JPH0655417A - Non-contact component positioning method and device - Google Patents

Abstract

(57) [Abstract] [Purpose] When mounting electronic parts on a circuit board, etc., without using mechanical means, while maintaining high space efficiency with a simple structure, electronic parts using non-contact sensors are used. Position. [Structure] A light emitting part including a laser diode is installed vertically, laser light emitted from the laser diode is collimated by a collimator lens, and then reflected at a right angle by a mirror to irradiate electronic components. The laser light that is not blocked by is separated from the light emitting portion and detected by the light receiving portion that is vertically installed, and the electronic component is image-recognized to detect the displacement or inclination of the position of the electronic component.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to non-contact component positioning for mounting an electronic component on an electronic component mounting device or the like by using a non-contact sensor without using mechanical means. In particular, the present invention relates to a method and an apparatus, in particular, after collimating laser light emitted from a laser light source such as a laser diode into parallel light by a collimator lens, totally reflecting the laser light in a direction perpendicular to a mirror and irradiating the electronic component with the collimator lens. By not detecting the laser light, which is separated from the light emitting part and detected by the light receiving part installed vertically, the electronic component is recognized, and by detecting the displacement or inclination of the position of the electronic component,
The present invention relates to a non-contact component positioning method and device with a simple structure and improved space efficiency.

[0002]

2. Description of the Related Art Conventionally, when an electronic component is positioned when mounting it on a circuit board or the like, the electronic component has been positioned by image processing using a CCD camera.

Further, a collimator lens irradiates an electronic component with a laser beam emitted from a laser diode as parallel light, and a laser beam which is not blocked by the electronic component is detected by a light receiving portion to recognize an image of the electronic component. The present inventors have also attempted a non-contact component positioning device in which a light emitting portion and a light receiving portion are integrated so as to detect the displacement or inclination of the position of the electronic component.

On the other hand, FIG. 6 shows, for example, US Pat.
This is a conventional non-contact component positioning device disclosed in Japanese Patent No. 15,093. In this figure, 10 is an electronic component to be positioned, 12 is a suction nozzle that sucks and holds the electronic component 10 at its tip, 14 is a laser diode that emits laser light, 16 is a collimator lens, 18 is a slit, 20 is a charge coupled device (Cage Coupled D)
eear) as a laser light detecting element
It is a Large Coupled Device Array (hereinafter simply referred to as "linear CCD array").

In the conventional non-contact component positioning apparatus having such a configuration, the laser light emitted from the laser diode 14 is collimated by the collimator lens 16 and thereafter, the electronic component 10 is collimated.
Illuminated in the direction. Of such parallel light, the laser light not blocked by the electronic component 10 is the linear CCD array 2
It reaches 0 and is detected.

That is, the collimator lens 16 emits a parallel light from the laser diode 14 and collimates the parallel light.
Of the laser light emitted in the direction, the portion of the laser light shielded by the electronic component 10 cannot reach the linear CCD array 20, and as a result, the laser light reaching the linear CCD array 20 has a relative relationship with the laser light. , Is recognized as a shadow of the electronic component 10. Then, the shift or inclination of the electronic component 10 is detected from the length of the shadow or the like.

[0007]

However, in the conventional example as described above, when the electronic component is positioned by the image processing using the CCD camera, in order to increase the mounting speed of the electronic component, the movable portion is used. CC on a certain head
It was necessary to wear a D camera. In this case, if a CCD camera or the like having an optical system is mounted on a head unit that is driven at high speed or vibrates at high speed, there is a problem that the reliability of output data from the CCD camera or the like decreases.

Further, in this case, there is also a problem that a mirror mechanism or the like is required, the structure is complicated and the cost is high.

On the other hand, in the case of the non-contact component positioning device having the structure as shown in FIG. 6, there is a problem that the size of the head unit including the light emitting portion having the laser diode and the collimator lens and the light receiving portion having the linear CCD array becomes large. there were. In particular, since a plurality of electronic components are positioned at the same time, when a plurality of head units are mounted at the same time, the size of the entire head unit becomes extremely large, which is extremely inconvenient.

In view of such a situation, the present invention has been made to solve the above-mentioned problems of the conventional example, and when mounting electronic parts on a circuit board or the like, without using mechanical means. An object of the present invention is to provide a non-contact component positioning method and device for positioning an electronic component using a non-contact sensor while maintaining high space efficiency with a simple configuration.

[0011]

According to the present invention, a light emitting portion having a laser light source, a collimator lens, and a mirror is installed vertically, and laser light emitted from the laser light source is collimated by the collimator lens, and then the mirror is formed. To irradiate the electronic components by totally reflecting in a direction perpendicular to the laser.The laser light that was not blocked by the electronic components is detected by the light receiving unit that is vertically installed separately from the light emitting unit and recognizes the electronic components. The problem is solved by detecting the displacement or inclination of the position of the component.

Further, according to the present invention, in a non-contact component positioning device, a light emitting portion which has a laser light source, a collimator lens and a mirror and is vertically installed, and a suction nozzle which sucks and holds an electronic component at its tip. , A linear light receiving sensor, which is installed in a vertical shape separately from the light receiving unit, and also provided with a light receiving unit for detecting and receiving laser light emitted from the light emitting unit and not blocked by electronic parts After the laser light emitted from the light source is collimated by a collimator lens, it is totally reflected in a right angle direction by a mirror to irradiate an electronic component, and the laser light not blocked by the electronic component is detected by a light receiving section to detect an electron. The above problem is solved by recognizing the component and detecting the displacement or inclination of the position of the electronic component.

Similarly, according to the present invention, in a non-contact component positioning device, a vertical light emitting portion having a laser light source, a collimator lens, and a mirror and a first electronic component are sucked and held at the tip. It has a first suction nozzle and a linear light receiving sensor, and is installed in a vertical shape separately from the light receiving portion, and the laser light emitted from the light emitting portion and not blocked by the first electronic component reaches and is detected. Has a first light-receiving part, a second suction nozzle that holds the second electronic component by suction at its tip, and a linear light-receiving sensor, and is vertically installed separately from the light-receiving part and is irradiated from the light-emitting part. The second light receiving part is provided to detect and reach the laser light that is not blocked by the second electronic component. The laser light emitted from the laser light source is collimated by the collimator lens and then mirrored in both directions. To all And irradiate the first and second electronic components, the first light receiving unit detects the laser light that is not blocked by the first electronic component, and the second light is received by the second electronic component. The above problem is solved by detecting the first and second electronic components by detecting them by a unit and detecting the displacement or inclination of the positions of the first and second electronic components.

[0014]

The present invention operates as follows.

That is, laser light emitted from a laser light source such as a laser diode is collimated by a collimator lens and then totally reflected in a direction perpendicular to the mirror. In such a state of parallel light, of the laser light emitted in the direction of the electronic component, the portion of the laser light blocked by the electronic component cannot reach the linear light receiving sensor such as the linear CCD array, and as a result, the linear light receiving is performed. The image is recognized as a shadow of the electronic component from the relative relationship with the laser light that has reached the sensor.

After that, the suction nozzle is rotated by (90 ° + α) to search for a position where the shadow of the electronic component is minimized.
That is, the suction nozzle is rotated so as to change the α value of (90 ° + α), and the position where the shadow of the electronic component is minimized is searched for. At the position where the shadow of the electronic component is minimum, the rotation error of the electronic component is zero.

Further, at this time, the difference in the left and right lengths other than the shadow in the linear light receiving sensor, that is, the difference between the left and right lengths of the laser light reaching the linear light receiving sensor in the horizontal direction is The amount of deviation is in the horizontal direction, that is, the XY direction from the original position where the parts are installed.

Therefore, the deviation or inclination of the electronic component can be recognized from the difference between the length on the left side and the length on the right side in the horizontal direction of the laser light reaching the linear light receiving sensor. That is, it is possible to recognize the horizontal shift of the electronic component with respect to the axis of the suction nozzle and the difference between the reference angle of the axis and the angle indicating the position of the electronic component.

Further, by using the center position information of the suction nozzle stored in advance in the memory of the mounting apparatus, the movement of the electronic component in the XY axes, that is, the displacement of the electronic component in the horizontal direction with respect to the axis of the suction nozzle. Can be corrected.

[0020]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a structural explanatory view of a first embodiment of the present invention, in which 10 is an electronic component to be positioned, and 12 is an electronic component.
Is a suction nozzle that holds the electronic component 10 by suction at its tip, 14 is a laser diode that emits laser light,
Reference numeral 16 is a collimator lens, 20 is a linear CCD array, 22 is a mirror, 24 is a vertically-arranged light emitting unit,
Reference numeral 26 is a light receiving portion that is vertically separated from the light emitting portion 24.

In the embodiment of the present invention having such a structure, first, the electronic component 10 is removed from FIG. 1 and the center of the suction nozzle 12 is rotated with the suction nozzle 12 rotated to lower the tip. The position is detected and stored in a memory of a mounting device (not shown) or the like.

That is, first, the electronic component 10 is removed from FIG. 1 and the suction nozzle 12 is rotated to bring the tip portion into a lowered state. In this state, the laser light emitted from the laser diode 14 is collimated by the collimator lens 16, and thereafter, as shown in FIG.
The light is totally reflected by the mirror 22 in the right angle direction. In such a state of parallel light, among the laser light emitted toward the suction nozzle 12, the laser light not blocked by the tip of the suction nozzle 12 reaches the linear CCD array 20 and is detected.

In other words, as shown in FIG. 3, of the laser light emitted toward the suction nozzle 12, the portion of the laser light blocked by the tip of the suction nozzle 12 is linear C.
Unable to reach CD array 20, linear CCD array 20
The tip portion of the suction nozzle 12 is image-recognized based on the relative relationship with the laser light that has reached.

The suction nozzle 12 thus detected
The center position of the suction nozzle 12 is calculated from the shadow of the tip end of the, and is stored in a memory of a mounting device (not shown) or the like.

Next, the electronic component 10 to be positioned is attracted to the tip of the suction nozzle 12. In this state, the laser light emitted from the laser diode 14 is collimated by the collimator lens 16, and then the mirror 2
At 2, the light is totally reflected at right angles. Of the laser light emitted in the direction of the electronic component 10 in such a state of parallel light,
Laser light not blocked by the electronic component 10 is linear C
It reaches the CD array 20 and is detected, and as a result, the electronic component 10 is image-recognized.

In other words, of the laser light emitted toward the electronic component 10, the portion of the laser light blocked by the electronic component 10 cannot reach the linear CCD array 20, but reaches the linear CCD array 20. The shadow of the electronic component 10 is detected from the relative relationship with the laser light.

After that, the suction nozzle 12 is set to (90 ° + α).
Only by searching for a position where the shadow of the electronic component 10 is minimized. That is, the suction nozzle 12 is rotated so as to change the α value of (90 ° + α), and the position where the shadow of the electronic component 10 is minimized is searched for. At such a position where the shadow of the electronic component 10 is minimized, the rotation error of the electronic component 10 becomes zero.

Further, at this time, the linear CCD array 20
Of the left and right lengths other than the above shadow, that is, the linear C
The difference between the left side length and the right side length of the laser light that has reached the CD array 20 in the horizontal direction is the amount of deviation in the horizontal direction, that is, the XY direction from the original position where the electronic component 20 is installed.

Therefore, from the difference in the horizontal length of the laser light reaching the linear CCD array 20, the electronic component 10 is determined.
It is possible to recognize the deviation and the inclination. That is, it is possible to recognize the horizontal shift of the electronic component 10 with respect to the axis of the suction nozzle 12 and the difference between the reference angle of the axis and the angle indicating the position of the electronic component 10.

Further, as described above, by using the center position information of the suction nozzle 12 stored in advance in the memory of the mounting device (not shown), the XY of the electronic component 10 can be obtained.
It is possible to correct the movement of the shaft, that is, the shift in the horizontal direction of the electronic component 10 with respect to the suction nozzle.

FIG. 4 is a structural explanatory view of the second embodiment of the present invention, in which 10a and 10b are electronic components 10 of FIG.
The electronic components 12a and 12b to be positioned the same as
1 is a suction nozzle that is the same as the suction nozzle 12 of FIG. 1 and holds the electronic components 10a and 10b by suction at their tips, 14 is a laser diode that emits laser light, 16 is a collimator lens, and 20a, 20b
Is the same linear CC as the linear CCD array 20 of FIG.
The D array 22 'is a triangular mirror that radiates parallel light that has passed through the collimator lens 16 by splitting it in both directions at right angles.

In the second embodiment having such a structure, the laser light emitted from the laser diode 14 is collimated by the collimator lens 16 and thereafter, as shown in FIG. The light is totally reflected in both directions (ie, 90 ° direction and 270 ° direction).

Of the laser light emitted toward the electronic component 10a in this manner, the laser light not blocked by the electronic component 10a reaches the linear CCD array 20a and is detected. Similarly, of the laser light emitted in the direction of the electronic component 10b, the laser light not blocked by the electronic component 10b reaches the linear CCD array 20b and is detected, and as a result, the electronic components 10a and 10b are linear C.
Images are respectively recognized by the CD arrays 20a and 20b.

In other words, the electronic components 10a and 10b
Of the laser light radiated in each direction, the portions of the laser light blocked by the electronic components 10a and 10b cannot reach the linear CCD arrays 20a and 20b, respectively, and the laser light that reaches the linear CCD arrays 20a and 20b. The positions and the inclinations of the electronic components 20a and 20b are respectively image-recognized by the relative relationship.

That is, the deviation or inclination of the electronic component 10a can be recognized from the difference between the length on the left side and the length on the right side of the laser light reaching the linear CCD array 20a in the horizontal direction, and the laser light reaching the linear CCD array 20b can be recognized. From the difference between the length on the left side and the length on the right side of
It is possible to recognize a shift or a tilt of the electronic component 10b.

Further, in the case where there is one light emitting portion including a laser diode and a plurality of light receiving portions including a linear CCD array as in the second embodiment and the like, compared to the case of the conventional example and the first embodiment. As a result, space efficiency becomes higher.

The present invention is not limited to the above embodiment, but various modifications are possible. For example, after the laser light emitted from the laser diode 14 is collimated by the collimator lens 16, the triangular mirror 22 is used. It is also possible to perform total reflection in four directions at right angles to the horizontal direction with a special mirror arranged instead of such as', and to position four electronic components at the same time without contact.

[0039]

As described above in detail, according to the present invention, a light emitting portion including a laser light source such as a laser diode is installed vertically and the laser light emitted from the laser light source is collimated by a collimator lens. After that, the mirror is totally reflected at right angles to irradiate the electronic components, and the laser light that is not blocked by the electronic components is detected by the light receiving unit vertically installed separately from the light emitting unit. Therefore, as compared with the case of the conventional example, there are advantages that the configuration is simple and the space efficiency is improved.

In particular, as described in detail in the second embodiment and the like,
When there is one light emitting unit including a laser light source and a plurality of light receiving units including linear light receiving sensors such as a linear CCD array,
The distance between the plurality of electronic components to be positioned can be shortened. Therefore, there are advantages that the space efficiency is remarkably higher than that of the conventional example, and the mounting apparatus itself can be downsized.

Further, unlike the case where a CCD camera having an optical system is mounted on the head part which is driven at high speed or vibrates at high speed, in the present invention, since the light receiving part has no movable part,
There is also an advantage that the reliability of the output data is high.

Further, the non-contact positioning device according to the present invention may be incorporated in the head unit so that the electronic parts can be positioned in parallel with other operations such as raising operation and XY operation.

Therefore, according to the present invention, it is possible to position an electronic component by using a non-contact sensor when mounting the electronic component on a mounting apparatus or the like while maintaining a high space efficiency with a simple structure. A contact component positioning method and apparatus are realized.

[Brief description of drawings]

FIG. 1 is a configuration explanatory view for explaining a first embodiment of the present invention, and is a perspective view in the case where each has one light emitting portion and one light receiving portion.

FIG. 2 is a sectional view showing an optical path of the first embodiment.

FIG. 3 is an explanatory diagram showing the measurement principle of the present invention.

FIG. 4 is a configuration explanatory view for explaining the second embodiment of the present invention, and is a perspective view when there is one light emitting portion and two light receiving portions.

FIG. 5 is a sectional view showing an optical path of the second embodiment.

FIG. 6 is a configuration explanatory view for explaining a conventional example,
Perspective view when the light emitting unit and the light receiving unit are integrated

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Electronic component 10a, 10b ... Electronic component 12 ... Suction nozzle 12a, 12b ... Suction nozzle 14 ... Laser diode 16 ... Collimator lens 20 ... Linear CCD array 20a, 20b ... Linear CCD array 22 ... Mirror 22 '... Triangular mirror 24 ... Light emitting part 26 ... Light receiving part

Claims (3)

[Claims] 1. A light emitting portion having a laser light source, a collimator lens, and a mirror is installed in a vertical shape, and laser light emitted from the laser light source is collimated by the collimator lens, and then the laser light is emitted in a perpendicular direction by the mirror. The laser light reflected and applied to the electronic component is detected by a light receiving unit vertically installed separately from the light emitting unit to recognize the electronic component, and the laser light not blocked by the electronic component is recognized. A non-contact component positioning method characterized by detecting the displacement or inclination of the position. 2. A vertical light emitting portion having a laser light source, a collimator lens, and a mirror, a suction nozzle for sucking and holding an electronic component at its tip portion, and a linear light receiving sensor. A laser beam emitted from the laser light source is made into parallel light by the collimator lens, and then totally reflected in a right angle direction by the mirror. A non-contact component, which irradiates a component, detects the laser light not blocked by the electronic component by the light receiving unit to recognize the electronic component, and detects a displacement or inclination of the position of the electronic component. Positioning device. 3. A vertical light emitting portion having a laser light source, a collimator lens, and a triangular mirror, a first suction nozzle for sucking and holding a first electronic component at its tip, and a linear light receiving sensor. A first light-receiving portion that is vertically installed separately from the light-receiving portion; a second suction nozzle that sucks and holds the second electronic component at the tip portion; and a linear light-receiving sensor. And a second light receiving section vertically installed separately from the above section. The laser light emitted from the laser light source is collimated by the collimator lens and then totally reflected by the mirror in both directions at right angles. Irradiating the first and second electronic components with the laser light and recognizing the first electronic component by detecting the laser light not blocked by the first electronic component with the first light receiving unit, and at the same time, the second electronic component In front of the laser light that was not blocked by Non-contact component positioning device and recognizes the detected second electronic component in the second light receiving portion.