WO2016157287A1

WO2016157287A1 - Component mounting device

Info

Publication number: WO2016157287A1
Application number: PCT/JP2015/059602
Authority: WO
Inventors: 瑞穂野沢
Original assignee: 富士機械製造株式会社
Priority date: 2015-03-27
Filing date: 2015-03-27
Publication date: 2016-10-06
Also published as: JPWO2016157287A1; JP6673902B2

Abstract

In the present invention, in a state where a head unit (60) is in a position at which a component P which has been supplied to a component supply area can be vacuumed by a vacuum nozzle (61), a lateral-surface camera (80) is installed on the head unit (60) so that an immediately-before-supply area which is just before the component vacuuming position is included within the image pickup range of the lateral-surface camera (80), and when the component P which has been supplied to the component supply area is vacuumed by the vacuum nozzle (61), image pickup is carried out by the lateral-surface camera (80) to recognize the position of the next component to be vacuumed (position of the next component to be vacuumed Q1) which is in the immediately-before-supply area. A position, determined by offsetting the position of the next component to be vacuumed Q1 by only a specified feed amount R, is set as the target vacuum position Q* of the next component to be vacuumed. Due to this configuration, by using simple control, the occurrence of vacuum displacement when the components P are vacuumed by the vacuum nozzle (61) can be suppressed.

Description

Component mounter

The present invention relates to a component mounting machine.

Conventionally, a feeder that transports a tape in which cavities (recesses) containing electronic components are formed at predetermined intervals is mounted, and the electronic components supplied from the feeder are sucked by a suction nozzle and mounted on a printed circuit board. A component mounter is known (see, for example, Patent Document 1). The component mounting machine of Patent Document 1 includes a revolver head in which a plurality of suction nozzles are arranged at equal intervals in the circumferential direction, and a component camera fixed to the revolver head. In addition, when the electronic component moves to the imaging position located in the opposite conveyance direction than the suction position by the conveyance of the feeder, the component mounting machine images the electronic component with the component camera, and based on the image obtained by the imaging, The position of the electronic component is calculated. The component camera moves the suction nozzle in the circumferential direction so as to be the same speed as the tape transport speed by the feeder, and images the electronic component while the tape transport and the suction nozzle movement are synchronized. When the electronic component moves to the suction position, the component mounter finely corrects the position of the suction nozzle in accordance with the calculated position of the electronic component and causes the electronic component to be sucked to the suction nozzle.
JP 2012-191133 A

In the component mounting machine described above, the electronic component in the cavity immediately before suction is imaged with the component camera, and the position of the electronic component is calculated based on the image obtained by the imaging. It is possible to reduce suction mistakes by correcting electronic components and picking up electronic components. However, in the above-described component mounter, imaging by the component camera is performed while synchronizing the conveyance of the tape by the feeder and the circumferential movement of the suction nozzle, so that it is difficult to take an imaging timing and the control becomes complicated.

The present invention holds a component supplied by feeding a tape having recesses in which the component is accommodated at a predetermined interval by a predetermined feeding amount by a holding member, and holds the component with high accuracy by simple control. The main purpose is to make it possible.

The present invention adopts the following means in order to achieve the main object described above.

The component mounter of the present invention is
A component supply device is provided to supply a component by feeding a tape with recesses containing the components formed at predetermined intervals by a predetermined feed amount, and the component supplied by the component supply device is held and mounted on the substrate. A component mounting machine that
A head having a holding member for holding the component;
Moving means for moving the head;
It is movable with the head by the moving means, and when the head is in a position where the component can be held by the holding member, the head is held after being upstream of the component that can be held by the holding member. Imaging means arranged so that the position of the recess in which the component to be stored is within the imaging range;
The position of the later held component that was within the imaging range based on the image captured by the imaging means when the head is in a position where the component can be held by the holding member, or the component was accommodated Recognizing the position of the recess, correcting the recognized position based on the predetermined feed amount, determining a target holding position, and holding the component on the holding member at the determined target holding position, Control means for controlling the moving means;
It is a summary to provide.

The component mounter of the present invention is provided with a component supply device that supplies a component by feeding a tape in which recesses in which components are accommodated are formed at predetermined intervals by a predetermined feed amount, and is supplied by the component supply device. When mounting a component on a board while holding the component, hold the imaging unit that can be moved by the moving unit together with the head having the holding member that holds the component when the head is in a position where the component can be held by the holding member. It arrange | positions so that the position of the recessed part in which the component hold | maintained after it exists in the feed direction of a tape rather than the component which can be hold | maintained with a member will be in an imaging range. The component mounter accommodates the position of the component held after being within the imaging range based on the image captured by the imaging means when the head is in a position where the component can be held by the holding member, or the component is accommodated. The head is configured to recognize the position of the recessed portion, determine the target holding position by correcting the recognized position based on a predetermined feed amount, and hold the component on the holding member at the determined target holding position. And the moving means. This makes it possible to determine the target holding position when holding the component based on the position of the component to be held later and the feed amount of the component by the tape, so that the component can be held with high accuracy by simple control. Is possible. Here, “parts to be held later” includes parts to be held next time, parts to be held one after another, parts to be held at a later time, and the like.

In the component mounting machine according to the aspect of the invention in which the component to be held later is a component to be held next time, the control unit is based on an image captured by the imaging unit when the component is held by the holding member. Recognizing the position of the part to be held next time within the imaging range or the position of the concave part in which the part is accommodated, and correcting the recognized position based on the predetermined feed amount, the next holding is performed. Determining a target holding position of the component, and controlling the head and the moving means so that the component is held by the holding member at the determined target holding position when the tape is fed by the predetermined amount; You can also In this aspect of the component mounting machine of the present invention, the control unit controls the head and the moving unit so that the component is held at the determined target holding position when the tape is fed by the predetermined feed amount. Based on the holding control to be performed, the imaging control for controlling the imaging means to perform imaging in the imaging range when the component is held at the target holding position by the holding control, and the image captured by the imaging control. Then, the target holding position determination process for determining the target holding position of the part to be held next time may be repeatedly executed. In this way, every time holding control is executed, the target holding position of the component to be held next time is determined based on the image picked up by the imaging means, so that it is possible to hold the component with high accuracy every time. Become.

In the component mounter of the present invention, the control unit may determine the target holding position by correcting the recognized position based on the predetermined feed amount and a predetermined correction amount. In this way, the accuracy of the target holding position can be further increased.

In the component mounter according to the aspect of the invention in which the target holding position is determined based on the predetermined correction amount, the control unit is configured such that the imaging range of the imaging unit is a position of a recess in which a component to be held next time is accommodated. The moving unit and the imaging unit are controlled so that the imaging unit performs imaging after the head is moved, and the next time that is within the imaging range is held based on the image captured by the imaging unit. When the position of the part or the position of the recess in which the part is accommodated is recognized as the first position, and the part to be held next time is sent by the tape as the part to be held this time, the imaging range of the imaging unit is The moving means and the imaging means so that imaging is performed by the imaging means after the head is moved to the position of the recess in which the component held this time is accommodated. Controlling and recognizing, as a second position, the position of the component held this time or the position of the concave portion in which the component was stored that was within the imaging range based on the image captured by the imaging unit The predetermined correction amount may be calculated based on the first position and the second position. In addition, when the head is in a position where the component can be held by the holding member, the imaging unit includes a position of a recess in which a component to be held this time is stored and a recess in which a component to be held next time is stored. The control means can image the position of the recess in which the part to be held this time is accommodated and the position of the recess in which the part to be held next time is accommodated. The moving means and the imaging means are controlled so that imaging is performed by the imaging means after the head is moved so that the position of the component held next time based on the image captured by the imaging means or The position of the concave portion in which the part is accommodated is recognized as the first position, and imaging is performed by the imaging unit when the part to be held next time is sent by the tape as a part to be held this time. Controlling the moving means and the imaging means so as to recognize the position of the part held this time or the position of the recess in which the part is accommodated as the second position based on the image taken by the imaging means, The predetermined correction amount may be calculated based on the recognized first position and the second position. In these cases, the control means may calculate the predetermined correction amount when the holding member holds the first part from the tape.

1 is a configuration diagram showing an outline of the configuration of a component mounting system 1. FIG. FIG. 3 is a configuration diagram showing an outline of the configuration of a head unit 60. It is explanatory drawing which shows a mode that the components P are adsorbed | sucked to the suction nozzle 61. FIG. FIG. 3 is a configuration diagram showing an outline of configurations of a rotary head 64 and a side camera 80. 2 is a configuration diagram showing an outline of a configuration of an optical system 84 of a side camera 80. FIG. 3 is a block diagram illustrating an electrical connection relationship between a control device 100 and a management device 110. FIG. It is explanatory drawing which shows an example of the captured image obtained by the imaging of the side camera. 3 is a flowchart illustrating an example of a component mounting process executed by a CPU 101 of a control device 100. 4 is a flowchart illustrating an example of a process at the time of first suction executed by a CPU 101 of the control device 100. 4 is a flowchart illustrating an example of non-first-time adsorption processing executed by a CPU 101 of the control device 100. It is explanatory drawing which shows a mode that the carrier tape T is sent inclining to an X-axis direction. It is the elements on larger scale which expand and show a part of carrier tape T of FIG. It is a block diagram which shows the outline of a structure of the optical system 84B of the side camera 80B of a modification. It is explanatory drawing which shows an example of the captured image obtained by the imaging of the side camera 80B of a modification. It is a flowchart which shows the process at the time of the first attraction | suction of a modification. It is a flowchart which shows the process at the time of non-first time adsorption | suction of a modification.

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram showing an outline of the configuration of the component mounting system 1. FIG. 2 is a configuration diagram showing an outline of the configuration of the head unit 60, FIG. 3 is an explanatory diagram showing a state in which the component P is sucked by the suction nozzle 61, and FIG. 4 is a diagram showing the rotary head 64 and the side camera 80. 5 is a configuration diagram showing an outline of the configuration of the optical system 84 of the side camera 80, and FIG. 6 is an electrical connection between the control device 100 and the management device 110. It is a block diagram which shows a relationship.

The component mounting system 1 includes a component mounter 10 that mounts (mounts) an electronic component (hereinafter referred to as “component”) P on a circuit board (hereinafter referred to as “substrate”) S, and a management device 110 that manages the entire system. With. In this embodiment, the left-right direction in FIG. 1 is the X-axis direction, the front-rear direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

As shown in FIG. 1, the component mounter 10 includes a component supply device 20 that supplies a component P, a substrate transport device 30 that transports the substrate S, a backup device 40 that backs up the transported substrate S, and a component P. The head unit 60 that adsorbs the liquid by the suction nozzle 61 and mounts it on the substrate S, the XY robot 50 that moves the head unit 60 in the XY direction, and the control device 100 (see FIG. 6) that controls the entire mounting machine. The substrate transfer device 30, the backup device 40, the XY robot 50, and the head unit 60 are accommodated in the housing 12. In addition to these components, the component mounter 10 also includes a parts camera 90 for imaging the suction posture of the component P sucked by the suction nozzle 61 from below, and a board positioning reference mark attached to the board S from above. A mark camera 92 for imaging is also provided.

As shown in FIG. 1, the component supply device 20 includes a feeder 22 that is arranged on the feeder base 14 formed on the front surface of the housing 12 so as to be aligned in the left-right direction (X-axis direction). As shown in FIG. 3, the feeder 22 is a tape feeder that feeds the carrier tape T in which the parts P are accommodated at a predetermined pitch to a parts supply area where the suction nozzle 61 can pick up. The carrier tape T includes a bottom tape BT in which cavities (recesses) C are formed at predetermined intervals, and a top film TT that covers the bottom tape BT in a state where the component P is accommodated in each cavity C. Yes. As shown in FIG. 1, the feeder 22 includes a reel 22a around which a carrier tape T is wound, and the carrier tape T is pulled out from the reel 22a and sent out to a component supply area. By peeling the top film TT from the BT, the component P is exposed in the component supply area, that is, in a state where it can be picked up. In the present embodiment, the part P sent to the part supply area is called a suction part this time, and the part P in the area just before the part supply area (upstream in the tape feed direction) is the next suction part. Call.

As shown in FIG. 1, the substrate transport device 30 includes a belt conveyor device 32, and the substrate S is transported from the left to the right (substrate transport direction) in FIG. 1 by driving the belt conveyor device 32. A backup device 40 that backs up the transported substrate S from the back side is provided at the center of the substrate transport device 30 in the substrate transport direction (X-axis direction).

As shown in FIG. 1, the XY robot 50 includes a guide rail 56 provided in the upper part of the apparatus along the Y-axis direction, a Y-axis slider 58 that can move along the guide rail 56, and a Y-axis slider 58. A guide rail 52 provided on the side surface along the X-axis direction and an X-axis slider 54 capable of moving along the guide rail 52 are provided. A head unit 60 is attached to the X-axis slider 54, and the control device 100 can move the head unit 60 to an arbitrary position on the XY plane by driving and controlling the XY robot 50.

As shown in FIG. 2, the head unit 60 includes a rotary head 64 in which a plurality of nozzle holders 62 holding suction nozzles 61 are arranged on a circumference coaxial with the rotation axis at a predetermined angular interval (for example, 30 degrees). R-axis actuator 66 for rotating rotary head 64, Z-axis actuator 70 for moving nozzle holder 62 in the Z-axis direction, suction nozzle 61, side surface of component P sucked by suction nozzle 61, and supply of carrier tape T A side camera 80 capable of imaging the immediately preceding area is provided.

The nozzle holder 62 is configured as a hollow cylindrical member that extends in the Z-axis direction. The upper end portion 62 a of the nozzle holder 62 is formed in a columnar shape having a larger diameter than the shaft portion of the nozzle holder 62. The nozzle holder 62 has a flange portion 62b having a diameter larger than that of the shaft portion at a predetermined position below the upper end portion 62a. A spring (coil spring) 65 is disposed between an annular surface below the flange portion 62 b and a recess (not shown) formed on the upper surface of the rotary head 64. For this reason, the spring 65 urges the nozzle holder 62 (flange portion 62b) upward with the depression on the upper surface of the rotary head 64 as a spring receiver.

As shown in FIG. 4, the rotary head 64 has a plurality (for example, 12) of suction nozzles 61 mounted on a nozzle holder 62 (see FIG. 2) arranged in the circumferential direction. A cylindrical reflector 64 a that can reflect light is attached to the center of the lower surface of the rotary head 64. The rotary head 64 of this embodiment includes a Q-axis actuator 69 (see FIG. 6) that rotates each nozzle holder 62 individually. Although not shown, the Q-axis actuator 69 includes a drive gear meshed with a gear provided on the outer circumference of the nozzle holder 62 and a drive motor connected to the rotation shaft of the drive gear. Therefore, in the present embodiment, the plurality of nozzle holders 62 can be individually rotated around the axis (Q direction), and accordingly, each suction nozzle 61 can also be individually rotated.

The R-axis actuator 66 includes a rotary shaft 67 connected to the rotary head 64 and a drive motor 68 connected to the rotary shaft 67, as shown in FIG. The R-axis actuator 66 intermittently rotates the rotary head 64 by a predetermined angle by driving the drive motor 68 intermittently by a predetermined angle (for example, 30 degrees). As a result, each suction nozzle 61 arranged in the rotary head 64 pivots by a predetermined angle in the circumferential direction. Here, the suction nozzle 61 sucks the component P supplied from the component supply device 20 to the component supply area when the suction nozzle 61 is at the 12 o'clock position in FIG. 4 among the plurality of movable positions. For this reason, this 12 o'clock position is referred to as a suction position A0. Further, the position at 11 o'clock in FIG. 4 is a position immediately before (at just before) the suction position A0 when the suction nozzle 61 moves in the circumferential direction (arrow direction in the figure). The position at 1 o'clock in FIG. 4 is a position immediately after the suction position A0 when the suction nozzle 61 moves in the circumferential direction (in the direction of the arrow in the figure). . When the component P sucked by the suction nozzle 61 is mounted on the substrate S, the suction position A0 is a mounting position, the position A1 immediately before the suction is a position immediately before mounting, and the position A2 immediately after the suction is immediately after mounting. Position.

As shown in FIG. 2, the Z-axis actuator 70 includes a screw shaft 74 that extends in the Z-axis direction and moves the ball screw nut 72, a Z-axis slider 76 that is attached to the ball screw nut 72, and a rotation shaft that is connected to the screw shaft 74. The feed screw mechanism includes a drive motor 78 connected thereto. The Z-axis actuator 70 rotates the drive motor 78 to move the Z-axis slider 76 in the Z-axis direction. The Z-axis slider 76 is formed with a substantially L-shaped lever portion 77 projecting toward the rotary head 64 side. The lever portion 77 can come into contact with the upper end portion 62a of the nozzle holder 62 located in a predetermined range including the suction position A0. Therefore, when the lever portion 77 moves in the Z-axis direction as the Z-axis slider 76 moves in the Z-axis direction, the nozzle holder 62 (suction nozzle 61) located within a predetermined range can be moved in the Z-axis direction. it can.

As shown in FIGS. 4 and 5, the side camera 80 includes a camera body 82 that includes an image sensor 82 a such as a CCD or CMOS provided under the head unit 60, and an optical system that forms an image on the image sensor 82 a. 84. In the optical system 84, three incident ports, a left incident port 86a, a right incident port 86b, and an upper incident port 86c, are formed on the rotary head 64 side, and a camera connection port 86d is formed on the camera body 82 side. The upper entrance 86c is formed at a position facing the proximal end of the suction nozzle 61 at the suction position A0, and the left entrance 86a is formed at a position facing the distal end of the suction nozzle 61 at the position A1 immediately before suction. The right entrance 86b is formed at a position facing the tip of the suction nozzle 61 at the position A2 immediately after the suction. The optical system 84 is provided with a plurality of light emitters 87 such as LEDs that emit light toward the reflector 64 a of the rotary head 64. The optical system 84 includes a plurality of mirrors (a left mirror 88a, a right mirror 88b, a middle mirror 88c, and an upper mirror 88d) that refract the light incident from the

incident ports

86a, 86b, and 86c and guide the light to the imaging element 82a. , Rear mirrors 88e, 88f). The left mirror 88a is disposed at the left entrance 86a, refracts light incident from the left entrance 86a to the middle mirror 88c, and the right mirror 88b is disposed at the right entrance 86b and is incident from the right entrance 86b. Refracted light to the middle mirror 88c. The middle mirror 88c is disposed between the left mirror 88a and the right mirror 88b, refracts the light from the left mirror 88a to the lower left region of the back mirror 88e, and directs the light from the right mirror 88b to the right of the back mirror 88e. Refract to the lower region. The upper mirror 88d is disposed at the upper incident port 86c, and refracts light incident from a direction of about 45 degrees with respect to the lower side of the suction nozzle 61 into the middle region of the rear mirror 88e. The upper entrance 86c is open in an area above the area that receives light from the upper mirror 88d of the rear mirror 88e, and light incident from the upper part of the upper mirror 88d is directed to the upper area of the rear mirror 88e. It comes to reach directly. The back mirrors 88e and 88f translate the light incident on the back mirror 88e so as to be refracted toward the image sensor 82a. From the above, the light from the direction of the suction nozzle 61 at the position A1 immediately before the suction enters the left entrance 86a and is refracted by the left mirror 88a, the middle mirror 88c, and the back mirrors 88e and 88f (first optical system). To the first area A of the image sensor 82a. The light from the direction of the suction nozzle 61 at the position A2 immediately after the suction enters the right incident port 86b, is refracted by the right mirror 88b, the middle mirror 88c, and the back mirrors 88e and 88f (first optical system) and is imaged. The first area B of 82a is reached. The light from the oblique 45 ° direction below the suction nozzle 61 is refracted by the upper mirror 88d and the back mirrors 88e and 88f (second optical system) and reaches the second region of the image sensor 82a. Light from the direction of the suction nozzle 61 at the suction position A0 is incident on the upper entrance 86c and directly reaches the back mirror 88e, and is refracted by the back mirrors 88e and 88f (third optical system) to be reflected by the imaging element 82a. Reach the third area. Thereby, the image sensor 82a forms images from different directions in different regions.

In this way, the side camera 80 captures the suction nozzle 61 at the suction position A0, the suction nozzle 61 at the position A1 immediately before the suction, and the suction nozzle 61 at the position A2 immediately after the suction in one imaging operation. Thus, each captured image can be acquired. When the side camera 80 is imaged in a state where the head unit 60 is in a position where the component P supplied to the component supply area by the feeder 22 can be adsorbed to the adsorption nozzle 61, in addition to the above three captured images, the carrier tape A captured image of the cavity C in the area immediately before the supply of T and the component P (next suction component) accommodated in the cavity C can also be acquired. FIG. 7 is an example of an image acquired by imaging by the side camera 80. As shown in FIG. 7, the acquired image includes a side image (hereinafter referred to as an image immediately after the suction) of the tip of the suction nozzle 61 at the position A2 immediately after the suction nozzle 61 sucks the component P, and a suction A side image (hereinafter referred to as an image immediately before the suction) of the suction nozzle 61 at the position A1 immediately before the suction of the component P by the nozzle 61 and the suction nozzle 61 at the suction position A0 at which the suction nozzle 61 sucks the component P. And a side image (hereinafter referred to as a nozzle image) of the base end portion and an image of the next suction component housed in the cavity C in the area immediately before the supply of the carrier tape T (hereinafter referred to as the next suction component image).

As shown in FIG. 6, the control device 100 is configured as a microprocessor centered on the CPU 101, and includes a ROM 102, an HDD 103, a RAM 104, an input / output interface 105 and the like in addition to the CPU 101. These are connected via a bus 106. The control device 100 inputs image signals from the side camera 80, the parts camera 90, and the mark camera 92 via the input / output interface 105. The X-axis slider 54, the Y-axis slider 58, the Z-axis actuator 70, the Q-axis actuator 69, and the R-axis actuator 66 are equipped with position sensors (not shown). Also input location information. The control device 100 also includes a component supply device 20, a substrate transport device 30, a backup device 40, an X-axis actuator 55 that moves the X-axis slider 54, a Y-axis actuator 59 that moves the Y-axis slider 58, and a Z-axis actuator 70 ( Drive signal to drive valve 78, Q-axis actuator 69 (drive motor), R-axis actuator 66 (drive motor 68), electromagnetic valve 79 that connects and disconnects vacuum pump (not shown) and suction nozzle 61, etc. Output via the output interface 105.

The management device 110 is, for example, a general-purpose computer. As shown in FIG. 6, the management device 110 includes a CPU 111, a ROM 112, an HDD 113 that stores board production data, a RAM 114, an input / output interface 115, and the like. These are connected via a bus 116. The management apparatus 110 receives an input signal from an input device 117 such as a mouse or a keyboard via the input / output interface 115. Further, the management device 110 outputs an image signal to the display 118 via the input / output interface 115. Here, the board production data is data that defines which parts P are mounted on the board in which order in the component mounter 10, and how many boards S on which the parts P are mounted are produced. It is. This production data is input in advance by an operator, and is transmitted from the management apparatus 110 to the component mounting machine 10 when production is started.

Next, the details of the operation of the component mounter 10 thus configured will be described. FIG. 8 is a flowchart illustrating an example of component mounting processing executed by the CPU 101 of the control device 100. This process is executed when production data is received from the management apparatus 110 and an instruction to start production is given.

In the component mounting process, the CPU 101 of the control device 100 first performs a substrate transfer process for controlling the substrate transfer device 30 to transfer the substrate S (S100). Subsequently, the CPU 101 uses the XY robot 50 (X-axis actuator 55 and Y-axis actuator 59) to move the suction position A0 of the rotary head 64 (head unit 60) to just above the component supply area of the feeder 22, and the R-axis actuator. 66, the suction nozzle 61 at the position A1 immediately before suction is moved to the suction position A0, the suction nozzle 61 is lowered by the Z-axis actuator 70, and a negative pressure is applied to the suction port of the suction nozzle 61 by the electromagnetic valve 79. Thus, a suction operation for sucking the component P onto the suction nozzle 61 is performed. When the first component supply is performed from the feeder 22 (“YES” in S102), the suction operation is performed by executing the first suction processing (S104), and the second and subsequent component supply from the feeder 22 is performed. If it is made (“NO” in S102), it is performed by executing a non-first-time adsorption process (S106). Here, the initial adsorption process is executed according to the flowchart illustrated in FIG. 9, and the non-initial adsorption process is executed according to the flowchart of FIG. Details of the initial adsorption process and the non-initial adsorption process will be described later. When performing the suction operation in this way, the CPU 101 repeats the suction operation for the number of suction nozzles 61 attached to the rotary head 64 (S108), and proceeds to the next processing of S110.

Next, the CPU 101 controls the X-axis actuator 55 and the Y-axis actuator 59 so that the suction position A0 of the rotary head 64 (head unit 60) moves directly above the mounting position of the substrate S (S110). The head unit 60 is moved via the part camera 90. When the head unit 60 passes above the parts camera 90, the lower surface of the part P sucked by the suction nozzle 61 is imaged by the parts camera 90, and the part P with respect to the suction nozzle 61 is picked up based on the obtained image. The amount of misalignment is detected and the mounting position is corrected.

When the head unit 60 moves to the mounting position, the CPU 101 executes a mounting operation for mounting the component P on the substrate S (S112), determines whether or not there is a component P to be mounted next (S114), and mounts the next time. If it is determined that there is a component P, the process returns to S112 to repeat the mounting operation. If it is determined that there is no component P to be mounted next time, the component mounting process is terminated.

Next, the process at the time of the first adsorption in FIG. 9 will be described. In the initial suction processing of FIG. 9, the CPU 101 first drives the X-axis actuator 55 and the Y-axis actuator 59 so that the head unit 60 moves until the area immediately before the supply of the carrier tape T is within the imaging range of the side camera 80. After the control (S200), imaging by the side camera 80 is performed (S202). Here, the processing of S200 is performed by moving the suction position A0 of the rotary head 64 (head unit 60) to the component supply area of the carrier tape T so that the area immediately before the supply of the carrier tape T is within the imaging range of the side camera 80. Can fit. Subsequently, the CPU 101 instructs the feeder 22 to feed the tape by one pitch (S204), and processes the image (next suction component image) obtained by the imaging of the side camera 80 in S202, and immediately before the supply area. The next suction component position Q1 which is the position (XY coordinate) of the next suction component inside is recognized (S206), and the position is offset in the Y-axis direction by the specified feed amount R for one pitch from the recognized next suction component position Q1. Is set to the target suction position Q * (S208). Here, the next suction component position Q1 can be recognized by extracting the edge of the next suction component from the next suction component image and obtaining the center position (XY coordinate) between the extracted edges of the next suction component. The specified feed amount R is the pitch between the cavities of the carrier tape T, and a predetermined value (design value) is used.

Next, the CPU 101 drives and controls the X-axis actuator 55 and the Y-axis actuator 59 so that the head unit 60 moves until the component supply area of the carrier tape T is within the imaging range of the side camera 80 (S210). Imaging by the camera 80 is performed (S212). When the image is captured by the side camera 80, the CPU 101 processes the image (currently picked-up part image) obtained by the image pickup and recognizes the current picked-up part position Q0 that is the position (XY coordinate) of the current picked-up part (S214). The correction amount α for correcting the specified feed amount R is calculated by taking the difference between the recognized current suction part position Q0 and the target suction position Q * set in S208 (S216). Thereafter, the CPU 101 drives and controls the X-axis actuator 55 and the Y-axis actuator 59 so that the suction position A0 of the rotary head 64 moves immediately above the current suction part position Q0 recognized in S214 (S218). Further, the CPU 101 drives and controls the Z-axis actuator 70 so that the suction nozzle 61 descends while driving and controlling the R-axis actuator 66 so that the suction nozzle 61 located immediately before the suction position A1 moves to the suction position A0 (S220). The suction nozzle 61 sucks the current suction component in the component supply area (current suction component position Q0) of the carrier tape T (S222). When the suction part is picked up this time, the CPU 101 picks up an image by the side camera 80 (S224), processes the image (next pick-up part image) obtained by the image pickup, and recognizes the next pick-up part position (XY coordinate) Q1. (S226) The position where the recognized next suction component position Q1 is offset in the X-axis direction and the Y-axis direction by the specified feed amount R and the correction amount α calculated in S216 is set as the target suction position Q * of the next suction component. After setting (S228), the first adsorption process is terminated.

Subsequently, the non-initial adsorption process in FIG. 10 will be described. In the non-first suction process of FIG. 10, the CPU 101 first instructs the feeder 22 to feed one pitch of tape (S250), and the target set in S228 of the first suction process or S262 described later in this process. The X-axis actuator 55 and the Y-axis actuator 59 are driven and controlled so that the suction position A0 of the rotary head 64 moves directly above the suction position Q * (S252). Further, the CPU 101 drives and controls the Z-axis actuator 70 so that the suction nozzle 61 descends while driving and controlling the R-axis actuator 66 so that the suction nozzle 61 at the position A1 immediately before the suction moves to the suction position A0 ( S254), the suction part 61 is made to suck the suction part this time (S256). When the suction part is picked up this time, the CPU 101 takes an image with the side camera 80 (S258), processes the image obtained by the image pickup (next suction part image), and recognizes the next suction part position Q1 (S260). The position where the recognized next suction component position Q1 is offset in the X-axis direction and the Y-axis direction by the specified feed amount R and the correction amount α calculated in S216 of the initial suction processing is the target suction position Q * of the next suction component. (S262), and the non-first-time adsorption process is terminated.

FIG. 11 is an explanatory view showing a state in which the carrier tape T is sent while being inclined in the X-axis direction, and FIG. 12 is a partially enlarged view showing a part of the carrier tape T of FIG. As described above, the specified feed amount R indicates the offset amount in the Y-axis direction when the current suction component position Q0 is estimated from the next suction component position Q1. For this reason, if the tape feeding direction of the carrier tape T and the Y-axis direction of the component mounting machine 10 completely coincide with each other, the next suction component will be sent from the next suction component position Q1 in the X-axis direction. There is no gap. However, as shown in FIG. 11, when the tape feeding direction of the carrier tape T is inclined with respect to the Y-axis direction, the larger the inclination, the more the next suction component is sent from the next suction component position Q1. The deviation width in the X-axis direction becomes large, and a large adsorption deviation occurs when the component P is adsorbed by the adsorption nozzle 61. In this embodiment, at the time of the first suction, the side camera 80 images the parts supply area and the area just before the supply of the carrier tape T, recognizes the next suction part position Q1 and the current suction part position Q0, and the next suction part. A correction amount α of the specified feed amount R is calculated based on the position Q1 and the current suction component position Q0. As a result, at the time of the subsequent suction, only the next suction part position Q1 is recognized, so that the current suction part position Q0 (target suction position Q *) is accurately estimated based on the specified feed amount R and the correction amount α. be able to.

In the imaging process of S224 of the first suction process or S258 of the non-first suction process, when the component P is sucked to the suction nozzle 61, the image acquired by the side camera 80 is an image immediately before the suction ( Side image of the tip of the suction nozzle 61 at the position A1 immediately before suction, an image immediately after suction (a side image of the tip of the suction nozzle 61 at the position A2 immediately after suction), and a nozzle image (base end of the suction nozzle 61 at the suction position A0) Side view). For this reason, the control device 100 confirms whether there is any abnormality (for example, damage to the suction nozzle 61 or presence / absence of adhering matter) of the suction nozzle 61 before the component suction based on the image immediately before the suction, or based on the image immediately after the suction. Then, the suction state of the component P (for example, whether the suction posture of the component P is good or not, or the presence or absence of the component P) is confirmed, or whether the suction nozzle 61 is present at the suction position A0 based on the nozzle image. be able to.

In the component mounting machine 10 of the embodiment described above, when the head unit 60 is in a position where the component P supplied to the component supply area can be adsorbed to the adsorption nozzle 61, one component before the component supply area (tape feed) The side camera 80 is installed in the head unit 60 so that the area immediately before supply located upstream in the direction is within the imaging range, and the side camera 80 takes an image when the suction part 61 supplied to the part supply area is picked up by the suction nozzle 61. To recognize the position of the next suction component (next suction component position Q1) in the area immediately before supply. When the carrier tape T is fed by one pitch and the next suction component is supplied to the component suction area as the current suction component, the component mounter 10 sets the position where the next suction component position Q1 is offset by the specified feed amount R. This time, the component P is attracted to the suction nozzle 61 as the target suction position Q * of the suction component. Thereby, it is possible to suppress the occurrence of a suction deviation when the component P is sucked by the suction nozzle 61 by simple control. Moreover, since the component mounter 10 performs the imaging operation of the side camera 80 when the current suction component supplied to the component supply area is suctioned to the suction nozzle 61, the suction operation is not hindered by the imaging operation. A decrease in mounting efficiency can be suppressed.

In addition, at the time of the first suction, the component mounter 10 of the embodiment images the component supply area and the immediately preceding supply area of the carrier tape T with the side camera 80, and the next suction component position Q1 and the current suction component position Q0 are obtained. The correction amount α of the specified feed amount R is calculated based on the next suction component position Q1 and the current suction component position Q0. Thereby, at the time of the next suction, the target suction position Q * can be estimated more accurately based on the specified feed amount R and the correction amount α by recognizing only the next suction component position Q1.

In the component mounter 10 according to the embodiment, when the head unit 60 is in a position where the component P supplied to the component supply area can be sucked by the suction nozzle 61, the area immediately before the supply is one side before the component suction position. Although included in the imaging range of the camera 80, the present invention is not limited to this, and both the immediately preceding supply area and the component supply area may be included in the imaging range. In this case, the optical system 84B of the modified example shown in FIG. 13 is used instead of the optical system 84 of the embodiment shown in FIG. 5, and the initial suction process of FIG. 15 is executed instead of the initial suction process of FIG. It should be. An example of a captured image obtained by imaging with the side camera 80B according to the modification is shown in FIG. As shown in FIG. 13, the modified optical system 84B includes a large-sized upper mirror 88g that widens the imaging range in the feed direction of the carrier tape T, instead of the upper mirror 88d of the optical system 84 of the embodiment. For this reason, when the suction nozzle 61 picks up the suction component this time and the imaging is performed by the side camera 80, as shown in FIG. 14, the current suction component sucked by the suction nozzle 61 in the component supply area and the supply The next suction component in the immediately preceding area is imaged. In this modification, the component supplied by the feeder 22 needs to be large enough to image the component while the suction nozzle 61 is sucking the component. Therefore, the initial suction processing in FIG. 9 and the initial suction processing in FIG. 15 may be switched depending on the component size.

In the initial suction processing of FIG. 15, the CPU 101 first sets the target suction position Q * by the same processing as S200 to S208 (S300 to S308). Then, the CPU 101 drives and controls the X-axis actuator 55 and the Y-axis actuator 59 so that the suction position A0 of the rotary head 64 moves directly above the target suction position Q * set in S308 (S310). Further, the CPU 101 drives and controls the Z-axis actuator 70 so that the suction nozzle 61 descends while driving and controlling the R-axis actuator 66 so that the suction nozzle 61 at the position A1 immediately before the suction moves to the suction position A0 ( S312), the suction part 61 is made to suck the suction part this time (S314). When the suction part is picked up this time, the CPU 101 picks up an image by the side camera 80 (S316), processes an image obtained by the image pickup (next suction part image, current suction part image), and picks up the current suction part position Q0. The next suction component position Q1 is recognized (S318), and the correction amount α is calculated by taking the difference between the recognized current suction component position Q0 and the target suction position Q * set in S308 (S320). After calculating the correction amount α, the CPU 101 sets the position where the next suction component position Q1 recognized in S318 is offset in the X-axis direction and the Y-axis direction by the specified feed amount R and the calculated correction amount α as the target of the next suction component. The suction position Q * is set (S322), and the initial suction processing is completed.

In the above-described modification, the non-first-time adsorption process can be performed using the process of FIG. 10, but the same process as the process of S318 and S320 of FIG. 15 is added instead of the process of S260 of FIG. It is good. That is, the process of recognizing the current suction part position Q0 and the process of calculating the correction amount α based on the current suction part image obtained by imaging by the side camera 80 may be performed each time.

In the above-described modification, the component supply area can be imaged by the side camera 80 when the suction position A0 of the head unit 60 is above the component supply area of the carrier tape T. Therefore, the head unit 60 moves to the suction position A0. The suction nozzle 61 picks up the suction part this time in the parts supply area and then picks up an image by the side camera 80 when the suction nozzle 61 rises by a predetermined amount. Can be confirmed.

In the component mounter 10 of the embodiment, the edge of the component P (next suction component) is extracted from the captured image (next suction component image) obtained by capturing with the side camera 80, and the extracted component current suction component position Q0 is extracted. The component position (next suction component position Q1) is recognized by obtaining the center position (XY coordinate) between the edges, but the present invention is not limited to this, and the edge of the cavity C is extracted from the captured image and extracted. The center position between the edges of C may be obtained, and the part position may be recognized based on the obtained center position. Here, the part P is accommodated in the cavity C, and there is usually a slight gap between the part P and the cavity C. For this reason, the part P may move in the cavity C when the tape is fed by the feeder 22. Therefore, when the part position is obtained from the position (center position) of the cavity C, the part position may be obtained after correcting the position of the cavity C by the amount of movement of the part P in the cavity C. When the carrier tape T is moved by one pitch and stopped, the component P is shifted to the inner wall in the feed direction of the cavity C by the inertial force acting on the component P. Therefore, the amount obtained by dividing the width of the gap between the part P and the cavity C in the tape feeding direction (Y-axis direction) by 2 may be corrected as the amount of movement of the part P in the cavity C.

In the component mounter 10 of the embodiment, the target suction position Q * is set using the correction amount α calculated by the initial suction processing, but the present invention is not limited to this, and a fixed value obtained in advance is used. The target suction position Q * may be set using the correction amount α. For example, since the feeding accuracy of the feeder 22 is different for each feeder or manufacturer, a value acquired in advance as a value unique to the feeder may be determined as the correction amount α. Further, as described above, when the component position is obtained based on the position of the cavity C, the movement amount of the component P within the cavity C may be determined as the correction amount α.

In the component mounting machine 10 of the embodiment, the lower surface of the component P sucked by the suction nozzle 61 is imaged by the parts camera 90, and the amount of positional displacement of the component P with respect to the suction nozzle 61 is detected based on the obtained image. Although the mounting position is corrected, the positional deviation amount of the component P may be used for correcting the target suction position Q *. In this case, the detected positional deviation amount of the component P may be reflected in the target suction position Q * as it is, or after being multiplied by a predetermined coefficient (for example, 0.5) and reflected in the target suction position Q *. Also good.

In the component mounting machine 10 of the embodiment, the target suction position Q * is set based on the next suction component position Q1, the specified feed amount R, and the correction amount α in the non-first-time suction processing. The correction amount α is used when the component size is relatively large and strict correction is not necessary, or when the feeding accuracy of the carrier tape T by the feeder 22 and the attachment error of the feeder 22 are sufficiently small. Instead, the target suction position Q * may be set. When the correction amount α is not used, the CPU 101 may omit the processing of S102 and the processing of S104 (initial suction processing) in the component mounting process of FIG. Further, the CPU 101 may switch between using the correction amount α and not using the correction amount α for each component to be picked up by the operator's selection, or picking up the component according to the part size included in the production data. It is possible to switch between the case where the correction amount α is used and the case where the correction amount α is not used every time. In the latter case, the correction amount α may be used when the component size is less than the predetermined size, and the correction amount α may not be used when the component size is larger than the predetermined size.

In the component mounting machine 10 of the embodiment, in the non-first-time suction processing, the target suction position Q * set based on the next suction component position Q1 is used as the target suction position when the next suction component is sucked. However, the present invention is not limited to this, and it may be used as a target suction position when sucking the suction component this time. In this case, before sucking the current suction part, the area immediately before supply is imaged by the side camera 80, the next suction part position Q1 is recognized from the obtained image, and the target suction position is based on the recognized next suction part position Q1. After setting Q *, the suction position A0 of the head unit 60 may be moved directly above the set target suction position Q *, and the suction nozzle 61 may suck the current suction component. Specifically, the CPU 101 of the control device 100 executes the non-first-time adsorption process of FIG. 16 instead of the non-first-time adsorption process of FIG. That is, the CPU 101 first instructs the feeder 22 to feed one pitch of tape (S350). Subsequently, the CPU 101 moves the head unit 60 until the area immediately before the supply of the carrier tape T is within the imaging range of the side camera 80, and then performs imaging with the side camera 80 (S352). Then, the CPU 101 processes the image (next suction component image) obtained by the imaging of the side camera 80 in S352, recognizes the next suction component position Q1 (S354), and sends the recognized next suction component position Q1 to the specified feed. The offset position based on the amount R and the correction amount α is set as the target suction position Q * of the current suction part (S356). When the target suction position Q * is set, the CPU 101 moves the suction position A0 of the head unit 60 to a position directly above the target suction position Q * (S358), and moves the suction nozzle 61 at the position A1 immediately before the suction to the suction position A0. Then, the suction nozzle 61 is lowered (S360), and the suction component is sucked by the suction nozzle 61 (S362).

In the component mounting machine 10 according to the embodiment, in the processing at the time of suction (processing at the time of initial suction, processing at the time of non-first suction), the CPU 101 performs the timing of the next suction component by the side camera 80 at a timing immediately after the suction nozzle 61 sucks the component. However, the present invention is not limited to this, and the area immediately before the supply of the side camera 80 is not limited to this, for example, while the suction nozzle 61 is descending or while the suction nozzle 61 is in contact with the component at the lower end. As long as it is within the imaging range, imaging may be performed at any timing.

In the component mounting machine 10 of the embodiment, when the suction component is sucked this time by the suction nozzle 61, the area immediately before the supply of the carrier tape T immediately before the component supply area (upstream in the tape feed direction) is imaged. However, the present invention is not limited to this, and two or more areas in front of the component supply area may be imaged. For example, when imaging the area immediately before the component supply area, the second-time suction component position Q2 that is the position of the next-time suction component (second-time suction component) is recognized and recognized based on the image obtained by the imaging. The target suction position Q * of the successive suction component may be set based on the successive suction component position Q2 and the specified feed amount for two pitches.

In the component mounter 10 of the embodiment, the side camera 80 for imaging the side surface of the suction nozzle 61 is also used as a camera for imaging the component P and the cavity C in the carrier tape T. The mark camera 92 for imaging the reference mark of the substrate S may be used as a camera for imaging the component P or the cavity C in the carrier tape T, or the carrier tape T. A dedicated camera may be used as a camera for imaging the internal component P and the cavity C.

In the embodiment, the present invention is applied to the head unit 60 having the rotary head 64 provided with the side camera 80. However, the present invention is not limited thereto, and the side unit is provided in the head unit having the head that does not rotate. It is good also as what applies to what was done.

Here, the correspondence between the main elements of the present embodiment and the main elements of the invention described in the disclosure section of the invention will be described. That is, the rotary head 64 corresponds to the “head”, the XY robot 50 corresponds to the “moving means”, the side camera 80 corresponds to the “imaging means”, and the component mounting process of FIG. 8 (FIG. 10 or FIG. 15). The CPU 101 of the control device 100 that executes the process at the time of initial suction and the process at the time of non-first-time suction in FIG. 11 or FIG.

In addition, this invention is not limited to the Example mentioned above at all, and as long as it belongs to the technical scope of this invention, it cannot be overemphasized that it can implement with a various aspect.

The present invention can be used in the component mounter manufacturing industry.

1 component mounting system, 10 component mounting device, 12 housing, 14 feeder stand, 20 component supply device, 22 tape feeder, 22a reel, 30 substrate transport device, 32 belt conveyor device, 40 backup device, 50 XY robot, 52, 56 guide rail, 54 X-axis slider, 55 X-axis actuator, 58 Y-axis slider, 59 Y-axis actuator, 60 head unit, 61 suction nozzle, 62 nozzle holder, 62a upper end, 62b flange, 64 rotary head, 64a reflection Body, 65 spring (coil spring), 66 R-axis actuator, 67 rotating shaft, 68 drive motor, 69 Q-axis actuator, 70 Z-axis actuator, 72 ball screw nut, 74 screw shaft, 76 Axis slider, 77 lever part, 78 drive motor, 79 solenoid valve, 80 side camera, 82 camera body, 82 image sensor, 84, 84B optical system, 86a left entrance, 86b right entrance, 86c top entrance, 86d camera Connection port, 87 light emitter, 88a-88g mirror, 90 parts camera, 92 mark camera, 100 control device, 101, 111 CPU, 102, 112 ROM, 103, 113 HDD, 104, 114 RAM, 105, 115 I / O interface 106, 116 bus, 110 management device, 117 input device, 118 display, A0 mounting position, A1 mounting position, A2 mounting position, P component, S board.

Claims

A component supply device is provided to supply a component by feeding a tape with recesses containing the components formed at predetermined intervals by a predetermined feed amount, and the component supplied by the component supply device is held and mounted on the substrate. A component mounting machine that
A head having a holding member for holding the component;
Moving means for moving the head;
It is movable with the head by the moving means, and when the head is in a position where the component can be held by the holding member, the head is held after being upstream of the component that can be held by the holding member. Imaging means arranged so that the position of the recess in which the component to be stored is within the imaging range;
The position of the later held component that was within the imaging range based on the image captured by the imaging means when the head is in a position where the component can be held by the holding member, or the component was accommodated Recognizing the position of the recess, correcting the recognized position based on the predetermined feed amount, determining a target holding position, and holding the component on the holding member at the determined target holding position, Control means for controlling the moving means;
A component mounting machine comprising:
The component mounting machine according to claim 1,
The component mounted machine is characterized in that the component to be held later is a component to be held next time.
The component mounting machine according to claim 2,
The control means includes a position of the part to be held next time within the imaging range based on an image taken by the imaging means when the part is held by the holding member, or a recess in which the part is accommodated. Is determined based on the predetermined feed amount to determine the target holding position of the component to be held next time, and the determined position is determined when the tape is fed by the predetermined amount. The component mounting machine, wherein the head and the moving means are controlled so that the component is held by the holding member at a target holding position.
The component mounting machine according to claim 3,
The control means controls the head and the moving means so that the component is held at the determined target holding position when the tape is fed by the predetermined feed amount, and the target is controlled by the holding control. Imaging control for controlling the imaging means so that imaging is performed in the imaging range when the component is held at the holding position, and the target holding position of the component held next time based on the image captured by the imaging control A component mounter characterized by repeatedly executing a target holding position determining process for determining the position.
The component mounting machine according to any one of claims 1 to 4,
The component mounting machine, wherein the control unit determines the target holding position by correcting the recognized position based on the predetermined feed amount and a predetermined correction amount.
The component mounting machine according to claim 5,
The control means moves the head so that an imaging range of the imaging means is a position of a recess in which a component to be held next time is accommodated, and then the moving means and the imaging so that imaging is performed by the imaging means. Controlling the means, recognizing the position of the part to be held next time or the position of the concave part in which the part is contained within the imaging range based on the image captured by the imaging means as the first position, When the component to be held next time is sent by the tape as the component to be held this time, the imaging range of the imaging means is moved to the position of the recess in which the component to be held this time is accommodated. The moving means and the imaging means are controlled so that imaging is performed by the imaging means, and the imaging range is within the imaging range based on the image captured by the imaging means The position of the component held once or the position of the recess in which the component is accommodated is recognized as the second position, and the predetermined correction amount is calculated based on the recognized first position and second position. A component mounting machine.
The component mounting machine according to claim 5,
When the head is in a position where the head can hold the component with the holding member, the position of the concave portion in which the component to be held this time is accommodated and the position of the concave portion in which the component to be held next time is accommodated , Can be imaged,
The control means moves the head so that the imaging means can take an image of the position of the recess in which the component held this time is accommodated and the position of the recess in which the component to be held next time is accommodated. The moving unit and the imaging unit are controlled so that the imaging unit performs imaging from the position of the component held next time based on the image captured by the imaging unit or the position of the recess in which the component is accommodated Is controlled as the first position, and the moving unit and the imaging unit are controlled so that the imaging unit performs imaging when the component held next time is sent by the tape as the component held this time, Based on the image picked up by the image pickup means, the position of the component held this time or the position of the recess in which the component is stored is recognized as the second position, and the recognized first Mounter and calculates the predetermined correction amount based on the second position and location.
The component mounting machine according to claim 6 or 7,
The component mounting machine, wherein the control means calculates the predetermined correction amount when the holding member holds the first component from the tape.