JPH08167799A - Part recognizing apparatus for mounting equipment - Google Patents

Abstract

PURPOSE: To improve parts recognizing accuracy and save space and also to improve mounting efficiency by enhancing the degree of freedom for parts image take-in speed. CONSTITUTION: An illuminating section 23a and a sensor unit 23 consisting of a line sensor and a main body of sensor 23b are arranged within a moving passage of a head unit 5, a part sucked by a nozzle member is recognized by moving the head unit 5 relative to the line sensor, and an illumination controller 60 is provided to adjust the amount of light of the illuminating section 23a in response to the moving speed of the head unit 5. And the illumination controller 60 comprises an illumination switch circuit 62, an F/V converter 61 for detecting the moving speed of the head unit 5, and a illumination drive circuit 63 which controls the illuminating section 23a so as to make the amount of light at the illuminating section 23a equal to the predetermined amount of light corresponding to the moving speed of the head unit 5 based on the detecting speed by the F/V converter 61.

Description

Detailed Description of the Invention

[0001] The present invention relates to a mounting machine constructed such that a head unit equipped with a nozzle member picks up components such as chip components and mounts the components at a predetermined position on a printed circuit board, and in particular, a nozzle is attached to a nozzle member by a line sensor. The present invention relates to a component recognition device for a mounting machine, which is adapted to recognize a sucked component.

[0002]

2. Description of the Related Art Conventionally, a head unit having a nozzle member for mounting a component sucks a component such as an IC from a component supply section and transfers it onto a printed circuit board that has been positioned, and places it on a predetermined position of the printed circuit board. A mounting machine adapted to be mounted is generally known. Further, recently, in order to improve the mounting efficiency, a mounting machine has been proposed in which a plurality of nozzle members are arranged side by side on a head unit so that a plurality of components can be transferred at one time.

In such a mounting machine, there is some variation in the position of the component when the component is sucked by the nozzle member, and it is required to correct the mounting position according to the displacement of the component suction position. Therefore, the suctioned component is recognized to detect the displacement of the suction position with respect to the nozzle member, and the abnormality of the component, for example, if the component has a lead, the lead is broken.

As an apparatus for recognizing such a part, for example, a line sensor is installed on a base of a mounting machine, and a head unit after picking up a part is passed through the line sensor while a required part for recognizing the part is obtained. An apparatus has been proposed in which a suction component is irradiated with light to capture a component image, and component recognition is performed based on the captured image.

[0005]

In the conventional apparatus, the amount of light radiated to the adsorbed component at the time of component recognition is usually constant, and the brightness of the image captured by the line sensor is recognized by the image recognition device. In order to maintain the optimum constant brightness, it is necessary to move the head unit with respect to the line sensor at a predetermined constant speed that is set based on the light amount of the emitted light.

Therefore, in the conventional apparatus, the line sensor is required to perform an approaching operation for keeping the moving speed of the head unit at a predetermined constant speed, which requires an approaching space and an approaching time of the head unit. Therefore, by receiving these restrictions, the restrictions such as space saving of the mounting machine and improvement of the mounting efficiency are naturally imposed, and it is not possible to effectively improve these problems. Further, since the brightness of the image changes when the moving speed fluctuates, there is a problem that the component recognition accuracy is easily affected by the fluctuation of the moving speed of the head unit.

Further, in an apparatus having a head unit equipped with a plurality of nozzle members, a plurality of components can be adsorbed at one time, so that the components can be continuously recognized while changing the speed of capturing a component image according to the type of the component. This is convenient from the viewpoint of improving mounting efficiency, but in the conventional device, it is necessary to move the head unit with respect to the line sensor at a constant speed as described above in relation to the recognition accuracy of parts. Therefore, it is difficult to efficiently capture the component image while changing the moving speed of the head unit according to the type of the component and to accurately recognize the component.

The present invention has been made in order to solve the above problem, and improves the mounting efficiency by increasing the degree of freedom in the speed of capturing a component image, and also improves the component recognition accuracy and saves space in the device. It is an object of the present invention to provide a component recognizing device for a mounting machine that can be realized.

[0009]

According to a first aspect of the present invention, there is provided a component recognizing device for a mounting machine, comprising: a head unit having a nozzle member for picking up a component; and a line sensor arranged in a moving path of the head unit. In a mounting machine configured to recognize a component sucked by a nozzle member by moving the head unit relative to the line sensor in a state where the head unit and the line sensor are associated with each other. , A light emitting means for irradiating the suction component with light necessary for component recognition and a moving speed of the head unit are detected at least while the head unit is moved relative to the line sensor. It is provided with speed detecting means and light quantity adjusting means for adjusting the light quantity of the light emitting means according to the speed detected by the speed detecting means.

A component recognizing device for a mounting machine according to claim 2 is
The component recognition device according to claim 1, wherein the head unit includes a plurality of the nozzle members arranged in parallel, and the line sensor is arranged so as to extend in a direction orthogonal to an arrangement direction of the nozzle members. It is configured to sequentially capture the component images of each component adsorbed on.

[0011]

According to the first aspect of the present invention, the head unit relatively moves on the line sensor after the components are mounted, so that the component image of the component adsorbed by the head unit during this movement period is captured from the line sensor. The parts are recognized. At this time, the light amount of the light emitting means is controlled according to the moving speed of the head unit. That is, the light amount of the light emitting means is adjusted according to the moving speed of the component so that the component image having the optimum brightness for component recognition is captured.

According to the second aspect of the invention, the head unit moves on the line sensor, whereby the component images of the respective components adsorbed by the nozzle members are sequentially taken in and the component recognition is performed. Is done. At this time, the moving speed of the head unit is adjusted according to the type of the part passing over the line sensor, that is, the type of the part to be image-captured, and the light amount of the light emitting means is adjusted according to the moving speed.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of a component recognition device according to the present invention will be described with reference to the drawings.

FIG. 1 and FIG. 2 show the structure of a mounter on which the component recognition apparatus according to the present invention is mounted. As shown in the figure, a conveyor 2 for conveying a printed circuit board is arranged on a base 1 of the mounting machine, and the printed circuit board 3 is conveyed on the conveyor 2 and stopped at a predetermined mounting work position. It has become. A component supply unit 4 is arranged on the side of the conveyor 2. The component supply unit 4 is provided with a feeder for supplying components, for example, a plurality of rows of tape feeders 4
a.

A head unit 5 for mounting components is mounted above the base 1. The head unit 5 is movable across the component supply unit 4 and the component mounting unit where the printed circuit board 3 is located.
It can move in the axial direction (direction of the conveyor 2) and the Y-axis direction (direction orthogonal to the X-axis on the horizontal plane).

That is, a fixed rail 7 in the Y-axis direction and a ball screw shaft 8 rotatably driven by a Y-axis servomotor 9 are arranged on the base 1, and the head unit is mounted on the fixed rail 7. A support member 11 is arranged, and a nut portion 12 provided on the support member 11 is screwed onto the ball screw shaft 8. In addition, the support member 11 has an X
An axial guide member 13 and a ball screw shaft 14 driven by an X-axis servomotor 15 are arranged, and the head unit 5 is movably held by the guide member 13.
A nut portion (not shown) provided on the head unit 5 is screwed onto the ball screw shaft 14. And
By the operation of the Y-axis servomotor 9, the supporting member 11 is moved to Y
While moving in the axial direction, the head unit 5 moves in the X-axis direction with respect to the support member 11 by the operation of the X-axis servomotor 15.

The Y-axis servomotor 9 and the X-axis servomotor 15 are respectively provided with position detecting devices 10 and 16 which are rotary encoders, by which the moving position of the head unit 5 is detected. It is like this.

The head unit 5 is provided with a nozzle member 20 for attracting chip components, and in this embodiment, eight nozzle members 20 are provided side by side in the X-axis direction as shown in FIG. Each nozzle member 20 moves up and down with respect to the frame of the head unit 5 (moves in the Z-axis direction).
Also, rotation around the nozzle center axis (R axis) is possible, and the Z axis servo motor and the R axis servo motor (not shown) are operated. Further, each of these servo motors is provided with a position detecting device so that the moving position of each nozzle member 20 can be detected.

Further, a sensor unit 23 for taking in a component image when recognizing a component attracted to each nozzle member 20 of the head unit 5 is provided on the side of the component supply section 4. ing.

The sensor unit 23 includes a large number of LEDs.
Illuminating section 23a (light emitting means) and line sensor 24
And a sensor main body 23b provided with. The line sensor 24 is an image sensor in which CCD solid-state image pickup devices 24a are arranged side by side in a direction (Y-axis direction) orthogonal to the arrangement direction of the nozzle members 20, as shown in FIG. The component image is one-dimensionally captured via the slit portion formed.

At the time of mounting, after the components are sucked by the nozzle members 20 of the head unit 5, the arrangement direction of the elements 24a of the line sensor 24 (main scanning direction; Y).
When the head unit 5 is moved in a direction (sub-scanning direction; X-axis direction; arrow S direction in FIGS. 1 and 2) orthogonal to the axial direction), the line sensor 24 attracts the nozzle member 20. The image of the component in the main scanning direction is sequentially captured in the sub scanning direction and output as a predetermined image signal to the image processing unit 30 described later. Then, when the head unit 5 completely passes over the sensor unit 23, images of all the adsorbed components are captured.

On the base 1 of the mounting machine, the head is located in the movement path of the head unit 5 for component recognition, that is, at a predetermined position on the right side of the movement path of the head unit 5 with respect to the sensor unit 23. A head detection sensor 25 (shown in FIG. 4) for detecting the unit 5 is provided, and at the time of component recognition, the head unit 5 is detected by the head detection sensor 25 to start capturing the component image by the line sensor 24. Timing is designed.

Although the mounting machine configured as described above does not have an overall configuration, it is equipped with a control device having a microcomputer as a component, and the Y-axis and X-axis servomotors 9 and 15 and the head are provided. Each suction nozzle 20 of the unit 5
The Z-axis servo motor, the R-axis servo motor, the line sensor 24 of the sensor unit 23, and the like are all electrically connected to the control device for centralized control.

Further, the control device is provided with an image processing section 30 and an illumination control section 60 as shown in FIG.

The image processing section 30 controls the capture of the component image by the sensor unit 23 and recognizes the component based on the captured image data. The image recognizing section 31 and the clock signal generating means. 32, start signal generating means 33, one component end signal generating means 34, and all component end signal generating means 35.

The clock signal generating means 32 is composed of a frequency dividing counter 40, a comparator 41, a frequency dividing register 42 and first and second gate circuits 43 and 44.
The clock signal in the image processing unit 30 is generated and output by dividing the pulse train signal output from the position detection device 16.

Specifically, the number of pulses of the pulse train signal output from the position detecting device 16 is counted by the frequency dividing counter 40, and the frequency dividing register 42 in the comparator 41.
The count number N set in advance is compared. When the set count number N is reached, the comparator 4
A signal of 1 to 1 pulse is output.

That is, with the head unit 5 associated with the line sensor 24, the X-axis servomotor 15 drives the head unit 5 to move relative to the line sensor 24. A clock signal is generated by dividing the pulse train signal output from the position detection device 16 by 1 / N times as the number 5 moves in the X-axis direction.

The generated clock signal is output from the comparator 41 to the first and second gate circuits 43 and 44. The head detection sensor 2 is provided in the first gate circuit 43.
The detection signal from 5 is input, and the clock signal is output from the first gate circuit 43 to the start signal generating means 33 in response to the input of the signal.
The second gate circuit 44 has a start signal generating means 33.
A capture start signal described later is output from the second gate circuit 44 in response to the input of the signal.
To output the clock signal to the sensor unit 23 and the one-part end signal generating means 34.

The start signal generating means 33 comprises a fetch start counter 46, a comparator 47 and a fetch start register 48, and the clock signal output from the first gate circuit 43 is fetch start counter 4 described above.
The count is set at 6, and the comparator 47 compares it with the count number preset in the fetch start register 48. This count number is set so as to correspond to the moving distance from when the head unit 5 is detected by the head detection sensor 25 until when the head unit 5 reaches immediately before the sensor unit 23. When the set number of counts is reached, the fetch start signal is output from the comparator 47 to the second gate circuit 44.
By thus outputting the capture start signal to the second gate circuit 44, the output of the clock signal to the sensor unit 23 is started as described above, and the components by the line sensor 24 are synchronized with this clock signal. Image acquisition is started.

The one-component end signal generating means 34 comprises a line number counter 49, a comparator 50 and a line number register 51, and the second gate circuit 44.
The above clock signal output from the line number counter 4
The number is counted at 9, and the comparator 50 compares it with the count number preset in the line number register 51. When the set number of counts is reached, the one-component end signal is sent from the comparator 50 to the all-component end signal generating means 35, that is, the line sensor 24.
A signal indicating that the component image of one component has been captured is output.

The count number set in the line number register 51 is set to a value capable of capturing a one-component image based on the type of the component to be recognized.

The all component end signal generating means 35 comprises a component number counter 52, a comparator 53 and a component number register 54, and outputs the one component end signal output from the one component end signal generating means 34 to the number of components. Counter 5
The count is 2, and the comparator 53 compares the count with a preset count in the component count register 54. When the set number of counts is reached, the comparator 53 sends to the image recognition unit 31 and the illumination switch circuit 62 a signal indicating the completion of all components, that is, a signal indicating that the line sensor 24 has finished capturing the component images of all components. It is designed to output.

The image recognition section 31 writes the image data taken in by the line sensor 24 in an image memory in synchronization with the clock signal and performs a predetermined image processing on the image data to recognize the parts. It is a thing.

On the other hand, the illumination control section 60 comprises an F / V conversion section 61, an illumination switch circuit 62, and an illumination drive circuit 63 (light quantity adjusting means), which is output from the position detection device 16. The light amount of the illumination unit 23a in the sensor unit 23 is adjusted based on the pulse train signal.

Specifically, based on the ON density (or OFF density) of the pulse train signal output from the position detection device 16, a voltage of a predetermined level indicating the rotation speed of the X-axis servomotor 15 is converted into an F / V conversion unit. 61 to drive circuit 63 for lighting
And outputs a current corresponding to the output voltage level from the lighting drive circuit 63 to the lighting unit 23a. That is, in the mounting machine described above, the head unit 5 includes the position detecting means 16 and the F / V converting section 61.
The speed detection means for is configured.

In the drive circuit 63 for illumination, the F
The voltage level output from the / V converter 61 and the illumination unit 23
It has a table that defines the correspondence relationship with the current value supplied to a. For example, as shown in FIG. 5, the illuminance to the suction component increases in proportion to the moving speed of the head unit 5, that is, the illumination unit. The table is set so that the light amount of 23a becomes high. In this table, the brightness of the image captured by the line sensor 24 based on the relative relationship between the moving speed of the head unit 5 and the light amount of the illumination unit 23a is optimal for image recognition by the image recognition unit 31. It is set so that it will be bright.

The detection signal from the head detection sensor 25 and the all-component end signal from the all-component end signal generating means 35 are input to the illumination switch circuit 62. An ON signal is output to the illumination drive circuit 63 based on the input, and an OFF signal is output to the illumination drive circuit 63 based on the input of the all component end signal. The lighting drive circuit 63 is turned on / off from the lighting switch circuit 62.
Based on the input of the OFF signal, when the ON signal is input, the current supply to the lighting unit 23a is started, while when the OFF signal is input, the current supply is cut off.

Next, the component recognition operation of the mounting machine configured as described above will be described.

When the mounting operation is started in the mounting machine, the head unit 5 is moved to the component supply section 4, and the components are sucked by the nozzle members 20. Then, when the suction of the components is completed, the head unit 5 is moved with respect to the sensor unit 23 for component recognition. Specifically, after the head unit 5 is set at the right end of the movement path with respect to the sensor unit 23, it is moved leftward (direction of arrow S in FIGS. 1 and 3) from this position.

Then, the movement for recognizing the component is started in this way, and the head unit 5 causes the head detection sensor 25 to move.
Then, the start signal generating means 33 of the image processing section 30 starts counting the clock signals output from the clock signal generating means 32. Further, in the lighting control unit 60, an ON signal is output from the lighting switch circuit 62 to the lighting drive circuit 63, whereby a current corresponding to the moving speed of the head unit 5 is supplied to the lighting unit 23a for component recognition. The irradiation of light is started.

When the count number in the start signal generation means 33 reaches a predetermined count number, a start signal generation start signal is output from the start signal generation means 33 and the line sensor 24 starts the acquisition of the part image. .

When the capturing of the component image is started, the images of the suction component in the main scanning direction are sequentially captured in the sub scanning direction at the timing synchronized with the clock signal, and this image data is stored in the image recognition unit 31. Stored in memory. Further, when the counting of the clock signal is started in the one-part end signal generating means 34 and a predetermined count number is reached, that is, when the image acquisition of one part is completed, the one-part end signal generating means 34 outputs one part. An end signal is output. Then, the image of the next component is similarly captured, and the images of the respective components are sequentially captured.

Then, the all component end signal generating means 35
In step 1, the one-component end signal is counted, and when the count number reaches a predetermined count number, that is, when the acquisition of the component images of all the components is completed, the all-component end signal generation means 35 causes the image recognition unit 31 and An all component end signal is output to the lighting switch circuit 62.

When the all component end signal is input to the image recognition unit 31, the image recognition unit 31 reads the image data of each component stored in the memory, and the predetermined image processing is performed on the image data. As a result, each component adsorbed on the head unit 5 is recognized.

When the all-component end signal is input to the lighting switch circuit 62, an off signal is output from the lighting switch circuit 62 to the lighting drive circuit 63 based on this signal, and the off signal is sent to the lighting unit 23a. The current supply is cut off and the lighting unit 23a is turned off.

According to the mounter thus constructed, the brightness of the image captured by the line sensor 24 is the optimum brightness for the image recognition in the image recognition section 31 according to the moving speed of the head unit 5. Since the light quantity of the illuminating section 23a is adjusted so that the head unit does not need a run-up operation for maintaining a constant speed as in the related art. Therefore,
In addition to being able to shorten the run-up space, the degree of freedom in the location of the line sensor can be increased, and the mounting machine can be effectively saved in space. Moreover, since the run-up operation of the head unit with respect to the line sensor is unnecessary in this way, the mounting time can be shortened by the run-up operation as compared with the conventional device, and thus the mounting efficiency can be improved.

Further, in the conventional apparatus, when the moving speed of the head unit fluctuates, the optimum brightness required at the time of image recognition is determined by the relationship between the moving speed of the head unit and the amount of light emitted. However, according to the mounting machine described above, the component image can be captured with the optimum brightness for image recognition regardless of the moving speed of the head unit 5. Even if the moving speed of the head unit 5 fluctuates, the component recognition accuracy does not deteriorate, so that the component recognition can be performed more accurately than in the conventional device.

Further, according to the mounting machine of the above-mentioned embodiment, the head unit 5 sucks a plurality of components, and while the head unit 5 is moved relative to the sensor unit 23, the picked-up component images are sequentially picked up. However, in this case, since the brightness of the captured image is not affected by the moving speed of the head unit 5 as described above, for example, a simple shape that is relatively easy to recognize is used. When only parts are to be mounted, the moving speed of the head unit 5 with respect to the sensor unit 23 is increased to acquire the part image, thereby shortening the time for acquiring the part image, and relatively simple to recognize. When a component having a complicated shape and a component having a complicated shape are sucked and mounted at the same time, the moving speed of the head unit 5 is set to that for capturing the component image of the component having the simple shape. The component recognition method in which each suction component image is continuously captured while changing the moving speed of the head unit 5 with respect to the sensor unit 23 according to the type of the component, such as efficiently capturing the component image. Can be adopted. Therefore, in the mounter of the above-described embodiment, by adopting such a component recognition method, it becomes possible to perform component recognition with high accuracy while enhancing the component recognition efficiency.

The mounting machine is an embodiment of the mounting machine to which the example of the component recognition apparatus according to the present invention is applied.
The specific structure can be appropriately changed without departing from the scope of the present invention. For example, in the mounting machine of the above-described embodiment, the head unit 5 is equipped with a plurality of (eight) nozzle members 20, and a plurality of components are sucked by the head unit 5 at the same time. You may make it adsorb | suck for every one part by the head unit provided with the nozzle member.

Further, in the above embodiment, the head unit 5
Although the light amount of the illumination section 23a in the sensor unit 23 is increased in proportion to the moving speed of the head unit 5, it is not necessary to set the light amount strictly in proportion to the moving speed of the head unit 5, and for example, In the case where accurate component recognition can be performed even if the light amount of the illumination unit 23a is kept constant within a constant speed region of the head unit 5 in relation to the type of component to be recognized, The light amount of the illumination unit 23a may be increased stepwise as the moving speed increases. In short, the head unit 5
The light amount of the illumination unit 23a may be set so that the component image can be captured with the optimum brightness required at the time of image recognition according to the moving speed of.

[0052]

As described above, according to the component recognition apparatus of the present invention, the head unit relatively moves on the line sensor after the components are mounted, so that the components picked up by the head unit during this movement period are detected. The image is captured from the line sensor and the parts are recognized. At this time, the light amount of the light emitting means is controlled according to the moving speed of the head unit,
Light that matches the moving speed of the suction component is emitted, that is,
Depending on the moving speed of the parts, the light quantity of the light emitting means is adjusted so that the parts image with the optimum brightness for the parts recognition can be captured. The run-up operation of the head unit for relative movement is unnecessary, which eliminates the need to provide a run-up space for the head unit, increases the degree of freedom in the location of the line sensor, and effectively saves space in the mounting machine. Can be planned. Moreover, since the run-up operation of the head unit with respect to the line sensor is unnecessary in this way, the mounting time is shortened by the run-up operation as compared with the conventional device, and thus the mounting efficiency is improved.

Further, even if the moving speed of the head unit may fluctuate, it is possible to capture a component image having the optimum brightness for image recognition, whereby component recognition can be performed more accurately. it can.

In particular, in such a configuration, if a plurality of nozzle members are provided in parallel in the head unit and the component images of each component adsorbed by each nozzle member are sequentially taken in by the line sensor, the line is formed. In addition to adjusting the moving speed of the head unit according to the type of parts that pass over the sensor, that is, the parts that are the target of image capture,
By adjusting the light amount of the light emitting means in accordance with the moving speed, it is possible to accurately recognize the component while increasing the efficiency of capturing the component image by the line sensor.

[Brief description of drawings]

FIG. 1 is a plan view of a mounter to which an example of a component recognition device according to the present invention is applied.

FIG. 2 is a front view of the same.

FIG. 3 is an enlarged schematic view of an essential part showing a line sensor.

FIG. 4 is a circuit configuration diagram showing an image processing unit and an illumination control unit.

FIG. 5 is a graph showing the relationship between the moving speed of the head unit and the light quantity of the illumination unit.

[Explanation of symbols]

 1 Base 2 Conveyor 3 Printed Circuit Board 4 Component Supply Section 5 Head Unit 15 X Axis Servo Motor 16 Position Detection Means 20 Nozzle Member 23 Sensor Unit 23a Illumination Section 23b Sensor Main Body 24 Line Sensor 25 Head Detection Sensor 60 Lighting Control Section 61 F / V converter 62 Lighting switch circuit 63 Lighting drive circuit

Claims (2)

[Claims] 1. A head unit having a nozzle member for picking up a component, and a line sensor arranged in a movement path of the head unit, wherein the head unit and the line sensor are associated with each other. In a mounting machine configured to recognize a component sucked by a nozzle member by moving the unit relative to the line sensor, at least the head unit is moved relative to the line sensor. While
A light emitting means for irradiating the suction component with light necessary for component recognition, a speed detecting means for detecting the moving speed of the head unit, and a light amount adjustment of the light emitting means according to the speed detected by the speed detecting means. A component recognizing device for a mounting machine, comprising: a light amount adjusting means for performing. 2. The head unit includes a plurality of the nozzle members arranged in parallel, and the line sensor is arranged so as to extend in a direction orthogonal to an arrangement direction of the nozzle members and is attracted to each of the nozzle members. The component recognition device for a mounting machine according to claim 1, wherein the component recognition device is configured to sequentially capture component images for each component.