JPH0669699A - Parts assembly line - Google Patents

Abstract

PURPOSE:To simplify the positioning work of a mark at the time of the recognition of a board being inferior by displaying the image data to become the criteria of the correctness and the wrongness of an objective board recognition mark on an image so that one may easily acknowledge the shape, the size, and the position of to become the object of board recognition in recognition of the board. CONSTITUTION:A board recognition mark 22 is expressed o a printed board 5, and a recognition camera 19 picks up the image of the mark 22 so as to recognize the position on an X-Y table 1 of the board 5. The data of an outline geared to all marks 22 to be handled are stored in a graphic RAM 31, and those are used properly according to the kind of a board. Based on the image stored in a RAM 34, a recognizing processing circuit 35 performs the recognition processing such as the recognition of the board of a board 5. A monitor 41 displays the image where the graphic figure stored in the graphic RAM 31 is superposed on the image being picked up with the camera 19.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component assembling apparatus for performing a predetermined work for assembling a chip-shaped electronic component on a printed circuit board placed on a table.

[0002]

2. Description of the Related Art As a conventional technique of this kind, Japanese Patent Laid-Open No. 4-6
There is one disclosed in Japanese Patent No. 4291. This is to position the board by recognizing the board recognition mark on the board using a camera.

However, in order to easily recognize the shape, size, and position of the board to be recognized when the board is recognized, image data serving as a reference of the correctness of the target board recognition mark is displayed on the screen, and the board is displayed. It has become necessary to simplify the work of aligning the marks when the recognition is defective.

[0004]

SUMMARY OF THE INVENTION Therefore, according to the present invention, when recognizing a board, a correctness of the target board recognition mark on the screen is determined so that the shape, size and position of the target board can be easily recognized. It is an object of the present invention to display the following image data to simplify the position alignment work of the mark when the board is not recognized properly.

[0005]

Therefore, the present invention provides a component assembling apparatus for performing a predetermined operation for assembling a chip-shaped electronic component on a printed circuit board placed on a table.
A recognition device for recognizing a board recognition mark attached to the printed circuit board, a storage device for storing image data serving as a reference for correctness of the mark recognized by the recognition device, and image data stored in the storage device And a display device for displaying the mark recognized by the recognition device.

[0006]

With the above arrangement, the recognition device recognizes the board recognition mark on the board. Then, the recognized mark and the image data, which is stored in the storage device and serves as a reference for correctness of the mark, are displayed on the display device.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

In FIGS. 2, 3 and 4, (1) is X
XY is obtained by rotating the axis motor (2) and the Y axis motor (3).
An XY table that moves in a direction, on which a printed circuit board (5) on which a chip-shaped electronic component (hereinafter referred to as a chip component or component) (4) is mounted is placed.

[0009] (6) is a supply table, chip parts (4)
A large number of component supplying devices (7) for supplying the are provided. Reference numeral (8) is a supply base driving motor, which rotates the ball screw (9) to engage the supply base (6) with a nut (not shown) fitted to the ball screw (9) and fixed to the supply base (6). 6) is guided by the linear guide (10) and moves.

Reference numeral (11) is a turntable which rotates intermittently, and the suction nozzle (1) is provided at the outer edge of the table (11).
The mounting heads (13) having four (2) are arranged at equal intervals according to the intermittent pitch.

The suction nozzle (12) sucks the component (4) from the supply device (7) and picks up and removes the component (4) at the stop position of the mounting head, and the suction station is the first position of the turntable (11). The suction nozzle (12) located outside sucks the component (4).

The position at which the mounting head (13) stops next is the recognition station, and at this station, the component recognition camera (14) recognizes the displacement of the component (4) that the suction nozzle (12) sucks. To be done.

The next mounting head (1
The position where 3) stops is the angle correction station, and the suction nozzle (12) is rotated in the θ direction by the nozzle rotation roller (15) based on the recognition result by the recognition camera (14) and the rotation angle of the component (4). The positional deviation of is corrected.

Reference numeral (18) is a base, and the XY table (1) is moved in XY with respect to the base (18). Reference numeral (19) is a board recognition camera and the base (18). )
The printed board (5) mounted on the XY table (1), which is fixed to the support plate (20) fixed to, is imaged.

A board recognition mark (22) is displayed on the printed board (5) as shown in FIG. 4, and the recognition camera (19) takes an image of the mark (22) and the board (5).
The position is recognized on the XY table (1). Although the mark (22) shown in FIG. 4 is circular, it may be a quadrangle, a triangle or the like, or a part of the pattern on the substrate (5) may be used.

(23) conveys the printed circuit board (5) and X
It is a supply conveyor for supplying onto the Y table (1).

Next, the control circuit of this embodiment will be described with reference to FIG.

In FIG. 1, (25) is a CPU,
Various data stored in the RAM (26) and the operation unit (2
Based on signals from 7) and the like, various operations relating to the mounting operation of the chip component (4) on the printed circuit board (5) of the component mounting device are controlled according to the program stored in the ROM (28).

For example, the X-axis motor (2) and the Y-axis motor (3) are driven by the drive circuit (2) under the control of the CPU (25).
9). (31) is a graphic RAM for storing graphic figures, and has an interface (3
It is connected to the CPU (25) via 2). In addition, the mark (22) to be handled in the graphic RAM (31)
Outline data corresponding to all is stored and used properly according to the substrate type. Reference numeral (33) is an A / D conversion circuit for converting an analog signal of an image picked up by the board recognition camera (19) into a digital signal, and the converted digital signal is input to the video RAM (34) to pick up the image. Will be remembered. Based on the image stored in the RAM (34), the recognition processing circuit (35) performs recognition processing such as position recognition of the substrate (5).

The recognition processing circuit (35) is connected to the CPU (25) through the interface (32),
The recognized data is transferred to the CPU (25).

Horizontal / vertical sync signals are simultaneously supplied from the interface (32) to the graphic RAM (31), the board recognition camera (19) and the video RAM (34) through the horizontal / vertical sync signal lines (37). Has been done. From the graphic RAM (31) to the CPU (2
The image signal created and stored by 5) is output to the display logic (38) in synchronization with the horizontal / vertical synchronization signal, and the camera (19) is synchronized with the signal by the A / D conversion circuit (33). The image signal of the captured image is output to the logic (38), and both images are combined by the OR circuit in the logic (38) and output. The combined output which is a digital signal is converted into an analog signal by the D / A conversion circuit (39), and the monitor (41) stores the image captured by the camera (19) in the graphic RAM (31). An image is displayed in which the graphic figures are superimposed.

A monitor (43) displays an operation screen and various data, and is connected to the interface (32) through the display circuit (44).

Next, the operation section (27) will be described.

In FIG. 1, numeral (47) is a ten-key for keying in numbers, and numerals (48) to (51) move a cursor (not shown) in the respective arrow directions on the screen of the monitor (43). The cursor key (53) is a SET key.

(55) is a teaching key for setting the component mounting device in the teaching mode, (56) is an automatic key for setting the device in the automatic operation mode, and (57) is for setting the device in the manual operation mode. Is a manual key. (58) is a start key, (59) is an operation key, and (60) is a stop key.

In the RAM (26), step numbers indicating the mounting sequence of the component (4) as shown in FIG. 5, and mounting position data indicating mounting positions of X, Y and θ angles on the printed circuit board (5). And an NC consisting of a part ID indicating the kind of part
Data is stored for each board type, and data such as an X size indicating a component size in the X direction and a Y size indicating a component size in the Y direction is stored as the component data for each component ID as shown in FIG. . Further, the coordinate position data of the board recognition mark (22) as shown in FIG. 7, the mark (22)
The board recognition data in which the data number indicating the type is stored and the board recognition mark data corresponding to the data number as shown in FIG. 8 are stored. The board recognition mark data stores data on the shape and size of the mark (22) and the size of the imaging area.

The RAM (26) has a camera (19).
X on the printed circuit board (5) in the center of the screen
An X-direction position memory (62) and a Y-direction position memory (63) that store the directional position and the Y-direction position, respectively, are provided, and the current position moved by the rotation of the motors (2) and (3) is always stored. .

The operation will be described below.

First, the operator presses the automatic key (56) to set the component mounting apparatus to the automatic operation mode, and then the start key (5
When 8) is pressed, automatic operation of the component mounting device is started. The substrate (5) coated with the adhesive or cream solder is conveyed from the supply conveyor (23) onto the XY table (1) and positioned and fixed at a predetermined position on the table (1) by a positioning device (not shown). It

Then, the X and Y axis motors (2), (3)
The rotation of moves the board recognition mark (22) of the board (5) to the lower side of the board recognition camera (19), the mark (22) is imaged, and the A / D conversion circuit (33) is turned on. The recognition processing circuit (35) recognizes the position of the mark (22) on the basis of the captured image data stored in the video RAM (34) via the image processing unit. The other mark (2
The position of 2) is similarly recognized, and the origin position of the substrate (5) in the XY directions and the θ rotation direction is grasped by the CPU (25).

Next, the suction head (13) is positioned at the suction station, and the suction nozzle (12) suctions the component (4). Then, when the head (13) reaches the recognition station, the nozzle (1
The position of the component (4) to be sucked in 2) is recognized.

Then, the head (13) moves to the angle correction station, and the nozzle (12) is rotated by the rotation of the nozzle rotation roller (15) based on the recognition result in the recognition station, and the component (4) is moved. Angle correction.

Next, when the head (13) reaches the mounting station, the XY table (1) rotates the X and Y axis motors (2) and (3) to correct the position of the recognition result at the recognition station. The component is moved in the XY direction by the added amount, and the component (4) is mounted at a predetermined position in the XY direction and the θ rotation direction indicated by the NC data of the substrate (5) on the table (1).

Thereafter, the same operation is performed for each head (13).

Then, the component (4) on one substrate (5)
When the mounting of the substrate is completed, the substrate (5) is discharged to a downstream device (not shown), and the next substrate (5) is mounted on the XY table (1).
It is supplied on the board, the board recognition mark (22) is recognized, and the component (4) is mounted.

Thereafter, the components (4) are mounted on the board (5) one after another in the same manner.

Here, a case where there is a recognition failure at the time of recognizing the board recognition mark (22) described above will be described.

In this case, the operation of the apparatus is stopped and the operator is informed by the notifying means (not shown).

At this time, on the screen of the monitor (41), there is displayed a screen indicating that the board recognition failure has occurred. Hereinafter, a case where the board recognition mark (22) has a recognition failure at two locations will be described. The operator presses the return key (5
5) is pressed to bring the screen into the board recognition mark alignment mode and display the screen as shown in FIG. That is, the data of the graphic figure of the board recognition mark (22) stored in the graphic RAM (31) in advance is output to the monitor (41), and the image of the graphic figure is output to the camera (1).
It is displayed so as to be superimposed on the image of the board recognition mark (22) of the board (5) taken in 9).

Here, the circle at the center position of the cross line is an outline showing the shape, size, and position of the mark (22), and the shaded circle is the mark (22) imaged by the camera (19), You can see that they are misaligned.

Therefore, the operator presses the cursor key (49) or (51) and then the operation key (59) to rotate the X and Y axis motors (2) and (3) to move the XY table ( 1) is moved to a position where the outline and the mark (22) coincide with each other as shown in FIG. 10, and the XY table (1) is stopped. Then, the SET key (53)
Press. Next, the other board recognition mark (22)
When the SET key (53) is pressed and the start key (58) is pressed, the apparatus restarts operation and the component mounting operation is performed in the same manner as described above. At this time, the XY table (1) is moved from the coordinate position of the mark (22) shown in FIG. 7 obtained by the above-described alignment work before the suction nozzle (12) that has suctioned the component (4) is moved. It is moved to the correction position calculated by the calculation device (not shown) in the CPU (25) based on the data of the deviation amount.

When only one of them is defective in recognition, only one of them is aligned and the data and the data obtained from the recognition result of the other are calculated by the calculation device to set the XY table (1) to the correction position. To move.

Further, in this embodiment, since the outline having the same shape as the mark (22) is used, not only the position deviation of the mark (22) but also the shape of the mark (22) is different, the size is different, etc. are recognized. This is also useful in cases where the board recognition mark data is incorrectly created and can be reflected when the data is corrected.

Further, the outline is not limited to the same shape as the mark (22), and a shape which is in contact with the outer circumference of the mark such as a quadrangle surrounding a round mark may be used.

Furthermore, the present invention is also applied to a screen printer for applying cream solder to a substrate through a screen and a coating device for coating an adhesive.

[0046]

As described above, according to the present invention, an image serving as a reference of the correctness of the target board recognition mark on the screen so that the shape, size and position of the target board to be recognized can be easily recognized. Since the data is displayed, the work of aligning the mark when the board is not recognized is simplified.

[Brief description of drawings]

FIG. 1 is a control block diagram of a device of the present invention.

FIG. 2 is a plan view of a component mounting device.

FIG. 3 is an overall perspective view of the same device.

FIG. 4 is a perspective view of a main part of the apparatus.

FIG. 5 is a diagram showing NC data regarding a mounting operation.

FIG. 6 is a diagram showing component data.

FIG. 7 is a diagram showing board recognition data.

FIG. 8 is a diagram showing board recognition mark data.

FIG. 9 is an image displayed on a monitor television.

FIG. 10 is an image displayed on a monitor television.

[Explanation of symbols]

 (1) XY table (19) Board recognition camera (22) Board recognition mark (25) CPU (26) RAM (31) Graphic RAM (41) Monitor

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Yoshinori Ikeda 2-18 Keihan Hondori, Moriguchi City, Osaka Sanyo Electric Co., Ltd.

Claims (1)

[Claims] 1. A component assembling apparatus for performing a predetermined operation for assembling a chip-shaped electronic component on a printed circuit board placed on a table, which recognizes a substrate recognition mark provided on the printed circuit board. And a display device for displaying image data stored in the storage device and the mark recognized by the recognition device, and a storage device for storing image data serving as a reference of correctness of the mark recognized by the recognition device. And a device for assembling the component.