting the electronic component (4) on the printed circuit board (5) has been described in this embodiment, the electronic component (4) is mounted on the printed circuit board (5) when the electronic component (4) is mounted on the printed circuit board (5). ) Is temporarily applied to the printed circuit board (5) when the position of the substrate (5) fixed on the XY table is recognized in the adhesive application device, and when electronic parts are printed on the printed circuit board (5). It is also applicable to the case where the position is recognized in order to align the board (5) with the screen plate in the screen printing machine for printing the cream solder for soldering on the board (5).

Further, although the present embodiment has been described with respect to the case where the board recognition camera (19) does not move but the XY table (1) moves, the case where the camera (19) moves or the X direction can be used. 1 and the Y direction, the table on which the camera (19) or the printed circuit board (5) is mounted moves and the camera (19) and the circuit board (5) can move in the XY relative to each other. Substrate recognition according to the above is possible.

[0044]

[Effect of device]

 As described above, according to the present invention, when the displacement of the substrate is stable, the recognition of the positioning reference portion is simplified or not performed, so that the time required for the recognition can be shortened.

[Brief description of drawings]

FIG. 1 is a diagram showing a flow chart of the present invention.

FIG. 2 is a perspective view of an electronic component automatic mounting apparatus of the present invention.

FIG. 3 is also a plan view of the mounting device.

FIG. 4 is a control block diagram of the present invention.

FIG. 5 is a perspective view of an XY table of the electronic component automatic mounting device.

[Explanation of symbols]

(1) XY table (position correction means) (board recognition device) (5) Printed circuit board (19) Board recognition camera (board recognition device) (22) Board recognition mark (positioning reference part) (25) CPU (judgment) Means) (control means) (26) RAM (storage means) (32) recognition processing circuit (board recognition device)

Claims (2)

[Scope of utility model registration request] 1. A print for performing a predetermined operation on a printed circuit board by recognizing a positioning reference portion attached to a predetermined position on the printed circuit board by a board recognition device and correcting the positional deviation of the board recognized by a position correction means. In the board assembling apparatus, storage means for storing the amount of positional deviation recognized by the recognition device, judgment means for judging whether the positional deviation amounts of a plurality of boards stored in the storage means are stable, and the judgment means. A printed circuit board assembling apparatus comprising a control means for controlling the board recognition device so as not to recognize the board when the means determines that the positional deviation amount is stable. 2. A plurality of positioning reference parts attached to a predetermined position of the printed board are recognized by a board recognition device, and the positional deviation of the recognized board is corrected by a position correction means to perform a predetermined work on the printed board. In the printed circuit board assembling apparatus, storage means for storing the positional deviation amount recognized by the recognition device, and judgment means for judging whether or not the positional deviation amounts of the plurality of boards stored in the storage means are stable, The printed circuit board assembling apparatus is provided with control means for controlling the board recognizing device so as to recognize the board by reducing the number of positioning reference parts to be recognized when the judging means judges that the positional deviation amount is stable. .