JP3244978B2 - Component recognition device for mounting machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mounting machine configured to adsorb a component such as a chip component and mount it at a predetermined position on a printed board by a head unit having a nozzle member. The present invention relates to a component recognizing device of a mounting machine adapted to recognize components picked up by a component.

[0001]

2. Description of the Related Art Conventionally, a head unit having a nozzle member for mounting components sucks a component such as an IC from a component supply unit, transfers the component onto a printed circuit board positioned at a predetermined position on the printed circuit board. A mounting machine designed to be mounted is generally known. Recently, there has been proposed a mounting machine in which a plurality of nozzle members are arranged in a head unit so as to improve mounting efficiency so that a plurality of components can be transferred at a time.

In such a mounting machine, there is a certain degree of variation in the position of the component when the component is sucked by the nozzle member, and it is required to correct the mounting position in accordance with the shift of the component suction position. For this reason, the picked-up component is recognized to detect a shift in the suction position with respect to the nozzle member, or to detect an abnormality of the component, for example, if the component has a lead, the lead is broken.

As an apparatus for performing such component recognition, there has been proposed an apparatus which picks up an image of a component adsorbed on a nozzle member by an image pickup means comprising a line sensor or an area sensor and performs component recognition based on the image. ing.
For example, when a line sensor is used as an imaging unit, the line sensor is installed on a base of a mounting machine, and the head unit after the component is sucked while passing over the line sensor.
There has been proposed an apparatus that irradiates required light for component recognition to a suction component to capture a component image, and performs component recognition based on the captured image.

[0004]

In the conventional apparatus, there are still points to be improved with respect to irradiation of light necessary for component recognition. This will be specifically described with respect to a case where a line sensor is used as an imaging unit.
The light-emitting unit that emits light required for component recognition does not obstruct the field of view of the line sensor, for example, relative to the component held at the imaging position of the line sensor, such as the side of the line sensor. It is located at a remote location. Therefore, in order to secure illuminance suitable for component recognition, it is necessary to increase the luminance of the light emitting unit. Therefore, the light from the high-luminance light-emitting portion is irradiated over a wide area, and as a result, unnecessary light reflection or the like is likely to occur, which has caused a problem that the recognition accuracy of the component is affected.

Therefore, it is desirable to arrange the light emitting portion closer to the component so as to secure a predetermined illuminance while suppressing the luminance of the light emitting portion. Since there is a possibility that the field of view of the sensor may be obstructed, this is naturally limited, and there is no effective solution.

In the conventional apparatus, the line sensor captures a component image in a planar manner, but the component to be recognized is not always planar. There is a possibility that component recognition may not be performed well. That is, for example, when imaging a cylindrical component, the surface of the component is curved, so in the captured component image, the edge is darker than the center of the component, and as a result,
There were cases where the external shape of the component could not be accurately recognized.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and a component recognition of a mounting machine capable of improving the component recognition accuracy by better capturing a component image having a brightness suitable for image recognition. It is intended to provide a device.

[0008]

According to a first aspect of the present invention, there is provided a component recognition apparatus for a mounting machine, comprising: a head unit having a plurality of nozzle members for picking up components; and imaging means disposed in a moving path of the head unit. Wherein the head unit is moved to a predetermined imaging position by an imaging unit to recognize the component adsorbed on the nozzle member. A line sensor for one-dimensionally capturing the suction component image along with the movement of the head unit is provided, and the suction component is irradiated with light necessary for component recognition between the imaging position and the line sensor. A light emitting means is provided. The light emitting means includes a plurality of light emitting elements arranged in parallel along the arrangement direction of the image sensors of the line sensor, and a base for mounting the light emitting elements. Consists of a, in this substrate, in which a slit extending in the arrangement direction of the image pickup element of the line sensor is formed.

According to a second aspect of the present invention, there is provided a component recognition apparatus for a mounting machine.
2. The component recognition device according to claim 1, wherein the nozzle members are arranged in a line in the head unit, and the head unit is moved in the arrangement direction of the nozzle members at the imaging position. In the sensor, the imaging elements are arranged in a direction orthogonal to the arrangement direction of the nozzle members.

According to a third aspect of the present invention, there is provided a component recognition apparatus for a mounting machine,
3. The component recognition device according to claim 1, wherein said light emitting means comprises a plurality of rows of light emitters arranged on both sides of the slit.

According to a fourth aspect of the present invention, there is provided a component recognition apparatus for a mounting machine,
4. The component recognition device according to claim 1, wherein the light emitting unit includes a diffusion plate that covers a surface of the illuminant, and a slit corresponding to the slit of the substrate is formed in the diffusion plate. The surface of the diffusion plate is subjected to a mat treatment for preventing reflection.

According to a fifth aspect of the present invention, there is provided a component recognition apparatus for a mounting machine,
5. The component recognition device according to claim 1, wherein said light emitting means comprises a light emitting body arranged in a substantially V-shaped cross section which is inclined with a slit of said substrate as a valley.

According to a sixth aspect of the present invention, there is provided a component recognition apparatus for a mounting machine.
5. The component recognition device according to claim 1, wherein the light-emitting unit includes a prism that covers a surface of the light-emitting body, and the prism has a thickness in a direction perpendicular to a longitudinal direction of the slit. The boundary is formed so as to gradually increase toward both outer sides.

[0014]

According to the component recognition device of the mounting machine according to the first and second aspects, the head unit moves on the line sensor, for example, in a direction orthogonal to the arrangement direction of the image sensors of the line sensor, thereby forming the nozzle member. The image of the component adsorbed on the device is captured by the line sensor, and component recognition is performed based on the component image. At this time, the light emitted from the light emitter is reflected by the component, and the reflected light is applied to the imaging means through the slit of the substrate, whereby the component image is captured.

According to the third aspect of the present invention, since the luminous body has a certain range in the direction orthogonal to the line sensor, even if the surface of the component is inclined or curved,
The illuminance of the light incident on the line sensor through the slit is appropriately secured.

According to the fourth aspect of the present invention, even when the directivity of the illuminant is strong, the illuminating light is diffused, thereby suppressing the illuminance unevenness of the component. Further, unnecessary light is prevented from being incident on the imaging means due to reflection.

According to the fifth and sixth aspects of the present invention,
When the surface of the component is inclined or curved, it is possible to adapt to a larger inclination, curvature, or the like of the surface of the component.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A component recognition apparatus according to the present invention will be described with reference to the drawings.

FIGS. 1 and 2 show the structure of a mounting machine on which a component recognition device 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. A component supply unit 4 is arranged on the side of the conveyor 2. The component supply unit 4 includes a component supply feeder, for example, a multi-row tape feeder 4.
a.

Above the base 1, a head unit 5 for mounting components is provided. The head unit 5 is movable across the component supply unit 4 and the component mounting unit where the printed circuit board 3 is located.
It can move in the axial direction (the direction of the conveyor 2) and the Y-axis direction (the direction orthogonal to the X-axis on a horizontal plane).

That is, a fixed rail 7 in the Y-axis direction and a ball screw shaft 8 rotated and driven by a Y-axis servomotor 9 are disposed on the base 1, and a head unit is mounted on the fixed rail 7. A support member 11 is provided, and a nut portion 12 provided on the support member 11 is screwed to the ball screw shaft 8. The support member 11 has X
An axial guide member 13 and a ball screw shaft 14 driven by an X-axis servomotor 15 are provided, and the head unit 5 is movably held by the guide member 13,
A nut portion (not shown) provided on the head unit 5 is screwed to the ball screw shaft 14. And
By the operation of the Y-axis servo motor 9, the support member 11
The head unit 5 moves in the X-axis direction with respect to the support member 11 by the operation of the X-axis servo motor 15 while moving in the axial direction.

The Y-axis servo motor 9 and the X-axis servo motor 15 are provided with position detecting devices 10 and 16 each composed of a rotary encoder, whereby the moving position of the head unit 5 is detected. It has become.

The head unit 5 is provided with a nozzle member 20 for adsorbing chip components. As shown in FIG. 2, in this embodiment, eight nozzle members 20 are arranged in the X-axis direction. Each nozzle member 20 moves up and down with respect to the frame of the head unit 5 (movement in the Z-axis direction).
And rotation about the nozzle center axis (R-axis) is enabled, and is operated by a Z-axis servo motor and an R-axis servo motor (not shown). Further, each of these servo motors is provided with a position detecting device to detect the moving position of each nozzle member 20.

Further, a sensor unit 23 for taking in a component image when recognizing a component adsorbed by each nozzle member 20 of the head unit 5 is disposed between the component supply unit 4 and the conveyor 2. Has been established.

The sensor unit 23 comprises a sensor body 25 having a line sensor 24 and an illumination unit 26 (light emitting means) for irradiating light necessary for capturing an image. The line sensor 24 provided in the sensor main body 25 is an image sensor in which CCD solid-state imaging devices 24a are arranged in a direction (Y-axis direction) orthogonal to the arrangement direction of the nozzle members 20, as shown in FIG. ,
By moving the head unit 5 in a direction (sub-scanning direction; X-axis direction) orthogonal to the arrangement direction (main scanning direction; Y-axis direction) of each element 24a, the main scanning direction of the component sucked by the nozzle member 20 is achieved. Are sequentially captured one-dimensionally in the sub-scanning direction. Although not shown, the component image is captured by the line sensor 24 via a lens provided in the sensor main body 25.

As shown in FIG. 4, the illumination unit 26 is disposed below the movement path of the head unit 5 for component recognition and above the sensor main body 25, and is mounted on the substrate 28. LEDs 27 (light emitters)
And a diffusion plate 29 disposed on the surface thereof.

As shown in FIG. 5, the center of the substrate 28 is vertically above the line sensor 24 of the sensor main body 25, and corresponds to the arrangement of the CCD solid-state image sensors 24a of the line sensor 24. Slit 28 extending in the axial direction
a is formed. On both sides of the slit 28a (on both sides in the X-axis direction), a large number of the LEDs 27 are mounted in a line along the slit 28a. Are provided.

The diffusing plate 29 is composed of an LED 2 having a high directivity.
By appropriately diffusing the irradiation light of No. 7, the unevenness of the illuminance of the illuminated component is suppressed, and is made of, for example, a resin material such as acrylic. In the central portion of the diffusion plate 29, corresponding to the slit 28a of the substrate 28,
A slit 29a having the same shape as or slightly larger than the slit 28a is formed. The surface (upper surface in FIG. 4) of the diffusion plate 29 is subjected to an appropriate unevenness process (matting process), so that reflection of light applied to the surface of the diffusion plate 29 can be suppressed. I have.

Next, the component recognition operation of the mounting machine configured as described above will be described.

When the mounting operation is started in the mounting machine, the head unit 5 is moved to the component supply unit 4 and the components are sucked by the nozzle members 20. When the suction of the component is completed, the head unit 5 is moved with respect to the sensor unit 23 for component recognition. Specifically, after the head unit 5 is set at, for example, the left end of the movement path for the sensor unit 23, the head unit 5 is moved rightward (in the direction of the arrow S in FIGS. 1, 3, 4, and 5) from this position. Can be

When the movement of the head unit 5 for component recognition is started, light emission of the illumination unit 26 is started at a timing synchronized with the movement. Then, as the head unit 5 is moved above the sensor unit 23, each component adsorbed on each nozzle member 20 of the head unit 5 is illuminated by the light of the illumination unit 26, and the component image is displayed. The data is sequentially captured by the line sensor 24 of the sensor body 25. More specifically, when the LED 27 emits light in the illumination unit 26, the light is diffused by the diffusion plate 29 and illuminates the front surface (actually, the rear surface) of the component that is attracted to the nozzle member 20. Then, when the light is reflected on the surface of the component, the reflected light is incident on the sensor main body 25 through the diffusion plate 29 and the slits 28a, 29a of the substrate 28, whereby the component image is captured by the line sensor 24. Will be.

When the head unit 5 completely passes over the sensor unit 23, the nozzle member 20
The images of all the components that are sucked in are captured by the line sensor 24.

Incidentally, the above-described mounting machine configured as described above has the following advantages as compared with a conventional mounting machine of this type.

That is, in the mounting machine described above, in the sensor unit 23, the illumination unit 26 is disposed immediately above the sensor main body 25, and the slits 28 a and 29 a formed in the substrate 28 and the diffusion plate 29 of the illumination unit 26. Since the component image is captured, the component can be illuminated by disposing the illumination unit 26 at a position closer to the component to be imaged without obstructing the field of view of the sensor body 25.

Therefore, it is possible to appropriately secure a predetermined component illuminance suitable for component recognition while suppressing the brightness of the LED 27. By irradiating light from a position close to the imaging target component while suppressing the brightness of the LED 27, the range to be illuminated is narrowed, that is, only the component to be recognized is illuminated clearly, and component recognition such as the background of the component is performed. Thus, it is possible to prevent unnecessary portions from being illuminated, and to suppress unnecessary light reflection. In addition, the sensor body 25 is provided through the slits 28a and 29a formed in the illumination unit 26.
Irradiates the sensor body 25 with unnecessary light. Therefore, it is possible to increase the component recognition accuracy. Further, since the surface of the diffusion plate 29 is subjected to a matting process to prevent reflection of light, unnecessary light due to reflection can be prevented from being incident on the sensor body 25.

The LED 27 is provided on both sides of the slit 28a.
Are provided in a plurality of rows, respectively, so that the illuminance of the light incident on the line sensor 24 through the slit 28a can be appropriately secured even when the surface of the recognition target component is inclined or curved. That is, if the surface of the component to be recognized is inclined, curved, or the like, the illuminance at the edge of the component or the like tends to decrease, and it is difficult to maintain uniform illuminance of the entire component. However, according to the above-described embodiment, the LED 27 has a certain range in the direction orthogonal to the line sensor 24, and the edge of the component is effectively illuminated, so that the illuminance of the entire component is kept uniform and the component image is displayed. Light and dark unevenness can be suppressed. Therefore, the edge shape of the component can be more accurately recognized, and the component can be accurately recognized.

Further, in the above mounting machine, the lighting unit 2
6 can be arranged directly above the sensor body 25, so that there is no need to provide a space for arranging the illumination unit 26 around the sensor body 25 or the like, thus contributing to space saving of the mounting machine. In addition to this, there is an advantage that the degree of freedom in layout can be increased.

The above mounting machine is an embodiment to which an example of the component recognition device according to the present invention is applied, and its specific structure can be appropriately changed without departing from the gist of the present invention. is there. For example, the sensor unit 23 of the above embodiment
Sensor unit 2 to which lighting units 30 and 31 as shown in FIGS. 6 and 7 are applied instead of the lighting unit 26 of FIG.
3 can also be configured. Hereinafter, these examples will be briefly described.

The illumination unit 30 shown in FIG. 6 has basically the same configuration as the illumination unit 26 of the above embodiment in that it has the LED 27, the substrate 28, and the diffusion plate 29. However, as shown in the figure, the substrate 28 and the diffusion plate 29 are inclined with the slits 28a and 29a as valleys, respectively, so that the LEDs 27 are arranged in a substantially V-shape. Is different. By employing the illumination unit 30 having such a configuration, when the surface of the component C is curved, as shown in the figure, the curved portion can be effectively illuminated. It is possible to keep the illuminance of the entire part uniform as compared with the illumination unit 26 of FIG.

The illumination unit 31 shown in FIG. 7 is different from the illumination unit 26 of the above embodiment in that a prism 32 is provided instead of the diffusion plate 29. The prism 32 has a thickness that gradually increases outward from the center of the X-axis as shown in the figure, and corresponds to the slit 28a of the substrate 28 at the center. , The slit 3 for capturing an image having the same shape as the slit 28a or slightly larger than the slit 28a.
2a is formed. According to the illumination unit 31 having such a configuration, the light from the LED 27 is refracted by the prism 32, so that when the surface of the component C is curved, the curved portion can be effectively illuminated. .
Therefore, the illumination unit 31 can also maintain uniform illuminance of the entire component.

Further, in the above embodiment, regarding the movement of the head unit 5 with respect to the sensor unit 23 for component recognition, the head unit 5 is set at the left end of the movement path and then to the right (FIGS. 1, 3 and 4). , 5 describe an example in which the head unit 5 is moved toward the direction of the arrow S). Of course, the head unit 5 may be set to the right end of the movement path and then moved to the left. The movement of the head unit 5 for such component recognition is performed, for example, by moving the component to be sucked last to the left side of the sensor unit 23,
Alternatively, when the head unit 5 is sucked at a position close to this, the head unit 5 is moved in the direction of the arrow S. If the head unit 5 is moved in the direction opposite to the arrow S, component recognition can be performed efficiently.

[0042]

As described above, according to the component recognition device of the present invention, the head unit is moved to the predetermined imaging position of the line sensor as the imaging means after the component is mounted, and thus the head unit is attracted to the head unit. The image of the component is captured by the line sensor, and component recognition is performed based on the component image. At this time, the light emitted from the light emitting unit is reflected by the component, and the reflected light enters the line sensor through the slit of the light emitting unit, so that the component is imaged. The component can be illuminated by arranging the light emitting means closer to the imaging position. Accordingly, it is possible to appropriately secure a predetermined component illuminance suitable for component recognition while suppressing the luminance of the light emitting means, thereby improving the component recognition accuracy.

Further, since the reflected light from the component enters the line sensor through the slit of the light emitting means, it is possible to capture the component image while suppressing the incidence of unnecessary light. In particular, if luminous bodies are arranged in multiple rows on both sides of the slit,
Even when the surface of the component is inclined or curved, the illuminance of light incident on the line sensor through the slit can be appropriately secured.

Further, by disposing a diffusion plate on the surface of the luminous body, forming a slit in the diffusion plate, and performing a matting treatment on the surface of the diffusion plate to prevent reflection, the directional characteristic of the luminous body can be improved. Even in the case of strong characteristics, it is possible to suppress unevenness in the illuminance of the components, and it is possible to incorporate the imaging means while preventing unnecessary reflection of light.

Further, a light emitting means in which the light emitting body is arranged in a substantially V-shape by inclining the slit of the substrate and the diffusion plate as a valley, or a light emitting means in which a prism is provided on the surface side of the light emitting body is constituted. By doing so, required component illuminance can be ensured with respect to a larger inclination or curvature of the component surface.

[Brief description of the drawings]

FIG. 1 is a plan view of a mounting machine 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 an enlarged schematic view showing a line sensor of the sensor main body.

FIG. 4 is an enlarged view of FIG. 2 showing a sensor unit.

FIG. 5 is a cross-sectional view taken along the line AA in FIG. 4 showing a substrate and an LED mounted on the substrate.

FIG. 6 is a view corresponding to FIG. 4, showing another example of the lighting unit.

FIG. 7 is a diagram corresponding to FIG. 4, showing another example of the lighting unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base 2 Conveyor 3 Printed circuit board 4 Parts supply part 5 Head unit 9 Y-axis servo motor 15 X-axis servo motor 10, 16 Position detection means 20 Nozzle member 23 Sensor unit 23a Illumination part 24 Line sensor 25 Sensor main body 26 Lighting unit 27 LED 28 substrate 28a, 29a slit 29 diffusion plate

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-41596 (JP, A) JP-A-1-152699 (JP, A) JP-A-2-280400 (JP, A) JP-A-5-280 335792 (JP, A) JP-A-4-103200 (JP, A) JP-A-7-174539 (JP, A) JP-A-2-32005 (JP, U) JP-A-5-4596 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) H05K 13/04

Claims (6)

(57) [Claims] A head unit including a plurality of nozzle members for picking up components; and an imaging unit disposed in a moving path of the head unit. In the component recognition device of the mounting machine configured to recognize the component sucked by the nozzle member by moving to the imaging position, the imaging unit may be used as the imaging unit.
The suction part image is displayed with the movement of the head unit.
With a line sensor that takes in one-dimensional
In, between the imaging position and the line sensor, the light emitting means is provided for irradiating light necessary component recognition on the suction part, the light emitting means, each imaging element of the line sensor
A large number of light emitters arranged side by side along the
It consists of a substrate on which the luminous body is mounted, and
Slits extending in the direction of arrangement of each image sensor of the in-sensor
A component recognition device for a mounting machine characterized by being formed . 2. The head unit according to claim 1 , wherein
Are arranged in a line, and
Move the head unit in the direction in which the nozzle members are arranged.
The line sensor is used for
Image elements are arranged in a direction orthogonal to the arrangement direction of each nozzle member
2. The component recognition device for a mounting machine according to claim 1, wherein: Wherein said light emitting means, mounting machine parts recognizing device according to claim 1 or 2, characterized in that formed by arranging the light emitter in a plurality of rows on either side of the slit. 4. The light emitting means includes a diffusion plate for covering a surface of the luminous body, wherein a slit corresponding to the slit of the substrate is formed in the diffusion plate, and a surface of the diffusion plate for preventing reflection is provided. mounter component recognition device according to any one of claims 1 to 3, characterized in that the mat process is being performed. 5. The mounting machine according to claim 1, wherein the light-emitting means has a light-emitting body arranged in a substantially V-shaped cross section inclined with a slit of the substrate as a valley. Parts recognition device. 6. The light emitting means includes a prism covering a surface side of the light emitting body, and a thickness of the prism gradually increases in a direction orthogonal to a longitudinal direction of the slit toward both outer sides of the slit. The component recognition device for a mounting machine according to any one of claims 1 to 4, wherein the component recognition device is formed as follows.