WO2017056239A1 - 部品実装機、部品保持部材撮像方法 - Google Patents
部品実装機、部品保持部材撮像方法 Download PDFInfo
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- WO2017056239A1 WO2017056239A1 PCT/JP2015/077768 JP2015077768W WO2017056239A1 WO 2017056239 A1 WO2017056239 A1 WO 2017056239A1 JP 2015077768 W JP2015077768 W JP 2015077768W WO 2017056239 A1 WO2017056239 A1 WO 2017056239A1
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- WIPO (PCT)
- Prior art keywords
- imaging
- component
- component holding
- holding members
- nozzles
- Prior art date
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Classifications
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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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
- H05K13/0813—Controlling of single components prior to mounting, e.g. orientation, component geometry
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53174—Means to fasten electrical component to wiring board, base, or substrate
Definitions
- the present invention relates to a component mounting technique using a rotary head that rotatably holds a plurality of component holding members arranged along a circumferential track around a predetermined rotation axis.
- the component mounting apparatus disclosed in Patent Document 1 rotatably holds a plurality of nozzles arranged circumferentially in a rotation direction, and mounts the component on a substrate by a nozzle positioned at a mounting station provided at a predetermined position in the rotation direction.
- the nozzle is imaged for the purpose of confirming that the nozzle has adsorbed the component before mounting the component, or that the component has been detached from the nozzle after mounting the component. .
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a technique that enables efficient imaging of a plurality of component holding members of a rotary head.
- the component mounter includes N (N is an integer equal to or greater than 2) component holding members arranged along a circumferential orbit centered on a predetermined rotation axis.
- a rotary head that is rotatably held integrally with the center, and a component holding member that has L imaging positions (L is an integer of 2 or more) provided on a circumferential track and is located at the imaging position.
- An image capturing unit capable of capturing an image, and an operation for capturing each component holding member positioned sequentially at the image capturing position by the image capturing unit while continuously rotating the N component retaining members around the rotation axis are performed for each image capturing position.
- a control unit that executes an imaging sequence for completing imaging of the N component holding members.
- the component holding member imaging method is arranged along a circular orbit centered on a predetermined rotation axis, and held by a rotary head so as to be rotatable about the rotation axis.
- N is an integer of 2 or more
- L is an integer of 2 or more
- L imaging positions are provided with respect to a circumferential track in which N component holding members of the rotary head are arranged. Then, an operation of imaging each component holding member sequentially located at the imaging position is performed for each imaging position while continuously rotating the N component holding members around the rotation axis. Therefore, during the period in which the N component holding members rotate at an angle that is equal to or less than the maximum angle that the maximum interval among the intervals between the L imaging positions adjacent to each other along the circumferential trajectory rotates around the rotation axis, Each of the component holding members can be positioned at one of the L imaging positions to complete the imaging of the N component holding members. In this way, it is possible to efficiently image a plurality of component holding members included in the rotary head.
- FIG. 4 is a partial plan view schematically showing a bottom portion of the mounting head of FIG. 3.
- FIG. 6 is a schematic diagram equivalently showing an optical configuration included in the imaging unit of FIG. 5.
- It is a partial top view which shows typically the relationship between the imaging position of each imaging part which an imaging unit has, and a nozzle.
- It is a partial top view which shows typically an example of the imaging sequence which an arithmetic processing part performs.
- It is a fragmentary top view which shows typically the relationship between each imaging part and nozzle which the imaging unit which concerns on a modification has.
- FIG. 1 is a partial plan view schematically showing a component mounter according to the present invention.
- FIG. 2 is a block diagram showing an electrical configuration of the component mounter of FIG. In both figures and the following figures, XYZ orthogonal coordinates with the Z direction as the vertical direction are shown as appropriate.
- the component mounter 1 includes a controller 100 that comprehensively controls the entire apparatus.
- the controller 100 includes an arithmetic processing unit 110 that is a computer composed of a CPU (Central Processing Unit) and a RAM (Random Access Memory), and a storage unit 120 composed of an HDD (Hard Disk Drive).
- the controller 100 includes a drive control unit 130 that controls the drive system of the component mounter 1 and an imaging control unit 140 that controls imaging of nozzles, which will be described in detail later.
- the arithmetic processing part 110 controls the drive control part 130 according to the program memorize
- the component mounter 1 includes a pair of conveyors 12 and 12 provided on a base 11. And the component mounting machine 1 mounts components on the board
- the completed substrate S is carried out from the mounting processing position to the downstream side in the X direction by the conveyor 12.
- the component mounter 1 is provided with a pair of Y-axis rails 21, 21 extending in the Y direction, a Y-axis ball screw 22 extending in the Y direction, and a Y-axis motor My that rotationally drives the Y-axis ball screw 22, and a head support member 23 is fixed to the nut of the Y-axis ball screw 22 while being supported by the pair of Y-axis rails 21 and 21 so as to be movable in the Y direction.
- An X-axis ball screw 24 extending in the X direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 24 are attached to the head support member 23, and the head unit 3 can move to the head support member 23 in the X direction.
- the nut is fixed to the nut of the X-axis ball screw 24 while being supported by the nut. Therefore, the drive control unit 130 rotates the Y-axis ball screw 22 by the Y-axis motor My to move the head unit 3 in the Y direction, or rotates the X-axis ball screw 24 by the X-axis motor Mx to move the head unit 3 to X. Can be moved in the direction.
- Two component supply units 28 are arranged in the X direction on both sides of the pair of conveyors 12 and 12 in the Y direction.
- a plurality of tape feeders 281 are detachably attached to each component supply unit 28 along the arrangement pitch La in the X direction. Small pieces such as integrated circuits, transistors, capacitors, and the like are attached to each tape feeder 281.
- a reel on which a tape storing tape-shaped components (chip electronic components) at predetermined intervals is wound.
- the tape feeder 281 supplies parts in the tape by intermittently feeding the tape to the head unit 3 side.
- the head unit 3 has a plurality (four) of mounting heads 4 arranged linearly in the X direction.
- Each mounting head 4 sucks and mounts components by a nozzle 40 (FIG. 3) as a component holding member attached to the lower end. That is, the mounting head 4 moves above the tape feeder 281 and sucks the components supplied by the tape feeder 281. Specifically, the mounting head 4 adsorbs the component by lowering the nozzle 40 until it abuts on the component and then raising the nozzle 40 while generating a negative pressure in the nozzle 40. Subsequently, the mounting head 4 moves above the substrate S at the mounting processing position and mounts components on the substrate S.
- the mounting head 4 mounts the component by generating atmospheric pressure or positive pressure in the nozzle 40 after lowering the nozzle 40 until the component contacts the substrate S.
- the mounting head 4 is positioned on the tape feeder 281, holds the component from the tape feeder 281 by the nozzle 40, moves to the upper side of the substrate S, and mounts the component on the substrate S by the nozzle 40.
- the mounting turn returning from above to above the tape feeder 281 is repeatedly executed.
- FIG. 3 is a partial front view schematically showing the vicinity of the lower end of an example of the mounting head.
- FIG. 4 is a partial plan view schematically showing the bottom of the mounting head of FIG.
- each mounting head 4 is a rotary head in which a plurality of nozzles 40 are arranged circumferentially. Subsequently, the configuration of the mounting head 4 will be described with reference to FIGS. 3 and 4 together. Since the configuration of the four mounting heads 4 is common, only one mounting head 4 will be described here.
- the mounting head 4 has a main shaft 41 extending in the Z direction (vertical direction) and a nozzle holder 42 supported on the lower end of the main shaft 41.
- the nozzle holder 42 is supported so as to be rotatable in a rotation direction R around a rotation axis C (virtual axis) parallel to the Z direction, and an R-axis motor Mr (see FIG. 2) provided at the upper end of the mounting head 4. ) To receive the driving force.
- the nozzle holder 42 supports a plurality (eight) lifting shafts 43 arranged at equal angles in a circumferential shape around the rotation axis C.
- Each elevating shaft 43 is supported so as to be movable up and down, and is urged upward by an urging member (not shown).
- a nozzle 40 is detachably attached to the lower end of each lifting shaft 43.
- the nozzle holder 42 supports a plurality (eight) of nozzles 40 arranged at equal angles in a circumferential shape around the rotation axis C. Therefore, when the drive control unit 130 outputs a rotation command to the R-axis motor Mr, the nozzles 40 integrally rotate the rotation axis C along with the nozzle holder 42 that rotates by receiving the driving force from the R-axis motor Mr. It rotates along a circumferential orbit O that is the center.
- the main shaft 41 supports the nozzle lifting mechanism 44 above the plurality of lifting shafts 43.
- the nozzle raising / lowering mechanism 44 has two pressing members 441 arranged with an angle of 180 degrees around the rotation axis C.
- Each pressing member 441 moves up and down independently of each other in response to a driving force of a Z-axis motor Mz (FIG. 2) built in the nozzle lifting mechanism 44. Therefore, when the drive control unit 130 outputs a lowering command to the Z-axis motor Mz, the pressing member 441 is lowered by receiving the driving force from the Z-axis motor Mz.
- the pressing member 441 lowers one lifting shaft 43 located immediately below the plurality of lifting shafts 43 against the urging force acting on the lifting shaft 43, and a lowered position Zd where the components are attracted or mounted.
- the nozzle 40 is lowered to the bottom.
- the drive control unit 130 outputs a raising command to the Z-axis motor Mz
- the pressing member 441 is raised by receiving the driving force from the Z-axis motor Mz.
- the one raising / lowering shaft 43 pressed by the pressing member 441 is raised according to the urging force with the nozzle 40, and the nozzle 40 is raised to the raised position Zu.
- the lowered position Zd and the raised position Zu are shown with respect to the lower end of the nozzle 40, respectively.
- the positions immediately below the pressing member 441 are work positions PA and PB for sucking and mounting components by the nozzle 40. That is, corresponding to the arrangement of the two pressing members 441 described above, in the mounting head 4, the two work positions PA and PB are provided with an angle of 180 degrees around the rotation axis C.
- the nozzle holder 42 two nozzles 40 (two nozzles positioned opposite to each other across the rotation axis C) are arranged with an interval of 180 degrees around the rotation axis C.
- Nozzle 40) pairs (nozzle pairs) are provided as P pairs (four pairs), and 2 ⁇ P, that is, eight nozzles 40 are arranged along the circumferential orbit O.
- the two nozzles 40 that make a pair in this way satisfy an arrangement relationship in which one nozzle 40 is located at the work position PA and at the same time the other nozzle 40 is located at the work position PB.
- the drive control unit 130 adjusts the rotation angle of the plurality of nozzles 40 by the R-axis motor Mr, so that each of the two nozzles 40, 40 forming any one of the four nozzle pairs is provided.
- the mounting head 4 when picking up a component at the work position PA, the mounting head 4 is moved above the component supply unit 28 to position the work position PA directly above the tape feeder 281. In this state, the nozzle 40 that does not pick up components is stopped at the work position PA in the rotation direction R, and is lowered from the raised position Zu to the lowered position Zd in the Z direction. Then, a negative pressure is applied to the nozzle 40 at a timing when the nozzle 40 comes into contact with the component supplied by the tape feeder 281, and the component is sucked from the tape feeder 281 to the nozzle 40. Subsequently, the nozzle 40 that sucks the component is raised from the lowered position Zd to the raised position Zu in the Z direction.
- the two work positions PA and PB are arranged in a straight line in the X direction, and the distance Lb between the centers of the two nozzles 40 and 40 forming a pair is the arrangement pitch La (X) of the tape feeder 281 in the X direction. Equivalent to FIG. Accordingly, the two nozzles 40 and 40 located at the work positions PA and PB can simultaneously perform the suction of the components from the tape feeders 281 and 281.
- the mounting head 4 when mounting a component at the work position PA, the mounting head 4 is moved above the substrate S to position the work position PA directly above the place to be mounted on the substrate S. In this state, while the nozzle 40 that picks up the component is stopped at the work position PA in the rotation direction R, the nozzle 40 is lowered from the raised position Zu to the lowered position Zd in the Z direction. Then, atmospheric pressure or positive pressure is applied to the nozzle 40 at the timing when the component contacts the substrate S, and the component is mounted from the nozzle 40 onto the substrate S. Subsequently, the nozzle 40 from which the component is detached is raised from the lowered position Zd to the raised position Zu in the Z direction. The same applies to the case where components are mounted at the work position PB.
- a cylindrical light diffusion member 5 is attached to the lower end of the main shaft 41 of the mounting head 4, and a plurality of nozzles 40 are arranged so as to surround the light diffusion member 5.
- the light diffusing member 5 has the same configuration as the diffusing member described in, for example, Japanese Patent Laid-Open No. 2012-238726, and side view imaging of the nozzle 40 by the imaging unit 6 (FIGS. 5 and 6) described below. Used for.
- FIG. 5 is a partial perspective view schematically showing the appearance of the imaging unit.
- FIG. 6 is a schematic diagram equivalently showing an optical configuration of the imaging unit of FIG. 5 and 6 partially show the configuration of the mounting head 4 in order to show the relationship with the mounting head 4.
- the imaging unit 6 includes a camera 60 and images a side view of the nozzle 40 located at the work positions PA and PB.
- the housing 61 included in the imaging unit 6 has a main body 611 having a reverse T-shape in a side view from the Y direction and having the camera 60 attached to the upper portion thereof, and the X direction from both ends of the main body 611 in the Y direction. And two nozzle facing portions 612 and 612 projecting from each other.
- the imaging unit 6 is arranged so as to sandwich the plurality of nozzles 40 from the X direction by the two nozzle facing portions 612 and 612, and is fixed to the main shaft 4 of the mounting head 4.
- the imaging unit 6 is configured integrally with the mounting head 4 and can move with the mounting head 4.
- a first window 62A that faces the work position PA on one side in the X direction from the X direction is provided, and the nozzle facing portion 612 and the main body 611 on one side are provided.
- a first optical system 63A composed of an optical element 631 such as a prism, a mirror and a lens. Then, the light incident on the first window 62A from the work position PA is guided to the camera 60 by the first optical system 63A. As a result, the first range 601A of the solid-state imaging device 601 built in the camera 60 receives light from the work position PA.
- the first imaging unit 64A configured by the first window 62A, the first optical system 63A, and the first range 601A of the solid-state imaging device 601 is arranged on one side of the mounting head 4. And this 1st image pick-up part 64A opposes the work position PA provided with respect to the side surface of the one side of the mounting head 4, and images the work position PA.
- the nozzle 40 moves up and down between the raised position Zu and the lowered position Zd as the pressing member 441 moves up and down.
- the first window 62A is disposed so as to face the tip of the nozzle 40 at the raised position Zu at the work position PA, and the first imaging unit 64A is located at the raised position Zu at the work position PA.
- the side view image of the nozzle 40 is imaged by imaging the tip of the nozzle 40 located in the X direction (horizontal direction).
- a first illumination 65A for irradiating illumination light used for imaging by the first imaging unit 64A is disposed on the inner wall of the nozzle facing unit 612 on the other side in the X direction.
- the first illumination 65A is composed of a plurality of LEDs (Light Emitting Diodes) arranged in a matrix on both sides of the second window 62B, and irradiates light from the other side in the X direction toward the work position PA.
- LEDs Light Emitting Diodes
- the first imaging unit 64A is arranged on one side of the mounting head 4 and faces the work position PA on the side surface on one side of the mounting head 4.
- the first illumination 65A irradiates the work position PA from the other side of the mounting head 4.
- the first imaging unit 64A captures the silhouette image of the nozzle 40 by capturing the light emitted by the first illumination 65A from the back surface of the nozzle 40 at the work position PA.
- This silhouette image is transferred from the solid-state imaging device 601 to the imaging control unit 140, and is used for determining whether components are attracted or mounted by the nozzle 40.
- a second imaging unit 64B having the same configuration as the first imaging unit 64A is arranged on the other side of the mounting head 4. That is, the second imaging unit 64B guides the light incident on the second window 62B from the work position PB to the second range 601B of the solid-state imaging device 601 (a range adjacent to the first range 601A) by the second optical system 63B. Thus, the second imaging unit 64B captures the side view image of the nozzle 40 by capturing the tip of the nozzle 40 at the raised position Zu at the work position PB from the X direction (horizontal direction).
- a second illumination 65B having the same configuration as the first illumination 65A is disposed on the inner wall of the nozzle facing portion 612 on one side in the X direction, and emits light from one side in the X direction toward the work position PB. Irradiate. That is, the second imaging unit 64B captures a silhouette image of the nozzle 40 located at the work position PB.
- the imaging unit 6 includes the first imaging unit 64A and the second imaging unit 64B.
- FIG. 7 shows the positional relationship between the imaging positions of the imaging units 64A and 64B and the nozzles 40.
- FIG. 7 is a partial plan view schematically showing the relationship between the imaging position of each imaging unit included in the imaging unit and the nozzle.
- different symbols 40a to 40h are attached to the plurality of nozzles 40 in order to distinguish them.
- the arithmetic processing unit 110 uses the drive control unit 130 and the imaging control unit 140 to image the nozzles 40a to 40h at the imaging positions IA and IB as follows.
- FIG. 8 is a partial plan view schematically showing an example of an imaging sequence executed by the arithmetic processing unit.
- the nozzle pair including the nozzles 40a and 40e is positioned at the imaging positions IA and IB, respectively.
- the arithmetic processing unit 110 simultaneously images the nozzle 40a positioned at the imaging position IA and the nozzle 40e positioned at the imaging position IB, and starts rotating in one direction (clockwise) of the eight nozzles 40a to 40h. To do.
- the arithmetic processing unit 110 executes an imaging sequence in parallel with the mounting turn to improve the efficiency of imaging of the eight nozzles 40 included in the mounting head 4. Specifically, the arithmetic processing unit 110 finishes adsorbing the components from the tape feeder 281 by each of the eight nozzles 40a to 40h after the mounting head 4, which is a part of the mounting turn, from above the tape feeder 281. The imaging sequence is executed while moving upward of the substrate S. At this time, the arithmetic processing unit 110 confirms the suction of the components by the nozzles 40a to 40h based on the captured images of the eight nozzles 40a to 40h.
- the arithmetic processing part 110 judges that the adsorption
- the arithmetic processing unit 110 finishes mounting the components on the substrate S by the mounting head 4 which is a part of the mounting turn by each of the eight nozzles 40a to 40h, and returns to the tape feeder 281 from above the substrate S. In the meantime, the imaging sequence is executed. At this time, the arithmetic processing unit 110 confirms the presence or absence of the nozzle 40 with the component attached to the lower end based on the captured images of the eight nozzles 40a to 40h. The arithmetic processing unit 110 determines that the mounting of the components by the nozzles 40a to 40h is successful if the attachment of the components is not recognized for all the nozzles 40a to 40h, while the nozzle 40 in which the adhesion of the components is recognized. It is determined that mounting of the component has failed. In this way, it is possible to efficiently check whether or not a component is attached to each of the eight nozzles 40.
- the two imaging positions IA and IB are provided for the circumferential orbit O in which the eight nozzles 40 of the mounting head 4 are arranged. Then, an operation of imaging the nozzles 40 sequentially located at the imaging positions IA and IB while continuously rotating the eight nozzles 40 around the rotation axis C is executed for the imaging positions IA and IB. Accordingly, during the period in which the eight nozzles 40 are rotated, the angle ⁇ 4 that is equal to or smaller than the angle ⁇ c formed by the interval A between the two imaging positions IA and IB adjacent to each other along the circumferential path O is formed around the rotation axis C. Each of the nozzles 40 can be positioned at one of the two imaging positions IA and IB, and imaging of the eight nozzles 40 can be completed. In this way, it is possible to efficiently image the plurality of nozzles 40 included in the mounting head 4.
- the two imaging positions IA and IB are provided around the rotation axis C with an angle of 180 degrees. Therefore, the imaging of the eight nozzles 40 can be completed within a period in which the eight nozzles 40 rotate at most 180 degrees, and the imaging of the eight nozzles 40 of the mounting head 4 can be efficiently performed. ing.
- the eight nozzles 40 include four pairs of nozzles composed of two nozzles 40 provided at an angle of 180 degrees around the rotation axis C. Then, the arithmetic processing unit 110 causes the imaging unit 6 to simultaneously image the two nozzles 40 forming the nozzle pair that is simultaneously positioned at the two imaging positions IA and IB. Thus, the imaging of the eight nozzles 40 included in the mounting head 4 is efficiently executed.
- each of the eight nozzles 40 included in the mounting head 4 forms a nozzle pair with the other nozzles 40, and the arithmetic processing unit 110 images the two nozzles 40 forming the nozzle pair at the same time.
- Such a configuration can complete the imaging of the eight nozzles 40 with the number of imaging times half that of the case where the eight nozzles 40 are separately imaged, and the imaging of the eight nozzles 40 of the mounting head 4 is efficient. Can be executed.
- the component mounting machine 1 corresponds to an example of the “component mounting machine” of the present invention
- the mounting head 4 corresponds to an example of the “rotary head” of the present invention
- the nozzle 40 corresponds to the present invention.
- the image pickup unit 6 corresponds to an example of “component holding member”
- the rotation axis C corresponds to an example of “rotation axis” of the present invention
- the circumferential track O corresponds to an example of “circumferential track” of the present invention
- the arithmetic processing unit 110 corresponds to an example of the “control unit” of the present invention
- the component supply unit 28 corresponds to an example of the “component supply unit” of the present invention.
- the conveyors 12 and 12 correspond to an example of the “substrate support portion” of the present invention.
- angles of the imaging positions IA and IB formed around the rotation axis C are not limited to 180 degrees, and may be angles different from 180 degrees.
- the number of imaging positions is not limited to this, and may be three or more (that is, “L” ⁇ 3). Therefore, the imaging unit 6 can be configured as shown in FIG.
- FIG. 9 is a partial plan view schematically showing the relationship between each imaging unit and nozzles of an imaging unit according to a modification.
- the three first imaging portions 64A, 64B, and 64C face the three imaging positions IA, IB, and IC, respectively, and the nozzles are located at the imaging positions IA, IB, and IC, respectively.
- 40 side views can be imaged.
- the arithmetic processing unit 110 performs an operation for imaging the nozzles 40 sequentially located at the imaging positions IA, IB, and IC for the imaging positions IA, IB, and IC while continuously rotating the eight nozzles 40. . Accordingly, the eight nozzles 40 are rotated during the period in which the eight nozzles 40 rotate at an angle equal to or smaller than the angle ⁇ c formed by the interval between the three imaging positions IA and IB along the circumferential path O around the rotation axis C. Each of the 40 nozzles can be positioned at any one of the three imaging positions IA, IB, and IC, and imaging of the eight nozzles 40 can be completed. That is, the imaging of the eight nozzles 40 can be completed within a period in which the eight nozzles 40 rotate at most 120 degrees. In this way, it is possible to efficiently image the plurality of nozzles 40 included in the mounting head 4.
- angles formed by the imaging positions adjacent to the circumferential orbit O around the rotation axis C do not have to be equal to each other and may be different.
- the execution timing of the imaging sequence is not limited to the above example.
- the imaging sequence is executed in both the period during which the mounting head 4 moves from the tape feeder 281 to the substrate S and the period during which the mounting head 4 returns from the substrate S to the tape feeder 281 in the mounting turn.
- the imaging sequence may be executed only in any one of these periods. For example, when control is performed so that each nozzle 40 is imaged at the timing when the nozzle 40 that sucks a component from the tape feeder 281 rises to the ascending position Zu and the suction state of the component by the nozzle 40 is confirmed, the mounting head 4 During the period of movement from the tape feeder 281 to the substrate S, the imaging sequence may not be performed.
- the work positions PA, PB and the imaging positions IA, IB were in agreement. However, even if the work positions PA and PB are different from the imaging positions IA and IB, the above imaging sequence can be executed similarly.
- the number of work positions PA and PB is not limited to the above example. Therefore, the above imaging sequence can be similarly executed for the mounting head 4 having a single work position PA.
- the number of nozzles 40 included in the mounting head 4 is not limited to the above example, and the number of nozzles 40 may be 8 or more (that is, “N” ⁇ 8) or less than 8 (that is, “N” ⁇ 8).
- the direction in which the nozzle 40 is rotated in the imaging sequence is not limited to the clockwise direction illustrated in FIG. 8, but may be counterclockwise.
- the rotation of the nozzle 40 is started from the state where the nozzles 40a and 40e are located at the imaging positions IA and IB. That is, the first nozzles 40a and 40e that start imaging after the first nozzles 40a and 40e located at the imaging positions IA and IB among the N nozzles 40 are imaged. Subsequently, the nozzles 40b to 40d and 40f to 40h are sequentially positioned at the imaging positions IA and IB, and the subsequent nozzles 40b to 40d and 40f to 40h are imaged, thereby completing the imaging of the N nozzles 40. It was.
- the rotation of the nozzle 40 may be started from a state where the nozzle 40 is out of the imaging positions IA and IB.
- the imaging of the N nozzles 40 is completed by imaging the nozzles 40a to 40d and 40e to 40f positioned in order at the imaging positions IA and IB.
- the member that can be used as the “component holding member” is not limited to the nozzle 40 that holds the component by suction as described above. Therefore, for example, a member that holds a component by gripping the component can be used as a “component holding member”.
- the two imaging positions are spaced by an angle of 180 degrees around the rotation axis.
- a component mounter may be configured to be provided. In such a configuration, the imaging of the N component holding members can be completed within a period in which the N component holding members rotate at most 180 degrees, and the imaging of the plurality of component holding members of the rotary head can be efficiently performed. It is possible.
- the N component holding members include P pairs (P is an integer of 1 or more) of a component holding member pair composed of two component holding members provided at an angle of 180 degrees around the rotation axis.
- the control unit may configure the component mounter so that the imaging unit simultaneously images two component holding members forming a pair of component holding members simultaneously located at two imaging positions. Such a configuration can simultaneously image two component holding members forming a component holding member pair, and contributes to efficient imaging of a plurality of component holding members included in the rotary head.
- N 2 ⁇ P
- the component mounting machine may be configured such that (2 ⁇ P) component holding members are arranged along the circumferential path.
- Such a configuration can complete the imaging of the N component holding members in half the number of times of imaging as compared with the case where the N component holding members are separately imaged. Contributes to imaging.
- the apparatus further includes a component supply unit that supplies components and a substrate support unit that supports the substrate, and the rotary head is positioned above the component supply unit and holds the components from the component supply unit by the component holding member.
- the component is mounted on the substrate by moving to the upper side of the substrate and mounted on the substrate by the component holding member, and the mounting unit returns to the upper side of the component supply unit from the upper side of the substrate, and the control unit executes the imaging sequence in parallel with the mounting turn.
- the component mounter may be configured to confirm the state of the component holding member. In such a configuration, imaging of the component holding members sequentially located at the imaging position is performed in parallel with the mounting turn, which contributes to efficient imaging of a plurality of component holding members included in the rotary head.
- control unit executes an imaging sequence while the rotary head returns from above the substrate to above the component supply unit in the mounting turn, thereby checking whether or not the component is attached to each of the N component holding members.
- the component mounter may be configured so as to confirm the above. Accordingly, it is possible to efficiently check whether or not the component is attached to each of the N component holding members.
- control unit performs the imaging sequence while the rotary head moves from above the component supply unit to above the substrate in the mounting turn, so as to confirm the holding of the component by each of the N component holding members.
- a component mounter may be configured. Thereby, it is possible to efficiently confirm the holding of the component by each of the N component holding members.
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Abstract
Description
ノズル対を成すノズル40d、40hがそれぞれ撮像位置IA、IBに到達すると、ノズル40d、40hを同時に撮像する。このように、8個のノズル40a~40hを連続的に一方向に回転させつつ、撮像位置IAに順に位置する4個のノズル40a~40dを撮像するとともに、撮像位置IBに順に位置する4個のノズル40e~40hを撮像する。こうして、撮像位置IA、IBにノズル40が位置する毎にノズル40の撮像を行って、全てのノズル40の撮像を完了すると、撮像シーケンスを終了する。
12…コンベア
28…部品供給部
4…実装ヘッド
40…ノズル
6…撮像ユニット
110…演算処理部
C…回転軸
O…円周軌道
Claims (9)
- 所定の回転軸を中心とする円周軌道に沿って並ぶN個(Nは2以上の整数)の部品保持部材を、前記回転軸を中心に一体的に回転可能に保持するロータリーヘッドと、
前記円周軌道に対して設けられたL個(Lは2以上の整数)の撮像位置を有し、前記撮像位置に位置する前記部品保持部材を撮像可能な撮像部と、
前記N個の部品保持部材を前記回転軸の回りに連続的に回転させつつ前記撮像位置に順に位置する前記各部品保持部材を前記撮像部により撮像する動作を前記各撮像位置について実行することで前記N個の部品保持部材の撮像を完了する撮像シーケンスを実行する制御部と
を備える部品実装機。 - 前記撮像部において、L=2であり、2個の前記撮像位置が前記回転軸の回りに180度の角度を空けて設けられる請求項1に記載の部品実装機。
- 前記N個の部品保持部材は、前記回転軸の回りに180度の角度を空けて設けられた2個の前記部品保持部材からなる部品保持部材対をP対(Pは1以上の整数)含み、
前記制御部は、前記2個の撮像位置に同時に位置する前記部品保持部材対を成す前記2個の部品保持部材を前記撮像部に同時に撮像させる請求項2に記載の部品実装機。 - 前記ロータリーヘッドにおいて、N=2×Pであり、(2×P)個の前記部品保持部材が前記円周軌道に沿って並ぶ請求項3に記載の部品実装機。
- 部品を供給する部品供給部と、
基板を支持する基板支持部と
をさらに備え、
前記ロータリーヘッドは、前記部品供給部の上方に位置しつつ前記部品保持部材により前記部品供給部から部品を保持した後に、前記基板の上方へ移動して前記部品保持部材により前記基板へ部品を実装し、前記基板の上方から前記部品供給部の上方へ戻る実装ターンを実行し、
前記制御部は、前記実装ターンと並行して前記撮像シーケンスを実行することで、前記部品保持部材の状態を確認する請求項1ないし4のいずれか一項に記載の部品実装機。 - 前記制御部は、前記ロータリーヘッドが前記実装ターンにおいて前記基板の上方から前記部品供給部の上方へ戻る間に前記撮像シーケンスを実行することで、前記N個の部品保持部材それぞれへの部品の付着の有無を確認する請求項5に記載の部品実装機。
- 前記制御部は、前記ロータリーヘッドが前記実装ターンにおいて前記部品供給部の上方から前記基板の上方へ移動する間に前記撮像シーケンスを実行することで、前記N個の部品保持部材それぞれによる部品の保持を確認する請求項5または6に記載の部品実装機。
- 前記撮像部において、L=3であり、3個の前記撮像位置が前記回転軸の回りに120度の角度を空けて設けられる請求項1に記載の部品実装機。
- 所定の回転軸を中心とする円周軌道に沿って並び、ロータリーヘッドにより前記回転軸を中心に回転可能に保持されたN個(Nは2以上の整数)の部品保持部材の回転を開始する工程と、
前記円周軌道に対して設けられたL個(Lは2以上の整数)の撮像位置に位置する前記部品保持部材を撮像する工程と
を備え、
前記N個の部品保持部材を前記回転軸の回りに連続的に回転させつつ前記撮像位置に順に位置する前記各部品保持部材を撮像する動作を前記各撮像位置について実行することで前記N個の部品保持部材の撮像を完了する部品保持部材撮像方法。
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DE112015006993.3T DE112015006993T5 (de) | 2015-09-30 | 2015-09-30 | Bauteilmontagegerät und Bauteilhalter-Abbildungsverfahren |
JP2017542598A JP6499768B2 (ja) | 2015-09-30 | 2015-09-30 | 部品実装機、部品保持部材撮像方法 |
US15/757,632 US10952360B2 (en) | 2015-09-30 | 2015-09-30 | Component mounter and component holder imaging method |
PCT/JP2015/077768 WO2017056239A1 (ja) | 2015-09-30 | 2015-09-30 | 部品実装機、部品保持部材撮像方法 |
CN201580081757.0A CN107852858B (zh) | 2015-09-30 | 2015-09-30 | 元件安装机、元件保持部件拍摄方法 |
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JP2020010003A (ja) * | 2018-07-12 | 2020-01-16 | 株式会社Fuji | 部品実装装置 |
WO2022208689A1 (ja) * | 2021-03-30 | 2022-10-06 | ヤマハ発動機株式会社 | 部品実装機およびノズル撮像方法 |
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