WO2018142468A1 - Dispositif de montage de composant et procédé d'inspection de buse d'aspiration - Google Patents

Dispositif de montage de composant et procédé d'inspection de buse d'aspiration Download PDF

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Publication number
WO2018142468A1
WO2018142468A1 PCT/JP2017/003416 JP2017003416W WO2018142468A1 WO 2018142468 A1 WO2018142468 A1 WO 2018142468A1 JP 2017003416 W JP2017003416 W JP 2017003416W WO 2018142468 A1 WO2018142468 A1 WO 2018142468A1
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WO
WIPO (PCT)
Prior art keywords
nozzle
nozzle body
holder
image
imaging
Prior art date
Application number
PCT/JP2017/003416
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English (en)
Japanese (ja)
Inventor
勇真 河合
智康 荒井
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to JP2018565108A priority Critical patent/JP6706353B2/ja
Priority to PCT/JP2017/003416 priority patent/WO2018142468A1/fr
Publication of WO2018142468A1 publication Critical patent/WO2018142468A1/fr

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components

Definitions

  • the technology disclosed in this specification relates to a component mounting apparatus and a method for inspecting a suction nozzle used in the component mounting apparatus.
  • the component mounting apparatus includes a mounting head having a nozzle shaft that is movable in the vertical direction.
  • a suction nozzle is attached to the tip of the nozzle shaft, and the electronic component is held by negative pressure.
  • the suction nozzle is composed of a nozzle holder, a nozzle body that can move in the vertical direction with respect to the nozzle holder, and a spring.
  • the spring When a load is applied to the nozzle body, the spring is contracted to absorb the impact (hereinafter referred to as “the nozzle body”). Buffing function).
  • the nozzle body By providing such a buffing function, vertical and vertical variations such as variations in component thickness, substrate warpage, and motor positioning accuracy can be applied to suction nozzles and electronic components during component mounting and component adsorption. The applied impact can be softened.
  • Patent Document 1 describes that the suction nozzle is imaged by a camera and the amount of protrusion of the nozzle body with respect to the nozzle holder is detected within the normal range. Specifically, as shown in FIG. 24, the entire amount from the lower part 310 of the nozzle holder to the nozzle main body 320 is simultaneously imaged by one imaging to inspect the protruding amount of the nozzle main body. Note that a frame 330 illustrated in FIG. 24 indicates an imaging area of the camera.
  • the entire area from the lower part of the nozzle holder to the nozzle body is within the field of view of the camera, and the entire range necessary for the inspection of the protrusion amount can be imaged by one imaging.
  • the range required for the inspection of the protrusion amount may not fit within the field of view of the camera.
  • the technology disclosed in the present specification has been created in view of the above problems, and even when the entire area from the lower part of the nozzle holder to the nozzle body does not fit within the field of view of the camera, the protruding amount of the nozzle body It is an object to determine whether the product is good or bad.
  • the component mounting apparatus disclosed in this specification includes a mounting head that moves in a plane direction with respect to a base on which a substrate is fixed, a nozzle shaft that is supported so as to be movable in the vertical direction with respect to the mounting head, A suction nozzle attached to the tip of the nozzle shaft; a side view camera that images a side surface of the suction nozzle; and an inspection unit that inspects the state of the suction nozzle; and the suction nozzle is a tip of the nozzle shaft.
  • a nozzle holder attached to the nozzle holder, a nozzle body attached to the nozzle holder so that a protruding amount is displaceable, and a biasing member that urges the nozzle body in the protruding direction with respect to the nozzle holder.
  • the inspection unit moves the suction nozzle in the vertical direction so that the nozzle body and the nozzle holder fit within the field of view of the side view camera.
  • an imaging process for separately imaging the nozzle body and the nozzle holder is executed by the side view camera, and a first image of the nozzle body obtained by the imaging and a second image of the nozzle holder And whether or not the amount of protrusion of the nozzle body relative to the nozzle holder is determined based on the moving distance of the suction nozzle accompanying imaging to obtain the first image and the second image.
  • the inspection unit displaces the nozzle body in the pushing direction to reduce the protrusion amount against the biasing member, and then moves the nozzle body to the nozzle body.
  • the process of imaging the nozzle body is performed a plurality of times, and the nozzle body with respect to the nozzle holder is obtained based on the image of the nozzle body obtained by each imaging
  • the repeatability of the tip position is determined. With this configuration, it is possible to determine the repeatability of the tip position of the nozzle body.
  • the inspection unit displaces the nozzle body in the pushing direction to reduce the protrusion amount against the biasing member, and then moves the nozzle body to the nozzle body.
  • the nozzle main body is continuously imaged by the camera unit, and the nozzle main body with respect to the nozzle holder is determined from the images continuously captured and the interval of the imaging time. Determine the slidability. With this configuration, the slidability of the nozzle body can be determined.
  • whether the protrusion amount of the nozzle body is good or not can be determined even when the entire area from the lower part of the nozzle holder to the nozzle body does not fit within the field of view of the camera.
  • Embodiment 1 Perspective view of head unit
  • the perspective view which expanded a part of head unit Perspective view showing structure of rotating body The figure which expanded the B section of FIG. Cross section of the main part of the head unit
  • Enlarged view of the suction nozzle Block diagram showing the electrical configuration of the component mounting device View of the head unit as seen from the direction A in FIG.
  • FIG. 1 Perspective view of camera unit Diagram showing the imaging operation of electronic components
  • FIG. 2 Perspective view of camera unit Diagram showing the imaging operation of electronic components
  • FIG. 3 Perspective view of camera unit Diagram showing the imaging operation of electronic components
  • FIG. 3 shows the imaging operation of the nozzle body with the camera unit
  • FIG. 3 shows the imaging operation of the nozzle holder by the camera unit Diagram showing nozzle body and nozzle holder image Sectional drawing which shows pushing-in operation of the suction nozzle in Embodiment 2, 3.
  • Diagram showing variation in nozzle tip position The figure which shows the mode of a change of the front-end
  • the figure which shows the response curve of the tip position of the nozzle body The figure which shows the conventional imaging example of a suction nozzle
  • FIG. 1 is a plan view of a component mounting apparatus 1.
  • the component mounting apparatus 1 includes a base 10, a transport conveyor 20 for transporting the printed circuit board B1, a head unit 50, a drive device 30 that moves the head unit 50 in the plane direction (XY axis direction), and component supply. Part 40 and the like.
  • the head unit 50 is an example of the “mounting head” in the present invention.
  • the printed circuit board B1 is an example of the “board” in the present invention.
  • the base 10 has a rectangular shape in plan view and a flat upper surface.
  • a backup device (not shown) is provided below the conveyor 10 in the base 10 for backing up the printed circuit board B1 when the electronic component E1 is mounted on the printed circuit board B1.
  • the conveyance direction (left-right direction in FIG. 1) of the printed circuit board B1 is the X-axis direction
  • the short side direction (up-down direction in FIG. 1) of the base 10 is the Y-axis direction
  • the up-down direction is the Z-axis direction.
  • the conveyance conveyor 20 is disposed at a substantially central position of the base 10 in the Y-axis direction, and conveys the printed circuit board B1 along the X-axis direction.
  • the conveyor 20 includes a pair of conveyor belts 22 that circulate and drive in the X direction, which is the conveying direction.
  • the printed circuit board B1 is carried from one side (right side shown in FIG. 1) in the carrying direction along the conveyor belt 22 to a work position on the base 10 (position surrounded by a two-dot chain line in FIG. 1).
  • the printed circuit board B1 is stopped at the work position and fixed to the base 10, and after the electronic component E1 is mounted, the printed circuit board B1 is carried out along the conveyor belt 22 to the other side (the left side shown in FIG. 1).
  • the parts supply unit 40 is arranged at four places in total, two places in the X-axis direction on both sides of the conveyor 20 (upper and lower sides in FIG. 1).
  • a plurality of feeders 42 are attached to these component supply units 40 in a side-by-side arrangement.
  • Each feeder 42 includes a reel around which a component supply tape containing a plurality of electronic components E1 is wound, and an electric feeding device that pulls out the component supply tape from the reel, and supplies the electronic components E1 one by one. It is supposed to be.
  • the driving device 30 includes a pair of support frames 32 and a head driving mechanism.
  • the pair of support frames 32 are located on both sides of the base 10 in the X-axis direction and extend in the Y-axis direction.
  • the support frame 32 is provided with an X-axis servo mechanism and a Y-axis servo mechanism that constitute a head drive mechanism.
  • the head unit 50 is movable in the X-axis direction and the Y-axis direction within the movable region on the base 10 by the X-axis servo mechanism and the Y-axis servo mechanism.
  • the Y-axis servo mechanism has a pair of Y-axis guide rails 33Y, a head support 36, a Y-axis ball screw 34Y, and a Y-axis servo motor 35Y.
  • the head support 36 is supported by a pair of Y-axis guide rails 33Y so as to be slidable in the Y-axis direction.
  • a ball nut (not shown) that is screwed to the Y-axis ball screw 34Y is fixed to the head support 36.
  • the X-axis servo mechanism has an X-axis guide rail (not shown) attached to the head support 36, an X-axis ball screw 34X, and an X-axis servo motor 35X.
  • a head unit 50 is movably attached to the X-axis guide rail along the axial direction.
  • the head unit 50 is attached with a ball nut (not shown) that engages with the X-axis ball screw 34X.
  • the head unit 50 performs a function of sucking and mounting the electronic component E1 supplied by the feeder 42 on the printed circuit board B1.
  • the head unit 50 includes a unit main body 60, a base panel 52, an outer ring member 58, and covers 53 and 54.
  • the base panel 52 has a shape that is long in the vertical direction.
  • the outer ring member 58 has an annular shape and is fixed to the base panel 52.
  • the base panel 52 and the outer ring member 58 have a function of supporting the unit main body 60 and correspond to a “support member” of the present invention.
  • the unit main body 60 is a rotary type, and as shown in FIGS. 2 to 4 and 6, a shaft portion 62 having an axial shape along the Z-axis direction, a rotating body 64, eighteen nozzle shafts 100, N-axis drive device 45.
  • the shaft portion 62 has a double structure, and includes an outer shaft portion 62B and an inner shaft portion 62A located inside the outer shaft portion 62B.
  • the inner shaft portion 62A is supported by the base panel 52 so as to be rotatable around the axis of the shaft portion 62A.
  • the rotating body 64 has a substantially cylindrical shape having a larger diameter than the shaft portion 62.
  • the rotating body 64 is fixed to the lower portion of the inner shaft portion 62A.
  • the rotating body 64 is located on the inner peripheral side of the outer ring member 58 and is supported in a state in which it can rotate relative to the outer ring member 58.
  • the outer ring member 58 is omitted in order to illustrate the rotating body 64.
  • through holes 65 are formed in the rotating body 64 at equal intervals in the circumferential direction.
  • a nozzle shaft 100 which will be described later is attached to each through hole 65 so as to penetrate the through hole 65.
  • An N-axis driven gear 62N and an R-axis driven gear 62R are vertically arranged at a position near the upper portion of the shaft portion 62 (see FIG. 4).
  • the N-axis driven gear 62N is coupled to the inner shaft portion 62A
  • the R-axis driven gear 62R is coupled to the outer shaft portion 62B.
  • the N-axis drive device 45 has an N-axis servomotor 35N and an N-axis drive gear (not shown) provided on the output shaft of the N-axis servomotor 35N.
  • the N-axis drive gear is meshed with the N-axis driven gear 62N. Therefore, when the N-axis servo motor 35N is driven, the power of the motor 35N is transmitted to the inner shaft portion 62A via the N-axis drive gear and the N-axis driven gear 62N. Therefore, the rotating body 64 rotates together with the inner shaft portion 62 ⁇ / b> A, and the 18 nozzle shafts 100 supported by the rotating body 64 rotate integrally with the rotating body 64.
  • outer shaft portion 62B is supported at both ends in the axial direction with respect to the inner shaft portion 62A and the rotating body 64 via bearings, and is relatively to the inner shaft portion 62A and the rotating body 64. It can be rotated.
  • the nozzle shaft 100 has an axial shape along the Z-axis direction, and is attached to each through hole 65 formed in the rotating body 64 via a cylindrical shaft holder 57.
  • a suction nozzle 120 is attached to the tip of the nozzle shaft 100.
  • the suction nozzle 120 is supplied with a negative pressure or a positive pressure. Each suction nozzle 120 sucks and holds the electronic component E1 at its tip by negative pressure, and releases the electronic component E1 held at its tip by positive pressure.
  • a coil spring 130 is attached to the upper outer peripheral surface of the nozzle shaft 100.
  • the coil spring 130 functions to urge the nozzle shaft 100 upward.
  • the R-axis drive device 70 is disposed at a substantially central portion in the Z-axis direction of the head unit 50, and serves as an R-axis servomotor 35R and an output shaft of the R-axis servomotor 35R.
  • An R-axis drive gear 72R that is provided and meshed with the R-axis driven gear 62R and a common gear 55 are provided.
  • the common gear 55 is provided in the lower part of the outer shaft part 62B as shown in FIGS.
  • the common gear 55 is meshed with the gear 57R of each shaft holder 57.
  • the power of the motor 35R is transmitted to the outer shaft portion 62B and the common gear 55 via the R-axis drive gear 72R and the R-axis driven gear 62R, and the outer shaft portion 62B and the common gear 55 are transmitted. Rotates.
  • each shaft holder 57 rotates by meshing with the gear 57R. Since each shaft holder 57 and each nozzle shaft 100 are ball spline-coupled, the 18 nozzle shafts 100 are simultaneously rotated in the same direction and the same angle around the axis L as the common gear 55 rotates. Rotate to.
  • the head unit 50 also includes two Z-axis driving devices 80 for moving the nozzle shafts 100 up and down in the Z-axis direction (vertical direction) with respect to the rotating body 64.
  • the Z-axis drive device 80 is disposed symmetrically on the left and right sides (both sides in the X-axis direction) of the head unit 50 with the shaft portion 62 of the rotating body 64 sandwiched above the nozzle shaft 100.
  • the nozzle shafts 100 located on the left and right sides (X-axis direction both sides) in FIG.
  • the Z-axis drive device 80 has a Z-axis linear motor 35Z and a Z-axis movable part 84.
  • the Z-axis linear motor 35Z has a stator (coil) and a mover (magnet) movable in the Z-axis direction.
  • the Z-axis movable portion 84 is fixed to the mover, and moves in the Z-axis direction (vertical direction) by driving the Z-axis linear motor 35Z.
  • a cam follower 86 is attached to the lower end portion of the Z-axis movable portion 84 as shown in FIG.
  • the cam follower 86 comes into contact with the upper end portion of the nozzle shaft 100, and the entire nozzle shaft 100 is elastic force of the coil spring 130. Descends against
  • the feeder 42 is operated by operating the X-axis servo motor 35X, the Y-axis servo motor 35Y, the N-axis servo motor 35N, the R-axis servo motor 35R, and the Z-axis linear motor 35Z at a predetermined timing.
  • the electronic component E1 supplied through the head unit 50 can be taken out by the head unit 50 and mounted on the printed circuit board P.
  • the X-axis servo motor 35X and the Y-axis servo motor 35Y are driven to move the head unit 50 above the feeder.
  • the Z-axis linear motor 35Z is driven to lower the first nozzle shaft 100 at the lifting operation position from the rising end position S1 shown in FIG.
  • the raising / lowering operation position is a position where the raising / lowering operation by the Z-axis drive device 80 is possible, and is a position on the left side or the right side in FIG.
  • the suction nozzle 120 provided at the tip of the nozzle shaft 100 is supplied with a negative pressure in accordance with the timing when the suction nozzle 120 is lowered to the height of the upper surface of the electronic component E1 supplied by the feeder 42, so that the electronic component is fed from the feeder 42. E1 can be taken out. And after taking out components, the Z-axis linear motor 35Z is driven and the 1st nozzle shaft 100 is raised to the raising end position S1 shown in FIG.
  • the N-axis servo motor 35N is driven to rotate the rotating body 64, and the second nozzle shaft 100 is moved to the elevation operation position.
  • the Z-axis linear motor 35Z is driven to lower the second nozzle shaft 100 from the rising end position S1 shown in FIG.
  • the electronic component E1 can be taken out from the feeder 42 by supplying a negative pressure in accordance with the timing when the suction nozzle 120 descends to the height of the upper surface of the electronic component E1 supplied by the feeder 42 (adsorption processing). ).
  • Such an operation is performed for each of the 18 nozzle shafts 100, whereby the 18 electronic components E1 can be taken out from the feeder 42 by one head unit 50.
  • the X-axis servo motor 35X and the Y-axis servo motor 35Y are driven to move the head unit 50 from above the feeder onto the printed circuit board B1.
  • the camera unit 150 images the electronic component E1 (described later).
  • the Z-axis linear motor 35Z is driven to lower the first nozzle shaft 100 located at the lifting operation position from the rising end position S1 shown in FIG. Further, during the descent, the R-axis servomotor 35R is driven as necessary to rotate the nozzle shaft 100 about the axis L, thereby correcting the inclination of the electronic component E1.
  • the electronic component E1 can be mounted on the printed circuit board B1 by switching the negative pressure to the positive pressure in accordance with the timing when the electronic component E1 held by the suction nozzle 120 descends to the height of the printed circuit board B1. Then, after mounting the electronic component E1, the Z-axis linear motor 35Z is driven to raise the first shaft shaft 100 to the rising end position S1 shown in FIG.
  • the N-axis servo motor 35N is driven to rotate the rotating body 64, and the second nozzle shaft 100 is moved to the elevation operation position.
  • the Z-axis linear motor 35Z is driven to lower the second nozzle shaft 100 from the rising end position S1 shown in FIG.
  • the electronic component E1 can be mounted on the printed circuit board B1 by switching the negative pressure to the positive pressure in accordance with the timing when the electronic component E1 held by the suction nozzle 120 descends to the height of the printed circuit board B1. processing).
  • the 18 electronic components taken out from the feeder 42 can be mounted on the printed circuit board B1.
  • a diffusion plate 190 is attached to the center of the lower portion of the rotating body 64.
  • the diffusion plate 190 has a cylindrical shape and is located inside the suction nozzle 120 arranged in a circumferential shape.
  • the diffusing plate 190 is provided to illuminate the background portion when the camera unit 150 described later captures an image of the electronic component E1 held by the suction nozzle 120.
  • the controller 200 includes an arithmetic control unit 211 configured by a CPU or the like.
  • the arithmetic control unit 211 includes a motor control unit 212, a storage unit 213, an image processing unit 214, an input / output unit 215, a feeder communication unit 216, an external communication unit, a display unit 218, and an operation unit 219. Each is connected.
  • the arithmetic control unit 211 is an example of the “inspection unit” in the present invention.
  • the motor control unit 212 controls the X-axis servo motor 35X, the Y-axis servo motor 35Y, the N-axis servo motor 35N, the R-axis servo motor 35R, and the Z-axis linear motor 35Z according to the electronic component mounting program. Moreover, the motor control part 212 drives the conveyance conveyor 20 according to a conveyance program.
  • the storage unit 213 includes a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
  • the storage unit 213 stores an electronic component E1 mounting program, a printed circuit board conveyance program, and various data necessary for mounting the electronic component E1.
  • the image processing unit 214 captures images output from the camera unit 150, and analyzes the captured images.
  • the feeder communication unit 216 is connected to each feeder 42 attached to the component supply unit 40, and controls each feeder 42 in an integrated manner.
  • the display unit 218 includes a liquid crystal display device having a display screen, and displays the state of the component mounting device 1 on the display screen.
  • the operation unit 219 is a keyboard or the like, and can input various settings and conditions to the component mounting apparatus 1.
  • the head unit 50 has a camera unit 150.
  • the camera unit 150 is a side view camera that images an imaging target from the horizontal direction (side), and is fixed to the outer ring member 58 that rotatably supports the rotating body 64.
  • FIG. 10 is a perspective view of FIG. 2 viewed from the direction A
  • FIG. 11 is a perspective view of the camera unit.
  • FIG. 12 is a diagram illustrating an imaging operation of the electronic component
  • FIG. 13 is an optical path diagram of the camera unit.
  • the camera unit 150 includes a camera body 153, a light guide unit 160, and light sources 180a and 180b as shown in FIGS.
  • the camera body 153 includes a lens 155 and an imaging unit 157 such as a CCD, and is disposed on the upper part of the light guide unit 160 (upper part of the center frame) with the lens 155 facing downward.
  • an imaging unit 157 such as a CCD
  • the light guide unit 160 guides light to the camera body 153, and includes a center frame 163 and a pair of side frames 165a and 165b.
  • the center frame 163 is located behind the rotating body 64 in FIG. 10, and a triangular center prism 171 (see FIG. 13) is disposed therein.
  • the pair of side frames 165a and 165b are located on both sides in the X direction of the rotating body 64 in FIG. 10, and the center frame 163 and the inside are connected.
  • a first side prism 173a and a second side prism 175a are arranged inside the side frame 165a, and a first side prism 173b and a second side prism are arranged inside the side frame 165b.
  • a prism 175b is arranged.
  • Light entrance windows 166a and 166b are respectively provided on the inner surfaces of the pair of side frames 165a and 165b (the surfaces facing the rotating body 64). These light entrance windows 166a and 166b are located on both sides in the X direction of the rotating body 64, and correspond to the raising / lowering operation positions (positions on the left and right sides in FIG. 6) of the nozzle shaft 100 by the Z-axis drive device 80.
  • “H” shown in FIG. 12 indicates the range of the light incident windows 166a and 166b in the Z-axis direction.
  • the positions of the light entrance windows 166a and 166b in the Z-axis direction generally correspond to the tip of the suction nozzle 120 when the nozzle shaft 100 is at the rising end position S1 shown in FIG. 6, and the nozzle shaft 100 is at the rising end position S1. 12, the range H in the Z-axis direction of the light entrance windows 166a and 166b and the tip of the suction nozzle 120 overlap in the Z-axis direction, as shown in FIG.
  • the light sources 180a and 180b are arranged on both sides in the Y direction of the light entrance windows 166a and 166b.
  • the light sources 180a and 180b are composed of a plurality of LEDs (Light Emitting Diode) and emit light.
  • the tip of the suction nozzle 120 (tip 125a of the nozzle body 125) and The electronic component E1 attracted and held by the electronic component E1 is located in front of the corresponding light entrance windows 166a and 166b and falls within the field of view of the camera. Therefore, it is possible to take an image of the electronic component E ⁇ b> 1 sucked by the suction nozzle 120 with the camera unit 150.
  • the light source 180a When the light source 180a is turned on, the light is diffused by the diffusion plate 190. A part of the diffused light passes outside the electronic component E1 held by the suction nozzle 120b. The light that has passed through the outside of the electronic component E1 enters from the light incident window 166b of the side frame 165b.
  • the incident light is reflected by the first side prism 173b, the second side prism 175b, and the center prism 171 and enters the region on one side of the imaging unit 157 of the camera body 153. . Therefore, an image of the electronic component E1 can be obtained.
  • the right light source 180b shown in FIGS. 12 and 13 when the electronic component E1 held by the suction nozzle 120a located at the left end is imaged, the right light source 180b shown in FIGS. 12 and 13 is turned on.
  • the light source 180b When the light source 180b is turned on, a part of the light diffused by the diffusion plate 190 passes outside the electronic component E1 held by the suction nozzle 120a.
  • the light transmitted through the electronic component E1 enters from the light incident window 166a of the side frame 165a.
  • the incident light is reflected by the first side prism 173a, the second side prism 175a, and the center prism 171 and enters the other region of the imaging unit 157 of the camera body 153. . Therefore, an image of the electronic component E1 can be obtained.
  • the camera unit 150 is provided with the two light incident windows 166a and 166b, and has a structure in which light incident from the two light incident windows 166a and 166b is incident on the imaging unit 157. Therefore, it is possible to take an image of the electronic component E1 sucked and held by the two suction nozzles 120 with one camera unit 150.
  • the two electronic components E1 sucked and held by the two suction nozzles 120a and 120b Images can be taken at the same time.
  • the imaging of the electronic component E1 can be performed in a state where the nozzle shaft 100 is stopped at the rising end position S1, and it is not necessary to adjust the position of each nozzle shaft 100 in the Z-axis direction for imaging.
  • the N-axis servo motor 35N is driven to rotate the rotating body 64 so that each nozzle shaft 100 performs imaging in accordance with the timing at which the nozzle shaft 100 passes the elevating operation position at which the elevating operation in the Z-axis direction can be performed.
  • each electronic component E1 sucked and held by the eighteen suction nozzles 120 can be continuously imaged.
  • the electronic component E1 is imaged by the camera unit 150 during the period in which the head unit 50 is moved from above the feeder to above the printed circuit board.
  • the suction state of the electronic component E1 with respect to the nozzle 120 is detected.
  • FIG. 14 is a cross-sectional view of the suction nozzle 120.
  • the suction nozzle 120 includes a nozzle holder 121, a nozzle body 125, a coil spring 127, and a stopper pin 128.
  • the coil spring 127 corresponds to the “biasing member” of the present invention.
  • the nozzle holder 121 is made of, for example, synthetic resin and has a cylindrical shape that is long in the Z-axis direction. Inside the nozzle holder 121, the lower end portion 101 of the nozzle shaft 100 is fitted so as to be prevented from coming off by the flange 103. A coil spring 105 is attached to the outer periphery of the nozzle shaft 100. The coil spring 105 pushes the nozzle holder 121 downward via the washer 107. The nozzle holder 121 is prevented from rotating with respect to the nozzle shaft 100 by friction generated by being pushed downward.
  • the lower part 123 of the nozzle holder 121 is provided with a cylindrical mounting portion 124 that protrudes downward.
  • the nozzle body 125 has a cylindrical shape that is long in the Z-axis direction, and has a small-diameter nozzle hole 125b at the tip.
  • the nozzle body 125 is fitted into the nozzle holder 121 from below while penetrating the attachment portion 124.
  • the nozzle body 125 is displaceable with respect to the nozzle holder 121 by an amount of protrusion D (for example, the length from the mounting portion 124 of the nozzle holder 121 to the tip 125a of the nozzle body 125) D.
  • the coil spring 127 is attached to the outside of the attachment portion 124. The coil spring 127 pushes the nozzle body 125 downward with respect to the nozzle holder 121.
  • FIG. 14A shows a state in which the nozzle body 125 protrudes most with respect to the nozzle holder 121 (when the suction nozzle is fully extended).
  • FIG. 14B shows a state where the nozzle body 125 is pushed into the nozzle holder 121.
  • the nozzle holder 121 and the nozzle body 125 are configured as separate parts, and the coil spring 127 is provided between them, so that when a load is applied to the tip 125a of the nozzle body 125, the coil spring 127 is placed.
  • the shock can be absorbed (hereinafter referred to as buffing function).
  • the suction nozzle 120 and electronic components are mounted when mounting or picking up components due to variations in the vertical direction such as variations in component thickness, substrate warpage, and motor positioning accuracy. The impact applied to can be softened.
  • the stopper 128 is inside the nozzle holder 121 and is fitted in a groove 126 formed on the outer peripheral surface of the nozzle body 125.
  • the stopper 128 abuts on the upper end of the groove 126 and prevents the nozzle body 125 from coming off from the nozzle holder 121.
  • the stopper 128 is in contact with the lower end of the groove 126 and restricts the position of the nozzle body 125 relative to the nozzle holder 121.
  • the adsorbing nozzle 120 having a buffing function has a nozzle body 125 with respect to the nozzle holder 121 due to its own wear powder generated by sucking and adhering foreign matters such as dust, dust, and solder, or repetition. When the external force is released, the nozzle body 125 may not return to the protruding state (the maximum protruding state shown in FIG. 14A).
  • the side surface of the suction nozzle 120 is imaged by the camera unit 150, and it is determined from the obtained image whether the protrusion amount D of the nozzle body 125 relative to the nozzle holder 121 is normal.
  • the entire area from the nozzle holder 121 to the nozzle body 125 may not be able to fit in the field of view.
  • the nozzle body 125 and the nozzle holder 121 are imaged separately. And the movement distance to the Z-axis direction of the suction nozzle 120 accompanying the imaging for obtaining the first image G1 of the nozzle body 125, the second image G2 of the nozzle holder 121, and the first image G1 and the second image G2. Based on H, it is determined whether the protrusion amount D of the nozzle body 125 relative to the nozzle holder 121 is normal.
  • the movement distance H in the Z-axis direction of the suction nozzle 120 associated with imaging for obtaining the first image G1 and the second image G2 is obtained by capturing one of the images in order to obtain two images G1 and G2.
  • the position of the suction nozzle 120 in the Z-axis direction is displaced when the Z-axis drive device 80 moves the nozzle shaft 100 up and down in the Z-axis direction. Therefore, the movement distance H in the Z-axis direction of the suction nozzle 120 is determined by the linear sensor (movement of the mover constituting the linear motor in the Z-axis direction) provided in the Z-axis linear motor 35Z that is the power source of the Z-axis drive device 80. It can be calculated by detecting the output of the sensor for detecting the amount by the arithmetic control unit 211.
  • the arithmetic control unit 211 checks the position of the suction nozzle 120 to determine whether the nozzle body 125 of the suction nozzle 120 is positioned in front of the light entrance window 116 b of the camera unit 150.
  • the nozzle body 125 is positioned in front of the light incident window 116b of the camera unit 150. It has become.
  • the arithmetic control unit 211 determines that the nozzle body 125 is located in front of the light entrance window 116b when the suction nozzle 120 to be inspected is at the highest position. Then, the arithmetic control unit 211 captures an image of the nozzle body 125 with the camera unit 150, and acquires the first image G1 of the nozzle body 125 (FIG. 15: S1). Note that the arrows described in FIG. 16 indicate the first imaging position of the suction nozzle 120 at which the nozzle main body 125 is imaged by the camera unit 150. 18A is a first image G1 of the nozzle body 125. FIG.
  • the calculation control unit 211 adjusts the position of the suction nozzle 120 in the Z-axis direction so that the stepped portion 121a of the nozzle holder 121 is within the field of view of the camera. Specifically, the Z-axis drive device 80 is driven to lower the nozzle shaft 100 from the rising end position S1, so that the stepped portion 121a of the nozzle holder 121 is positioned in front of the light entrance window 116b as shown in FIG. Then, the position of the suction nozzle 120 in the Z-axis direction is changed (FIG. 15: S3).
  • the arithmetic control unit 211 captures an image of the nozzle holder 121 with the camera unit 150, and acquires the second image G2 of the nozzle holder 121 (FIG. 15: S5).
  • the arrows shown in FIG. 17 indicate the second imaging position of the suction nozzle 120 where the camera holder 150 performs imaging of the nozzle holder 121.
  • 18B is a second image G2 of the nozzle holder 121.
  • the processes of S1 and S5 correspond to the “imaging process” of the present invention.
  • the stepped portion 121a of the nozzle holder 121 is used as a reference for determining the protrusion amount, and the two images G1 and G2 and the suction nozzle 120 in the Z-axis direction associated with imaging for obtaining the two images G1 and G2 are used. From the moving distance H, the total length L from the stepped portion 121a of the nozzle holder 121 to the tip 125a of the nozzle body 125 is calculated (FIG. 15: S7).
  • a distance Z1 from the reference line F to the tip 125a of the nozzle body 125 is obtained in the first image G1.
  • a distance Z2 from the reference line F to the stepped portion 121a of the nozzle holder 121 is obtained in the second image G2.
  • the reference line is the upper frame F of the image.
  • the total length L is expressed as follows: It can be calculated by equation (1).
  • the movement distance H in the Z-axis direction of the suction nozzle 120 accompanying the imaging for obtaining the two images G1 and G2 is determined by moving the suction nozzle 120 to Z in order to image the nozzle holder 121 after imaging the nozzle body 125. The distance moved in the axial direction.
  • the calculation control unit 211 compares the calculation result of the total length L from the stepped portion 121a to the tip 125a of the nozzle body 125 with the design value Lo of the total length L at the maximum protrusion shown in FIG.
  • the design value Lo can be obtained from the dimensions of each component such as the nozzle holder 121 and the nozzle body 125, and the data is stored in the storage unit 213 in advance.
  • the arithmetic control unit 211 determines that the protrusion amount D of the nozzle body 125 is normal (FIG. 15: S9). On the other hand, if the difference between the calculated total length L and the design value Lo is outside the allowable range, it is determined that the nozzle body 125 is abnormal.
  • the calculation control unit 211 performs the pass / fail determination regarding the protrusion amount D of the nozzle main body 125 before, for example, the component mounting apparatus 1 starts the mounting operation. By doing in this way, it can avoid beforehand that suction nozzle 120 in which slidability fell is used for mounting work.
  • the suction nozzle 120 to be determined can be moved up and down left and right to be movable in the Z-axis direction. It must be performed individually after moving to either of the operation positions (both left and right in FIG. 6).
  • the projection amount D of the nozzle body 125 relative to the nozzle holder 121 can be judged.
  • the arithmetic control unit 211 lowers the suction nozzle 120 from a predetermined height and pushes it into the base 10 or the like, thereby causing the nozzle body 125 to move. Is displaced with respect to the nozzle holder 121 in the pushing direction to reduce the protruding amount against the coil spring 127.
  • the arithmetic control unit 211 raises the suction nozzle 120 and releases the load applied to the nozzle body 125 in the pushing direction.
  • the nozzle body 125 returns to the protruding state (ideally, the maximum protruding state shown in FIG. 14A) due to the elasticity of the coil spring 127.
  • the calculation control unit 211 drives the Z-axis driving device 80 to raise the suction nozzle 120 to the position of FIG. 16 in parallel with the return of the nozzle body 125 to the protruding state. Thereafter, the processing of S1 to S9 shown in FIG. 15 is executed to determine whether the protrusion amount D of the nozzle body 125 is good or bad. In this configuration, the nozzle body 125 is once displaced in the pushing direction and then the quality of the protruding amount D of the nozzle body 125 is determined. Therefore, the sliding that remains contracted after the sliding operation of the nozzle body 125 with respect to the nozzle body 121 is performed. It becomes possible to detect defective suction nozzles.
  • the arithmetic control unit 211 lowers the suction nozzle 120 from a predetermined height and pushes it into the base 10 or the like, thereby causing the nozzle body 125 to move. Is displaced with respect to the nozzle holder 121 in the pushing direction to reduce the protruding amount against the coil spring 127 (FIG. 20: S11).
  • the arithmetic control unit 211 raises the suction nozzle 120 and releases the load applied to the nozzle body 125 in the pushing direction (FIG. 20: S13).
  • the nozzle body 125 returns to the protruding state (ideally, the maximum protruding state shown in FIG. 14A) due to the elasticity of the coil spring 127.
  • the arithmetic control unit 211 drives the Z-axis drive device 80 to raise the suction nozzle 120 to the position shown in FIG. An image is taken (FIG. 20: S15).
  • the arithmetic control unit 211 executes such a series of processes (S11 to S15) a plurality of times, and repeats the position of the tip end of the nozzle body 125 relative to the nozzle holder 121 based on the image of the nozzle body 125 obtained by a plurality of imaging operations.
  • the accuracy is determined (S19).
  • the position of the tip 125a of the nozzle body 125 is detected from the image obtained by each imaging, and the amount of change ⁇ in the position of the tip 125a of the nozzle body 125 is calculated.
  • the difference between the lowest state and the highest state is calculated as the change amount ⁇ . If the calculated change amount ⁇ is smaller than the threshold, it is determined that the repeatability is good, and if it is greater than the threshold, the repeatability is determined as NG.
  • the process for determining the repeatability (the flowchart in FIG. 20) is performed following the process for determining the quality of the protrusion amount D described in the first embodiment (the flowchart in FIG. 15).
  • the arithmetic control unit 211 uses the suction nozzle 120 for the mounting process only when both the protrusion amount D and the repetition accuracy are both OK.
  • the slidability of the nozzle body 125 with respect to the nozzle holder 121 is determined.
  • the slidability is the smoothness of displacement of the nozzle body 125 in the Z-axis direction with respect to the nozzle body 121. The greater the friction (sliding resistance), the lower the slidability.
  • the camera unit 150 images the nozzle body 125 (FIG. 20: S15).
  • the Z-axis driving device 80 is driven so that imaging can be started before the nozzle body 125 starts to be displaced in the protruding direction.
  • the suction nozzle 120 is raised to the position shown in FIG.
  • the arithmetic control unit 121 continuously captures images of the nozzle body 125 with the camera unit 150.
  • FIG. 22 is a continuous image of the nozzle body 125, and the arithmetic control unit 211 detects the position of the tip 125a of the nozzle body 125 from each of the continuously captured images.
  • the position of the tip 125a of the nozzle body 125 gradually changes downward as time T passes, and finally the maximum protruding position where the protrusion is limited by the stopper pin 128. Up to Pm.
  • the position of the tip 125a of the nozzle body 125 may stop without changing to the maximum protruding position Pm.
  • FIG. 23 is a graph in which the horizontal axis represents the elapsed time T from the start of imaging, and the vertical axis represents the amount of change V of the tip 125a of the nozzle body 125. The higher the slidability, the shorter the amount of change V converges. .
  • a response curve Lv (TV correlation curve) of the tip position of the nozzle body shown in FIG. 23 is obtained from the imaging time interval t of the nozzle body 125 and the change amount V of the tip position 125a of the nozzle body 125 at each time point.
  • the quality of the slidability can be determined by comparing the obtained response curve Lv with a predetermined reference curve (response curve when the slidability is good).
  • the above-described process for determining slidability is performed as part of the process (S15) when the determination of the repeatability described in the third embodiment (the flowchart in FIG. 20) is performed.
  • the arithmetic control unit 211 uses the suction nozzle 120 for the mounting process only when the protrusion amount D, the repeatability, and the slidability are all OK.
  • the reference for the change amount V is the maximum protrusion position Pm.
  • the rotary type head unit 50 is exemplified.
  • an inline type head unit in which a plurality of nozzle shafts 100 are linearly arranged may be used.
  • a side view camera may be fixed to a support provided on the base 10 and the suction nozzle 120 may be imaged with the camera.
  • the side view camera is a camera that has a field of view in the horizontal direction from the viewpoint and images the side surface of the object.
  • the above-described slidability determination process is performed as part of the process (S15) when determining the repeatability described in the third embodiment (the flowchart in FIG. 20). Although an example is shown, the determination may be performed separately from the determination of the repetition accuracy. Further, it is possible to perform only the determination of the slidability without determining the repeatability.

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

Abstract

L'invention concerne un procédé d'inspection d'une buse d'aspiration 120 qui aspire des composants électroniques à monter sur un substrat. La buse d'aspiration 120 comprend : un support de buse 121 fixé à l'extrémité avant d'un arbre de buse 100 ; un corps de buse 125 fixé au support de buse 121 de telle sorte qu'une quantité de projection D est variable ; et un élément de poussée 127 pour pousser le corps de buse 125 dans une direction de projection par rapport au support de buse 121. Au moyen d'une caméra de vue latérale 150, le corps de buse 125 et le support de buse 121 sont imagés séparément. Sur la base d'une première image G1 du corps de buse 125 et d'une seconde image G2 du support de buse 121 qui sont obtenues par l'imagerie, et d'une distance de déplacement H de la buse d'aspiration 120 selon l'imagerie pour obtenir la première image G1 et la seconde image G2, il est déterminé si oui ou non la quantité de projection D du corps de buse 125 par rapport au support de buse 121 est appropriée.
PCT/JP2017/003416 2017-01-31 2017-01-31 Dispositif de montage de composant et procédé d'inspection de buse d'aspiration WO2018142468A1 (fr)

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JP2018565108A JP6706353B2 (ja) 2017-01-31 2017-01-31 部品搭載装置および吸着ノズルの検査方法
PCT/JP2017/003416 WO2018142468A1 (fr) 2017-01-31 2017-01-31 Dispositif de montage de composant et procédé d'inspection de buse d'aspiration

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CN110430691A (zh) * 2019-07-05 2019-11-08 深圳德森精密设备有限公司 晶片贴装设备及控制方法
WO2020208797A1 (fr) * 2019-04-11 2020-10-15 株式会社Ｆｕｊｉ Dispositif de montage de composant et procédé de montage de composant
WO2020208798A1 (fr) * 2019-04-11 2020-10-15 株式会社Ｆｕｊｉ Dispositif de montage de composant et procédé de montage de composant
CN112701065A (zh) * 2020-12-29 2021-04-23 微见智能封装技术(深圳)有限公司 一种自动贴片机

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JPH0684241A (ja) * 1992-08-31 1994-03-25 Nippon Chemicon Corp ガイドローラのフランジ間寸法の測定方法及びその装置
JP2006114534A (ja) * 2004-10-12 2006-04-27 Yamaha Motor Co Ltd 部品搬送装置、表面実装機および部品試験装置

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JPS60247136A (ja) * 1984-05-23 1985-12-06 Sumitomo Metal Ind Ltd 圧痕径の測定方法
JPH0684241A (ja) * 1992-08-31 1994-03-25 Nippon Chemicon Corp ガイドローラのフランジ間寸法の測定方法及びその装置
JP2006114534A (ja) * 2004-10-12 2006-04-27 Yamaha Motor Co Ltd 部品搬送装置、表面実装機および部品試験装置

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Publication number Priority date Publication date Assignee Title
WO2020208797A1 (fr) * 2019-04-11 2020-10-15 株式会社Ｆｕｊｉ Dispositif de montage de composant et procédé de montage de composant
WO2020208798A1 (fr) * 2019-04-11 2020-10-15 株式会社Ｆｕｊｉ Dispositif de montage de composant et procédé de montage de composant
JPWO2020208798A1 (ja) * 2019-04-11 2021-12-09 株式会社Fuji 部品装着機および部品装着方法
JPWO2020208797A1 (ja) * 2019-04-11 2021-12-09 株式会社Fuji 部品装着機および部品装着方法
JP7090805B2 (ja) 2019-04-11 2022-06-24 株式会社Fuji 部品装着機および部品装着方法
JP7177915B2 (ja) 2019-04-11 2022-11-24 株式会社Fuji 部品装着機および部品装着方法
CN110430691A (zh) * 2019-07-05 2019-11-08 深圳德森精密设备有限公司 晶片贴装设备及控制方法
CN112701065A (zh) * 2020-12-29 2021-04-23 微见智能封装技术(深圳)有限公司 一种自动贴片机

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