JPH0479399A - Component machine - Google Patents

Abstract

PURPOSE:To improve efficiency of a work remarkably by carrying parts from a feeding position to a mounting position through the shortest path, by arranging a camera and a suction head on nearly concentric axes respectively, and by installing integrally the camera, the suction head, and a lighting device. CONSTITUTION:The optical axis of a camera 1 for recognizing components and the central axis of a suction nozzle 5 are arranged about concentrically. In the lower part of a cylindrical body 2 supported by a bearing part 3, a driving part 4 is provided. Between a position A for feeding components and a mounting position B, a planar lighting device 8 is provided. Thus, the nozzle 5 of a suction head H sucks component C at the position A for feeding parts, and moves to a base board at the mounting position B, through the path of the minimum distance. In the course of this movement, when the head H passes a region over the planar lighting device 8, it takes the picture data of the component C in itself by the camera 1 for recognizing components provided on the cylindrical body 2, and the quantity of discrepancy is calculated by a device provided apart. After the quantity of discrepancy is corrected, the component C is mounted on the board at the mounting position B.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to a component mounting machine that mounts small components such as chip-type electronic components to predetermined positions on an electronic circuit.

(Prior Art) Conventionally, in a component mounting machine, as shown in FIG. In order to recognize the attitude of the camera, the robot passed the position of the component recognition camera and moved to the component mounting position B while checking the attitude.

In addition, as a camera for parts rl11%, Japanese Patent Application Laid-Open No. 6128
The one proposed in Japanese Patent No. 7195 is generally known.

As shown in FIGS. 5 and 6, a conical reflecting mirror 21 is attached to the lower surface of the mounting head 20 on which the component C is mounted, and the suction is carried out through a hole 22 provided in the center of this reflecting mirror 21. The head 23 is moved up and down to pick up the component C. Then, a plurality of illumination lamps 24 are irradiated onto the reflecting mirror 21 from the component mounting side, and an image of the component C formed when the light source is reflected by the reflecting mirror 21 is input to an image input device (camera) 25. was.

(Problem to be solved by the invention) However, in the above-mentioned conventional component mounting machine,
Since the camera is fixed, the mounting head must be moved to the camera position after mounting the component, and the shortest path from the component supply position A to the component mounting position B cannot be taken, so the camera recognizes the component. The drawback is that it takes more time than a mounting machine that mounts parts without any need for mounting.

In addition, even if the position of the component is recognized with a camera, the amount of deviation is detected, and the amount of deviation is corrected, the position of the part may change while moving the part from the position where the position is recognized to the mounting position.
This was also a factor causing a decrease in mounting accuracy.

The present invention has been made in view of the above circumstances, and its purpose is to provide a component mounting machine that can move components along with the mounting head without fixing the camera and transport the components over the shortest path from the supply position to the mounting position. This is what we are trying to provide.

(Means for Solving the Problems) In order to achieve the above object, the component mounting machine of the present invention is a component mounting machine that recognizes the component orientation of a suction head using a camera, in which the camera is connected to a substantially concentric axis of the suction head. The first requirement is that the camera and suction head 7 are integrated, and the second requirement is that a planar illumination device is placed on the side corresponding to the integrated suction head. As a requirement,
The third requirement is that the suction nozzle, the camera, and the illumination device are integrated, and that either the camera or the illumination device is separable from the suction head.

(Function) The component mounting machine of the present invention configured as described above can always recognize the components picked up by the suction head using the camera arranged on the substantially coaxial axis of the suction head, so that it is possible to detect deviations in the posture of the parts. etc., can be immediately known, and can be transported from the supply position to the mounting position by taking the shortest path.

In addition, between the above-mentioned supply position and mounting position, a planar illumination device is placed on the side corresponding to the suction nozzle, so that the posture of the parts in the suction head can be clearly confirmed during transportation from the supply position to the mounting position. be able to.

Furthermore, since the lighting device is separably integrated into the camera and suction head, the lighting device can be separated when picking up and mounting parts, and the mounting position can be completed after picking up the parts. Since the component orientation can always be recognized up to this point, remarkable mounting accuracy can be expected.

(Example 1) A first embodiment of the present invention will be described below with reference to FIG.

FIG. 1 is a block diagram of a component mounting machine, and a head portion H that is slidable in the X, Y, and Z directions is provided on the top of the base of the component mounting machine. This head portion H is provided with a bearing portion 3, and the cylinder body 2 is rotatably mounted within this bearing portion 3.

An air passage is formed within this cylinder 2, one end of which is connected to a vacuum generator, and the other end connected to a suction nozzle 5 provided on the lower end surface of the cylinder 2. A component recognition camera 1 is provided at the upper part of the cylinder 2, and the optical axis of the component recognition camera 1 and the central axis of the suction nozzle 5 are arranged substantially coaxially. A drive section 4 is provided at the lower part of the cylinder 2 which is pivotally supported by the bearing section 3. This drive section 4 applies rotational force to the cylinder 2, and a head rotation motor 6 is attached to this drive section 4 via a timing heald 7.

A component supply section serving as a component supply position A and a board serving as a mounting position B are mounted on the base of the component mounting machine below the head portion H configured as described above. A spread illumination device 8 is provided between the component supply position A and the mounting position B. Then, when the suction nozzle 5 of the head H suctions the component C at the component supply position A and passes over the planar illumination device 8 on the way to move the shortest distance onto the board at the mounting position B, the cylindrical body 2 Part recognition camera 1 installed above
At , the amount of deviation is calculated by a device provided separately for capturing the image data of the part C. After correcting this amount of deviation, component C is mounted on the board at mounting position B.

(Embodiment 2) FIG. 2 shows a second embodiment of the present invention, in which a separate illumination device 9 is provided in the head portion H in place of the above-mentioned spread illumination device 8. It is.

In the figure, 1 is a camera for parts recognition, 2 is a cylinder, 3 is a bearing part, 4 is a drive part, 5 is a suction nozzle, 6 is a rotary motor, 7 is a timing belt, and its structure is the first one. It is exactly the same keyaki as the one in the picture. The illumination device 9 is cylindrical, has a light emitting body inside, and is configured to emit light downward in the figure.

An example of this lighting device 9 includes a lifting mechanism that is removably attached to the main body of the lighting device 9, and a reflecting plate 10 that is shaped like an inverted chevron and has a reflective surface on its inner surface is provided at the lower end of the lighting device 9. Therefore, the light irradiated from the illumination device 9 is reflected by the reflection plate 10 and illuminates the component C sucked by the suction 7' nozzle 5, so that the image of the component C is captured by the component recognition camera 1 as image data. The amount of deviation is calculated.

FIG. 3 is an operational diagram of the component mounting machine using the lighting device f9. This component mounting machine is provided with a component supply position 13 at one end of a base 12, and a printed circuit board 14 is provided at the other end of the base 12. A head portion H that is slidable in the XY and Z directions is provided on the base 12, and an illumination device 9 and a reflector plate 10 are attached to the head portion H.

In the above-described configuration, the first step is to separate the reflector 10, lower the head H, pick up the component C on the component supply device 13 with the suction nozzle 5 of the head H, and move it up. At the stopped point, the separated reflector 10 is set.

The second step is a step in which the suction component C of the suction nozzle 5 is conveyed, and the head portion H is moved along the shortest path to the mounting position on the printed circuit board 14 in response to a command signal from another device. During this time, the set reflection plate 10 irradiates the component Ci with light from the illumination device 9, inputs the image to the component recognition camera 1, and calculates the amount of deviation.

In the third step, the head portion H that has been moved to a predetermined position on the printed circuit board 14 is stopped, and the reflecting plate 10 is separated from the hennode portion H again, followed by the fourth step. Fourth
The step is the mounting of the component C, in which the component C on which the amount of deviation has been corrected is accurately mounted on the printed circuit board 14 by the lowering of the nozzle H.

Thereafter, the head part H stops the negative pressure of the air, separates the component C from the suction nozzle 5, and ascends, moves the reflection plate 10 onto the component supply device 13 at the upper limit position, and returns to the above-mentioned first to third parts. Repeat steps 4 in sequence.

In the above description, the reflections Vi and 10 are separated, but the illumination device 9 and the reflection plate 10 may be separated by a combination.

(Effects of the Invention) As explained above, the component mounting machine of the present invention is a component mounting machine that recognizes the component posture of a suction head using a camera, in which the camera is arranged approximately on a coaxial axis of the suction head. , a camera and a suction head are integrated, and a planar illumination device is placed on the side corresponding to this integrated suction head,
In addition, the suction head, camera, and lighting device are integrated, and either the camera or the lighting device can be separated from the suction head, so the camera can be fixed at a specific position while the parts are being transported. Detours to the camera position are completely eliminated, and the camera can move along with the head, allowing transport from the supply position to the mounting position through the shortest path.
This has the advantage that work efficiency can be significantly improved.

[Brief explanation of the drawing]

1 to 3 show embodiments of the present invention, FIG. 1 is a structural diagram of a first embodiment of a component mounting machine, FIG. 2 is a structural diagram of a component mounting machine of a second embodiment, and FIG. The figure is an explanatory diagram of the operation of the component placement machine shown in Figure 2, Figures 4 to 6 are conventional examples, Figure 4 is an operation diagram of the conventional component placement machine, Figure 5 is a structural diagram of the same, and Figure 6 is the same perspective view. 1... Camera for parts recognition, 5... Suction nozzle, 8...
- Spread illumination device, 9... Lighting device, 10... Reflection plate, A... Component supply position, B... Mounting position, C...
Parts, H...Head part.

Claims (3)

[Claims] (1) A component placement machine that recognizes the component orientation of a suction head using a camera, characterized in that the camera is arranged approximately on a coaxial axis of the suction head, and the camera and the suction head are integrated. Mounting machine. (2) In a component mounting machine that illuminates the suction head with light and recognizes the component posture using a camera, the camera is integrated and placed on the suction head side, and a planar illumination is provided on the side corresponding to the suction head. A parts mounting machine characterized by the arrangement of devices. (3) In a component mounting machine that irradiates light onto a suction head and recognizes the posture of the component using a camera, the camera, a lighting device, and the suction head are integrated, and at least one of the camera or the lighting device is connected to the suction head. A parts mounting machine characterized by being able to freely separate the parts.