JP5665648B2 - Adsorbent detection method and component mounting apparatus in suction nozzle of component mounting head - Google Patents

Description

  The present invention relates to a method for detecting an object to be adsorbed in a suction nozzle of a component mounting head that sucks and mounts a component on a substrate, and a component mounting apparatus.

  For example, Patent Document 1 discloses a component mounting head (nozzle holding member) having a suction nozzle that sucks and mounts a component on a substrate, and a side imaging unit (side) that can image the tip of the suction nozzle from the side. A component mounting apparatus (surface mounting machine) including an imaging unit) is disclosed. The control unit of the component mounting apparatus causes the side surface imaging unit to capture the tip of the suction nozzle after being detached from the component, and whether or not the component is sucked to the tip of the suction nozzle based on the side image. Determine.

  Patent Document 2 discloses a method for detecting a suction state of a component sucked by a suction nozzle of a component mounting device (component mounting machine). In this component adsorption state detection method, the cross-sectional area of a component normally adsorbed by the adsorption nozzle is obtained, and the obtained cross-sectional area is stored in the storage unit as a reference value. Then, when a component having a cross-sectional area stored in the storage unit is sucked by the suction nozzle and mounted on the substrate, the cross-sectional area of the component is obtained, and the obtained cross-sectional area is compared with the stored reference value. If they do not match, it is determined that the adsorption is abnormal.

Japanese Patent No. 4421406 (see paragraph 0009, FIGS. 2, 4 and 7) Japanese Patent No. 4306866 (see paragraphs 0016 and 0017, FIGS. 1 to 3)

  The substrate carried into the component mounting apparatus is required to have no foreign matter such as dust attached thereto, but the foreign matter may not be completely removed. For example, when a foreign object is attached to a component mounting position on the substrate, the foreign object may be adsorbed to the tip of the suction nozzle when the component is mounted to the component mounting position by the suction nozzle. The adsorption of foreign matter to the tip of the suction nozzle can also occur when a component is sucked by the suction nozzle from the component supply position of the component supply device. A solder paste for electrically connecting the components is printed at the component mounting position on the substrate. For this reason, when a component is mounted by the suction nozzle at the component mounting position, the solder paste may be sucked to the tip of the suction nozzle.

  In the inventions described in Patent Documents 1 and 2, it is possible to determine whether or not a component is adsorbed at the tip of the suction nozzle, or whether or not a component is abnormally adsorbed at the tip of the suction nozzle. However, it cannot be determined whether or not foreign matter such as dust or solder paste is adsorbed on the tip of the suction nozzle, and there is a possibility that the adsorbed foreign matter is erroneously recognized as a component. If a foreign object adsorbed when a component is mounted at the component mounting position on the board is misrecognized as a component, it will be determined that the component was not mounted at the component mounting position, and recovery processing will be performed to remount the component. As a result, the components are double hit and a substrate failure occurs. Further, the foreign matter adsorbed on the tip of the suction nozzle may interfere with the suction and mounting of the next component, which also causes a substrate failure.

  The present invention has been made in view of the conventional problems, and a method for detecting an object to be adsorbed in an adsorption nozzle and a component capable of determining whether the object to be adsorbed in the adsorption nozzle of the component mounting head is a part or a foreign object. The object is to provide a mounting device.

  In order to solve the above-mentioned problem, the invention according to claim 1 is directed to at least one suction nozzle for picking up a component and mounting the component on a substrate by moving in the axial direction, and the suction nozzle as described above. In a component mounting head including a nozzle moving unit that moves in the axial direction and a side imaging unit that images the suction nozzle from the side, before the component is sucked by the suction nozzle and mounted on the substrate And a method for detecting an object to be adsorbed by at least one of the adsorbing nozzles after being mounted, the step of storing the dimension of the component to be mounted on the substrate, and mounting the component on the substrate An image acquisition step of acquiring a side image obtained by imaging at least one of the suction nozzles before and after mounting, and in the side image acquired in the image acquisition step. The area below the tip of the suction nozzle is defined as an area acquisition area, and an area acquisition step of acquiring an imaging area of a side image of the object to be adsorbed in the area acquisition region, and the part stored in the storage step Based on the dimensions, an area calculation step for calculating a minimum projection area and a maximum projection area of a part from which a side image is acquired in the image acquisition step, an imaging area of the adsorbed object acquired in the area acquisition step, and A determination step of determining whether the object to be attracted is the component or a foreign substance other than the component based on the minimum projected area and the maximum projected area of the component calculated in the area calculating step. That is.

  The invention according to claim 2 is the component according to claim 1, wherein the plurality of types of components are small components, and the side image of the component enters the area acquisition region regardless of the suction state of the component in the suction nozzle. A part classification step for classifying a part larger than the small part as a large part, a threshold setting step for setting a threshold based on a minimum projection area of a large part from which a side image is obtained in the image acquisition step, and the image acquisition When the part from which the side image is acquired in the process is the large part, based on the imaging area of the attracted object acquired in the area acquisition process and the threshold of the large part set in the threshold setting process And a large component discriminating step for discriminating whether the object to be adsorbed is the component or a foreign substance other than the component.

  According to a third aspect of the invention, in the first or second aspect, the image acquisition is performed when it is determined in the determination step that the object to be adsorbed is a part from which a side image is acquired in the image acquisition step. Based on the side image acquired in the step, the height acquisition step of acquiring the height of the component, the dimension of the component stored in the storage step, and the height of the component acquired in the height acquisition step And a detection step of detecting a component suction state in the suction nozzle.

  According to a fourth aspect of the present invention, there is provided at least one suction nozzle for sucking a component and mounting the component on a substrate by moving in the axial direction, and nozzle moving means for moving the suction nozzle in the axial direction. A side mounting means for imaging from the side of the suction nozzle; and the suction of the part by the suction nozzle and before and after mounting on the substrate. An adsorbent detection device for detecting an adsorbent adsorbed by a nozzle, wherein the adsorbent detection device stores a dimension of the component to be mounted on the substrate. Means, image acquisition means for acquiring a side image obtained by imaging at least one of the suction nozzles before and after mounting the component on the substrate, and the image acquisition hand An area acquisition unit that acquires an area below the tip of the suction nozzle in the side image acquired in (2) as an area acquisition region, and acquires an imaging area of the side image of the object to be adsorbed in the area acquisition region; Based on the dimensions of the parts read from the storage means, the area calculating means for calculating the minimum projected area and the maximum projected area of the parts whose side images are acquired by the image acquiring means, and plural types of parts, A part classifying means for classifying a part whose side image of the part enters the area acquisition region as a small part and classifying a part larger than the small part as a large part regardless of the suction state of the part at the suction nozzle, and the image acquisition Threshold setting means for setting a threshold based on a minimum projected area of a large part from which a side image is acquired by the means, and a component from which the side image is acquired by the image acquisition means are the small parts In this case, based on the imaging area of the object to be adsorbed acquired by the area acquisition unit and the minimum projection area and the maximum projection area of the small component calculated by the area calculation unit, the object to be adsorbed is the small object. When the component whose side image is acquired by the image acquisition unit is the large component, it is acquired by the area acquisition unit. Based on the imaging area of the object to be adsorbed and the threshold value of the large part set by the threshold setting means, it is determined whether the object to be adsorbed is the large part or a foreign substance other than the large part. When it is determined by the large component determination unit and the small component determination unit that the object to be attracted is a small component whose side image is acquired by the image acquisition unit, the small component acquired by the image acquisition unit Based on the side image, the small image Based on the height acquisition means for acquiring the height of the parts, the dimensions of the parts read from the storage means and the heights of the small parts acquired by the height acquisition means, the component suction state in the suction nozzle Detecting means for detecting.

  According to the first aspect of the present invention, whether the object to be adsorbed is a part or a foreign substance other than the part is determined based on the imaging area of the side image of the object to be adsorbed and the minimum projection of the part from which the side image is acquired. The determination is made based on the area and the maximum projected area. This makes it possible to discriminate between a component and a foreign object based on the area ratio or area difference between the imaging area of the object to be adsorbed and the minimum projected area and the maximum projected area of the part. It is possible to improve the accuracy of discriminating between parts and foreign matters.

  When it is determined that the object to be adsorbed is a foreign object after the component is mounted on the substrate by the suction nozzle, it can be determined that the component is mounted on the substrate. Therefore, since the recovery process for remounting the component is not performed, it is possible to prevent the occurrence of the substrate failure due to the double hit of the component. At this time, cleaning of the tip of the suction nozzle is performed as necessary. In other words, when it is determined that the foreign matter adsorbed on the tip of the suction nozzle may interfere with the suction or mounting of the next part, the mounting process is stopped and the foreign matter is removed from the tip of the suction nozzle. When it is determined that there is no possibility of hindering the next component from being sucked or mounted, the mounting process for the next component is continued as it is.

  When it is determined that the object to be adsorbed is a component after the component is mounted on the substrate by the suction nozzle, it can be determined that the component is not mounted on the substrate and the component is taken home by the suction nozzle. Therefore, since the recovery process for remounting the component is performed, it is possible to prevent the occurrence of a board failure due to the component not being mounted. If it is determined that nothing is sucked by the suction nozzle after mounting the component on the substrate by the suction nozzle, it can be determined that the component is mounted on the substrate, and the mounting process of the next component is continued as it is Can continue.

  In addition, when it is determined that the object to be sucked is a foreign object before the component is mounted on the substrate by the suction nozzle, it is possible to prevent the occurrence of the substrate failure due to the component being blown on the substrate. When it is determined that the attracted object is a component, the component mounting process can be continued as it is.

  According to the second aspect of the present invention, whether the object to be adsorbed is a large part or a foreign object other than the large part is determined based on the imaging area of the object to be adsorbed and the threshold value of the large part. . For large parts, depending on the suction posture of the suction nozzle, the side image of the large part may protrude from the area acquisition region. Even in such a case, for example, by comparing the imaging area of the object to be adsorbed with the minimum projected area of the large component taking into account a predetermined margin based on the adsorption posture of the large component in the adsorption nozzle, Discrimination becomes possible. Therefore, it is possible to prevent erroneous recognition as a foreign object even for a large part whose side image does not fit in the area acquisition region.

  According to the third aspect of the present invention, when it is determined that the object to be sucked is a part, the part suction state in the suction nozzle is determined based on the height of the part stored in advance and the acquired part height. To detect. That is, it is possible to detect whether the suction posture of the component in the suction nozzle is normal or abnormal by comparing the height of the component stored in advance with the acquired height of the component. In particular, when it is detected that the suction posture of the component at the suction nozzle is abnormal before the component is mounted on the substrate by the suction nozzle, it can be determined that the component cannot be mounted. Therefore, it is possible to prevent the occurrence of a substrate failure due to a component mounting failure on the substrate.

  According to the fourth aspect of the present invention, the small component discriminating means is based on the imaging area of the side image of the object to be adsorbed and the minimum and maximum projection areas of the parts from which the side image is acquired. Is a part or a foreign object other than the part. This makes it possible to discriminate between a component and a foreign object based on the area ratio or area difference between the imaging area of the object to be adsorbed and the minimum projected area and the maximum projected area of the part. It is possible to improve the accuracy of discriminating between parts and foreign matters.

  The large component discriminating unit determines whether the object to be adsorbed is a large component or a foreign substance other than the large component based on the imaging area of the object to be adsorbed and the threshold value of the large component. For large parts, depending on the suction posture of the suction nozzle, the side image of the large part may protrude from the area acquisition region. Even in such a case, for example, by comparing the imaging area of the object to be adsorbed with the minimum projected area of the large component taking into account a predetermined margin based on the adsorption posture of the large component in the adsorption nozzle, Discrimination becomes possible. Therefore, it is possible to prevent erroneous recognition as a foreign object even for a large part whose side image does not fit in the area acquisition region.

  In addition, when it is determined that the object to be sucked is a part, the detection unit detects the part suction state in the suction nozzle based on the height of the part stored in advance and the acquired part height. I have to. That is, it is possible to detect whether the suction posture of the component in the suction nozzle is normal or abnormal by comparing the height of the component stored in advance with the acquired height of the component. In particular, when it is detected that the suction posture of the component at the suction nozzle is abnormal before the component is mounted on the substrate by the suction nozzle, it can be determined that the component is not mounted. Therefore, it is possible to prevent the occurrence of a substrate failure due to a component mounting failure on the substrate.

It is a perspective view of the component mounting apparatus which shows embodiment of this invention. It is a front view of the component mounting head of the component mounting apparatus of FIG. It is the figure which expanded the principal part of FIG. It is A arrow directional view of FIG. It is operation | movement explanatory drawing explaining operation | movement of the suction nozzle of the component mounting head of FIG. It is a figure which shows roughly the operation | movement when imaging the side image of the suction nozzle of FIG. It is a 1st flowchart for demonstrating the to-be-adsorbed object detection method in the suction nozzle of embodiment of this invention. It is a 2nd flowchart for demonstrating the to-be-adsorbed object detection method in the suction nozzle of embodiment of this invention. It is a 3rd flowchart for demonstrating the to-be-adsorbed object detection method in the suction nozzle of embodiment of this invention. It is a figure which shows the side image of the suction nozzle by a side imaging means.

  Embodiments of a component mounting apparatus according to the present invention will be described below with reference to the drawings. As shown in FIG. 1, the component mounting apparatus includes a substrate transfer device 60, a component supply device 70, a component transfer device 80, and a control device 90 that controls operations of the devices 60, 70, and 80.

  The substrate transport device 60 transports substrates in the X-axis direction, and is a so-called double conveyor type in which two rows of first transport devices 61 and second transport devices 62 are arranged side by side. The first transport device 61 and the second transport device 62 have a pair of guide rails 64a, 64b, 65a, 65b arranged on the base 63 in parallel and facing each other in parallel, and the guide rails 64a, 64b. , 65a, 65b, and a pair of conveyor belts (not shown) for supporting and transporting the substrates guided respectively, are arranged in parallel with each other. Further, the substrate transport device 60 is provided with a clamp device (not shown) that pushes up and clamps the substrate transported to a predetermined position, and the substrate is positioned and fixed at the component mounting position by the clamp device.

  The component supply device 70 is configured by arranging a plurality of cassette type feeders 71 in parallel on the base frame 1. The cassette type feeder 71 includes a main body 72 detachably attached to the base frame 1, a supply reel 73 provided at the rear part of the main body 72, and a component take-out part 74 provided at the tip of the main body 72. An elongated tape (not shown) in which components are enclosed at a predetermined pitch is wound and held on the supply reel 73, and this tape is pulled out at a predetermined pitch by a sprocket (not shown). The data are sequentially sent to the unit 74. In addition, a CCD camera 75 is provided between the component supply device 70 and the substrate transport device 60 as an image pickup unit that detects the holding position of the component. Although the component transfer device 80 is retracted backward in FIG. 1, the component transfer device 80 is moved above the CCD camera 75 when detecting the holding position of the component.

  The component transfer device 80 is of the XY robot type, is mounted on the base frame 1 and is disposed above the substrate transfer device 60 and the component supply device 70. The component transfer device 80 includes a Y-axis slider 12 that is moved in the Y-axis direction by the Y-axis servomotor 11. As shown in FIG. 2, an X-axis slider 13 is guided by the Y-axis slider 12 so as to be movable in the X-axis direction orthogonal to the Y-axis direction. That is, the X-axis slider 13 is connected to the Y-axis slider 12 via a pair of guide rails 12 a that are fixed to the Y-axis slider 12 and extend in the X-axis direction, and a pair of guide blocks 13 a that are fixed to the X-axis slider 13. Is held movable.

  An X-axis servo motor (not shown) is fixed to the Y-axis slider 12, and a ball screw shaft 12b extending in the X-axis direction is connected to the output shaft of the X-axis servo motor. The ball screw shaft 12b is screwed to a ball nut 13b fixed to the X-axis slider 13 via a ball (not shown). Accordingly, when the X-axis servo motor rotates, the ball screw shaft 12b rotates, and the X-axis slider 13 is guided by the guide rail 12a via the ball nut 13b and moves in the X-axis direction.

  On the X-axis slider 13, a component mounting head 10 that attaches components to the substrate is attached. The component mounting head 10 includes an R-axis motor 15, an index shaft 16, a nozzle holder 17, a suction nozzle 18, a θ-axis motor 19, a Z-axis motor 20, a side imaging unit 50 including a CCD camera 21, and the like. . The X-axis slider 13 is integrally provided with first and second frames 25 and 26 extending in the horizontal direction so as to be separated from each other in the vertical direction, and the R-axis motor 15 is fixed to the first frame 25.

  The output shaft of the R-axis motor 15 is connected to an index shaft 16 that is supported on the first frame 25 so as to be rotatable about the vertical axis AL. A rotating body 28 having a driven gear 27 and a θ-axis gear 29 formed thereon is supported on the index shaft 16 so as to be rotatable only. A cylindrical nozzle holder 17 constituting a revolver head is fixed to the lower end portion of the index shaft 16. The R-axis motor 15 and the index shaft 16 constitute nozzle holder indexing means 55 that indexes the rotation of the nozzle holder 17 in the R-axis direction.

  As shown in FIG. 4, the nozzle holder 17 holds a plurality of suction nozzles 18 movably in the vertical direction on a circumference 17a concentric with the vertical axis AL. As shown in FIG. 3, each suction nozzle 18 is attached to the lower end of a nozzle spindle 33 that is slidably supported by the nozzle holder 17 in the vertical direction (Z-axis direction). A large diameter portion 33 a is formed at the lower end portion of the nozzle spindle 33, and a nozzle gear 34 is fixed to the upper end portion of the nozzle spindle 33.

  A compression spring 35 is provided between the nozzle gear 34 and the nozzle holder 17. The compression spring 35 urges the nozzle spindle 33 and the suction nozzle 18 upward, and the large-diameter portion 33 a is the lower surface of the nozzle holder 17. The upper movement of the nozzle spindle 33 and the suction nozzle 18 is restricted. Each suction nozzle 18 is supplied with a negative pressure from a suction nozzle driving device (not shown) via a nozzle spindle 33. Thereby, each suction nozzle 18 can suck the component P at its tip 18a.

  Furthermore, a cylindrical reflector 31 capable of reflecting light is fixed to the center of the lower end of the nozzle holder 17. Therefore, the nozzle holder 17 and the reflector 31 are rotated around the vertical axis AL together with the index shaft 16. As a result, when the R-axis motor 15 is rotated, the nozzle holder 17 holding the plurality of suction nozzles 18 can be rotated around the vertical axis AL (R-axis direction) via the index shaft 16. The suction nozzle 18 can be sequentially indexed to the mounting station S1.

  A θ-axis motor 19 is fixed to the first frame 25, and a drive gear 36 is fixed to the output shaft of the θ-axis motor 19. The drive gear 36 is meshed with a driven gear 27 on a rotating body 28 that is rotatably supported by the index shaft 16. A θ-axis gear 29 is formed on the rotating body 28 over a predetermined length in the axial direction, and the θ-axis gear 29 is slidably engaged with each nozzle gear 34 fixed to the nozzle spindle 33. ing. Accordingly, when the θ-axis motor 19 is rotated, all the suction nozzles 18 can be rotated with respect to the nozzle holder 17 via the drive gear 36, the driven gear 27, the θ-axis gear 29, and the nozzle gear 34.

  A Z-axis motor 20 is fixed to the first frame 25, and a ball screw shaft 37 is connected to the output shaft of the Z-axis motor 20. The ball screw shaft 37 is supported by a bearing 38 fixed to the first frame 25 and a bearing 39 fixed to the second frame 26 so as to be rotatable about an axis parallel to the vertical axis AL. A ball nut 40 that converts the rotational motion of the Z-axis motor 20 into a linear motion is screwed onto the ball screw shaft 37 via a ball (not shown). The ball nut 40 is fixed to a nozzle lever 41 slidably guided in a vertical direction by a guide 42 extending in the vertical direction fixed to the first and second frames 25 and 26.

  The nozzle lever 41 is provided with a pressing portion 41a that abuts on the upper end of the nozzle spindle 33 indexed to the mounting station S1 described later and presses the nozzle spindle 33 downward in the Z-axis direction. Accordingly, when the Z-axis motor 20 is rotated, the ball screw shaft 37 is rotated, and the nozzle lever 41 is guided by the guide 42 via the ball nut 40 and moves up and down. When the nozzle lever 41 moves up and down, the nozzle spindle 33 and the suction nozzle 18 corresponding to the pressing portion 41a can be moved up and down. The Z-axis motor 20, the ball screw shaft 37, the ball nut 40, the nozzle lever 41, and the like constitute a nozzle moving means 56 that moves the suction nozzle 18 forward and backward in the Z-axis direction.

  As shown in FIG. 5, the pressing portion 41a of the nozzle lever 41 has a predetermined width W1 around the mounting station S1 in the rotation direction of the nozzle holder 17, and the suction nozzle 18 has a predetermined width before and after the mounting station S1. The pressing portion 41a can come into contact with the upper end of the nozzle spindle 33 of the suction nozzle 18. Thus, the suction nozzle 18 can be moved up and down during the rotation of the nozzle holder 17 in a predetermined angular range before and after the mounting station S1.

  A support bracket 43 is suspended from the second frame 26, and the support bracket 43 has tip ends 18a of the two suction nozzles 18 indexed to the stations S1-1 and S1 + 1 immediately before and after the mounting station S1 of the nozzle holder 17. One CCD camera 21 for acquiring a two-dimensional image of the component P adsorbed on the CCD is fixed. The CCD camera 21 acquires a two-dimensional image of the component P sucked by the tip 18 a of the suction nozzle 18 by the light reflected by the reflector 31.

  An imaging case body 45 is fixed to the side of the support bracket 43 corresponding to the suction nozzle 18, and the nozzle holder 17 is surrounded on the side of the imaging case body 45 facing the reflector 31 as shown in FIG. In addition, an arcuate wall surface 45a having the vertical axis AL as the arc center is formed across the stations S1-1 and S1 + 1 immediately before and after the mounting station S1 of the nozzle holder 17. A plurality of irradiating bodies 46 made of LEDs that irradiate light toward the reflector 31 are mounted on the arcuate wall surface 45 a of the imaging case body 45.

  Two incident portions 45a1 and 45a2 are opened in the arc-shaped wall surface 45a at positions corresponding to the stations S1-1 and S1 + 1 immediately before and after the mounting station S1. The imaging case main body 45 is refracted by two first prisms 47a and 47b that receive the reflected light reflected from the reflector 31 via the incident portions 45a1 and 45a2, respectively, and these two first prisms 47a and 47b. A mountain-shaped second prism 48 is provided that makes the refracted light incident and refracts parallel light toward the CCD camera 21.

  The first prisms 47a and 47b and the second prism 48 constitute an optical mechanism 49 for introducing the reflected light irradiated from the irradiation body 46 and reflected by the reflection body 31 to the CCD camera 21, and the reflection body. 31, the tip 46a of the two suction nozzles 18 positioned at the stations S1-1 and S1 + 1 immediately before and after the mounting station S1 by the irradiation body 46, the first and second prisms 47a, 47b and 48, the CCD camera 21, and the like. The side imaging means 50 for acquiring the side image is configured.

  In the state where the two suction nozzles 18 indexed to the stations S1-1 and S1 + 1 immediately before and immediately after the mounting station S1 of the nozzle holder 17 are positioned and stopped at the rising end by the side imaging means 50 described above, the irradiation body The light emitted from 46 is reflected by the reflector 31, and the reflected light passes through the outer peripheral edge of the component P and the two incident portions 45a1 and 45a2 of the imaging case main body 45, and the second prism by the first prisms 47a and 47b. Polarized in the direction toward 48. Then, the light is polarized into parallel light toward the CCD camera 21 by the second prism 48, and the image is recognized by the CCD camera 21. As a result, a single CCD camera 21 simultaneously obtains a two-dimensional image of the component P adsorbed by the tips 18a of the two adsorption nozzles 18 indexed to the stations S1-1 and S1 + 1 immediately before and after the mounting station S1. it can.

  Next, an operation of mounting the component P on the board by the component mounting apparatus having the above configuration will be described. First, based on a command from the control device 90, the conveyor belt of the substrate transport device 60 is driven, and the substrate is guided to the guide rails 64a and 64b (65a and 65b) and transported to a predetermined position. Then, the substrate is pushed up and clamped by the clamp device, and is positioned and fixed at a predetermined position. Subsequently, when the Y-axis servo motor 11 and the X-axis servo motor (not shown) are driven, the Y-axis slider 12 and the X-axis slider 13 are moved, and the component mounting head 10 is moved to the component take-out part 74 of the component supply device 70. Moved to.

  Thereafter, when the R-axis motor 15 is rotated by the control device 90, the nozzle holder 17 is rotated, and the nozzle spindle 33 with the predetermined suction nozzle 18 mounted is indexed below the pressing portion 41a of the nozzle lever 41. It is. Further, when the Z-axis motor 20 is rotated forward by the control device 90, the nozzle lever 41 is pushed downward against the urging force of the compression spring 35, and the tip of the suction nozzle 18 is passed through the nozzle spindle 33. The part 18a is pushed down to a position approaching the part P conveyed to the part take-out part 74. In this state, a negative pressure is supplied to the suction nozzle 18 from a suction nozzle driving device (not shown), and the component P is sucked and held at the tip 18 a of the suction nozzle 18. Thereafter, when the Z-axis motor 20 is reversed, the nozzle lever 41 is moved upward, and the suction nozzle 18 is pushed up to the rising end position by the urging force of the compression spring 35. By repeating such an operation, the parts P are sucked and held by the plurality of suction nozzles 18 respectively.

  Subsequently, when the Y-axis servo motor 11 and the X-axis servo motor (not shown) are driven, the Y-axis slider 12 and the X-axis slider 13 are moved, and the component mounting head 10 is moved to above the board mounting position. The Subsequently, the rotation of the θ-axis motor 19 controls the component P sucked and held at the tip 18a of the suction nozzle 18 indexed to the mounting station S1 of the nozzle holder 17 to a predetermined posture, and also the Z-axis motor 20 As the nozzle rotates forward, the nozzle lever 41 is pushed down against the urging force of the compression spring 35, and is pushed down until the component P at the tip 18a of the suction nozzle 18 is mounted on the substrate. Thereafter, when the Z-axis motor 20 is reversed, the nozzle lever 41 is moved upward, and is pushed up to the state where the suction nozzle 18 is moved to the uppermost end by the urging force of the compression spring 35.

  Then, as shown in FIG. 5, while the component P sucked and held by the suction nozzle 18 is mounted on the substrate by the lowering operation of the nozzle spindle 33 indexed to the mounting station S1, immediately before the mounting station S1. The side images of the two suction nozzles 18 in the stopped state positioned at the stations S1-1 and S1 + 1 immediately after are acquired by the side imaging means 50 as described above, and the two acquired side images are the control device. 90 is input and image recognition is performed. Specifically, the light irradiated from the illuminator 46 is reflected by the reflector 31 and passes through the outer peripheral edge of each component P and the incident portions 45a1 and 45a2 adsorbed by the two adsorption nozzles 18. 21 is incident. Thereby, two side images (two-dimensional images) in which the reflector 31 is a bright background and the component P and the tip 18a of the suction nozzle 18 are dark can be acquired.

  In this way, while the component P sucked by the suction nozzle 18 indexed to the mounting station S1 is mounted on the substrate, the two suction nozzles 18 indexed to the stations S1-1 and S1 + 1 immediately before and after that are mounted. As shown in FIG. 6, next, during the rotation indexing operation of the nozzle holder 17, the suction nozzle 18 is simultaneously moved forward and backward in the vertical direction, as shown in FIG. 6. Overlap control becomes possible. The side image of the tip 18a of the suction nozzle 18 positioned at the station S1-1 immediately before the mounting station S1 is processed as grayscale or black and white binary two-dimensional image data. It is determined whether or not the part P is normally sucked. That is, it is determined whether or not the component suction posture of the suction nozzle 18 is within an allowable range for mounting on the substrate.

  On the other hand, based on the side image of the tip 18a of the suction nozzle 18 positioned at the station S1 + 1 immediately after the mounting station S1, it is determined whether or not the component P is normally mounted on the substrate by the suction nozzle 18. . That is, when the component P does not exist at the tip 18a of the suction nozzle 18, it is determined that the component P is normally mounted on the substrate. Further, when the component P remains at the tip 18a of the suction nozzle 18, it is determined that the mounting is abnormal, and, for example, the mounting of the component P is executed again. However, for example, when a foreign object is attached to the component mounting position on the substrate, the foreign object may be attracted to the tip end portion 18a of the suction nozzle 18 when the component is mounted by the suction nozzle 18 at the component mounting position. There is.

  Therefore, in the present embodiment, an object to be adsorbed that is adsorbed by the tip end portion 18a of the adsorption nozzle 18 is detected, and the operation thereof will be described below with reference to the flowcharts of FIGS. Here, an unillustrated memory incorporated in the control device 90 includes an adsorbed object detection program (corresponding to the “adsorbed object detection device” of the present invention), a side of a plurality of types of components mounted on the board. Dimensional data necessary for obtaining the projected area of the image, for example, when the shape of the part is a rectangular parallelepiped, the dimension in the horizontal direction (the horizontal direction when it is normally sucked by the suction nozzle 18) is the short side length Lmin, the long side The length Lmax, the height t as the dimension in the vertical direction (vertical direction when normally sucked by the suction nozzle 18), and the imaging range that can be imaged by the side imaging means 50, for example, as shown in FIG. A rectangular imaging range represented by a vertical width a and a horizontal width b is stored in advance (corresponding to the “storage means” of the present invention).

  First, processing of components in which the side images of a plurality of types of components mounted on the board are all within the imaging range that can be imaged by the side imaging means 50 will be described. As shown in the flowchart of FIG. 7, the control device 90 acquires a side image of the tip 18a of the suction nozzle 18 positioned at the station S1 + 1 immediately after the mounting station S1 (step 1, “image” of the present invention). Equivalent to “acquisition means”). And the area | region below the front-end | tip part 18a of the suction nozzle 18 in the acquired side image is set as an area acquisition area, and the imaging area of the side image of the to-be-adsorbed object in this area acquisition area is acquired (step). 2, 3, corresponding to “area acquisition means” of the present invention).

  For example, as shown in FIG. 10, a rectangular side image G having a vertical width “a” and a horizontal width “b” obtained by imaging the front end portion 18 a of the suction nozzle 18 is lower than the front end portion 18 a of the suction nozzle 18. A rectangular region represented by a vertical width aa and a horizontal width b is set as the area acquisition region g. And the imaging area R of the side image of the to-be-adsorbed object M in the set area acquisition area | region g is acquired. The imaging area R of the side image of the object to be adsorbed M is based on, for example, the number of pixels of the binarized side image of the object to be adsorbed M and the resolution as the minimum distance between the two pixels. Alternatively, acquisition is possible based on the area (length aa × width b) of the area acquisition region g obtained from the vertical width a and horizontal width b of the imaging range and the pixel number ratio between the area acquisition region g and the side image of the object to be adsorbed M. It is.

  The dimension data of the part from which the side image is acquired is read, and the minimum projection area and the maximum projection area of the side image of the part are obtained (steps 4 and 5, corresponding to the “area calculation means” of the present invention). . Then, based on the acquired imaging area of the object to be adsorbed and the calculated minimum and maximum projection areas of the component, that is, the area ratio between the imaging area of the object to be adsorbed and the minimum and maximum projection areas of the part Alternatively, whether the object to be adsorbed is a part or a foreign substance other than the part is determined based on the area difference (steps 6, 7, and 8, corresponding to the “determination means” of the present invention).

  For example, when the shape of the part is a rectangular parallelepiped, assuming that the relationship of height t <short side length Lmin <long side length Lmax is satisfied, the minimum projected area fxmin of the side image of the part P is t · Lmin, the maximum projected area. fxmax is expressed by Lmin · Lmax. Then, the minimum projected area of the component taking into account a predetermined margin in consideration of the suction posture of the component at the tip end portion 18a of the suction nozzle 18, for example, ½ (fxmin), and a component having the same predetermined margin taken into account A maximum projected area, for example, 2fxmax is set. And when the imaging area R of the side image of the to-be-adsorbed object M exists in the range of 1/2 (fxmin) or more and 2 fxmax or less, it will be discriminate | determined that the to-be-adsorbed object M is the component P. FIG. On the other hand, when the imaging area R of the side image of the object to be adsorbed M is smaller than ½ (fxmin) or larger than 2fxmax, it is determined that the object to be adsorbed M is a foreign substance.

  When it is determined that the object to be adsorbed is a foreign substance, it can be determined that the component is mounted on the substrate. Therefore, since the recovery process for remounting the component is not performed, it is possible to prevent the occurrence of the substrate failure due to the double hit of the component. At this time, the production of the substrate is stopped by an error, and an error release guidance, for example, a message relating to the cleaning method of the tip end portion 18a of the suction nozzle 18 and the method of restarting the production of the substrate is displayed on the screen 91 of the control device 90 (see FIG. 1) Alternatively, the substrate production may be continued without stopping the error.

  That is, when the worker determines that the foreign matter sucked by the tip 18a of the suction nozzle 18 may interfere with the suction or mounting of the next component, the mounting process for the next component is interrupted. If it is determined that there is no possibility that the foreign matter is manually or automatically removed from the tip portion 18a of the suction nozzle 18 and the suction or mounting of the next component is not hindered, the next component mounting process is executed as it is. To do. Further, when it is determined that the object to be attracted is a foreign object, no part error is reported. This is because the component is mounted on the board, and if a component error is reported, an accurate mounting rate cannot be calculated.

  On the other hand, when it is determined that the object to be sucked is a part, the part is not mounted on the substrate, and it can be determined that the part is taken home by the suction nozzle 18. Therefore, if the operator confirms the suction state of the component and the suction state of the component is good, the worker can remount the component by pressing the recovery process execution button for remounting the component. Occurrence of substrate defects can be prevented. If it is determined that nothing is sucked by the suction nozzle 18, it can be determined that the component is mounted on the board, and the mounting process of the next component is continued as it is.

  Next, processing of a part (hereinafter referred to as a large part) in which a side image of a part of a plurality of types of parts mounted on the board protrudes from an imaging range that can be imaged by the side imaging unit 50 will be described. . For example, even if the entire large part is set to be within the area acquisition region when the central part of the long strip-shaped large part is sucked by the tip 18a of the suction nozzle 18, one end part of the large part May be adsorbed by the tip 18a of the suction nozzle 18, the other end of the large component may protrude from the area acquisition region. Therefore, when a plurality of types of components including large components are mounted on the board, depending on whether the component fits within the area acquisition area (hereinafter referred to as a small component) or a large component larger than the small component. It is necessary to re-determine whether the object to be adsorbed by the tip 18a of the nozzle 18 is a part or a foreign substance, which will be described with reference to the flowchart of FIG.

  The process shown in the flowchart of FIG. 8 is executed after the area calculation in step 5 of the flowchart of FIG. That is, after the area calculation, the dimension data of the part for which the side image is acquired is read, and it is determined whether or not the side image of the part is within the area acquisition region. When the side image of the part falls within the area acquisition region, the part is classified as a small part (steps 11 and 12, corresponding to the “parts classifying means” of the present invention), and after step 6 in FIG. The process is executed. On the other hand, when the side image of the component protrudes from the area acquisition area, the component is classified as a large component (steps 11 and 13, corresponding to the “component classification means” of the present invention).

  Here, the small component and the large component are classified by taking into account the deviation of the tip end portion 18a of the suction nozzle 18 in the imaging range of the side imaging means 50, and the height t and the short that the component surely enters the area acquisition region. The side length Lmin is set as a height boundary value and a short side length boundary value for the division between the small part and the large part, respectively. When the height t of the part is equal to or higher than the height boundary value or the short side length Lmin of the part is larger than the short side length boundary value, the part is classified as a large part. When the height t of the part is smaller than the height boundary value and the short side length Lmin of the part is equal to or smaller than the short side length boundary value, the part is classified as a small part.

  When a part for which a side image is acquired is classified as a large part, a threshold is set based on the minimum projected area of the large part (step 14, corresponding to “threshold setting means” of the present invention). Then, based on the imaging area and the threshold value of the side image of the object to be adsorbed, it is determined whether the object to be adsorbed is a large part or a foreign substance other than the large part (Steps 15, 16, and 17 of the present invention). Equivalent to “large part discrimination means”). When it is determined that the object to be adsorbed is a large part and when the object to be adsorbed is determined to be a foreign object, the same process as that described with reference to FIG. 7 is executed.

  Here, the reason for setting the threshold is as follows. That is, when the central part of the large component is attracted to the tip end portion 18a of the suction nozzle 18, even if the entire large part is set to be within the area acquisition region, one end of the large component is the suction nozzle 18 When attracted to the tip 18a, the other end of the large component protrudes from the area acquisition region. In this case, when the determination process of step 6 in FIG. 7 is performed, what is originally determined to be a part is always determined as a foreign object. However, the imaging area R at that time does not fall below a half of the minimum projection area fxmin. Therefore, the lower limit value of the imaging area R is determined by setting a threshold value. Since the imaging area R cannot exceed the maximum projected area fxmax, the upper limit value of the imaging area R is not determined.

  For example, the threshold is set to 1/2 of the minimum projected area fxmin of the large part side image. And when the imaging area R of the side image of the to-be-adsorbed object M is below the large component threshold value 1/2 (fxmin), it is determined that the to-be-adsorbed object M is a foreign substance. On the other hand, when the imaging area R of the side image of the object to be adsorbed M is larger than the threshold value 1/2 (fxmin) of the large part, it is determined that the object to be adsorbed M is a part.

  When it is determined in step 7 of the flowchart of FIG. 7 that the mounted object is a part, it is also possible to detect the suction state, that is, the suction posture of the tip 18a of the suction nozzle 18 of the part. This will be described with reference to the flowchart of FIG. After the determination in step 7 of the flowchart of FIG. 7, the height h of the component (side length in the Z-axis direction in the state of being sucked by the suction nozzle 18) is acquired based on the side image of the component (step). 21 corresponds to “height acquisition means” of the present invention).

  Then, the height t (the side length in the Z-axis direction when normally sucked by the suction nozzle 18) of the dimension data of the part is read, and the obtained height h of the part is the height of the read part. It is compared with a value obtained by adding tolerance (dimensional tolerance) to t. If the acquired component height h is within the dimensional tolerance of the read component height t, it can be detected that the component suction posture at the tip end portion 18a of the suction nozzle 18 is normal. (Steps 22, 23, 24, corresponding to “detection means” of the present invention). On the other hand, when the acquired component height h does not fall within the dimensional tolerance of the read component height t, it can be detected that the component suction posture at the tip end portion 18a of the suction nozzle 18 is abnormal. (Steps 22, 23 and 25 correspond to the “detection means” of the present invention). When a component is normally sucked by the tip 18a of the suction nozzle 18, a recovery process for remounting the component can be performed.

  When the above-described attracted object detection processing is completed and the mounting of the component P to the substrate is completed, the supply of negative pressure from the suction nozzle driving device (not shown) is stopped, the suction holding of the component P is released, and the Z axis The nozzle spindle 33 is raised in the Z-axis direction by the reverse rotation of the motor 20, and at the same time, the nozzle holder 17 is rotated in the R-axis direction by the rotation of the R-axis motor 15. As a result, the suction nozzle 18 having the component P mounted on the substrate is raised in the Z-axis direction while being rotated (revolved) in the R-axis direction.

  When the suction nozzle 18 is raised to the rising end position and the nozzle holder 17 is rotated by a predetermined angle, the nozzle spindle 33 of the suction nozzle 18 heading from the mounting station S1 to the next station S1 + 1 is moved to the pressing portion 41a of the nozzle lever 41. Leave from below. Next, the nozzle spindle 33 of the suction nozzle 18 heading from the station S1-1 immediately before the mounting station S1 toward the mounting station S1 enters below the pressing portion 41a.

  In this state, when the Z-axis motor 20 is rotated forward and the nozzle lever 41 is lowered in the Z-axis direction, the nozzle spindle 33 of the suction nozzle 18 is lowered by the pressing portion 41a of the nozzle lever 41. The nozzle 18 is lowered in the Z-axis direction while rotating in the R-axis direction. When the nozzle holder 17 is indexed by one pitch rotation and the suction nozzle 18 is positioned at the mounting station S1, the nozzle holder 17 is temporarily stopped, and in this state, the suction nozzle 18 is lowered by a small amount. The component P sucked and held by the tip 18a of the suction nozzle 18 is mounted on the substrate.

  Then, while the nozzle holder 17 is temporarily stopped for mounting the component P on the board, as described above, 2 newly positioned at the stations S1-1 and S1 + 1 immediately before and after the mounting station S1. Side images of the two suction nozzles 18 are acquired by the side imaging means 50. As described above, by acquiring the side images of the two suction nozzles 18 positioned at the stations S1-1 and S1 + 1 immediately before and after the mounting station S1, the nozzle holder 17 is rotated by one pitch in the R-axis direction. In addition, the upward movement in the Z-axis direction of the suction nozzle 18 indexed from the mounting station S1 to the station S1 + 1 immediately thereafter, and the Z of the suction nozzle 18 indexed from the station S1-1 immediately before the mounting station S1 to the mounting station S1. A downward movement in the axial direction can be performed. By repeating the above operation, the components P are sequentially mounted on the substrate. When all the components P are mounted on the substrate, the substrate clamp is released and the substrate is discharged. In this way, the operation of mounting the required component P on the board is completed.

  The above-described method for detecting an object to be adsorbed by the suction nozzle 18 of the component mounting head 10 has been described after the component is mounted on the substrate by the suction nozzle 18. It can be executed even before mounting. When it is determined that the object to be adsorbed is a foreign substance, it is possible to prevent the occurrence of a substrate failure due to the blanking of components on the substrate. In particular, when it is detected that the suction posture of the component at the suction nozzle 18 is abnormal by executing the suction state detection process at the tip 18a of the suction nozzle 18 of the component shown in the flowchart of FIG. It is possible to determine that the component cannot be mounted, and it is possible to prevent the occurrence of a substrate failure due to a component mounting failure on the substrate.

  DESCRIPTION OF SYMBOLS 10 ... Component mounting head, 18 ... Adsorption nozzle, 18a ... Tip part, 50 ... Side imaging means, 56 ... Nozzle moving means, 80 ... Component transfer apparatus, 90 ... Control apparatus.

Claims (4)

By moving in the axial direction, at least one suction nozzle for picking up the component and mounting the component on the substrate, nozzle moving means for moving the suction nozzle in the axial direction, and the suction nozzle from the side In a component mounting head comprising a side imaging means for capturing an image, the component is sucked by the suction nozzle, and is sucked by the suction nozzle before and after being mounted on the substrate. A method for detecting an object,
A storage step of storing dimensions of the component to be mounted on the substrate;
An image acquisition step of acquiring a side image obtained by imaging at least one of the suction nozzles from the side before and after mounting the component on the substrate;
An area acquisition area for acquiring an imaging area of a side image of the object to be adsorbed in the area acquisition area is set as an area acquisition area in the side image acquired in the image acquisition step. Process,
Based on the dimensions of the component stored in the storage step, an area calculation step for calculating a minimum projection area and a maximum projection area of a component from which a side image is acquired in the image acquisition step;
Whether the object to be adsorbed is the part based on the imaging area of the object to be adsorbed acquired in the area acquisition step, and the minimum projection area and the maximum projection area of the part calculated in the area calculation step A determination step of determining whether the foreign object is a component other than a component; 2. The component of claim 1, wherein a plurality of types of components are defined as small components in which a side image of the component enters the area acquisition region regardless of the suction state of the component in the suction nozzle, and a component larger than the small component A part classification process for classifying as parts,
A threshold setting step for setting a threshold based on a minimum projected area of a large part from which a side image is acquired in the image acquisition step;
When the component whose side image is acquired in the image acquisition step is the large component, the imaging area of the object to be adsorbed acquired in the area acquisition step and the threshold value of the large component set in the threshold setting step And a large component determination step of determining whether the object to be adsorbed is the component or a foreign substance other than the component based on the method. 3. The lateral image acquired in the image acquisition step according to claim 1 or 2, wherein when the object to be adsorbed is determined to be a part from which a side image is acquired in the image acquisition step in the determination step. Based on the height acquisition step of acquiring the height of the component,
A component mounting head suction comprising: a detection step of detecting a component suction state in the suction nozzle based on the dimension of the component stored in the storage step and the height of the component acquired in the height acquisition step A method for detecting an object to be adsorbed in a nozzle. By moving in the axial direction, at least one suction nozzle for picking up the component and mounting the component on the substrate, nozzle moving means for moving the suction nozzle in the axial direction, and from the side of the suction nozzle A component mounting head having side imaging means for imaging;
A component mounting comprising: an adsorbent detection device that adsorbs the component by the adsorption nozzle and detects an adsorbate adsorbed by the adsorption nozzle at least one of before and after mounting on the substrate. A device,
The adsorbed object detection device includes a storage unit that stores the dimensions of the component to be mounted on the substrate;
Image acquisition means for acquiring a side image obtained by imaging at least one of the suction nozzles from the side before and after mounting the component on the substrate;
Area acquisition from which the area below the tip of the suction nozzle in the side image acquired by the image acquisition means is an area acquisition area, and the imaging area of the side image of the object to be adsorbed in the area acquisition area is acquired Means,
Based on the dimensions of the part read from the storage means, an area calculation means for calculating a minimum projection area and a maximum projection area of a part whose side image is acquired by the image acquisition means;
A component that classifies a plurality of types of components as a small component, and a component larger than the small component as a large component, regardless of the suction state of the component at the suction nozzle. Classification means;
Threshold setting means for setting a threshold based on a minimum projected area of a large part from which a side image is acquired by the image acquisition means;
When the part from which the side image is acquired by the image acquisition means is the small part, the imaging area of the object to be adsorbed acquired by the area acquisition means and the small part calculated by the area calculation means Small component determining means for determining whether the object to be attracted is the small component or a foreign substance other than the small component based on the minimum projected area and the maximum projected area;
When the component whose side image is acquired by the image acquisition unit is the large component, the imaging area of the object to be adsorbed acquired by the area acquisition unit and the large component set by the threshold setting unit A large component determining means for determining whether the object to be adsorbed is the large component or a foreign substance other than the large component, based on a threshold;
Based on the side image of the small part acquired by the image acquisition unit when the small part determination unit determines that the object to be adsorbed is a small part whose side image is acquired by the image acquisition unit. A height acquisition means for acquiring the height of the small part;
A component mounting apparatus comprising: a detection unit configured to detect a component suction state in the suction nozzle based on the dimension of the component read from the storage unit and the height of the small component acquired by the height acquisition unit; .

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