JPH07109959B2 - Component mounting device - Google Patents

Description

The present invention relates to an apparatus for mounting a component on a printed circuit board by using a suction nozzle.

[Prior Art] In order to mount an electronic component on a printed circuit board, it is necessary to properly arrange the posture of the component sucked by the suction nozzle. For this reason, JP 63-129697 A or JP 63-12
In the 9700 publication, backlight illumination is applied to the component sucked by the suction nozzle, the image of this illumination is image-processed to grasp the posture of the component, and the reference posture and the deviation amount from the reference position are calculated. A component mounting apparatus that performs this deviation correction is disclosed. Then, when the deviation of the posture of the component is recognized, the suction nozzle is rotated to correct the posture of the component.

[Problems to be Solved by the Invention] Although the rotation correction of the suction nozzle for such posture correction is performed at a high speed in order to increase the component mounting speed, the suction nozzle is sucked when the rotation speed becomes high. The components may be displaced in the turning direction due to acceleration. If such a positional deviation occurs, it becomes impossible to mount the component on the substrate accurately.

The present invention provides a component mounting apparatus that can correct a component posture deviation caused by high-speed rotation correction of a suction nozzle and can always perform component posture deviation correction quickly and accurately. The purpose is to do.

[Means for Solving the Problem] Therefore, according to the present invention, the attitude of a component sucked by a suction nozzle supported so as to be rotatable is recognized by image processing, and a preset reference attitude and a detected attitude are compared. First recognizing means for detecting the attitude deviation of the component based on the above, and first correcting means for correcting the turning position of the suction nozzle so as to match the detected attitude of the component detected by the first recognizing means with the reference attitude. , While recognizing the posture of the component sucked by the suction nozzle that has been subjected to the turning position correction by the first correction means by image processing, and determining the posture deviation of the component based on the comparison between the preset reference posture and the detected posture. Second recognizing means for detecting, and a second correcting hand for correcting the turning position of the suction nozzle so as to match the detected attitude of the component detected by the second recognizing means with the reference attitude. A component mounting apparatus having a step is configured.

[Operation] The posture deviation amount of the component suction-held by the rotatable suction nozzle is detected by the first recognizing means, and when there is the posture deviation, the posture of the component is corrected by the first correcting means. Next, the amount of posture deviation of the component is detected by the second recognition means, and if the posture deviation still exists, the posture of the part is corrected by the second correction means. Therefore, the second correcting means corrects and eliminates the posture deviation of the component caused by the rotating acceleration when the rotating speed of the suction nozzle is increased by the first correcting means. As a matter of course, the correction amount by the second correction means is small and the action period of the turning acceleration is short, so that the posture deviation due to the turning correction of the second correction means does not occur.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 shown in FIG. 1 is a table for placing a substrate, and the table 1 can be slidably arranged in the X-Y2 axis directions by a driving device (not shown). A tape 2 for supplying electronic parts is arranged on the side of the table 1 so as to run intermittently.
The electronic components W on the tape 2 are sequentially supplied to a predetermined position P ₁ by a supply device (not shown). The table 1 is controlled by the control computer C so that the electronic component mounting area on the substrate 3 on the table 1 is moved to a predetermined position P ₉ .

As shown in FIG. 2, a component mounting device 4 for mounting the electronic component W on the substrate 3 is arranged above the table 1. Reference numeral 5 denotes a drive shaft that rotates intermittently. A plurality of guide shafts 6 (16 in this embodiment) are arranged around the drive shaft 5 at equal intervals and in parallel with the drive shaft 5. As the drive shaft 5 rotates, the drive shaft 5 integrally orbits on a circular orbit centered on the drive shaft 5. Each guide shaft 6 is surrounded by a cylinder 7, and a cam groove 7a is formed on the outer peripheral surface of the cylinder 7.

A slider 8 is fitted to each guide shaft 6, and a suction tube 9 and nozzle support mechanisms 10 and 10X are connected to the slider 8. There are as many suction pipes 9 and nozzle supporting mechanisms 10 and 10X as there are guide shafts 6, that is, 16 suction pipes 9 are connected to a suction device (not shown). As shown in FIGS. 2 and 4, a plurality of suction nozzles (six in this embodiment) 11A, 11B, 11C, 11D, 11E and 11F are attached to the nozzle support mechanisms 10 and 10X so that they can rotate and revolve. A plurality of suction nozzles 11A to 11F, which are arrayed and supported on the circumferential track C ₁ shown in the figure and are supported by the nozzle support mechanisms 10 and 10X, and the suction pipe 9 can communicate with each other via a slider 8. Nozzle support mechanism 10, 10X has cam follower 10a
Is installed, and this cam follower 10a is attached to the cam groove 7
It is inserted in a. When the drive shaft 5 rotates, the nozzle support mechanisms 10 and 10X integrally orbit around the drive shaft 5. Along with this rotation, the cam action of the cam groove 7a and the cam follower 10a causes the nozzle support mechanisms 10 and 10X and suction. The pipe 9 moves up and down along the guide shaft 5.

The nozzle support mechanisms 10 and 10X intermittently move on the circumferential orbit C ₂ shown in FIG. 4 with the intermittent rotation of the drive shaft 5, and as shown in FIG. 1, the arrangement pitch of the nozzle support mechanisms 10 and 10X. Spaced predetermined positions P ₁ , q ₂ , q ₃ , P ₄ , P ₅ , P ₆ , P ₇ , q ₈ , P ₉ ,
_{q 10, q 11, q 12} , and stops the _{P 13, P 14, P 15} , q 16. Second
The position of the nozzle support mechanism 10 on the right side of the figure corresponds to the predetermined position P ₁ , and the position of the nozzle support mechanism 10 on the left side corresponds to the predetermined position P ₉ .

As shown in FIG. 2, tooth portions 10c are engraved on the outer peripheral surface of the cylindrical cover 10b of each nozzle support mechanism 10, 10X, and the rotation stopping claws 19 rock on each nozzle support mechanism 10, 10X. It is movably supported. The detent claw 19 is always engaged with the tooth portion 10c by the tension spring 20 to prevent the suction nozzle groups 11A to 11F from revolving.

As shown in FIGS. 1 and 4, a first camera 12 is arranged near the predetermined position P ₄ , and a second camera 13 is arranged near the predetermined position P ₆ . As shown in FIGS. 3 and ₄ , the suction nozzle 11A of the nozzle support mechanism 10X arranged on the predetermined position P ₄
A plurality of reflecting mirrors 14 (three in this embodiment) are arranged around the revolution orbit C ₁ of up to 11F, and the light transmission of the light source lamp 15 hits the reflecting mirror 14 via the optical fiber 16. The reflected light is directed to a semitransparent light diffusing plate 17 attached to the lower end of the nozzle support mechanism 10 as shown by an arrow Q in FIGS. On the back surface of the light diffusing plate 17, a light reflecting layer 17a is formed by vapor-depositing a metal having a high reflection coefficient such as aluminum.
The reflected light R from 7a is diffused and travels toward the first camera 12 via the mirror 18 directly below the nozzle support mechanism 10X on the predetermined position P ₄ . That is, the reflected light R from the light diffusion plate 17 and the light reflection layer 17a
Is the backlight illumination light of the electronic component W, the first camera 12 captures the image of the electronic component W sucked and held by the suction nozzle 11A through the mirror 18, and the control computer C shown in FIG. The attitude, shape, and position of the electronic component W is grasped based on the image information obtained from the camera 12.

Reference attitude information, reference shape information, and reference position information of the electronic component W are previously input and set in the control computer C, and the control computer C determines the attitude, shape, and position of the electronic component W grasped by the first camera 12. The respective detection information of 1 and the reference information are compared. By this comparison, the control computer C calculates the deviation amount Δθ ₁ of the detected attitude of the electronic component W with respect to the reference attitude, determines the shape of the shape, and calculates the deviation amount Δx ₁ of the detected position with respect to the reference position.

When the drive shaft 5 is driven by one pitch, the nozzle support mechanism 10X is circularly arranged at a predetermined position P ₅ . As shown in FIG. 5, a shaft 21 is rotatably and vertically slidably supported on the side of the nozzle support mechanism 10X that is arranged around a predetermined position P ₅ , and the shaft 21 is a motor 22 that can rotate forward and backward. It is designed to be driven by rotation. A clutch member 21a is provided at the lower end of the shaft 21.
Is fixed, and the shaft 21 is always urged downward by the pressing spring 44. The shaft 21 is always in contact with the control lever 23 by the action of the pressing spring 44, and the clutch member 21a can be brought into contact with and separated from the upper end of the suction nozzle 11A that holds the electronic component W by suction by the vertical displacement of the control lever 23. is there.
Further, a rotation stop release lever 24 is disposed immediately above the rotation stop claw 19 of the nozzle support mechanism 10X so as to interlock with the control lever 23, and when the clutch member 21a and the suction nozzle 11A are in contact with each other. The detent claw 19 is disengaged from the tooth portion 10c, and the suction nozzle groups 11A to 11F can revolve.

The motor 22 is driven when the clutch member 21a and the suction nozzle 11A are in contact with each other, and the control computer C drives the motor 22 in the forward or reverse direction so as to eliminate the deviation amount Δθ ₁ related to the attitude of the electronic component W. To do. As a result, the suction nozzle 11A turns, and the attitude of the electronic component W suction-held by the suction nozzle 11A is corrected. That is, the shaft 21, the clutch member 21a, the motor 22 and the control lever 23 constitute a first nozzle rotation correction mechanism 25.

Further, the control computer C commands the driving of the table 1 in the X-Y2 axis directions so as to eliminate the displacement amount Δx ₁ related to the position of the electronic component W, and the placement correction of the electronic component mounting area of the substrate 3 on the table 1 is performed. Done.

When the suction nozzle 11A swivels at high speed, the suction-held electronic component W is displaced from the initial suction-holding position with respect to the suction nozzle 11A by the swiveling acceleration, and the attitude of the electronic component W is corrected by the first nozzle swivel correction mechanism 25. Nevertheless, the attitude of the electronic component W may still deviate from the reference attitude position. In the present embodiment, insufficient posture correction due to turning acceleration can be compensated by the following processing.

After the rotation of the suction nozzle 11A is corrected by the first nozzle rotation correction mechanism 25, when the drive shaft 5 is driven by one pitch, the nozzle support mechanism 10X is circularly arranged at a predetermined position P ₆ . Below the nozzle support mechanism 10X arranged around the predetermined position P ₆ , the predetermined position P
A projection system similar to the projection systems 14, 15 and 16 for backlight illumination in ₄ is provided, and the second camera 13 displays an image of the electronic component W based on the projection light from this projection system. Capture.
The control computer C grasps the posture, shape and position of the electronic component W based on the image information obtained from the second camera 13, and determines the posture, shape and position of the electronic component W grasped by the second camera 13. The detection information and the reference information are compared. By this comparison, the control computer C causes the electronic component W
Of the detected posture deviation Δθ _{2 from} the reference posture, determination of the quality of the shape, and the detected position deviation Δ from the reference position Δ
Perform the calculation of x ₂ .

When the drive shaft 5 is driven by one pitch, the nozzle support mechanism 10X is circularly arranged at a predetermined position P ₇ . As shown in FIG. 6, a second nozzle swirl correction mechanism 26 and a rotation stop release lever 28 similar to the first nozzle swirl correction mechanism 25 are provided on the side of the nozzle support mechanism 10X which is arranged at a predetermined position P _7. Is provided, and the control computer C uses the second nozzle rotation correction mechanism so as to eliminate the deviation amount Δθ ₂ related to the attitude of the electronic component W.
The motor 28 of 26 is driven in the forward or reverse direction. As a result, the suction nozzle 11A turns, and the attitude of the electronic component W suction-held by the suction nozzle 11A is corrected. Further, the control computer C commands the driving of the table 1 in the XY 2 axis directions so as to eliminate the deviation amount Δx ₂ related to the position of the electronic component W,
The layout of the electronic component mounting area of the board 3 on the table 1 is corrected.

The attitude of the electronic component W whose attitude has been corrected by the first nozzle swirl correction mechanism 25 is searched again by the second camera 13, the attitude shift amount Δθ ₂ is detected again by the control computer C, and the second nozzle swirl correction mechanism is also detected. Even when this posture deviation correction is performed by 26, acceleration due to the turning of the suction nozzle 11A is generated. However, although the swirl speed of the suction nozzle 11A by the first nozzle swirl correction mechanism 25 is high, the electronic component W caused by the swirl acceleration in this case is generated.
The posture deviation amount Δθ _{2 of} is smaller than the posture deviation amount Δθ ₁ before turning correction. That is, the second nozzle rotation correction mechanism
Even if the swirl speed of the suction nozzle 11A by the 26 is as high as the swirl speed of the suction nozzle 11A by the first nozzle swirl correction mechanism 25, the acceleration period by the second nozzle swirl correction mechanism 26 becomes It is slightly smaller than the acceleration period by the nozzle swirl correction mechanism 25, and therefore the second of the suction nozzle 11A
The posture deviation of the electronic component W due to the second turning correction does not occur. Therefore, the posture of the electronic component W corrected for turning at the predetermined position P ₇ is corrected to the reference posture with high accuracy despite the high speed. As a result, it is possible to shorten the time from the suction of the electronic component at the predetermined position P _{1 to} the mounting of the electronic component at the predetermined position P ₉ , that is, the electronic component mounting speed, while achieving the attitude correction of the electronic component W with high accuracy.

In the present invention in which the camera 12 serving as the first recognizing unit and the camera 13 serving as the second recognizing unit are used in combination, an electronic component capable of posture correction by making a difference in the visual fields (that is, magnifications) of the cameras 12 and 13 There is an advantage that the range of the size of W can be greatly expanded.

That is, if the field of view of the first camera 12 is made larger than that of the second camera 13 by making the magnification of the first camera 12 smaller than that of the second camera 13, a large electronic component W Is also captured by the first camera 12. When the electronic component W is large, the image of the electronic component W captured by the second camera 13 may be a partial image, but the partial image does not hinder the posture deviation detection. Further, when the electronic component W is small, the image captured by the first camera 12 may be considerably small, and in such a case, the posture deviation detection accuracy is lowered. Therefore, the posture correction by the first nozzle rotation correction mechanism 25 is rough. However, the image of the electronic component W captured by the second camera 13 having a small field of view is large, and its posture deviation detection accuracy is high. Therefore, the attitude of the electronic component W roughly corrected by the first nozzle swirl correction mechanism 25 is the second nozzle swirl correction mechanism 26.
Is corrected with high accuracy. Further, although the posture correction by the first nozzle swirl correction mechanism 25 is rough, since the corrected posture is considerably close to the reference posture, the posture by the second nozzle swirl correction mechanism 26 is still short. The posture deviation of the electronic component W caused by the rotation acceleration accompanying the posture correction of the nozzle rotation correction mechanism 26 of No. 2 does not occur.

The electronic component mounting is not carried out at the predetermined position P ₉ when the shape defect of the electronic component W is grasped at a predetermined position P _4, P _6, is discarded at a predetermined position P _13.

Nozzle selection motor 29 as on the side of the orbiting arranged nozzle support mechanism 10,10X in position P ₁₄ shown in Figure 7, the shaft
A nozzle selection mechanism 34 including a gear train 30, gear trains 31, 32, and 33 is provided, and the tooth portion 10c of the nozzle support mechanism 10 and 10X and the gear 33 can be meshed with and separated from each other. Also, nozzle support mechanism 10,10X
A rotation stop release lever 35 is swingably supported immediately above the upper rotation prevention pawl 19 so as to be interlocked with the contact and separation of the gear 33, and is prevented when the gear 33 and the tooth portion 10c are in mesh with each other. The claw 19 is disengaged from the tooth portion 10c. As a result, the suction nozzle group 11A
~ 11F revolves by the drive of the motor 29. Motor 29 controls receiving control of the computer C, the control computer C of the suction nozzle group 11A~11F a suction nozzle adapted to the type of electronic components to be sucked by the suction nozzle group 11A~11F on the predetermined position P ₁₄ The motor 29 is drive-controlled so as to be revolved at the adsorption position on the revolution locus C ₁ .

As shown in FIG. 8, a shaft 36 is rotatably and slidably supported up and down on the side of the nozzle support mechanisms 10 and 10X arranged at a predetermined position P ₁₅ , and the shaft 36 is a motor (not shown). ) Is designed to be driven to rotate. A clutch member 36a is fixed to the lower end of the shaft 36, and the shaft 36 is always urged downward by a pressing spring 38. The shaft 36 is constantly in contact with one end of the control lever 39 by the action of the pressing spring 38, and the clutch member 36a is selected by the nozzle selection mechanism 34 by the vertical displacement of the control lever 39, and the suction nozzle (11A in the case shown). ) Can be separated from the upper end. Further, a detent lever release lever 40 is disposed immediately above the detent claws 19 of the nozzle support mechanisms 10 and 10X so as to interlock with the control lever 39, and the clutch member 36a and the suction nozzle 11A.
When and are in contact with each other, the detent claw 19 is disengaged from the tooth portion 10c, and the suction nozzle groups 11A to 11F can revolve.

A shaft 41 is connected to the other end of the control lever 39, a positioning lever 42 is arranged on the side of the clutch member 36a, and an origin positioning claw 42a is fixedly attached to one end of the positioning lever 42. Has been done. The other end of the positioning lever 42 is always in contact with the shaft 41 by a tension spring 43. When the control lever 39 pushes down the shaft 36, the origin positioning claw 42a moves downward and fits into the recess 11a at the upper end of the suction nozzle 11A. It is possible. The motor is driven when the clutch member 36a and the suction nozzle 11A are in contact with each other, and when the recess 11a and the origin positioning pawl 42a face each other, the origin positioning pawl 42a is recessed.
The suction position of the suction nozzle 11A is retained at the original position by fitting in the 11a.

When the nozzle support mechanism including the suction nozzle 11A pivotally arranged at the origin position is revolved at the predetermined position P ₁ , the suction nozzle 11
The electronic component W is sucked by A, and thereafter, the attitude correction is performed based on the attitude detection as described above.

EFFECTS OF THE INVENTION As described in detail above, according to the present invention, the posture detection of the component is performed twice and the posture shift correction is repeated. Therefore, the posture shift caused by the acceleration of the first swirling correction of the suction nozzle is performed. The correction failure can be eliminated by the second short-time turning correction, and the excellent effect that component mounting can be reliably performed while increasing the mounting speed is achieved.

[Brief description of drawings]

The drawings show one embodiment of the present invention. Fig. 1 is a schematic plan view, Fig. 2 is a side view, Fig. 3 is a side sectional view of a backlight illumination system, and Fig. 4 is Fig. 3. A-A line sectional view of the fifth
FIG. 6 is a side view showing the first nozzle swivel mechanism, and FIG. 6 is a second view.
FIG. 7 is a side view showing the nozzle turning mechanism of FIG. 7, FIG. 7 is a side view showing the nozzle selecting mechanism, and FIG. 8 is a side view of a mechanism for positioning the turning origin of the suction nozzle. A first camera 12 and a control computer C which constitute a first recognizing means, a first nozzle rotation correction mechanism 25 as a first correcting means, and a second camera 13 which constitutes a second recognizing means.
And the control computer C, the second as the second correction means
Nozzle rotation correction mechanism of.

Claims (2)

[Claims] 1. A suction nozzle (11A-1) supported so as to be rotatable.
First, the attitude of the component (W) sucked by (1F) is recognized by image processing, and the attitude deviation of the component is detected based on the comparison between the preset reference attitude and the detected attitude.
Recognition means (12, C) and the suction nozzles (11A-1) so as to match the detection attitude of the component (W) detected by the first recognition means (12, C) with the reference attitude.
The first correction means (25) for correcting the turning position of 1F) and the attitude of the component (W) sucked by the suction nozzle whose turning position is corrected by the first correction means (25) are recognized by image processing. In addition, the second recognition means (13, C) for detecting the attitude deviation of the component (W) based on the comparison between the preset reference attitude and the detected attitude, and the second recognition means (13, C). And a second correcting means (26) for correcting the turning position of the suction nozzle so as to match the detected posture of the component (W) detected by the above with the reference posture. 2. The component mounting apparatus according to claim 1, wherein the visual field of the first recognizing means (12) is set larger than the visual field of the second recognizing means (13).