JP3161470B2 - Component recognition device, component mounting machine and data creation machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component recognition apparatus for picking up an image of a component mounted on a board by a component mounter and performing image recognition.
And a component mounting machine and a data creating machine having the component recognition device.

[0002]

2. Description of the Related Art A component recognition device attached to an electronic component mounter recognizes an actual nozzle suction position of an electronic component, and the electronic component mounter compares the position with the standard position data.
If there is any deviation during that time, the electronic component is mounted at the correct position on the substrate by correcting the component mounting operation, thereby improving the productivity of the non-defective substrate and improving the takt time for mounting the electronic component.

However, electronic components to be mounted vary in size and shape, and in order to improve the accuracy of component recognition,
It is necessary to properly set the magnification of the camera of the component recognition means.

[0004] As a conventional technique, for example, as disclosed in Japanese Patent Application Laid-Open No. 63-129700, in order to image and recognize these electronic components by switching to an appropriate magnification,
The image of the electronic component incident from the lens is separated by a half mirror in the middle of the optical path, and two lenses having different magnifications are arranged to perform component recognition at an appropriate magnification.

[0005]

However, in the above-mentioned prior art, since the magnification of the lens is fixed to two types, the range in which components can be recognized at an appropriate magnification is limited, and the productivity of the non-defective substrate can be improved. In addition, there is a problem that the tact time for mounting electronic components cannot be sufficiently improved. As a countermeasure, in order to increase the number of lenses having different magnifications, a process of separating an image of an electronic component incident from the lens by a half mirror in the middle of an optical path and passing the separated image through a lens having a different magnification is necessary. Times and three times, the configuration of the entire optical system becomes large, and not only the compactness of the whole machine is lost, but also because the lens passes through the lens many times, the accuracy of the captured image is deteriorated due to lens aberration. There is a problem.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems and provides a component recognition apparatus for recognizing components of various sizes and shapes in a wide range and accurately, a component mounting machine and a data creating machine using the component recognition device. The purpose is to provide.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a component recognizing apparatus for recognizing an image by picking up a component mounted on a substrate by a component mounter, and comprising: a zoom lens; A rotation driving means for changing the lens magnification, a rotation plate which rotates with the rotation of the rotation driving means and has a detection means such as a slit at a predetermined rotation angle, each corresponding to a lens magnification set in a plurality of stages A camera having a plurality of detecting means for detecting the detected means when the rotary plate is rotated at an angle, a recognizing means for performing image recognition based on a video taken by the camera, and a component type. When the rotation drive unit is driven to obtain a desired proper lens magnification, and when the detection unit corresponding to the appropriate lens magnification among the plurality of detection units detects the detected unit, The rotation of the rotary drive means is stopped to set the zoom lens to the proper lens magnification, but with subsequent control means occupying to perform the imaging of components in the camera, the.

[0008]

According to another aspect of the present invention, there is provided a component mounting apparatus for supplying a component, a component holding unit configured to hold the supplied component and mount the component on a substrate.
The component recognition device according to the present invention includes the component recognition device according to the present invention, in which the component holding unit captures an image of a component supplied from the component supply unit and held. According to another aspect of the present invention, a data creator includes the component recognition device according to the above aspect of the invention, which generates component recognition data necessary for component recognition by a component mounter.

[0010]

According to the present invention, the zoom lens is controlled so that the rotation angle of the zoom lens is set to a rotation angle corresponding to a desired appropriate lens magnification by the above-described configuration. By changing the distance between the zoom lens and the part that is the object to be recognized by several mm, it is possible to switch the lens magnification within a range that can handle all the parts, and it is possible to change the magnification with parts of the order of several mm. Rather than directly positioning the distance, positioning the rotation angle of the lens on the order of several tens of degrees improves the accuracy of the lens magnification. Thereby, the component can be imaged at the optimum magnification regardless of the size of the component, and the displacement of the extremely small component, which could not be recognized conventionally, can be recognized, and the mounting accuracy of the component can be improved. Further, without performing complicated control such that the rotation amount of the zoom lens is detected by the encoder and the detected rotation amount coincides with the rotation amount corresponding to the desired proper magnification, the desired proper magnification can be obtained. Since the detection means directly detects that the detection means has rotated to the corresponding rotation position and stops the rotation of the zoom lens at the detected position, control for adjusting the zoom lens to an appropriate magnification can be performed very easily. . If the detection means having the number of stages corresponding to the magnification to be set are provided at the rotational positions corresponding to the respective magnifications, it is possible to recognize components of any size and shape required for recognition at the optimum magnification.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of an electronic component mounting machine in which the present invention is implemented will be described with reference to FIGS.

In FIG. 5 showing an electronic component mounter in which the present invention is implemented, a control device 44 includes NC data including a component type code, a mounting order, component mounting position data, component recognition data, a proper zoom magnification of components, and the like. And controls the entire electronic component mounter based on these. Based on this control, the XY table 43 holds the board and sequentially moves to a predetermined position according to the mounting order and the component mounting position data, and the electronic component supply unit 42 supplies the electronic components to the nozzle 41 in the mounting order. , The nozzle 41 is an electronic component supply unit 42
From the electronic component to be mounted, and mounts the electronic component on the board according to the mounting order and the component mounting position data. Electronic components,
The electronic device holding state of the nozzle 41 or the mounting state on the substrate is imaged and recognized by a camera, and the result is recognized by the control device 4.
4 and the control device 44 compares the imaging / recognition result with the standard position data, and if there is a deviation between them, corrects the component mounting operation or re-mounts the electronic component, and The correct electronic components are mounted at the correct positions on the upper side to improve the productivity of non-defective boards and to improve the tact of mounting electronic components.

The present invention is embodied in the component recognition device 45, and details thereof will be described with reference to FIGS.

In FIG. 1, a storage device 3 is built in a control device 2 for controlling the whole of the component recognition apparatus, and the storage device 3 stores component type codes of various electronic components and data of appropriate lens magnification corresponding thereto. Then, the controller 2 incorporates the component type recognizing means 4, and the component type recognizing means 4
The electronic component 1 to be recognized is identified by recognizing the type of the electronic component 1 to be recognized and the type recognition data, and comparing the type recognition data of the electronic component 1 with the data stored in the storage means 3. Is determined, and the zoom lens driving means 5 is controlled based on the appropriate lens magnification to set the zoom lens 6 to the appropriate lens magnification.

The zoom lens driving means 5 is controlled by the control device 2 to rotate the zoom lens 6 and change its magnification.

The camera 8 captures an image of the electronic component 1 by the zoom lens 6, and captures an image of the electronic component 1 on an imaging surface 9. The optical path 7 indicates a light path from the electronic component 1 to the imaging surface 9.

The recognizing means 10 performs component recognition based on an image of the electronic component captured by the zoom lens 6 set by the camera 8 at the appropriate lens magnification and the data read by the control device 2.

FIG. 2 is a detailed view of the zoom lens driving means 5, and the motor 20 rotates the zoom lens 6. The sensor A21 detects the positioning of the zoom lens 6 at a low magnification.

The sensor B22 detects the position of the zoom lens 6 at a medium magnification. The sensor C23 is a zoom lens 6
At high magnification is detected. The slit plate 24 has a function of allowing the sensors A21, B22, and C23 to detect the magnification of the zoom lens 6. The control device 25 of the zoom lens driving means 5 includes the motor 20, the sensor A2
1. The operation of the sensor B22 and the sensor C23 is switched.
The limit switches 26 and 27 stop the rotation of the zoom lens 6 at its rotation limit, and the bracket 28 supports the zoom lens 6.

FIG. 3 is a flowchart of the component recognition method according to the present embodiment.

In the part data storage step # 30, the control device 2
The storage means 3 stores data relating to the component type codes of various electronic components and the appropriate lens magnification corresponding thereto.

In a component type recognition step # 31, the component type recognition means 4 of the control device 2 collectively recognizes the type of the electronic component to be recognized and the type recognition data as one cycle for each electronic component. . In this case, the component type recognizing means 4 is a control device 4 for controlling the entire electronic component mounting machine of FIG.
The recognition is performed based on the component type code, mounting order, component mounting position data, component recognition data, NC data including the proper zoom magnification of the component, and the image of the component captured by the camera 8 stored by the camera 4. Do.

In the zoom switching control step # 32, the controller 2 compares the type recognition data of the electronic component recognized in the previous process with the data stored in the storage means 3 to recognize the electronic component to be recognized. Determine the appropriate lens magnification of
Further, based on this, the zoom lens driving means 5 attached to the camera 8 is controlled to set the zoom lens 6 to the appropriate lens magnification.

In the component recognition step # 33, the control device 2
Next, the camera 8 set to an appropriate lens magnification is controlled to image the electronic component, and the recognition means 10 is controlled to perform component recognition based on the image.

FIG. 4 is a flowchart showing a component recognition method according to this embodiment.

In step # 1, data of various electronic components is stored in the storage means 3 of the control device 2.

In step # 2, the component type recognizing means 4 of the control device 2 collectively recognizes the type of the electronic component to be recognized and the type recognition data as one cycle for each electronic component. In this case, the part type recognition means 4
Is a control device 44 for controlling the entire electronic component mounting machine of FIG.
The recognition is performed based on the component type code, the mounting order, the component mounting position data, the component recognition data, the NC data including the proper zoom magnification of the component, the video of the component captured by the camera 8, and the like stored by the camera 8. .

In step # 3, the control unit 2 checks the type recognition data of the electronic component recognized in step # 2 against the data stored in the storage means 3 to check the appropriate lens magnification of the electronic component to be recognized. Is determined.

In step # 4, the control device 2 controls the zoom lens driving means 5 based on the appropriate lens magnification.
Is rotated.

In step # 5, the sensor A21, the sensor B22 and the sensor C23 of the zoom lens driving means 5 determine the zoom lens 6 based on the rotation of the slit plate 24.
The controller 2 determines whether or not the lens magnification of the zoom lens 6 has been set to the appropriate lens magnification based on the detection result. If not, step # 4
Return to

In step # 6, the control device 2 stops the rotation of the motor 20 of the zoom lens driving means 5.

In step # 7, the camera 8 takes an image of the electronic component 1 with an appropriate lens magnification, and transmits the image to the recognizing means 10.

In step # 8, the recognition means 10
The video of step # 7 is compared with the data read by the component type recognizing means 4 of the control device 2 to recognize the electronic component 1, and the recognition for one cycle is completed.

In step # 9, the recognition means 10
The component type code, the mounting order, the component mounting position data stored in the control device 44 that controls the entire electronic component mounting machine,
Based on the component recognition data and the NC data including the proper zoom magnification of the component, the completion of the mounting of the mounting target board is confirmed. If the mounting is completed, the process ends. If not, the process returns to step # 2.

An embodiment of a component recognition data creating machine according to the present invention will be described with reference to FIG.

Referring to FIG. 6 showing a component recognition data creator embodying the present invention, a control device 52 controls the entire component recognition data creator. Based on this control, the XY table 53 holds the board and moves to a predetermined position, and the component recognition device 51 executes, for example, various electronic components, the mounting state of the electronic components on the board, and the electronic component holding of the mounting nozzle. The state and the like are imaged and recognized by the camera, and the result is transmitted to the control device 52.
The control device 52 creates component recognition data used by the electronic component mounter based on the imaging and recognition results.

The component recognition apparatus according to the present invention is not limited to the above-described embodiment, and various modes are possible. For example, the zoom lens driving means 5 of the present embodiment is a three-stage switching of a high magnification, a medium magnification, and a low magnification, but this magnification can be changed to a multi-stage switching. Further, in the present embodiment, the recognition means 10 is provided as a separate unit from the control device 2, but this may be provided in the control device 2. Further, the operation sharing between the control device 2 and the recognizing means 10 is not limited to the present embodiment, and various sharing is possible. Further, in this embodiment, the appropriate lens magnification is stored in the storage means 3, but the control device 2 may obtain the appropriate lens magnification by calculation from conditions based on component size and shape.

[0038]

As described above, according to the structure of the present invention, since the rotation angle of the zoom lens is controlled so as to be rotationally positioned at a rotation angle corresponding to a desired appropriate lens magnification,
By rotating the zoom lens to, for example, the order of 180 degrees, the distance between the zoom lens and the part to be recognized can be changed by several mm, and the lens magnification can be switched within a range that can accommodate all parts. It is possible to improve the accuracy of the lens magnification by positioning the rotation angle of the lens on the order of several tens of degrees rather than directly positioning the distance to the parts on the order of several mm. Thereby, the component can be imaged at an optimum magnification regardless of the size of the component, and it is possible to recognize a position shift of the very small component which could not be recognized conventionally,
Improvement of component mounting accuracy can be realized.

Further, the amount of rotation of the zoom lens is detected by the encoder, and the rotation is determined so that the detected amount of rotation coincides with the amount of rotation corresponding to a desired appropriate magnification. Since the detection means directly detects that the detection means has rotated to the rotation position corresponding to the appropriate magnification and stops the rotation of the zoom lens at the detected position, control for adjusting the zoom lens to the appropriate magnification is very easily performed. be able to. If the detection means having the number of stages corresponding to the magnification to be set are provided at the rotational positions corresponding to the respective magnifications, it is possible to recognize components of any size and shape required for recognition at the optimum magnification.

When the component recognition device of the present invention is used in a component recognition device of a component mounter or a data creator, it can properly recognize components in a wide range and appropriately control the component mounter. Therefore, it is possible to improve the productivity of non-defective boards, to improve the tact time for mounting components, and to make the entire machine compact.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

FIG. 2 is a perspective view of a zoom lens driving unit of FIG.

FIG. 3 is a flowchart showing the operation of FIG.

FIG. 4 is a flowchart showing the operation of FIG.

FIG. 5 is a perspective view of an electronic component mounter using the component recognition method of the present invention.

FIG. 6 is a perspective view of a component recognition data creating machine using the component recognition method of the present invention.

[Explanation of symbols]

 2 control device 3 storage means 4 part type recognition means 5 zoom lens driving means 6 zoom lens 8 camera 9 imaging surface 10 recognition means

Continuation of front page (56) References JP-A-4-22197 (JP, A) JP-A-61-252517 (JP, A) JP-A-58-223109 (JP, A) JP-A-2-58714 (JP, A) , U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01B 11/00-11/30 102 G06T 1/00 H05K 13/00-13/04

Claims (4)

(57) [Claims] 1. A component recognizing apparatus for recognizing an image by capturing an image of a component mounted on a substrate by a component mounter , wherein the zoom lens has a variable lens magnification.
Rotation driving means for rotating the rotation driving means
A rotating plate having a detection means at a predetermined rotation angle
Each angle corresponding to the lens magnification set in several steps
A complex for detecting the detected means when the rotating plate rotates.
A camera provided with a number detecting means, a recognizing means for performing image recognition based on an image taken by the camera, and a camera having a desired appropriate lens magnification determined for each component type.
Drive the rotation driving means to detect
The detecting means corresponding to the appropriate lens magnification is used to detect the detected hand.
When the step is detected, the rotation of the rotation driving means is stopped.
To set the zoom lens to the appropriate lens magnification,
Control means for causing the camera to image components.
Component recognition device provided . 2. A component mounted on a substrate by a component mounter.
A component recognition apparatus that performs image recognition by recognizing an image by changing a zoom lens and a lens magnification of the zoom lens.
Rotation driving means for rotating the rotation driving means
A slit plate that rotates and has a slit at a predetermined rotation angle,
Each angle corresponding to the lens magnification set in multiple stages
The slit which detects the slit when the slit plate is rotated
A camera provided with a number of sensors, and a recognition apparatus for performing image recognition based on images taken by the camera.
And the desired appropriate lens magnification determined for each part type.
Driving the rotation driving means to detect the front among a plurality of sensors.
A sensor corresponding to the appropriate lens magnification detects the slit.
When it comes out, the rotation of the rotation driving means is stopped and
Camera lens to the appropriate lens magnification, and then
Control means for causing the camera to image a component. 3. A component supply unit for supplying a component, component holding means for holding the supplied component and mounting the component on a substrate,
3. A component mounting apparatus comprising: the component recognition device according to claim 1, wherein the component holding unit captures an image of the component supplied from the component supply unit and held in the component recognition unit. 4. A data creator provided with a component recognition device according to claim 1 or 2, which generates component recognition data necessary for recognizing a component by a component mounter.