WO2015019487A1 - 実装装置及び部品検出方法 - Google Patents
実装装置及び部品検出方法 Download PDFInfo
- Publication number
- WO2015019487A1 WO2015019487A1 PCT/JP2013/071639 JP2013071639W WO2015019487A1 WO 2015019487 A1 WO2015019487 A1 WO 2015019487A1 JP 2013071639 W JP2013071639 W JP 2013071639W WO 2015019487 A1 WO2015019487 A1 WO 2015019487A1
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- component
- mounting
- mounting head
- reference mark
- image data
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
- H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
Definitions
- the present invention relates to a mounting apparatus and a component detection method.
- a detected part is provided at a position where an image is picked up simultaneously with a part sucked by a suction nozzle, and a relative positional relationship between the rotation center of the suction nozzle and the detected part is detected in advance, and the sucked part And the detected part are simultaneously captured, and a position shift of the center of the component is acquired based on the previous relative positional relationship (for example, see Patent Document 1).
- this apparatus it is possible to improve the detection accuracy of the positional deviation of the component with respect to the rotation center of the suction nozzle.
- the present invention has been made in view of such a problem, and a main object of the present invention is to provide a mounting device and a component detection method capable of more efficiently detecting a holding state of a moving component.
- the present invention adopts the following means in order to achieve the main object described above.
- the mounting apparatus of the present invention is A mounting device for mounting one or more components on a substrate, A mounting head having a reference mark to hold the component and move it onto the substrate; An imaging unit for imaging the mounting head; Setting means for setting a processing region including the component based on the position of the reference mark in the image data captured by the imaging unit of the component held by the mounting head that is moving and the reference mark; Detection means for processing the image data of the set processing area and detecting the state of the component held by the mounting head; It is equipped with.
- the mounting apparatus sets a processing area including a component based on the position of the reference mark among image data obtained by imaging the component and the reference mark held by the moving mounting head, and the image data of the set processing area To detect the state of the component held by the mounting head.
- the mounting head position may be displaced. For this reason, it may be necessary to expand the processing area in which the components are included in the captured image data to an area that takes into account the amount of positional deviation of the mounting head.
- the reference mark of the mounting head is used as a reference first, the processing area that will contain the components in the image can be made a smaller area that does not consider the amount of positional deviation of the mounting head. Therefore, in this mounting apparatus, the holding state of the moving component can be detected more efficiently.
- the setting means may set the processing area in consideration of the component size and the positional deviation amount of the component. This is preferable because the processing area can be made narrower.
- the positional deviation amount of the component added to the processing region may be a value obtained empirically.
- the imaging unit transfers the image data of the set processing region in the captured image data to the detection unit, and the detection unit transfers the image data of the transferred processing region. It is good also as what processes. In this way, since the amount of transfer data can be further reduced as compared with the case where all the captured image data is transferred, the holding state of the moving component can be detected more efficiently.
- the mounting head may hold a plurality of components
- the setting means may set a plurality of processing areas corresponding to the components. Since a mounting head that holds a plurality of components has more processing areas, it is highly meaningful to apply the present invention to efficiently detect the holding state of components. In addition, for example, if processing regions including components overlap, it may not be possible to detect the state of the component held by the mounting head. In the present invention, since the respective processing areas can be reduced, it is possible to further suppress the overlapping of the processing areas of the respective parts, and to detect the holding state of the parts. The component holding state can be detected even for larger components.
- the mounting head may hold a plurality of parts on the circumference and have the reference mark at the center of the circumference. In this way, since the component and the reference mark can be easily photographed in the same image, the holding state of the moving component can be detected more reliably.
- the mounting head may have the reference mark including detection points arranged on a rectangle. In this way, the reference position can be obtained more reliably, and as a result, the holding state of the moving component can be detected more reliably.
- the mounting head is moved in a state where the component is held, and the component held on the moving mounting head and the reference mark are moved within the imaging range of the imaging unit.
- Control means for causing the image pickup unit to pick up an image may be provided.
- the setting unit detects the reference mark for a predetermined area smaller than the area of the image data, and sets the processing area based on the position of the detected reference mark. It is good also as what to do. In this way, the reference mark can be detected more efficiently than the case where the reference mark is detected for the entire image data.
- the reference mark is formed at a central portion of the plurality of held parts, and the setting means detects the reference mark with respect to a predetermined central region smaller than the image data region. It may be done.
- the component detection method of the present invention includes: A mounting head having a reference mark and holding the component and moving the component onto the substrate; and an imaging unit that images the component held by the mounting head and the reference mark; and mounting one or more components on the substrate
- a component detection method for a mounting apparatus (A) setting a processing area including the component based on the position of the reference mark in the image data captured by the imaging unit of the component held by the mounting head in motion and the reference mark; (B) processing the image data of the set processing area to detect the state of the component held by the mounting head; Is included.
- the reference mark of the mounting head is used as a reference first, so that the processing region that would contain the component is a smaller region that does not consider the amount of positional deviation of the mounting head. Can be. Therefore, the holding state of the moving component can be detected more efficiently.
- various aspects of the mounting apparatus described above may be adopted, and steps for realizing each function of the mounting apparatus described above may be added.
- FIG. 1 is a schematic explanatory diagram of a component mounting system 10.
- FIG. The perspective view of the mounting apparatus 11.
- FIG. Explanatory drawing which looked at the nozzle holding body 42 from the downward direction.
- the block diagram showing the electrical connection relation of the mounting apparatus.
- the flowchart which shows an example of a mounting process routine.
- Explanatory drawing of the captured image 90 which imaged the moving nozzle holding body 42.
- FIG. Explanatory drawing of the process area
- FIG. 1 is a schematic explanatory diagram of a component mounting system 10.
- FIG. 2 is a perspective view of the mounting apparatus 11.
- 3A and 3B are explanatory views of the nozzle holding body 42 as viewed from below, in which FIG. 3A is an illustration without holding the component P and FIG. 3B is an illustration with holding the component P.
- FIG. FIG. 4 is a block diagram showing an electrical connection relationship of the mounting apparatus 11.
- the left-right direction (X-axis), the front-rear direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIGS.
- the mounting process includes a process of placing, mounting, inserting, joining, and bonding components on a substrate.
- the component mounting system 10 includes a mounting machine 11 configured as a mounting line, and a management computer 80 that manages information on components to be mounted.
- a plurality of mounting apparatuses 11 that respectively perform a mounting process for mounting an electronic component (hereinafter referred to as “component P”) on a substrate S are arranged from upstream to downstream.
- the plurality of mounting apparatuses 11 have the same configuration.
- the mounting apparatus 11 includes a base 12, a mounting machine main body 14 installed on the base 12, and a reel unit 56 to which a reel 57 that houses a component P is mounted. I have.
- the base 12 is a heavy object formed in a rectangular parallelepiped, and casters (not shown) are attached to the four corners of the back surface.
- the mounting machine main body 14 is installed to be replaceable with respect to the base 12.
- the mounting machine body 14 includes a substrate transport device 18 that transports the substrate S, a mounting head 24 that can move in the XY plane, a suction nozzle 40 that is attached to the mounting head 24 and can move in the Z-axis direction, and a suction nozzle 40.
- a camera unit 60 that captures an image of the component P adsorbed on the nozzle, a nozzle stocker 55 that stocks a plurality of types of adsorption nozzles 40 that can be attached to the mounting head 24, and a control device 70 (see FIG. 4) that performs various controls. I have.
- the substrate transport device 18 is provided with support plates 20 and 20 provided at intervals in the front and rear direction of FIG. 2 and extending in the left-right direction, and conveyor belts 22 and 22 provided on the mutually opposing surfaces of the support plates 20 and 20 (FIG. 2 shows only one of them).
- the conveyor belts 22 and 22 are stretched over the drive wheels and the driven wheels provided on the left and right sides of the support plates 20 and 20 so as to be endless.
- substrate S is mounted on the upper surface of a pair of conveyor belts 22 and 22, and is conveyed from the left to the right.
- the substrate S is supported by a large number of support pins 23 erected on the back side.
- the mounting head 24 holds (sucks) the component P and moves it onto the substrate S, and is mounted on the front surface of the X-axis slider 26.
- the X-axis slider 26 is attached to the front surface of the Y-axis slider 30 that can slide in the front-rear direction so as to be slidable in the left-right direction.
- the Y-axis slider 30 is slidably attached to a pair of left and right guide rails 32, 32 extending in the front-rear direction.
- the guide rails 32 and 32 are fixed inside the mounting apparatus 11.
- a pair of upper and lower guide rails 28, 28 extending in the left-right direction are provided on the front surface of the Y-axis slider 30, and the X-axis slider 26 is attached to the guide rails 28, 28 so as to be slidable in the left-right direction.
- the mounting head 24 moves in the left-right direction as the X-axis slider 26 moves in the left-right direction, and moves in the front-rear direction as the Y-axis slider 30 moves in the front-rear direction.
- Each slider 26, 30 is driven by a drive motor.
- the mounting head 24 has a head body 41 that is detachably mounted on the X-axis slider 26 as shown in FIG.
- a nozzle holder 42 is supported on the head body 41 so as to be intermittently rotatable, and is intermittently rotated by a rotating device using a motor 43 as a drive source.
- a plurality of nozzle holders 44 are movably held on the circumference of the nozzle holder 42, and suction nozzles 40 for sucking components are detachably mounted on these nozzle holders 44.
- the nozzle holder 44 positioned at a predetermined angular position by intermittent rotation of the nozzle holder 42 is moved in the Z-axis direction (vertical direction) perpendicular to the X-axis and Y-axis directions by a holder lifting device using a Z-axis motor 46 as a drive source.
- the component P is sucked by the suction nozzle 40, and the component P can be mounted on the substrate S.
- the nozzle holder 44 is rotated (rotated) by a holder rotating device using a motor 47 as a drive source, and the angle of the component P sucked by the suction nozzle 40 can be adjusted.
- the mounting head 24 has a reference mark 50 used for detecting the position of the mounting head 24 on the lower surface that can be imaged by the camera unit 60.
- a plurality (eight in this case) of suction nozzles 40 are mounted on the circumference of the nozzle holder 42, and a plurality of components P are sucked on the circumference.
- a reference mark 50 is provided in the central portion of each.
- the reference mark 50 is formed at the center of the mounting head 24 that can be viewed from below even when each suction nozzle 40 sucks the component P.
- the reference mark 50 includes four detection points arranged on a rectangle. Further, the reference mark 50 is formed in a color (for example, red) different from the surrounding members, so that detection by image processing is easy.
- the adsorption nozzle 40 uses pressure to adsorb a component to the nozzle tip or to release a component adsorbed to the nozzle tip.
- the suction nozzle 40 is connected to one of a vacuum pump and an air pipe via a solenoid valve.
- the solenoid valve When the solenoid valve is controlled so that the vacuum pump and the suction nozzle 40 communicate with each other, the suction nozzle 40 has a negative pressure inside and sucks the component P at the tip.
- the solenoid valve is controlled so that the air pipe and the suction nozzle 40 communicate with each other, the suction nozzle 40 has a positive pressure inside and releases the component P sucked at the tip.
- the camera unit 60 is a unit that images the component P adsorbed by the mounting head 24 and the reference mark 50 included in the mounting head 24, and is in front of the support plate 20 on the front side of the substrate transport apparatus 18. Is arranged.
- the imaging range of the camera unit 60 is above the camera unit 60.
- the camera unit 60 includes an illumination unit 61 that irradiates light to the component P attracted by the mounting head 24 and an illumination control unit 62 that controls the illumination unit 61.
- the camera unit 60 includes an image sensor 63 that generates charges by receiving light and outputs the generated charges, and an image processing unit 64 that generates image data based on the charges input from the image sensor 63.
- the image sensor 63 may be a CCD, but is preferably a CMOS. This is because part of the image is easy to transfer.
- the image processing unit 64 executes processing for transferring, to the control device 70, image data in a processing area set by an area setting unit 77, which will be described in detail later, among the captured image data.
- the suction nozzle 40 that sucks the component P passes above the camera unit 60
- the camera unit 60 images the component P and the reference mark 50 sucked by the suction nozzle 40 and controls a part of the imaging result to the control device 70. Output to.
- the control device 70 is configured as a microprocessor centered on a CPU 71, and includes a ROM 72 that stores processing programs, an HDD 73 that stores various data, a RAM 74 that is used as a work area, an external device and an electrical device. An input / output interface 75 for exchanging signals is provided, and these are connected via a bus.
- the control device 70 outputs drive signals to the substrate transport device 18, the drive motors of the X-axis slider 26 and the Y-axis slider 30, the Z-axis motor 34 of the mounting head 24, and the electromagnetic valve, and outputs image pickup signals to the camera unit 60. To do.
- the control device 70 inputs an image signal from the camera unit 60.
- the control device 70 is connected to the reel unit 56, the camera unit 60, and the management computer 80 so as to be capable of bidirectional communication.
- Each slider 26, 30 is equipped with a position sensor (not shown), and the control device 70 controls the drive motor of each slider 26, 30 while inputting position information from these position sensors.
- the control device 70 includes a mounting control unit 76, a region setting unit 77, a detection unit 78, a determination unit 79, and an imaging control unit 65 as functional blocks.
- the mounting control unit 76 executes a process of mounting the component P based on mounting condition information including conditions such as the size and arrangement position of each component P. Further, the mounting control unit 76 manages the position (XY coordinates) of the mounting head 24 by acquiring position information of the drive motor shafts of the X-axis slider 26 and the Y-axis slider 30.
- the mounting condition information includes, for example, information such as the shape and size of the component and the arrangement position on the substrate S, and is managed by the management computer 80.
- the area setting unit 77 is based on the position of the reference mark 50 among the image data obtained by the camera unit 60 capturing one or more components P and the reference mark 50 that are attracted to the mounting head 24 that is moving.
- region containing the components P in is performed.
- the region setting unit 77 sets a plurality of processing regions corresponding to each component P when the plurality of components P are attracted to the respective suction nozzles 40.
- the area setting unit 77 sets a processing area in consideration of the size of the part P and the positional deviation amount of the part P.
- the detection unit 78 executes processing for processing the image data of the set processing area and detecting the state of the component P sucked to the mounting head 24.
- the detection unit 78 uses the image of the mounting head 24 when no component is mounted as a reference, and the shift amount of the component P sucked by the suction nozzle 40 due to the difference between the center position of the component P and the center position of the suction nozzle 40. And processing for detecting the suction angle.
- the detection unit 78 detects the suction state of the component P on the mounting head 24 based on the captured image.
- the determination unit 79 mounts the adsorbed component based on whether or not the detected deviation amount is larger than a threshold value determined empirically in advance or whether the shape of the component is different from a reference value. A process for determining whether or not to use is used.
- the imaging control unit 65 executes a process of outputting a signal that causes the camera unit 60 to image the component P and the reference mark 50 adsorbed by the mounting head 24 that is moving within the imaging range of the camera unit 60. For example, the imaging control unit 65 acquires the position of the mounting head 24 managed in units of control cycles of the drive motor shafts of the X-axis slider 26 and the Y-axis slider 30, and the acquired position is an upper position of the camera unit 60. When it is, the imaging signal is output.
- the management computer 80 is a computer that manages information on a plurality of mounting apparatuses 11, and includes a controller that is configured by a CPU, a ROM, a RAM, and the like to control the entire apparatus, and a communication unit that communicates with external devices such as the mounting apparatus 11. And a storage unit for storing various application programs and various data files.
- the management computer 80 stores the mounting condition information in the storage unit, and transmits the mounting condition information to the mounting apparatus 11 in response to a request from the mounting apparatus 11 or the like.
- FIG. 5 is a flowchart illustrating an example of a mounting process routine executed by the CPU 71 of the control device 70.
- This routine is stored in the HDD 73 of the control device 70, and is executed by a start instruction from the operator.
- This routine is executed by the CPU 71 using, for example, the functions of the imaging control unit 65, the mounting control unit 76, the region setting unit 77, the detection unit 78, and the determination unit 79, which are each functional block of the control device 70, and each unit. It shall be.
- the CPU 71 of the control device 70 first acquires the mounting condition information from the management computer 80 and stores it in the HDD 73 (step S100). Next, the CPU 71 attaches the nozzle holding body 42 to the mounting head 24 and attaches the suction nozzle 40 to the nozzle holding body 42, and images the mounting head 24 not sucking the component P by the camera unit 60. As a reference image (step S110).
- the captured reference image is the same as that shown in FIG. 3A, for example, but the relative positional relationship (for example, coordinates) between the reference mark 50 and each suction nozzle 40 is grasped from this image. be able to.
- the CPU 71 executes the conveyance and fixing process of the substrate S (step S120), and sets the component P to be mounted on the substrate S based on the contents of the mounting condition information (step S130). It is assumed that a predetermined order for mounting the parts P is stored in the mounting condition information.
- the CPU 71 performs suction and movement processing of the set component P (step S140). In the suction process, the CPU 71 performs a process of moving the mounting head 24 to the take-out position of the reel unit 56 in which the corresponding part is stored, and lowering the suction nozzle 40 to suck the part P onto the suction nozzle 40. In this suction process, one or more components may be sucked to the mounting head 24. In the moving process, the CPU 71 performs a process of moving the mounting head 24 that has attracted the component P to the mounting position of the substrate S through the upper part of the camera unit 60.
- the CPU 71 determines whether or not it is the imaging timing based on whether or not the component P attracted to the mounting head 24 is above the camera unit 60 (step S150). This determination can be made based on whether or not the coordinates of the mounting head 24 managed by the mounting control unit 76 are located above the camera unit 60 (imaging coordinates). When it is not the imaging timing, the CPU 71 moves the mounting head 24 as it is. On the other hand, when the imaging timing is reached, the CPU 71 outputs an imaging signal for causing the camera unit 60 to perform imaging (step S160). The camera unit 60 that has received the imaging signal executes an imaging process for the image.
- the camera unit 60 images the mounting head 24 that has moved to the mounting position, so that, for example, the imaging process can be performed in a shorter time than when the mounting head 24 is temporarily stopped for imaging. .
- the CPU 71 executes a process for detecting the reference mark 50 included in the captured image data (step S170).
- the detection of the reference mark 50 can be performed, for example, by determining whether or not there is a pixel corresponding to the color of the reference mark 50 with respect to the central region of the image.
- the mounting apparatus 11 is set to perform imaging when the mounting head 24 (that is, the reference mark 50) is substantially in the center region.
- the detection of the fiducial mark 50 is performed on a predetermined central area smaller than the area of the image data (see the central area 95 in FIG. 6 described later). In this way, the reference mark 50 can be detected more efficiently than the case where the reference mark 50 is detected for the entire image data.
- FIG. 6 is an explanatory diagram of a captured image 90 obtained by capturing the moving nozzle holder 42.
- FIG. 7 is an explanatory diagram of a processing area 91 that takes into account the amount of adsorption deviation and an enlarged area 92 that takes into account the capture position deviation in the captured image 90.
- the CPU 71 uses the positional relationship between the coordinates of the reference mark 50 of the reference image and the coordinates of the central axis of the suction nozzle 40, and this positional relationship with respect to the coordinates of the reference mark 50 included in the image data captured this time. Is set to the coordinates of the position of the suction nozzle 40.
- the coordinates of the central axis of the suction nozzle 40 are set for the plurality of suction nozzles 40.
- the coordinates of the reference mark 50 for example, the coordinate values of four detection points may be used, respectively, and the intersection (center coordinate) of two diagonal lines connecting the four detection points is calculated and used. May be. As illustrated in FIG.
- the CPU 71 sets a processing area in which the coordinate of the axis center of the suction nozzle 40 matches the center coordinate of the processing area. Further, this processing area is an area where the part P will be present in the image data, and is set as an area larger than the area of the part P in consideration of the part size and the amount of suction position deviation of the part. Yes.
- the positional deviation of the component P will be described.
- the component P when picking up the component P, the component P is displaced from the center of the suction nozzle 40 and the center of the component P due to the influence of the accommodation position on the tape, or the component P rotates at a predetermined angle. It is sucked by the suction nozzle 40 with a shift in the suction position. Therefore, in the image processing for grasping the suction state of the component P, it is necessary to detect the presence / absence of the component P in the region (processing region 91) in consideration of the size of the component P and the suction position deviation amount. .
- the mounting apparatus 11 manages the position of the mounting head 24 based on the positions of the drive motor shafts of the X-axis slider 26 and the Y-axis slider 30. Further, the camera unit 60 instantaneously performs imaging processing when the mounting head 24 passes on predetermined imaging coordinates. However, the mounting apparatus 11 can grasp the position of the mounting head 24 only in the control cycle unit of the drive motor shaft. Therefore, as shown by the dotted line in FIG. 6, the captured image 90 may be shifted by one control cycle at the maximum in the position of the mounting head 24.
- this deviation amount (hereinafter also referred to as “take-in position deviation amount”) is 0.75 mm at the maximum.
- the component P which is becoming smaller, shows a large value that cannot be ignored.
- the region of the component P is compared with the region (enlarged region 92) that takes into account the amount of the capture position deviation larger than the processing region 91. The presence or absence must be detected.
- the mounting head 24 cannot arrange the high-density suction nozzles 40, or the suction nozzles 40 that cannot suck the components P due to the overlap of the enlarged regions 92 are generated. For this reason, in the mounting apparatus, the processing time of the mounting process becomes longer, and the efficiency may decrease.
- the reference mark 50 is provided on the mounting head 24, and the reference mark 50 is detected to grasp the position of the mounting head 24.
- the smaller processing area 91 is set. In this way, it is possible to grasp the suction state during movement even for a larger part.
- the CPU 71 acquires image data of the set processing area (step S190).
- the CPU 71 acquires the image data of the processing area from the entire image data by being transferred from the image processing unit 64 of the camera unit 60.
- the CPU 71 performs image processing on the image data of the processing area, and detects the state of the component, specifically, the amount of displacement of the component (step S200).
- a method for detecting the amount of component displacement will be described below.
- the control device 70 determines whether each pixel of the image data in the processing area is a pixel corresponding to the part P, and detects an area corresponding to the part P.
- the CPU 71 detects the center position of the processing region (that is, the axis center of the suction nozzle 40) and the center position of the sucked part P, and obtains the distance between the detected center positions as a deviation amount. At this time, the CPU 71 may obtain the rotation angle of the component P from the inclination of the shape of the component P with respect to the normal suction position. In this way, the amount of deviation from the nozzle center of the component P sucked by the suction nozzle 40 can be obtained. Although omitted in this flowchart for convenience of explanation, the CPU 71 determines that the detected deviation amount is larger than a threshold value that is empirically determined in advance or the shape of the component P is different from the reference value. The sucked component P is processed as not being used for the mounting process.
- the CPU 71 executes a process of mounting (arranging) the component P at the position where the detected deviation amount is corrected (step S210). At this time, when the component P is adsorbed in a rotated state, the CPU 71 rotates the nozzle holder 44 so as to correct it. When the component P is mounted, the CPU 71 determines whether or not the mounting process by the current board mounting apparatus 11 has been completed (step S220), and if the current board mounting process has not been completed, the process after step S130 is performed. Execute.
- the CPU 71 sets a component P to be mounted next, causes the component P to be attracted to the suction nozzle 40, and sets a processing area 91 including the component P in the captured image 90 based on the position of the reference mark 50.
- the CPU 71 examines the inside of the processing area 91 to detect the positional deviation amount of the component P and the like, and repeatedly executes a process of arranging the component P at a position where the positional deviation amount is corrected.
- the CPU 71 performs the discharging process of the board S that has been mounted (step S230), and whether the mounting process has been performed for all the boards S or not. A determination is made based on whether or not (step S240).
- the CPU 71 repeatedly executes the processes after step S120, and when the mounting process has been performed for all the substrates S, the routine is terminated as it is.
- the mounting head 24 of this embodiment corresponds to a mounting head
- the camera unit 60 corresponds to an imaging unit
- the area setting unit 77 corresponds to a setting unit
- the detection unit 78 corresponds to a detection unit.
- the processing region including the component P based on the position of the reference mark 50 in the captured image 90 obtained by capturing the component P held (adsorbed) on the moving mounting head 24 and the reference mark 50. 91 is set, and the image data of the set processing area 91 is processed to detect the state of the component P attracted to the mounting head 24.
- the processing area 91 that is considered to include the component P in the captured image data may need to be expanded to an area that takes into account the positional deviation amount of the mounting head 24.
- the mounting apparatus 11 since it is possible to grasp the position of the mounting head 24 without any deviation with reference to the reference mark 50 of the mounting head 24, the processing area 91 that will contain the component P in the image is defined as the mounting head. It is possible to make the area smaller without considering the amount of positional deviation of 24. Therefore, the mounting apparatus 11 of the present embodiment can more efficiently detect the holding (suction) state of the moving component P. In addition, when the mounting apparatus 11 detects the suction state of the component P, it is possible to shorten the image processing time for detecting the component P more particularly. Furthermore, since the mounting apparatus 11 sets the region including the component P attracted to the mounting head 24 after grasping the position of the mounting head 24, the suction state of the component P can be detected more reliably.
- the mounting apparatus 11 sets the processing region 91 that takes into account the component size and the amount of positional deviation of the component, the processing region 91 can be set to a narrower range, which is preferable. Further, the mounting apparatus 11 transfers the image data of the set processing area 91 among the captured image data, and processes all the captured image data in order to process the transferred image data of the processing area 91. In comparison, the amount of transferred data can be further reduced, and the suction state of the moving component P can be detected more efficiently. That is, the mounting apparatus 11 can further shorten the processing time.
- the mounting head 24 sucks a plurality of components P and sets a plurality of processing areas 91 corresponding to the components P, that is, has more processing areas, so that the suction state of the parts P is more efficient. Therefore, it is highly significant to apply the present invention to the detection.
- the state of the component held by the mounting head such as accompanied by erroneous detection.
- each processing area 91 can be made small, it is possible to further suppress the overlapping of the processing areas of the components, and it is possible to detect the suction state of the components. And the adsorption
- the mounting head 24 holds a plurality of components P on the circumference and has a reference mark 50 at the center of the circumference, so that the component P and the reference mark 50 can be easily photographed in the same image.
- the suction state of the moving component P can be detected more reliably.
- the mounting head has the reference marks 50 including the detection points arranged on the rectangle, the reference position can be obtained more reliably, and as a result, the suction state of the component P can be detected more reliably. it can.
- the reference mark 50 is detected for the central area 95 smaller than the area of the image data, the reference mark 50 can be detected as compared with the case where the reference mark 50 is detected for the entire image data. Detection can be performed more efficiently.
- the camera unit 60 transfers only the image data of the set processing area.
- the present invention is not limited to this, and the entire image data may be transferred. Even in this case, since the smaller processing area 91 is used for the image processing for detecting the component P, the processing time can be further shortened.
- the mounting head 24 has been described as picking up a plurality of components P.
- the present invention is not particularly limited to this, and a single component P may be picked up. Even in this case, since the smaller processing area 91 is used for the image processing for detecting the component P, the suction state of the moving component P can be detected more efficiently.
- the present invention is not particularly limited to this.
- the reference mark 50 may be formed at any position as long as it can be imaged by the camera unit 60 together with the sucked component P.
- the mounting head may adsorb a plurality of components P on the circumference, and the reference mark may be formed outside the circumference.
- the mounting head may adsorb a plurality of components P on a rectangle, and the reference mark 50 may be formed at the center or outside of the rectangle.
- the mounting head 24 has the reference mark 50 including the detection points arranged on the rectangle.
- the mounting head 24 is not particularly limited as long as the position of the mounting head 24 can be grasped.
- one or more detection points may be included.
- the reference mark may include a detection point arranged on a triangle when the number of detection points is three, or the detection point arranged on the triangle and arranged at the center when the number of detection points is four. It may be included.
- the reference mark may be arranged on a rectangle and include a detection point at the center, or may include detection points arranged on a pentagon.
- the reference mark 50 including the detection point is used.
- the shape of the reference mark 50 is not limited to the detection point, and may be a rectangular or polygonal region.
- the detection point of the reference mark 50 is red, for example, blue, white, black, mirror surface, or the like may be easily distinguished.
- the reference mark is detected for the central area 95 smaller than the area of the image data.
- the present invention is not limited to this.
- the control device 70 detects the reference mark 50 in the predetermined area that will include the detection point at the upper left.
- the reference mark may be detected.
- the positional relationship (coordinates, etc.) of each detection point of the reference mark 50 is known, after detecting one detection point, the region that will include the detection points on the upper right, lower left, and lower right Thus, the reference mark may be detected.
- control device 70 performs the reference mark detection process for a narrower region, and thus can more efficiently detect the suction state of the component P.
- control device 70 may detect the reference mark for the image data area without using a predetermined area smaller than the image data area. Even in this case, since the displacement of the loading position of the mounting head 24 can be eliminated based on the position of the reference mark 50, the suction state of the component P can be detected more efficiently.
- the region setting unit 77, the detection unit 78, and the determination unit 79 are described as being included in the control device 70, but are not particularly limited thereto, and may be included in the camera unit 60. Even in this case, the suction state of the moving part P can be detected more efficiently. In particular, if the camera unit 60 includes the area setting unit 77 and the like, processing such as transfer of image data may be omitted, which is more efficient.
- the component P is attracted to the mounting head 24.
- the component P is not limited to that to be attracted.
- the mounting head 24 may be configured to hook and hold the component P on the grip portion.
- control device 70 may be realized by executing software by a CPU, or may be configured by hardware using a circuit or the like.
- the present invention has been described as the mounting apparatus 11.
- the present invention can be used in the technical field of mounting components on a board.
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- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Operations Research (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
Description
1以上の部品を基板上に実装する実装装置であって、
基準マークを有し前記部品を保持し前記基板上へ移動させる実装ヘッドと、
前記実装ヘッドを撮像する撮像部と、
移動中の前記実装ヘッドに保持された部品と前記基準マークとを前記撮像部が撮像した画像データのうち前記基準マークの位置に基づいて前記部品を含む処理領域を設定する設定手段と、
前記設定された処理領域の画像データを処理して前記実装ヘッドに保持された部品の状態を検出する検出手段と、
を備えたものである。
基準マークを有し部品を保持し基板上へ移動させる実装ヘッドと、前記実装ヘッドに保持された部品と前記基準マークとを撮像する撮像部と、を備え、1以上の部品を基板上に実装する実装装置の部品検出方法であって、
(a)移動中の前記実装ヘッドに保持された部品と前記基準マークとを前記撮像部が撮像した画像データのうち前記基準マークの位置に基づいて前記部品を含む処理領域を設定するステップと、
(b)前記設定された処理領域の画像データを処理して前記実装ヘッドに保持された部品の状態を検出するステップと、
を含むものである。
Claims (7)
- 1以上の部品を基板上に実装する実装装置であって、
基準マークを有し前記部品を保持し前記基板上へ移動させる実装ヘッドと、
前記実装ヘッドを撮像する撮像部と、
移動中の前記実装ヘッドに保持された部品と前記基準マークとを前記撮像部が撮像した画像データのうち前記基準マークの位置に基づいて前記部品を含む処理領域を設定する設定手段と、
前記設定された処理領域の画像データを処理して前記実装ヘッドに保持された部品の状態を検出する検出手段と、
を備えた実装装置。 - 前記設定手段は、前記部品サイズと該部品の位置ずれ量とを加味した前記処理領域を設定する、請求項1に記載の実装装置。
- 前記撮像部は、前記撮像した画像データのうち前記設定された処理領域の画像データを前記検出手段へ転送し、
前記検出手段は、前記転送された処理領域の画像データを処理する、請求項1又は2に記載の実装装置。 - 前記実装ヘッドは、複数の部品を保持し、
前記設定手段は、前記部品に応じた複数の処理領域を設定する、請求項1~3のいずれか1項に記載の実装装置。 - 前記実装ヘッドは、円周上に複数の部品を保持し、該円周の中央部に前記基準マークを有する、請求項4に記載の実装装置。
- 前記実装ヘッドは、矩形上に配列された検出点を含む前記基準マークを有する、請求項1~5のいずれか1項に記載の実装装置。
- 基準マークを有し部品を保持し基板上へ移動させる実装ヘッドと、前記実装ヘッドに保持された部品と前記基準マークとを撮像する撮像部と、を備え、1以上の部品を基板上に実装する実装装置の部品検出方法であって、
(a)移動中の前記実装ヘッドに保持された部品と前記基準マークとを前記撮像部が撮像した画像データのうち前記基準マークの位置に基づいて前記部品を含む処理領域を設定するステップと、
(b)前記設定された処理領域の画像データを処理して前記実装ヘッドに保持された部品の状態を検出するステップと、
を含む部品検出方法。
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EP13891019.5A EP3032934B1 (en) | 2013-08-09 | 2013-08-09 | Mounting device and part detection method |
US14/911,183 US10314220B2 (en) | 2013-08-09 | 2013-08-09 | Mounting machine and component detection method |
PCT/JP2013/071639 WO2015019487A1 (ja) | 2013-08-09 | 2013-08-09 | 実装装置及び部品検出方法 |
CN201380078705.9A CN105453715B (zh) | 2013-08-09 | 2013-08-09 | 安装装置及元件检测方法 |
JP2015530640A JP6279581B2 (ja) | 2013-08-09 | 2013-08-09 | 実装装置及び部品検出方法 |
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EP3032934B1 (en) | 2019-09-25 |
JPWO2015019487A1 (ja) | 2017-03-02 |
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US20160192553A1 (en) | 2016-06-30 |
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