WO2016203639A1 - 部品実装装置および部品実装装置における部品実装判定方法 - Google Patents
部品実装装置および部品実装装置における部品実装判定方法 Download PDFInfo
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- WO2016203639A1 WO2016203639A1 PCT/JP2015/067707 JP2015067707W WO2016203639A1 WO 2016203639 A1 WO2016203639 A1 WO 2016203639A1 JP 2015067707 W JP2015067707 W JP 2015067707W WO 2016203639 A1 WO2016203639 A1 WO 2016203639A1
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- mounting
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- mounting position
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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
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/0409—Sucking devices
-
- 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
-
- 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
-
- 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
- H05K13/0815—Controlling of component placement on the substrate during or after manufacturing
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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
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/16—Inspection; Monitoring; Aligning
-
- 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
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/16—Inspection; Monitoring; Aligning
- H05K2203/163—Monitoring a manufacturing process
-
- 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
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/301—Assembling printed circuits with electric components, e.g. with resistor by means of a mounting structure
-
- 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
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/303—Surface mounted components, e.g. affixing before soldering, aligning means, spacing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49002—Electrical device making
- Y10T29/49117—Conductor or circuit manufacturing
- Y10T29/49124—On flat or curved insulated base, e.g., printed circuit, etc.
- Y10T29/4913—Assembling to base an electrical component, e.g., capacitor, etc.
- Y10T29/49131—Assembling to base an electrical component, e.g., capacitor, etc. by utilizing optical sighting device
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53174—Means to fasten electrical component to wiring board, base, or substrate
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53191—Means to apply vacuum directly to position or hold work part
Definitions
- the present invention relates to a component mounting apparatus and a component mounting determination method in the component mounting apparatus, and more particularly to a component mounting apparatus capable of imaging a mounting position of a component on a substrate and a component mounting determination method in the component mounting apparatus.
- a component mounting apparatus that can image the mounting position of a component on a board is known.
- Such a component mounting apparatus is disclosed in, for example, Japanese Patent Application Laid-Open No. 2014-93390.
- Japanese Patent Application Laid-Open No. 2014-93390 discloses a suction nozzle that sucks an electronic component and mounts the sucked electronic component on a substrate, and a camera that images the mounting position of the electronic component mounted on the substrate by the suction nozzle on the substrate And a control unit that inspects (determines) whether or not the electronic component has been normally mounted on the mounting position based on an image of the mounting position captured by the camera.
- the present invention has been made to solve the above-described problems, and one object of the present invention is to mount a component that can stably determine whether or not the component is mounted at a mounting position. It is providing the component mounting determination method in an apparatus and a component mounting apparatus.
- a component mounting apparatus includes a mounting head for mounting a component at a mounting position on a substrate, an imaging unit capable of imaging the mounting position with a plurality of fields of view in different imaging directions, and shielding around the mounting position.
- a control unit that selects a success / failure determination visual field to be used for success / failure determination as to whether or not the component is mounted at the mounting position from a plurality of visual fields according to the state of the object.
- the control unit by configuring the control unit as described above, a plurality of fields of view can be obtained even if the mounting position cannot be accurately imaged by one field of view due to the shielding object.
- the other visual field that is less affected by the shielding than the one visual field can be selected as the success / failure visual field by the control unit.
- the success / failure determination can be performed based on the imaging result in the field of view where the influence of the shielding by the shielding object is less, so it is possible to stably determine whether or not the component is mounted at the mounting position.
- the control unit acquires the degree of shielding of each of the plurality of fields of view by the shielding object according to the state of the shielding object around the mounting position, and the plurality of acquired values.
- the visual field for success / failure determination is selected from a plurality of visual fields based on the degree of shielding of each visual field.
- the degree of shielding is a broad concept including the size of a region where a plurality of fields of view are shielded by a shielding object, the ratio of the region shielded by the shielding object, and the like.
- the other visual field from which the influence of the shielding by a shield is less than one visual field among several visual fields can be selected more reliably as a visual field for success / failure determination. As a result, it can be more stably determined whether or not the component is mounted at the mounting position.
- the degree of shielding includes a shielding ratio that is a ratio of the size of the shielding portion of the component that is shielded by the shielding object to the overall size of the component, and the control unit is configured to shield each of the plurality of fields of view. Based on the ratio, the success / failure determination visual field is selected from a plurality of visual fields.
- the success / failure determination field of view is selected in consideration of the overall size of different parts for each type of normal part. be able to. As a result, it is possible to more appropriately evaluate the influence of the shielding by the shielding object, and it is possible to more reliably select the success / failure visual field for which the influence of the shielding by the shielding object is small.
- the shielding object around the mounting position sucks the component before mounting sucked by the mounting head, the component mounted on the substrate around the mounting position, and the component.
- the plurality of fields of view having different imaging directions are arranged so that the imaging directions have different inclination angles with respect to the board surface on which the components of the board are mounted. Has been. If comprised in this way, since a mounting position can be imaged from a different inclination
- a plurality of fields of view with different imaging directions are arranged adjacent to each other in a vertical plane with respect to the substrate surface. If comprised in this way, a several visual field can be arrange
- the imaging unit includes an imaging unit that images the mounting position, a first optical system that divides a field of view of the imaging unit into a plurality of fields of view having different imaging directions, and including. If comprised in this way, unlike the case where a some visual field is imaged using a some imaging part, a several visual field can be imaged using a single imaging part. As a result, it is possible to capture a plurality of fields of view while suppressing the complexity of the configuration of the imaging unit of the imaging unit.
- a plurality of mounting heads are provided, and a plurality of first optical systems of the imaging unit are provided so as to correspond to the plurality of mounting heads.
- a second optical system that divides toward each of the plurality of first optical systems.
- the control unit acquires each captured image from a plurality of fields of view from the imaging unit, and the plurality of acquired images according to the state of the shielding around the mounting position.
- the captured image based on the visual field for success / failure determination is selected from the captured images based on the visual field. If configured in this way, the control unit can easily select another field of view that is less affected by the shield than the one field of view as the field for success / failure determination. It can be easily and stably determined whether or not it is mounted.
- the control unit is at least one of the type of component mounted at the mounting position and the background of the component around the mounting position. Accordingly, the success / failure determination visual field is selected from a plurality of visual fields. By configuring in this way, the visual field for success / failure determination can be selected in consideration of at least one of the type of component mounted at the mounting position and the background around the mounting position. A field of view capable of capturing more points can be easily selected.
- the imaging unit is configured to capture the mounting position before mounting the component and the mounting position after mounting the component by each of a plurality of fields of view.
- the control unit determines success or failure based on the captured image of the mounting position before mounting the component and the captured image of the mounting position after mounting by the visual field for success / failure selection selected from the captured images of each of the plurality of visual fields. Is configured to do. If comprised in this way, a success / failure determination can be easily performed by a control part based on the picked-up image of each mounting position before and after mounting of the components by the selected visual field for success / failure determination.
- the control unit acquires the height of the substrate surface of the substrate relative to the reference surface based on the captured image of the mounting position by each of the plurality of visual fields. Based on the height of the substrate surface, the determination region used for success / failure determination is corrected in the captured image by the visual field for success / failure determination.
- the mounting position is imaged by the imaging unit by a step of mounting the component at the mounting position on the substrate by the mounting head and a plurality of fields of view different in imaging direction. Selecting a success / failure determination visual field to be used for success / failure determination as to whether or not the component is mounted at the mounting position from a plurality of visual fields according to the state of the shielding object around the mounting position; and Is provided.
- the component mounting determination method in the component mounting apparatus according to the second aspect of the present invention by providing the step by the control unit as described above, the component is mounted at the same position as in the component mounting apparatus according to the first aspect. It is possible to stably determine whether or not it has been mounted on.
- the component mounting apparatus 100 is a component mounting apparatus that transports a substrate P from the X1 side to the X2 side by a pair of conveyors 2 and mounts a component 31 on the substrate P at a mounting work position M.
- the component mounting apparatus 100 includes a base 1, a pair of conveyors 2, a component supply unit 3, a head unit 4, a support unit 5, a pair of rail units 6, a component recognition camera 7, and an imaging unit 8. And a control unit 9.
- the pair of conveyors 2 are installed on the base 1 and configured to transport the substrate P in the X direction. Further, the pair of conveyors 2 are configured to hold the substrate P being conveyed in a state where it is stopped at the mounting work position M. Further, the pair of conveyors 2 is configured to be able to adjust the interval in the Y direction according to the dimensions of the substrate P.
- the component supply unit 3 is disposed on both outer sides (Y1 side and Y2 side) of the pair of conveyors 2. A plurality of tape feeders 3 a are attached to the component supply unit 3.
- the tape feeder 3a holds a reel (not shown) around which a tape holding a plurality of components 31 at a predetermined interval is wound.
- the tape feeder 3a is configured to supply the component 31 from the tip of the tape feeder 3a by sending a tape that holds the component 31 by rotating the reel.
- the component 31 is a concept indicating electronic components such as an IC, a transistor, a capacitor, and a resistor.
- the head unit 4 is disposed above the pair of conveyors 2 and the component supply unit 3, and includes a plurality (five) of mounting heads 42 including a nozzle 41 (see FIG. 2) at the lower end, a board recognition camera 43, and the like. Is included.
- the mounting head 42 is configured to be movable up and down, sucks and holds the component 31 supplied from the tape feeder 3a by the negative pressure generated at the tip of the nozzle 41 by a negative pressure generator (not shown), It is configured to be mounted (mounted) at a mounting position Pa (see FIG. 2) on the substrate P.
- the substrate recognition camera 43 is configured to image the fiducial mark F of the substrate P in order to recognize the position of the substrate P. Then, by capturing and recognizing the position of the fiducial mark F, it is possible to accurately obtain the mounting position Pa of the component 31 on the board P.
- the support unit 5 includes a motor 51.
- the support unit 5 is configured to move the head unit 4 in the X direction along the support unit 5 by driving the motor 51. Both ends of the support part 5 are supported by a pair of rail parts 6.
- the pair of rail portions 6 are fixed on the base 1.
- the rail portion 6 on the X1 side includes a motor 61.
- the rail portion 6 is configured to move the support portion 5 along the pair of rail portions 6 in the Y direction orthogonal to the X direction by driving the motor 61.
- the head unit 4 can move in the X direction along the support portion 5, and the support portion 5 can move in the Y direction along the rail portion 6, whereby the head unit 4 can move in the XY direction. .
- the component recognition camera 7 is fixed on the upper surface of the base 1.
- the component recognition camera 7 images the component 31 sucked by the nozzle 41 of the mounting head 42 from the lower side (Z2 side) in order to recognize the suction state (suction posture) of the component 31 prior to mounting the component 31. It is configured as follows. Thereby, the suction state of the component 31 sucked by the nozzle 41 of the mounting head 42 can be acquired by the control unit 9.
- the imaging unit 8 is attached to the head unit 4 by an imaging unit support portion 8a. Accordingly, the imaging unit 8 is configured to move in the XY direction together with the head unit 4 when the head unit 4 moves in the XY direction. As shown in FIG. 2, the imaging unit 8 determines whether the component 31 is normally mounted at the mounting position Pa in order to determine whether the component 31 is normally mounted, so that the first field of view V1 and the second field of view V2 with different imaging directions are used.
- the mounting position Pa is imaged with two visual fields. Each of the first visual field V1 and the second visual field V2 is a visual field capable of capturing an image of a predetermined area including the mounting position Pa. The detailed configuration of the imaging unit 8 will be described later.
- control unit 9 includes a CPU, and mounts components such as a transport operation of the substrate P by the pair of conveyors 2, a mounting operation by the head unit 4, and an imaging operation by the recognition camera 7 and the imaging unit 8. It is configured to control the overall operation of the apparatus 100.
- the imaging unit 8 includes a success / failure determination camera 81, an optical system 82, a plurality (five) of optical systems 83, and an illumination unit 84.
- the success / failure determination camera 81 is an example of the “imaging unit” in the present invention.
- the optical system 82 and the optical system 83 are examples of the “second optical system” and the “first optical system” in the present invention, respectively.
- the success / failure determination camera 81 includes an image sensor 81a and a lens 81b.
- the success / failure determination camera 81 is configured to image a subject such as the mounting position Pa by converting light incident through the lens 81b into an electrical signal by the imaging element 81a.
- the optical system 82 has a plurality of mirrors 82a as shown in FIG.
- the optical system 82 is configured to divide the field of view of the success / failure determination camera 81 toward each of the plurality (five) of optical systems 83 by changing the optical path using a plurality of mirrors 82a.
- the plurality of mirrors 82a are arranged so that the optical path lengths of the respective optical paths from the success / failure determination camera 81 to the optical system 83 are substantially the same. As a result, a clear image with little blur can be easily captured regardless of which optical path is used to capture the subject.
- a plurality (five) of optical systems 83 are provided so as to correspond to a plurality (five) of mounting heads 42.
- Each of the plurality of optical systems 83 includes a prism 83a and a pair of mirrors 83b.
- the optical system 83 further divides the visual field of the success / failure determination camera 81 divided by the optical system 82 into two visual fields, the first visual field V1 and the second visual field V2, by the prism 83a. Is configured to do.
- the optical system 83 changes the optical path of the two visual fields, the first visual field V1 and the second visual field V2 divided by the prism 83a, to an angle at which the mounting position Pa can be imaged by each of the pair of mirrors 83b. It is configured.
- the upper (Z1 side) mirror 83b is in an imaging direction with an inclination angle ⁇ H (0 degree ⁇ H ⁇ 90 degrees) with respect to the board surface Pb on which the component 31 of the board P is mounted. Is arranged so as to change the optical path of the first visual field V1 so that the mounting position Pa can be imaged.
- the lower (Z2 side) mirror 83b is mounted from the imaging direction at an inclination angle ⁇ L (0 degree ⁇ L ⁇ H) with respect to the board surface Pb on which the component 31 of the board P is mounted. It arrange
- the first visual field V1 and the second visual field V2 are arranged so that the respective imaging directions have different inclination angles ( ⁇ H and ⁇ L) with respect to the substrate surface Pb. Further, the first visual field V1 and the second visual field V2 having different inclination angles are disposed adjacent to each other in a vertical plane (in the YZ plane) including the mounting position Pa with respect to the substrate surface Pb.
- the first field of view V1 is a field of view where the mounting position Pa can be imaged from the upper side (Z1 side) (high position), and the second field of view V2 is lower than the first field of view V1 (lower position). ).
- the illumination unit 84 is provided for each of the plurality of optical systems 83, one set (three). Moreover, the illumination part 84 has light sources, such as LED (light emitting diode), and is comprised so that light may be irradiated to the mounting position Pa at the timing when the mounting position Pa is imaged by the success / failure determination camera 81. In addition, illustration of the illumination part 84 is abbreviate
- the imaging unit 8 uses the single success / failure determination camera 81 to obliquely tilt the angles ⁇ H and ⁇ L with respect to the substrate surface Pb, and the first visual field V1 and the second visual field V2 for each mounting head 42.
- the mounting position Pa can be imaged by the two fields of view.
- the imaging unit 8 has a predetermined area (including a mounting position Pa before mounting the component 31) in order to determine whether or not the component 31 is normally mounted at the mounting position Pa.
- An image of a predetermined area (indicated by a broken line) including a mounting position Pa after mounting of the component 31 is captured by each of the first visual field V1 and the second visual field V2.
- FIG. 4 for convenience of illustration, one of the two visual fields, the first visual field V1 and the second visual field V2, is illustrated.
- the imaging unit 8 picks up the component 31, and before the mounted component 31 is mounted on the mounting position Pa of the substrate P, when the mounting head 42 is lowered toward the mounting position Pa,
- Each of the first visual field V1 and the second visual field V2 is configured to image a predetermined area including the mounting position Pa before mounting the component 31.
- the imaging unit 8 mounts a predetermined area including the mounting position Pa after mounting the component 31 when the mounting head 42 is raised from the mounting position Pa after mounting the component 31 at the mounting position Pa of the substrate P. It is configured to take an image.
- the predetermined area including the mounting position Pa before and after mounting can be imaged while the mounting head 42 is raised or lowered, and the predetermined area including the mounting position Pa before and after mounting is imaged by stopping the mounting head 42. Unlike the case where it does, it can suppress that tact loss arises by the imaging for success / failure determination.
- the imaging unit 8 is configured to capture the first visual field V1 and the second visual field V2 at the same time (simultaneously).
- FIG. 5 shows a captured image of a predetermined area including the mounting position Pa after the component 31 is mounted.
- the control unit 9 selects one of the first visual field V1 and the second visual field V2 according to the state of the shielding objects Sa to Sd (see FIGS. 6 to 9) around the mounting position Pa.
- the visual field for success / failure determination used for determining whether or not the component 31 is normally mounted at the mounting position Pa is selected.
- control unit 9 obtains the imaging result of the first visual field V1 and the imaging result of the second visual field V2 from the imaging unit 8, and shields Sa to Sd around the mounting position Pa (FIGS. 6 to 6). 9), the imaging result based on the success / failure determination visual field is selected from the acquired imaging result based on the first visual field V1 and the imaging result based on the second visual field V2.
- the shield Sa is a component 31 (suction component) before mounting that is suctioned to the mounting head 42.
- the shield Sb is a component 31 (front component) that is already mounted on the substrate P around the mounting position Pa.
- the shielding object Sc and the shielding object Sd are nozzles 41 of the mounting head 42 that sucks the component 31.
- the control unit 9 captures a captured image of a predetermined area including the mounting position Pa before mounting the component 31 and a captured image of a predetermined area including the mounting position Pa after mounting the component 31 based on the selected success / failure visual field. Based on the above, it is configured to make a success / failure determination. Specifically, as illustrated in FIG. 4, the control unit 9 sets and sets a determination frame D (indicated by a two-dot chain line) used for success / failure determination in a captured image of a predetermined region including the mounting position Pa. A difference image between the captured image before mounting the component 31 in the determination frame D and the captured image after mounting the component 31 is generated, and the success / failure determination is performed based on the generated difference image. .
- the determination frame D is an example of the “determination area” in the present invention.
- the control unit 9 acquires the shielding degree of each of the first visual field V1 and the second visual field V2 by the shielding objects Sa to Sd according to the state of the shielding objects Sa to Sd around the mounting position Pa. Based on the acquired shielding degree, the visual field for success / failure determination that is less affected by the shielding objects Sa to Sd is selected from the first visual field V1 and the second visual field V2.
- the first visual field V1 and the second visual field V2 are simply described as visual fields, and the tilt angle ⁇ H of the first visual field V1 (see FIG. 2) and the tilt angle ⁇ L of the second visual field V2 are described. (See FIG. 2) is simply written as ⁇ .
- the shielding object Sa that is the component 31 (suction component) before mounting that is sucked by the mounting head 42 will be described.
- the shielding object Sa sucing part
- a part of the portion of the visual field used for the success / failure determination by the shielding object Sa that is, the part shielding part length Xi
- the suction component shielding ratio can be calculated (acquired) as follows.
- the imaging height of the component 31 (shielding object Sa) during imaging by the imaging unit 8 before mounting is set as h
- the component thickness in the Z direction of the component 31 is set as t
- the component width in the Y direction of the component 31 is set as y.
- the component shielding portion length Xi (y ⁇ yp) ⁇ sin ⁇ (2)
- Xt y ⁇ sin ⁇ + t ⁇ cos ⁇ (3)
- the adsorption component shielding ratio X (%) by the shielding object Sa (adsorption component) can be obtained by the following equation (4).
- X Xi / Xt ⁇ 100 (4)
- the shielding object Sb which is the component 31 (front component) already mounted on the substrate P around the mounting position Pa will be described.
- the shielding object Sb front part
- a part of the portion of the visual field used for the success / failure determination by the shielding object Sb at the timing of capturing both the pre-mounting image and the post-mounting image that is, the component shielding part length. Yi portion
- the front component shielding ratio can be calculated (acquired) as follows.
- the thickness of the shield Sb (front component) in the Z direction is ta
- the inter-component gap length between the mounted component 31 and the shield Sb (front component) is c.
- the component shielding part length Yi can be calculated
- equation (5). Note that the same values as those in FIG. 6 are denoted by the same symbols, and the description thereof is omitted. Yi (ta ⁇ c ⁇ tan ⁇ ) ⁇ cos ⁇ (5)
- Yt y ⁇ sin ⁇ + t ⁇ cos ⁇ (6)
- the front part shielding ratio Y (%) by the shielding object Sb (front part) can be obtained by the following equation (7).
- Y Yi / Yt ⁇ 100 (7)
- the height of the nozzle flange up to the flange of the nozzle 41 during imaging by the imaging unit 8 before mounting is set to h_nu
- the amount of suction displacement in the Y direction of the component 31 is set to d
- the nozzle 41 on the Y2 side from the center of the nozzle 41 is set.
- the length between the nozzle center and the nozzle flange to the end of the flange is a. Accordingly, the upper visible partial length zp can be obtained by the following equation (8).
- the same symbol is attached
- zp (h_nu ⁇ t) / tan ⁇ (8)
- the length L between the component end and the nozzle flange from the end of the Y1 side component 31 to the end of the flange of the nozzle 41 on the Y2 side can be obtained by the following equation (9).
- L (y / 2) + d + a (9)
- the component shielding portion length Zi (L ⁇ zp) ⁇ sin ⁇ (10)
- the nozzle shielding ratio Z (%) by the shielding object Sc (nozzle) can be obtained by the following equation (12).
- Z Zi / Zt ⁇ 100 (12)
- the upper visible length portion zp, the nozzle center-nozzle angle length L, the component shielding portion length Zi, the entire component length Zt, and the nozzle shielding ratio Z when the field of view is shielded by the tip portion of the nozzle 41 are obtained. be able to.
- the control unit 9 shields the visual field (first visual field V1 and second visual field V2) by the shielding object Sa (suction part shielding ratio X), and shields the visual field by the shielding object Sb (front part shielding).
- the ratio Y), and the shielding ratio of the visual field by the shielding object Sc or the shielding object Sd (nozzle shielding ratio Z) are obtained.
- the control unit 9 selects a success / failure determination visual field that is less affected by the shielding objects Sa to Sd from the first visual field V1 and the second visual field V2 based on the acquired shielding ratio. It is configured.
- the control unit 9 determines the type of the component 31 mounted at the mounting position Pa and the background of the component 31 around the mounting position Pa (the substrate surface Pb of the substrate P). Also, the success / failure determination visual field is selected from the first visual field V1 and the second visual field V2. As a result, it is possible to select a success / failure visual field that is less affected by the shields Sa to Sd and that can capture more feature points of the component 31. (Correction of judgment frame) Further, as described above, when performing the success / failure determination, the control unit 9 sets and sets the determination frame D (see FIG. 4) used for the success / failure determination in the captured image of the predetermined area including the mounting position Pa.
- a difference image between the captured image before mounting the component 31 in the determined determination frame D and the captured image after mounting the component 31 is generated.
- the mounting position Pa may be displaced from the determination frame D.
- the control unit 9 determines whether the inside of the determination frame D is based on the height of the board surface Pb (the board surface height hp shown in FIG. Is included so that the position of the determination frame D is corrected in the captured image based on the visual field for success / failure determination.
- the control unit 9 generates a difference image between the captured image before mounting the component 31 in the corrected determination frame D and the captured image after mounting the component 31, and the success or failure is determined based on the generated difference image. It is configured to make a determination.
- the control unit 9 acquires the height of the substrate surface Pb of the substrate P with respect to the reference surface Ps (see FIG. 11) by stereo matching based on the captured image by the first visual field V1 and the captured image by the second visual field V2. It is configured.
- an object predetermined position on the substrate surface Ps
- an object is imaged by the first visual field V1 at an inclination angle ⁇ H
- an object is imaged by the second visual field V2 at an inclination angle ⁇ L.
- the parallax p (pixel) between the captured image by the 1st visual field V1 and the captured image by the 2nd visual field V2 is stereo-matched with the captured image by the 1st visual field V1, and the captured image by the 2nd visual field V2.
- the distance A ( ⁇ m) can be obtained by the following equation (13).
- A p ⁇ R / sin ( ⁇ H ⁇ L) (13)
- the substrate surface height hp ( ⁇ m) of the substrate surface Pb with respect to the reference surface Ps can be obtained by the following equation (14).
- hp A ⁇ sin ( ⁇ L) (14)
- the control unit 9 is configured to acquire the amount of suction displacement of the component 31 based on the suction state (suction posture) of the component 31 imaged by the component recognition camera 7. Then, the control unit 9 corrects the position of the determination frame D in the captured image based on the visual field for success / failure determination so that the mounting position Pa is included in the determination frame D based on the acquired amount of suction deviation of the component 31. Is configured to do. (Mounting success / failure judgment processing) Next, with reference to FIG. 12, the above-described mounting success / failure determination processing will be described based on a flowchart. The operation of the component mounting apparatus 100 is performed by the control unit 9.
- step S1 substrate data is selected. Thereby, information such as the size of the component 31 to be mounted is acquired. That is, the mounting position Pa of the part 31, the part thickness t, the part width y, the part thickness ta of the front part, the gap length c between parts, the nozzle flange height h_nu, the nozzle angle height h_nb, the nozzle center-nozzle flange (nozzle Information such as (angle) interval a is acquired.
- step S2 the suction component shielding ratio X (see FIG. 6) is acquired by the above formulas (1) to (4).
- preset values are used as the imaging height h and the imaging angle ⁇ .
- step S3 the mounting operation of the component 31 by the head unit 4 is started. That is, the component 31 is sucked from the component supply unit 3 by the mounting head 42 of the head unit 4.
- step S4 it is determined whether or not the component 31 to be mounted is the second or subsequent component 31. If it is determined that the part 31 is the second or subsequent part 31, the process proceeds to step S5.
- step S5 the front component shielding ratio Y (see FIG. 7) is acquired by the above-described equations (5) to (7).
- step S5 is skipped and the process proceeds to step S6. That is, when the component 31 to be mounted is the first component, since there is no shielding object Sb (front component), the process of step S5 is skipped and the process proceeds to step S6.
- step S6 the component recognition camera 7 images the suction state (suction posture) of the component 31.
- step S7 the suction displacement amount d (see FIGS. 8 and 9) is acquired based on the suction state of the component 31 imaged by the component recognition camera 7.
- step S8 the nozzle shielding ratio Z (see FIG. 8 and FIG. 9) is acquired by the above-described equations (8) to (12). At this time, the nozzle shielding ratio Z shown in FIG. 8 or FIG. 9 is acquired according to the shape of the nozzle 41.
- step S9 while the mounting head 42 is lowered, a predetermined area including the mounting position Pa before mounting is imaged by the imaging unit 8. At this time, a predetermined region including the mounting position Pa before mounting is imaged by each of the first visual field V1 and the second visual field V2. And the captured image of the 1st visual field V1 before mounting and the captured image of the 2nd visual field V2 before mounting are acquired.
- step S10 based on the captured image of the first visual field V1 and the captured image of the second visual field V2, the height of the substrate surface is obtained by stereo matching according to the above formulas (13) and (14). Hp (see FIG. 11) is acquired. Further, between step S 9 and step 11, the component 31 attracted by the mounting head 42 is mounted at the mounting position Pa of the substrate P.
- step S11 while the mounting head 42 is raised, a predetermined area including the mounting position Pa after mounting is imaged by the imaging unit 8. Also at this time, a predetermined area including the mounting position Pa after mounting is imaged by each of the first visual field V1 and the second visual field V2. Then, a captured image of the first visual field V1 after mounting and a captured image of the second visual field V2 after mounting are acquired.
- step S12 the three shielding ratios of the suction component shielding ratio X acquired in step S2, the near-part acquisition ratio Y acquired in step S5, and the nozzle shielding ratio Z acquired in step S8, and the mounting position
- the visual field for success / failure determination is selected from the first visual field V1 and the second visual field V2.
- the field of view used as is selected.
- step S13 to step S17 whether or not the component 31 has been normally mounted at the mounting position Pa is determined based on the captured image before and after mounting of the selected visual field for determination of success or failure. Is done.
- step S13 the superimposed position of the captured image before mounting and the captured image after mounting is performed.
- step S14 and step S15 the position of the determination frame D is corrected.
- step S ⁇ b> 14 the position of the determination frame D is corrected so that the mounting position Pa is within the determination frame D based on the suction displacement of the component 31 with respect to the nozzle 41 captured by the component recognition camera 7.
- step S15 the position of the determination frame D is corrected so that the mounting position Pa is within the determination frame D based on the board surface height hp acquired in step S10.
- step S16 a difference image between the captured images before and after mounting the component 31 in the corrected determination frame D is generated.
- step S17 whether or not the component 31 has been normally mounted at the mounting position Pa is determined based on the generated difference image.
- the mounting success / failure determination process ends. If it is not determined that the component 31 is normally mounted at the mounting position Pa, the process proceeds to step S18.
- step S18 the component mounting apparatus 100 is stopped due to an error. Thereafter, in step S19, the captured image before mounting and the captured image after mounting are output to the outside. Thereby, the user who uses the component mounting apparatus 100 can confirm what kind of abnormality has occurred.
- the suction component shielding ratio X, the front component acquisition ratio Y, and the nozzle shielding ratio Z are sequentially acquired (calculated) in Step S2, Step S5, and Step S8, respectively.
- Step S2 the suction component shielding ratio X, the front component acquisition ratio Y, and the nozzle shielding ratio Z are sequentially acquired (calculated) in Step S2, Step S5, and Step S8, respectively.
- the control unit 9 is configured to select the success / failure visual field used for the success / failure determination. As a result, even if the mounting position Pa cannot be accurately imaged by one field of view due to the shielding objects Sa to Sd, the shielding objects Sa to Sd than the first field of view of the first field of view V1 and the second field of view V2. The control unit 9 can select another visual field that is less affected by the shielding as the visual field for success / failure determination.
- the success / failure determination can be performed based on the imaging result in the field of view where the influence of the shielding by the shielding objects Sa to Sd is less, so that it is stably determined whether or not the component 31 is mounted at the mounting position Pa. be able to.
- the degree of shielding of each of the first visual field V1 and the second visual field V2 by the shielding objects Sa to Sd is acquired and acquired according to the state of the shielding objects Sa to Sd around the mounting position Pa.
- the controller 9 is configured to select a success / failure determination field from the first field V1 and the second field V2 based on the shielding degree of each of the first field V1 and the second field V2. Accordingly, the control unit 9 can reliably select another field of view that is less affected by the shielding objects Sa to Sd than the one field of view among the first field of view V1 and the second field of view V2. . As a result, it can be determined more stably whether or not the component 31 is mounted at the mounting position Pa.
- the shielding degree is a shielding ratio (a sucking part shielding ratio X, near side) that is a ratio of the size of the shielding portion of the part 31 that is shielded by the shielding objects Sa to Sd to the entire size of the part 31.
- the control unit 9 is configured to select a success / failure determination field from the first field V1 and the second field V2 based on the shielding ratios of the first field V1 and the second field V2.
- the visual field for success / failure determination can be selected in consideration of the overall size of the part 31 that is different for each type of the normal part 31. it can.
- the influence of shielding by the shielding objects Sa to Sd can be more appropriately evaluated, a success / failure visual field with less influence of shielding by the shielding objects Sa to Sd can be selected more reliably.
- the shielding objects (Sa to Sd) around the mounting position Pa are mounted on the substrate P around the mounting position Pa and the component 31 (suction part) before mounting, which is sucked by the mounting head 42. And a nozzle 41 of the mounting head 42 that sucks the component 31.
- the control unit 9 can select the visual field for success / failure determination according to the states of the three types of shielding objects (Sa to Sd). As a result, from the first visual field V1 and the second visual field V2, a visual field that is less affected by the shieldings Sa to Sd can be reliably selected by the control unit 9 as a visual field for success / failure determination.
- the first visual field V1 and the second visual field V2 having different imaging directions are inclined with respect to the board surface Pb on which the component 31 of the board P is mounted with different inclination angles ( ⁇ H and [theta] L).
- the first visual field V1 and the second visual field V2 having different imaging directions are disposed adjacent to each other in the vertical plane (YZ plane) with respect to the substrate surface Pb.
- the 1st visual field V1 and the 2nd visual field V2 are spaced apart and arrange
- the 1st visual field V1 and the 2nd visual field V2 can be arrange
- the imaging unit 8 divides the success / failure determination camera 81 that images the mounting position Pa and the visual field of the success / failure determination camera 81 into a first visual field V1 and a second visual field V2 that have different imaging directions.
- An optical system 83 is provided.
- the first visual field V1 and the second visual field V2 are imaged using a plurality of success / failure determination cameras
- the first visual field V1 and the second visual field V2 are imaged using a single success / failure determination camera 81. can do.
- the first visual field V1 and the second visual field V2 can be imaged while suppressing the complication of the configuration of the success / failure determination camera 81 of the imaging unit 8.
- the imaging unit 8 is provided with an optical system 82 that divides the field of view of the success / failure determination camera 81 toward each of the plurality of optical systems 83.
- an optical system 82 that divides the field of view of the success / failure determination camera 81 toward each of the plurality of optical systems 83.
- a single success / failure determination camera 81 is used for each mounting head 42.
- the first visual field V1 and the second visual field V2 can be imaged.
- the first visual field V1 and the second visual field V2 can be imaged for each mounting head 42 while suppressing the configuration of the success / failure determination camera 81 of the imaging unit 8 from becoming complicated.
- the head unit 4 itself from the viewpoint of facilitating the movement of the head unit 4.
- the weight of the fixed imaging unit 8 is also light. Therefore, the configuration of the success / failure determination camera 81 of the imaging unit 8 is suppressed from being complicated as described above, and the number of the success / failure determination cameras 81 and parts such as cables attached to the success / failure determination cameras 81 are increased. It is very effective that the increase in the weight of the imaging unit 8 can be suppressed by suppressing.
- the captured images of the first visual field V1 and the second visual field V2 are acquired from the imaging unit 8, and the acquired first images are obtained according to the states of the shields Sa to Sd around the mounting position Pa.
- the control unit 9 is configured to select a captured image based on the success / failure visual field from among the captured images based on the first visual field V1 and the second visual field V2.
- the control unit 9 can easily select another visual field that is less affected by the shielding objects Sa to Sd than the first visual field V1 and the second visual field V2 as the visual field for success / failure determination. Therefore, it can be easily and stably determined whether or not the component 31 is mounted at the mounting position Pa.
- the control unit 9 is configured to select a success / failure visual field from the first visual field V1 and the second visual field V2.
- the success / failure field of view can be selected in consideration of the type of the component 31 mounted at the mounting position Pa or the background around the mounting position Pa.
- a field of view capable of capturing more points can be easily selected.
- the imaging unit 8 is configured to capture the mounting position Pa before mounting the component 31 and the mounting position Pa after mounting the component 31 by using each of the first visual field V1 and the second visual field V2. To do. And the picked-up image of the mounting position Pa before mounting of the component 31 by the visual field for success / failure determination selected from the picked-up images of each of the first visual field V1 and the second visual field V2, and the picked-up image of the mounting position Pa after mounting.
- the control unit 9 is configured to perform success / failure determination. As a result, success / failure determination can be easily performed by the control unit 9 based on the captured images of the mounting positions Pa before and after the mounting of the component 31 by the selected success / failure visual field.
- the control unit 9 is configured to correct the determination frame D used for success / failure determination in the captured image by the visual field for success / failure determination.
- the control unit 9 Since the determination frame D is corrected by the above, success / failure determination can be performed appropriately.
- the imaging unit 8 is configured to be able to image the mounting position Pa with the two visual fields of the first visual field V1 and the second visual field V2 is shown, but the present invention is not limited to this.
- the imaging unit may be configured to be able to image the mounting position with three or more fields of view.
- the example which comprised the imaging unit 8 so that the mounting position Pa could be imaged with the two visual fields of the 1st visual field V1 and the 2nd visual field V2 using the single camera 81 for success / failure determination was shown.
- the present invention is not limited to this. In this invention, you may comprise an imaging unit so that a mounting position can be imaged with several visual fields using several success / failure determination cameras.
- the imaging unit 8 is configured to capture the first visual field V1 and the second visual field V2 at a time, but the present invention is not limited to this.
- the imaging unit may be configured to pick up an image only in one selected visual field after selecting a success / failure visual field.
- the imaging unit 8 is configured so that the mounting position Pa can be imaged by the two visual fields of the first visual field V1 and the second visual field V2 for each mounting head 42 using a single success / failure determination camera 81.
- a success / failure determination camera may be provided for each mounting head.
- one imaging unit 8 is provided in the head unit 4 including a plurality of (five) mounting heads 42 is shown, but the present invention is not limited to this.
- a plurality of imaging units may be provided for one head unit according to the number of mounting heads. For example, when the head unit includes 10 mounting heads, two imaging units 8 of the above embodiment may be provided for the head unit.
- the visual field of the success / failure determination camera 81 is divided into two visual fields, the first visual field V1 and the second visual field V2, by the optical system 83 having the prism 83a and the pair of mirrors 83b.
- the visual field of the success / failure determination camera may be divided into a plurality of visual fields by an optical system other than the optical system shown in the above embodiment.
- the visual field of the success / failure determination camera may be divided into a plurality of visual fields by an optical system such as an optical system having a prism that has undergone mirror finishing, an optical system that includes only a prism, or an optical system that includes only a mirror.
- the present invention is not limited to this.
- a shielding ratio other than the shielding ratio may be used.
- the degree of shielding the size of the shielding part by a shielding object such as the part shielding part length Xi (Yi, Zi) may be used.
- the components 31 front components that are already mounted on the substrate P around the mounting position Pa as the shields Sa to Sd before the component 31 (vacuum components) that are attracted to the mounting head 42.
- the present invention is not limited to this. In this invention, you may consider shielding other than said three types as shielding.
- shielding object you may use only any one among the said 3 types of shielding objects, or a combination of two.
- the example in which the position of the determination frame D is corrected so that the mounting position Pa is included in the determination frame D based on the height of the board surface Pb and the suction displacement of the component 31 is shown.
- the present invention is not limited to this.
- the shape of the determination frame may be corrected so that the mounting position Pa is included in the determination frame.
- the processing of the control unit 9 has been described using a flow-driven flow that performs processing in order along the processing flow.
- the process of the control unit 9 may be performed by an event driven type (event driven type) process that executes the process in units of events. In this case, it may be performed by a complete event drive type or a combination of event drive and flow drive.
- Imaging unit 9 Control unit 31 Component 42 Mounting head 81 Success / failure determination camera (imaging unit) 82 Optical system (second optical system) 83 Optical system (first optical system) 100 Component mounting apparatus P Substrate Pa Mounting position Pb Substrate surface Ps Reference surface V1 First visual field V2 Second visual field Sa to Sd Shield
Abstract
Description
(部品実装装置の構成)
まず、図1および図2を参照して、本発明の本実施形態による部品実装装置100の構成について説明する。
次に、図2~図5を参照して、撮像ユニット8の詳細な構成を説明する。
ここで、本実施形態では、制御部9は、実装位置Pa周辺の遮蔽物Sa~Sd(図6~図9参照)の状態に応じて、第1視野V1と第2視野V2とのうちから、部品31が実装位置Paに正常に実装されたか否かの判定に用いる成否判定用視野を選択するように構成されている。
本実施形態では、制御部9は、実装位置Pa周辺の遮蔽物Sa~Sdの状態に応じて、遮蔽物Sa~Sdによる第1視野V1および第2視野V2の各々の遮蔽度合を取得し、取得された遮蔽度合に基づいて、第1視野V1と第2視野V2とのうちから、遮蔽物Sa~Sdによる遮蔽の影響が少ない成否判定用視野を選択するように構成されている。
まず、図6を参照して、実装ヘッド42に吸着されている実装前の部品31(吸着部品)である遮蔽物Saについて説明する。遮蔽物Sa(吸着部品)の場合には、実装前の撮像画像を撮像するタイミングで、遮蔽物Saにより視野のうち成否判定に用いる部分の一部(つまり、部品遮蔽部分長Xiの部分)が遮蔽されてしまう。この場合、吸着部品遮蔽割合は、以下のように算出(取得)することができる。
yp=(h-t)/tanθ ・・・(1)
Xi=(y-yp)×sinθ ・・・(2)
Xt=y×sinθ+t×cosθ ・・・(3)
X=Xi/Xt×100 ・・・(4)
次に、図7を参照して、実装位置Pa周辺において基板Pに既に実装されている部品31(手前部品)である遮蔽物Sbについて説明する。遮蔽物Sb(手前部品)の場合には、実装前および実装後の撮像画像を撮像する両方のタイミングで、遮蔽物Sbにより視野のうち成否判定に用いる部分の一部(つまり、部品遮蔽部分長Yiの部分)が遮蔽されてしまう。この場合、手前部品遮蔽割合は、以下のように算出(取得)することができる。
Yi=(ta-c×tanθ)×cosθ ・・・(5)
Yt=y×sinθ+t×cosθ ・・・(6)
Y=Yi/Yt×100 ・・・(7)
次に、図8および図9を参照して、部品31を吸着した実装ヘッド42のノズル41である遮蔽物ScおよびSdについて説明する。なお、図8および図9では、便宜的に、ノズル41に対する部品31の吸着位置ずれを誇張して示している。図8に示す遮蔽物Sc(ノズル)の場合には、吸着時に部品31がノズル中心からずれて吸着されたときに、実装前の撮像画像を撮像するタイミングで、遮蔽物Sc(ノズル)により視野のうち成否判定に用いる部分の一部(つまり、部品遮蔽部分長Ziの部分)が遮蔽されてしまう。この場合、ノズル遮蔽割合は、以下のように算出(取得)することができる。
zp=(h_nu-t)/tanθ ・・・(8)
L=(y/2)+d+a ・・・(9)
Zi=(L-zp)×sinθ ・・・(10)
Zt=y×sinθ+t×cosθ ・・・(11)
Z=Zi/Zt×100 ・・・(12)
図8では、遮蔽物Sc(ノズル)のフランジにより視野が遮蔽される場合について説明したが、ノズル41の形状によっては、図9に示す遮蔽物Sdのように、ノズル41の先端部分により視野が遮蔽される場合もある。この場合、実装前の撮像ユニット8による撮像時のノズル41の先端部分の角部までのノズル角高さをh_nbとして、上記した式(8)~(12)におけるh_nuをh_nbに置き換える。これにより、ノズル41の先端部分により視野が遮蔽される場合における、上側可視長部分zp、ノズル中心-ノズル角間長L、部品遮蔽部分長Zi、部品全体長Zt、およびノズル遮蔽割合Zをそれぞれ求めることができる。
(判定枠の補正)
また、上記のように、制御部9は、成否判定を行う場合には、実装位置Paを含む所定領域の撮像画像のうちに成否判定に用いる判定枠D(図4参照)を設定し、設定された判定枠D内の部品31の実装前の撮像画像と部品31の実装後の撮像画像との差画像を生成する。この際、基板Pの反り(上反り、下反り)に起因して基板面Pbの高さ位置が変化した場合や、実装ヘッド42のノズル41に吸着された部品31に吸着ズレがある場合などには、判定枠Dに対して実装位置Paが位置ずれするおそれがある。
制御部9は、第1視野V1による撮像画像と第2視野V2による撮像画像とに基づいて、基準面Ps(図11参照)に対する基板Pの基板面Pbの高さをステレオマッチングにより取得するように構成されている。
A=p×R/sin(θH-θL) ・・・(13)
hp=A×sin(θL) ・・・(14)
制御部9は、部品認識カメラ7により撮像された部品31の吸着状態(吸着姿勢)に基づいて、部品31の吸着ズレ量を取得するように構成されている。そして、制御部9は、取得された部品31の吸着ズレ量に基づいて、判定枠D内に実装位置Paが含まれるように、成否判定用視野による撮像画像のうち判定枠Dの位置を補正するように構成されている。
(実装成否判定処理)
次に、図12を参照して、上記した実装成否判定処理についてフローチャートに基づいて説明する。部品実装装置100の動作は、制御部9により行われる。
本実施形態では、以下のような効果を得ることができる。
なお、今回開示された実施形態は、すべての点で例示であって制限的なものではないと考えられるべきである。本発明の範囲は、上記した実施形態の説明ではなく特許請求の範囲によって示され、さらに特許請求の範囲と均等の意味および範囲内でのすべての変更(変形例)が含まれる。
9 制御部
31 部品
42 実装ヘッド
81 成否判定用カメラ(撮像部)
82 光学系(第2光学系)
83 光学系(第1光学系)
100 部品実装装置
P 基板
Pa 実装位置
Pb 基板面
Ps 基準面
V1 第1視野
V2 第2視野
Sa~Sd 遮蔽物
Claims (13)
- 基板(P)における実装位置(Pa)に部品(31)を実装する実装ヘッド(42)と、
撮像方向が互いに異なる複数の視野(V1、V2)により前記実装位置を撮像可能な撮像ユニット(8)と、
前記実装位置周辺の遮蔽物(Sa~Sd)の状態に応じて、前記複数の視野のうちから、前記部品が前記実装位置に実装されたか否かの成否判定に用いる成否判定用視野を選択する制御部(9)と、を備える、部品実装装置。 - 前記制御部は、前記実装位置周辺の前記遮蔽物の状態に応じて、前記遮蔽物による前記複数の視野の各々の遮蔽度合を取得するとともに、取得された前記複数の視野の各々の遮蔽度合に基づいて、前記複数の視野のうちから、前記成否判定用視野を選択するように構成されている、請求項1に記載の部品実装装置。
- 前記遮蔽度合は、前記部品の全体の大きさに対する前記遮蔽物により遮蔽される前記部品の遮蔽部分の大きさの割合である遮蔽割合を含み、
前記制御部は、前記複数の視野の各々の遮蔽割合に基づいて、前記複数の視野のうちから、前記成否判定用視野を選択するように構成されている、請求項2に記載の部品実装装置。 - 前記実装位置周辺の遮蔽物は、前記実装ヘッドに吸着されている実装前の前記部品(Sa)、前記実装位置周辺において前記基板に実装されている前記部品(Sb)、および前記部品を吸着した前記実装ヘッド(Sc、Sd)の少なくともいずれかを含む、請求項1に記載の部品実装装置。
- 撮像方向が互いに異なる前記複数の視野は、前記基板の前記部品が実装される基板面(Pb)に対してそれぞれの撮像方向が互いに異なる傾き角度となるように配置されている、請求項1に記載の部品実装装置。
- 撮像方向が互いに異なる前記複数の視野は、前記基板面に対する鉛直面内において隣接して配置されている、請求項5に記載の部品実装装置。
- 前記撮像ユニットは、
前記実装位置を撮像する撮像部(81)と、
前記撮像部の視野を、撮像方向が互いに異なる前記複数の視野に分割する第1光学系(83)と、を含む、請求項1に記載の部品実装装置。 - 前記実装ヘッドは、複数設けられており、
前記撮像ユニットの前記第1光学系は、複数の前記実装ヘッドに対応するように複数設けられており、
前記撮像ユニットは、前記撮像部の視野を、複数の前記第1光学系の各々に向けて分割する第2光学系(82)をさらに含む、請求項7に記載の部品実装装置。 - 前記制御部は、前記撮像ユニットから前記複数の視野による各々の撮像画像を取得するとともに、前記実装位置周辺の遮蔽物の状態に応じて、取得された前記複数の視野による各々の撮像画像のうちから、前記成否判定用視野による撮像画像を選択するように構成されている、請求項1に記載の部品実装装置。
- 前記制御部は、前記実装位置周辺の遮蔽物の状態に加えて、前記実装位置に実装される前記部品の種類または前記実装位置周辺の前記部品の背景の少なくともいずれかにも応じて、前記複数の視野のうちから、前記成否判定用視野を選択するように構成されている、請求項1に記載の部品実装装置。
- 前記撮像ユニットは、前記複数の視野の各々により、前記部品の実装前の前記実装位置と前記部品の実装後の前記実装位置とを撮像するように構成されており、
前記制御部は、前記複数の視野の各々による撮像画像のうちから選択された前記成否判定用視野による前記部品の実装前の前記実装位置の撮像画像、および実装後の前記実装位置の撮像画像に基づいて、前記成否判定を行うように構成されている、請求項1に記載の部品実装装置。 - 前記制御部は、前記複数の視野の各々による前記実装位置の撮像画像に基づいて、基準面(Ps)に対する前記基板の基板面(Pa)の高さを取得するとともに、取得された前記基板面の高さに基づいて、前記成否判定用視野による撮像画像のうち成否判定に用いる判定領域を補正するように構成されている、請求項1に記載の部品実装装置。
- 基板(P)における実装位置(Pa)に部品(31)を実装ヘッド(42)により実装するステップと、
撮像方向が互いに異なる複数の視野(V1、V2)により前記実装位置を撮像ユニット(8)により撮像するステップと、
前記実装位置周辺の遮蔽物(Sa~Sd)の状態に応じて、前記複数の視野のうちから、前記部品が前記実装位置に実装されたか否かの成否判定に用いる成否判定用視野を制御部(9)により選択するステップと、を備える、部品実装装置における部品実装判定方法。
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