WO2022244086A1 - 部品移載装置 - Google Patents
部品移載装置 Download PDFInfo
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- WO2022244086A1 WO2022244086A1 PCT/JP2021/018715 JP2021018715W WO2022244086A1 WO 2022244086 A1 WO2022244086 A1 WO 2022244086A1 JP 2021018715 W JP2021018715 W JP 2021018715W WO 2022244086 A1 WO2022244086 A1 WO 2022244086A1
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- 238000003384 imaging method Methods 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims description 58
- 230000004886 head movement Effects 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 235000012431 wafers Nutrition 0.000 description 92
- 239000000758 substrate Substances 0.000 description 19
- 208000032610 autosomal dominant 2 intellectual disability Diseases 0.000 description 13
- 201000000188 autosomal dominant non-syndromic intellectual disability 2 Diseases 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 208000016615 Central areolar choroidal dystrophy Diseases 0.000 description 9
- 101710159621 Very-long-chain (3R)-3-hydroxyacyl-CoA dehydratase Proteins 0.000 description 7
- 201000004216 Posterior amorphous corneal dystrophy Diseases 0.000 description 5
- 108700027610 cytoplasmic protein A Proteins 0.000 description 5
- 208000012584 pre-descemet corneal dystrophy Diseases 0.000 description 5
- 101150110225 MGD2 gene Proteins 0.000 description 4
- 101000722140 Mytilus galloprovincialis Defensin MGD-1 Proteins 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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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
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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
- H05K13/0815—Controlling of component placement on the substrate during or after manufacturing
Definitions
- the present invention relates to a component transfer device including a head unit for picking components from a component placement area and a camera unit for capturing images of components in the component placement area.
- a component mounting apparatus that picks up dies (components) from a diced wafer and mounts them on a substrate is known.
- a camera unit images a component on a wafer carried into a predetermined position (component placement area) in the machine by a wafer feeder to recognize the component.
- the operation of picking parts is repeated.
- the camera unit moves horizontally along the camera movement axis and images the component, thereby recognizing the position of the component to be sucked and held by the head unit, and moving the head unit toward the recognized position.
- Picks parts by moving horizontally along an axis. Therefore, in order to suppress the occurrence of problems such as picking up of parts by the head unit, it is necessary that the movement position of the camera unit and the movement position of the head unit match when recognizing the parts by imaging the camera unit. be.
- Patent Document 1 discloses a technique for creating data for correcting control of movement of the head unit and camera unit. This technique creates correlation data indicating the correlation between the coordinate systems of the head unit and the camera unit. Then, the movement amount when moving the head unit to the position of the component recognized by the camera unit is corrected based on the correlation data. As a result, the head unit can be accurately moved to the position of the part recognized by the camera unit.
- An object of the present invention is to provide a component transfer apparatus comprising a head unit for picking components from a component placement area and a camera unit for capturing images of the components in the component placement area. is to suppress
- a component transfer apparatus includes a component supply section having a component placement area in which a plurality of components are arranged, and a head movement axis extending within a predetermined head movement area in a space above the component placement area.
- a head unit mounted with a head camera for picking the component in the component placement area; and a camera movement axis within a predetermined camera movement area above the component placement area. and is arranged at a predetermined position below a common area where a camera unit having a component camera for imaging the component in the component placement area and the head movement area and the camera movement area overlap.
- the correction data generation unit generates first mark position recognition data indicating a recognition result of the position of the mark based on first mark image data obtained by imaging the mark with the head camera, and A mark position recognition process is performed to generate second mark position recognition data indicating a recognition result of the position of the mark based on the second mark image data obtained by imaging the mark.
- correction data generation unit is configured to generate a parallelism data for correcting a parallel deviation between the head movement axis and the camera movement axis based on the first mark position recognition data and the second mark position recognition data. Parallel deviation correction processing for creating deviation correction data is performed.
- FIG. 1 is a top plan view showing the overall configuration of a component mounting apparatus according to an embodiment of the present invention
- FIG. FIG. 4 is a schematic perspective view showing a head unit and a push-up unit
- FIG. 4 is a diagram showing movement areas of a head unit and a camera unit
- It is a block diagram which shows the control structure of a component mounting apparatus.
- FIG. 10 is a diagram showing operations of the head unit, the camera unit, and the push-up unit when the control unit executes component pick-up and mount control
- FIG. 10 is a diagram showing operations of the head unit and the camera unit when the control section executes first correction data generation control
- FIG. 4 is a diagram for explaining mark position recognition processing and position calculation processing in a correction data creation unit when a control unit executes first correction data generation control
- FIG. 5 is a diagram for explaining parallel deviation correction processing in a correction data generation unit when a control unit executes first correction data generation control
- FIG. 5 is a diagram for explaining head axis correction processing and camera axis correction processing in a correction data generation unit when a control unit executes first correction data generation control
- FIG. 10 is a diagram showing operations of the camera unit and the push-up unit when the control section executes second correction data generation control
- FIG. 9 is a diagram for explaining pin position recognition processing, thrust position calculation processing, and thrust axis correction processing in a correction data creation unit when the control unit executes second correction data generation control;
- the X direction and the Y direction are orthogonal to each other on the horizontal plane, and the Z direction extends in the vertical direction orthogonal to both the X direction and the Y direction.
- one side in the X direction is called the "+X side”
- the other side opposite to the one side in the X direction is called the "-X side”.
- one side in the Y direction is called the "+Y side”
- the other side opposite to the one side in the Y direction is called the "-Y side”.
- the component transfer apparatus includes, for example, a taping apparatus that accommodates a die diced from a wafer on a tape, a die bonder that wire-bonds the die to a substrate, or a component mounting apparatus that mounts the die on a substrate.
- a taping apparatus that accommodates a die diced from a wafer on a tape
- a die bonder that wire-bonds the die to a substrate
- a component mounting apparatus that mounts the die on a substrate.
- a component mounting apparatus 1 is an apparatus for mounting (mounting) a die 7a (component) diced from a wafer 7 onto a substrate P (predetermined component transfer section).
- the component mounting apparatus 1 includes a base 2, a conveyor 3, a head unit 4, a component supply unit 5, a wafer supply unit 6, a camera unit 32U and a push-up unit 40.
- the base 2 is a mounting base for various devices provided in the component mounting apparatus 1 .
- the conveyor 3 is a transport line for the substrate P installed on the base 2 so as to extend in the X direction.
- the conveyor 3 carries the board P from the outside of the machine to a predetermined mounting work position, and carries the board P out of the machine from the mounting work position after the mounting work.
- the conveyor 3 has a clamping mechanism (not shown) that holds the substrate P at the mounting position.
- the position where the board P is shown in FIG. 1 is the mounting work position.
- the component supply unit 5 supplies a plurality of dies 7a in an arranged state diced from the wafer 7.
- the component supply unit 5 includes a wafer supply device 6 that supplies wafers 7 divided into a plurality of dies 7a to a wafer stage 10 (component placement area) while being held on a pallet 8 .
- the wafer 7 is a disk-shaped semiconductor wafer on which circuit patterns and the like are already formed.
- a pallet 8 holds a wafer sheet 8a.
- the component supply unit 5 may include a tape feeder for supplying components in the form of a component storage tape containing electronic components.
- the wafer supply device 6 includes a wafer storage elevator 9, a wafer stage 10 and a wafer conveyor 11.
- the wafer storage elevator 9 stores wafers 7 in a state in which a plurality of dies 7a are attached to a wafer sheet 8a while being held by a pallet 8 in multiple stages.
- a wafer stage 10 is installed on the base 2 at a position on the -Y side of the wafer storage elevator 9 .
- the wafer stage 10 is arranged at a position aligned on the +Y side with respect to the mounting work position where the substrate P is stopped.
- the wafer stage 10 which is the area where the diced wafer 7 is placed on the base 2, is the component placement area.
- a wafer conveyor 11 draws the pallet 8 from the wafer storage elevator 9 onto the wafer stage 10 .
- the head unit 4 picks up the die 7a from the wafer 7 on the wafer stage 10, moves it to the mounting work position, and mounts the die 7a on the substrate P.
- the head unit 4 is provided with a plurality of heads 4H for sucking and holding the die 7a during picking and for releasing the held die 7a during mounting on the substrate P. As shown in FIG.
- the head 4H can move back and forth (up and down) in the Z direction with respect to the head unit 4 and can rotate about its axis.
- a head camera 31 for capturing an image of the substrate P is mounted on the head unit 4 .
- the feducial mark attached to the substrate P is recognized from the photographed image of the head camera 31 .
- the positional deviation of the board P is recognized, and the positional deviation is corrected when the component is mounted on the board P.
- a component recognition camera 30 is installed on the base 2 .
- the component recognition camera 30 captures an image of the die 7a sucked by the head 4H of the head unit 4 from below before being mounted on the substrate P. As shown in FIG. Based on this captured image, it is determined whether the head 4H has picked up the die 7a abnormally or picked up incorrectly.
- the component mounting apparatus 1 can move the head unit 4 in at least the upper space between the wafer stage 10 and the substrate P held at the mounting work position in the horizontal direction (X direction and Y direction).
- a drive mechanism D1 is provided.
- the first drive mechanism D1 includes a pair of Y-axis fixed rails 13, a head Y-axis servomotor 14, and a head Y-moving shaft 15 on the +X side and the -X side, respectively, as a mechanism for moving the head unit 4 in the Y direction.
- a pair of Y-axis fixed rails 13 are fixed on the base 2 and extend parallel to each other in the Y-direction at a predetermined interval in the X-direction.
- the head Y movement shaft 15 is a ball screw shaft arranged so as to extend in the Y direction at a position close to the Y-axis fixed rail 13 .
- a head Y-axis servomotor 14 rotationally drives a head Y-moving axis 15 .
- a support frame 16 that supports the head unit 4 is installed between the pair of Y-axis fixed rails 13 . Nuts 17 to be screwed onto the head Y movement shafts 15 are assembled to the +X side end and -X side end of the support frame 16 .
- the first drive mechanism D1 includes a guide member (not shown) mounted on the support frame 16, a head X-axis servomotor 18, and a head X-movement shaft 19 as a mechanism for moving the head unit 4 in the X direction.
- the guide member is a member that guides the movement of the head unit 4 in the X direction, and is fixed to the +Y side surface of the support frame 16 so as to extend in the X direction.
- the head X movement shaft 19 is a ball screw shaft that is arranged in the vicinity of the guide member so as to extend in the X direction.
- a head X-axis servomotor 18 rotationally drives a head X movement axis 19 .
- a nut (not shown) is attached to the head unit 4 , and the nut is screwed to the head X movement shaft 19 .
- the head unit 4 moves in the Y direction integrally with the support frame 16 by operating the head Y-axis servomotor 14 and rotating the head Y-moving shaft 15. Moving. Further, the head unit 4 moves in the X direction with respect to the support frame 16 by operating the head X-axis servomotor 18 to rotate the head X movement shaft 19 .
- the head unit 4 moves horizontally along a head Y movement axis 15 and a head X movement axis 19 within a predetermined head movement area A1 in the space above the wafer stage 10 of the component supply section 5 .
- the head movement area A1 is an area corresponding to the installation range of the head Y movement axis 15 extending in the Y direction and the head X movement axis 19 extending in the X direction.
- the head movement area A1 has a size from the space above the wafer stage 10 to the space above the component recognition camera 30 through the conveyor 3 in the Y direction.
- a head Y movement axis 15 and a head X movement axis 19 defining the head movement area A1 define an XY coordinate system when the head unit 4 moves. That is, the movement position of the head unit 4 can be represented by XY coordinates in an XY coordinate system defined by the head Y movement axis 15 and the head X movement axis 19 .
- the head Y-axis servomotor 14 is provided with a head Y movement amount detection unit 14A (FIG. 4), which is composed of an encoder or the like.
- the head Y movement amount detection unit 14A detects the amount of movement of the head unit 4 in the Y direction along the head Y movement axis 15 by detecting the drive amount of the head Y axis servomotor 14 .
- the head X-axis servomotor 18 is provided with a head X-movement amount detector 18A (FIG. 4) composed of an encoder or the like.
- the head X movement amount detection unit 18A detects the amount of movement of the head unit 4 in the X direction along the head X movement axis 19 by detecting the drive amount of the head X axis servomotor 18 .
- the theoretical movement position (XY coordinates of the XY coordinate system) of the head unit 4 can be obtained based on the detection results of the movement amount of the head unit 4 by the head Y movement amount detection section 14A and the head X movement amount detection section 18A. can.
- the camera unit 32U is a unit that can move in the X and Y directions, and includes a wafer camera 32 (component camera). Wafer camera 32 images a portion of wafer 7 positioned on wafer stage 10, that is, die 7a within the camera's field of view. Based on this captured image, the position of the die 7a to be picked up is recognized.
- the component mounting apparatus 1 includes a second drive mechanism D2 that can move the camera unit 32U in at least the upper space between the wafer stage 10 and a predetermined standby position in the horizontal direction (X direction and Y direction).
- the second drive mechanism D2 is a drive system that is separate and independent from the first drive mechanism D1 that drives the head unit 4. As shown in FIG. In this embodiment, the standby position is a position away from the wafer stage 10 on the +Y side.
- the second drive mechanism D2 includes a pair of Y-axis fixed rails 33 on the +X side and the -X side, a camera Y-axis servomotor 34 and a camera Y movement mechanism on the +X side, as a mechanism for moving the camera unit 32U in the Y direction. and an axis 35 .
- a pair of Y-axis fixed rails 33 are fixed on the base 2 and extend parallel to each other in the Y-direction at a predetermined interval in the X-direction.
- the camera Y movement shaft 35 is a ball screw shaft arranged so as to extend in the Y direction at a position close to the Y-axis fixed rail 33 on the +X side.
- a camera Y-axis servo motor 34 rotationally drives a camera Y movement axis 35 .
- a support frame 36 that supports the camera unit 32U is installed between the pair of Y-axis fixed rails 33 .
- a nut 37 that is screwed onto the camera Y movement shaft 35 is attached to the +X side end of the support frame 36 .
- the second drive mechanism D2 includes a guide member (not shown) mounted on the support frame 36, a camera X-axis servomotor 38, and a camera X-movement shaft 39 as a mechanism for moving the camera unit 32U in the X direction.
- the guide member is a member that guides movement of the camera unit 32U in the X direction, and is fixed to the -Y side surface of the support frame 36 so as to extend in the X direction.
- the camera X movement shaft 39 is a ball screw shaft that is arranged in the vicinity of the guide member so as to extend in the X direction.
- a camera X-axis servo motor 38 rotationally drives a camera X movement axis 39 .
- a nut (not shown) is attached to the camera unit 32U, and the nut is screwed onto the camera X movement shaft 39. As shown in FIG.
- the camera Y-axis servo motor 34 operates to rotate the camera Y-moving shaft 35, thereby moving the camera unit 32U integrally with the support frame 36 in the Y direction. Moving. In addition, the camera unit 32U moves in the X direction with respect to the support frame 36 by operating the camera X-axis servo motor 38 and rotating the camera X movement shaft 39 .
- the camera unit 32U moves horizontally along the camera Y movement axis 35 and the camera X movement axis 39 within a predetermined camera movement area A2 in the space above the wafer stage 10 of the component supply section 5.
- the camera movement area A2 is an area corresponding to the installation range of the camera Y movement axis 35 extending in the Y direction and the camera X movement axis 39 extending in the X direction.
- the camera movement area A2 has a size from the space above the wafer stage 10 to the space above the wafer storage elevator 9 on the +Y side in the Y direction.
- a camera Y movement axis 35 and a camera X movement axis 39 that define the camera movement area A2 define an XY coordinate system when the camera unit 32U moves. That is, the movement position of the camera unit 32U can be represented by XY coordinates in an XY coordinate system defined by the camera Y movement axis 35 and the camera X movement axis 39.
- FIG. 1 A camera Y movement axis 35 and a camera X movement axis 39 that define the camera movement area A2 define an XY coordinate system when the camera unit 32U moves. That is, the movement position of the camera unit 32U can be represented by XY coordinates in an XY coordinate system defined by the camera Y movement axis 35 and the camera X movement axis 39.
- the camera Y-axis servomotor 34 is provided with a camera Y movement amount detection section 34A (FIG. 4) composed of an encoder or the like.
- the camera Y movement amount detection unit 34A detects the amount of movement of the camera unit 32U in the Y direction along the camera Y movement axis 35 by detecting the drive amount of the camera Y axis servo motor 34 .
- the camera X-axis servomotor 38 is provided with a camera X-movement detection section 38A (FIG. 4) composed of an encoder or the like.
- the camera X movement amount detection unit 38A detects the movement amount in the X direction along the camera X movement axis 39 of the camera unit 32U by detecting the drive amount of the camera X axis servomotor 38 .
- the theoretical movement position (XY coordinates of the XY coordinate system) of the camera unit 32U can be obtained based on the detection results of the movement amount of the camera unit 32U by the camera Y movement amount detection section 34A and the camera X movement amount detection section 38A. can.
- the push-up unit 40 is arranged below the wafer stage 10 and pushes up the dies 7a to be picked by the head unit 4 from the lower surface side of the wafer sheet 8a.
- the push-up unit 40 is arranged on the base 2 so as to be movable in the XY directions over a range corresponding to the wafer stage 10 .
- the push-up unit 40 is movably supported in the X direction by a support frame 42 movable along a pair of guide rails 41 extending in the Y direction.
- a push-up Y-axis servomotor 44 rotates a thrust-up Y movement shaft 43 , which is a ball screw shaft that is screwed into a nut portion (not shown) provided inside the support frame 42 .
- the push-up unit 40 moves together with the support frame 42 in the Y direction.
- the support frame 42 is also provided with a push-up X movement shaft 45 that is a ball screw shaft that is screwed with a nut portion (not shown) provided inside the push-up unit 40 .
- the push-up unit 40 is moved in the X-axis direction by rotating the push-up X movement shaft 45 by the push-up X-axis servomotor 46 .
- the push-up unit 40 has a push-up pin 47 for pushing up the die 7a.
- the push-up pin 47 rises to push up the die 7a through the wafer sheet 8a.
- the push-up pin 47 is driven up and down by a pin elevating motor 48 (FIG. 4).
- the push-up unit 40 is horizontally movable below the wafer stage 10 along the push-up Y movement axis 43 and the push-up X movement axis 45 .
- a push-up Y movement axis 43 and a push-up X movement axis 45 define an XY coordinate system when the push-up unit 40 moves. That is, the movement position of the push-up unit 40 can be represented by XY coordinates in an XY coordinate system defined by the push-up Y movement axis 43 and the push-up X movement axis 45 .
- the push-up Y-axis servo motor 44 is provided with a push-up Y movement amount detection unit 44A (FIG. 4) composed of an encoder or the like.
- the push-up Y movement amount detection unit 44A detects the amount of movement of the push-up unit 40 in the Y direction along the push-up Y movement axis 43 by detecting the drive amount of the push-up Y-axis servomotor 44 .
- the push-up X-axis servomotor 46 is provided with a push-up X movement amount detection unit 46A (FIG. 4) composed of an encoder or the like.
- the push-up X movement amount detection unit 46A detects the amount of movement of the push-up unit 40 in the X direction along the push-up X movement axis 45 by detecting the drive amount of the push-up X-axis servomotor 46 .
- the theoretical movement position (XY coordinates of the XY coordinate system) of the push-up unit 40 can be obtained based on the detection result of the movement amount of the push-up unit 40 by the push-up Y movement amount detection section 44A and the push-up X movement amount detection section 46A. can.
- the component mounting apparatus 1 is arranged at a predetermined position below the common area CA where the head movement area A1 and the camera movement area A2 overlap in the space above the wafer stage 10.
- a plurality of mark portions 50 are arranged.
- the number of arranged mark portions 50 is not particularly limited as long as it is two or more.
- the place where the mark portion 50 is arranged is not particularly limited as long as it is below the common area CA.
- Each mark portion 50 is provided with a mark 50M that can be recognized by the head camera 31 mounted on the head unit 4 and the wafer camera 32 mounted on the camera unit 32U.
- the component mounting apparatus 1 includes a control section 20 that controls the operation of each section of the component mounting apparatus 1 .
- the controller 20 is electrically connected to the devices of the head unit 4, the camera unit 32U, and the push-up unit 40, the wafer feeder 6, and the component recognition camera 30.
- FIG. The control unit 20 operates to functionally include a wafer supply control unit 21, a movement control unit 22, a correction data generation unit 23, and a storage unit 24 by executing a predetermined program.
- the storage unit 24 stores various programs such as implementation programs and various data.
- the storage unit 24 stores correction data and the like created by a correction data creating unit 23, which will be described later.
- the wafer supply control unit 21 controls the wafer supply device 6 so that the wafers 7 divided into a plurality of dies 7a are supplied to the wafer stage 10 while being held on the pallet 8.
- the movement control unit 22 controls driving of the head Y-axis servo motor 14 and the head X-axis servo motor 18 to move the head unit 4 along the head Y movement axis 15 and the head X movement axis 19 . Controls movement in the XY directions. Further, the movement control unit 22 controls driving of the Z-axis servomotor 401 to control movement (up and down movement) of the head 4H in the Z direction, and controls driving of the R-axis servomotor 402 to move the head 4H itself. Controls rotational movement around an axis.
- the head unit 4 is moved by the head Y-movement amount detection unit 14A and the head X-movement amount detection unit 18A. Quantity detection is performed.
- the movement control unit 22 controls the driving of the camera Y-axis servo motor 34 and the camera X-axis servo motor 38, thereby moving the camera unit along the camera Y movement axis 35 and the camera X movement axis 39. Controls the movement of 32U in the XY directions. Note that when the camera Y-axis servomotor 34 and the camera X-axis servomotor 38 are driven by the control of the movement control unit 22, the camera unit 32U is moved by the camera Y movement amount detection unit 34A and the camera X movement amount detection unit 38A. Quantity detection is performed.
- the movement control unit 22 also controls the drive of the push-up Y-axis servomotor 44 and the push-up X-axis servomotor 46 in relation to the push-up unit 40 , thereby moving the push-up unit along the push-up Y movement axis 43 and the push-up X movement axis 45 .
- 40 controls the movement in the XY directions.
- the movement control section 22 controls the vertical movement of the push-up pin 47 by controlling the driving of the pin lifting motor 48 .
- the push-up unit 40 is moved by the push-up Y movement amount detection unit 44A and the push-up X movement amount detection unit 46A. Quantity detection is performed.
- the correction data creation unit 23 creates data for correcting the control by the movement control unit 22.
- the correction data generation unit 23 includes, as a functional configuration, a head position calculation unit 231, a camera position calculation unit 232, a thrust position calculation unit 233, a mark position recognition processing unit 234, a pin position recognition processing unit 235, a parallel deviation correction processing unit 236, A head axis correction processing section 237 , a camera axis correction processing section 238 and a thrust axis correction processing section 239 are included. Details of the processing performed by each functional configuration in the correction data creation unit 23 will be described later.
- control unit 20 executes component pickup and mounting control, first correction data generation control, and second correction data generation control.
- the component pick-up and mount control is a control for picking up the die 7a by the head 4H of the head unit 4 and mounting it on the substrate P.
- the first correction data generation control and the second correction data generation control are controls executed before the component pick-up and mount control, and the correction data generation unit 23 generates data for correcting the control of the movement control unit 22. be done.
- the movement control unit 22 controls movement of the camera unit 32U in the XY directions so that the camera unit 32U is placed at the position of the die 7a to be picked up by the head 4H on the wafer 7. At this time, the wafer camera 32 mounted on the camera unit 32U images the die 7a.
- the movement control unit 22 recognizes the position (suction position) of the die 7a to be suctioned by the head 4H based on the image data acquired by the wafer camera 32 capturing an image of the die 7a.
- the movement control section 22 controls the movement of the push-up unit 40 in the XY directions so that the push-up unit 40 is arranged below the pickup position.
- the movement control section 22 controls the vertical movement of the push-up pin 47 in a state where the push-up unit 40 is arranged below the suction position. As a result, the push-up pin 47 pushes up the die 7a to be sucked by the head 4H.
- the movement control section 22 controls the movement of the head unit 4 in the XY directions so that the head unit 4 is arranged above the recognized suction position. With the head unit 4 arranged above the pickup position, the movement control unit 22 controls movement of the head 4H in the Z direction and rotational movement of the head 4H around its own axis. As a result, the head 4H attracts and holds the die 7a.
- the movement control section 22 controls movement of the head unit 4 in the XY directions so that the head unit 4 is arranged above the substrate P.
- the head camera 31 mounted on the head unit 4 images the substrate P.
- FIG. The feducial mark attached to the substrate P is recognized from the photographed image of the head camera 31 .
- the positional deviation of the board P is recognized, and the positional deviation is corrected when the component is mounted on the board P.
- FIG. With the head unit 4 arranged above the substrate P, the movement control unit 22 controls the movement of the head 4H in the Z direction and the rotational movement of the head 4H around its own axis. As a result, the head 4H mounts the die 7a on the substrate P. As shown in FIG.
- the movement control unit 22 controls the camera unit 32U to move in the XY directions along the camera Y movement axis 35 and the camera X movement axis 39.
- the position of the die 7a to be sucked by the head 4H of the head unit 4 can be recognized.
- the head unit 4 is moved in the XY directions along the head Y movement axis 15 and the head X movement axis 19 toward the recognized position, and the die 7a is picked.
- the camera unit 32U and the head unit 4 are provided separately and independently, the camera unit 32U can recognize the next picking target die 7a in parallel with the picking operation of the die 7a by the head unit 4. can be done. As a result, the work cycle from the imaging of the die 7a by the wafer camera 32 of the camera unit 32U to the picking of the die 7a by the head unit 4 can be sped up.
- the operation of the component mounting apparatus 1 when the control section 20 executes the first correction data generation control will be described with reference to FIGS. 6 to 9.
- FIG. The first correction data generation control is a control executed when the correction data generation section 23 generates data for correcting the control of the movement control section 22 in the component pick-up and mounting control described above.
- the control unit 20 executes the first correction data generation control
- the data for correcting the parallel displacement between the head Y movement axis 15 and the head X movement axis 19 and the camera Y movement axis 35 and the camera X movement axis 39 is generated.
- data for correcting the distortion are created by the correction data creation unit 23 .
- the movement control section 22 moves the head unit 4 in the XY directions so that the head camera 31 is positioned above the mark section 50 installed below the common area CA. Control. At this time, the head camera 31 mounted on the head unit 4 images the mark 50M of each of the plurality of mark portions 50 . By imaging each mark 50M, the head camera 31 acquires first mark image data MGD1 representing image data of each mark 50M for each mark 50M.
- the head Y movement amount detection unit 14A detects the drive amount of the head Y-axis servomotor 14, thereby moving the head unit 4 in the Y direction. A movement amount in the Y direction along the axis 15 is detected.
- the head Y movement amount detection unit 14A acquires head Y movement amount data HMDY indicating the detection result for each mark 50M. That is, the head Y movement amount data HMDY is the theoretical movement amount of the head unit 4 along the head Y movement axis 15 based on the driving amount of the head Y-axis servo motor 14 corresponding to the imaging of the mark 50M by the head camera 31.
- the head X movement amount detection section 18A detects the amount of movement of the head unit 4 in the X direction along the head X movement axis 19 by detecting the drive amount of the head X axis servomotor 18 .
- the head X movement amount detection unit 18A acquires head X movement amount data HMDX indicating the detection result for each mark 50M. That is, the head X movement amount data HMDX is a theoretical movement amount of the head unit 4 along the head X movement axis 19 based on the driving amount of the head X-axis servo motor 18 corresponding to the imaging of the mark 50M by the head camera 31. data indicating
- the movement control section 22 controls movement of the camera unit 32U in the XY directions so that the wafer camera 32 is positioned above the mark section 50 installed below the common area CA. At this time, the wafer camera 32 mounted on the camera unit 32U captures an image of each mark 50M of the plurality of mark portions 50. As shown in FIG. By imaging each mark 50M, the wafer camera 32 acquires the second mark image data MGD2 representing the image data of each mark 50M for each mark 50M.
- the camera Y movement amount detector 34A detects the driving amount of the camera Y-axis servomotor 34, thereby moving the camera unit 32U in the Y direction. A movement amount in the Y direction along the axis 35 is detected.
- the camera Y movement amount detection unit 34A acquires camera Y movement amount data CMDY indicating the detection result for each mark 50M. That is, the camera Y movement amount data CMDY is the theoretical movement amount of the camera unit 32U along the camera Y movement axis 35 based on the drive amount of the camera Y-axis servo motor 34 corresponding to the imaging of the mark 50M by the wafer camera 32.
- the camera X movement amount detection section 38A detects the amount of movement of the camera unit 32U in the X direction along the camera X movement axis 39 by detecting the drive amount of the camera X axis servomotor 38 .
- the camera X movement amount detection unit 38A acquires camera X movement amount data CMDX indicating the detection result for each mark 50M. That is, the camera X movement amount data CMDX is the theoretical movement amount of the camera unit 32U along the camera X movement axis 39 based on the drive amount of the camera X-axis servo motor 38 corresponding to the imaging of the mark 50M by the wafer camera 32. data indicating
- the first mark image data MGD1 acquired by the head camera 31 and the second mark image data MGD2 acquired by the wafer camera 32 are processed by the mark position recognition processing unit of the correction data generation unit 23. 234.
- the mark position recognition processing section 234 performs mark position recognition processing for recognizing the position of the mark 50M attached to the mark section 50 within the common area CA based on the first mark image data MGD1 and the second mark image data MGD2. conduct.
- the mark position recognition processing unit 234 recognizes the position of the mark 50M according to the imaging by the head camera 31 mounted on the head unit 4.
- Position recognition data MRD1 is generated for each mark 50M.
- the first mark position recognition data MRD1 is data indicating the actual movement position of the head unit 4 when the head camera 31 captures the image of the mark 50M. That is, the first mark position recognition data MRD1 indicates the actual position of the head unit 4 in the XY coordinate system defined by the head Y movement axis 15 and the head X movement axis 19 when the mark 50M is imaged by the head camera 31. data.
- the mark position recognition processing unit 234 generates second mark position recognition data representing the recognition result of the position of the mark 50M according to the imaging by the wafer camera 32 mounted on the camera unit 32U, based on the second mark image data MGD2.
- MRD2 is generated for each mark 50M.
- the second mark position recognition data MRD2 is data indicating the actual movement position of the camera unit 32U when the wafer camera 32 captures the image of the mark 50M. That is, the second mark position recognition data MRD2 indicates the actual position of the camera unit 32U in the XY coordinate system defined by the camera Y movement axis 35 and the camera X movement axis 39 when the wafer camera 32 captures the mark 50M. data.
- the head Y movement amount data HMDY acquired by the head Y movement amount detection section 14A and the head X movement amount data HMDX acquired by the head X movement amount detection section 18A are corrected. It is input to the head position calculator 231 of the data generator 23 .
- the head position calculation unit 231 performs position calculation processing for calculating the theoretical position of the head unit 4 when the head camera 31 captures the mark 50M based on the head Y movement amount data HMDY and the head X movement amount data HMDX. conduct. Then, the head position calculation unit 231 generates head position data HPD indicating the result of calculation processing.
- the head position data HPD is data indicating the theoretical movement position of the head unit 4 when the head camera 31 captures the image of the mark 50M. That is, the head position data HPD is data indicating the theoretical position of the head unit 4 in the XY coordinate system defined by the head Y movement axis 15 and the head X movement axis 19 when the mark 50M is imaged by the head camera 31. Become.
- the camera Y movement amount data CMDY acquired by the camera Y movement amount detection section 34A and the camera X movement amount data CMDX acquired by the camera X movement amount detection section 38A are corrected. It is input to the camera position calculator 232 of the data generator 23 .
- the camera position calculation unit 232 performs position calculation processing for calculating the theoretical position of the camera unit 32U when the wafer camera 32 captures the mark 50M based on the camera Y movement amount data CMDY and the camera X movement amount data CMDX. conduct. Then, the camera position calculation unit 232 generates camera position data CPD indicating the result of calculation processing.
- the camera position data CPD is data indicating the theoretical movement position of the camera unit 32U when the wafer camera 32 captures the image of the mark 50M. That is, the camera position data CPD is data indicating the theoretical position of the camera unit 32U in the XY coordinate system defined by the camera Y movement axis 35 and the camera X movement axis 39 when the wafer camera 32 picks up the mark 50M. Become.
- the wafer camera 32 is used when recognizing the position of the die 7a.
- the movement position of the unit 32U and the movement position of the head unit 4 must match.
- the camera unit 32U and the head unit 4 may be misaligned. For example, as shown in FIG.
- first mark position recognition data MRD1 indicating the actual movement position of the head unit 4 when the head camera 31 captures the mark 50M
- the wafer camera 32 captures the mark 50M.
- a situation may arise in which the second mark position recognition data MRD2 indicating the actual movement position of the unit 32U does not match.
- the parallel deviation correction processing unit 236 of the correction data generation unit 23 performs parallel deviation correction processing.
- the parallel deviation correction processing section 236 receives the first mark position recognition data MRD1 and the second mark position recognition data MRD2 for each mark 50M generated by the mark position recognition processing section 234 .
- the parallel deviation correction processing unit 236 corrects the parallel deviation between the head Y movement axis 15 and the camera Y movement axis 35 based on the first mark position recognition data MRD1 and the second mark position recognition data MRD2.
- Parallel deviation correction data PDCD for correcting parallel deviation between the head X movement axis 19 and the camera X movement axis 39 is created.
- the parallel deviation correction processing unit 236 rotates the head Y movement axis 15 and the camera Y movement axis 35 around the axis extending in the Z direction so that the first mark position recognition data MRD1 and the second mark position recognition data MRD2 match.
- Parallel deviation correction data PDCD is created by virtually rotating the image.
- the parallel deviation correction data PDCD is stored in the storage unit 24 .
- the parallel deviation correction data PDCD is read from the storage unit 24 .
- the movement control section 22 controls the movement of the head unit 4 and the camera unit 32U when the control section 20 executes the component pickup and mounting control
- the amount of movement of the head unit 4 and the camera unit 32U is corrected for parallel deviation. It can be corrected based on the data PDCD.
- parallel deviation occurs between the head Y movement axis 15 and the camera Y movement axis 35, and even if parallel deviation occurs between the head X movement axis 19 and the camera X movement axis 39, Positional deviation between the movement position of the camera unit 32U and the movement position of the head unit 4 can be suppressed.
- the head unit there is a risk of misalignment between the actual movement position of 4 and the theoretical movement position.
- the head camera 31 captures the mark 50M
- the first mark position recognition data MRD1 indicating the actual movement position of the head unit 4 and the theoretical movement position of the head unit 4 are combined.
- a situation may arise in which the indicated head position data HPD does not match.
- the head axis correction processing section 237 of the correction data creation section 23 performs head axis correction processing.
- the head axis correction processing unit 237 receives the first mark position recognition data MRD1 for each mark 50M generated by the mark position recognition processing unit 234 and the head position data HPD for each mark 50M generated by the head position calculation unit 231. is entered.
- the head axis correction processing unit 237 creates head axis correction data HACD for correcting the distortion of the head Y movement axis 15 and the head X movement axis 19 based on the first mark position recognition data MRD1 and the head position data HPD. do.
- the head axis correction processing unit 237 virtually adjusts the orthogonality of the head X movement axis 19 to the head Y movement axis 15 so that the first mark position recognition data MRD1 and the head position data HPD match.
- the head axis correction data HACD is stored in the storage section 24 .
- the head axis correction data HACD is read from the storage unit 24 when the control unit 20 executes the component pick-up and mount control.
- the movement control section 22 controls the movement of the head unit 4
- the movement amount of the head unit 4 can be corrected based on the head axis correction data HACD when the control section 20 executes the component pickup and mounting control. can be done. Therefore, even when the head Y movement axis 15 and the head X movement axis 19 are distorted, the head unit 4 can be moved to an appropriate position.
- the camera unit when distortion occurs in the camera Y movement axis 35 and the camera X movement axis 39, and the distortion occurs in the XY coordinate system defined by the camera Y movement axis 35 and the camera X movement axis 39, the camera unit There is a risk of misalignment between the actual movement position of 32U and the theoretical movement position.
- second mark position recognition data MRD2 indicating the actual movement position of the camera unit 32U and the theoretical movement position of the camera unit 32U are A situation may arise in which the shown camera position data CPD does not match.
- the camera axis correction processing section 238 of the correction data creation section 23 performs camera axis correction processing.
- the camera axis correction processing unit 238 stores the second mark position recognition data MRD2 for each mark 50M generated by the mark position recognition processing unit 234, and the camera position data CPD for each mark 50M generated by the camera position calculation unit 232. is entered.
- the camera axis correction processing unit 238 creates camera axis correction data CACD for correcting the distortion of the camera Y movement axis 35 and the camera X movement axis 39 based on the second mark position recognition data MRD2 and the camera position data CPD. do.
- the camera axis correction processing unit 238 virtually adjusts the orthogonality of the camera X movement axis 39 to the camera Y movement axis 35 so that the second mark position recognition data MRD2 and the camera position data CPD match.
- the camera axis correction data CACD are stored in the storage unit 24 .
- the camera axis correction data CACD is read from the storage unit 24 when the control unit 20 executes the component pick-up and mount control.
- the movement control section 22 controls the movement of the camera unit 32U
- the amount of movement of the camera unit 32U can be corrected based on the camera axis correction data CACD when the control section 20 executes the component pickup and mounting control. can be done. Therefore, even when the camera Y movement axis 35 and the camera X movement axis 39 are distorted, the camera unit 32U can be moved to an appropriate position.
- the head axis correction processing unit 237 performs head axis correction processing using the first mark position recognition data MRD1 corresponding to the mark 50M of the mark unit 50
- the camera axis correction processing unit 238 corresponds to the mark 50M of the mark unit 50.
- the camera axis correction processing is performed using the second mark position recognition data MRD2
- the mark position recognition data used by the head axis correction processing unit 237 and the camera axis correction processing unit 238 for axis correction processing correspond to the marks attached to the jig detachably set on the wafer stage 10 .
- the jig is obtained by attaching a large number of marks on a rectangular glass plate at predetermined intervals in the XY directions.
- the first mark position recognition data MRD1 used by the head axis correction processing unit 237 in the head axis correction process is the data attached to the jig corresponding to the image captured by the head camera 31 mounted on the head unit 4. It becomes data indicating the recognition result of the position of the mark.
- the second mark position recognition data MRD2 used by the camera axis correction processing unit 238 in the camera axis correction process is attached to the jig according to the imaging by the wafer camera 32 mounted on the camera unit 32U. It becomes data indicating the recognition result of the position of the mark.
- head axis correction processing by the head axis correction processing unit 237 and camera axis correction processing by the camera axis correction processing unit 238 are performed before parallel deviation correction processing by the parallel deviation correction processing unit 236 .
- the parallel deviation correction processing unit 236 performs the parallel deviation correction processing after the head axis correction processing by the head axis correction processing unit 237 and the camera axis correction processing by the camera axis correction processing unit 238 are performed.
- the movement control section 22 controls the movement of the head unit 4 using the head axis correction data HACD, and also uses the camera axis correction data CACD. is used to control the movement of the camera unit 32U. Specifically, the movement control unit 22 moves the head camera to a position above the mark unit 50 installed below the common area CA in a state in which the amount of movement of the head unit 4 is corrected based on the head axis correction data HACD.
- the movement of the head unit 4 in the XY direction is controlled so that 31 is arranged.
- the movement control section 22 moves the camera unit 32U so that the wafer camera 32 is positioned above the mark section 50 with the movement amount of the camera unit 32U corrected based on the camera axis correction data CACD. to control the movement of the XY directions.
- the operation of the component mounting apparatus 1 when the control section 20 executes the second correction data generation control will be described with reference to FIGS. 10 and 11.
- FIG. The second correction data generation control is executed when the correction data generation section 23 generates data for correcting the control of the movement control section 22 in the component pick-up and mounting control.
- the control unit 20 executes the second correction data generation control after the first correction data generation control.
- the correction data generation unit 23 generates data for correcting the distortion of the push-up Y movement axis 43 and the push-up X movement axis 45 .
- the movement control section 22 controls movement of the camera unit 32U and the push-up unit 40 in the XY directions so that the push-up unit 40 moves in conjunction with the movement of the camera unit 32U. That is, the movement control section 22 moves the camera unit 32U and the push-up unit 40 so that the camera unit 32U moves in the XY directions and the push-up unit 40 moves while maintaining the state arranged below the camera unit 32U. Controls movement in the XY directions. Note that the movement control section 22 uses the camera axis correction data CACD stored in the storage section 24 when controlling the movement of the camera unit 32U.
- the movement control section 22 controls the movement of the camera unit 32U with the movement amount of the camera unit 32U corrected based on the camera axis correction data CACD.
- the wafer camera 32 mounted on the camera unit 32U captures images of the push-up pins 47 of the push-up unit 40, which moves in conjunction with the camera unit 32U, at a plurality of movement points.
- the wafer camera 32 acquires the pin image data PGD indicating the image data of the push-up pin 47 for each of the plurality of movement points by imaging the push-up pin 47 .
- the push-up Y movement amount detection unit 44A detects the drive amount of the push-up Y-axis servomotor 44, thereby causing the push-up Y movement axis 43 of the push-up unit 40 to move. Detect the amount of movement in the Y direction along.
- the push-up Y movement amount detection unit 44A acquires push-up Y movement amount data PMDY indicating the detection result for each of the plurality of movement points.
- the push-up Y movement amount data PMDY is the theoretical movement of the push-up unit 40 along the push-up Y movement axis 43 based on the driving amount of the push-up Y-axis servo motor 44 corresponding to the imaging of the push-up pin 47 by the wafer camera 32. It becomes data that indicates the amount.
- the push-up X movement amount detection unit 46A detects the amount of movement of the push-up unit 40 in the X direction along the push-up X movement axis 45 by detecting the drive amount of the push-up X-axis servomotor 46 .
- the push-up X movement amount detection unit 46A acquires push-up X movement amount data PMDX indicating the detection result for each of the plurality of movement points. That is, the push-up X movement amount data PMDX is the theoretical movement of the push-up unit 40 along the push-up X movement axis 45 based on the driving amount of the push-up X-axis servo motor 46 corresponding to the imaging of the push-up pin 47 by the wafer camera 32. It becomes data that indicates the amount.
- the pin image data PGD acquired by the wafer camera 32 are input to the pin position recognition processing section 235 of the correction data creation section 23 .
- the pin position recognition processing unit 235 performs pin position recognition processing for recognizing the position of the push-up pin 47 in the push-up unit 40 moving in conjunction with the camera unit 32U, based on the pin image data PGD.
- the pin position recognition processing unit 235 based on the pin image data PGD, the pin position recognition processing unit 235 generates pin position recognition data PRD indicating the recognition result of the position of the push-up pin 47 when the push-up unit 40 moves in conjunction with the camera unit 32U. , is generated for each of the plurality of movement points.
- the pin position recognition data PRD is data indicating the actual movement position of the push-up unit 40 when the wafer camera 32 picks up an image of the push-up pin 47 . That is, the pin position recognition data PRD is data indicating the actual position of the push-up unit 40 in the XY coordinate system defined by the push-up Y movement axis 43 and the push-up X movement axis 45 when the wafer camera 32 picks up the push-up pin 47 . becomes.
- the push-up Y movement amount data PMDY acquired by the push-up Y movement amount detection unit 44A and the push-up X movement amount data PMDX acquired by the push-up X movement amount detection unit 46A are corrected. It is input to the push-up position calculator 233 of the data generator 23 .
- the push-up position calculation unit 233 performs push-up position calculation processing for calculating the theoretical position of the push-up unit 40 during movement in conjunction with the camera unit 32U, based on the push-up Y movement amount data PMDY and the push-up X movement amount data PMDX. conduct. Then, the push-up position calculation unit 233 generates push-up position data PPD indicating the result of the calculation processing.
- the push-up position data PPD is data indicating the theoretical movement position of the push-up unit 40 when moving in conjunction with the camera unit 32U. That is, the push-up position data PPD is data indicating the theoretical position of the push-up unit 40 during movement in conjunction with the camera unit 32U in the XY coordinate system defined by the push-up Y movement axis 43 and the push-up X movement axis 45. .
- the push-up unit 40 A positional deviation may occur between the actual movement position and the theoretical movement position. For example, as shown in FIG. 11, when the wafer camera 32 picks up the push-up pin 47, pin position recognition data PRD indicating the actual movement position of the push-up unit 40 and theoretical movement position of the push-up unit 40 are shown. A situation may arise in which the push-up position data PPD does not match.
- the thrust axis correction processing unit 239 of the correction data generation unit 23 performs thrust axis correction processing.
- the push-up axis correction processing unit 239 stores the pin position recognition data PRD for each of the plurality of movement points generated by the pin position recognition processing unit 235 and the push-up for each of the plurality of movement points generated by the thrust position calculation unit 233.
- Position data PPD are input.
- the push-up axis correction processing unit 239 creates push-up axis correction data PACD for correcting the distortion of the push-up Y movement axis 43 and the push-up X movement axis 45 based on the pin position recognition data PRD and the push-up position data PPD.
- the push-up axis correction processing unit 239 virtually adjusts the orthogonality of the push-up X movement axis 45 with respect to the push-up Y movement axis 43 so that the pin position recognition data PRD and the push-up position data PPD match.
- Create correction data PACD The thrust axis correction data PACD is stored in the storage unit 24 .
- the thrust axis correction data PACD is read from the storage unit 24 when the control unit 20 executes the component pick-up and mount control.
- the movement control unit 22 controls the movement of the push-up unit 40 when the control unit 20 executes the component pick-up and mount control
- the movement amount of the push-up unit 40 can be corrected based on the push-up axis correction data PACD. can be done. Therefore, even if the push-up Y movement axis 43 and the push-up X movement axis 45 are distorted, the push-up unit 40 can be moved to an appropriate position.
- a component transfer apparatus includes a component supply section having a component placement area in which a plurality of components are arranged, and a head movement axis extending within a predetermined head movement area in a space above the component placement area.
- a head unit mounted with a head camera for picking the component in the component placement area; and a camera movement axis within a predetermined camera movement area above the component placement area. and is arranged at a predetermined position below a common area where a camera unit having a component camera for imaging the component in the component placement area and the head movement area and the camera movement area overlap.
- the correction data generation unit generates first mark position recognition data indicating a recognition result of the position of the mark based on first mark image data obtained by imaging the mark with the head camera, and A mark position recognition process is performed to generate second mark position recognition data indicating a recognition result of the position of the mark based on the second mark image data obtained by imaging the mark.
- correction data generation unit is configured to generate a parallelism data for correcting a parallel deviation between the head movement axis and the camera movement axis based on the first mark position recognition data and the second mark position recognition data. Parallel deviation correction processing for creating deviation correction data is performed.
- the camera unit moves horizontally along the camera movement axis under the control of the movement control unit, and the component camera images the component, thereby determining the position of the component to be picked by the head unit. can recognize. Then, under the control of the movement control section, the head unit moves horizontally along the head movement axis toward the recognized position to pick up the component. At this time, since the camera unit and the head unit are provided independently, the camera unit can recognize the position of the next picking target component in parallel with the picking operation of the component by the head unit. As a result, it is possible to speed up the work cycle from picking up the parts by the head unit to picking up the parts by the parts camera of the camera unit.
- the component mounting apparatus includes a correction data creation section that creates data for correcting the movement control of the head unit and the camera unit by the movement control section.
- This correction data generation unit generates first mark position recognition data based on the first mark image data obtained by imaging the mark by the head camera mounted on the head unit, and also generates the first mark position recognition data by the parts camera mounted on the camera unit.
- Second mark position recognition data is generated based on the second mark image data obtained by imaging the mark.
- the correction data creation unit creates parallel deviation correction data for correcting parallel deviation between the head movement axis and the camera movement axis based on the first mark position recognition data and the second mark position recognition data.
- the amount of movement of the head unit and the camera unit can be corrected based on the parallel deviation correction data.
- the parallel deviation correction data Even if there is a parallel shift between the head movement axis and the camera movement axis, it is possible to suppress the positional deviation between the movement position of the camera unit and the movement position of the head unit. For this reason, it is possible to suppress the occurrence of problems such as mispicking of components by the head unit due to the parallel deviation between the head movement axis and the camera movement axis.
- the above component transfer device includes a push-up unit that is horizontally movable along a push-up movement axis below the component placement area and has a push-up pin that pushes up the component to be picked by the head unit from below;
- the configuration may further include a push-up movement amount detection section that detects a movement amount of the push-up unit along the push-up movement axis.
- the movement control section is configured to control movement of the push-up unit in addition to the head unit and the camera unit.
- the correction data creation unit in a state in which the push-up unit is moving in conjunction with the movement of the camera unit, based on the pin image data obtained by imaging the push-up pin with the parts camera, A pin position recognition process is performed to generate pin position recognition data indicating a recognition result of the position of the push-up pin when the push-up unit is moved. Further, the correction data creation section generates the above-described Push-up axis correction processing for creating push-up axis correction data for correcting distortion of the push-up movement axis is performed.
- the push-up unit pushes up the component to be picked by the head unit from below by moving horizontally along the push-up movement axis under the control of the movement control section. Further, the theoretical movement position of the push-up unit can be obtained based on the push-up movement amount data indicating the detection result of the movement amount of the push-up unit by the push-up movement amount detection section.
- the correction data creation section in a state in which the push-up unit is moving in conjunction with the movement of the camera unit, calculates the correction data during movement of the push-up unit based on the pin image data obtained by imaging the push-up pin with the parts camera. Generate pin position recognition data indicating the recognition result of the position of the push-up pin. Further, the correction data creation unit corrects the distortion of the push-up movement axis based on the push-up movement amount data acquired by the push-up movement amount detection unit when the push-up unit moves in conjunction with the movement of the camera unit, and the pin position recognition data.
- the movement control section controls the movement of the push-up unit
- the amount of movement of the push-up unit can be corrected based on the push-up axis correction data. Therefore, even if the thrust-up movement axis is distorted, the thrust-up unit can be moved to an appropriate position.
- a component transfer apparatus comprising a head unit for picking components from a component placement area and a camera unit for capturing an image of the component in the component placement area, wherein the head unit and the camera unit Positional deviation of the movement position can be suppressed.
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Abstract
Description
図1に示されるように、本実施形態に係る部品実装装置1は、ウェハ7からダイシングされたダイ7a(部品)を基板P(所定の部品移載部)に搭載(実装)する装置である。図1及び図2に示されるように、部品実装装置1は、基台2、コンベア3、ヘッドユニット4、部品供給部5、ウェハ供給装置6、カメラユニット32U及び突き上げユニット40を含む。
次に、図4のブロック図を参照しながら部品実装装置1の制御構成について説明する。部品実装装置1は、当該部品実装装置1の各部の動作を統括的に制御する制御部20を備える。制御部20には、ヘッドユニット4、カメラユニット32U及び突き上げユニット40が備える各機器と、ウェハ供給装置6及び部品認識カメラ30とが電気的に接続されている。制御部20は、予め定められたプログラムが実行されることで、機能的にウェハ供給制御部21、移動制御部22、補正データ作成部23及び記憶部24を具備するように動作する。
本実施形態では、制御部20は、部品吸着搭載制御、第1補正データ生成制御及び第2補正データ生成制御を実行する。部品吸着搭載制御は、ヘッドユニット4のヘッド4Hによりダイ7aを吸着して基板Pに搭載する動作を行うための制御である。第1補正データ生成制御及び第2補正データ生成制御は、部品吸着搭載制御よりも前に実行される制御であり、補正データ作成部23により移動制御部22の制御を補正するためのデータが作成される。
制御部20が部品吸着搭載制御を実行したときの部品実装装置1の動作について、図5を参照しながら説明する。
制御部20が第1補正データ生成制御を実行したときの部品実装装置1の動作について、図6~図9を参照しながら説明する。第1補正データ生成制御は、上記の部品吸着搭載制御における移動制御部22の制御を補正するためのデータが補正データ作成部23によって作成される際に実行される制御である。制御部20により第1補正データ生成制御が実行されると、ヘッドY移動軸15及びヘッドX移動軸19と、カメラY移動軸35及びカメラX移動軸39とに関する平行ずれを補正するためのデータ、並びに、歪みを補正するためのデータが、補正データ作成部23によって作成される。
制御部20が第2補正データ生成制御を実行したときの部品実装装置1の動作について、図10及び図11を参照しながら説明する。第2補正データ生成制御は、上記の部品吸着搭載制御における移動制御部22の制御を補正するためのデータが補正データ作成部23によって作成される際に実行される制御である。制御部20は、上記の第1補正データ生成制御の後に、第2補正データ生成制御を実行する。制御部20により第2補正データ生成制御が実行されると、突き上げY移動軸43及び突き上げX移動軸45の歪みを補正するためのデータが、補正データ作成部23によって作成される。
Claims (2)
- 複数個の部品が配置された部品配置エリアを有する部品供給部と、
前記部品配置エリアの上方空間における所定のヘッド移動エリア内をヘッド移動軸に沿って水平方向に移動可能であり、ヘッドカメラが搭載され、前記部品配置エリアにおいて前記部品をピッキングするヘッドユニットと、
前記部品配置エリアの上方空間における所定のカメラ移動エリア内をカメラ移動軸に沿って水平方向に移動可能であり、前記部品配置エリアにおいて前記部品を撮像する部品カメラを有するカメラユニットと、
前記ヘッド移動エリアと前記カメラ移動エリアとが重なり合う共通エリアの下方における所定位置に配置され、前記ヘッドカメラ及び前記部品カメラの各々が認識可能なマークが付されたマーク部と、
前記ヘッドユニットの移動、及び前記カメラユニットの移動を制御する移動制御部と、
前記移動制御部による制御を補正するためのデータを作成する補正データ作成部と、を備え、
前記補正データ作成部は、
前記ヘッドカメラによる前記マークの撮像で得られた第1マーク画像データに基づき前記マークの位置の認識結果を示す第1マーク位置認識データを生成すると共に、前記部品カメラによる前記マークの撮像で得られた第2マーク画像データに基づき前記マークの位置の認識結果を示す第2マーク位置認識データを生成するマーク位置認識処理を行い、
前記第1マーク位置認識データと前記第2マーク位置認識データとに基づいて、前記ヘッド移動軸と前記カメラ移動軸との間の平行ずれを補正するための平行ずれ補正データを作成する平行ずれ補正処理を行う、部品移載装置。 - 前記部品配置エリアの下方において突き上げ移動軸に沿って水平方向に移動可能であり、前記ヘッドユニットによるピッキング対象の前記部品を下方から突き上げる突き上げピンを有する突き上げユニットと、
前記突き上げユニットの前記突き上げ移動軸に沿った移動量を検出する突き上げ移動量検出部と、を更に備え、
前記移動制御部は、前記ヘッドユニット及び前記カメラユニットに加えて前記突き上げユニットの移動を制御するように構成され、
前記補正データ作成部は、
前記カメラユニットの移動に連動して前記突き上げユニットが移動している状態において、前記部品カメラによる前記突き上げピンの撮像で得られたピン画像データに基づいて、前記突き上げユニットの移動時における前記突き上げピンの位置の認識結果を示すピン位置認識データを生成するピン位置認識処理を行い、
前記カメラユニットの移動に連動した前記突き上げユニットの移動時に前記突き上げ移動量検出部により取得された突き上げ移動量データと、前記ピン位置認識データとに基づいて、前記突き上げ移動軸の歪みを補正するための突き上げ軸補正データを作成する突き上げ軸補正処理を行う、請求項1に記載の部品移載装置。
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