JPH05175697A - Component mounting apparatus - Google Patents
Component mounting apparatusInfo
- Publication number
- JPH05175697A JPH05175697A JP3340904A JP34090491A JPH05175697A JP H05175697 A JPH05175697 A JP H05175697A JP 3340904 A JP3340904 A JP 3340904A JP 34090491 A JP34090491 A JP 34090491A JP H05175697 A JPH05175697 A JP H05175697A
- Authority
- JP
- Japan
- Prior art keywords
- component
- image
- reflecting mirror
- mounting
- suction nozzle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Image Analysis (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、基板上に電子部品を装
着する部品装着装置に関する。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】[0002]
【従来の技術】従来、移動する部品装着部内で、吸着さ
れた部品の画像を取り込み、吸着位置のずれ量を補正し
て、部品を装着する種々の方法が存在する。本出願人が
出願した特願平３−３１７９０６号の部品装着装置で
は、水平移動する部品装着部に部品装着ヘッドと撮像手
段とを取り付け、部品装着ヘッド下端に設ける吸着ノズ
ルが上下移動する空間に、４５°反射鏡をその反射面と
平行に進退可能に配置し、部品搬送中に、吸着保持され
た部品の画像認識を可能としている。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】[0003]
【発明が解決しようとする課題】前述のような部品装着
装置では、認識時間が部品装着時間に与える影響を軽減
できるが、４５°反射鏡の移動ストロ−クは、装着する
部品のうち最大寸法のものをカバ−するよう、大きくと
ってあるため、形状が単純で小さな部品の場合など、部
品の全景が写り、認識可能な状態になってもまだ鏡の移
動がやまず、また認識を短時間で終えても鏡が長距離の
退避を完了するまでは吸着ノズルの下降を始めることが
できず、作業時間がいたずらに引き延ばされていた。In the component mounting apparatus as described above, the influence of the recognition time on the component mounting time can be reduced, but the movement stroke of the 45 ° reflecting mirror is the maximum size of the components to be mounted. Since it is large to cover objects, even if the shape is simple and the parts are small, the whole view of the parts is visible and the mirror does not move easily even when it is recognizable, and recognition is short. Even if it took time, the suction nozzle could not start descending until the mirror completed the long-distance withdrawal, and the working time was lengthened unnecessarily.
【０００４】[0004]
【課題を解決するための手段】このため本発明では、Ｘ
−Ｙ移動する部品装着部に部品装着ヘッドを取り付け、
その下端に部品吸着及び装着時に下方に進出する吸着ノ
ズルを設ける。そして、この吸着ノズルが上下移動する
空間の４５°反射面に平行な方向に進入または退出する
４５°反射鏡を設け、この４５°反射鏡の進退を、部品
の大きさによって決めた最小のストロークで行い、進入
時に吸着ノズルに吸着された部品の像を水平方向に反射
させる。さらに、この水平反射部品像を直接撮像手段に
取り込むか、あるいは、前記４５°反射鏡に対向する位
置に第２の４５°反射鏡を設けて、垂直上方に反射させ
てから部品像を撮像手段に取り込む。取り込んだ画像の
認識結果に基づいて部品の吸着位置ずれ量を補正し、所
定位置に部品を装着する。Therefore, in the present invention, X
-Install the component mounting head to the component mounting part that moves Y,
A suction nozzle is provided at the lower end of the suction nozzle that advances downward when suctioning and mounting components. A 45 ° reflecting mirror that moves in and out in a direction parallel to the 45 ° reflecting surface of the space in which the suction nozzle moves up and down is provided, and the advance / retreat of the 45 ° reflecting mirror is determined by the minimum stroke determined by the size of the component. Then, the image of the component sucked by the suction nozzle at the time of entry is reflected in the horizontal direction. Further, the image of the horizontally reflected component is directly taken into the image pickup means, or a second 45 ° reflector is provided at a position facing the 45 ° reflector so that the component image is imaged after the component image is reflected vertically upward. Take in. Based on the recognition result of the captured image, the suction position shift amount of the component is corrected, and the component is mounted at a predetermined position.
【０００５】[0005]
【作用】部品装着ヘッドの吸着ノズルに部品を保持し、
部品装着位置へ移動する間に、部品を画像認識すること
ができる。また、吸着ノズルの上下移動軸に対して４５
°に配置された反射鏡が、部品の大きさに応じたストロ
ークで、その４５°の反射面に平行な方向に進退する。[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, with respect to the vertical movement axis of the suction nozzle, 45
The reflecting mirror arranged at 0 ° moves back and forth in a direction parallel to the 45 ° reflecting surface with a stroke according to the size of the component.
【０００６】[0006]
【実施例】本発明部品装着装置の一実施例について、図
に基づき説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the component mounting apparatus of the present invention will be described with reference to the drawings.
【０００７】図１は本発明の部品装着装置の一実施例を
示す概略図である。部品装着装置１は箱型のベース１０
を有し、その上に、Ｘ−Ｙステージ２、部品装着部３、
コンベア部４、第１部品供給部５が配置されている。６
はベース１０の傍らに配置された第２部品供給部であ
り、ベース１０上に設けた部品仮位置決め台７上に部品
を供給する。また、ベース１０には、画像処理手段８、
制御手段９が内蔵されている。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.
【０００８】次に、本発明の主旨である部品装着部３に
ついて詳述する。Next, the component mounting portion 3 which is the gist of the present invention will be described in detail.
【０００９】図２は本発明の部品装着装置の一実施例に
おける部品装着部３の概略正面図である。部品装着部３
は、Ｘ−Ｙステージ２に吊り下げ状態で支持されてお
り、カバー部の中に図２の機構を備えている。３０はＸ
−Ｙステージ２の下面に取り付けた部品装着部の支持板
で、その正面に、装着ヘッド３１を上下運動させる直線
運動ユニット３１１を垂直に取り付ける。直線運動ユニ
ット３１１は、図示しないボールネジ、ボールナット、
直線案内軸受、サーボモータ等からなり、ボールナット
に固定されて上下動するスライダ３１２に、装着ヘッド
３１が取り付けられる。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.
【００１０】装着ヘッド３１は、垂直下向きにスライダ
３１２に取り付けられ、自身の下端に、部品を吸着また
は装着する吸着ノズル３２を保持する。吸着ノズル３２
は上部に正方形の反射板３２１を有し、この反射板３２
１は、自身の中心位置にノズル本体が貫通する形で取り
付けられている。３３は、吸着ノズル３２に吸着された
部品を照らし出す照明部で、その円筒形部材３３１の内
周面に一定間隔を置いてリング状に配置された複数個の
ＬＥＤ３３２を有し、下端には、これらのＬＥＤの光が
後述する４５°反射鏡に直接映らないよう、鍔のついた
円筒形の遮光板３３３を設ける。照明部３３は、吸着ノ
ズル３２の下方に位置し、円筒形部材３３１の中心が、
部品装着ヘッドの中心と同一となるよう支持板３０に固
定されている。そして、円筒形部材３３１及び遮光板３
３３は、部品吸着または装着時、図３に示すように、Ｌ
ＥＤ３３２で囲まれた空間及び遮光板の中空部を、吸着
ノズルと装着ヘッドの一部が通り抜けられる大きさにな
っている。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
Has a square reflector 321 at the top.
No. 1 is attached to the center position of the nozzle 1 so that the nozzle body penetrates the nozzle. Reference numeral 33 denotes an illuminating unit that illuminates the component sucked by the suction nozzle 32, and has a plurality of LEDs 332 arranged in a ring shape at regular intervals on the inner peripheral surface of the cylindrical member 331, and at the lower end thereof. A cylindrical light-shielding plate 333 with a collar is provided so that the light from these LEDs is not directly reflected on the 45 ° reflecting mirror described later. The illumination unit 33 is located below the suction nozzle 32, and the center of the cylindrical member 331 is
It is fixed to the support plate 30 so as to be the same as the center of the component mounting head. Then, the cylindrical member 331 and the light blocking plate 3
33, when the component is sucked or mounted, as shown in FIG.
The suction nozzle and a part of the mounting head pass through the space surrounded by the ED 332 and the hollow portion of the light shielding plate.
【００１１】３４は、吸着ノズルに保持された部品がそ
れぞれの照明部３２内の所定位置で停止したとき、ＬＥ
Ｄ３３２及び反射板３２１によって照らし出された各部
品像を水平方向に反射する、第１の４５°反射鏡であ
る。第１の４５°反射鏡３４は、装着ヘッド３１の上下
移動軸に対して、４５°の角度で直線移動するよう、移
動手段３５に、中継板３４１を介して取り付けられる。Reference numeral 34 indicates LE when the components held by the suction nozzles stop at predetermined positions in their respective illumination units 32.
It is a first 45 ° reflecting mirror that reflects each component image illuminated by the D332 and the reflecting plate 321 in the horizontal direction. The first 45 ° reflecting mirror 34 is attached to the moving means 35 via the relay plate 341 so as to linearly move at an angle of 45 ° with respect to the vertical movement axis of the mounting head 31.
【００１２】移動手段３５は、図示しないタイミングベ
ルト、プーリ、サーボモータと、直線案内軸受３５１及
び、これに沿って直線移動するスライダ３５２とで構成
される。この直線案内軸受３５１は、水平面から上方に
４５°の角度で支持板３０に取り付けて、スライダ３５
２の一部は、前記タイミングベルトの歯と噛み合わせ
る。そして、サーボモータとプーリによってタイミング
ベルトが指定量回転すると、スライダ３５２が、直線案
内軸受３５１に沿って指定量直線移動する。中継板３４
１は、断面Ｌ字型で、スライダ３５２の下側面に一端が
取り付けられ、図２で云う手前側に突出面を有し、この
突出面の上面に、第１の４５°反射鏡３４を固定してい
る。こうして、第１の４５°反射鏡３４を、部品吸着及
び装着時に吸着ノズル３２の上下移動空間から４５°上
方に退避させ、部品認識時に吸着ノズル３２の真下に、
４５°方向から進入させる。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. is doing. 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 component suction and mounting, and immediately below the suction nozzle 32 at the time of component recognition.
Enter from the 45 ° direction.
【００１３】３６は、第１の４５°反射鏡３４が部品認
識位置にあるとき、これと対向する位置に設ける第２の
４５°反射鏡で、支持ブロック３６１を介して支持板３
０に取り付けられ、部品認識時に、第１の４５°反射鏡
３４からの水平反射画像を垂直上方に反射する。Reference numeral 36 denotes a second 45 ° reflecting mirror which is provided at a position facing the first 45 ° reflecting mirror 34 when the first 45 ° reflecting mirror 34 is at the component recognition position.
It is attached to 0 and reflects the horizontally reflected image from the first 45 ° reflecting mirror 34 vertically upward when recognizing a component.
【００１４】３７は、第２の４５°反射鏡３６が垂直に
反射する画像を取り込む撮像手段で、第２の４５°反射
鏡３６の真上に位置するよう支持板３０に垂直下向きに
取り付ける。Reference numeral 37 is an image pickup means for taking in an image vertically reflected by the second 45 ° reflecting mirror 36, and is attached vertically downward to the support plate 30 so as to be located right above the second 45 ° reflecting mirror 36.
【００１５】８は、撮像手段３７が取り込む画像を認識
・処理する画像処理手段で、その処理結果に基づいて、
制御手段９が、部品の吸着位置ずれ量を補正して装着ヘ
ッドのＸ−Ｙ移動量を制御し、基板上の所定位置に部品
を装着させる。また、制御手段９は、装着ヘッドの上下
移動量、すなわち直線運動ユニット３１１におけるスラ
イダ３１２の移動量により、吸着ノズルに保持された部
品の下端が第１の４５°反射鏡３４に衝突しないよう
に、移動手段３５のサーボモータの回転を指令してスラ
イダ３５２を直線移動させ、第１の４５°反射鏡３４
を、部品吸着及び部品装着時に吸着ノズル３２の上下移
動空間から退避させ、部品認識時に吸着ノズルの真下に
進入させる働きをする。この時、制御手段９は、第１の
４５°反射鏡３４の進入及び退避ストロークを、あらか
じめ制御手段９に入力されている部品形状の数値データ
や装着順序プログラムにより、各装着順序の部品につい
て、それぞれ最適の値を設定している。すなわち、吸着
ノズルの中心に部品表面の中心が一致して保持されてい
ると仮定すると、第１の４５°反射鏡３４の進入方向と
平行な方向の部品外形寸法の２分の１をＣＯＳ４５°で
除した値に、吸着ノズル中心直下まで第１の４５°反射
鏡３４の下端が到達するのに必要な移動距離を加えた値
が、その部品に関する第１の４５°反射鏡３４の最適ス
トローク（以下、これを最適ストロークと称する）とな
る。この最適ストロークは、実際には、吸着位置のずれ
を考慮して、前述した算出値より少し大きな値としてい
る。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. Further, 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. , The rotation of the servo motor of the moving means 35 is commanded to linearly move the slider 352, and the first 45 ° reflecting mirror 34 is moved.
Is retracted from the vertically moving space of the suction nozzle 32 at the time of component suction and component mounting, and is made to enter directly below the suction nozzle at the time of component recognition. At this time, the control means 9 determines the entry and exit strokes of the first 45 ° reflecting mirror 34 based on the component shape numerical data and the placement sequence program which are input in advance to the control means 9 for the components in each placement order. The optimum value is set for each. That is, assuming that the center of the surface of the component is held coincident with the center of the suction nozzle, one half of the external dimension of the component in the direction parallel to the entrance direction of the first 45 ° reflecting mirror 34 is COS 45 °. The value obtained by adding the moving distance required for the lower end of the first 45 ° reflecting mirror 34 to reach directly below the suction nozzle center is the optimum stroke of the first 45 ° reflecting mirror 34 for the part. (Hereinafter, this is referred to as an optimum stroke). This optimum stroke is actually set to a value slightly larger than the above-mentioned calculated value in consideration of the shift of the suction position.
【００１６】このような構成を有する本実施例の部品装
着装置の動作について説明する。The operation of the component mounting apparatus of this embodiment having such a configuration will be described.
【００１７】部品を装着しようとする基板Ｐが、コンベ
ア部４上を搬送され、図示しない基板位置決め機構によ
って保持されると、まず、制御手段９は、Ｘ−Ｙステー
ジ２を駆動し、部品装着部３の部品装着ヘッド３１を、
例えば、第２部品供給部６から部品仮位置決め台７上に
供給された部品Ａの真上に停止させる。そして、図示し
ないサーボモータを駆動し、スライダ３１２、すなわち
装着ヘッド３１を下降させる。この時、第１の４５°反
射鏡３４は上昇端にあり（図３に示す）、吸着ノズル３
２の上下移動空間から離れているため、吸着ノズル３２
は部品Ａに到達し、これを吸着保持する。When the substrate P on which a component is to be mounted is conveyed on the conveyor section 4 and held by a substrate positioning mechanism (not shown), the control means 9 first drives the XY stage 2 to mount the component. The component mounting head 31 of the part 3
For example, it stops just above the component A supplied from the second component supply unit 6 onto the temporary component positioning base 7. Then, a servo motor (not shown) is driven to lower the slider 312, that is, the mounting head 31. At this time, the first 45 ° reflecting mirror 34 is at the rising end (shown in FIG. 3), and the suction nozzle 3
The suction nozzle 32 is separated from the vertical movement space of 2.
Reaches the part A and sucks and holds it.
【００１８】部品吸着後、制御手段９は、装着ヘッド３
１を上昇させ、かつ上昇途中の所定位置（吸着保持され
た部品Ａの下端が、４５°方向から進入してくる第１の
４５°反射鏡３４に接触しない位置）に達したとき、移
動手段３５の図示しないサーボモータを、部品Ａの前記
最適ストロークに対応する分回転させる。すると、スラ
イダ３５２が、直線案内軸受３５１に沿って移動し、第
１の４５°反射鏡３４を、吸着ノズルの上下移動空間
に、４５°方向から進出させる。After picking up the components, the control means 9 controls the mounting head 3
1 is moved up and reaches a predetermined position (a position where the lower end of the sucked and held component A does not come into contact with the first 45 ° reflecting mirror 34 entering from the 45 ° direction) while moving up. The servo motor (not shown) 35 is rotated by an amount corresponding to the optimum stroke of the part A. Then, the slider 352 moves along the linear guide bearing 351 to advance the first 45 ° reflecting mirror 34 into the vertically moving space of the suction nozzle from the 45 ° direction.
【００１９】吸着ノズルが部品を認識する高さに達する
と、制御手段９は、装着ヘッド３１の上昇を停止し、図
２に示すように、照明部３３内の所定位置に部品Ａを停
止させる。この時、第１の４５°反射鏡３４は移動途中
であるが、反射鏡が４５°方向から部品Ａの真下に進入
してくるため、移動が停止していなくとも、図２で云う
部品Ａの左端部が、第１の４５°反射鏡３４に写った時
点で、撮像手段３７が部品Ａの裏面像を取り込み、画像
処理手段８に入力を開始できる。すなわち、第１の４５
°反射鏡３４が、その反射面の方向に、反射面と直角の
運動成分を含むことなく移動する限り、部品Ａの裏面と
第１の４５°反射鏡３４との距離は一定であり、撮像手
段３７の焦点距離に部品Ａの裏面があるという位置関係
は反射鏡３４の移動期間中を通じて変わることがない。
第１の４５°反射鏡３４が部品Ａの下に進入して行け
ば、その反射面上に、後に部品Ａの裏面全体像を構成す
べき部分像が次第に大きさを増して現れ、対面している
第２の４５°反射鏡３６にも対応する像が現れ、これが
垂直上方に反射され、撮像手段３７の撮像視野に送り込
まれることになる。部品Ａの全体像を得た時が画像処理
手段８への入力開始時点である。When the suction nozzle reaches the height for recognizing the component, the control means 9 stops the raising of the mounting head 31 and stops the component A at a predetermined position in the illumination section 33 as shown in FIG. . At this time, the first 45-degree reflecting mirror 34 is in the middle of movement, but since the reflecting mirror enters directly below the component A from the 45-degree direction, even if the movement is not stopped, the component A in FIG. When the left end of the image is reflected on the first 45 ° reflecting mirror 34, the image pickup means 37 can capture the back side image of the part A and start inputting to the image processing means 8. That is, the first 45
As long as the 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, and The positional relationship that the back surface of the component A is at the focal length of the means 37 does not change during the movement period of the reflecting mirror 34.
When the first 45 ° reflecting mirror 34 goes under the part A, a partial image that should later form the entire back surface image of the part A gradually appears on the reflecting surface thereof and becomes face-to-face. A corresponding image also appears on the second 45-degree reflecting mirror 36, which is reflected vertically upward and is sent to the imaging visual 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.
【００２０】画像処理手段８が、入力された部品Ａの画
像情報の認識を行っている間に、制御手段９は、Ｘ−Ｙ
ステージ２を駆動し、装着ヘッド３１を、コンベア部４
上に位置決めされた基板Ｐの指定された装着位置に移動
させる。画像処理手段８は、装着ヘッドの移動途中で部
品Ａの画像認識を終え、その認識結果、すなわち部品Ａ
の吸着位置ずれ情報を制御手段９に伝える。そして、制
御手段９は、移動手段３５の図示しないサーボモータ
を、部品Ａの前記最適ストロークに対応する分逆回転さ
せ、スライダ３５２及び第１の４５°反射鏡３４を、４
５°上方に退避させながら、装着ヘッド３１を、前記吸
着位置ずれ量だけ補正して、基板Ｐの装着位置上に停止
させる。こうして、第１の４５°反射鏡３４が、部品Ａ
及び吸着ノズル３２の下降空間から退出してから、吸着
ノズル３２を基板Ｐ上に下降させて、部品Ａを装着す
る。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 unit 9 reversely rotates the servo motor (not shown) of the moving unit 35 by the amount corresponding to the optimum stroke of the component A, and moves the slider 352 and the first 45 ° reflecting mirror 34 to 4 degrees.
While retracting upward by 5 °, the mounting head 31 is corrected by the amount of displacement of the suction position and stopped at the mounting position of the substrate P. Thus, the first 45 ° reflecting mirror 34 is
Then, after the suction nozzle 32 exits from the descending space, the suction nozzle 32 is lowered onto the substrate P to mount the component A.
【００２１】次に、例えば、第１部品供給部５のチップ
部品Ｂを取り上げて、基板Ｐ上に装着する場合、その動
作は前述と同様であるが、図４に示すように、部品Ａよ
り部品Ｂの外形が小さいため、第１の４５°反射鏡３４
の部品Ｂに関する最適ストロークも、部品Ａのものより
小さくなる。Next, for example, when the chip component B of the first component supply unit 5 is picked up and mounted on the substrate P, its operation is the same as that described above, but as shown in FIG. Since the outer shape of the part B is small, the first 45 ° reflecting mirror 34
The optimum stroke for the part B is also smaller than that for the part A.
【００２２】[0022]
【発明の効果】このように本発明の部品装着装置によ
り、吸着ノズルの上下移動軸に対し４５°の角度に配置
された反射鏡が、その４５°の反射面に平行に進入する
ため、４５°反射鏡の移動停止を待たずとも、部品の全
体像が写し出された時点で画像の取り込みを開始でき、
自身に備えた撮像手段により、移動中に部品認識を行う
部品装着部であっても、部品認識時間が装着時間に与え
る影響を軽減できる。また、４５°反射鏡の移動ストロ
ークが、吸着された部品の大きさに対応した、部品認識
に必要最小限の値であるため、４５°反射鏡の移動時間
が装着時間に与える影響を軽減できる。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, since the movement stroke of the 45 ° reflecting mirror is the minimum value necessary for component recognition corresponding to the size of the sucked component, it is possible to reduce the influence of the moving time of the 45 ° reflecting mirror on the mounting time. ..
【図１】本発明部品装着装置の一実施例の構成を示す概
略斜視図である。FIG. 1 is a schematic perspective view showing the configuration of an embodiment of a component mounting device of the present invention.
【図２】本実施例における部品装着部の構成を示す概略
正面図である。FIG. 2 is a schematic front view showing a configuration of a component mounting portion in the present embodiment.
【図３】本実施例における部品装着部の動作を説明する
概略正面図である。FIG. 3 is a schematic front view for explaining the operation of the component mounting portion in the present embodiment.
【図４】本実施例における部品装着部が、図２、３と異
なる部品を認識する場合の動作を説明する概略正面図で
ある。FIG. 4 is a schematic front view for explaining the operation when the component mounting unit according to the present embodiment recognizes a component different from those in FIGS.
１ 部品装着装置 ２ Ｘ−Ｙステージ ３ 部品装着部 ３１ 部品装着ヘッド ３２ 吸着ノズル ３３ 照明部 ３４ 第１の４５°反射鏡 ３５ 移動手段 ３６ 第２の４５°反射鏡 ３７ 撮像手段 ８ 画像処理手段 ９ 制御手段 Ａ，Ｂ 部品 Ｐ 基板 DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 2 XY stage 3 Component mounting part 31 Component mounting head 32 Adsorption nozzle 33 Illumination part 34 1st 45 degree reflecting mirror 35 Moving means 36 2nd 45 degree reflecting mirror 37 Imaging means 8 Image processing means 9 Control means A, B parts P substrate
Claims (2)
装着ヘッドで部品を吸着し、吸着された部品の保持状態
を画像認識して吸着位置ずれを検知し、そのずれ量を補
正して部品を基板上の所定位置に装着する装置であっ
て、 部品装着ヘッドの下端に設け部品吸着及び装着時に下方
に進出する、吸着ノズルの上下移動空間に、その４５°
の反射面に平行な方向に進入または退出し、進入時には
吸着ノズルに吸着された部品の像を水平方向に反射させ
る４５°反射鏡と、 前記４５°反射鏡を、その反射面に平行な方向への移動
により、部品吸着及び装着時に吸着ノズルの上下移動空
間から退避させ、部品の画像認識時に吸着ノズルの真下
に進入させる移動手段と、 前記水平反射部品像を取り込む撮像手段と、 前記撮像手段が取り込んだ部品画像を処理する画像処理
手段と、 前記移動手段によって与えられる移動量を、吸着ノズル
に吸着された部品の大きさに対応して決定し、部品毎に
決めた最小の移動量で４５°反射鏡を進退させ、かつ前
記画像処理手段の処理結果に基づき、部品の吸着位置ず
れ量を補正制御する制御手段とを備えることを特徴とす
る部品装着装置。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.
A 45 ° reflecting mirror that moves in or out in a direction parallel to the reflecting surface of the device, and horizontally reflects the image of the component sucked by the sucking nozzle at the time of entering, and the 45 ° reflecting mirror is a direction parallel to the reflecting face. Moving means for retracting from the vertical movement space of the suction nozzle at the time of component suction and mounting and advancing directly below the suction nozzle at the time of image recognition of the component, image capturing means for capturing the horizontal reflection component image, and the image capturing means. Image processing means for processing the component image captured by, and the movement amount given by the moving means is determined in accordance with the size of the component sucked by the suction nozzle, and is the minimum movement amount determined for each component. A component mounting apparatus, comprising: a control unit that advances and retracts a 45 ° reflecting mirror and corrects and controls a suction position displacement amount of a component based on a processing result of the image processing unit.
装着ヘッドで部品を吸着し、吸着された部品の保持状態
を画像認識して吸着位置ずれを検知し、そのずれ量を補
正して部品を基板上の所定位置に装着する装置であっ
て、 部品装着ヘッドの下端に設け部品吸着及び装着時に下方
に進出する、吸着ノズルの上下移動空間に、その４５°
の反射面に平行な方向に進入または退出し、進入時には
吸着ノズルに吸着された部品の像を水平方向に反射させ
る第１の４５°反射鏡と、 前記４５°反射鏡を、その反射面に平行な方向への移動
により、部品吸着及び装着時に吸着ノズルの上下移動空
間から退避させ、部品の画像認識時に吸着ノズルの真下
に進入させる移動手段と、 吸着ノズルの真下に進入した時の前記第１の４５°反射
鏡に対向し、前記水平反射部品像を垂直上方に反射させ
る第２の４５°反射鏡と、 前記垂直反射部品像を取り込む撮像手段と、 前記撮像手段が取り込んだ部品画像を処理する画像処理
手段と、 前記移動手段によって与えられる移動量を、吸着ノズル
に吸着された部品の大きさに対応して決定し、部品毎に
決めた最小の移動量で４５°反射鏡を進退させ、かつ前
記画像処理手段の処理結果に基づき、部品の吸着位置ず
れ量を補正制御する制御手段とを備えることを特徴とす
る部品装着装置。2. 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 for reflecting the image of the component sucked by the suction nozzle in the horizontal direction when entering or leaving in the direction parallel to the reflecting surface of the By moving in a parallel direction, the moving means is retracted from the vertical movement space of the suction nozzle at the time of suctioning and mounting the component, and is moved directly below the suction nozzle when recognizing the image of the component; A second 45 ° reflecting mirror that faces the 45 ° reflecting mirror of No. 1 and reflects the horizontal reflecting component image vertically upward; an image capturing unit that captures the vertical reflecting component image; and a component image captured by the image capturing unit. The image processing means for processing and the moving amount given by the moving means are determined in accordance with the size of the component sucked by the suction nozzle, and the 45 ° reflecting mirror is moved back and forth with the minimum moving amount determined for each component. Let Based on said processing results of the image processing unit, the component mounting apparatus characterized by comprising a control means for correcting control of the pickup position shift amount of the components.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3340904A JP2664576B2 (en) | 1991-12-24 | 1991-12-24 | Component mounting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3340904A JP2664576B2 (en) | 1991-12-24 | 1991-12-24 | Component mounting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05175697A true JPH05175697A (en) | 1993-07-13 |
| JP2664576B2 JP2664576B2 (en) | 1997-10-15 |
Family
ID=18341382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3340904A Expired - Fee Related JP2664576B2 (en) | 1991-12-24 | 1991-12-24 | Component mounting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2664576B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0994646A1 (en) * | 1998-10-13 | 2000-04-19 | Yamagata Casio Co., Ltd. | Illumination for use in electronic component mounting apparatus |
-
1991
- 1991-12-24 JP JP3340904A patent/JP2664576B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0994646A1 (en) * | 1998-10-13 | 2000-04-19 | Yamagata Casio Co., Ltd. | Illumination for use in electronic component mounting apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2664576B2 (en) | 1997-10-15 |
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| LAPS | Cancellation because of no payment of annual fees |