JPH08181496A - Parts recognition apparatus for mounting machine - Google Patents

Abstract

PURPOSE: To improve the parts recognition accuracy by more well taking in an image of parts of a brightness suitable for recognition thereof. CONSTITUTION: A mounting machine is constituted as follows: On a moving path of a head unit 5 is placed a sensor unit 23 composed of a main body 25 of sensor having a line sensor 24, and illumination unit 26 and the head unit is moved relatively to the sensor unit 23 to thereby recognize parts sucked by a nozzle member 20. In this machine, the unit 26 is composed of many LEDs 27 mounted on a board 28 and diffusion plates 29 disposed on the surfaces thereof and is placed above the main body 25. At recognizing of the parts, the LEDs 27 of the unit 26 are turned on to illuminate the surface of the parts and a light reflected on the surface of the parts is taken in the main body 25 through slits 28a and 29b formed through the plates 29 and board 28.

Description

Detailed Description of the Invention

The present invention relates to a mounting machine configured to suck a component such as a chip component by a head unit equipped with a nozzle member and mount the component at a predetermined position on a printed circuit board, and more particularly, to a mounting member that is attracted to the nozzle member. The present invention relates to a component recognizing device for a mounter that recognizes a 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 a device for recognizing such a part, there has been proposed a device which picks up an image of a part adsorbed on a nozzle member by an image pickup means composed of a line sensor or an area sensor, and recognizes the part based on the image. ing.
For example, when a line sensor is used as the image pickup means, the line sensor is installed on the base of the mounting machine, and the head unit after component adsorption is passed over the line sensor,
An apparatus has been proposed in which a desired light for component recognition is applied to a suction component to capture a component image and the component recognition is performed based on the captured image.

[0005]

In the conventional device, there are still points to be improved regarding irradiation of light necessary for component recognition. This will be specifically described with respect to the case where a line sensor is used as the image pickup means.
To prevent the light-emitting unit that emits the light necessary for component recognition from blocking the field of view of the line sensor, for example, the side portion of the line sensor, etc. It is located far away. Therefore, in order to secure the illuminance suitable for component recognition, it is necessary to increase the brightness of the light emitting unit. Therefore, the light from the high-luminance light emitting portion is widely irradiated, and as a result, unnecessary reflection of light is likely to occur, which affects the recognition accuracy of the component.

Therefore, it is desirable to arrange the light emitting portion closer to the component so as to secure a predetermined illuminance while suppressing the brightness of the light emitting portion. Since there is a risk of obstructing the field of view of the sensor, this naturally has its limits, and there is no effective solution.

Further, in the conventional apparatus, the line sensor captures the component image in a plane, whereas the component to be recognized is not always in a plane, and therefore the accuracy is high in relation to the emitted light. There was a possibility that parts would not be recognized well. That is, when capturing an image of a columnar component, the surface of the component is curved, so in the captured component image, the edge is darker than the center of the component, and as a result,
In some cases, the external shape of a part could not be recognized accurately.

The present invention has been made in order to solve the above problems, and it is possible to improve the component recognition accuracy by better capturing a component image having a brightness suitable for image recognition. The purpose is to provide a device.

[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 an image pickup means arranged in a moving path of the head unit. In a mounting machine configured to recognize the component sucked by the nozzle member by moving the head unit to a predetermined image pickup position by the image pickup unit, the suction unit is provided between the image pickup position and the image pickup unit. A light emitting means for irradiating the component with light necessary for component recognition is provided, and the light emitting means is provided with an opening for image capturing corresponding to the image pickup means.

A component recognizing device for a mounting machine according to claim 2 is
The component recognizing device according to claim 1, wherein the image pickup means is a line sensor that one-dimensionally takes in a component image as the head unit moves, and the light emitting means is provided for each image pickup element of the line sensor. It is composed of a large number of light emitters arranged side by side along the array direction and a substrate on which the light emitters are mounted. On this substrate, slits extending in the array direction of each image sensor of the line sensor are formed as the openings. It will be.

A component recognizing device for a mounting machine according to a third aspect is
The component recognition apparatus according to claim 2, wherein the light emitting means has a plurality of rows of light emitters arranged on both sides of the slit.

A component recognition device for a mounting machine according to a fourth aspect is
3. The component recognition device according to claim 2, wherein the light emitting means includes a diffuser plate that covers the surface of the light emitter, and a slit corresponding to the slit of the substrate is formed on the diffuser plate, and the diffuser plate has a surface. The matte treatment is applied to prevent glare.

A component recognizing device for a mounting machine according to a fifth aspect is
The component recognition device according to any one of claims 1 to 4, wherein the light emitting means has a light emitting body arranged in a substantially V-shaped cross section that is inclined with the slit of the substrate as a valley.

A component recognition device for a mounting machine according to a sixth aspect is
The component recognition device according to any one of claims 1 to 4, wherein the light emitting means includes a prism that covers a surface side of the light emitting body, and the slit is formed in a direction in which a thickness of the prism is orthogonal to a longitudinal direction of the slit. The boundary is formed so as to gradually increase toward both outsides.

[0015]

According to the component recognizing device for a mounting machine as set forth in claim 1, the image of the component adsorbed to the head unit is moved by moving the head unit to a predetermined image pickup position of the image pickup unit after mounting the component. Captured by
Component recognition is performed based on this component image. On this occasion,
The light emitted from the light emitting means is reflected by the component, and the reflected light is applied to the image pickup means through the opening of the light emitting means, whereby the component image is captured.

According to the second aspect of the present invention, the head unit moves on the line sensor in the direction orthogonal to the arrangement direction of the image sensor of the line sensor, so that the image of the component sucked by the nozzle member is formed. It is taken in by the line sensor, and component recognition is performed based on this component image. At this time, the light emitted from the light emitter is reflected by the parts,
The reflected light is applied to the image pickup means through the slit of the substrate, and the component image is captured by this.

According to the third aspect of the present invention, since the light emitter has a certain range in the direction orthogonal to the line sensor, even when the surface of the component is inclined or curved,
The illuminance of the light incident on the line sensor through the slit is properly secured.

According to the invention described in claim 4, even when the directivity of the light emitting body is strong, the illuminance unevenness of the component can be suppressed by diffusing the irradiated light. Further, it is possible to prevent unnecessary light from entering the image pickup means due to reflection.

According to the invention described in claims 5 and 6,
When the surface of the component is inclined or curved, it is possible to adapt to a larger inclination or curvature of the surface of the component.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A component recognition apparatus according to the present invention will be described with reference to the drawings.

1 and 2 show the structure of a mounter in 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 which is rotationally 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.

Further, the Y-axis servomotor 9 and the X-axis servomotor 15 are provided with position detecting devices 10 and 16 each made of a rotary encoder, 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 is provided between the component supply section 4 and the conveyor 2 for taking in a component image when recognizing a component attracted to each nozzle member 20 of the head unit 5. It is set up.

The sensor unit 23 is composed of a sensor body 25 having a line sensor 24, and an illumination unit 26 (light emitting means) for irradiating light necessary for capturing an image. The line sensor 24 provided in the sensor body 25 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. ,
By moving the head unit 5 in a direction (sub-scanning direction; X-axis direction) orthogonal to the arrangement direction (main scanning direction; Y-axis direction) of each element 24a, the main-scanning direction of the components sucked by the nozzle member 20. Images are sequentially captured one-dimensionally in the sub-scanning direction. Although not shown, the component image is taken in by the line sensor 24 via a lens provided in the sensor body 25.

As shown in FIG. 4, the illumination unit 26 is arranged below the movement path of the head unit 5 at the time of component recognition and above the sensor body 25, and is mounted on the substrate 28. LED27 (light emitter)
And a diffusion plate 29 disposed on the surface thereof.

As shown in FIG. 5, in the central portion of the substrate 28, there is Y above the line sensor 24 of the sensor body 25 and corresponding to the arrangement of the CCD solid state image pickup devices 24a of the line sensor 24. A slit 28 extending in the axial direction
a is formed. A large number of the LEDs 27 are mounted on both sides of the slit 28a (on both sides in the X-axis direction) side by side along the slit 28a. In the illustrated example, three rows of the LEDs 27 are arranged on both sides of the slit 28a. Are provided one by one.

The diffusion plate 29 is an LED 2 having a strong directivity.
By appropriately diffusing the irradiation light of No. 7, the unevenness of illuminance of the illuminated parts is suppressed, and it is formed of a resin material such as acrylic. In the central portion of the diffusion plate 29, corresponding to the slit 28a of the substrate 28,
A slit 29a having the same shape as or slightly larger than the slit 28a is formed. Further, the surface (upper surface in FIG. 4) of the diffuser plate 29 is subjected to appropriate unevenness treatment (matting treatment), so that reflection of the light irradiated on the surface of the diffuser plate 29 can be suppressed. There is.

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, for example, the left end of the movement path with respect to the sensor unit 23, the head unit 5 is moved rightward (direction of arrow S in FIGS. 1, 3, 4, and 5) from this position. To be

When the movement of the head unit 5 for component recognition is started, the illumination unit 26 starts to emit light at a timing synchronized with this. Then, as the head unit 5 is moved above the sensor unit 23, each component adsorbed by each nozzle member 20 of the head unit 5 is illuminated by the light of the illumination unit 26, and its component image is displayed. It is sequentially taken in by the line sensor 24 of the sensor body 25. More specifically, when the LED 27 emits light in the illumination unit 26, the light is diffused by the diffuser plate 29 and applied to the front surface (actually the back surface) of the component adsorbed by the nozzle member 20. Then, when the light is reflected on the surface of the component, the reflected light is incident on the sensor body 25 via the diffusion plate 29 and the slits 28a, 29a of the substrate 28, whereby the component image is captured by the line sensor 24. Will be done.

When the head unit 5 completely passes over the sensor unit 23, the nozzle member 20
The image of all the components adsorbed on is captured by the line sensor 24.

By the way, the above-described mounting machine configured as described above has the following advantages over the conventional mounting machine of this type.

That is, in the mounting machine, in the sensor unit 23, the lighting unit 26 is arranged immediately above the sensor body 25, and the slits 28a, 29a formed in the substrate 28 and the diffusion plate 29 of the lighting unit 26 are used. Since the component image is captured, it is possible to illuminate the component by arranging the illumination unit 26 at a position closer to the component to be imaged without blocking the visual field of the sensor body 25.

Therefore, it is possible to properly secure a predetermined component illuminance suitable for component recognition while suppressing the brightness of the LED 27. Then, while suppressing the brightness of the LED 27, the range to be illuminated is narrowed by irradiating light from a position close to the imaging target component, that is, only the component to be recognized is clearly illuminated to recognize the background of the component and the like. It is possible to prevent unnecessary light from being illuminated and to suppress unnecessary light reflection. Moreover, the sensor body 25 is inserted through the slits 28a and 29a formed in the illumination unit 26.
Since unnecessary light is emitted to the sensor body 25, it becomes difficult for unnecessary light to be emitted to the sensor body 25. Therefore, it is possible to improve the recognition accuracy of the component. Further, since the surface of the diffuser plate 29 is matted to prevent reflection of light, it is possible to prevent unnecessary light from entering the sensor body 25 due to reflection.

The LEDs 27 are provided on both sides of the slit 28a.
Since a plurality of columns are provided for each, the illuminance of the light incident on the line sensor 24 through the slit 28a can be appropriately secured even when the surface of the recognition target component is inclined or curved. That is, if the surface of the component to be recognized is inclined or curved, the illuminance at the edge of the component or the like tends to decrease, and it becomes difficult to keep the illuminance of the entire component uniform. However, according to the above-described embodiment, the LED 27 has a certain range in the direction orthogonal to the line sensor 24, and the edge portion of the component is effectively illuminated, so that the illuminance of the entire component is kept uniform and the image of the component is displayed. Brightness and darkness can be suppressed. Therefore, the edge shape of the component can be recognized more accurately and the component can be recognized with high accuracy.

Further, in the above mounting machine, the lighting unit 2
Since 6 can be arranged immediately above the sensor body 25, there is no need to provide a space for arranging the illumination unit 26 in the peripheral portion of the sensor body 25, thus contributing to space saving of the mounting machine. There is also an advantage that the degree of freedom of layout can be increased while obtaining.

The mounting machine described above is an embodiment to which an example of the component recognition apparatus according to the present invention is applied, and its specific structure can be appropriately changed without departing from the gist of the present invention. is there. For example, the sensor unit 23 of the above embodiment
The sensor unit 2 in which lighting units 30, 31 as shown in FIGS. 6 and 7 are applied instead of the lighting unit 26 of FIG.
3 can also be configured. Hereinafter, these examples will be briefly described.

The lighting unit 30 shown in FIG. 6 basically has the same structure as the lighting unit 26 of the above-described embodiment in that it includes the LED 27, the substrate 28 and the diffusion plate 29. However, as shown in the figure, the substrate 28 and the diffusing plate 29 are respectively inclined with the slits 28a and 29a as valleys, whereby the LEDs 27 are arranged in a substantially V-shape. Is different from By adopting the illumination unit 30 having such a configuration, as shown in the figure, when the surface of the component C is curved or the like, it is possible to effectively illuminate the curved portion. It becomes possible to keep the illuminance of the entire component uniform compared to the illumination unit 26.

The illumination unit 31 shown in FIG. 7 is different from the illumination unit 26 of the above embodiment in that a prism 32 is provided instead of the diffusion plate 29. The prism 32 has a thickness that gradually increases from the central portion toward the outside of the X axis as shown in the figure, and the central portion corresponds to the slit 28a of the substrate 28. , A slit 3 for capturing an image having the same shape as the slit 28a or slightly larger than the slit 28a.
2a is formed. According to the illumination unit 31 having such a configuration, the light from the LED 27 is refracted by the prism 32, so that when the surface of the component C is curved, the curved portion can be effectively illuminated. .
Therefore, the illumination unit 31 can also keep the illuminance of the entire component uniform.

In each of the above embodiments, the line sensor is used as the image pickup means, but the present invention is also applicable to the case where an area sensor for two-dimensionally capturing an image is used. . In this case, for example, a circular opening corresponding to the field of view of the area sensor may be formed in the substrate and the diffusion plate.

Further, in the above embodiment, with respect to the movement of the head unit 5 with respect to the sensor unit 23 for component recognition, after the head unit 5 is set at the left end of the movement path, it is moved to the right (FIGS. 1, 3, 4). , 5 has been described as an example in which the head unit 5 is moved in the direction of the arrow S), it goes without saying that the head unit 5 may be set to the right end of the movement path and then moved to the left. The movement of the head unit 5 for such component recognition is performed, for example, on the left side of the sensor unit 23 for the last component to be sucked,
Alternatively, when the head unit 5 is sucked at a position close to this, the head unit 5 is moved in the direction of the arrow S, and when the last sucked component is sucked at the right side of the sensor unit 23 or at a position close thereto. If the head unit 5 is moved in the direction opposite to the arrow S, the parts can be recognized efficiently.

[0045]

As described above, according to the component recognition apparatus of the present invention, the image of the component adsorbed by the head unit can be obtained by moving the head unit to a predetermined image pickup position of the image pickup means after mounting the component. The image is captured by the image pickup means, and the component recognition is performed based on the component image.
At this time, the light emitted from the light emitting means is reflected by the component, and the reflected light enters the image capturing means through the opening of the light emitting means to image the component, so that the field of view of the image capturing means is not interrupted. By arranging the light emitting means at a position closer to the image pickup position, the component can be illuminated. Therefore, it is possible to appropriately secure a predetermined component illuminance suitable for component recognition while suppressing the brightness of the light emitting means, and thereby the component recognition accuracy is improved.

In such a structure, when the image pickup means is a line sensor, the light emitting means is provided with a large number of light emitting elements arranged in parallel along the arrangement direction of the image pickup elements of the line sensor, and the light emitting elements. It consists of a board on which the body is worn,
If a slit extending in the array direction of each image sensor of the line sensor is formed as an opening in this substrate, a component image can be taken in while suppressing unnecessary incidence of light. Especially, by arranging the light emitters in multiple rows on both sides of the slit, even if the surface of the component is inclined or curved, the illuminance of the light incident on the line sensor through the slit can be properly secured. can do.

If a diffusing plate is arranged on the surface of the light-emitting body, slits are formed in the diffusing plate, and the surface of the diffusing plate is subjected to a matting treatment for preventing reflection, the direction of the light-emitting body is directed. Even when the property is strong, it is possible to suppress the unevenness of the illuminance of the parts, and it is possible to incorporate the imaging means while preventing unnecessary reflection of light.

Further, a light emitting means for arranging the light emitting body in a substantially V shape by inclining the slits of the substrate and the diffusion plate as valleys, or a light emitting means for providing a prism on the surface side of the light emitting body is constituted. By doing so, it is possible to secure the required illuminance of the component with respect to a larger inclination or curve of the component surface.

[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 showing a line sensor of the sensor body.

FIG. 4 is an enlarged view of FIG. 2 showing a sensor unit.

5 is a cross-sectional view taken along the line AA in FIG. 4 showing a substrate and LEDs mounted on the substrate.

FIG. 6 is a diagram corresponding to FIG. 4 showing another example of the illumination unit.

FIG. 7 is a diagram corresponding to FIG. 4 showing another example of the illumination unit.

[Explanation of symbols]

 1 Base 2 Conveyor 3 Printed Circuit Board 4 Component Supply Section 5 Head Unit 9 Y-Axis Servo Motor 15 X-Axis Servo Motor 10, 16 Position Detection Means 20 Nozzle Member 23 Sensor Unit 23a Illumination Section 24 Line Sensor 25 Sensor Main Body 26 Illumination Unit 27 LED 28 Substrate 28a, 29a Slit 29 Diffuser

Claims (6)

[Claims] 1. A head unit having a nozzle member for picking up a component, and an image pickup means arranged in a moving path of the head unit, wherein the head unit is moved to a predetermined image pickup position by the image pickup means. In a mounter configured to recognize a component sucked by a nozzle member, a light emitting unit that irradiates the suction component with light necessary for component recognition is provided between the image pickup position and the image pickup unit. At the same time, the light emitting means is provided with an opening portion for taking in an image corresponding to the image pickup means. 2. The image pickup means is a line sensor for one-dimensionally capturing a part image as the head unit moves, and the light emitting means is arranged along an arrangement direction of image pickup elements of the line sensor. It is composed of a large number of light emitters arranged side by side and a substrate on which the light emitters are mounted, and a slit extending in the arrangement direction of the image pickup elements of the line sensor is formed in the substrate as the opening. The component recognition device for a mounting machine according to claim 1. 3. The component recognizing device for a mounter according to claim 2, wherein the light emitting means comprises light emitters arranged in a plurality of rows on both sides of the slit. 4. The light emitting means comprises a diffuser plate that covers the surface of the light emitter, and a slit corresponding to the slit of the substrate is formed on the diffuser plate, and the diffuser plate has a surface for preventing reflection. The component recognition device for a mounting machine according to claim 2, wherein the component recognition device is matted. 5. The mounting machine according to claim 1, wherein the light emitting means has a light emitting body arranged in a substantially V-shaped cross section that is inclined with the slit of the substrate as a valley. Parts recognition device. 6. The light emitting means comprises a prism covering the surface side of the light emitting body, and the thickness of the prism gradually increases outward in both directions with the slit as a boundary in a direction orthogonal to the longitudinal direction of the slit. The component recognition device for a mounting machine according to claim 1, wherein the component recognition device is for a mounting machine.