JPH09246799A - Device for recognizing part in mounter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify the structure of a mounter by recognizing the suction position of a part and the defective and nondefective condition thereof by single equipment. SOLUTION: Nozzle members 20 for sucking parts are arranged in parallel on a head unit 5 in an X-axis direction, and a plurality of parts are transferred simultaneously from a part supply part and mounted on a printed board. The unit 5 is provided with a laser unit 25 in which a plurality of laser distance sensors 33 are arranged in a Y-axis direction, and the unit 25 is moved to the X-axis direction against the unit 5, thereby detecting a distance between the surface of the part sucked by the member 20 and the laser unit 25 two- dimensionally. In addition, the controller of a mounter is provided with a data processing part to extract the characteristic part of part shape according to the change in distance data detected by the sensor 33 and to recognize the position of the part and the defective and nondefective condition of the part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting machine for adsorbing an electronic component such as an IC by a nozzle member mounted on a movable head unit and mounting the electronic component at a predetermined position on a printed circuit board. The present invention relates to a component recognizing device for a mounter that recognizes a sucked component.

[0002]

2. Description of the Related Art Conventionally, an electronic component such as an IC is adsorbed from a component supply section by a head unit having a nozzle member for adsorbing a component and transferred onto a positioned printed circuit board to be placed at a predetermined position on the printed circuit board. A mounting machine that is designed to be mounted is known.

In this type of mounting machine, since there are some variations in the suction position of components and the like, it is necessary to correct the mounting position in accordance with this variation. Further, in the case of a component having leads, it is necessary to select a defective component in which lead breakage has occurred and prevent the mounting of the defective component in advance.

Therefore, in a general mounting machine of this type,
A CCD camera is fixedly installed on the base of the mounter, and after picking up the component, the head unit is placed above the CCD camera to pick up the picked-up component and recognize the picked-up position of the component to correct the amount of correction during mounting. And the selection of defective parts.

[0005]

However, in order to recognize lead breakage and the like by the CCD camera, for example, the CCD camera is required to have a high resolution for accurately recognizing each lead, or parts are required. Therefore, it is difficult to detect defects such as broken leads in all parts in reality. Further, in the component recognition by the CCD camera, since the component is imaged in a plane, it is difficult to accurately detect the distortion of the leads in the vertical direction which causes the floating of the leads.

For this reason, equipment for irradiating a laser beam to the leads and detecting component defects such as lead breaks based on the detection of the projection is separately provided, and lead breaks which are difficult to detect only by recognizing the image as described above. It is also considered to detect defective parts such as.

However, this requires two types of equipment for recognizing the parts, which causes a problem of space saving, and it is necessary to solve this problem.

The present invention has been made in order to solve the above problems, and a mounting machine capable of simplifying the structure of the mounting machine by recognizing the suction position of the parts and the quality of the parts by a single facility. It is an object of the present invention to provide a component recognition device of.

[0009]

A component recognizing device for a mounting machine according to the present invention has a nozzle member for picking up a component and is provided with a head unit movable between a component supply side and a component mounting side. In, a light beam type distance sensor having a light beam irradiation unit and a light receiving unit, and detecting the distance to the component based on the reception of reflected light at the component, the component adsorbed to the nozzle member, and the light beam distance sensor. Driving means for relatively moving the suction component and the light beam type distance sensor so as to detect the whole component in correspondence with each other, and component recognition for recognizing the suction component based on the distance data detected by the light beam type distance sensor. And a means (Claim 1).

According to this apparatus, the contour of the component or the like is detected based on the change in the distance to the surface of the component detected by the light beam distance sensor, and the component suction position is recognized from the contour or the like. Further, whether the lead is broken or not is recognized based on the nonuniformity of the distance data of the portion corresponding to the lead.
In other words, since many of the characteristic parts of the part shape can be detected based on the distance change in this way, it is possible to recognize the suction position of the part and to determine whether the part is good or bad by simply detecting the part in a plane by the light beam distance sensor. It is possible to accurately perform two types of recognition for a part, such as recognition of a part.

In particular, in the above apparatus, a plurality of light beam type distance sensors are arranged side by side in a uniaxial direction on a plane, and the suction component and the light beam type distance sensor are relatively moved on the plane in a direction orthogonal to the uniaxial direction. Or a scanning means for scanning the irradiation light in a uniaxial direction on a flat surface is provided in the light beam type distance sensor, and the adsorption component and the light beam type distance sensor are arranged on the flat surface in the uniaxial direction. If the drive means is configured to move relatively in the direction orthogonal to the direction (claim 3), it is possible to efficiently detect the distance to the entire surface of the component.

If the head unit is provided with a light beam type distance sensor and the driving means is configured to move the light beam type distance sensor with respect to the head unit (claim 4), after the parts are picked up, the printed circuit board is picked up. It is possible to recognize the parts while moving to the side.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of a component recognition apparatus according to the present invention will be described with reference to the drawings.

1 and 2 show the structure of a mounter in which the component recognition apparatus according to the present invention is mounted. As shown in FIG. 1, a conveyor 2 for transporting a printed board is arranged on a base 1 of a mounting machine, and a printed board 3 is transported on the conveyor 2 and stopped at a predetermined mounting work position. It has become.

On the side of the conveyor 2, a parts supply section 4 is provided.
Is arranged. The component supply unit 4 includes a large number of rows of tape feeders 4a. Each tape feeder 4a accommodates electronic components such as an IC, a transistor, and a capacitor at predetermined intervals, and the held tape is led out from the reel. In addition, the tape feeding end is provided with a ratchet type feeding mechanism, and the tape is intermittently fed as the components are picked up by the head unit 5 described later.

A head unit 5 for mounting components is mounted above the base 1, and the head unit 5 is orthogonal to the X axis (direction of the conveyor 2) and the Y axis direction (horizontal plane to the X axis). Direction).

That is, a pair of fixed rails 7 extending in the Y-axis direction and a ball screw shaft 8 rotatably driven by a Y-axis servomotor 9 are arranged on the base 1, and the fixed rails 7 are mounted on the fixed rail 7. A head unit support member 11 is arranged in the head unit, and a nut portion 12 provided on the support member 11 is screwed onto the ball screw shaft 8. A guide member 13 extending in the X-axis direction and a ball screw shaft 14 driven by an X-axis servomotor 15 are disposed on the support member 11 so that the head unit 5 can move on the guide member 13. A nut portion (not shown) provided in the head unit 5 is screwed to the ball screw shaft 14. The ball screw shaft 8 is rotated by the operation of the Y-axis servo motor 9 to move the support member 11 in the Y-axis direction, and the ball screw shaft 14 is rotated by the operation of the X-axis servo motor 15, thereby causing the head unit to rotate. 5 moves in the X-axis direction with respect to the support member 11.

Further, the Y-axis servomotor 9 and the X-axis servomotor 15 are provided with position detecting devices 10 and 16 each made of a rotary encoder, by which the moving position of the head unit 5 is detected. It is like this.

The head unit 5 is provided with a nozzle member 20 for picking up components, and in this embodiment, eight nozzle members 20 are provided side by side in the X-axis direction as shown in FIG. Each nozzle member 20 is capable of moving up and down (movement in the Z-axis direction) and rotating around the nozzle center axis (R-axis) with respect to the frame of the head unit 5, and drive means such as a servo motor (not shown). It is designed to be activated by.

Further, the head unit 5 is provided with a laser unit 25 for recognizing the components sucked by the nozzle members 20, and the laser unit 25 is provided.
Is equipped so that it can move in the X-axis direction.

That is, as shown in FIGS. 2 and 3, at the lower end of the head unit 5, a belt transmission mechanism including a pair of rails 26 extending in the X-axis direction and pulleys 29, 30 and a timing belt 31 is provided. A ball screw shaft 27 which is driven to rotate by a servo motor 28 via a laser unit 25 is mounted on the rail 26, and a nut portion (not shown) provided on the laser unit 25 is attached to the ball unit. It is screwed onto the screw shaft 27.
The ball screw shaft 2 is driven by the operation of the servo motor 28.
The laser unit 25 moves along the rails 26 at a constant speed in the X-axis direction by rotating 7.

The laser unit 25 is provided with a sensing portion 32 which faces below the nozzle member 20, and a plurality of distance sensors for detecting the distances to the components on the upper and lower surfaces of the sensing portion 32, respectively. 33 is Y
They are provided side by side in the axial direction.

The distance sensor 33 is a triangulation type laser distance sensor having a laser irradiating section and a light receiving section, and is arranged in parallel in the Y-axis direction as described above, so that the distance to the component can be increased. Can be detected one-dimensionally in the Y-axis direction.

At the time of mounting, after the components are sucked by the nozzle members 20 of the head unit 5, the direction of arrangement of the distance sensors 33 (that is, the Y-axis direction; the main scanning direction).
When the laser unit 25 is moved in a direction orthogonal to the direction (that is, the X-axis direction; the sub-scanning direction), each distance sensor 33 on the upper surface of the sensing unit 32 performs main scanning of the component sucked by each nozzle member 20. Direction data is sequentially detected in the sub-scanning direction, and after mounting, the laser unit 2 is mounted on the mounted component.
By moving 5 in the X-axis direction, the distance sensors 33 on the lower surface of the sensing unit 32 sequentially detect the distance data in the main scanning direction of the mounted components in the sub-scanning direction.

Although not shown, the mounting machine configured as described above includes a control device having a microcomputer as a component, and the Y-axis and X-axis servomotors 9 and 15 and the head unit 5 are provided. The nozzle member 20, the servo motor for the laser unit 25, the distance sensors 33 of the laser unit 25, and the like are all electrically connected to the control device for centralized control.

The control device is provided with a data processing unit (part recognition unit) for recognizing a component, and distance data from each distance sensor 33 of the laser unit 25 is input to this data processing unit. It has become.

Then, in this data processing unit, the geometrical characteristic portion of the component is extracted based on the change in the distance data detected in the main scanning direction and the sub-scanning direction as described above, whereby the component is recognized. At the same time, the recognition result is compared with, for example, appropriate recognition data of the relevant part stored in advance. Then, in the case where the target is a component that is sucked by the nozzle member 20, the quality determination and the amount of suction deviation of the component with respect to the nozzle member 20 are calculated, and when the target is a component after mounting, the target The amount of mounting deviation with respect to the position is calculated.

In such processing, the data processing unit extracts, for example, a portion where the value of the distance data becomes larger than a certain value as the contour of the component, and based on this contour, the suction position or the mounting position of the component is determined. The amount of deviation is calculated and calculated. Further, in the case of a component having leads, it is possible to detect the distortion or lead breakage of the lead based on the non-uniformity of the distance data of the portion corresponding to the lead or the lack of the distance data to judge the quality of the component. There is.

When the suction deviation amount is calculated in the data processing unit, the control device calculates a correction amount from the deviation amount and mounts the component at a position in consideration of the correction amount. While controlling each drive unit to
When it is determined that the component is defective, the component is discarded and each drive unit is controlled so as to suck a new component. Further, when the mounting deviation amount of the mounted component is out of the allowable range, the notifying means (not shown) is activated.

Next, the mounting operation of the mounting machine configured as described above will be described with reference to the flowchart of FIG.

When the mounting operation by the mounting machine is started, the head unit 5 is moved to the component supply section 4, and the components are sucked by the nozzle members 20 (step S1). At this time, the laser unit 25 is held at the standby position at the end of the head unit, and the laser unit 2
5 does not interfere with the component suction operation by the nozzle member 20.

When the suction of the component is completed, the head unit 5 is moved to the printed circuit board 3 side to mount the component, and the laser unit 25 is moved from the standby position to the other end side of the head unit 5 during this movement. The distance data in the main scanning direction of each component attracted to the nozzle member 20 is sequentially detected in the sub-scanning direction by the distance sensors 33 on the upper surface of the sensing unit 32 of the laser unit 25. The parts are recognized (steps S2 to S4).

Then, it is judged whether or not all the sucked parts are non-defective, and if it is judged that they are non-defective, the center position of the part, the rotation angle, etc. are calculated, and based on the result. Then, the correction amount at the time of mounting is calculated (steps S5 and S6).

On the other hand, if it is determined in step S5 that any of the parts is defective, for example, the processing of step S6 and subsequent steps for the defective part is prohibited and the defective part is discarded after the mounting operation is completed. At the same time, processing (error processing) on the program for mounting the component again in the subsequent mounting operation is performed, and the process proceeds to step S6 (step S16).

Then, after the head unit 5 is positioned at a position taking into consideration the correction amount for mounting the first component,
The nozzle member 20 is activated, and the first component is mounted on the printed board 3 (steps S7 and S8). Also at this time, the laser unit 25 is held at the standby position at the end of the head unit so that the laser unit 25 does not interfere with the mounting operation by the nozzle member 20.

When the first component is mounted, it is determined whether or not the mounting component is inspected, that is, the process for confirming whether the component is properly mounted at the target position is performed (step S9). . In this case, for example, the above-mentioned inspection is carried out for a component that requires high mounting accuracy.

Here, if the mounted components are not inspected, the process proceeds to step S14, it is judged whether or not the mounting of all the components attracted to the head unit 5 is completed, and all the components are mounted. If the mounting is not completed, the process proceeds to step S7 and the process for mounting the next component adsorbed to the head unit 5 is performed.

On the other hand, when it is determined in step S9 that the mounted component is to be inspected, the laser unit 25 moves from the standby position to the other end of the head unit 5 with the head unit 5 stopped at the component mounting position. The distance data in the main scanning direction of the components mounted on the printed circuit board 3 are sequentially detected in the sub scanning direction by the distance sensors 33 on the lower surface of the sensing unit 32 while being moved toward the side. The mounted components are recognized (steps S10 and S11).

Then, based on this component recognition, the component center position and the rotation angle are obtained in the same manner as the processing of step S6,
A deviation amount of the component center position and the rotation angle with respect to the target position is calculated, and it is determined whether or not the deviation amount is within a predetermined allowable value range (steps S12 and S13).

Here, when the deviation amount of the component center position or the rotation angle with respect to the target position is within the allowable range, it is determined that proper mounting has been performed, the process proceeds to step S14, and the head unit 5 is sucked. It is determined whether or not the mounting of all components is completed. On the other hand, in step S13, when it is determined that the deviation amount is not within the range of the predetermined allowable value, it is determined that the mounting is not properly performed, and, for example, an error process such as an operator is notified of an abnormality. (Step S15) is performed, and then the process proceeds to step S14.

When the mounting of all the components is completed in step S14, the process returns to step S1 to move to the next mounting operation.
Are moved to the component supply unit 4.

As described above, according to the mounting machine of the above embodiment, the laser unit 25 mounted on the head unit 5 is mounted.
Only by detecting the component by (2), two types of recognition are performed for the component, that is, the position of the suctioned component at the time of mounting and the quality of the component. Therefore, the mounting machine can be simplified in structure as compared with a conventional device of this type which recognizes these parts based on imaging of components by a CCD camera and projection detection by a laser beam, which saves the mounting machine. Space can be saved. In particular, equipment for imaging parts with a CCD camera requires peripheral equipment such as a lighting device in addition to the camera, but the mounting machine described above does not require such peripheral equipment such as a lighting equipment. Space is promoted.

In the mounting machine, the laser unit 2
5 is mounted on the head unit 5, and processing for component recognition is performed during the movement of the head unit 5 from the component supply unit 4 to the printed circuit board 3. It is not necessary to arrange the parts above the CCD camera fixed on the base in order to pick up the parts. Therefore, it is possible to recognize the component while moving the head unit 5 from the component supply unit 4 to the printed circuit board 3 along the shortest path, and thereby, the mounting efficiency can be effectively improved as compared with the conventional device.

Further, in the above mounting machine, the laser unit 25 is provided with the sensing section 32, and the sensing section 32 is provided.
By disposing the distance sensors 33 on the upper surface and the lower surface, respectively, it is possible to recognize not only the components adsorbed by the nozzle member 20 but also the components mounted on the printed circuit board 3. There is also an advantage that it can be increased. That is, by recognizing the mounted components, it is possible to detect an operation error caused by deterioration with time of the movable part and the like. Therefore, such an operation error is detected, and this is corrected in step S6. It becomes possible to continuously secure the mounting accuracy by adding the amount when calculating the amount.

By the way, with respect to such an effect, the distance sensor 33 is arranged in the laser unit 25, and the component recognition is performed based on the change in the distance to the surface of the component detected as the laser unit 25 moves. Achieved by According to the component recognition based on such a distance change,
As described above, the part where the distance from the surface of the component becomes larger than a certain value can be extracted as the contour of the component, and the suction position of the component can be obtained based on this contour. The distance of the part corresponding to
Alternatively, it is possible to detect the distortion of the lead, the breakage of the lead, or the like on the basis of the lack and to recognize the quality of the component.
That is, most of the geometrical characteristic parts of the component appear in the distance change in this way and can be detected based on the distance change. Therefore, according to the mounting machine, only the planar detection of the component by the laser unit 25 is possible. While recognizing the component, it is possible to accurately perform two types of recognition for the component, such as recognition of the suction position of the component and recognition of the quality of the component.

The mounting machine is an embodiment of the mounting machine to which the example of the component recognition apparatus according to the present invention is applied.
The specific structure can be appropriately changed without departing from the gist of the present invention. For example, in the mounting machine, the laser unit 25 is mounted on the head unit 5, and the laser unit 25 is moved with respect to the head unit 5 to detect the distance to the surface of the component sucked by the nozzle member 20. However, when it is difficult to provide the laser unit 25 on the head unit 5 due to strength or the like, the head unit supporting member 1
The laser unit 25 may be movably provided on the first unit. Further, when it is difficult to provide a mechanism for moving the laser unit on the head unit 5 or the head unit support member 11, as shown in FIG. 5, on the base 1 of the mounting machine, in the Y-axis direction. The laser unit 35 in which the distance sensor 33 is arranged is fixedly arranged, and the head unit 5 after the component suction is moved in the X-axis direction above the laser unit 35 to detect the distance to the component surface. May be.

In the mounting machine, the laser unit 2
5, the sensing unit 32 is provided, and the sensing unit 3
The distance sensors 33 are arranged on the upper surface and the lower surface of 2, respectively, and the distances to the suction component and the mounted component are respectively detected by the distance sensors 33 on the upper surface and the lower surface. For example, as shown in FIG. , Laser unit 2
5, the sensing unit 32 is provided rotatably around a horizontal axis, and the distance sensor 3 is provided only on the upper surface (or lower surface).
3 may be arranged. In this case, while the sensing unit 32 is held so that the distance sensor 33 faces upward, the component sucked by the nozzle member 20 is detected, and after mounting, the sensing unit 32 is rotated to detect the distance sensor 33. The mounted component can be detected by directing downward. Therefore, there is an advantage that the distance sensor 33 can be shared when detecting the distance to the suction component and the mounted component.

Further, in the above mounting machine, the distance to the entire component is detected by moving the laser unit 25 in which a large number of distance sensors 33 are arranged in the Y-axis direction in the X-axis direction. Laser unit 2
5, only one distance sensor 33 is provided in the laser unit 2
Along with the movement of 5, the emitted laser light may be scanned in the Y-axis direction using a scanning means such as a polygon mirror to detect the distance to the entire component. With such a configuration, the distance to the entire component can be detected by the single distance sensor 33, and the configuration of the laser unit 25 can be further simplified.

[0049]

As described above, the component recognition apparatus of the present invention detects the distance to the component attracted to the nozzle member by the light beam type distance sensor for detecting the distance to the component, and detects the distance. By detecting the geometrical characteristic part of the component from the change of the component, the component is recognized by the light beam type distance sensor. Can be recognized. Therefore, it is possible to recognize the components with a simpler configuration than the conventional device of this type, which recognizes these components based on the image pickup of the components by the CCD camera and the projection detection by the laser light, and the mounting machine can be simplified. Can be effectively achieved.

In particular, in the above structure, a plurality of light beam type distance sensors are arranged in parallel on a plane in a uniaxial direction, and the suction component and the light beam type distance sensor are relatively moved on a plane in a direction orthogonal to the uniaxial direction. Alternatively, the light beam type distance sensor is provided with a scanning means for scanning the irradiation light in a uniaxial direction on a plane, and the suction component and the light beam type distance sensor are relatively moved on the plane in a direction orthogonal to the uniaxial direction. By doing so, it is possible to efficiently detect the distance to the entire surface of the suction component.

Further, if a light beam type distance sensor is provided in the head unit and the light beam type distance sensor is moved with respect to the head unit, it is possible to recognize the component while moving to the printed circuit board side after picking up the component. It is possible to improve the mounting efficiency.

[Brief description of drawings]

FIG. 1 is a plan view of a mounter to which an example of a component recognition device according to the present invention is applied.

FIG. 2 is a front view of the same.

FIG. 3 is a side view showing a configuration of a head unit.

FIG. 4 is a flowchart showing an example of mounting operation by the mounting machine.

FIG. 5 is a plan view showing a mounter to which another example of the component recognition device according to the present invention is applied.

FIG. 6 is a side view showing a head unit of a mounting machine to which another example of the component recognition device according to the present invention is applied.

[Explanation of symbols]

 1 Base 2 Conveyor 3 Printed Circuit Board 4 Component Supply Section 5 Head Unit 20 Nozzle Member 25 Laser Unit 32 Sensing Section 33 Distance Sensor

Claims (4)

[Claims] 1. A mounting machine having a nozzle member for picking up a component and comprising a head unit movable between a component supply side and a component mounting side, having a light beam irradiation unit and a light receiving unit, and A light beam type distance sensor that detects the distance to a component based on the reception of reflected light, a component that is attracted to the nozzle member, and the light beam type distance sensor are associated with each other so that the entire component is detected. Component recognition of a mounting machine, comprising drive means for relatively moving the distance sensor, and component recognition means for recognizing the suction component based on the distance data detected by the light beam distance sensor. apparatus. 2. A plurality of light beam type distance sensors are arranged side by side in a uniaxial direction on a plane, and the drive means relatively moves the suction component and the light beam type distance sensor on a plane in a direction orthogonal to the uniaxial direction. The component recognizing device for a mounting machine according to claim 1, wherein the component recognizing device is configured to perform. 3. The light beam type distance sensor has a scanning means for scanning the irradiation light in a uniaxial direction on a flat surface, and the driving means has the adsorbing component and the light beam type distance sensor on a flat surface. The device is configured to be relatively moved in a direction orthogonal to the uniaxial direction.
The component recognition device of the mounting machine described. 4. The light beam type distance sensor is provided in the head unit, and the driving means is configured to move the light beam type distance sensor with respect to the head unit. 4. The component recognition device for a mounting machine according to claim 1.