WO2018173226A1

WO2018173226A1 - Mounting device and mounting method

Info

Publication number: WO2018173226A1
Application number: PCT/JP2017/011871
Authority: WO
Inventors: 遠藤　大輔; 祐介土谷
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2017-03-23
Filing date: 2017-03-23
Publication date: 2018-09-27
Also published as: CN110476496B; CN110476496A; JP6804741B2; JPWO2018173226A1

Abstract

A mounting device 11 captures an image of a part 27 that includes a frame border of at least two different directions during movement of a tray member 24 to at least the initial collection position, and executes a mode for finding a correction value to correct the collection position of a part P on the basis of the position of the part 27 that includes the frame border of at least two different directions of the captured image.

Description

Mounting apparatus and mounting method

The present invention relates to a mounting apparatus and a mounting method.

Conventionally, as a mounting apparatus, for example, an apparatus that reads a reference mark formed on a component supply pallet and calculates its fixed position error has been proposed (for example, see Patent Document 1). In this apparatus, the positional deviation between the component holding unit and the component receiving unit can be corrected, and the receiving accuracy can be improved. In addition, as a mounting apparatus, for example, an apparatus has been proposed in which a positioning hole and a mark are provided in a pallet, and the suction position is corrected by recognizing the mark to stabilize the suction of components from the pallet (for example, Patent Document 2). reference).

JP-A-6-216576 Japanese Patent Laid-Open No. 10-335889

However, in the mounting apparatus described in Patent Documents 1 and 2, it is necessary to prepare some marks.

The present invention has been made in view of such a problem, and a main object of the present invention is to provide a mounting apparatus and a mounting method capable of performing production without preparing a mark.

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

That is, the mounting apparatus of the present invention is a mounting apparatus that collects components and performs mounting processing.
A tray member that has at least a plurality of portions including two-direction frame lines at a plurality of positions, accommodates components, and moves between a storage position and a sampling position;
An imaging unit for imaging a portion including the frame line in at least two different directions;
When the tray member moves to the sampling position, the part including at least two different direction frame lines is imaged, and the part is sampled based on the position of the part including the at least two different direction frame lines. A control unit that executes a mode for obtaining a correction value for correcting the position;
It is equipped with.

In this apparatus, a portion including at least two different frame lines of the tray member is used to obtain a correction value for correcting the sampling position of the component when the tray member is moved, so that production is performed without preparing a mark. Can do.

FIG. 4 is a schematic explanatory diagram illustrating an example of a schematic configuration of the mounting apparatus 11. An explanatory view showing an example of pallet 23 and tray member 24. FIG. The flowchart showing an example of a tray component supply processing routine. FIG. 6 is an explanatory diagram showing a positional deviation of the tray body 25. FIG. 6 is an explanatory diagram showing the inclination of the tray body 25. FIG. 6 is an explanatory diagram showing distortion of the tray body 25.

Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram illustrating an example of a schematic configuration of the mounting apparatus 11 of the mounting system 10. FIG. 2 is an explanatory diagram illustrating an example of the pallet 23 and the tray member 24. For example, the mounting system 10 is a system that executes a mounting process for placing the component P on the substrate S as shown in FIG. The mounting system 10 includes a mounting device 11 and a management computer (PC) 40. In the mounting system 10, a plurality of mounting apparatuses 11 are arranged from upstream to downstream. In FIG. 1, only one mounting apparatus 11 is shown for convenience of explanation. The management PC 40 manages mounting job information including processing conditions in the mounting apparatus 11. In the present embodiment, the left-right direction (X-axis), the front-rear direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIG.

The mounting apparatus 11 includes a board transfer unit 12, a mounting unit 13, a parts camera 19, a component supply unit 20, and a control unit 30. The substrate transport unit 12 is a unit that carries in, transports, fixes and unloads the substrate S at the mounting position. The substrate transport unit 12 has a pair of conveyor belts provided in the front-rear direction of FIG. The board | substrate S is conveyed by this conveyor belt.

The mounting unit 13 collects components from the component supply unit 20 and arranges them on the substrate S fixed to the substrate transport unit 12. The mounting unit 13 includes a head moving unit 15, a mounting head 16, and a suction nozzle 17. The head moving unit 15 includes a slider that is guided by the guide rail and moves in the XY directions, and a motor that drives the slider. The mounting head 16 is detachably mounted on the slider and is moved in the XY directions by the head moving unit 15. One or more suction nozzles 17 are detachably mounted on the lower surface of the mounting head 16. The suction nozzle 17 is a collection member that collects the component P using pressure. The sampling member may be a mechanical chuck that holds the component P. The mounting head 16 is provided with a mark camera 18 for photographing the substrate S and the like from above. The mark camera 18 has a photographing area below, and reads a reference position of the substrate S and a portion 27 including at least two different frame lines of the tray member 24. The mark camera 18 moves in the XY direction as the mounting head 16 moves.

The parts camera 19 is disposed between the substrate transport unit 12 and the component supply unit 20. The imaging range of the parts camera 19 is above the parts camera 19. When the suction nozzle 17 that sucks the part P passes above the part camera 19, the parts camera 19 captures the part P sucked by the suction nozzle 17 from below and outputs the image to the control unit 30.

The component supply unit 20 includes a plurality of feeders provided with reels and a tray unit containing a plurality of trays. The feeder feeds a tape that is wound around a reel and holds a component, and supplies the component P to the mounting unit 13. The tray unit includes a magazine unit 21, a pallet 23, and a tray member 24. The magazine unit 21 accommodates a plurality of pallets 23 to which the tray member 24 is fixed. The pallet 23 moves between an initial position in the magazine section 21 (see the dotted line in FIG. 1) and a collection position (see the solid line in FIG. 1) for collecting the parts P by a moving mechanism (not shown). As shown in FIG. 2, the tray member 24 includes a tray main body 25 and a fixing member 26 and a portion 27 including at least two different frame lines. The tray body 25 is a plate-like member in which a large number of rectangular cavities are formed, and the component P is accommodated in the cavities. The fixing member 26 is a member that fixes the tray main body 25 to the pallet 23 and is connected to the tray main body 25 in a state where positional accuracy is ensured. In FIG. 2, an example in which the four portions of the tray body 25 are fixed by the fixing member 26 is shown. Here, the frame line means a section for arranging parts on the tray.

The control unit 30 is configured as a microprocessor centered on the CPU 31, and includes a storage unit 32 for storing a processing program. The control unit 30 outputs control signals to the substrate transport unit 12, the mounting unit 13, the parts camera 19, and the component supply unit 20, and inputs signals from the mounting unit 13, the parts camera 19, and the component supply unit 20.

Next, the operation of the mounting system 10 according to the present embodiment configured as described above, particularly the processing for correcting the position of the component P when the component P is collected from the tray unit will be described. FIG. 3 is a flowchart illustrating an example of a tray component supply processing routine executed by the CPU 31 of the control unit 30. This routine is stored in the storage unit 32 and executed after the mounting process of the mounting apparatus 11 is started.

When this routine is started, the CPU 31 of the control unit 30 sets a mode for correcting the position of the component P collected from the tray member 24 (step S100). In this mode, the correction value is obtained by imaging the portion 27 including at least two different frame lines when the tray member 24 is moved to the first collection position at least one of when starting new production and when replacing the tray. There are a first mode and a second mode in which correction values are obtained at a frequency higher than that of the first mode. Here, in the first mode, the CPU 31 obtains the correction value of the sampling position of the component P only for the first time, and thereafter, the component P is sampled by repeatedly using the correction value. In the second mode, the CPU 31 obtains a correction value each time the tray member 24 is pulled out from the magazine portion 21, and collects the component P with the correction value. In step S100, the mode selected in advance by the operator may be set as the execution mode, or the default mode (for example, the second mode) may be set as the execution mode. In this embodiment, it is described that imaging is performed at the time of the first movement, but it is only necessary to obtain a correction value, and the present invention is not limited to this. For example, you may image by prior preparation.

Next, the CPU 31 determines whether or not the tray member 24 is pulled out based on whether or not the component P of the tray unit is collected (step S110). The member 24 is moved to the collection position (step S120). Next, the CPU 31 determines whether or not the corresponding tray member 24 is pulled out for the first time (step S130). When the corresponding tray member 24 is the first drawer, the CPU 31 performs a process of imaging the portion 27 including at least two different frame lines in the three positions of the tray member 24 with the mark camera 18 (step S140). A correction value for correcting the position, inclination, and distortion of the tray member 24 is obtained based on the position of the portion 27 including the frame lines in at least two different directions in the image that has been obtained (step S150). Here, the CPU 31 captures at least two portions 27 of the tray member 24 including frame lines in two directions, and performs first correction processing for correcting the position and inclination of the tray member 24, and three locations of the tray member 24. The above-described second correction process for correcting the position, inclination, and distortion of the tray member 24 is performed by imaging the portion 27 including the frame lines in at least two different directions. Here, it is assumed that the second correction process is performed when the tray member 24 is pulled out for the first time, and the first correction process is performed when the same tray member 24 is pulled out for the second time and thereafter. If it is an image of the portion 27 including at least two different frame lines, the position on the plane can be acquired. Depending on the specifications, the frame line may be a frame line length 51, a frame line width 52, and a frame line slant 53.

FIG. 4 is an explanatory diagram showing the positional deviation of the tray main body 25. In FIG. 4 and subsequent figures, the portion 27 including at least two different frame lines is represented as a coordinate point. FIG. 5 is an explanatory diagram showing the inclination of the tray body 25. FIG. 6 is an explanatory diagram showing distortion (elongation) of the tray body 25. As shown in FIG. 4, the positional deviation of the tray body 25 can be obtained from the difference between the coordinates (dotted line in the figure) serving as a reference of the portion 27 including at least two different frame lines and the coordinates of the captured image. . Since the component P is displaced in the same manner as the positional deviation of the tray main body 25, the positional deviation correction value may be a value for shifting the position of the suction nozzle 17 in the same manner as the positional deviation of the tray main body 25. As shown in FIG. 5, the inclination of the tray body 25 can be obtained from the inclination of a straight line connecting at least two portions 27 including at least two frame lines in two different directions. The inclination correction value can be obtained as a positional deviation amount in accordance with the inclination of the tray body 25. Further, as shown in FIG. 6, the distortion of the tray body 25 includes the third at least two different directional frame lines when the portion 27 including at least two at least two different directional frame lines is used as a reference. It can be determined by how the portion 27 is displaced. For example, when the distance between the two points is the same as shown in FIG. 6 and only the length of the third point is different, it can be detected that the tray body 25 is expanded and contracted at a predetermined rate. In this case, what is necessary is just to obtain | require the value which shifts the position of the suction nozzle 17 in consideration of the predetermined ratio. When the third portion 27 including at least two different frame lines is shifted in the left-right direction, a ratio of the tray body 25 being distorted in the left-right direction is obtained, and the suction nozzle 17 is added with the ratio. What is necessary is just to obtain | require the value which shifts the position of.

After step S150, the CPU 31 stores the correction value and causes the mounting unit 13 to collect a component using the correction value (step S240). Since the position, inclination, and distortion of the tray body 25 are corrected, the component P can be collected at an accurate position. Next, the CPU 31 determines whether or not there is a component P to be collected next (step S250). When there is a component P to be collected next, whether or not the component P is in another tray member 24 is determined. Determination is made (step S260). When there is no other tray member 24, that is, when the component P is collected from the tray member 24 at the current collection position, the CPU 31 executes the processing after step S240 using the current correction value. On the other hand, when the part P to be collected next is in the other tray member 24 in step S260, the CPU 31 moves the tray member 24 currently in the collection position to the initial position (step S270), and executes the processing after step S120. To do. That is, the CPU 31 moves the corresponding tray member 24 to the collection position in step S120, and determines whether or not it is the first withdrawal in step S130.

When the corresponding tray member 24 is not the first drawer, that is, when it is the second or subsequent drawer with the same tray member 24, the CPU 31 determines what the current setting mode is (step S160). When the current setting is the second mode, the CPU 31 obtains a correction value by the first correction process every time the tray member 24 is pulled out, and the CPU 31 determines at least two portions 27 of the portion 27 including the frame lines in two different directions. An image is taken (step S170), and a correction value for the position and tilt of the tray body 25 is calculated (step S180). Note that the distortion correction value may be obtained by repeatedly using the value obtained for the first time.

Next, the CPU 31 determines whether or not the obtained correction value is continued within a predetermined allowable range (step S190). This determination determines whether it is necessary to obtain a correction value every time. For example, when there is almost no variation in the correction value obtained a plurality of times, it can be said that the tray body 25 is fixed without further deviation from the state even when there is a positional deviation or an inclination. In this case, the mounting unit 13 can secure the suction position accuracy of the component P even if the correction value obtained once is repeatedly used. Here, the “predetermined allowable range” may be, for example, a range empirically obtained as a range in which the correction value can be regarded as not fluctuating, and may be a variation range of ± 10%, for example. Further, “continuation” may be determined empirically, for example, three times continuously or five times continuously. Then, when the obtained correction value does not continue within the predetermined allowable range, the processing after step S240 is executed as it is. On the other hand, when the obtained correction value continues within the predetermined allowable range, the CPU 31 shifts to the first mode in which the correction value is obtained less frequently (step S200), and executes the processes after step S240.

On the other hand, when the setting mode is the first mode in step S160, the sampling position deviation information of the component P is acquired (step S210). The collection position deviation information includes the amount of positional deviation between the component P and the suction nozzle 17 when the part P is collected by the suction nozzle 17. The sampling position deviation can be obtained by capturing the part P with the suction nozzle 17 in step S240 and then imaging the state with the parts camera 19. This misregistration information may include, for example, a plurality of sampling misregistration amounts obtained as described above after this determination is made first. Subsequently, the CPU 31 determines whether or not the sampling position deviation amount of the component P is outside the allowable range (step S220). This “allowable range” may be determined empirically as, for example, a range that can be regarded as having little influence on the mounting of the component P even if there is a sampling position deviation. When the amount of deviation of the sampling position of the component P is within the allowable range, the CPU 31 directly executes the processes after step S240. On the other hand, when the sampling position deviation amount of the component P is out of the allowable range, the CPU 31 shifts to the second mode (step S230) to perform the processing after step S240 in order to increase the accuracy of the position correction of the tray body 25. Execute. In step S250, when there is no next part, that is, when all parts have been supplied, the CPU 31 ends this routine.

Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. The tray member 24 of the present embodiment corresponds to a tray member, the portion 27 including at least two different frame lines corresponds to a portion including at least two different frame lines, the mark camera 18 corresponds to an imaging unit, The control unit 30 corresponds to the control unit, and the mounting unit 13 corresponds to the sampling unit.

The control unit 30 of the present embodiment described above captures the portion 27 including at least two different frame lines when the tray member 24 is moved to at least the first sampling position, and at least two different frames of the captured image. A first mode for obtaining a correction value for correcting the sampling position of the part P based on the position of the portion 27 including the line is executed. In addition, the control unit 30 captures an image of the portion 27 including at least two different frame lines when the tray member 24 is moved to the collection position, and at the position of the portion 27 including at least two different frame lines of the captured image. Based on the second mode, the correction value for correcting the sampling position of the component P is calculated more frequently than in the first mode. In this apparatus, the part P can be collected with higher accuracy by executing the second mode, or the part P can be collected with higher efficiency by executing the first mode. The first mode is a mode for obtaining a correction value when the tray member 24 is moved to the collection position for the first time at least one of when starting new production and when replacing the tray. Since the mounting apparatus 11 can perform subsequent component collection using the correction value obtained at the start of new production or at the time of restart after tray replacement, the component P can be collected more efficiently.

Further, the control unit 30 shifts from the second mode to the first mode when the correction value obtained in the second mode is continued within a predetermined allowable range. If it is within the range, that is, if the positional deviation variation of the tray member 24 is small, by performing the first mode that is executed less frequently, the sampling of the component P can be further increased while maintaining the sampling of the component P with high accuracy. Can be done efficiently. Furthermore, the control unit 30 acquires positional deviation information (collecting positional deviation information) of the component P collected by the mounting unit 13 that collects the component P accommodated in the tray member 24, and the positional deviation amount is a predetermined tolerance. When it is out of range, the first mode is shifted to the second mode. In this apparatus, in the first mode, when the misalignment of the collected component P is outside the allowable range, that is, when the misalignment of the component is large, the mode is changed to the second mode. be able to. And since the control part 30 calculates | requires a correction value every time the tray member 24 arrives at a collection position in 2nd mode, it can collect | collect the components P with still higher precision.

Further, the control unit 30 images the portion 27 including at least two different frame lines in two positions of the tray member 24, and based on the position of the portion 27 including at least two different frame lines in the captured image. A first correction process for obtaining a correction value for correcting the position and inclination of the member 24 is executed. Further, the control unit 30 captures at least three portions 27 of the tray member 24 including at least two different frame lines, and based on the positions of the portions 27 including at least two different frame lines of the captured image. A second correction process for obtaining a correction value for correcting the position, inclination, and distortion of the tray member 24 is executed. In this apparatus, parts are collected more efficiently by performing the first correction process using the portions 27 including at least two different two-direction frame lines, while at least three different two-direction frame lines are obtained. By performing the second correction process for correcting even the distortion of the tray member 24 using the portion 27 including the part, it is possible to collect parts with higher accuracy. Further, the control unit 30 executes the second correction process at the first movement of the tray member 24 to the collection position at least one of the start of new production and the tray replacement, and then executes the first correction process. In this apparatus, since the distortion of the tray member 24 is first corrected, the part P can be sampled with higher accuracy. After that, the measurement of the distortion correction value is omitted, and the part P can be collected more efficiently. Can be done.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

For example, in the above-described embodiment, the first mode and the second mode are switched based on the variation of the correction value, the sampling position deviation amount, and the like. However, the present invention is not particularly limited thereto, and the mode is changed according to other parameters. It is good also as what switches. Moreover, it is good also as what performs either 1st mode and 2nd mode based on a worker's setting. The first mode is a mode for obtaining the correction value only when the tray body 25 is moved for the first time. However, if the frequency is lower than that of the second mode, the correction value may be obtained periodically after the second mode. . Similarly, in the second mode, the correction value is obtained every time the tray member 24 is pulled out from the magazine portion 21, but if the frequency is higher than in the first mode, the correction value may not be obtained periodically. There may be. Further, the control unit 30 may shift from the first mode to the second mode when the obtained correction value is continued outside the predetermined allowable range in the first mode. In this apparatus, when the correction value is not continuously within the allowable range, that is, when the positional deviation variation of the tray member 24 is large, the second mode having a high execution frequency is performed, so that the part P is collected with higher accuracy. be able to.

Although not specifically described in the above-described embodiment, for example, the control unit 30 acquires information on the component P accommodated in the tray main body 25, and when the component P is a component that requires a predetermined high-precision position, for example. Two modes may be executed. In this apparatus, the part P can be collected with higher accuracy for a part that requires a high-accuracy position. Here, “parts that require a high-precision position” include, for example, parts that are placed on parts that have been placed first, parts that are narrowly adjacent, and the like.

Although not specifically described in the above-described embodiment, for example, the control unit 30 acquires information on the component P accommodated in the tray member 24, and when the component P is a component that requires a predetermined high-precision position, Two correction processes may be executed. In this apparatus, the part P can be collected with higher accuracy for a part that requires a high-accuracy position.

In the above-described embodiment, the second correction process is performed when the tray member 24 is pulled out for the first time, and the first correction process is performed when the same tray member 24 is pulled out for the second time or later. However, the present invention is not limited to this. For example, the control unit 30 shifts from the second correction process to the continuation of the first correction process when the obtained distortion correction value is continued within a predetermined allowable range while continuing the second correction process. Also good. In this apparatus, the correction of the variation of the distortion of the tray member 24 is omitted within an allowable range, so that the part P can be collected more efficiently. Here, “continuing the second correction process” includes continuous continuation that is performed each time the tray member moves, and intermittent continuation that is performed every predetermined number of times or after a predetermined time has elapsed. Including. Further, the “predetermined allowable range” may be, for example, a range empirically obtained as a range in which the correction value can be regarded as not fluctuating, and may be a variation range of ± 10%, for example. Further, the control unit 30 acquires the sampling position deviation information of the component P collected by the mounting unit 13 that samples the component P accommodated in the tray member 24, and when the positional deviation amount is outside the predetermined allowable range, The process may be shifted from the first correction process to the continuation of the second correction process. In this apparatus, when the misalignment of the collected component P is outside the allowable range, that is, when the misalignment of the component P is large, the second correction process for correcting the distortion of the tray member 24 is continued. Can be performed with higher accuracy.

In the embodiment described above, the main combination is to perform the second correction process in the second mode and perform the first correction process in the first mode, but is not particularly limited thereto. For example, the second correction process may be performed in the first mode, and the first correction process may be performed in the second mode.

In the above-described embodiment, both the switching between the first mode and the second mode and the switching between the first correction process and the second correction process are performed. However, the present invention is not particularly limited to this, and either switching is omitted. May be. Even in this case, the part P can be collected with higher accuracy, or the part P can be collected with higher efficiency. Alternatively, in the above-described embodiment, the first mode and the second mode are provided, but either one may not be provided. In the above-described embodiment, the first correction process and the second correction process are included. However, either one may be omitted. Specifically, for example, the control unit 30 captures the portion 27 including at least two different frame lines when the tray member 24 moves to at least the first sampling position, and at least two different frame frames of the captured image. A mode (first mode) for obtaining a correction value for correcting the sampling position of the part P based on the position of the part 27 including the line is used. The part 27 including at least three different frame lines of the tray member 24 is used. Performed by a correction process (second correction process) for obtaining a correction value for correcting the position, inclination, and distortion of the tray member 24 based on the position of the portion 27 including at least two different frame lines of the captured image. It is good also as what to do. In this apparatus, the component P can be sampled with high efficiency by the first mode and with high accuracy by the second correction process.

In the above-described embodiment, the second correction process uses the portions 27 including at least three different two-direction frame lines in the second correction process, but there are no particular limitations as long as there are three or more locations. In addition, in the mounting apparatus 11, when the number of imaging locations increases, the imaging time and the analysis time become longer.

In the above-described embodiment, the frequency of the process for obtaining the correction value is changed. However, for example, when the fluctuation of the correction value is within a predetermined correction unnecessary range, the correction itself may be omitted. In this apparatus, correction can be omitted and the part P can be collected more efficiently.

In the above-described embodiment, the mounting apparatus 11 has been described. However, the mounting apparatus 11 is not particularly limited thereto, and may be a mounting method or a program for executing the mounting method. In this mounting method, various aspects of the mounting device described above may be adopted, and steps for realizing each function of the mounting device described above may be added.

The present invention can be used in the field of mounting electronic components.

10 mounting system, 11 mounting device, 12 substrate transport unit, 13 mounting unit, 15 head moving unit, 16 mounting head, 17 suction nozzle, 18 mark camera, 19 part camera, 20 component supply unit, 21 magazine unit, 23 pallet, 24 tray members, 25 tray body, 26 fixing members, 27 parts including at least two different frame lines, 30 control unit, 31 CPU, 32 storage unit, 40 management PC, 51 frame vertical, 52 frame horizontal, 53 Frame diagonal, P component, S substrate.

Claims

A mounting device that collects and processes parts,
A tray member that has at least a plurality of portions including two-direction frame lines at a plurality of positions, accommodates components, and moves between a storage position and a sampling position;
An imaging unit for imaging a portion including the frame line in at least two different directions;
When the tray member moves to the sampling position, the part including at least two different direction frame lines is imaged, and the part is sampled based on the position of the part including the at least two different direction frame lines. A control unit that executes a mode for obtaining a correction value for correcting the position;
Mounting device.
A mounting device that collects and processes parts,
A tray member that has at least a plurality of portions including two-direction frame lines at a plurality of positions, accommodates components, and moves between a storage position and a sampling position;
An imaging unit for imaging a portion including the frame line in at least two different directions;
Based on the position of the portion including the at least two different directions of the image of the imaged image of the portion including the at least two different directions of the frame when the tray member is moved to the sampling position at least for the first time. A first mode for obtaining a correction value for correcting the sampling position of the component, and at least two different directions of the image obtained by imaging a portion including the frame line in at least two different directions when the tray member is moved to the sampling position. A control unit that executes any one of the second mode for obtaining a correction value for correcting the sampling position of the part based on the position of the part including the frame line at a frequency higher than that of the first mode;
Mounting device.
3. The mounting apparatus according to claim 2, wherein the first mode is a mode for obtaining the correction value when the tray member is first moved to the collection position at least one of when starting a new production and when replacing a tray.
4. The mounting apparatus according to claim 2, wherein the control unit acquires information on a component accommodated in the tray member and executes the second mode when the component is a component requiring a high-precision position.
5. The control unit according to claim 2, wherein the control unit shifts from the second mode to the first mode when the obtained correction value is continued within a predetermined allowable range in the second mode. The mounting device according to the item.
The control unit obtains information on the positional deviation of the component collected by the sampling unit that collects the component accommodated in the tray member. When the positional deviation amount is outside a predetermined allowable range, the control unit starts from the first mode. The mounting apparatus according to any one of claims 2 to 5, which shifts to the second mode.
The mounting device according to any one of claims 2 to 6, wherein the control unit obtains the correction value every time the tray member reaches the collection position in the second mode.
The control unit picks up images of the two portions of the tray member that include the at least two different frame lines, and based on the position of the portion of the captured image that includes the at least two different frame lines, the tray member A first correction process for obtaining a correction value for correcting the position and inclination of the image, and at least two different directions of the image obtained by imaging the portion including the frame lines in the at least two different directions at three or more locations on the tray member. 8. A second correction process for obtaining a correction value for correcting the position, inclination, and distortion of the tray member based on the position of the portion including the frame line. The mounting device according to the item.
A mounting device that collects and processes parts,
A tray member that has at least a plurality of portions including two-direction frame lines at a plurality of positions, accommodates components, and moves between a storage position and a sampling position;
An imaging unit for imaging a portion including the frame line in at least two different directions;
The positions and inclinations of the tray member based on the positions of the portions including the frame lines in at least two different directions in the imaged image of the two portions of the tray member including the frame lines in at least two different directions. A first correction process for obtaining a correction value for correcting the image, and at least three portions of the tray member including the at least two different direction frame lines and including the at least two different direction frame lines of the captured image. A second correction process for obtaining a correction value for correcting the position, inclination, and distortion of the tray member based on the position of the part;
Mounting device.
The said control part performs the said 2nd correction process at the time of the movement to the collection position of the said tray member in at least one at the time of a new production start and a tray replacement | exchange, and performs the said 1st correction process after that. The mounting apparatus according to 8 or 9.
The control unit according to any one of claims 8 to 10, wherein the control unit acquires information on a component accommodated in the tray member, and executes the second correction process when the component is a component requiring a high-precision position. The mounting apparatus described.
The control unit shifts from the second correction process to the continuation of the first correction process when the obtained distortion correction value is continued within a predetermined allowable range while the second correction process is continued. The mounting apparatus according to any one of claims 8 to 11.
The control unit acquires information on a positional deviation of the component collected by the sampling unit that samples the component accommodated in the tray member, and the first correction process when the positional deviation amount is outside a predetermined allowable range. The mounting apparatus according to any one of claims 8 to 12, which shifts from continuation to continuation of the second correction process.
The control unit picks up an image of a portion including the at least two different frame lines when the tray member moves to the sampling position at least for the first time, and includes a portion including the at least two different frame lines of the captured image. In a first mode for obtaining a correction value for correcting the sampling position of the part based on the position, at least the three or more portions of the tray member including the at least two different direction frame lines are captured and the captured image is at least The mounting apparatus according to claim 2, wherein the mounting apparatus is executed by a correction process for obtaining a correction value for correcting the position, inclination, and distortion of the tray member based on the position of a part including a frame line in two different directions.
Implemented by a mounting apparatus that includes a tray member that has at least a plurality of portions including two-direction frame lines, accommodates components, and moves between an accommodating position and a sampling position, and samples and mounts the components. Implementation method,
Based on the position of the portion including the at least two different directions of the image of the imaged image of the portion including the at least two different directions of the frame when the tray member is moved to the sampling position at least for the first time. A first mode for obtaining a correction value for correcting the sampling position of the component, and at least two different directions of the image obtained by imaging a portion including the frame line in at least two different directions when the tray member is moved to the sampling position. Executing a second mode in which a correction value for correcting the sampling position of the part based on the position of the part including the frame line is determined more frequently than in the first mode;
Implementation method including
Implemented by a mounting apparatus that includes a tray member that has at least a plurality of portions including two-direction frame lines, accommodates components, and moves between an accommodating position and a sampling position, and samples and mounts the components. Implementation method,
The positions and inclinations of the tray member based on the positions of the portions including the frame lines in at least two different directions in the imaged image of the two portions of the tray member including the frame lines in at least two different directions. A first correction process that corrects the image, and at least three positions of the tray member that include the at least two different direction frame lines, and at the position of the captured image that includes the at least two different direction frame lines. A step of performing any one of a second correction process for correcting the position, inclination and distortion of the tray member on the basis thereof;
Implementation method including