WO2019064609A1 - Dispositif de montage de composant - Google Patents

Dispositif de montage de composant Download PDF

Info

Publication number
WO2019064609A1
WO2019064609A1 PCT/JP2017/036457 JP2017036457W WO2019064609A1 WO 2019064609 A1 WO2019064609 A1 WO 2019064609A1 JP 2017036457 W JP2017036457 W JP 2017036457W WO 2019064609 A1 WO2019064609 A1 WO 2019064609A1
Authority
WO
WIPO (PCT)
Prior art keywords
luminance
component
suction nozzle
mounting
measurement
Prior art date
Application number
PCT/JP2017/036457
Other languages
English (en)
Japanese (ja)
Inventor
芳行 深谷
Original Assignee
株式会社Ｆｕｊｉ
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 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2019544204A priority Critical patent/JP6744999B2/ja
Publication of WO2019064609A1 publication Critical patent/WO2019064609A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages

Definitions

  • the present invention relates to a component mounting machine.
  • the component mounting machine mounts a component held by a suction nozzle on a substrate to produce various substrate products.
  • Patent Document 1 discloses a component mounting machine provided with a camera device capable of capturing an image of a suction nozzle from the side. Such a component mounting machine recognizes the holding state of the component held by the suction nozzle based on the image data obtained by imaging of the camera device. Thus, the component placement machine can execute processing according to the holding state of the component.
  • a camera apparatus images a suction nozzle and components in the state which the irradiation apparatus which has a light source irradiated light to a suction nozzle.
  • the luminance of the light source is maintained to be appropriate by, for example, an adjustment process performed after the component mounting machine is powered on. However, for example, if the luminance of the light source is lowered during continuous production for a long time, it may affect the imaging by the camera device and the recognition processing of the holding state of the parts.
  • An object of the present specification is to provide a component placement machine capable of adjusting the brightness of light emitted by the radiation device during the placement process.
  • a movable table movable in the horizontal direction, a suction nozzle for holding a component by suction, a mounting head provided on the movable table and supporting the suction nozzle so as to be able to move up and down, the suction nozzle
  • the camera device provided on the moving table, for imaging the suction nozzle irradiated with light by the irradiation device, and the image data acquired by the imaging of the camera device Whether or not the suction nozzle holds the component based on the image data during execution of the mounting process, and a mounting control unit that executes a mounting process of mounting the component held by the suction nozzle on the substrate
  • the adjustment of the luminance is performed based on the result of the luminance measurement on the condition that the inspection result indicates that the suction nozzle does not hold the component.
  • the luminance by the irradiation device is appropriately adjusted, so that the frequency of performing the adjustment can be improved, and it is possible to cope with the reduction in luminance during continuous production for a long time. Therefore, it is possible to prevent a decrease in the accuracy of the process of recognizing the holding state of the component, and to prevent a stop of production.
  • FIG. 1 It is a schematic diagram which shows the structure of the component mounting machine in embodiment. It is a side view which expands and shows the inside of a mounting head and a head camera unit. It is III direction arrow line view of FIG. It is a figure which shows the image data acquired by the imaging of a camera apparatus. It is a flowchart which shows the mounting process by a component mounting machine. It is a flowchart which shows the brightness adjustment process of an irradiation apparatus. It is a timing diagram which shows the operation of each part in an installation cycle, and the relation of time. It is an enlarged view which shows the measurement area
  • Embodiment 1-1 Configuration of Component Mounting Machine 1
  • the component mounting machine 1 controls the substrate transfer device 10, the component supply device 20, the component transfer device 30, the component camera 51, the substrate camera 52, the head camera unit 60, and An apparatus 70 is provided.
  • the substrate transfer apparatus 10 is configured by a belt conveyor or the like, and sequentially transfers the substrate 90 in the transfer direction.
  • the substrate transfer apparatus 10 carries the substrate 90 into the machine of the component mounting device 1 and positions the substrate 90 at a predetermined position in the machine.
  • the substrate transfer apparatus 10 carries the substrate 90 out of the component mounting apparatus 1 after the component mounting process by the component mounting apparatus 1 is completed.
  • the component supply device 20 supplies components to be mounted on the substrate 90.
  • the component supply device 20 has feeders 21 set side by side in the X-axis direction.
  • the feeder 21 feeds and moves a carrier tape in which a large number of parts are stored, and supplies the parts so as to be able to be collected at a supply position located on the tip end side of the feeder 21.
  • the component transfer device 30 includes a head drive device 31 and a moving table 32.
  • the head drive device 31 is configured to be able to move the moving table 32 in the horizontal direction (X-axis direction and Y-axis direction) by a linear movement mechanism.
  • the mounting head 40 is replaceably provided on the moving table 32 by a clamp member (not shown). The mounting head 40 picks up the components supplied by the component supply device 20 by a holding member such as the suction nozzle 43 and mounts the components at a predetermined mounting position of the substrate 90. The detailed configuration of the mounting head 40 will be described later.
  • the component camera 51, the substrate camera 52, and the head camera unit 60 are digital imaging devices having an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS).
  • the component camera 51, the substrate camera 52, and the head camera unit 60 perform imaging based on a control signal input from the outside.
  • the component camera 51, the substrate camera 52, and the head camera unit 60 transmit image data acquired by imaging.
  • the component camera 51 is fixed to the base of the component mounting machine 1 so that the optical axis is directed upward in the Z-axis direction, as shown in FIG.
  • the component camera 51 is configured to be able to image the component held by the suction nozzle 43 of the mounting head 40 from below.
  • the substrate camera 52 is provided on the moving table 32 of the component transfer device 30 so that the optical axis is directed downward in the Z-axis direction.
  • the substrate camera 52 is configured to be able to capture an image of the substrate 90 from above.
  • the head camera unit 60 is provided on the mounting head 40, and moves integrally with the mounting head 40 as the movable table 32 moves.
  • the head camera unit 60 sets the suction nozzle 43 attached to the mounting head 40 and the component P held by the suction nozzle 43 as a subject.
  • the head camera unit 60 is configured to be able to image the subject from the side in a state where the subject is irradiated with light. The detailed configuration of the head camera unit 60 will be described later.
  • the control device 70 mainly includes a CPU, various memories, and a control circuit.
  • the control device executes a mounting process of mounting the component on the substrate 90. Further, the control device 70 measures the brightness of the light emitted by the head camera unit 60 at the time of imaging, and executes the brightness adjustment process of adjusting the brightness as necessary. Details of the mounting process performed by the control device 70 and the brightness adjustment process will be described later.
  • the mounting head 40 has a rotary head 41 rotatable around an R axis parallel to the Z axis.
  • the rotary head 41 is formed in a cylindrical shape as a whole, as shown in FIGS. 2 and 3.
  • a plurality (12 in the present embodiment) of holders 42 are arranged at equal intervals in the circumferential direction on a circle concentric with the R axis.
  • the rotary head 41 slidably supports the plurality of holders 42 in the Z-axis direction. At lower end portions of the plurality of holders 42, as shown in FIG.
  • compression springs 44 are respectively disposed on the outer peripheral side of the plurality of holders 42.
  • the compression spring 44 biases the holder 42 upward with respect to the rotary head 41.
  • each of the plurality of holders 42 is located at the rising end of the predetermined height in the initial state.
  • the nozzle lever 45 abuts on the upper end of the holder 42 which is indexed to the elevation position H0 (see FIG. 3) among the plurality of holders 42.
  • the nozzle lever 45 is controlled to move in the Z-axis direction by a linear motion mechanism such as a ball screw mechanism (not shown).
  • the rotary head 41 is connected to the index shaft 46.
  • the index shaft 46 rotates about the R axis integrally with the rotary head 41 by the drive of an R axis motor (not shown).
  • the plurality of holders 42 and the plurality of suction nozzles 43 rotate around the R axis as the rotary head 41 rotates.
  • driven gears 47 are fixed to upper end portions of the plurality of holders 42, respectively.
  • the driven gear 47 is slidably engaged with the drive gear 48 disposed on the outer peripheral side of the index shaft 46 in the Z-axis direction.
  • the drive gear 48 rotates around the R axis by the drive of a ⁇ axis motor (not shown), and rotates all the following driven gears 47 around the ⁇ axis.
  • the plurality of holders 42 and the plurality of suction nozzles 43 rotate around the ⁇ axis as the drive gear 48 rotates.
  • the mounting head 40 is configured to be movable in the X-axis direction and the Y-axis direction by the movement of the moving table 32. Further, the mounting head 40 sequentially indexes the plurality of suction nozzles 43 at the elevation position H0 in the mounting head 40 by angularly setting the rotary head 41 at a predetermined angle. Further, the suction nozzle 43 positioned at the elevation position H0 is adjusted in angle around the ⁇ axis and height in the Z axis direction. With such a configuration, the mounting head 40 supports the plurality of suction nozzles 43 so as to be able to move up and down via the plurality of holders 42.
  • Negative pressure air is supplied to each of the plurality of suction nozzles 43 from the negative pressure air supply source via the holder 42. As a result, each of the plurality of suction nozzles 43 sucks and holds the component P at the tip end.
  • the above-mentioned negative pressure air supply source is constituted by, for example, an air pump or the like provided inside the mounting head 40.
  • the positions of the two suction nozzles 43 adjacent to the suction nozzle 43 positioned at the elevating position H0 moved up and down by the mounting head 40 are referred to as the front standby position H-1 and the rear standby position H + 1.
  • the front standby position H-1 is a position where the suction nozzle 43 scheduled to be indexed next time to the elevation position H0 is made to stand by rotation of the rotary head 41.
  • the rear standby position H + 1 is a position at which the suction nozzle 43, which was previously indexed to the elevation position H0 due to the rotation of the rotary head 41, stands by.
  • the head camera unit 60 moves integrally with the mounting head 40 as the moving table 32 moves.
  • the head camera unit 60 captures an image of the suction nozzle 43 and the component P held by the suction nozzle 43 from the side based on the imaging command from the control device 70.
  • the imaged image data 80 (see FIG. 4) is sent to the control device 70 and used for holding inspection of parts and the like.
  • the head camera unit 60 includes a case 61, a camera device 62, and an irradiation device 65, as shown in FIG.
  • the case 61 is provided so as to surround a part of the plurality of suction nozzles 43 arranged on the circumference of the rotary head 41 from the outer peripheral side.
  • the camera device 62 is provided on the moving table 32 via the mounting head 40 in the present embodiment. The camera device 62 picks up an image of the suction nozzle 43 irradiated with light by the irradiation device 65.
  • the irradiation device 65 irradiates light to one or a plurality of suction nozzles 43.
  • the irradiation device 65 emits light to the two suction nozzles 43 positioned at the front standby position H-1 and the rear standby position H + 1 at the time of imaging by the camera device 62.
  • the irradiation device 65 includes a light source 66, a reflecting member 67, and an optical member 68.
  • the light source 66 is disposed on the cylindrical inner peripheral surface of the case 61 facing the suction nozzle 43.
  • the light source 66 is configured of a plurality of light emitting diodes or the like that emit light in the central direction (direction toward the R axis) of the rotary head 41.
  • the reflection member 67 is formed in a cylindrical shape, and reflects light at the cylindrical outer peripheral surface.
  • the reflecting member 67 is disposed at the lower end of the rotary head 41 so as to be coaxial with the R axis.
  • the reflecting member 67 rotates integrally with the rotary head 41 as the index shaft 46 rotates.
  • the reflecting member 67 is configured to protrude downward from the lower end of the rotary head 41 than the tip of the suction nozzle 43 located at the rising end. With such a configuration, the reflecting member 67 reflects the light emitted by the light source 66.
  • the optical member 68 is disposed inside the case 61, and forms an optical path from the tip of the suction nozzle 43, which is an object to be imaged, to the camera device 62.
  • the optical member 68 is configured of a pair of first prisms 681 and a second prism 682.
  • the pair of first prisms 681 are disposed at positions corresponding to the front standby position H-1 and the rear standby position H + 1 of the suction nozzle 43.
  • the second prism 682 refracts the light refracted by the pair of first prisms 681 into light parallel to the optical axis of the camera device 62.
  • the optical member 68 forms an optical path such that the two suction nozzles 43 irradiated with the reflected light by the reflection member 67 fall within the camera field of view of the camera device 62. Therefore, the camera device 62 is configured to be able to pick up the tips of the two suction nozzles 43 indexed to the front standby position H-1 and the rear standby position H + 1 in the rotary head 41.
  • the head camera unit 60 generates image data 80 as shown in FIG. 4 by imaging of the camera device 62 and sends it to the control device 70.
  • the image data 80 is captured so that the range in which the holder 42, the suction nozzle 43, and the component P exist is a shadow, with the reflective member 67 as a background. Furthermore, the image data 80 is subjected to image processing such as binarization in the camera device 62 or the control device 70, for example, to emphasize the contrast with the background.
  • FIG. 4 and FIG. 8 show hatched portions that become black by the above-described binarization.
  • the irradiation device 65 is supplied with power by the control device 70 and emits light.
  • the irradiation device 65 emits light
  • the brightness of light incident on the camera device 62 via the reflecting member 67 and the optical member 68 may be reduced due to various causes.
  • the luminance of light incident on the camera device 62 can be adjusted by appropriately changing the current value of the current supplied to the light source 66.
  • the control device 70 mainly includes a CPU, various memories, and a control circuit.
  • the control device 70 communicates with an external host computer, and controls the operation of the component transfer device 30 and the like based on various information.
  • image data in the following description refers to image data acquired by imaging of the head camera unit 60 except when there is an explanation.
  • the control device 70 includes a mounting control unit 71, a holding inspection unit 72, a luminance measuring unit 73, a luminance adjusting unit 74, and a storage unit 75.
  • the mounting control unit 71 executes a mounting process of mounting the component P held by the suction nozzle 43 on the substrate 90. More specifically, in the mounting process, the mounting control unit 71 inputs information output from various sensors provided in plural in the component mounting device 1 and a result of recognition processing by image processing and the like. Then, the mounting control unit 71 sends a control signal to the component transfer device 30 or the like on the basis of the control program and a predetermined mounting condition set in advance.
  • the above-mentioned image processing includes recognition processing of the holding state (including the presence and the posture of the component) of the component P by the suction nozzle 43, position recognition of the substrate 90, and determination of suitability of the mounted component.
  • the holding inspection unit 72 carries out a holding inspection as to whether or not the suction nozzle 43 holds the component P based on the image data 80 during the execution of the mounting process.
  • the holding inspection unit 72 performs the holding inspection using the image data 80 acquired by imaging of the head camera unit 60.
  • the suction nozzle 43 which attempts to mount the component P on the substrate 90 may erroneously bring the component P back.
  • the component P is returned to the mounting head 40 without leaving the suction nozzle 43 by leaving the suction nozzle 43 or the like, for example, by adhering the solder solder applied to the substrate 90 to the tip of the suction nozzle 43. It can occur due to
  • the holding inspection unit 72 performs a take-out inspection as a holding inspection to detect that the suction nozzle 43 which has attempted to mount the component P on the substrate 90 erroneously brings the component P back. More specifically, when the suction nozzle 43 positioned at the elevation position H0 of the rotary head 41 tries to mount the component P, the rotary head 41 is rotated to position the suction nozzle 43 at the rear standby position H + 1. Do. In this state, the holding inspection unit 72 performs image processing on the image data 80 acquired by imaging of the head camera unit 60, and whether or not the suction nozzle 43 located at the rear standby position H + 1 holds the component P Inspect for takeaway.
  • the luminance measurement unit 73 measures the luminance of light incident on the camera device 62 when the irradiation device 65 irradiates light.
  • the luminance measurement may be performed based on, for example, a detection value of an optical sensor provided on the light path.
  • the luminance measurement unit 73 measures the luminance based on the image data 80 acquired by imaging of the camera device 62 of the head camera unit 60.
  • the image data 80 used by the luminance measurement unit 73 for measuring the luminance is the image data 80 used for the holding inspection (in the present embodiment, the return inspection). Specifically, the image data 80 may be the image data 80 used for the holding inspection itself or may be copied. Furthermore, the luminance measuring unit 73 uses a measurement area 81 which is a part of the image data 80 for measuring the luminance. Specifically, the luminance measurement unit 73 calculates the average luminance of the measurement area 81, and sets the calculation result as the luminance of light incident on the camera device 62. In addition, the brightness measuring unit 73 may measure the brightness of each part in the measurement area 81 in consideration of a preset weighting.
  • the measurement time required for the measurement of the luminance by the luminance measurement unit 73 fluctuates according to the size of the measurement area 81. That is, as the image processing capability of the luminance measurement unit 73 decreases, the measurement time becomes longer.
  • the position and the size of the measurement area 81 in the image data 80 are set in consideration of the elevation time required for the elevation of the suction nozzle 43 in the mounting process. Details of setting of the measurement area 81 will be described in the brightness adjustment process described later.
  • the luminance adjustment unit 74 adjusts the luminance based on the result of the measurement of the luminance by the luminance measurement unit 73 when the suction nozzle 43 does not hold the component according to the result of the holding inspection (take-back inspection) by the holding inspection unit 72. Do. Specifically, the luminance adjustment unit 74 adjusts the current value supplied to the light source 66 of the irradiation device 65 by changing it, for example, according to the measurement result of the luminance.
  • the luminance adjustment unit 74 may omit the luminance adjustment when the measured luminance falls within the allowable range with respect to the standard luminance.
  • the current value to be varied for adjusting the brightness may be, for example, a value corresponding to the difference between the measured brightness and the standard brightness, or a value obtained by changing the current value by a specified value It is also good.
  • the storage unit 75 is configured by an optical drive device such as a hard disk drive or a flash memory.
  • the storage unit 75 stores a control program for operating the component mounting machine 1, image data sent from the head camera unit 60 to the control device 70, a result of measurement by the luminance measuring unit 73, and the like.
  • step 11 the mounting control unit 71 of the control device 70 first executes a suction cycle in which the plurality of suction nozzles 43 sequentially suction the components P (step 11 (hereinafter, “step” is described as “S”) ). More specifically, the mounting control unit 71 moves the mounting head 40 to the upper side of the feeder 21 that supplies the component P of the predetermined type in the component supply device 20, and positions the suction nozzle 43 at the elevation position H0. Then, the mounting control unit 71 lowers the suction nozzle 43 to suction the component P, and then lifts the suction nozzle 43 again.
  • the mounting control unit 71 executes state recognition processing for recognizing the holding state of the component P held by the plurality of suction nozzles 43 (S12). More specifically, the mounting control unit 71 moves the mounting head 40 above the component camera 51 and sends an imaging command to the component camera 51. The mounting control unit 71 performs image processing on the image data acquired by imaging of the component camera 51 to recognize the posture (position and angle) of the component P held by each of the plurality of suction nozzles 43.
  • the mounting control unit 71 executes a mounting cycle in which the components P are sequentially mounted on the substrate 90 by the plurality of suction nozzles 43 (S13). More specifically, the mounting control unit 71 moves the mounting head 40 to a position above the predetermined mounting position of the substrate 90, and positions the suction nozzle 43 at the elevation position H0. At this time, the mounting control unit 71 corrects the position and the angle of the suction nozzle 43 based on the result of the state recognition process (S12). Then, the mounting control unit 71 lowers the suction nozzle 43 to mount the component P, and then lifts the suction nozzle 43 again.
  • the control device 70 determines whether or not the mounting of all the parts P to be mounted on the current substrate 90 is completed (S14), and the pick and place cycle (S11 to S13) is performed until the mounting is completed. Repeated.
  • the control device 70 ends the mounting process on the current substrate 90. Thereafter, the substrate transfer apparatus 10 carries the present substrate 90 out of the machine and carries the next substrate 90 into the machine. Then, the control device 70 executes the mounting process again so as to repeat the above pick and place cycle.
  • the holding inspection unit 72 sends an imaging command to the head camera unit 60 so as to image the suction nozzle 43 positioned at the rear standby position H + 1.
  • the imaging process by the head camera unit 60 is executed (S21).
  • a current of a predetermined current value is supplied to the light source 66 of the irradiation device 65, and the light is irradiated.
  • the light emitted from the light source 66 passes through the light path formed by the reflecting member 67 and the optical member 68 and enters the camera device 62.
  • the image data 80 as shown in FIG. 4 is acquired by imaging of the camera device 62.
  • the holding inspection unit 72 may not bring back the component P by mistake in the mounting operation which the suction nozzle 43 positioned at the rear standby position H + 1 tried immediately before. Or, a take-out inspection is performed as to whether the part P has been released normally (S22).
  • the holding inspection unit 72 performs image processing on the image data 80, and inspects the presence or absence of take-back based on the suitability of the contour of the tip portion of the suction nozzle 43 positioned at the rear standby position H + 1.
  • the control device 70 executes recovery processing to recover from the malfunction state when the suction nozzle 43 holds (carries back) the component P in the result of the holding inspection (S22) (S23: Yes) (S31).
  • the above recovery process is, for example, a process of moving the suction nozzle 43 to the upper side of the component discarding box (not shown) and supplying positive pressure air. As a result, positive pressure air is jetted from the tip of the suction nozzle 43, and the adhered component P is discarded to the component discarding box.
  • the recovery process may be a process of notifying that take-back of the part P occurs and maintenance by the operator is necessary.
  • the luminance measurement unit 73 performs luminance measurement (S24) when the suction nozzle 43 does not hold the component P (does not bring it back) (S23: No) as a result of the holding inspection (S22).
  • the luminance measurement unit 73 measures the luminance by calculating the average luminance of the measurement area 81 set in advance with respect to the image data 80 used for the holding inspection (S22). If the measured luminance is normal (S25: Yes), the luminance adjustment processing is ended.
  • the luminance adjustment unit 74 performs luminance adjustment based on the result of the luminance measurement (S24) (S26). Specifically, the luminance adjustment unit 74 changes the current value of the current supplied to the light source 66 of the irradiation device 65 in the next imaging process (S21) according to the difference between the measured luminance and the standard luminance. Let Thereby, in the next imaging process (S21), the current supplied to the light source 66 is increased according to, for example, the decrease in luminance, and the light is irradiated so as to be brighter than the current imaging.
  • the measurement area 81 in the image data 80 is set in a rectangular shape having a predetermined aspect ratio, with a part of the reference line L located below the tip of the suction nozzle 43 as the upper side.
  • the reference line L is set at the upper limit position not including the tip of the suction nozzle 43 located at the rising end in the image data 80 in consideration of the individual difference of the suction nozzle 43, the thermal displacement and the like.
  • the measurement accuracy is improved, while the measurement time required for the measurement (time T3 to time T6 in FIG. 7) becomes long.
  • the adjustment time Ta of the luminance exceeds the pause time Tp of the camera device 62, the next imaging process (S21) can not be started, so a standby time occurs, and the required time of the mounting cycle is extended.
  • the measurement area 81 in the image data 80 is preset so that the adjustment time Ta of the luminance does not exceed the pause time Tp of the camera device 62.
  • “adjustment time Ta of brightness” refers to measurement of brightness (S24) by the brightness measuring unit 73 after adjustment of brightness (S24) by the brightness measuring unit 73 after adjustment of brightness by the brightness adjusting unit 74 (S21). This corresponds to the time until the end of S26) (time T2 to time T7 in FIG. 7).
  • rest time of camera device 62 means the time from the end of imaging (S21) of camera device 62 in the mounting cycle to the next imaging (S21) (time T2-time in FIG. 7). It corresponds to T8).
  • the time required for the movement of the mounting head 40 fluctuates depending on the distance of the continuous mounting position, and it is considered that the time required for the rotation of the other rotary head 41 and the lifting and lowering of the suction nozzle 43 is substantially constant.
  • the measurement area 81 takes into account the image processing capability of the control device 70, and the adjustment time Ta of the luminance is shorter than the idle time Tp of the camera device 62. Is set to be As a result, even if it is necessary to adjust the luminance in the result of the luminance measurement (S24), the luminance adjustment is completed by the next imaging (S21) (time T7 in FIG. 7 is before time T8) ).
  • the adjustment of the luminance by the irradiation device 65 is to measure whether the luminance of light entering the camera is normal, with the region where the suction nozzle 43 holds the component P and the region around it as the optical path. Is preferred.
  • the component P is held in the above-described area, and the period for measuring the luminance is limited in terms of preventing the influence on the mounting process.
  • the suction nozzle 43 erroneously brings the component P back. If the luminance is measured and adjusted with the part P brought back, the luminance may be excessively high with respect to the normal luminance.
  • the adjustment of the luminance is performed based on the result of the luminance measurement on the condition that the suction nozzle 43 does not hold the component P during the mounting process. It will be. As a result, it is possible to measure and adjust the brightness after recognizing that the suction nozzle 43 has not brought back the component P and reliably held or attached the component P. Then, while the mounting process is being performed, the luminance by the irradiation device 65 is appropriately adjusted, so that the frequency of performing the adjustment can be improved, and it is possible to cope with the reduction in luminance during continuous production for a long time. Therefore, it is possible to prevent the decrease in accuracy of the process of recognizing the holding state of the component P, and to prevent the production stop.
  • the luminance measurement unit 73 measures the luminance based on the image data 80. According to such a configuration, it is not necessary to newly provide an optical sensor or the like on the optical path to measure the luminance, and the existing equipment can be used, so that the equipment cost can be reduced. Further, by using the image data 80 for measuring the luminance, the luminance of the light incident on the camera device 62 can be reliably measured, so that the measurement accuracy can be improved.
  • the image data 80 used by the luminance measurement unit 73 for measuring the luminance is the image data 80 used for the holding inspection.
  • the luminance measurement unit 73 can measure the luminance by using the image data 80 used for the holding inspection, that is, the image data 80 that has already been picked up and acquired.
  • new imaging for acquiring the image data 80 can be omitted, so that the processing load can be reduced and luminance measurement can be started promptly.
  • the holding inspection unit 72 performs, as a holding inspection, a take-back inspection that detects that the suction nozzle 43 that tried to mount the component P on the substrate 90 erroneously brings the component P back while performing the mounting process.
  • the luminance measurement unit 73 measures the luminance by diverting the image data 80 used for the holding inspection. As a result, it is possible to reliably recognize that the component P is not attached to the suction nozzle 43 based on the inspection result of the return inspection, and to perform luminance adjustment reflecting the result of luminance measurement on the basis of the recognition. Thereby, if the suction nozzle 43 erroneously brings back the component P, it is possible to prevent the measurement and adjustment of the luminance from being performed, and to prevent the luminance from being excessively high with respect to the normal luminance. .
  • the camera device 62 picks up images of the two suction nozzles 43 adjacent to the suction nozzle 43 positioned at the position moved up and down by the mounting head 40 among the plurality of suction nozzles 43 from the side.
  • the appropriate state of the irradiation device 65 including the reflection member 67 can be maintained.
  • the light emitted from the light source 66 is reflected by the reflecting member 67 and follows the light path passing around the tip of the suction nozzle 43. Therefore, in addition to the aged deterioration of the light source 66, it is assumed that dust or the like adheres to the reflecting member 67 and the optical member 68, for example, as a factor that reduces the luminance. It becomes possible to measure and adjust the brightness of the light source 66 corresponding to the irradiation device 65 having such a configuration.
  • the luminance measurement unit 73 uses a measurement area 81 which is a part of the image data 80 for the measurement of the luminance. According to such a configuration, compared with the configuration in which the entire image data 80 is used to measure the brightness, the processing load of measurement can be reduced and the required time of measurement can be shortened. Therefore, the measurement and adjustment of the luminance can be prevented from affecting the mounting process, so that the proper state of the luminance can be maintained without reducing the production efficiency.
  • the width of the measurement area 81 is the luminance of the luminance measured by the luminance measuring unit 73 after the end of imaging by the camera device 62 with respect to the pause time Tp from the end of imaging by the camera device 62 until the next imaging is performed.
  • the adjustment time Ta until the measurement and adjustment of the luminance by the luminance adjustment unit 74 end is set to be short (Tp> Ta). According to such a configuration, it is possible to reliably prevent the adjustment time Ta from affecting the mounting process, and therefore, it is possible to prevent a decrease in production efficiency.
  • the measurement area 81 can be set appropriately, it is possible to maintain appropriate brightness while suppressing a decrease in measurement accuracy of the brightness to the minimum.
  • the brightness measurement unit 73 is configured to measure the brightness based on the measurement area 81 in the image data 80 used for the holding inspection by the holding inspection unit 72.
  • the brightness measuring unit 73 may measure the brightness using all the areas of the image data 80 except for the area where the holder 42, the suction nozzle 43, and the part P can appear. According to such a configuration, the image area used for luminance measurement becomes wide, so that measurement accuracy can be improved.
  • the image data 80 used for measuring the brightness is the image data 80 used for the holding inspection by the holding inspection unit 72.
  • the luminance measuring unit 73 sends an imaging command to the camera device 62 so as to newly perform imaging in a state where the current value for measurement is supplied to the light source 66, for example, and an image acquired by the imaging The brightness may be measured based on the data.
  • the luminance measurement unit 73 may measure the luminance based on the image data 80 used for other processing.
  • the brightness measuring unit 73 may measure the brightness based on the image data used for the suction inspection performed in the suction cycle.
  • the suction nozzle 43 after attempting to pick up the component P from the component supply device 20 may not suction the component P.
  • Such a suction failure occurs, for example, when the component P is not accommodated in the cavity of the carrier tape loaded in the feeder 21 or the tip of the suction nozzle 43 which has been lowered does not reach the component P. obtain.
  • the component mounting apparatus 1 further includes a suction inspection unit that performs the above-described suction inspection.
  • the suction inspection unit will be described as an aspect incorporated in the component mounting machine 1 as one function of the holding inspection unit 72.
  • the holding inspection unit 72 as the suction inspection unit performs the suction inspection as to whether or not the suction nozzle 43 after suctioning the part P from the part supply device 20 suctions the part P. More specifically, when the suction nozzle 43 positioned at the elevation position H0 of the rotary head 41 tries to pick up the part P, the rotary head 41 is rotated to position the suction nozzle 43 at the rear standby position H + 1. Do.
  • the holding inspection unit 72 performs image processing on the image data acquired by imaging by the head camera unit 60, and the suction failure depends on whether the suction nozzle 43 located at the rear standby position H + 1 holds the component P or not.
  • the holding inspection unit 72 detects the suction nozzle 43 (i.e., the front standby position) before attempting to extract the component P from the component supply device 20 among the image data used for the suction inspection during the mounting process.
  • a take-back inspection is detected as a holding inspection to detect that the suction nozzle 43 erroneously brings back the part P in the previously executed mounting cycle. Do.
  • the luminance measuring unit 73 measures the luminance based on the area in which the suction nozzle 43 positioned at the front standby position H-1 is imaged in the image data used for the above-mentioned holding inspection. As described above, in the mounting process, in addition to the carry-out inspection as the holding inspection in the mounting cycle, it may be performed in the suction cycle. Then, as described above, the luminance measurement unit 73 performs the holding inspection and the luminance measurement using the area not used in the suction inspection (the region where the suction nozzle 43 at the front standby position H-1 is imaged) in the image data. It can be carried out.
  • the luminance adjustment can be performed in the suction cycle.
  • a head camera capable of simultaneously imaging two suction nozzles 43 in one imaging by the configuration of the optical member 68 The configuration of the unit 60 is required.
  • the component mounting device 1 performs luminance measurement and necessary luminance adjustment during execution of the mounting process according to the aspect exemplified in the embodiment.
  • the component mounting device 1 may store the result of the measurement of the brightness by the brightness measurement unit 73 for a plurality of times in the storage unit 75 as statistical information Ns.
  • the above-mentioned statistical information Ns includes nozzle information Nn related to the suction nozzle 43 in the image data 80 used for measurement, and holder information Nh related to the holder 42 supporting the suction nozzle 43. You may do so.
  • nozzle information Nn and “holder information Nh” are, for example, information including identification codes assigned to the suction nozzle 43 and the holder 42, and their types. Further, the statistical information Ns is obtained by taking an image for acquiring image data used for the luminance measurement on the measurement value for each measurement number ("No.” in FIG. 9) of the luminance measurement. The angle, the nozzle information Nn, and the holder information Nh may be associated with each other.
  • the measurement result of the luminance is accumulated as the statistical information Ns, it is possible to capture a change such as how the luminance is reduced.
  • the reflecting member 67 of the irradiation device 65 rotates integrally with the rotary head 41. Therefore, by including each angle of the reflecting member 67 used for imaging over a plurality of times in the statistical information, it is possible to determine whether the light source 66 is caused by the decrease in luminance or the reflecting member 67 can do. As a result, appropriate measures can be taken against the decrease in luminance, and a stop of production can be prevented to suppress a decrease in production efficiency.
  • the size and the shape of the area occupied by the suction nozzle 43 and the holder 42 included in the image data 80 may affect the measurement result. Therefore, by including the nozzle information Nn and the holder information Nh in the image data 80, it is possible to analyze the statistical information Ns with higher accuracy. This makes it possible to properly recognize the tendency of the change in luminance, and to reliably identify and handle the cause of the decrease in luminance.
  • the mounting head 40 is configured to have the rotary head 41 capable of supporting the plurality of suction nozzles 43.
  • the mounting head 40 may be configured to support only one suction nozzle 43.
  • the holding inspection of the parts for the suction nozzle 43 is performed, and when the suction nozzles 43 do not hold the parts in the result of the holding inspection, the result of the brightness measurement is It can be set as the structure which performs brightness adjustment based on.
  • the head camera unit 60 may not have the reflecting member 67.
  • the light source 66 may be disposed at the lower end of the rotary head 41 instead of the reflecting member 67, and light having an optical path around the suction nozzle 43 may be made incident on the camera device 62 for imaging.
  • the light source 66 may directly irradiate the suction nozzle 43 with light, and the reflected light may be incident on the camera device 62 to perform imaging.
  • the aspect exemplified in the embodiment is preferable.
  • the holding inspection unit 72, the luminance measurement unit 73, and the luminance adjustment unit 74 have been described by exemplifying an aspect incorporated in the control device 70.
  • the holding inspection unit 72, the luminance measurement unit 73, and the luminance adjustment unit 74 may be incorporated in the head camera unit 60. According to such a configuration, only the result of the holding inspection or the like is sent to the control device 70, and the transfer of the image data can be omitted. The communication load between the head camera unit 60 and the control device 70 can be reduced.
  • the processing load on the control device 70 can be reduced.
  • the head camera unit 60 since the brightness measurement and the brightness adjustment can be completed in the head camera unit 60, the processing load on the control device 70 can be reduced.
  • the head camera unit 60 since the head camera unit 60 is provided on the moving stand 32 and moves integrally with the mounting head 40, it is desirable that the head camera unit 60 be small and lightweight. Therefore, the head camera unit 60 may be equipped with a CPU having a lower image processing capability than the control device 70. From such a viewpoint, appropriately setting the measurement area 81 in the image data 80 is particularly useful because it can prevent the efficiency of the mounting process from being lowered.
  • the luminance measuring unit 73 is configured to perform the luminance measurement when the take-out inspection as the holding inspection is finished and the suction nozzle 43 does not bring back the component P in the inspection result (S23: No).
  • the luminance measurement unit 73 may be configured to perform luminance measurement using the same image data 80 in parallel with the holding inspection. Then, after the return inspection is completed, the luminance adjustment unit 74 adjusts the luminance using the result of the luminance measurement when there is no return in the inspection result. If there is a carry-back in the inspection result, the luminance adjustment unit 74 discards the result of the luminance measurement and ends the luminance adjustment processing.
  • the luminance measurement it is possible to perform the luminance measurement in parallel with the take-back inspection. Therefore, the required time for the luminance measurement is secured long to improve the measurement accuracy, or the required time for the luminance measurement is not changed.
  • the adjustment time Ta can be shortened.
  • the aspect exemplified in the embodiment is preferable from the viewpoint of reducing the processing load as much as possible.
  • the brightness adjustment processing of the irradiation device 65 is performed each time the rotary head 41 rotates in the mounting cycle (S13).
  • the brightness adjustment process of the irradiation device 65 can be executed at a frequency set appropriately.
  • the brightness adjustment processing may be performed when the rotary head 41 is at a predetermined angle, or may be performed each time the rotary head 41 rotates in one of multiple pick and place cycles.
  • the frequency may be appropriately set so that the brightness adjustment processing is performed in response to the elapse of a predetermined period from the previous brightness adjustment processing or the execution of a predetermined number of imaging processing.

Landscapes

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

Abstract

La présente invention concerne un dispositif de montage de composant qui comporte : un dispositif d'irradiation qui irradie, avec de la lumière, une buse d'aspiration qui aspire et maintient un composant ; un dispositif de caméra qui image la buse d'aspiration qui est irradiée avec la lumière provenant du dispositif d'irradiation ; une unité d'inspection de maintien qui, pendant qu'un processus de montage est exécuté pour monter le composant maintenu par la buse d'aspiration sur un substrat, effectue, sur la base de données d'image, une inspection de maintien pour confirmer si le composant est maintenu ou non par la buse d'aspiration ; une unité de mesure de luminosité qui mesure la luminosité de la lumière incidente sur le dispositif de caméra lorsque le dispositif d'irradiation émet la lumière ; et une unité de réglage de luminosité qui ajuste la luminosité sur la base du résultat de la mesure de luminosité par l'unité de mesure de luminosité lorsque la buse d'aspiration ne maintient pas le composant dans le résultat de l'inspection de maintien.
PCT/JP2017/036457 2017-09-28 2017-10-06 Dispositif de montage de composant WO2019064609A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019544204A JP6744999B2 (ja) 2017-09-28 2017-10-06 部品装着機

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JPPCT/JP2017/035352 2017-09-28
JP2017035352 2017-09-28

Publications (1)

Publication Number Publication Date
WO2019064609A1 true WO2019064609A1 (fr) 2019-04-04

Family

ID=65901427

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/036457 WO2019064609A1 (fr) 2017-09-28 2017-10-06 Dispositif de montage de composant

Country Status (2)

Country Link
JP (1) JP6744999B2 (fr)
WO (1) WO2019064609A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114223321A (zh) * 2019-08-05 2022-03-22 株式会社富士 光源装置
WO2022118392A1 (fr) * 2020-12-02 2022-06-09 株式会社Fuji Dispositif de confirmation de composant et procédé de confirmation de composant
WO2022118410A1 (fr) * 2020-12-02 2022-06-09 株式会社Fuji Dispositif de montage de composants

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000099626A (ja) * 1998-09-25 2000-04-07 Mitsubishi Heavy Ind Ltd 文字列領域検出方法及び、これを用いた文字認識装置
JP2002298132A (ja) * 2001-04-02 2002-10-11 Fuji Mach Mfg Co Ltd 撮像システム，撮像システム制御プログラムおよび電気部品装着システム
JP2004326382A (ja) * 2003-04-24 2004-11-18 Suzuki Motor Corp 部品認識システム及び方法並びに部品認識用プログラム
JP2015130377A (ja) * 2014-01-06 2015-07-16 富士機械製造株式会社 実装装置
WO2016092651A1 (fr) * 2014-12-10 2016-06-16 富士機械製造株式会社 Dispositif de montage d'éléments

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000099626A (ja) * 1998-09-25 2000-04-07 Mitsubishi Heavy Ind Ltd 文字列領域検出方法及び、これを用いた文字認識装置
JP2002298132A (ja) * 2001-04-02 2002-10-11 Fuji Mach Mfg Co Ltd 撮像システム，撮像システム制御プログラムおよび電気部品装着システム
JP2004326382A (ja) * 2003-04-24 2004-11-18 Suzuki Motor Corp 部品認識システム及び方法並びに部品認識用プログラム
JP2015130377A (ja) * 2014-01-06 2015-07-16 富士機械製造株式会社 実装装置
WO2016092651A1 (fr) * 2014-12-10 2016-06-16 富士機械製造株式会社 Dispositif de montage d'éléments

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114223321A (zh) * 2019-08-05 2022-03-22 株式会社富士 光源装置
EP4013205A4 (fr) * 2019-08-05 2022-08-10 FUJI Corporation Dispositif de source lumineuse
US11844167B2 (en) 2019-08-05 2023-12-12 Fuji Corporation Light source device
WO2022118392A1 (fr) * 2020-12-02 2022-06-09 株式会社Fuji Dispositif de confirmation de composant et procédé de confirmation de composant
WO2022118410A1 (fr) * 2020-12-02 2022-06-09 株式会社Fuji Dispositif de montage de composants
JP7473684B2 (ja) 2020-12-02 2024-04-23 株式会社Fuji 部品確認装置および部品確認方法

Also Published As

Publication number Publication date
JP6744999B2 (ja) 2020-08-19
JPWO2019064609A1 (ja) 2020-04-09

Similar Documents

Publication Publication Date Title
JP6744999B2 (ja) 部品装着機
US20090300908A1 (en) Electronic component mounter and mounting method
JP2011009705A (ja) 撮像システムおよび電子回路部品装着機
JP6124918B2 (ja) 部品実装機および実装検査機
JP2016096174A (ja) 部品実装機および部品実装ヘッド
JP2002176300A (ja) リードのコプラナリティ検出装置，電子部品状況検出装置および電子部品装着システム
KR20090053127A (ko) 절단 및 분류 시스템용 반도체소자 정렬 이송장치 및 이를이용한 반도체소자 정렬 이송방법
KR101617806B1 (ko) 반도체 패키지 제조장치용 픽커 헤드의 위치 설정 방법
JP7108695B2 (ja) 部品装着機の管理装置
JP4999502B2 (ja) 部品移載装置及び表面実装機
JP3769089B2 (ja) 実装機の部品認識装置
JP2017191888A (ja) 部品実装機および部品実装ヘッド
CN108781529B (zh) 元件安装机及元件安装机的吸嘴拍摄方法
JP2006210705A (ja) 電子部品実装装置
JP2010129549A (ja) 部品実装装置
JP2005140597A (ja) 物品認識方法及び同装置、並びに同装置を備えた表面実装機、同部品試験装置、同ディスペンサ、同実装基板検査装置及び同印刷基板検査装置
JPH11330799A (ja) 部品装着装置
JP4260280B2 (ja) 表面実装機の部品認識装置
JP4939391B2 (ja) 実装機
JP6641207B2 (ja) 電子部品装着機及び生産ライン
JP2001156498A (ja) 表面実装部品装着機における持ち帰り電子部品の検出方法
KR20210082514A (ko) 전자 부품 실장 장치
JP4386425B2 (ja) 表面実装機
KR101332005B1 (ko) 부품 실장장치 및 실장방법
JP2005127836A (ja) 部品認識方法、部品認識装置、表面実装機、部品試験装置および基板検査装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17927591

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019544204

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17927591

Country of ref document: EP

Kind code of ref document: A1