WO2005101944A1 - テープフィーダおよび電子回路部品供給装置 - Google Patents
テープフィーダおよび電子回路部品供給装置 Download PDFInfo
- Publication number
- WO2005101944A1 WO2005101944A1 PCT/JP2005/007167 JP2005007167W WO2005101944A1 WO 2005101944 A1 WO2005101944 A1 WO 2005101944A1 JP 2005007167 W JP2005007167 W JP 2005007167W WO 2005101944 A1 WO2005101944 A1 WO 2005101944A1
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- WIPO (PCT)
- Prior art keywords
- component
- tape
- feed hole
- electronic circuit
- feed
- Prior art date
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Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0417—Feeding with belts or tapes
- H05K13/0419—Feeding with belts or tapes tape feeders
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0417—Feeding with belts or tapes
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
- H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
Definitions
- the present invention relates to a tape feeder, and more particularly to an improvement in supply accuracy of an electronic circuit component held on a carrier tape.
- An electronic circuit component is a component that is mounted on a circuit board and constitutes an electronic circuit.
- the electronic circuit component is held by a carrier tape, set in a tape feeder, and supplied.
- the carrier tape In the carrier tape, a large number of feed holes and component receiving recesses are formed side by side and formed in a preset relative position, and an electronic circuit component is stored in each of the multiple component receiving recesses.
- the electronic circuit components accommodated in these component accommodating recesses are sequentially positioned at the component supply position by the carrier tape being fed by the feeding device.
- the feed hole and the component receiving recess are usually formed on the carrier tape at a preset relative position with high accuracy, they are positioned at the feed hole imaged by the imaging device and the component supply position. This is because the position error of the feed hole obtained by imaging can be regarded as the position error of the component receiving recess positioned at the component supply position. Even if the type of carrier tape changes, the feed hole is often the same. According to the image of the feed hole, the relative position error of the component receiving recess is obtained by imaging the component receiving recess or electronic circuit component. And there is data required for processing! / ⁇ is time for processing Effects such as a short interval can be obtained.
- Patent Document 1 Japanese Patent Laid-Open No. 2003-347794
- the feed hole is imaged by the imaging device with a force, it is not always easy to obtain the image with high accuracy.
- the feed hole is provided so as to penetrate the carrier tape in the thickness direction, and when the image is picked up by the imaging device, the color is determined by the color of the tape support surface that supports the carrier type of the tape feeder downward. For this reason, when the image pickup device images the feed hole and the peripheral part of the carrier tape, the contrast between the color of the carrier tape and the color of the tape support surface may be small, and data that clearly defines the image of the feed hole is obtained. It may not be possible.
- the tape feeder selectively holds multiple types of carrier tapes and supplies electronic circuit components. If the colors of the carrier tapes are different from each other, even if the carrier tapes are misaligned, the feed holes are not provided. It becomes more difficult to capture images with high accuracy.
- the present invention has been made against the background of the above circumstances, and an object of the present invention is to provide a tape feeder capable of accurately recognizing a carrier hole of a carrier tape. Means for solving the problem
- the present invention has a large number of feed holes and component receiving recesses arranged side by side and at predetermined relative positions, and each of the component receiving recesses has an electron.
- a tape feeder that sequentially positions each of the electronic circuit components at a component supply position by feeding the carrier tape containing the circuit components by a feeding member having an engaging protrusion that engages with the feeding hole.
- the portion of the tape supporting surface that supports the force opposite to the opening side of the component receiving recess is larger than one of the plurality of feed holes among the portions along the passage of the plurality of feed holes.
- the optical recognition device is provided with optical characteristics suitable for recognition of the one through hole, and is set as at least one through hole optical characteristic setting unit for setting the optical characteristic of the one through hole. And characterized in that Noto.
- the carrier tape includes various carrier tapes such as an emboss carrier of an emboss carrier type taping and a square hole carrier tape of a square hole punch carrier type taping.
- the feed hole may be formed on only one of the edges parallel to the longitudinal direction of the carrier tape, or it may be formed on both sides.
- the optical characteristic setting section may be formed along only one of the two rows of feed hole passage paths on the tape support surface or may be formed along both of them. There is a high degree of freedom in installing the characteristic characteristic setting section.
- the feed member include a sprocket and a member that moves along a rectangular trajectory as described in Japanese Patent Publication No. 1-52296.
- the optical characteristics for example, at least one of hue, brightness, light reflectance, etc. can be adopted. For example, even if the hue and lightness are the same, the optical reflectance can be made different depending on the material and the type of finish processing.
- the optical recognition device recognizes a feed hole located on the feed hole optical characteristic setting unit.
- the feed hole is formed by penetrating the carrier tape in the thickness direction, and its optical characteristics are set by an optical property setting section provided on the tape support surface.
- the feed hole is an optical recognition device.
- the characteristic suitable for recognition is provided. Therefore, the feed hole related to the optical characteristics of the carrier tape is accurately recognized by the optical recognition device, and its position and relative position error with respect to the optical recognition device are obtained with high accuracy, thereby positioning at the component supply position.
- the position and relative position error of the component-accommodating recess are obtained with good accuracy, and the accuracy of taking out electronic circuit components from the component-accommodating recess is improved.
- the optical property setting section is larger than one of the many feed holes, even if the position of the feed hole located on the optical property setting section is misaligned, the entire optical characteristics are Set and recognized.
- one optical property setting unit is provided, and the optical property is set according to the optical property of the carrier tape.
- the optical property is set according to the optical property of the carrier tape.
- a single feeder can be used for multiple types of carrier tape, such as dimensions, types of electronic circuit components stored in the component receiving recesses, and storage forms of electronic circuit components (for example, Embossing Even if multiple carrier tapes of different types and at least one of different materials, optical characteristics, etc. are sent alternatively, each carrier tape If the force is the same, and the optical characteristics are almost the same, only one optical characteristic setting section is provided, and the feed hole can be accurately recognized for any carrier tape.
- the optical characteristics can be interchanged.
- the feed holes of different types of carrier tapes can be accurately recognized. For example, if two carrier tapes have optical characteristics that are significantly different from each other, the optical characteristic setting unit is assumed to have an optical characteristic intermediate between the optical characteristics of the two carrier tapes. As a result, the feed hole can be accurately recognized for any of the two carrier tapes of different types by one optical property setting unit.
- claimable invention is at least the invention described in the claims.
- This invention includes “the present invention” or “the invention of the present application, but may include a subordinate concept invention of the present invention, a superordinate concept of the present invention, or an invention of another concept").
- each aspect is divided into sections, each section is given a number, and the other sections are numbered as necessary. This is for the purpose of facilitating understanding of the claimable invention, and is not intended to limit the combination of the constituent elements constituting the claimable invention to those described in the following sections.
- a plurality of feed holes and component receiving recesses are arranged side by side and formed at predetermined relative positions, and a carrier tape in which electronic circuit components are stored in each of the component receiving recesses is engaged with the feed holes.
- a tape feeder that sequentially positions each of the electronic circuit components at a component supply position by feeding by a feeding member having an engaging projection to support the carrier tape from a side opposite to the opening side of the component receiving recess; Of the portion of the tape support surface along the passage path of the plurality of feed holes, a portion larger than one of the plurality of feed holes is recognized by the optical recognition device with respect to the one feed hole.
- Tape feeder with optical characteristics suitable for the at least one feed hole optical characteristic setting section for setting the optical characteristics of one feed hole.
- the feed hole optical characteristic setting unit be located in an area where the distance to the component supply position is within 7 times the formation pitch of many feed holes, within 5 times, within 3 times, or within 2 times. It is further desirable to provide the area.
- a feed hole color having a color that enables the feed hole optical characteristic setting unit to distinguish between a feed hole recognized by the optical recognition device and a peripheral portion of the feed hole of the carrier tape.
- the color of the feed hole optical characteristic setting section can be set to a color that can clearly distinguish the feed hole and the peripheral portion of the carrier hole of the carrier tape by color. This makes it possible to recognize the feed hole clearly and as a result with high accuracy.
- the color includes an achromatic color and a chromatic color.
- the at least one feed hole optical characteristic setting unit has different optical characteristics from each other. Including a plurality of different characteristic setting portions, and the different characteristic setting portions are provided side by side at a pitch that is an integral multiple of the formation pitch of the plurality of feed holes in the feed direction of the carrier tape.
- the tape feeder described in! / Of (3).
- the optical recognition device may recognize a plurality of feed holes respectively positioned on a plurality of optical characteristic setting units one by one or may recognize a plurality of them simultaneously. Since the plurality of different characteristic setting sections are arranged at a pitch that is an integral multiple of the formation pitch of a number of feed holes, the plurality of feed holes are simultaneously located on different characteristic setting sections, and have different optical characteristics. A plurality of feed holes can be obtained simultaneously. Therefore, if it is planned to set a plurality of types of taping with different optical characteristics of the carrier tape in the tape feeder, the number of different characteristic setting sections is set according to the optical characteristics of the carrier tape.
- the optical characteristics of any type of carrier tape are the same as those of the carrier holes for which the optical characteristics are set by a plurality of different characteristic setting sections. It will be very different from the peripheral part of the hole, and it will be possible to recognize it with high accuracy.
- the tape feeder in this section multiple types of carrier tapes with different optical characteristics can be held selectively, and the feed hole can be optically recognized for any carrier tape while effectively using the tape feeder.
- the device can be recognized accurately and the electronic circuit components can be taken out with high accuracy.
- the formation pitch of the plurality of feed hole optical characteristic setting portions is not necessarily indispensable to be an integral multiple of the formation pitch of many feed holes. If the formation pitches of a large number of feed holes and multiple feed hole optical characteristic setting parts are strong, the feed holes are sequentially moved onto the multiple feed hole optical characteristic setting parts in accordance with them, and optical recognition is performed. It can be recognized by the device.
- Hue and brightness are classified into multiple types and multiple levels, respectively, and are suitable for setting the optical characteristics of the sprue hole.
- the plurality of different characteristic setting sections may include two basic colors in a hue circle composed of ten basic hues.
- the JIS standard Z8721 defines how to express colors using symbols.
- This display symbol is a symbol that defines the color by the three elements of hue, brightness, and saturation.
- Hue has 10 basic hues of R, YR, Y, YG, G, BG, B, BP, P, RP. These basic hues are further classified into 100 levels, and are defined by alphabets representing the basic hues and numerical values in increments of 0.1 that are greater than 0 and less than or equal to 10. Lightness is defined by a number from 0 to 10, in increments of 0.1, and saturation is defined by a number in increments of 0.1 without an upper limit.
- the basic hue in this section is the basic hue that defines the hue that constitutes the display symbol of this color, and each hue of a plurality of different characteristic setting sections that have a hue difference of two or more basic hues is the basic hue. It may be set at the stage of hue classification. It may be set at the stage of classifying 10 basic hues into 10 or 100 respectively. For example, 5.5R and 5.5Y may be used, and 5R and 5Y may be used.
- Two hues having a hue difference equal to or greater than two basic hue differences have sufficiently high contrast.
- a plurality of feed holes in which hues are set by a plurality of different characteristic setting units having the hue difference are sufficiently different in hue. Therefore, when multiple types of carrier tape are selectively held in the tape feeder, if each hue of multiple different characteristic setting sections is set according to the hue of each carrier tape, multiple carrier tapes! /, Even if it shifts, any of the feed holes in which the hue is set by a plurality of different characteristic setting sections has a sufficiently high hue contrast with the carrier tape, and can be accurately recognized.
- Different characteristic setting sections that make the brightness different by two or more levels are similar to the case where multiple characteristic setting sections with sufficiently high contrast have hue differences of two basic hues or more.
- the feed hole can be recognized accurately.
- the different characteristic setting parts are achromatic with no hue, for example, if each lightness of the two different lightness setting parts is 10 and 0, respectively, the feed hole with the largest lightness difference will be created.
- the color may be set to lightness that becomes gray near white and lightness that becomes gray near black.
- Achromatic colors include achromatic colors that are not tinted and achromatic colors that are tinted.
- one of the plurality of different lightness setting units is a light color setting unit having a lightness of 8 or more, and the other is a dark color setting unit having a lightness of 3 or less.
- carrier tape is embossed carrier tape and is black
- square hole punch carrier tape is white and these two types of carrier tape are alternatively held by the feeder to supply electronic circuit components
- White and black are achromatic colors, but they are colors.
- the white setting section and black setting section are feed hole color setting sections that have a color that allows the feed hole and the peripheral portion of the carrier hole of the carrier tape to be distinguished by color. It is one aspect
- the electronic circuit parts are housed in the embossed taper and the hole housing part of the square hole punch carrier tape in which the electronic circuit parts are housed in the recessed part of the embossed carrier tape.
- the tape feeder according to any one of (1) to (9), wherein the square hole punch carrier type taping is used alternatively to supply electronic circuit components.
- the feed hole optical characteristic setting section is provided upstream from the component supply position in the carrier tape feed direction. (1) None or (10) .
- the electronic tape component is still housed in the part upstream of the component supply position in the carrier tape feed direction, and the carrier tape is restrained by the carrier tape guide device or the like. Therefore, the carrier tape is fed from the component supply position. In the direction, the feed hole on the upstream side is less displaced with respect to the component receiving recess positioned at the component supply position. Therefore, according to the tape feeder of this section, the feed hole can be recognized with little positional deviation, and the position of the component housing recess can be obtained with high accuracy. However, it is also possible to provide the feed hole optical characteristic setting section downstream from the component supply position.
- a feeder that moves the tape feeder and the optical recognition device relative to a recognition position for recognizing a feed hole located on the feed hole optical characteristic setting unit; a recognition device relative movement device;
- a movement control unit for controlling the feeder / recognition device relative movement device
- An accommodation recess position acquisition unit that acquires the position of the component accommodation recess based on the position of the feed hole recognized by the optical recognition device and the relative position;
- An electronic circuit component supply apparatus including:
- the position of the feed hole can be obtained with high accuracy based on accurate recognition, and the position of the component receiving recess can be obtained with high accuracy.
- the electronic circuit components can be taken out with fewer mistakes.
- the tape feeder is the tape feeder according to any one of the items (4) and (9), and the movement control unit includes the plurality of different characteristic setting units in the optical recognition device. Including a recognition order-corresponding movement control unit that controls the feeder's recognition device relative movement device that recognizes a plurality of feed holes each having a background in a preset order. Electronic circuit component supply device.
- any one of the plurality of feed holes whose optical characteristics are set by the different characteristic setting sections, have sufficiently different optical characteristics from the carrier tape.
- the difference in optical characteristics between the other feed holes and the carrier tape is small. Therefore, when the optical recognition device recognizes the hole in a preset order, the hole may or may not be clearly recognized, and the optical hole is not recognized until it is clearly recognized. The relative movement and recognition of the recognition device are repeated.
- the optical recognition device related to the type of the carrier type held by the tape feeder is recognized in the same order as the preset order, and the feed hole is formed. It can be clearly and accurately recognized. Therefore, it is not necessary to set a recognition position where the optical recognition device can clearly recognize the feed hole for each type of carrier, and the amount of data required to recognize the feed hole can be reduced.
- the tape feeder of the electronic circuit component supply apparatus may be the tape feeder described in the paragraph (10) or (11) according to either (4) or (9). The same applies to item (14).
- the tape feeder is the tape feeder according to (4) or (9), and the movement control unit includes the plurality of different characteristic setting units in the optical recognition device.
- the feeder that recognizes a feed hole that has a preset one of the background as a background, and a recognition target setting movement control unit that controls a relative movement apparatus.
- a recognition position at which the optical recognition device recognizes the feed hole is preset according to the optical characteristics. Therefore, the optical recognition device needs to be moved and recognized only once when the hole is recognized, and the hole can be recognized quickly.
- a line sensor or a line sensor that can acquire a two-dimensional image at once may be used as the imaging device.
- a two-dimensional image of the feed hole can be obtained if the line sensor and the feed hole are repeatedly imaged while being relatively moved in a direction perpendicular to the direction in which the image sensors of the line sensor are aligned.
- the imaging device picks up images of the perforation hole and the carrier tape area around the perforation hole. An image corresponding to the optical characteristics is obtained. By setting the optical characteristics of the feed hole, the image of the feed hole can be clearly obtained with respect to the image around the feed hole of the carrier tape, and image data defining the image (outline) of the feed hole can be obtained. .
- a holder-feeder relative movement device that relatively moves the nozzle holder and the tape feeder to a component take-out position opposite to a component receiving recess in which the suction nozzle is positioned at the component supply position;
- a position correction unit that corrects the component extraction position based on the position of the component storage recess acquired by the storage recess position acquisition unit;
- Electronic circuit parts supply including ⁇ take-out device.
- the position of the component receiving recess is obtained, a deviation from the normal position can be obtained, and by correcting the component take-out position so that the shift can be canceled, the suction nozzle and the component receiving recess are positioned with little shift. Therefore, electronic circuit components are taken out properly. Based on accurate recognition of the feed hole, the position of the component receiving recess can be obtained with high accuracy, and the electronic circuit components can be taken out with higher accuracy. Even when the tape feeder selectively holds multiple types of carrier tapes and supplies electronic circuit components, the electronic circuit components can be accurately taken out when supplying electronic circuit components using any type of carrier tape.
- An XY robot in which a plurality of the tape feeders are provided side by side in the X-axis direction, and the holder-feeder relative movement device moves the nozzle holder in the X-axis direction and a Y-axis direction perpendicular thereto.
- the suction nozzle and the component receiving recess can be positioned in both the X-axis and Y-axis directions by correcting the control data of the XY robot.
- FIG. 1 is a plan view showing an electronic circuit component mounting machine equipped with an electronic circuit component supply / extraction device according to an embodiment of the claimable invention.
- FIG. 2 is a front view (partly in cross section) showing a component mounting apparatus of the electronic circuit component mounting machine.
- FIG. 3 is a side view showing a mounting head and a wiring board imaging system of the component mounting apparatus.
- FIG. 5 is a rear sectional view showing a state in which the embossed carrier type taping held by the tape feeder is supported by a tape support surface.
- FIG. 6 is a side view showing the embossing type taping.
- FIG. 7 is a plan view showing the embossing type taping.
- FIG. 8 is a rear sectional view showing a state in which the square hole punch carrier type taping held by the tape feeder is supported by a tape support surface.
- FIG. 9 is a side view showing the square hole punch carrier type taping.
- FIG. 10 is a plan view showing a black setting portion and a white setting portion provided in the feeder main body of the tape feeder.
- FIG. 11 is a side view showing a sprocket and its peripheral part constituting the tape feeder of the tape feeder.
- FIG. 12 is a plan view showing a cover placed on the taping in the tape feeder.
- FIG. 13 is a diagram schematically showing a control device for controlling the electronic circuit component mounting machine.
- FIG. 14 is a plan view showing a state in which the feed hole is positioned on the black setting portion and the white setting portion for each of the embossed carrier type taping and the square hole punch carrier type taping.
- FIG. 15 is a flowchart showing a part removal position correction routine executed by the control device.
- FIG. 16 An electronic circuit component supply / extraction device according to another embodiment of the claimable invention is provided. 6 is a flowchart showing a component removal position correction routine executed by a control device for an electronic circuit component mounting machine.
- FIG. 17 is a plan view showing a relative position between a component receiving recess and a feed hole of a carrier tape of a taping held by a feeder of an electronic circuit component supply / removal device which is still another embodiment of the claimable invention. .
- Component mounting device 18 Component supply device 24: Control device 30: Printed wiring board 40: Tape feeder 50: Embossed carrier type taping 52: Square hole punch carrier type taping 54: Embossed carrier tape 62: Component storage Recess 64: Electronic circuit component 68: Feed hole 74: Square hole punch carrier tape 80: Component receiving recess 90: Feeder body 104, 106: Tape support surface 170: Black setting part 172: White setting part 200: Mounting head 238 : Nozzle holder 240: Suction nozzle 250: Wiring board imaging device
- FIG. 1 shows an electronic circuit component mounting machine including an electronic circuit component supply / extraction device according to an embodiment of the claimable invention.
- the mounting head is moved to an arbitrary position in a plane parallel to the surface of the printed wiring board to receive the electronic circuit component power and mount it on the printed wiring board.
- Japanese Patent No. 2824378 it is already known in Japanese Patent No. 2824378 and will be described briefly.
- the electronic circuit component mounting machine includes a circuit board transport device 12 and a substrate holding device as a substrate transport device provided on a bed 10 and a bed 10 as a main body.
- Printed wiring board holding device 14 component mounting device 16 as component take-out device 16, component supply device 18 and wiring board imaging system 22 as board imaging system 22, control device 24 for controlling these devices (see Fig. 13) Etc.
- an XY coordinate plane is set as a reference coordinate plane for the electronic circuit component mounting machine, and movement data of the mounting head and the like are set on this XY coordinate plane.
- reference numeral 30 denotes a printed wiring board which is a type of printed circuit board. There are already two fiducial marks 34.
- the component supply device 18 is fixedly provided at one side of the wiring board transport device 12 and is stationary.
- the component supply device 18 is configured in substantially the same manner as the component supply device described in Japanese Patent Application Laid-Open No. 10-112598, except for parts relating to claimable inventions.
- the component supply device 18 includes a plurality of tape feeders (hereinafter abbreviated as feeders) 40 that are detachably provided side by side on the feeder support base 38 in the X-axis direction.
- the feeder 40 is used to supply electronic circuit components, such as emboss carrier type taping 50 (see FIGS. 5 to 7) and square hole punch carrier type taping 52 (see FIGS. 8 and 9). Can be used alternatively.
- the embossing tape 54 of the embossing type taping 50 is provided with strip-like supported parts 56 and 58 at both edges along its longitudinal direction.
- a large number of component storage boxes 60 are projected from between the supported portions 56 and 58 at regular intervals and in a line.
- one electronic circuit component 64 (hereinafter abbreviated as “component 64”) is accommodated in each component accommodating recess 62 provided in each of these component accommodating boxes 60.
- the embossed carrier tape 54 is made of synthetic resin and is black, and one of the supported parts 58 has a number of feed holes 68 in a direction parallel to the longitudinal direction of the embossed carrier tape 54. They are provided at regular intervals and through the thickness direction.
- the large number of feed holes 68 and the large number of component receiving recesses 62 are embossed type taping.
- the carrier taping 50 is formed so that the distance in the width direction is always constant.
- the relative position between the component receiving recess 62 and the feed hole 68 may be different for different types of carrier tape.
- a single type of carrier tape has multiple types of relative positions.
- the formation interval of the component receiving recesses 62 is equal to the formation interval of the feed holes 68. 1. If it is 5 times, one component receiving recess 62 has the same longitudinal position of the embossing type taping 50 as the feed hole 68, but the component receiving recess 62 adjacent to the component receiving recess 62 is It will be in the middle of two adjacent feed holes 68, so that it does not matter. In this case, since multiple types of relative positions appear repeatedly, it is necessary to take this into account so that the relative position of the component receiving recess 62 that is currently focused on with respect to the feed hole 68 can be determined.
- the square hole punch carrier type taping 52 penetrates the square hole punch carrier tape 74 in the thickness direction so that a large number of square holes 76 are formed in a line at equal intervals.
- one opening is closed by a bottom tape 78 attached to the lower surface of the square hole punch carrier tape 74 to form a component accommodating recess 80.
- Each of these component receiving recesses 80 accommodates a component 64 (not shown.
- the same reference numeral is used for different types of electronic circuit components), and the opening is a square hole punch carrier type.
- a cover tape 82 attached to the upper surface of 74 is closed.
- both edges parallel to the longitudinal direction thereof constitute belt-like supported portions 84 and 86, respectively, and a number of feed holes 68 are formed in one of the supported portions 86.
- V is formed by being penetrated in the thickness direction at equal intervals in the direction parallel to the longitudinal direction of the rear tape 74.
- the feed hole 68 formed in each of the square hole punch carrier type taping 52 and the embossed carrier type taping 50 is the same, and the size and the formation pitch are the same.
- the recess 80 is formed in a line in the square hole punch type carrier tape 52 and is formed at a predetermined relative position in the same manner as the component receiving recess 62 and the feed hole 68.
- the square hole punch carrier tape 74 is made of paper and white in this embodiment.
- the feeder 40 is a component container holding device that holds the feeder main body 90 and the component storage reel 92!
- the reel holding device 94 is a component storage reel wound with taping 50 or 52. Is rotatably supported by a plurality of support rollers 100 as rotation support members. As shown in FIG. 10, a groove 102 that opens in the upper surface of the feeder main body 90 and extends parallel to the longitudinal direction is formed in the front portion of the feeder main body 90 that is separated from the reel holding device 94 in the longitudinal direction. It is formed so as to penetrate the front portion, and on both sides in the width direction of the groove 102, it extends parallel to the longitudinal direction of the feeder main body 90, and is provided with upward tape support surfaces 104, 106.
- the tape feeding device 96 has a sprocket 110 as a feeding member and a sprocket driving device 112 as a feeding member driving device.
- the sprocket 110 has a plurality of teeth 116 as engagement projections provided at equal angular intervals on the outer peripheral surface of a disk-shaped main body 114, and the feeder main body 90 has a width of the feeder main body 90. It is supported so as to be rotatable about an axis parallel to the direction.
- the teeth 116 are engaged with the feed holes 68 of the carrier tapes 54 and 74 to restrain the taping 50 and 52.
- the sprocket drive device 112 includes a pulse motor 120, a drive gear 122, a driven gear 124, a drive pulley 126, a drive belt 128, and a driven pulley 130.
- the pulse motor 120 is a type of rotating electric motor that is an electric motor capable of accurately controlling the rotation angle, and constitutes the drive source of the sprocket drive unit 112.
- the rotation angle of the pulse motor 120 is controlled by controlling the drive signal. Is controlled, the sprocket 110 is rotated by a predetermined angle, and the carrier tapes 54 and 74 are fed.
- a servo motor may be used in place of the pulse motor.
- the force bar tape peeling device 98 shares a drive source with the tape feeding device 96 and peels the cover tapes 66, 82 from the carrier tapes 54, 74 when the taping 50, 52 is fed.
- the front portion of the feeder main body 90 is also provided with a cover 140.
- the cover 140 is provided at the portion where the teeth 116 of the sprocket 110 of the taping 50, 52 are engaged and at the front and rear portions thereof.
- the cover tape 66, 82 is peeled off, the taping 50, 52 is prevented from lifting from the feeder main body 90, and the taping 50, 52 in the width direction of both sides of the taping 50, 52 in the width direction is prevented. Prevent misalignment.
- the cover 140 is attached by a shaft 142 so as to be rotatable about an axis parallel to the width direction of the feeder main body 90, and the cover 140 is biased by a spring 148 as an elastic member which is a kind of biasing means. It is energized in the direction approaching the main body 90 and kept in a state of covering the taping 50, 52.
- the cover 140 is provided with an opening 154 so that the component 64 can be taken out by the component mounting device 16.
- the size (cross-sectional shape) of the component receiving recesses 62 and 80 varies depending on the size of the component 64, but the suction nozzle 240 described later is the center of the component receiving recesses 62 and 80 (in many cases, the center of the component 64).
- the central force of the component receiving recesses 62 and 80 is downstream of the tooth 116 facing directly above the sprocket 110 in the tape feed direction, and A position positioned away from the tooth 116 by a distance shorter than the distance equal to the formation pitch of the numerous feed holes 68 is set as the component supply position.
- the suction nozzle 240 is positioned at a position corresponding to the component supply position, and the position where the component 64 is removed is the component removal position.
- the cover 140 is also provided with a slit 156 upstream from the opening 154 in the tape feeding direction so that the cover tapes 66 and 82 peeled off from the carrier tapes 54 and 74 are drawn out. .
- the cover 140 is further provided with a slot 158 extending through the cover 140 in the thickness direction.
- a notch 160 (see FIG. 10 and FIG. 11) is provided in the portion of the feeder body 90 where the teeth 116 of the sprocket 110 engage with the feed hole 68, and the teeth 116 protrude above the tape support surface 106 from the notch 160.
- the cover 140 is engaged with the feed holes 68 of the carrier tapes 54 and 74, and the cover 140 allows the engagement in the slot 158.
- the embossing type taping 50 When the embossing type taping 50 is used to supply the component 64 in the feeder 40, the component receiving reel 92 around which the embossing type taping 50 is wound is held by the feeder 40. As shown in FIG. 5, the embossed carrier type tabing 50 pulled out from the component storage reel 92 has the pair of supported portions 56 and 58 placed on the tape support surfaces 104 and 106, and the component storage box. 60 is accommodated in the groove 102, and the tooth 116 of the sprocket 110 is engaged with the feed hole 68, and the embossed carrier type taping 50 is positioned in the longitudinal and width directions by the sprocket 110. 1 40 is put on.
- the sprocket 110 is rotated by the sprocket driving device 112, so that the embossing-type taping 50 or the embossing-type tape 54 force is generated in the longitudinal direction.
- Direction or the longitudinal direction of the feeder 40 which is parallel to the Y-axis direction, is sent by a distance equal to the formation interval of the component receiving recesses 62, and the components 64 stored in each of the component receiving recesses 62 are sequentially supplied. Positioned in position.
- the supported portions 56 and 58 are also supported by the tape supporting surfaces 104 and 106 in a downward force, and are supported by the force opposite to the opening side of the component receiving recess 62 and guided in movement.
- the component storage box 60 is stored in the groove 102 and moves without interfering with the feeder main body 90.
- the tape support surfaces 104 and 106 are also tape guide surfaces, the supported portions 56 and 58 are also guided portions, and the portion of the feeder body 90 where the tape support surfaces 104 and 106 are provided is the tape support portion. Configure the tape guide! /
- the component holding reel 92 holding the square hole punch carrier type taping 52 is held by the reel holding device 94.
- the square hole punch carrier type taping 52 pulled out from the component accommodating reel 92 has the supported parts 84 and 86 placed on the tape support surfaces 104 and 106, respectively.
- the teeth 116 of the sprocket 110 are engaged and the cover 140 is put on.
- the sprocket 110 is rotated, the downward force is also supported by the tape support surfaces 104 and 106, and the square hole carrier type taping 52 or the square hole punch carrier tape 74 is fed by a distance equal to the formation interval of the component receiving recesses 80.
- the parts 64 are sequentially positioned at the parts supply position.
- the parts supply position is the same for the embossed carrier type taping 50 and the square hole punched carrier type taping 52.
- the feed hole 68 force S of the carrier tape 54, 74 S The tape support surface 106 that supports the supported portions 58, 86 provided with the feed hole 68 passing path
- a black setting unit 170 that is black with a lightness strength So and a white setting unit 172 that is white with a lightness of 10 are provided in the portion corresponding to the passage route.
- the black setting part 170 is an example of a dark color setting part with a lightness of 3 or less
- the white setting part 172 is an example of a light color setting part with a lightness of 8 or more, each of which is a kind of different characteristic setting part that is an optical hole characteristic setting part.
- the feeder body 90 is made of metal, and the color setting sections 170 and 172 are respectively provided on the tape support surface 106. It is a color different from the color, and is suitable for imaging each feed hole 68 of the embossed carrier tape 54 that is black and the square hole carrier tape 74 that is white from the portion other than the color setting parts 170, 172 of the tape support surface 106
- the black setting section 170 sets the color of the feed hole 68 provided through the carrier tapes 54 and 74 in the thickness direction to black.
- Setting section 172 sets the color of feed hole 68 to white.
- Each of these color setting portions 170 and 172 has a large number of component receiving recesses in a portion upstream of the component supply position larger than the feed hole 68 in the tape feed direction and upstream of the notch 160.
- One of them is positioned at the component supply position, and the teeth 116 of the sprocket 110 are facing directly upward, so that two adjacent feed holes 68 (directly facing upwards! (Except for the combined feed hole 68).
- the color setting portions 170 and 172 are provided side by side at the same pitch as the formation pitch of the numerous feed holes 68 in the carrier tape feeding direction.
- the color setting units 170 and 172 are provided close to the component supply position.
- the black setting unit 170 is separated from the component supply position by a distance slightly shorter than four times the formation pitch of the feed holes 68.
- the position corresponding to the center of the feed hole 68 on the downstream side in the tape feed direction is provided as a center.
- the white setting unit 172 also feeds the component supply positional force. It is located at a distance slightly shorter than 5 times the formation pitch of the holes 68, and is provided around the position corresponding to the center of the upstream feed hole 68 in the tape feed direction among the two feed holes 68. ing.
- the centers of these feed holes 68 are the centers when there is no relative position error between the taping 50, 52 and the feeder 40.
- the color setting sections 170 and 172 are formed by, for example, applying metal surface treatment such as staking to the tape support surface 106, or by coating with a paint, or by thermocompression treatment such as film tape. It is provided by various means.
- the slot 158 of the cover 140 has a length extending to the black setting portion 170 and the white setting portion 172. When the cover 140 is covered with the taping 50, 52, the color setting portions 170, 172 are viewed from above. It is made to get.
- the distance between the pair of tape support surfaces 104, 106 is changed so that a plurality of types of taping having different widths can be held! .
- This change can be made, for example, in the same manner as the feeder described in JP-A-8-23190.
- the component mounting device 16 mainly includes a mounting head 200 and an arbitrary head in the horizontal plane that is a plane parallel to the mounting surface of the printed wiring board 30.
- XY robot 202 as a head moving device or component holder moving device that moves to the position of the head, a head rotating device 206 that rotates the mounting head 200 around the axis, a head lifting device 208 that moves the mounting head 200 up and down, etc.
- the XY robot 202 includes an X-axis slide 210 as a moving member, an X-axis slide moving device 212, a Y-axis slide 214 as a moving member, and a Y-axis slide moving device 216.
- the X-axis slide moving device 212 includes an X-axis slide drive motor 218, a ball screw 220, which is a kind of feed screw, and a nut 222 (see FIG. 2), and moves the X-axis slide 210 in the X-axis direction. Together with the slide 210, an X-axis moving device 224 is configured.
- the Y-axis slide moving device 216 includes a Y-axis slide drive motor 226, a ball screw 228, and a nut 230 (see Fig. 2), and moves the Y-axis slide 214 in the Y-axis direction.
- the axis moving device 232 is configured.
- the mounting head 200 includes a nozzle holder 238 and holds the suction nozzle 240 in a detachable manner.
- the suction nozzle 240 includes a main body 242 as a main body portion and an suction pipe 244 that constitutes the suction portion, and sucks the component 64 by negative pressure.
- the component 64 is taken out by being moved to the component take-out position facing the positioned component receiving recess, and is moved to the component mounting position and mounted on the printed wiring board 30.
- These mounting heads 200 and the like are configured in the same manner as the mounting head 200 and the like described in Japanese Patent No. 3093339 in this embodiment, and detailed description thereof is omitted.
- the Y-axis slide 214 is also provided with the wiring board imaging system 22 together with the mounting head 200 and the like, as shown in FIG.
- the wiring board imaging system 22 includes a wiring board imaging device 250 and a lighting device 252 as a substrate imaging device which is a kind of optical recognition device.
- the XY robot 202 is moved together with the mounting head 200 to an arbitrary position in the horizontal plane.
- the wiring board imaging device 250 is a surface imaging device in the present embodiment, and acquires a two-dimensional image of the subject at once.
- the wiring board imaging device 250 is constituted by a CCD camera, for example, and is a monochrome camera in this embodiment.
- the X-axis slide 210 is provided with a component imaging system 260 as shown in FIG.
- the component imaging system 260 includes a component imaging device 262 and the like, and images the component 64 held by the suction nozzle 240.
- the control device 24 is mainly composed of a computer 280 having a CPU 270, a ROM 272, a RAM 274, and a bus connecting them, as shown in FIG.
- An input / output interface 282 is connected to the node, and an image for processing image data obtained by each imaging of the wiring board imaging device 250 of the wiring board imaging system 22 and the component imaging device 262 of the component imaging system 260 is processed.
- Various sensors such as a processing computer 288, a wiring board imaging device 250, a component imaging device 262, an encoder 292, an input device 294, a parts data generator (PDG) 296, and the like are connected.
- the PDG 296 is a database that stores various data of parts 64 (referred to as part information).
- the input / output interface 282 is also connected with various actuators constituting a drive source such as the wiring board transport device 12 via the drive circuit 300, and with the display screen 304 via the control circuit 302. .
- the motor constituting the drive source is a kind of actuator.
- the motor is an electric rotary motor that is a kind of electric motor, and can control the rotation angle with high accuracy. Many are composed of motors.
- a step motor may be used instead of the servo motor.
- the rotation angle of these servo motors is detected by an encoder which is a rotation angle detection device, and the motor and the like are controlled based on the detection result.
- FIG. 13 representatively shows one of these encoders 292.
- the ROM 272 and RAM 274 have a basic operation program of the electronic circuit component mounting machine, a component mounting work program corresponding to the printed wiring board 30 to be operated (hereinafter referred to as a component mounting program), FIG.
- Various programs, data, and the like are stored, such as a component extraction position correction routine represented by a flowchart.
- the component mounting program includes data of a component extraction position that is a position where the component 64 should be extracted from the mounting head 200 force S feeder 40, data of a component mounting position that is a position where the component 64 should be mounted on the printed wiring board 30, This includes the data of the parts 64 to be mounted at the parts mounting position, the parts information of each part 64 supplied from the PDG296, etc., and this program is executed by the basic operation program.
- the part 64 is taken out from the feeder 40 and mounted on the printed wiring board 30.
- the above-mentioned data of the component take-off position is a force that is a value assuming that there is no relative position error between the component receiving recess positioned at the component supply position and the suction nozzle 240. Relative position error may occur due to the cause, and suction error or abnormal suction may occur. Therefore, in this embodiment, the feed hole 68 of the taping 50 or 52 held by the feeder 40 is provided in the wiring board imaging system 22 at the time before the parts 64 are first removed from the feeder 40, such as at the start of production.
- the nozzle holder 238 and thus the nozzle holder 238 are acquired so that the position error of the component receiving recesses 62 and 80 positioned at the component supply position is acquired by the circuit board image pickup device 250 and the position error is canceled out.
- the component extraction position correction work for correcting the component extraction position of the suction nozzle 240 held in the chamber is executed. This part removal position correction operation will be described in detail later.
- the mounting head 200 is moved by the XY robot 202 to the component extraction position where the component 64 is extracted from the feeder 40.
- the mounting head 200 is lowered by the head lifting / lowering device 208, and negative pressure is supplied to the suction nozzle 240, so that the component is 64 is adsorbed.
- the mounting head 200 holding the component 64 is moved from the component extraction position to a component mounting position opposite to a component mounting point set in advance on the printed wiring board 30, and is moved up and down by a head lifting device 208. Then, the component 64 is mounted on the printed wiring board 30.
- the printed wiring board 30 is transported by the wiring board transport device 12 and stopped at the mounting work position, and the mounting surface is supported by the printed wiring board holding device 14 in a horizontal state. Wearing Imaging of the component 64 held by the suction nozzle 240 during the movement of the nozzle 200, holding position error (parallel movement position error, each position error and rotational position error in the X-axis and Y-axis directions), etc.
- component removal position correction operation will be described. For example, when starting production of electronic circuit component mounting machines, when replacing feeder 40, when replacing feeder 40 due to a change in the production program, after component mounting work is started, component mounting work is in progress Each time a predetermined condition is satisfied, for example, every time the installation of the parts 64 to the set number of printed wiring boards 14 is completed, or every time the feeder 40 supplies the set number of parts 64.
- the parts extraction position correction operation at the start of production may be performed for all the feeders 40, but in this embodiment, it is performed only for the feeders 40 that supply the parts 64 that require precision suction.
- the component information that is part of the component mounting program includes data on whether or not each component 64 requires precision suction.
- the feeder 40 that supplies the necessary parts 64 is selected in advance, and the parts removal position correction operation is performed.
- the part takeout position correction work is performed by imaging the feed hole 68 of the taping 50, 52 and correcting the part takeout position of the nozzle holder 238 based on the position error of the feed hole 68 obtained thereby. . Therefore, if execution of the component removal position correction operation is instructed by executing the basic operation program, first, the XY robot 202 causes the wiring board imaging device 250 to image the feed hole 68 whose position is to be detected this time. It is moved to the feed hole imaging position as a feed hole recognition position. In this embodiment, two feed hole imaging positions are set for each feeder 40.
- One is on the black setting section 170 Is the black feed hole imaging position for imaging the black feed hole 68, and one is the white feed hole that is located on the white setting section 172 and that captures the white feed hole 68. This is the imaging position.
- Each of these imaging positions is a position where the center of the feed hole 68 and the imaging center of the imaging surface of the wiring board imaging device 250 are supposed to be in a state of being aligned.
- the center of the feed hole 68 is the recognized position where the feed hole 68 is to be imaged by the wiring board imaging device 250, and the color setting units 170 and 172 are the recognized positions in this embodiment. Centered around the feed hole 68.
- Two feed hole imaging positions are set and stored in advance for each of the feeders 40 scheduled to supply parts 64 that require precision suction. These imaging positions and the feeder support base 38 of the feeder 40 From the mounting position above, the imaging position where the wiring board imaging device 250 should be moved is obtained on the XY coordinate plane.
- the teeth 1 16 of the sprocket 110 face straight up and many It is assumed that two of the feed holes 68 are positioned on the color setting portions 170 and 172. However, as will be described later, this is not indispensable for carrying out the present invention.
- the carrier tape is fed to position the component receiving recess at the component supply position, and one of the two feed holes 68 adjacent to each other is positioned on the black setting unit 170 and the other is positioned on the white setting unit 172. Yes.
- the wiring board imaging device 250 first sets a predetermined one of the two feeding hole imaging positions, regardless of whether the carrier tape sent by the feeder 40 is an emboss carrier tape 54 or a square hole punch carrier tape 74.
- the feed hole 68 is imaged by being moved to the black feed hole imaging position.
- the feeder 40 supplies parts 64 by an embossed carrier type taping 50 or a square hole punch carrier type taping 52.
- the embossing type tape 50 is held by the feeder 40, for example, the embossing type tape 54 is black, so the feed hole 68 is imaged, and the image is processed.
- image definition data that defines the image (outline) of the feed hole 68 cannot be obtained. This is because, as shown in FIG. 14 (a), the feed hole 68 located on the black setting portion 170 is black and the peripheral portion of the feed hole 68 of the embossing tape 54 is black, and the contrast of both is extremely small. .
- the wiring board imaging device 250 further captures the white feed hole. The feed hole 68 is imaged by being moved to the image position.
- the feed hole 68 located on the white setting section 172 is white and the peripheral portion of the feed hole 68 of the embossed carrier tape 54 is black, it is sufficiently clear to the peripheral portion of the carrier tape 54 where the contrast of both is large.
- the image of the feed hole 68 is obtained, and the image defining data of the feed hole 68 is obtained with high accuracy.
- the feed hole 68 has a circular cross-sectional shape, and when image defining data is obtained, its center position is obtained, and a position error with respect to the imaging center is obtained.
- the position error of the center of the feed hole 68 with respect to the imaging center is the normal position of the feed hole 68 (planned on the XY coordinate plane). This is the center position error relative to the feed hole 68 position) and the translational position error.
- the correction amount of the component removal position which is the position of the nozzle holder 238 at the time of component removal by the suction nozzle 240, is calculated.
- the feed hole 68 and the component receiving recess 52 are formed in the carrier tape 48 at a predetermined relative position with high accuracy with respect to each other.
- the feed hole 68 and the component supply position are positioned on the white setting portion 172. It can be considered that there is no position error between the position of the positioned component receiving recess 52. Therefore, the center position error of the feed hole 68 is a translational position error of the component receiving recess 52 positioned at the component supply position, and the component takeout position is corrected so as to cancel the position error.
- the actual position of feed hole 68 is obtained, and based on that position and the relative position of feed hole 68 and component receiving recess 52
- the position of the component receiving recess 52 positioned at the component supply position is obtained, and acquiring the position error of the feed hole 68 is acquiring the position of the component receiving recess 52 and acquiring the position error. The same.
- the square hole punch carrier tape 74 is white, so that it is placed on the black setting portion 170 as shown in FIG. 14 (b).
- the area around the feed hole of the carrier tape 74 is white with respect to the black feed hole 68 that is positioned, and the image defining data of the feed hole 68 can be obtained with high accuracy by imaging with a large contrast between the two.
- the wiring board imaging device 250 takes the image at the white feed hole imaging position.
- the position error at the center position of the feed hole 68 can be obtained by one imaging without having to perform an image, and the correction amount of the part extraction position can be calculated.
- step S1 (hereinafter, simply referred to as S1; the same applies to other steps), a slot number is acquired as information regarding the position of the feeder 40 where the parts extraction position correction work should be performed this time.
- the slot number is the number of the mounting slot that is the mounting portion of the feeder 40 on the feeder support base 38, and the above-described component mounting program includes the number of each component 40 that supplies each component 64 to be mounted by this mounting operation.
- Data, the slot number of the feeder 40, the type of parts 64 to be supplied at each feeder mounting position, and whether or not these parts 64 require precision suction Based on these data, the mounting slot numbers of the feeders 40 that supply the parts 64 that require precise suction are acquired in ascending order of number.
- the acquired slot number is stored in the precision suction required slot number memory of the RAM 224.
- the first slot number is read from the precision suction required slot number memory, and in S3, the wiring board imaging device 250 first sets the feeder 40 specified by the read slot number. It is moved to the black feed hole imaging position, and is positioned at a position that should be directly above the feed hole 68 located on the black setting portion 170 of the taping held by the target feeder 40. In S4, the wiring board imaging device 250 is instructed to take an image, and the wiring board imaging device 250 images the feed hole 68 positioned on the black setting unit 170.
- image data acquired by imaging is transmitted to the image processing computer 288, and image processing is commanded.
- the image processing computer 2808 if an image of the feed hole 68 is obtained by image processing, the center position error is obtained.
- the feeder 40 in which the parts removal position correction work is performed is moved to the parts 64 by the square hole punch carrier type taping 52.
- the image defining data of the feed hole 68 is obtained by imaging the feed hole 68 located on the black setting portion 170, and the center position error is obtained.
- the data obtained by the image processing performed in the image processing computer 288 is also received, S6 is executed based on the received data, and the force that the image regulation data of the feed hole 68 is acquired is acquired. It is determined whether or not.
- the carrier tape sent by the feeder 40 is a square hole punch carrier tape 74. Since image definition data for the feed hole 68 is obtained by imaging, the judgment result of S6 is YES, S7 is executed, and the center position error of the feed hole 68 Based on the above, the component extraction position correction amount is calculated, and the calculated correction amount is stored in the component extraction position correction amount memory of the RAM 224 in association with the slot number.
- the feeder 40 supplies the component 64 by the embossing-type taping 50
- the image definition of the feeding hole 68 is determined even if the wiring board imaging device 250 is moved to the black feeding hole imaging position and imaged. Data is not available. Therefore, the determination result of S6 is NO and S9 is executed, and the wiring board imaging device 250 moves to the white feed hole imaging position set for the feeder 40 specified by the read slot number. The feed hole 68 that is moved and positioned on the white setting unit 172 is imaged. Then, S10 to S12 force is executed in the same way as 4 to S6.
- the determination result of S12 is NO and S14 is executed, and the fact and the slot number of the feeder 40 are displayed and notified by the display device as a notification device including the display screen 254.
- the control data for controlling the operation of the XY robot 202 for moving the mounting head 200 to the component extraction position is corrected according to the correction amount determined in this way.
- the take-out position is corrected.
- the XY robot 202 constitutes a feeder / imaging device relative movement device as a feeder-recognition device movement device, and the holder / feeder relative movement device is
- the XY robot 202 to be configured also serves as a feeder 'recognition device relative movement device, and an electronic circuit component supply / extraction device can be configured easily and inexpensively.
- the wiring board imaging device 250 also serves as a feed hole imaging device as a recognition device, and in this respect also, the electronic circuit component supply / extraction device can be configured at low cost.
- the part that executes S5 and S11 of the control device 24 is a feed hole position acquisition unit or a feed hole position error acquisition unit, which constitutes a storage recess position error acquisition unit that is not a storage recess position acquisition unit,
- the part that executes S7 and the part that corrects the control data based on the correction amount when the XY robot 202 moves constitutes the XY robot control data correction unit, and executes S3, S6, and S9 of the controller 24
- the part constitutes a recognition order corresponding movement control unit.
- the feeder 40 has one feed hole imaging position where the wiring board imaging device 250 images the feed hole 68 according to the type of taping for supplying the component 64.
- the component mounting program stores information that specifies whether the component 64 is stored in an emboss carrier tape or a square hole punch carrier tape, and the feed hole imaging position is set accordingly. It is decided.
- S21 and S22 of this routine are performed in the same manner as SI and S2 of the part removal position correction routine of the above embodiment.
- S23 the parts 64 supplied by the feeder 40 are checked. A determination is made as to whether or not the tape is stored in the ink jetty tape 54. If the part 64 is housed in the embroidery tape 54, the determination result in S23 is YES, S24 is executed, and the wiring board imaging device 250 is moved to the white feed hole imaging position. Then, the steps after S26 are executed in the same manner as the steps after S4, and the correction amount of the part removal position is acquired. If the component 64 is stored in the square hole punch carrier tape 74, the determination result of S23 is NO and S25 is executed, and the wiring board imaging device 250 is moved to the black feed hole imaging position. Take an image of feed hole 68.
- the two feed holes 68 that are adjacent to each other are always provided with the black setting unit 1 70 and the white setting unit.
- the claimable invention is also applicable to a feeder 40 that supplies parts 64 by taping that does not. For example, as shown in FIG. 17, when the formation interval of the component storage recess 62 of the embossing tape 54 is 1.5 times the formation interval of the feed hole 68, the component accommodation recess 62a is at the component supply position.
- one of the feed holes 68 is positioned on the black setting portion 170 and one adjacent feed hole 68 is positioned on the white setting portion 172 in a certain state, in the state where the component receiving recess 62b is at the component supply position, Be sure that one of the feed holes 68 is located between the black setting part 170 and the white setting part 172, and each feed hole 68 on both sides of the feed hole 68 is out of the black setting part 170 and the white setting part 172. It will be in the state located.
- the sprocket 110 is placed in the sprocket driving device 112 by the computer 280 and one formation interval of the component receiving recess 62 is formed. What is necessary is just to make it command to rotate by a minute.
- the component receiving recess 62a is moved to the component supply position, one of the feed holes 68 is positioned on the black setting portion 170, and the feed hole 68 adjacent to the upstream side is moved to the white setting portion. 172 is located on the top. Therefore, in this state, the feed hole 68 is imaged, and the position error of the component housing recess 62a is acquired.
- the claimable invention can be applied even when the relative positions of the carrier tapes 54 and 74 in the longitudinal direction of the component housing recess 62 and the feed hole 68 change in a more complicated manner.
- the formation interval of the component receiving recess 52 is N + 1ZM times the formation interval of the feed hole 68 ( N and M are both integers)
- the relative position in the longitudinal direction of the carrier tape 48 between the component receiving recess 52 and the feed hole 68 is the same every time M feeds are performed.
- the two feed holes 68 adjacent to each other are positioned on the color setting portions 170 and 172, respectively, and the position error of the component receiving recess 52 is acquired by imaging the feed holes 68. can do.
- the above case corresponds to the case where the integer N is 1 and the integer M is 2.
- white having a lightness of 10 is equivalent to having gloss with a large amount of reflected light.
- it is gray, for example, light gray, for example, glossy particles (for example, aluminum pigments) are used. If the so-called silver color is used to increase the amount of reflected light by making it with the paint that contains it, it will have almost the same gloss as white. A characteristic setting unit is obtained.
- the imaging device may be configured by a color camera.
- the color of the optical property setting unit can be chromatic, and if the color of the carrier tape is chromatic, the optical property setting unit is not limited to an achromatic color, but can be the color of the carrier tape. Accordingly, it is possible to change the feed hole to a chromatic color that can be accurately imaged.
- the color of the optical property setting unit can be a color complementary to the color of the carrier tape.
- a plurality of optical property setting units when a plurality of optical property setting units are provided, they can be used as different hue setting units having a hue difference equal to or greater than two basic hue differences according to the colors of a plurality of types of carrier tapes sent by the feeder. Yes.
- one of the two different hue setting sections can be yellow and the other can be purple, or one can be green and the other can be red.
- some square hole punch carrier tapes are made of synthetic resin.
- the feed hole optical characteristic setting unit according to the optical characteristics of the square hole punch carrier tape By providing, the feed hole can be recognized with high accuracy.
- the feed hole optical characteristic setting unit is provided around the recognized position, if a plurality of feed holes are recognized simultaneously by the recognition device, each of the plurality of feed holes recognized at the same time The position recognized by the recognition device is the recognized position.
- the feed hole optical characteristic setting section is not necessarily provided centering on the recognized position of the feed hole, but may be provided along the passage paths of many feed holes.
- the center of the feed hole optical characteristic setting section may be provided in a state parallel to the carrier tape feeding direction and deviated from the recognized position. It may be provided in a shifted state.
- the feed hole optical characteristic setting section is provided so that the entire feed hole is positioned on the feed hole optical characteristic setting section when a recognition device larger than one of the number of feed holes is recognized. Set optical properties.
- the calculation of the center position error of the feed hole and the correction amount of the part extraction position is performed by the computer 280 which is a mounting control computer based on the data obtained by the image processing of the image processing computer 288! / You can do it! /.
- index table type also referred to as a rotary type
- the claimed invention can also be applied to an apparatus.
- the index table type electronic circuit component mounting machine includes a rotating body and a rotating body rotating device for rotating the rotating body, and each of the plurality of nozzle holders held by the rotating body is held by the rotation of the rotating body. At least one of the suction nozzles is sequentially moved to a plurality of stop positions, receives the component supply device power electronic circuit component at the component removal position, and mounts the electronic circuit component on the circuit board at the component mounting position.
- a plurality of nozzle holders are respectively provided on a plurality of rotating members that can rotate independently of each other around a common turning axis.
- Each of the plurality of rotating members is provided with a rotating motion imparting device that makes a round around the pivot axis and includes at least one stop during the round and has a certain time difference from each other.
- the component supply device is a plurality of tape feeders arranged in parallel in the X-axis direction, and a relative movement device that moves the tape feeders in the X-axis direction. It is often configured to include a feeder moving device.
- a feed hole recognizing device in the vicinity of the component pick-up position. It is moved to the recognized position facing the recognition device and recognized. If a plurality of optical property setting units are provided, the recognition device Is provided so as to be movable in a direction parallel to the tape feed direction, and is moved by a recognition device moving device so that a plurality of feed holes can be sequentially recognized for one feeder.
- the feeding hole may be imaged by being located at a preset feeding hole imaging position.
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Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2006512360A JP4542091B2 (ja) | 2004-04-15 | 2005-04-13 | テープフィーダおよび電子回路部品供給装置 |
US11/578,120 US7738118B2 (en) | 2004-04-15 | 2005-04-13 | Tape feeder and electronic-circuit-component supplying apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2004-120597 | 2004-04-15 | ||
JP2004120597 | 2004-04-15 |
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WO2005101944A1 true WO2005101944A1 (ja) | 2005-10-27 |
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PCT/JP2005/007167 WO2005101944A1 (ja) | 2004-04-15 | 2005-04-13 | テープフィーダおよび電子回路部品供給装置 |
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US (1) | US7738118B2 (ja) |
JP (1) | JP4542091B2 (ja) |
CN (1) | CN100588313C (ja) |
WO (1) | WO2005101944A1 (ja) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2009200071A (ja) * | 2008-02-19 | 2009-09-03 | Fuji Mach Mfg Co Ltd | 部品包装テープのテープ材質判別装置及びテープ材質判別方法 |
JP2011044591A (ja) * | 2009-08-21 | 2011-03-03 | Juki Corp | 電子部品実装装置及びその吸着位置補正方法 |
JP2011171419A (ja) * | 2010-02-17 | 2011-09-01 | Panasonic Corp | 部品実装装置および部品実装方法 |
JP2017118006A (ja) * | 2015-12-25 | 2017-06-29 | パナソニックIpマネジメント株式会社 | テープフィーダ及びテープ接続装置 |
JP2017126609A (ja) * | 2016-01-12 | 2017-07-20 | 富士機械製造株式会社 | 電子部品装着機 |
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JP2009200071A (ja) * | 2008-02-19 | 2009-09-03 | Fuji Mach Mfg Co Ltd | 部品包装テープのテープ材質判別装置及びテープ材質判別方法 |
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JP2011171419A (ja) * | 2010-02-17 | 2011-09-01 | Panasonic Corp | 部品実装装置および部品実装方法 |
JP2017118006A (ja) * | 2015-12-25 | 2017-06-29 | パナソニックIpマネジメント株式会社 | テープフィーダ及びテープ接続装置 |
JP2017126609A (ja) * | 2016-01-12 | 2017-07-20 | 富士機械製造株式会社 | 電子部品装着機 |
JPWO2018008115A1 (ja) * | 2016-07-06 | 2019-04-25 | 株式会社Fuji | フィーダ |
JP2019054298A (ja) * | 2019-01-11 | 2019-04-04 | パナソニックIpマネジメント株式会社 | テープフィーダ及び部品実装装置 |
JP7117614B2 (ja) | 2020-12-02 | 2022-08-15 | パナソニックIpマネジメント株式会社 | テープフィーダ及び部品実装装置 |
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JPWO2005101944A1 (ja) | 2008-03-06 |
US7738118B2 (en) | 2010-06-15 |
CN1969598A (zh) | 2007-05-23 |
JP4542091B2 (ja) | 2010-09-08 |
CN100588313C (zh) | 2010-02-03 |
US20080283191A1 (en) | 2008-11-20 |
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