JPH05267892A - Component mounting apparatus - Google Patents

Abstract

PURPOSE:To reduce the time taken to mount components in a component mounting apparatus in which a sucked state of a component within a mounting head part is visually recognized in the form of an image. CONSTITUTION:A component mounting head 31 is attached to a component mounting part 3 which travels in the directions of X-Y. A suction nozzle 32 that advances downwards when a component is sucked or mounted is provided on the lower end of the head. A first reflection mirror 34 inclined at an angle of 45 deg. that advances or retracts in a direction parallel to a reflection plane inclined at an angle of 45 deg. with respect to a space where the suction nozzle vertically travels. When the mirror advances, an image of a component sucked by the suction nozzle is horizontally reflected. This image is further reflected upwards by a second reflection mirror 36 inclined at an angle of 45 deg. and located opposite to the first mirror. At this time, the elevation of the suction nozzle is set to a minimum amount of elevation which prevents a component from coming into collision with the first mirror. An image of a component is acquired by vertically moving an image acquisition means 37 in accordance with the amount of elevation of the nozzle such that the image of the component is brought into focus. The amount of positional displacement of the suction of the component is corrected on the basis of a recognition result of the acquired image, thereby mounting the component at a predetermined position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus for mounting electronic components on a board.

[0002]

2. Description of the Related Art Conventionally, there are various methods in which an image of a sucked component is captured in a moving component mounting portion, the amount of displacement of the suction position is corrected, and the component is mounted. In the component mounting apparatus of Japanese Patent Application No. 3-317906 filed by the present applicant, the component mounting head and the image pickup means are attached to the component mounting portion that moves horizontally, and the suction nozzle provided at the lower end of the component mounting head moves vertically. A 45 ° reflecting mirror is arranged so as to be able to advance and retreat in parallel with the reflecting surface thereof, and enables image recognition of a component held by suction during component transportation.

[0003]

In the component mounting apparatus as described above, the influence of the recognition time on the component mounting time can be reduced, but at the time of component recognition, the suction nozzle must be constantly raised to a predetermined position in the illumination section. However, even if the shape of the component is simple and small, even if the entire view of the component is visible on the 45 ° reflecting mirror and the component is recognizable, the suction nozzle still does not rise.
Until the rise to the predetermined position was completed, the capturing of the component image could not be started, and the working time was lengthened unnecessarily.

[0004]

Therefore, in the present invention, X
-Install the component mounting head to the component mounting part that moves Y,
A suction nozzle is installed at the lower end of the suction nozzle to move downward when picking up and mounting a component, and the suction nozzle has a space 45 in which the suction nozzle moves vertically.
° First 45 to enter or leave in a direction parallel to the reflecting surface
° Provide a reflector. The image of the component sucked by the suction nozzle at the time of its entry is reflected in the horizontal direction, and is reflected vertically upward by a second 45 ° reflecting mirror provided at a position facing the 45 ° reflecting mirror. At this time, the rise of the suction nozzle is set to the minimum amount of rise in which the component does not collide with the first 45 ° reflecting mirror, and the image pickup means is moved up and down so as to focus according to the amount of rise to capture the component image. The amount of displacement of the suction position of the component is corrected based on the recognition result of the image, and the component is mounted at a predetermined position.

[0005]

[Function] Hold the component in the suction nozzle of the component mounting head,
The image of the component can be recognized while moving to the component mounting position. In addition, the rise amount of the suction nozzle at the time of component recognition
It is possible to focus on the part by moving the image pickup means in accordance with the amount of ascent, which is performed at the minimum value that does not collide with the first 45 ° reflecting mirror.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the component mounting apparatus of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic view showing an embodiment of the component mounting apparatus of the present invention. The component mounting apparatus 1 is a box-shaped base 10
, On which the XY stage 2, the component mounting unit 3,
A conveyor unit 4 and a first component supply unit 5 are arranged. 6
Is a second component supply unit arranged beside the base 10, and supplies a component onto the component temporary positioning base 7 provided on the base 10. Further, the base 10 has an image processing means 8,
The control means 9 is built in.

Next, the component mounting portion 3 which is the gist of the present invention will be described in detail.

FIG. 2 is a schematic front view of the component mounting portion 3 in one embodiment of the component mounting apparatus of the present invention. Component mounting part 3
Is supported by the XY stage 2 in a suspended state, and has the mechanism of FIG. 2 in the cover part. 30 is X
A linear motion unit 311 for vertically moving the mounting head 31 is vertically mounted on the front surface of the support plate of the component mounting portion mounted on the lower surface of the Y stage 2. The linear motion unit 311 includes a ball screw, a ball nut,
The mounting head 31 is attached to a slider 312 which is composed of a linear guide bearing, a servo motor, and the like, and which is fixed to a ball nut and moves up and down.

The mounting head 31 is mounted vertically downward on the slider 312, and holds a suction nozzle 32 for sucking or mounting a component at its lower end. Suction nozzle 32
An illumination unit 33 that illuminates the held components from above is attached around the upper part of the. The illuminating unit 33 has a circular scattering plate 332 at the bottom of a cylindrical case 331, and a plurality of ring-shaped scattering plates 332 arranged at regular intervals on a reflecting plate provided above the scattering plate 332. LED333
Irradiates the scattering plate 332 with light. The scattering plate 332 and the reflecting plate are attached such that the nozzle main body penetrates each center position, and the upper surface of the component held by the suction nozzle is irradiated with the scattered light of the LED 333 via the scattering plate 332. .

Reference numeral 34 denotes a first 45 ° which horizontally reflects the image of each component illuminated by the scattering plate 332 when the components held by the suction nozzle stop at a predetermined position in the illumination unit 33. It is a reflector. The first 45 ° reflecting mirror 34 is 45 ° with respect to the vertical movement axis of the mounting head 31.
The relay plate 3 is attached to the moving means 35 so as to move linearly at an angle of
It is attached via 41.

The moving means 35 comprises a timing belt, a pulley, a servomotor (not shown), a linear guide bearing 351, and a slider 352 which linearly moves along the linear guide bearing 351. This linear guide bearing 351 is attached to the support plate 30 at an angle of 45 ° upward from the horizontal plane, and the slider 35
A part of 2 meshes with the teeth of the timing belt. Then, when the timing belt rotates by the designated amount by the servo motor and the pulley, the slider 352 linearly moves along the linear guide bearing 351 by the designated amount. Relay plate 34
Reference numeral 1 denotes an L-shaped section, one end of which is attached to the lower side surface of the slider 352, and has a projecting surface on the front side in FIG. 2, and the first 45 ° reflecting mirror 34 is fixed to the upper surface of this projecting surface. ing. In this way, the first 45 ° reflecting mirror 34 is retracted upward by 45 ° from the vertical movement space of the suction nozzle 32 at the time of suctioning and mounting the component, and is directly below the suction nozzle 32 at the time of component recognition.
Enter from 5 °.

Reference numeral 36 denotes a second 4 provided at a position facing the first 45 ° reflecting mirror 34 when the first 45 ° reflecting mirror 34 is at the component recognizing position.
The support plate 30 is a 5 ° reflector and the support block 361 is interposed therebetween.
The first 45 ° reflecting mirror 34 is attached to the
The horizontal reflection image from is reflected vertically upward.

Reference numeral 37 denotes a fixed focus type image pickup means for taking in an image vertically reflected by the second 45 ° reflecting mirror 36. The image pickup means 37 is attached to the focus adjustment means 38 vertically downward so as to be vertically movable and located right above the second 45 ° reflecting mirror 36. The focus adjusting means 38 is composed of a linear movement unit 381 and a slider 382. The linear movement unit 381 is composed of a ball screw, a ball nut, a linear guide bearing, a servo motor, etc., which are not shown, and is vertically attached to the front surface of the support plate 30. .. The image pickup means 37 is attached to the slider 372 which is fixed to the ball nut and moves up and down.
Is attached.

Reference numeral 8 is an image processing means for recognizing and processing the image captured by the image pickup means 37, and based on the processing result,
The control means 9 controls the XY movement amount of the mounting head by correcting the component displacement amount of the suction position, and mounts the component at a predetermined position on the substrate. Then, the control means 9 prevents the lower end of the component held by the suction nozzle from colliding with the first 45 ° reflecting mirror 34 by the vertical movement amount of the mounting head, that is, the movement amount of the slider 312 in the linear movement unit 311. , Commanding the rotation of the servomotor of the moving means 35 to linearly move the slider 352 to move the first 45 ° reflecting mirror 34
It serves to withdraw from the vertically moving space of the suction nozzle 32 at the time of component suction and component mounting, and to move it directly below the suction nozzle at the time of component recognition.

At the time of component recognition, the control means 9 uses the numerical data of the component shape and the mounting sequence program, which have been input in advance to the control means 9, to determine the amount of elevation of the mounting head for each component in the respective mounting sequences. The minimum value that does not collide with the reflecting mirror 34 is set. Further, at this time, the control means 9 controls the vertical movement amount of the image pickup means 37, that is, the movement amount of the slider 382 in the focal length adjusting means 38 in accordance with the minimum elevation amount of the mounting head in each mounting order, and It works by focusing on the parts.

The operation of the component mounting apparatus of this embodiment having such a configuration will be described. When the substrate P on which the component is to be mounted is conveyed on the conveyor unit 4 and held by the substrate positioning mechanism (not shown), first, the control means 9 drives the XY stage 2 and the component mounting unit 3 moves. The component mounting head 31 is stopped, for example, just above the component A supplied onto the component provisional positioning base 7 from the second component supply unit 6. Then, a servo motor (not shown) is driven to lower the slider 312, that is, the mounting head 31. At this time, since the first 45 ° reflecting mirror 34 is at the rising end (shown in FIG. 3) and is apart from the vertically moving space of the suction nozzle 32, the suction nozzle 32 reaches the part A and holds it by suction. ..

After picking up the components, the control means 9 controls the mounting head 3
1 is the minimum increase amount for the part A, that is, the first 45
° The component A is raised to a height as high as possible so that the component A does not collide with the reflecting mirror 34, and temporarily stopped there. And the moving means 3
5 drives the servo motor (not shown) to move the slider 35.
2, that is, the first 45 ° reflecting mirror 34 is advanced from the 45 ° direction into the vertically moving space of the suction nozzle. At the same time, the control means 9 drives the servo motor (not shown) by the amount of movement of the focus adjustment means 38 that has been determined corresponding to the minimum amount of elevation of the mounting head 31 for the component A, and the slider 382.
To move.

Thus, when the image pickup means 37 is stopped at the position where the component A is in focus, the first 45 ° reflecting mirror 34 moves to 45 °.
Even if the movement is not stopped, the image pickup means 37 is displayed at the time when the left end portion of the component A shown in FIG. The back side image of the part A can be fetched and input to the image processing means 8 can be started. That is, as long as the first 45 ° reflecting mirror 34 moves in the direction of the reflecting surface without including a motion component perpendicular to the reflecting surface, the distance between the back surface of the component A and the first 45 ° reflecting mirror 34 is constant. Therefore, the positional relationship that the back surface of the component A is at the focal length of the image pickup unit 37 does not change even after the image pickup unit 37 is stopped, even if the reflecting mirror 34 moves.
If the first 45 ° reflecting mirror 34 goes under the part A,
On the reflecting surface, a partial image, which should later form the entire back surface image of the component A, gradually increases in size and appears to face the second image.
A corresponding image also appears on the 45 ° reflecting mirror 36, and this is reflected vertically upward and sent into the imaging field of the imaging means 37. The time when the whole image of the part A is obtained is the time when the input to the image processing means 8 is started.

While the image processing means 8 recognizes the input image information of the part A, the control means 9 controls the XY direction.
The stage 2 is driven, and the mounting head 31 is moved to the conveyor section 4
The board P positioned above is moved to a specified mounting position. The image processing means 8 finishes the image recognition of the component A during the movement of the mounting head, and the recognition result, that is, the component A.
The suction position deviation information of is transmitted to the control means 9. Then, the control means 9 reversely rotates the servo motor (not shown) of the moving means 35 to cause the slider 352 and the first 45 ° reflecting mirror 34 to rotate.
While retracting the mounting head 31 upward by 45 °,
The amount of displacement of the suction position is corrected, and the substrate P is stopped on the mounting position. Then, the first 45 ° reflecting mirror 34 exits from the descending space of the component A and the suction nozzle 32, and then the suction nozzle 32 is lowered onto the substrate P to mount the component A.

Next, for example, when the chip component B of the first component supply unit 5 is picked up and mounted on the substrate P, the operation is the same as that described above, but the outer shape of the component B is smaller than that of the component A. The minimum amount of increase of the mounting head 31 with respect to the component B is smaller than that of the component A.

In the present embodiment, the image pickup means 37 is moved up and down by the focus aligning means 38 to focus on the component held by the suction nozzle. However, the image pickup means 37 is not provided with the focus aligning means for moving up and down. The above-mentioned problem can be dealt with even if the image pickup means has an automatic focus adjustment function.

[0023]

As described above, according to the component mounting apparatus of the present invention, the reflecting mirror, which is arranged at an angle of 45 ° with respect to the vertical movement axis of the suction nozzle, enters in parallel with the reflecting surface of 45 °. ° Even if you do not wait for the movement of the reflector to stop, you can start capturing images when the entire image of the part is displayed,
Even if the component mounting unit performs component recognition during movement by the image pickup means provided in itself, it is possible to reduce the influence of the component recognition time on the mounting time. Further, the moving amount of the mounting head is increased because the suction nozzle is lifted at the time of component recognition at a minimum value that does not collide with the first 45 ° reflecting mirror, and the imaging means is moved accordingly to focus the component. The effect on the wearing time can be reduced.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing the configuration of an embodiment of a component mounting device of the present invention.

FIG. 2 is a schematic front view showing a configuration of a component mounting portion in the present embodiment.

FIG. 3 is a schematic front view for explaining the operation of the component mounting portion in the present embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Component mounting device 2 XY stage 3 Component mounting part 31 Component mounting head 32 Adsorption nozzle 33 Illumination part 34 First 45 degree reflecting mirror 35 Moving means 36 Second 45 degree reflecting mirror 37 Imaging means 38 Focus matching means 8 Image processing Means 9 Control means A, B parts P substrate

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location H05K 13/04 M 8509-4E

Claims (2)

[Claims] 1. A component mounting head provided in a component mounting unit that moves in an XY direction picks up a component, recognizes a holding state of the sucked component by image recognition, detects a suction position shift, and corrects the shift amount. Is a device for mounting a component at a predetermined position on a substrate, and is provided at the lower end of the component mounting head and advances downward during component suction and mounting.
Of the first 45 ° reflecting mirror, which moves in or out in a direction parallel to the reflecting surface of the first reflecting mirror, and horizontally reflects the image of the component sucked by the sucking nozzle at the time of entering. By moving in the direction parallel to the surface, it is retracted from the vertical movement space of the suction nozzle at the time of suction and mounting of the component, and it moves to the position just below the suction nozzle when recognizing the image of the component, A second 45 ° reflecting mirror that faces the first 45 ° reflecting mirror and reflects the horizontal reflecting component image vertically upward; an image capturing unit that captures the vertical reflecting component image; Focus adjustment means for vertically moving in conjunction with the ascending operation of holding the component to focus on the held component, image processing means for processing the component image captured by the imaging means, and suction nozzle for holding the component The ascending amount is a minimum ascending amount at which a component does not collide with the first 45 ° reflecting mirror, and the moving amount provided by the focus matching means is made to correspond to the ascending amount and is a value sufficient to maintain the focus matching distance. And a control means for correcting and controlling the suction position displacement amount of the component based on the processing result of the image processing means. 2. The component mounting apparatus according to claim 1, wherein the image pickup means is "an image pickup means for automatically focusing on the vertical reflection component image and capturing the image", and the control means is "The amount of rise of the suction nozzle when holding the component is
The control means for instructing the image pickup means to perform automatic focusing as the minimum amount of rise in which the component does not collide with the reflecting mirror, and for correcting and controlling the amount of suction displacement of the component based on the processing result of the image processing means ". Parts mounting device.