WO2015040696A1 - Machine de montage de composants - Google Patents

Machine de montage de composants Download PDF

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Publication number
WO2015040696A1
WO2015040696A1 PCT/JP2013/075148 JP2013075148W WO2015040696A1 WO 2015040696 A1 WO2015040696 A1 WO 2015040696A1 JP 2013075148 W JP2013075148 W JP 2013075148W WO 2015040696 A1 WO2015040696 A1 WO 2015040696A1
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WO
WIPO (PCT)
Prior art keywords
component
imaging
optical path
camera
mounting
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Application number
PCT/JP2013/075148
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English (en)
Japanese (ja)
Inventor
神藤　高広
伊藤　秀俊
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to PCT/JP2013/075148 priority Critical patent/WO2015040696A1/fr
Priority to JP2015537467A priority patent/JP6298064B2/ja
Publication of WO2015040696A1 publication Critical patent/WO2015040696A1/fr

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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
    • H05K13/08—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 component mounter for mounting electronic components on a circuit board.
  • a component mounting machine which constitutes a production line for circuit board products together with, for example, a screen printing machine and an inspection machine.
  • a component mounting machine for example, Patent Document 1 discloses a configuration including a board camera and a component camera.
  • the component mounting machine disclosed in Patent Document 1 recognizes the position of the clamped circuit board and the suction state of the electronic component by the suction nozzle based on the image data captured by each camera, and improves the accuracy of the mounting process. ing.
  • an imaging device such as a board camera or a component camera may be restricted in external dimensions and installation location due to, for example, a request for downsizing a component mounter.
  • Patent Document 2 it is conceivable to use both a circuit board and an electronic component with a single camera. In such a configuration, it is not necessary to install a dedicated component camera, so that the component mounter can be downsized and the equipment cost can be reduced.
  • JP 2013-26278 A Japanese Patent No. 3187976
  • the dual-purpose camera of Patent Document 2 is installed on a moving table of a transfer device to which a mounting head is attached in order to be able to image a circuit board and an electronic component.
  • a transfer device in a component mounting machine is required to reduce the size and weight of a member installed on a moving table in response to a request for improving the accuracy and speed of mounting processing. For this reason, a fixed-focus lens is adopted for the substrate camera installed on the moving table, and a mechanism for performing focusing by changing the distance between the lenses is not provided.
  • Patent Document 2 when taking an image with a dual-purpose camera installed on a moving table as in Patent Document 2, it is necessary to focus on both circuit boards and electronic components having different distances from the camera. Therefore, in Patent Document 2, an optical member that forms an optical path so that the respective optical path lengths are equal is necessary, and there is a concern that the external dimensions of the entire imaging apparatus including the dual-purpose camera and the optical member may be increased.
  • the present invention has been made in view of such circumstances, and an object thereof is to provide a component mounting machine capable of reducing the size and cost of a camera and optical members.
  • the component mounter can transfer the electronic component to the mounting position on the circuit board while holding the electronic component supplied to the supply position, and the focal length can be changed according to the applied voltage.
  • a camera having a variable focus lens, a substrate-side optical path that enables imaging of the circuit board from above, and a component-side optical path that enables imaging of the electronic component held by a holding device from below or from the side.
  • An imaging member that applies a voltage corresponding to the optical path length of the optical path to the varifocal lens when imaging an object using the optical path and an optical member that forms a plurality of optical paths having different optical path lengths.
  • a plurality of image data obtained by imaging of the camera using the plurality of optical paths, and controlling mounting processing of the electronic component based on the plurality of image data and a control program stored in advance Comprising a mounting control unit.
  • the camera having the variable focus lens is used for both imaging of the circuit board using the substrate side optical path and imaging of the electronic component using the component side optical path. Further, a voltage corresponding to the optical path length is applied to the variable focus lens of the camera to focus on the object to be imaged. Accordingly, the component mounter can be configured to have a function of focusing while reducing the size of the camera, as compared to a camera provided with a mechanism for performing focusing by changing the distance between the lenses.
  • the configuration of the optical member can be simplified.
  • the camera and the optical member in the component mounter can be reduced in size, and the cost of the entire apparatus can be reduced.
  • FIG. 1 is an overall view showing a component mounter in an embodiment. It is sectional drawing which shows the structure of a head camera apparatus. It is a block diagram which shows a control apparatus and a head camera apparatus. It is a figure which shows the base and the positioned circuit board.
  • FIG. 3 is a view in the direction of arrow V in FIG. 2 showing a held electronic component. It is a figure which shows the relationship between protective glass and a camera visual field. It is a graph which shows a regular lens characteristic and a correction voltage. It is a figure which shows the calibration process in a component mounting machine.
  • the component mounter targets a circuit board product produced by mounting electronic components on a circuit board.
  • This component mounter is a device that mounts a plurality of electronic components on a circuit board, for example, in an integrated circuit manufacturing process.
  • the circuit board is coated with cream solder at an electronic component mounting position by, for example, a screen printing machine, and is sequentially transported through a plurality of component mounting machines to mount the electronic component. Thereafter, the circuit board on which the electronic component is mounted is transported to a reflow furnace and soldered to constitute an integrated circuit as a circuit board product.
  • the component mounter 1 includes a substrate transfer device 10, a component supply device 20, a component transfer device 30, a head camera device 50, and a control device 70. Each device 10, 20, 30 is provided on the base 2 of the component mounter 1. Further, as shown in FIG. 1, the horizontal direction of the component mounter 1 (direction from the upper left to the lower right in FIG. 1) is the X-axis direction, and the horizontal longitudinal direction of the component mounter 1 (from the upper right to the lower left in FIG. 1). The direction of heading is the Y-axis direction, and the vertical height direction (vertical direction in FIG. 1) is the Z-axis direction.
  • the substrate transport apparatus 10 transports the circuit board B in the X-axis direction and positions the circuit board B at a predetermined position.
  • substrate conveyance apparatus 10 is a double conveyor type comprised by the some conveyance mechanism 11 arranged in parallel by the Y-axis direction.
  • the transport mechanism 11 includes a pair of guide rails 12 and 13 that guide a circuit board B that is mounted on a conveyor belt (not shown) and transported.
  • the pair of guide rails 12 and 13 are members fixed to the base 2 via a frame of the substrate transfer apparatus 10 or the like.
  • the transport mechanism 11 carries the circuit board B to a predetermined position in the X-axis direction and clamps the circuit board B with a clamp device.
  • the transport mechanism 11 unclamps the circuit board B and carries the circuit board B out of the component mounting machine 1.
  • the component supply device 20 is a device that supplies the electronic component EP mounted on the circuit board B.
  • the component supply device 20 is disposed on the front side in the Y-axis direction of the component mounter 1 (lower left side in FIG. 1).
  • the component supply apparatus 20 is a feeder system that uses a plurality of cassette-type feeders 21.
  • the feeder 21 includes a feeder main body portion 21a that is detachably attached to the base 2, and a reel housing portion 21b that is provided on the rear end side of the feeder main body portion 21a.
  • the feeder 21 holds a supply reel 22 around which a component packaging tape is wound by a reel accommodating portion 21b.
  • the component packaging tape includes a carrier tape in which electronic components EP are stored at a predetermined pitch, and a top tape that is adhered to the upper surface of the carrier tape and covers the electronic component EP.
  • the feeder 21 pitch feeds the component packaging tape drawn from the supply reel 22 by a pitch feed mechanism (not shown).
  • the feeder 21 peels the top tape from the carrier tape to expose the electronic component EP.
  • the feeder 21 supplies the electronic component EP so that the suction nozzle 43 of the component transfer device 30 can suck the electronic component EP at the supply position Ps located on the front end side of the feeder main body 21a. Yes.
  • the component transfer device 30 is a transfer device that holds the electronic component EP supplied to the supply position Ps and transfers the electronic component EP to the mounting position on the circuit board B.
  • the component transfer device 30 is an orthogonal coordinate type disposed above the substrate transfer device 10 and the component supply device 20.
  • a Y-axis slide 32 is provided on a pair of Y-axis rails 31 extending in the Y-axis direction so as to be movable in the Y-axis direction.
  • the Y-axis slide 32 is controlled by the operation of the Y-axis motor 33 via a linear motion mechanism using a ball screw or a linear motor.
  • the Y-axis slide 32 is provided such that a moving table 34 is movable in the X-axis direction.
  • the moving table 34 is controlled by the operation of the X-axis motor 35 via a linear motion mechanism (not shown).
  • the movable table 34 is supported by the operations of the X-axis motor 35 and the Y-axis motor 33 so as to be movable relative to the reference base 2 in the X-axis direction and the Y-axis direction.
  • the component transfer device 30 has a mounting head 40 that is detachably attached to the moving table 34.
  • the mounting head 40 is a holding device that holds the electronic component EP, and is exchanged depending on the application and required performance.
  • the mounting head 40 is a rotary head that can sequentially index a plurality of suction nozzles 43 (corresponding to the “holding member” of the present invention) arranged on the circumference to predetermined positions.
  • the mounting head 40 supports a plurality of nozzle spindles 42 so as to be movable up and down by a nozzle holder 41 that can rotate around an R axis parallel to the Z axis. Each nozzle spindle 42 supports a suction nozzle 43 that sucks and holds the electronic component EP.
  • the mounting head 40 is fixed to the moving table 34 via the frame 44, and the suction nozzle 43 can be moved relative to the base 2 in the X-axis direction and the Y-axis direction as the moving table 34 moves.
  • the nozzle holder 41 is connected to the output shaft of the R-axis motor 45 and is configured so that the rotation can be controlled by the R-axis motor 45.
  • the suction nozzle 43 is controlled to move in the Z-axis direction by an elevating mechanism constituted by a Z-axis motor 46 and the like, and its rotation angle is controlled by a rotational drive of a ⁇ -axis motor (not shown). Further, the suction nozzle 43 constitutes a suction mechanism in the mounting head 40 and can suck electronic components by the supplied negative pressure.
  • the head camera device 50 is fixed to the lower end portion of the movable table 34 and is configured to be movable integrally with the mounting head 40 as the movable table 34 moves.
  • the head camera device 50 is an imaging device that is used for both imaging of the upper surface portion of the circuit board B and imaging of the tip portion of the suction nozzle 43. Further, regarding the tip of the suction nozzle 43, the suction nozzle 43 indexed at a predetermined position in the nozzle holder 41 is set as an object to be imaged.
  • the image data acquired by the imaging is used for image processing for recognizing a holding state including the position where the circuit board B is positioned and the position of the electronic component EP with respect to the suction nozzle 43.
  • the head camera device 50 includes a case 51, a protective glass 52, a plurality of half mirrors 53a to 53c, normal mirrors 54a and 54b, incident light sources 55a and 55b, and a side light source. 56a and 56b, and a camera body 60.
  • the case 51 is made of a light shielding material, and includes a first part 51a that extends along the optical axis Ax of the camera body 60 and a second part 51b that branches from the upper end of the first part 51a.
  • part 51a is formed in linear form as a whole shape.
  • the first part 51a has an upper end connected to the lens unit Nl of the camera body 60, and a protective glass 52 disposed at the lower end.
  • the second part 51b of the case 51 is formed in a bent shape so as to open from below with respect to the suction nozzle 43 indexed at a predetermined position among the plurality of suction nozzles 43.
  • the suction nozzle 43 located above the opening of the second part 51b is indexed to the position on the rearmost side of the nozzle holder 41 among the plurality of suction nozzles 43 supported by the nozzle holder 41 via the nozzle spindle 42. It has been done.
  • the protective glass 52 is disposed between the object to be imaged and the lens unit Nl of the camera body 60 at the lower end of the first part 51a of the case 51, and foreign matter enters the case 51 and the lens unit Nl. It is an optical member for preventing the above.
  • the protective glass 52 is a transmissive member capable of transmitting incident light from the imaging object to the camera body 60, and is formed of a glass material in the present embodiment.
  • the protective glass 52 is fixed so as to have a specified distance Ls from the image sensor 63 of the camera body 60 by connecting the case 51 to the lens unit Nl of the camera body 60.
  • the half mirrors 53 a to 53 c and the mirrors 54 a and 54 b are optical members that are arranged inside the case 51 and form an optical path that connects the incident light sources 55 a and 55 b to the imaging object and the imaging object 63.
  • a board-side optical path Tb that enables imaging of the circuit board B from above
  • a component-side optical path that enables imaging of the electronic component EP held by the suction nozzle 43 of the mounting head 40 that is a holding device from below.
  • a plurality of optical paths composed of Tp are formed.
  • the board-side optical path Tb is an optical path passing through the first portion 51a of the case 51, and the camera body 60 and the object (circuit board B) are aligned with the optical axis Ax of the camera body 60. Are linearly formed.
  • the substrate-side optical path Tb is provided with an epi-illumination light source 55a and a side-illumination light source 56a for irradiating an object to be imaged using the substrate-side optical path Tb.
  • the epi-illumination light source 55a irradiates the object from the side of the first part 51a of the case 51 with a predetermined angle along the substrate-side optical path Tb via the half mirror 53a.
  • the side light source 56a is annularly arranged on the outer periphery of the lower end portion of the first part 51a of the case 51, and irradiates the object.
  • the reflected light from the object passes through the protective glass 52 and enters the case 51, passes through the half mirrors 53 a and 53 b, and enters the camera body 60.
  • the component-side optical path Tp is mainly an optical path that passes through the second portion 51b of the case 51, and is formed by the half mirrors 53b and 53c and the mirrors 54a and 54b so as to be branched from the optical axis Ax of the camera body 60. .
  • the component-side optical path Tp is provided with an epi-illumination light source 55b and a side-illumination light source 56b that irradiate an object (electronic component EP) imaged using the component-side optical path Tp.
  • the epi-illumination light source 55b passes through the half mirror 53c from the bent portion of the second part 51b of the case 51 and irradiates the object along the component-side optical path Tp.
  • the side light source 56b is annularly arranged on the inner periphery of the opening of the second part 51b of the case 51, and irradiates the object with a predetermined angle.
  • the reflected light on the object passes through the opening of the second part 51b and enters the case 51, and is reflected on the mirror 54b, the half mirror 53c, the mirror 54a, and the half mirror 53a in this order and enters the camera body 60. To do.
  • the substrate-side optical path Tb and the component-side optical path Tp formed by the case 51 and the plurality of optical members are different in the linear distance from the camera body 60 to each object, the shape of the optical path, and the like. Have different optical path lengths.
  • Each light source 55a, 55b, 56a, 56b provided for each of the plurality of optical paths Tb, Tp emits light by the supplied power, and the power supplied to the light source is controlled by an imaging control unit 64 described later. Is done.
  • the camera body 60 mainly has a lens unit Nl that constitutes an optical system, and a body part Nb that supports the lens unit Nl.
  • the lens unit Nl includes a fixed lens 61 and a liquid lens 62 (corresponding to the “variable focus lens” of the present invention).
  • the main body Nb of the camera main body 60 includes an image sensor 63, an imaging controller 64, a focus controller 65, and a correction voltage calculator 66.
  • the fixed lens 61 and the liquid lens 62 are arranged so as to be coaxial with the optical axis Ax of the image sensor 63.
  • the fixed lens 61 is an objective lens arranged at the outermost part of the lens unit constituting the optical system of the camera body 60, and has a function of preventing entry of foreign matter into the unit.
  • the liquid lens 62 is a variable focus lens capable of changing the focal length according to the applied voltage.
  • a liquid lens in which a plurality of different fluids are arranged between two electrodes is employed as the variable focus lens.
  • the liquid lens 62 forms a lens surface, for example, at the boundary surface between the aqueous solution and the oil, and when a voltage is applied to the electrodes, the aqueous solution and the oil flow to deform the boundary surface into a curved surface and act as a lens. Further, the liquid lens 62 has a smaller curvature of the lens surface and a shorter focal length as the applied voltage to the electrode increases. Therefore, the focal length of the liquid lens 62 can be controlled by controlling the voltage applied to the liquid lens 62.
  • the imaging device 63 is a CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor) or the like, and converts the light transmitted through the fixed lens 61 and the liquid lens 62 into an electrical signal.
  • the imaging control unit 64 controls the operation of the liquid lens 62 based on a control signal input externally, a preset value stored in advance, and the like. In addition, the imaging control unit 64 images the object by converting the electrical signal converted by the imaging element 63 into a digital signal. Then, the imaging control unit 64 transfers an image acquired by imaging to the control device 70.
  • the focus control unit 65 adjusts the voltage applied to the liquid lens 62 based on the electrical signal of the image sensor 63 to focus the liquid lens 62. Specifically, the focus control unit 65 performs image processing on the digital signal converted by the imaging control unit 64 and determines whether or not the lens unit Nl including the liquid lens 62 is in focus. Then, when the lens unit Nl is not in focus, the focus control unit 65 adjusts the applied voltage, which is a control value for operation control of the liquid lens 62, to vary the focal length of the liquid lens 62. Focus. As the image processing described above, for example, a contrast detection method for determining whether or not the image is in focus based on the contrast value calculated for a predetermined area in the image data can be applied.
  • the correction voltage calculation unit 66 calculates the correction voltage ⁇ Vr required for generating the target voltage that the imaging control unit 64 applies to the liquid lens 62 during imaging. This correction voltage ⁇ Vr is used for correcting the operation of the liquid lens 62, which is a variable focus lens, in consideration of the influence of the imaging environment such as the ambient temperature.
  • the correction voltage calculation unit 66 calculates the correction voltage ⁇ Vr based on the lens characteristics and the applied voltage when actual focusing is performed.
  • the lens characteristics indicate the relationship between the voltage applied to the liquid lens 62 and the focal length.
  • the focal length of the liquid lens 62 has a correlation with the focal length of the entire lens unit Nl including the liquid lens 62 and the distance from the head camera device 50 to the object to be imaged. Therefore, as the lens characteristics, the relationship between the voltage applied to the liquid lens 62 and the distance between the object and the camera body 60 may be shown, and the relationship between the applied voltage and the focal length may be indirectly shown. Good.
  • the calculation of the correction voltage ⁇ Vr by the correction voltage calculator 66 will be described in the calibration process of the liquid lens 62 described later.
  • the control device 70 is mainly composed of a CPU, various memories, and a control circuit, and controls the operation of the mounting head 40 based on image data acquired by imaging of the head camera device 50. As shown in FIG. 3, in the control device 70, an input / output interface 75 is connected to a mounting control unit 71, an image processing unit 72, a calibration value calculation unit 73, and a storage unit 74 via a bus. A motor control circuit 76 and an imaging control circuit 77 are connected to the input / output interface 75.
  • the mounting control unit 71 controls the position of the mounting head 40 and the operation of the suction mechanism via the motor control circuit 76. More specifically, the mounting control unit 71 inputs information output from various sensors provided in the component mounting machine 1 and results of various recognition processes. The mounting control unit 71 then sends a control signal to the motor control circuit 76 based on the control program stored in the storage unit 74, information from various sensors, and the results of image processing and recognition processing.
  • the image processing unit 72 acquires image data obtained by imaging of the head camera device 50 via the imaging control circuit 77 and executes image processing according to the application. This image processing includes, for example, processing such as binarization of image data, filtering, and hue extraction.
  • the calibration value calculation unit 73 calculates a calibration value of the relative position of the mounting head 40 with respect to the base 2 based on image data obtained by imaging using a plurality of reference marks in the component mounting machine 1 as an object.
  • the plurality of reference marks are attached to the guide rail 12 fixed to the base 2 and the mounting head 40 of the component transfer device 30 and indicate the fixed reference position in the component mounting machine 1.
  • the calibration value corresponds to the difference between the command position related to the movement control of the mounting head 40 and the movement position where the mounting head 40 is actually positioned, and the relative position of the suction nozzle 43 with respect to the circuit board B in the mounting process. Used for calibration.
  • command position and the actual movement position may be caused by, for example, thermal displacement due to operation of the component mounting machine 1 or mounting error of the mounting head 40 with respect to the moving table 34.
  • the mounting control using the calibration value will be described in the calibration process of the component mounter described later.
  • the storage unit 74 is configured by an optical drive device such as a hard disk device or a flash memory.
  • the storage unit 74 includes a control program for operating the component mounter 1, image data transferred from the head camera device 50 to the control device 70 via a bus or a communication cable, an image processing unit 72, and a calibration value calculation unit. Temporary data for processing by 73 is stored.
  • the input / output interface 75 is interposed between the CPU and storage unit 74 and the control circuits 75 and 76, and adjusts data format conversion and signal strength.
  • the motor control circuit 76 controls the Y-axis motor 33, the X-axis motor 35, the R-axis motor 45, the Z-axis motor 46, and the ⁇ -axis motor based on the control signal from the mounting control unit 71.
  • the mounting head 40 is positioned in each axial direction, and the suction nozzle 43 is controlled to have a predetermined angle.
  • the imaging control circuit 77 controls imaging by the head camera device 50 based on imaging control signals from the CPU of the control device 70 and the like. Further, the imaging control circuit 77 acquires image data obtained by imaging of the head camera device 50 and stores it in the storage unit 74 via the input / output interface 75.
  • the mounting control of the electronic component EP by the component mounting machine 1 will be described with reference to FIG. 4 and FIG.
  • the control device 70 picks up the electronic component EP, recognizes the position where the circuit board B is clamped, recognizes the holding state of the electronic component EP, and places the electronic component EP on the circuit board B. A mounting process for mounting is executed.
  • the circuit board B is clamped by the clamping device after being carried to the predetermined position in the X-axis direction in the machine by the board conveying device 10 as described above during mounting control. For this reason, the positioning state of the circuit board B is individually different due to the operating environment of the substrate transport apparatus 10, the individual difference of the circuit board B, and the like. Therefore, the control device 70 performs a recognition process of the position where the circuit board B is clamped, thereby performing a mounting process corresponding to the positioning state of the circuit board B currently clamped.
  • Mb is imaged.
  • the board mark Mb is a fiducial mark that serves as a reference for detecting the position of the circuit board B.
  • the imaging control unit 64 of the camera body 60 applies a predetermined voltage to the liquid lens 62 and supplies power so that the incident light source 55a and the incident light source 56a provided in the substrate side optical path Tb emit light. .
  • the voltage applied to the liquid lens 62 is calculated based on the distance (optical path length) to the object to be imaged and the lens characteristics of the liquid lens 62 because the object to be imaged is the substrate mark Mb of the circuit board B. .
  • the lens unit Nl including the liquid lens 62 is in a state where the object is generally focused without performing focusing using image processing.
  • the imaging control unit 64 converts the electrical signal converted by the imaging element 63 into a digital signal, images the object, and transfers the image data to the control device 70.
  • the mounting control unit 71 performs image processing on the acquired image data in the image processing unit 72 and detects, for example, the position of the substrate mark Mb with respect to the center of the image data (corresponding to the optical axis Ax of the camera body 60). Then, the mounting control unit 71 is based on the detected position of the board mark Mb, the coordinates of the moving table 34 when the head camera device 50 performs imaging, the position of the optical axis Ax of the camera body 60 with respect to the moving table 34, and the like. Then, the position of the clamped circuit board B is recognized.
  • the electronic component EP is brought into a suckable state at the supply position Ps by the component supply device 20, and is sucked and held at the tip of the suction nozzle 43 to which negative pressure is supplied as described above. Therefore, the holding state of the electronic component EP differs individually due to the operating environment at the time of suction, the storage state of the electronic component EP in the carrier tape, and the like. Therefore, the control device 70 performs a mounting process corresponding to the posture of the electronic component EP held by each suction nozzle 43 by performing a recognition process of the holding state of the electronic component EP.
  • control device 70 uses the component-side optical path Tp to the head camera device 50 in parallel with this movement control when the mounting head 40 is moved to above the circuit board B by executing the suction process. All the electronic components EP held by the plurality of suction nozzles 43 are sequentially imaged.
  • the imaging control unit 64 of the camera body 60 applies a predetermined voltage to the liquid lens 62 and supplies power so that the incident light source 55b and the incident light source 56b provided in the component-side optical path Tp emit light. .
  • the applied voltage to the liquid lens 62 is based on the distance (optical path length) to the object to be imaged and the lens characteristics of the liquid lens 62 since the object to be imaged is the electronic component EP held by the suction nozzle 43. Calculated. Thereafter, the imaging control unit 64 images the object and transfers the image data to the control device 70.
  • the mounting control unit 71 performs image processing on the image data acquired by the image processing unit 72 and sets the holding state based on, for example, the outer shape of the electronic component EP with respect to a predetermined position (corresponding to the central axis of the suction nozzle 43) of the image data. recognize.
  • the control device 70 corrects the command position of the moving base 34 and the angle of the suction nozzle 43 based on the positioning state of the circuit board B and the holding state of the electronic component EP recognized as described above, and the mounting process of the electronic component EP. Execute. As described above, the component mounter 1 can improve the accuracy of the mounting control by the recognition process based on the image data obtained by the imaging while enabling the head camera device 50 using the liquid lens 62 to image the objects having different optical path lengths. Yes.
  • the component mounter 1 of the present embodiment is focused using image processing in imaging with the circuit board B or the electronic component EP as an object for the purpose of shortening the cycle time of mounting control. Is omitted.
  • the imaging control unit 64 of the camera body 60 recognizes in advance the approximate distance from the imaging element 63 to the object to be imaged (circuit board B or electronic component EP).
  • a method is adopted in which focusing is performed by applying a predetermined voltage according to the above.
  • the lens unit Nl may not be focused on the object to be imaged even if a predetermined voltage is applied. This is because the operation of the liquid lens 62 is affected by the imaging environment such as temperature. Therefore, in the present embodiment, the liquid lens 62 is calibrated in order to perform imaging suitable for the current imaging environment. This calibration process is appropriately performed, for example, when the component mounter 1 is turned on or when the production process is shifted.
  • the calibration process of the liquid lens 62 is performed by adding the correction voltage ⁇ Vr calculated by the correction voltage calculation unit 66 to the standard applied voltage Vb.
  • This correction voltage ⁇ Vr is calculated as follows.
  • the focus control unit 65 of the camera body 60 focuses the lens unit Nl using the standard mark Ms (see FIG. 6) as an object to be imaged.
  • the standard mark Ms is configured by arranging four line segments at equal intervals, and is attached to the inner side surface of the protective glass 52 so that at least a part thereof is accommodated in the camera field of view Fv1.
  • the standard mark Ms is located at a specified distance Ls from the image sensor 63 of the camera body 60.
  • the correction voltage calculation unit 66 sets the standard mark Ms as an object to be imaged, and the current applied voltage to the liquid lens 62 when the focus control unit 65 performs focusing of the lens unit Nl including the liquid lens 62.
  • This “current applied voltage Vc” is applied to the liquid lens 62 when focusing on the standard mark Ms at a specified distance Ls from the image sensor 63 in the current imaging environment including the ambient temperature and the like.
  • Voltage That is, the current applied voltage Vc is a voltage adapted to the current imaging environment.
  • the correction voltage calculation unit 66 sets the standard mark Ms as an object to be imaged, and based on the prescribed lens characteristic LCp indicating the relationship between the voltage applied to the liquid lens 62 and the focal length, the standard to the liquid lens 62 is standardized.
  • the applied voltage Vb is calculated.
  • the prescribed lens characteristic LCp is shown as a solid line in FIG. 7, and is generated based on an actual measurement value in a standard imaging environment, for example, and stored in the memory of the camera body 60 in advance.
  • the focal length LFs of the liquid lens 62 corresponds to a specified distance Ls to the standard mark Ms. That is, when the liquid lens 62 is applied with a predetermined voltage to reach the focal length LFs, the lens unit Nl is in focus on the standard mark Ms at the specified distance Ls.
  • the correction voltage calculation unit 66 calculates the difference (Vc ⁇ Vb) between the acquired current applied voltage Vc and the calculated standard applied voltage Vb as the correction voltage ⁇ Vr.
  • the standard applied voltage Vb is required in the standard imaging environment and the current application in the current imaging environment in order for the liquid lens 62 to have the focal length LFs corresponding to the specified distance Ls.
  • the voltage Vc is required.
  • the liquid lens 62 requires adjustment of the applied voltage when the imaging environment including the ambient temperature changes, but it was found that the amount of adjustment is the same at any focal length. That is, the current lens characteristic is in a state where the specified lens characteristic LCp is shifted by the correction voltage ⁇ Vr, as indicated by the broken line in FIG. Therefore, the correction voltage ⁇ Vr calculated as described above can be said to be a correction amount adapted to the current imaging environment at any focal length in the specified lens characteristic LCp.
  • the imaging control unit 64 of the camera body 60 images the target object using the correction voltage ⁇ Vr calculated as described above. Specifically, the imaging control unit 64 first calculates the basic voltage Vx based on the distance to the target object and the specified lens characteristic LCp, with the electronic component EP sucked by the suction nozzle 43 as the target of imaging. To do.
  • the “distance to the object” corresponds to the distance from the image sensor 63 to the tip of the suction nozzle 43, that is, the optical path length of the component-side optical path Tp, and is recognized in advance.
  • the imaging control unit 64 adds the correction voltage ⁇ Vr calculated in advance to the calculated basic voltage Vx (Vx + ⁇ Vr) to calculate the target voltage Vt.
  • the liquid lens 62 is calibrated by calculating the target voltage Vt.
  • the liquid lens 62 forms a focal length LFx corresponding to the optical path length to the object.
  • the lens unit Nl of the camera body 60 is in a state where the focal point thereof is aligned with the lower surface of the electronic component EP sucked by the suction nozzle 43 in the current imaging environment.
  • the imaging control unit 64 performs imaging in a range that falls within the camera field of view Fv1 in this state. Thereafter, the image data acquired by the head camera device 50 by imaging is transferred to the control device 70, and the imaging process is terminated.
  • this is done by calculating a calibration value of the relative position of the mounting head 40 with respect to the base 2 based on image data obtained by imaging using a plurality of reference marks in the component mounting machine 1 as an object.
  • the calibration value is indicated by the amount of deviation ( ⁇ Xr, ⁇ Yr) in the XY axis direction, and is calculated as follows.
  • the control device 70 moves the movable table 34 so that the head camera device 50 is positioned above the substrate transfer device 10 that clamps and holds the circuit board B. Thereby, the head camera device 50 can image the first reference mark Mt1 attached to the specified position on the base 2 side using the substrate-side optical path Tb.
  • the first reference mark Mt1 may be directly attached to the base 2, but in the present embodiment, as shown in FIG. 4, the first reference mark Mt1 is attached to the upper surface of the guide rail 12 fixed to the base 2 via a frame. , And are attached to two places at a predetermined interval in the X-axis direction. Each first reference mark Mt1 indicates a reference position in the component mounter 1.
  • the control device 70 sends an imaging command to the head camera device 50 using the first reference mark Mt1 as an imaging object.
  • the head camera device 50 proceeds to an imaging process for imaging the first reference mark Mt1. Since this imaging process is the same as the imaging process that uses the board mark Mb described in “Mounting control by the component mounter”, a detailed description thereof will be omitted.
  • the head camera device 50 can image the second reference mark Mt2 attached to the specified position of the mounting head 40 using the component-side optical path Tp regardless of the position of the moving table 34.
  • the second fiducial mark Mt2 is 2 with a predetermined interval in the X-axis direction on the lower surface of the plate 44b fixed to the lower end of the frame 44 of the mounting head 40. It is attached to the place.
  • the plate 44b is a part of the mounting head 40 that can be attached to and detached from the movable table 34, and is in the Y-axis direction so that the second reference mark Mt2 is within the camera field of view Fv2 of the component-side optical path Tp of the head camera device 50. (See FIG. 2).
  • Each of the second reference marks Mt2 indicates a reference position in the mounting head 40.
  • the control device 70 sends an imaging command for using the second reference mark Mt2 as an imaging target to the head camera device 50.
  • the head camera device 50 proceeds to an imaging process for imaging the second reference mark Mt2.
  • the imaging process of the electronic component EP using the component-side optical path Tp is the same as the imaging process using the imaging process of the electronic component EP described in “Mounting control by the component mounter” as an object. Therefore, detailed description is omitted.
  • the control device 70 proceeds to a calibration value calculation process by the calibration value calculation unit 73.
  • two first and second reference marks Mt1 and Mt2 are attached.
  • the first and second reference marks Mt1 and Mt2 are attached one by one.
  • the calibration value calculation unit 73 first performs various image processes by the image processing unit 72 in order to recognize the positions of the first and second reference marks Mt1 and Mt2 in each acquired image data.
  • the calibration value calculation unit 73 actually sets the first position St1 where the first reference mark Mt1 should be in the camera field of view Fv1 and the image data on the base 2 side (corresponding to the camera field of view Fv1 in FIG. 8).
  • the difference ( ⁇ X1, ⁇ Y1) from the position Sc1 where the reference mark Mt1 is recognized is calculated.
  • the ideal position St1 is the first position in the camera field of view Fv1 of the board-side optical path Tb when the suction nozzle 43 is moved to the command position Ot with no error due to thermal displacement or the like occurring in the component mounting machine 1. This is the position where there is one reference mark Mt1.
  • the calibration value calculation unit 73 actually sets the second position in the ideal position St2 where the second reference mark Mt2 should be in the camera field of view Fv2 and the image data on the mounting head 40 side (corresponding to the camera field of view Fv2 in FIG. 8).
  • the difference ( ⁇ X2, ⁇ Y2) from the position Sc2 where the reference mark Mt2 is recognized is calculated.
  • the ideal position St2 is a position where the second reference mark Mt2 is present in the camera field of view Fv2 of the component-side optical path Tp in a state in which no mounting error occurs in the mounting head 40 installed on the moving table 34 of the component transfer apparatus 30. It is.
  • the mounting control unit 71 of the control device 70 calibrates the relative position of the suction nozzle 43 with respect to the circuit board B based on the calibration value calculated by the calibration value calculating unit 73.
  • the component mounter 1 calibrates an error generated between the command position Ot and the actual movement position Oc due to the thermal displacement, the mounting head 40 mounting error, and the like by such a calibration process.
  • the component mounter 1 holds the electronic component EP supplied to the supply position Ps and transfers the electronic component EP to the mounting position on the circuit board B (component transfer device 30).
  • a camera camera body 60 having a variable focus lens (liquid lens 62) whose focal length can be changed according to the applied voltage, a substrate-side optical path Tb that enables the circuit board B to be imaged from above, and a holding device
  • An optical member protecting glass 52, half mirror
  • Obtaining a plurality of image data by the camera imaging using optical path includes a mounting control unit 71 for controlling the mounting process of the electronic component EP based on a control program stored in advance a plurality of image data.
  • the camera body 60 includes the liquid lens 62 that is a variable focus lens, and the imaging of the circuit board B using the substrate-side optical path Tb and the imaging of the electronic component EP using the component-side optical path Tp. Also used for. Further, it is assumed that the imaging control unit 64 is focused on the object to be imaged by applying a voltage according to the optical path length to the liquid lens 62. Accordingly, the component mounter 1 can be configured to have a function of focusing while reducing the size of the camera body 60 as compared with a camera provided with a mechanism that performs focusing by changing the distance between the lenses.
  • the camera body 60 can image objects having different optical path lengths, it is not necessary to form optical paths so that the optical path lengths to the different objects are equalized by an optical member such as the mirror 54a. Thereby, the configuration of the head camera device 50 can be further simplified. As described above, the camera body 60 and the optical member in the component mounter 1 can be reduced in size, and the cost of the entire apparatus can be reduced.
  • the transfer device includes a suction nozzle 43 that sucks the electronic component EP by the negative pressure supplied and holds the electronic component EP.
  • a camera (camera body 60) is provided in a transfer device (component transfer device 30) together with optical members (protective glass 52, half mirrors 53a to 53c, mirrors 54a and 54b), and is positioned at a predetermined position.
  • optical members protecting glass 52, half mirrors 53a to 53c, mirrors 54a and 54b
  • the mounting control unit 71 recognizes the holding position including the position where the circuit board B is positioned and the position of the electronic component EP with respect to the suction nozzle 43 based on a plurality of image data obtained by each imaging, and mounts the electronic component EP. Control processing.
  • the position of the circuit board B positioned by clamping and the holding state of the electronic component EP held by the suction nozzle 43 can be recognized.
  • the mounting position on the circuit board B and the holding position of the electronic component EP held by the suction nozzle 43 are arranged via the optical axis Ax of the camera main body 60.
  • a relative relationship is recognized. That is, if a plurality of cameras are used, the cameras need to be calibrated.
  • the mounting control unit 71 performs mounting processing in consideration of misalignment due to clamping or misalignment during suction. Can be controlled.
  • the component mounting machine 1 is provided for each of a plurality of optical paths, and includes a plurality of light sources (epi-illumination light sources 55a and 55b, side light sources 56a and 56b) that illuminate an object to be imaged using the optical paths. Further prepare.
  • the imaging control unit 64 controls the power supplied to each light source (the epi-illumination light sources 55a and 55b and the side-illumination light sources 56a and 56b) and the applied voltage to the variable focus lens (the liquid lens 62) according to the object to be imaged. To do.
  • the imaging process can be controlled efficiently.
  • the optical path that is not used for imaging is not in focus because the light path is short and the optical path length is different as compared with the optical path on the use side. Therefore, natural light can be prevented from affecting the imaging process in an optical path that is not used for imaging. That is, the configuration of the present embodiment reduces the influence of natural light from the optical path side that is not used for imaging, compared with a configuration in which the fixed-focus lens is used as a camera and the optical path length is made equal by the optical member, and suitable image data is obtained. Can be acquired.
  • the optical member (the protective glass 52, the half mirrors 53a to 53c, the mirrors 54a and 54b) includes an object to be imaged and a variable focus lens (the liquid lens 62) as a transmission member capable of transmitting incident light.
  • a standard mark Ms is attached at a position that is a predetermined distance from the image sensor 63 of the camera (camera body 60).
  • the component mounter 1 uses the standard mark Ms as an object to be imaged, adjusts the voltage applied to the variable focus lens (liquid lens 62) based on the electrical signal of the image sensor 63, and changes the variable focus lens (liquid lens 62). Further, a focus control unit 65 for performing the focusing is provided.
  • the imaging control unit 64 is a variable focus lens (liquid lens 62) when the focus control unit 65 performs focusing on the standard mark Ms when the camera (camera body 60) performs imaging using a plurality of optical paths.
  • the applied voltage to the variable focus lens (liquid lens 62) is corrected on the basis of the applied voltage.
  • the camera body 60 assumes that the approximate distance from the image sensor 63 to the object to be imaged is recognized in advance when performing imaging, and a predetermined voltage corresponding to the distance is obtained.
  • the method of focusing is applied. Therefore, since the camera body 60 does not require adjustment of the applied voltage based on image processing at the time of imaging, it is possible to improve the efficiency of the imaging processing.
  • the target voltage Vt applied to the liquid lens 62 when the object is imaged includes the correction voltage ⁇ Vr calculated based on the applied voltage Vc when focusing is performed in the current imaging environment. Yes. Thereby, even when the imaging environment such as the ambient temperature changes, the target voltage Vt adapted to the imaging environment can be applied to the liquid lens 62.
  • the optical path connecting the camera body 60 and the object is a straight line so that the substrate-side optical path Tb or the component-side optical path Tp among the plurality of optical paths coincides with the optical axis Ax of the camera (camera body 60). Is formed.
  • the substrate side optical path Tb is configured to coincide with the optical axis Ax of the camera body 60.
  • case 51 and the optical member can be minimized in the substrate side optical path Tb. Therefore, the configuration of the case 51 and the optical member can be further simplified, so that the cost can be reduced.
  • the transfer device (component transfer device 30) supports a moving table 34 supported so as to be relatively movable with respect to the base 2, and a holding member (suction nozzle 43) that holds the electronic component EP.
  • the mounting head 40 is detachably attached to the movable table 34.
  • the camera (camera body 60) is provided on the movable table 34 together with optical members (protective glass 52, half mirrors 53a to 53c, mirrors 54a and 54b).
  • the component mounter 1 includes a first reference mark Mt1 attached to a specified position on the base 2 side that can be imaged using the substrate side optical path Tb, and a mounting head 40 that can image from below using the component side optical path Tp.
  • a calibration value calculation unit 73 for calculating When controlling the mounting process of the electronic component EP, the mounting control unit 71 calibrates the relative position of the holding member (suction nozzle 43) with respect to the circuit board B based on the calibration value.
  • the position of the suction nozzle 43 can be calibrated. Thereby, since the position error can be corrected, the accuracy of control of the mounting process can be further improved.
  • the camera since the camera is a dual-purpose camera, the relative position of both members can be recognized with reference to the common optical axis, so that calibration values that absorb various errors can be calculated.
  • the component mounting machine 1 can be reduced in size and cost by being shared.
  • the substrate side optical path Tb and the component side optical path Tp are formed by the optical member.
  • the component-side optical path Tp is an optical path that enables the electronic component EP held by the suction nozzle 43 of the mounting head 40 to be imaged from below.
  • the component side optical path Tp may be an optical path that enables the electronic component EP to be imaged from the side, for example.
  • the control device 70 can recognize the presence / absence of the held component and the component height (dimension in the Z-axis direction) and reflect them in the control of the mounting process.
  • the substrate side optical path Tb and the component side optical path Tp may be formed to be further branched by an optical member.
  • an optical member For example, when the component-side optical path Tp enables the electronic component EP to be imaged from the side as described above, two suction nozzles are separated by two branched optical paths among the plurality of suction nozzles 43 held by the mounting head 40. A configuration in which 43 is simultaneously imaged is assumed.
  • the head camera device 50 only needs to be capable of imaging using at least the substrate-side optical path Tb and the component-side optical path Tp, and the optical path that enables imaging of other countermeasures is formed by the optical member. Also good.
  • the substrate side optical path Tb is formed linearly so as to coincide with the optical axis Ax of the camera body 60.
  • a liquid crystal lens is configured, for example, by arranging a liquid crystal layer between two electrodes. When different voltages are applied to these electrodes, the alignment state of the liquid crystal molecules changes according to the direction of the electric field, thereby acting as a lens. To do.
  • a correction voltage for imaging a standard mark Ms attached to a position at a specified distance Ls from the image sensor 63 and correcting a specified lens characteristic LCp. ⁇ Vr was calculated.
  • the variable focus lens calibration process may be based on the voltage applied to the variable focus lens when focusing on the standard mark.
  • the target voltage Vt can be calculated based on the current lens characteristics, and the variable focus lens is calibrated by generating the current lens characteristics.
  • the standard marks may be attached to optical members (such as protective glasses) provided in the respective optical paths. Thereby, calibration within the unit of head camera device 50 is attained.
  • first and second reference marks Mt1 and Mt2 are attached.
  • the first and second reference marks Mt1 and Mt2 are described as being attached one by one.
  • Such a calibration process corresponds to, for example, a case where it is assumed that an error requiring calibration is caused to move in parallel on the XY plane.
  • a configuration in which a plurality of first and second reference marks Mt2 are attached is preferable.
  • calibration by measuring the error amount of the angle error as described above can be performed by image processing of image data using a pair of reference marks as objects.
  • the same calibration is possible for a shape having a prescribed width and length.
  • component mounter 2 base 10: substrate transfer device 20: component supply device 30: component transfer device (transfer device) 34: moving table, 40: mounting head (holding device) 43: Suction nozzle (holding member) 50: Head camera device 52: Protective glass (optical member) 53a to 53c: Half mirror (optical member) 54a, 54b: Mirror (optical member) 55a, 55b: Epi-illumination light source, 56a, 56b: Side-illumination light source 60: Camera body 62: Liquid lens (variable focus lens), 63: Imaging element 64: Imaging control unit, 65: Focus control unit 70: Control device 71: Mounting Control part 73: Calibration value calculation part B: Circuit board, EP: Electronic component, Ps: Supply position Mb: Board mark, Ms: Standard mark, Ls: Specified distance Mt1: First reference mark, Mt2: Second reference Mark Tb: Substrate side optical path, Tp: Component side optical path, Ax: Optical axis

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  • Engineering & Computer Science (AREA)
  • Operations Research (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

L'objet de la présente invention est de décrire une machine de montage de composants permettant la réduction de la taille d'une caméra et des éléments optiques en son sein et d'abaisser les coûts. La machine de montage de composants comporte un dispositif de transfert pour transférer un élément électronique maintenu, une caméra possédant une lentille à focale variable, des éléments optiques formant une pluralité de trajets optiques ayant différentes longueurs de trajet optique les uns des autres, une unité de commande d'imagerie appliquant à la lentille à focale variable des tensions correspondant aux longueurs de trajet optique pendant la création d'images d'objets au moyen de la pluralité de trajets optiques, et une unité de commande de montage pour commander le processus de montage de composant électronique sur la base d'une pluralité d'ensembles de données d'image et d'un programme de commande stockés par avance.
PCT/JP2013/075148 2013-09-18 2013-09-18 Machine de montage de composants WO2015040696A1 (fr)

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JP2017092131A (ja) * 2015-11-05 2017-05-25 Juki株式会社 画像生成装置、実装装置及び画像生成方法
CN109315085A (zh) * 2016-06-17 2019-02-05 株式会社富士 元件安装装置及元件安装系统
JP2020136424A (ja) * 2019-02-18 2020-08-31 株式会社Ｆｕｊｉ 部品装着機
CN112382590A (zh) * 2020-11-11 2021-02-19 华天科技(南京)有限公司 一种编带设备交手校正系统及方法
JP2021067860A (ja) * 2019-10-25 2021-04-30 国立大学法人秋田大学 位置合わせ装置
CN114747308A (zh) * 2019-12-11 2022-07-12 松下知识产权经营株式会社 部件拍摄装置以及部件安装装置

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JP7057217B2 (ja) * 2018-05-21 2022-04-19 株式会社ミツトヨ 焦点距離可変レンズの校正方法および焦点距離可変レンズ装置

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JP2017092131A (ja) * 2015-11-05 2017-05-25 Juki株式会社 画像生成装置、実装装置及び画像生成方法
CN106937525A (zh) * 2015-11-05 2017-07-07 Juki株式会社 图像生成装置、安装装置及图像生成方法
CN106937525B (zh) * 2015-11-05 2020-07-10 Juki株式会社 图像生成装置、安装装置及图像生成方法
CN109315085A (zh) * 2016-06-17 2019-02-05 株式会社富士 元件安装装置及元件安装系统
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CN109315085B (zh) * 2016-06-17 2020-10-27 株式会社富士 元件安装装置及元件安装系统
JP2020136424A (ja) * 2019-02-18 2020-08-31 株式会社Ｆｕｊｉ 部品装着機
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JP2021067860A (ja) * 2019-10-25 2021-04-30 国立大学法人秋田大学 位置合わせ装置
JP7356667B2 (ja) 2019-10-25 2023-10-05 国立大学法人秋田大学 位置合わせ装置
CN114747308A (zh) * 2019-12-11 2022-07-12 松下知识产权经营株式会社 部件拍摄装置以及部件安装装置
CN112382590A (zh) * 2020-11-11 2021-02-19 华天科技(南京)有限公司 一种编带设备交手校正系统及方法

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