JPH0810794B2 - Parts mounting device - Google Patents

Description

TECHNICAL FIELD The present invention relates to an apparatus for mounting a small component such as a chip capacitor or a chip resistor on a substrate.

(B) Conventional Technique In the above-mentioned device, it is general to pick and place parts by a vacuum suction device. By the way, when a component is sucked up by the vacuum suction device, sometimes the component side face other than the regular side face is sucked. If the component sucked in the abnormal posture is mounted on the substrate, the substrate becomes a defective product, and the vacuum suction device or the substrate may be damaged during mounting. Therefore, the postures of components must be checked before mounting, and those that are determined to be abnormal must be excluded from the mounting targets. An example of a device provided with such a component suction posture determination device is disclosed in Japanese Patent Application Laid-Open No. 59-155199.
In the configuration described as an example in this publication, an optical sensor is placed at a specific work station so that the component does not cross the light flux (→ the lower end of the component satisfies the height requirement and is normal), and the component crosses (→ the lower end of the component is high. It does not meet the requirement and abnormal is checked to determine whether the suction posture of the component is normal or abnormal.

(C) Problems to be Solved by the Invention In the device described in Japanese Patent Laid-Open No. 59-155199, the height setting of the sensor becomes a problem. In the case of a small chip component, since the difference between the component height in the normal posture and the component height in the abnormal posture is small, it is necessary to precisely set the height of the sensor.
However, even if the height accuracy of the sensor is increased, there is a problem of manufacturing accuracy on the side of the vacuum suction device and a problem of dimensional accuracy of parts, and even a fixture in a normal posture may be caught by the light flux of the sensor. The determination is troublesome even when the lower end of the component blocks the light flux incompletely. Parts such as leads or protrusions protruding downward also reduce the accuracy of determination by this method.

It is an object of the present invention to overcome such problems and provide a check system with high operational reliability.

(D) Means for Solving the Problem In the present invention, the parts adsorbed to the vacuum suction device are observed by the visual detection means, and the two-dimensional horizontal dimension of the part obtained from the observation data is used to determine the part suction posture. We decided to adopt it as a standard.

(E) Action There is no cubic shape in the case of chip parts, it has long and short directivity without exception, and it is between the horizontal two-dimensional dimension in the normal posture and the horizontal two-dimensional dimension in the abnormal posture. There is a clear difference in. Therefore, the horizontal two-dimensional dimension of the component is obtained based on the observation data of the visual detection means, and when a value that should be regarded as an abnormal posture is obtained, the component is excluded from the mounting target.

(F) Embodiment An embodiment of the present invention will be described with reference to the drawings. 10 is a moving device, the structure of which is detailed in FIGS. 2 and 4. The moving device 10 is a kind of rotary index table, and intermittently rotates in a fixed direction. The moving device 10 has an upper rotating body 11 having a circular plane shape and a lower rotating body 12 having a circular plane shape, which are fixed to a vertical index shaft 13. The index shaft 13 rises from an index device (not shown), and its upper end is supported by a bearing portion 15 of a support deck 14 that is mounted on the moving device 10. An intake passage 16 communicating with a vacuum source (not shown) is formed inside the index shaft 13. Moving equipment
10 rotates one eighth, that is, it rotates stepwise by 45 °. As shown in FIG. 2, a total of eight work stations I, H ... VIII are arranged around the moving device 10. According to the number of work stations, a total of eight arms 17 project radially from the lower rotary pair 12 at equal angular intervals. The arm 17 is supported by a slider 18 mounted vertically on the peripheral surface of the lower rotary body 12 and is movable in the vertical direction. The slider 18 is provided with a stopper bolt 20 (first screw) that is screwed into the upper rotary body 11 by a tension coil spring 19 stretched between the slider 18 and the upper rotary body 11.
It has been raised until it hits. The slider 18 has a roller 21 protruding outward, and an elevating body pushes the roller 21 at a predetermined work station to lower the slider 18. The lifting body and its operating mechanism will be described later.

A structure including the member supported by the arm 17 and the arm 17 itself is collectively referred to as a vacuum suction device 30. Vacuum suction device 30
The structure of is as follows. Reference numeral 31 is a turret supported at the tip of the arm 17. The turret 31 has a cylindrical shape, is fitted to the tip of the arm 17 from the outside, and is rotatable about the axis of the arm 17, that is, about the horizontal axis. A driven gear 32 is fixed to the outer end surface of the turret 31. From the peripheral surface of the turret 31, four types of nozzles 33, 34, 35, 36 having different standards mainly in terms of thickness are radially projected at 90 ° intervals. Each of the nozzles can be retracted toward the center of the turret 31 and is pushed out to a protruding position by a compression coil spring 37. The center of the arm 17 is the intake passage 38.
Has become. This intake passage 38 is connected to the nozzles 33, 34, 35, 36.
Among them, only those that have come directly below communicate with each other through the communication hole 39. Reference numeral 40 denotes a screw plug that closes the end of the intake passage 38, and also serves as a retainer for the turret 31.

The upper rotating body 11 supports the valve 50. The valves 50 are provided in the same number as the arms 17, and are connected to the intake passage 38 with a hose 51 and to the intake passage 16 with a hose 52. The valve 50 controls ON-OFF of suction from the intake passage 38. A lever type actuator with a roller at the tip is used to open and close the valve 50.
Do by 53. That is, when the actuator 53 is pushed down, the valve is opened, and when not, the valve is closed. The actuator 53 is controlled by the pusher 55 which is moved up and down by the air cylinder 54 in the work station 1, and the pusher 57 which is moved up and down by the air cylinder 56 in the work stations V and VI.
In III and IV, the pressing plate 58 fixed to the bearing portion 15 is used. The pressing plate 58 also serves as a support member for the air cylinders 54 and 56, and the lower surfaces of the pressing elements 55 and 57 form a plane substantially continuous with the lower surface of the pressing plate 58 when they are lowered. Since each valve 50 is arranged at the delay position with respect to the arm 17 to which it belongs, the pressers 55 and 57 are also displaced from the work station to which they belong.

A component supply device 60 is arranged in the work station I (hereinafter referred to as a component supply station). The component supply device 60 feeds the component supply carrier tape 61 one pitch at a time,
62 are supplied to the vacuum suction means 30 one by one. The carrier tape 61 is made by embossing a plastic sheet into parts 62.
A recess for accommodating the is formed, and the recess is covered with a plastic cover film 63. The carrier tape 61, which has been pulled by the sprocket 64 (not shown in the drawing) and has passed through between the pair of upper and lower guide plates 65 and 66, has the cover film 63 peeled off immediately before the component suction position. In the component supply device 60, a large number of such carrier tapes 61 are arranged in the direction perpendicular to the paper surface in FIG. 4, and by moving the arranged tapes in the direction perpendicular to the paper surface, the necessary parts 62 are obtained.
Select the carrier tape that contains the.

At a work station V (hereinafter referred to as a component mounting station), a substrate supporting device 70 for mounting a substrate 71 is arranged as shown in FIG. The substrate support device 70 is called an XY table, and is given a two-dimensional motion in a horizontal plane by a ball screw mechanism (not shown) driven by an X-axis electric motor 72 and a Y-axis electric motor 73. An adhesive for temporarily holding the component 62 is applied to a predetermined portion of the substrate 71.

A nozzle selecting device 80 shown in FIGS. 6 and 8 is arranged in the work station VII (hereinafter referred to as a nozzle selecting station). The nozzle selection device 80 has an elevator 81 supported by the support deck 14 as a main component. The elevator 81 is mounted on a slider 82 that slides vertically.
A lifting operation is given by a lever 83 connected to a cam (not shown). Selector gear 84 at the bottom of elevator 81
Is horizontally supported so that it faces the center of rotation of the moving device 10. The selector gear 84 is connected to the electric motor 85 supported by the elevator 81 via bevel gears 86 and 87. elevator
When 81 descends, the selector gear 84 becomes the driven gear of the turret 31.
It engages with 32 and transmits the rotation of electric motor 85 to driven gear 32.
88 is a stopper that determines the lower limit of the descent of the elevator 81.

A lock pin 90 is attached to the upper surface of the arm 17. The lock pin 90 is held by a holder 91 fixed to the arm 17 so as to be slidable parallel to the axis of the arm 17, and is pushed toward the turret 31 by a compression coil spring 92. On the end face of the turret 31, grooves 93 for receiving the tips of the lock pins 90 are formed behind the nozzles 33, 34, 35 and 36, one for each and four in total. A U-shaped lever receiver 94 is fixed to the rear end of the lock pin 90. The lever receiver 94 receives one end of a bell crank type lever 95 supported by the support deck 14. The other end of the lever 95 is connected to the elevator 81 by a connecting rod 96.

Component supply station I, component mounting station V,
Further, the lifting bodies 100 as shown in FIG. 4 are placed on the work stations II, IV and VIII. The lifting body 100 is a rod-shaped member supported by the bearing portion 101 of the support deck 14, and has a slider 1 at the lower end.
The pressing head 102 facing the eight rollers 21 is fixed, and is vertically moved by a cam (not shown).

A component direction adjusting device 110 (FIG. 1) is arranged in the work station II (hereinafter referred to as a component direction adjusting station). The component direction adjusting device 110 mainly includes a disk-shaped rotary table 111 and a pair of direction adjusting claws 112 supported by the disk-shaped rotary table 111 in a point-symmetrical manner. The turntable 111 has an etching 113 having a triangular cross section on its periphery, and is supported by being engaged with a plurality of support rollers 114 attached to a support structure (not shown) so as to be rotatable about a vertical axis. Reference numeral 115 is an electric motor for rotating the turntable 111, which is connected to the turntable 111 by a timing belt (not shown). Direction adjusting claw 112
Is slidable in the centripetal direction and the centrifugal direction with respect to the rotary table 111, and is always attracted in the centripetal direction by the tension coil spring 116. From the direction adjusting claw 112, a leg portion 117 having a roller 118 at its tip hangs down. Reference numeral 119 is a frusto-conical cam that cuts between the two rollers 118, and is vertically moved by a cam (not shown) so as to widen the gap between the direction adjusting claws 112 when the cam is raised.

A component recognition device 120 (FIG. 1) is arranged in the work station IV (hereinafter referred to as a component recognition station). The component recognition device 120 includes a visual detection means 121 and a visual detection means supporting device 122 as main components. The visual detection means supporting device 122 is based on a rotary base 123 having the same structure as the rotary base 111, and an elevator 124 is attached to the base. The turntable 123 is rotated by the electric motor 125 via a timing belt (not shown). The elevator 124 moves up and down by a screw action when the electric motor 126 mounted on the turntable 123 rotates the screw shaft 127.

The visual detection means 121 is configured as follows. That is, as shown in FIG. 10, two line sensors 128 and 129 are arranged so that their arrangement directions are orthogonal to each other, and the irradiation units 130 and 131 are arranged so as to face these line sensors 128 and 129, thereby forming a square shape. Create a simple framework. Line sensor 128, 129
Is a device in which a large number of light receiving elements are horizontally arranged inside the light receiving windows 132 and 133. Irradiation units 130 and 131 are light receiving windows 132 and 1.
A wide collimated light is emitted toward 33. Such parallel light is
As shown in the concept in FIG. 11, it is obtained by combining a semiconductor laser 134 with a concave lens 135 and a convex lens 136.

The work station VIII (hereinafter referred to as the vacuum suction device height measuring station) has a measuring device for measuring the height of the tip of the vacuum suction device 30, that is, the tip of the nozzle 33, 34, 35, 36 facing downward. Place 140 (Fig. 1). This is a line sensor 141 similar to line sensor 128.
Are arranged so that the light-receiving elements are arranged vertically, and an irradiation unit 142 similar to the irradiation unit 130 is opposed to each other at an interval.

Reference numeral 150 (FIG. 1) is a control device that controls the entire device including arithmetic processing of various data. Reference numeral 160 (Fig. 15) is a parts collection box arranged at work station VI.

FIG. 3 shows the planar arrangement relationship between the component supply device 60, the component direction adjustment device 110, the component recognition device 120, the substrate support device 70, and the measurement device 140. This figure is only for explaining the arrangement relationship, and the dimensional ratio between the illustrated elements is meaningless.

The above device operates as follows. FIG. 1 shows a vacuum suction device at a component supply station I, a component direction adjustment station II, a component recognition station IV, a component mounting station V, and a vacuum suction device height measurement station VIII.
Shows the status of operations added to 30. The vacuum suction device 30 that has arrived at the component supply station I is stopped with the nozzle 33 facing downward in the case of the drawing. At the time of arrival, the pusher 55 is in the raised position, and the vacuum suction device 30 does not generate suction force. Here, the lifting body 100 descends to push down the slider 18 and press the nozzle 33 against the component 62. At this time, the air cylinder 54 lowers the pusher 55 according to a control signal from the control device 150, the valve 50 is opened, and the nozzle 33 is a part.
Adsorb 62. The vacuum suction device 30 that has sucked the component 62 rises as the lifting body 100 rises, and is intermittently rotated by the moving device 10 to be carried from the component supply station I to the component direction adjustment station II. During the movement, the actuator 53 of the valve 50 is continuously pressed by the pressing plate 58, and the suction of the component 62 is not interrupted.

In the component orientation station II, a pair of orientation claws
The cams 119 stand by in a state where the cams 119 press the gaps apart from each other. When the vacuum suction device 30 arriving at this station is lowered by the lifting / lowering body 100 to the position where the component 62 enters between the direction adjusting claws 112, the cam 119 lowers and the direction adjusting claws 112 approach each other, and Clamp two specified sides. Since the carrier tape 61 has a clearance in the component storage recess, the angle of the component 62 when sucked by the vacuum suction device 30 varies, but the variation is corrected at this point. However, only the angle is corrected, and it is not considered to correct the positional deviation between the center of the nozzle 33 and the center of the component 62. After correcting the variation of the suction angle in this way, the electric motor 115 rotates the rotating base 111 based on the control signal from the control device 150, or does not rotate the same, so that the orientation of the component 62 on the substrate of the component 62 is changed. Match the specified placement angle. In this case, as a matter of course, the component angle at the time of reaching the component mounting station V is made to match the designated angle. After direction adjustment is completed, cam 11
9 moves up to disengage the direction adjusting claw 112 from the component 62. The vacuum adsorption device 30 also rises. After the part 62 comes out from between the direction adjusting claws 112, the cam 119 descends and separates from the roller 118. Here, the electric motor 115 returns the rotary base 111 to the angle of the standby position. After that, the cam 119 rises again and pushes the direction adjusting claw 112 for the next part open.

Vacuum suction device 30 away from parts orientation station II
Through work station III, parts recognition station I
Arriving at V, the elevator 100 lowers it to a certain height. In this case, since the lifting stroke of the lifting / lowering body 100 is fixed, it is said to be constant, and does not mean that the height is constant at the nozzle end, which is the tip of the vacuum suction device 30. When the vacuum suction device 30 descends,
62 enters the middle of the component recognition area of the visual detection means 121. The component recognition area, that is, the irradiation unit 130 is directed toward the line sensor 128, and the irradiation unit 131 is directed toward the line sensor 12.
As shown in FIG. 12, the line sensor 128, 1
Cast your own silhouette (shown with parallel diagonal lines) on 29. That is, the visual detection means 121 optically observes the component 62. Since the positional relationship of the nozzles with respect to the line sensors 128 and 129 is constant, the line sensor
If the position of the silhouette is measured with 128 and 129, the amount of displacement of the component 62 with respect to the nozzle 33 can be measured. The measurement data is transmitted to the control device 150. In order to accurately know the amount of displacement of the component 62 in the X and Y directions,
It is desirable that the extending directions of two orthogonal sides of 62 and the arrangement directions of the line sensors 128 and 129 be the same, in other words, be parallel. Therefore, the visual detection means 121 has the component 62 in advance.
Waiting with the direction of self aligned with the direction of. That is, depending on how the angle of the component 62 is set in the component direction adjusting station II, a direction control command corresponding thereto is given from the control device 150 to the electric motor 125, and the electric motor 125 causes the visual detection means supporting device 122 to move at a predetermined angle. Rotate. The direction change range of the visual detection means 121 is sufficient if it is 90 °, and it is not necessary to make it larger than that. In this way, the result of measurement with the line sensors 128 and 129 placed in parallel with the sides of the component 62 is transmitted to the control device 150, and based on this, the control device 150 determines the movement amount of the substrate supporting device 70. Calculate whether to correct After measurement, vacuum suction device 30
And the visual sensing means 121 is oriented accordingly in preparation for the next incoming component 62.

When the vacuum suction device 30 reaches the component device station V, the substrate support device 70 has already positioned the component device position of the substrate 71 just below the nozzle 33 and is on standby. Of course, in this case, the control device 150 controls the X-axis motor 72 and the Y-axis motor 73.
The positional deviation data of the equipment 62 has already been incorporated into the command given to the board support device 70, and the substrate supporting device 70 is stopped at the position corrected by the amount corresponding to the positional deviation. Here, the lifting / lowering body 100 lowers the vacuum suction device 30 and presses the component 62 against a predetermined portion of the substrate 71 at a predetermined angle. When the vacuum suction device 30 arrives at the component mounting station V, the presser 57 is in the lowered position and maintains the suction of the component 62.
When it is pressed against the upper adhesive, it rises as shown in FIG. 1 and the suction of the nozzle 33 is cut off. Therefore, after this vacuum suction device
When 30 rises, the component 62 is attached to the substrate 71 by the adhesive force of the adhesive.
Remains on the surface of.

The vacuum suction device 30 leaving the component mounting station V reaches the nozzle selection station VII via the work station VI. When the vacuum suction device 30 arrives at the nozzle selection station VII, the selector gear 84 is above the driven gear 32 as shown in FIG. The tip of the lever 95 goes into the entrance of the lever receiver 94 that has arrived. The lock pin 90 engages with the groove 93 as shown in FIG. 7 to stop the rotation of the turret 31. When it is necessary to change the nozzle from 33 to another one, the elevator 81 descends as shown in FIG. 8 and the selector gear 84 is engaged with the driven gear 32. When the elevator 81 descends, the lever 95 also rotates and the lock pin 90 slides against the compression coil spring 92. This allows the lock pin 90
The turret 31 can rotate because it comes out of the groove 93. In this state, the electric motor 85 is driven to rotate the turret 31 by a predetermined angle. Elevator 81 after changing the angle of turret 31
When is raised, the lever 95 returns to the old position, the lock pin 90 engages with the groove 93, and the turret 31 is locked again.

Vacuum suction device 30 away from nozzle selection station VII
Reaches the last working station, the vacuum suction height measuring station VIII. Here, the vacuum suction device 30 is lowered by a certain stroke by the lifting / lowering body 100. As a result, the downward nozzle enters between the irradiation unit 142 and the line sensor 141, and the height of the tip is measured by the line sensor 141. The measurement data is transmitted to the control device 150, and based on this, the control device 150
When the visual detection means 121 holds down this nozzle in the component recognition station IV, the support level of the visual detection means 121 is adjusted. The adjustment is performed such that the line sensors 128 and 129 observe the main part (the part having the most important meaning for measurement) of the component 62 attracted to the nozzle from the horizontal direction.
Therefore, the part shape is also taken into consideration. The adjustment of the support level of the visual detection means 121 is achieved by giving a command to the electric motor 126 to move the elevator 124 up and down.

In this way, the height of the nozzle end of the vacuum suction device 30 is checked when the nozzle whose tip is crushed or worn is replaced with a new nozzle, or the nozzle currently held by the turret 31 cannot react. This is because it is very difficult to keep the distance from the center of the turret 31 to the tip of the nozzle within a certain small tolerance when the nozzle is replaced with another type of nozzle.

Now, the vacuum suction device 30 sucks the component 62 from the component supply device 60, but sometimes the component side surface that should not be sucked due to the reason that the component 62 jumps up when the carrier tape 61 is fed. May be sucked. Parts that are picked up in an abnormal posture like this
62 must be removed without wearing it. Whether the posture of the component 62 is normal or abnormal is determined from the observation data of the visual detection means 121. Line sensor 12 as shown in Fig. 12
When the silhouette of the part 62 is projected on the 8 and 129, the horizontal two-dimensional dimension of the part 62 is obtained by this. Since there is a difference in the observation results between the case of the normal posture shown in FIG. 13 and the case of the abnormal posture shown in FIG. 14, it is possible to easily distinguish between the normal state and the abnormal state. This determination method is effective because there are not many examples of cubic shaped parts in which the two-dimensional dimensions in the horizontal direction do not change regardless of whether the posture is normal or abnormal. In this embodiment, not only the dimensions in the X direction and the Y direction are obtained, but also the lengths in the circumferential direction are obtained by summing the lengths of the four sides. This is to increase the number to be compared to increase the difference and to make the identification more reliable.

When the observation data is collated with the comparison data and a determination result that the component attitude is abnormal is obtained, the control device 150 excludes the component 62 from the mounting target. That is, even if a command is issued to the drive mechanism of the lifting body 100 arranged in the component mounting station V and the air cylinder 56 so that the vacuum suction device 30 arrives at the component mounting station V, it is not lowered, and the component 62 Does not end the adsorption of. 15th
As shown in the figure, the pusher 57 is kept in the lowered state until the vacuum suction device 30 is moved to the work station VI.
When the vacuum suction device 30 that arrives at the component mounting station V in exchange is subjected to a normal mounting operation, and the pressing element 57 moves up to release the suction of the component 62 adhering to the substrate 71, the work station VI also. The component suction is released, and the component 62 having an abnormal posture is discarded in the component collection box 160. For the component 6 that was not properly mounted, the mounting program was immediately changed, and the vacuum suction device 30 that discarded the component 62
Or another vacuum suction device 30 to reattach the same type of component 62.

(G) Effect of the Invention As described above, according to the present invention, since the horizontal posture of the component is detected to detect the normal posture, the height level of the lower end surface of the suction nozzle is affected. Without
In addition, there is no error caused by detecting the chuck lever distance, and there is less room for gray zones that are difficult to determine compared to the conventional method that relies on the lower end of the component, and the certainty of determination is increased. You can

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, FIG. 1 is an explanatory development view showing a transition of processes in main work stations, FIG. 2 is a plan view of a moving device, and FIG. 3 is a plan view of main constituent elements. FIGS. 4 and 5 are vertical sectional views in different work stations, FIG. 6 is a side view of the nozzle selection device, and FIG. 7 is a vacuum adsorption device related to FIG. A plan view, FIG. 8 is a side view of the nozzle selection device similar to FIG. 6, showing different operating states, FIG. 9 is a plan view of the vacuum suction device related to FIG. 8, and FIG. FIG. 11, FIG. 11 is a schematic explanatory view of the irradiation unit of the visual detection means, FIG. 12, FIG. 13 and FIG. 14 are explanatory views of the observation state of the visual detection means, and FIG. 15 is a component mounting station and its succeeding parts. FIG. 9 is an explanatory development view showing the operation of the station under a special situation. I ... Parts supply station, 60 ... Parts supply device, V
...... Component mounting station, 70 ・ ・ ・ Substrate supporting device, 62 ・ ・ ・
… Parts, 71 …… Substrate, 30 …… Vacuum suction device, 10 …… Movement device, 121 …… Visual detection means, 150 …… Control device.

Claims (1)

[Claims] 1. A component mounting apparatus having the following components. (A) A component supply device arranged in the component supply station (b) A substrate supporting device arranged in the component mounting station (c) A component pick-and-place operation is performed from the component supplying device to the substrate on the substrate supporting device Prepared vacuum suction device (d) Moving device for moving the vacuum suction device from the work station to the work station (e) Visual detection means for directly observing the components sucked by the vacuum suction device (f) The visual detection The horizontal two-dimensional dimension of the component is obtained from the observation data of the means to determine whether the component is adsorbed in the normal posture, and when the determination result of the abnormal posture is obtained, the component is excluded from the mounting target. Control device.