JPH03217096A - Mounting method for component - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a component mounting method, and more particularly to a component mounting method using an industrial robot and visual recognition means.

2. Description of the Related Art Conventionally, mounting devices using industrial robots have been known for mounting large IC components such as flannel packaged ICs (hereinafter referred to as FICs) on substrates. In such a component mounting device, the robot only performs tasks such as gripping, moving, and mounting, and when inspecting leads, a separate inspection device section such as the FIC positioning and feeding mechanism is installed at the visual recognition position. The FIC was delivered to the inspection equipment department using a robot.

Problems to be Solved by the Invention However, with the above configuration, there is a problem that the overall configuration of the mounting device is large-scale due to the complicated configuration of the inspection device section. There was a problem in that the takt time for the mounting operation was long because the inspection was performed by performing the following steps.

Furthermore, it is difficult to inspect both the lead pitch and lift of the FIC leads using one TV camera.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, it is an object of the present invention to provide a component mounting method that has a compact structure and can inspect and mount various abnormalities in component leads in a short tact time.

Means for Solving the Problems In order to achieve the above object, the present invention takes out a lead-equipped component from a component supply section using a gripping means that can be moved and positioned at any position in three axial directions, and visually inspects the component. Move to the recognition position, and at this visual recognition position, illuminate the lead end of the component from an oblique direction, recognize the position with the recognition means facing the lead end, inspect the lead, and place a good part on the board. It is characterized by being attached to a predetermined position.

Furthermore, by moving the gripping means at the visual recognition position, each lead end of the component can be sequentially positioned within the field of view of the recognition means for inspection.

Effects According to the above structure of the present invention, the lead is inspected by positioning the component while it is being held by the gripping means, so it is only necessary to place the recognition means and the illumination means at the visual recognition position, resulting in a compact structure. Moreover, since the position of the lead end is recognized by the recognition means facing the lead end, the presence or absence of the lead, lifting, lead pinch, and lead displacement can be inspected all at once using one recognition means.

Furthermore, by sequentially moving the gripping means to position each lead within the field of view of the recognition means, lead inspection of large components can be performed using a single recognition means.

EXAMPLE Hereinafter, an example of the present invention will be described with reference to FIGS. 1 to 6.

First, the overall configuration of the component mounting device will be explained with reference to FIG.
A recognition unit 4 and robots 1 and 5 are disposed between the robots 1 and 5. Furthermore, a defective product tray 9 is arranged between the recognition unit 4 and the robot 5 to accommodate defective components in a lined manner.

4. A tray 7 in which a large number of FICs 6 are arranged and accommodated is arranged in the component supply section 2. The substrate transport means 3 is FIC6
The board 8 to be mounted is carried into the component mounting position, positioned, and carried out after mounting. The robot 5 has a hand 11 that can be moved to any position in the three axes of the X and Y directions that are perpendicular to each other in the horizontal direction and the Z direction that is perpendicular to each other, and that can be rotated around a vertical axis 10. is equipped with a pair of gripping claws 12a and 12b that grip diagonal positions of the main body of F[C6.

These gripping claws 12a, 12b are arranged exactly symmetrically with respect to the center position of the hand 11, and are configured so that the hand 11 rotates around this center. Further, a presser foot 13 is attached to the lower center of the hand 11, which serves as a reference plane for the horizontality of the counter 11c6. This presser foot 13 is
6 is attached via a slide portion 14 so as not to be forced down when holding it.

As shown in FIGS. 1 to 3, the recognition unit 4 includes an FTC 6
TV as a recognition means so as to face the lead end 15 of the
A camera 16 is disposed with its optical axis horizontal, and a slit light source 17 is disposed below the camera 16 for illuminating the lead end 15 obliquely from below. The slit light source 17 is arranged so that its optical axis forms a constant angle θ with respect to the optical axis of the TV camera 16. This angle θ is the slit light source 1
The setting is such that the reflected light of the illumination light from the portion other than the lead end 15 from the illumination light 7 does not enter the TV camera 16.

In addition, a mask 18 is provided to prevent strong external light from entering the lead end 5 and its surrounding area from above, and the part of this mask 18 facing the field of view of the TV camera 16 has an opening. 18a is formed.

The TV camera 16 and the mask 18 are installed at fixed positions on a stand 20 fixed to the head 19 via a holder 21, and the slit light source 17 is similarly installed via a holder 22.

Next, the operation of mounting the FIC 6 onto the board 8 will be explained with reference to FIGS. 5 and 6. First, robot 5's hand I
1 is moved onto the component supply section 2, and the llc6 is gripped by the gripping claws 12a and 12b. Next, the hand 11 is moved to the recognition section 4, positioned at a predetermined position, and a recognition test for the lead of the FIC 6 is performed.

In this recognition testing process, as shown in FIG.
The position of the lead end 15 within the field of view 19 of the V camera l6 is recognized. At this time, the position of the lead end 15 of a normal lead is set as a reference position as shown by the solid line in FIG. 2, and the quality of the lead is determined based on the difference in the recognized position of the lead end 15 with respect to this reference position. By detecting the positional deviation of the lead end 15 with respect to the reference position in this way, 1
Lead pitch, lead floating, lead loss, and lead deviation can be inspected all at once using one TV camera 16. For example, the position of the lead end 15 of the lead that has floated up as shown by the imaginary line is determined to be defective because it is recognized as having been significantly displaced upward from the reference position. If it is determined to be defective by the above recognition inspection, the hand 11 is immediately moved to the defective product tray 9, the FrC6 is lined up and stored in the defective product tray 9, and the next FIC6 is to be gripped. Move to the parts supply section 2 and repeat the above operation.

On the other hand, if the recognition test of the opposing part is judged to be good,
The hand 11 is moved by a predetermined pitch so that the next group of leads is located within the field of view 19 of the TV camera 16, and the recognition test is performed in the same manner as above until all the leads located on one side of the FIC 6 have been tested. By repeating the above operations, and then rotating the hand 11 by 90 degrees when the inspection of the leads on one side is completed, repeating the above operations to inspect all the leads on that side, and repeating the above operations on the four sides of the FIC 6. Inspect the leads all around the FIC6. In this way, when all the leads are inspected and determined to be good, the hand 11 is moved onto the board 8 while gripping the llc 6 and positioned, and then lowered to attach the FIC 6 to a predetermined position on the board 8, and the gripping claw After releasing 12a and 12b, it rises and moves to the component supply position to grip the next FIC 6.

Effect 8 of the invention According to the present invention, since the lead is inspected by positioning the component while it is being held by the gripping means, it is only necessary to arrange the recognition means and the illumination means at the visual recognition position, and the part is held by the gripping means. Since the inspection is carried out while holding the lead, the tact time for the mounting operation can be shortened and the mounting efficiency can be improved.Also, since the position is recognized by the recognition means facing the lead end, the presence or absence of the lead can be determined.
Since lifting, lead pinch, lead displacement, etc. can be inspected all at once using a single recognition means, highly reliable lead inspection can be performed with compact and inexpensive equipment.

In addition, by sequentially moving the gripping means to position each lead within the field of view of the recognition means, it is possible to inspect the leads of large components using one recognition means.

[Brief explanation of drawings]

1 to 6 show an embodiment of the present invention, FIG. 1 is a partially sectional plan view of the main part showing the recognition state, FIG. 2 is a partially sectional front view of the same, and FIG. 3 is the recognition section. 4 is a front view, FIG. 4 is a perspective view showing the overall configuration of the component mounting device, and FIGS. 5 and 6 are flowcharts of the component mounting operation. Parts supply unit recognition unit robot FIC (parts) Gripping claw lead end TV camera slit light source.

Claims (2)

[Claims] (1) Using a gripping means that can move and position any position in the three-axis direction, take out a lead-equipped component from the component supply section, move the component to a visual recognition position, and attach the lead end of the component to the visual recognition position. A component mounting method characterized in that the lead is illuminated from an oblique direction, the position of the lead is recognized by a recognition means facing the lead end, the lead is inspected, and non-defective products are mounted at a predetermined position on the board. (2) The component mounting method according to claim 1, wherein each lead end of the component is sequentially positioned and inspected within the visual field of the recognition means by moving the gripping means at the visual recognition position.