JPH1056296A - Part mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve recognition accuracy of a mounting part without requiring such labor that a background member is periodically cleaned and that a foreign matter is removed by confirming the foreign matter projected by visual observation, etc. SOLUTION: When part-absence condition, part recognition-miss, etc., are detected, a control device 15 moves a suction nozzle 14 into a field of view of a CCD camera 17, and reflected light from a nozzle plate 14a is imaged. And, when brightness of each of n×m pieces of pixels is a threshold or above, '1' is outputted, and a cumulative result (r) of pixel number of the output '1' is compared with a reference value S. At this time, when 'cumulative result (r) > reference value S', it is judged that 'dust sticking', and a message which urges to remove dusts is displayed on a display 18.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus configured to visually recognize a component to be mounted and to correct a mounting position.

[0002]

In the component mounting apparatus, as shown in FIG. 8, the mounting component 2 set in the parts feeder 1 is sucked and taken out by the suction nozzle 3 and then the mounting head 4 is printed. There is a configuration in which the mounting component 2 is mounted on the printed wiring board 5 as the suction nozzle 3 is lowered by being transported onto the wiring board 5.

In this configuration, the mounting component 2 sucked by the suction nozzle 3 is imaged by the CCD camera 6 and is
The image pickup data from the CD camera 6 is image-processed, and the suction posture of the mounting component 2 is detected. And
The mounting component 2 is mounted at a regular position on the printed wiring board 5 by correcting the transport amount of the mounting head 4 based on the shift amount of the suction attitude. Reference numeral 7 denotes a CCD.
1 shows an image processing apparatus that performs image processing on image data from a camera 6.

However, in the above-described conventional configuration, the CCD
As the light is projected from the light source 6a of the camera 6 toward the suction nozzle 3, the reflected light from the background member 3a is photographed as a background image, and the reflected light from the mounting component 2 is photographed as an image having a different density.

[0005] For this reason, if foreign matter such as dust adheres to the background member 3a, the foreign matter is imaged together with the mounting component 2, so that the image processing accuracy of the mounting component 2 is adversely affected. There is a possibility that the tact time, the component usage rate, the reliability of the device may be reduced, and the like. Therefore, it is necessary to periodically clean the background member 3a or to visually confirm that the foreign matter is captured and to remove the foreign matter.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object the trouble of periodically cleaning a background member and removing a foreign object by visually confirming that the foreign object is captured. It is an object of the present invention to provide a component mounting apparatus capable of improving the recognition accuracy of a mounting component without applying any cost.

[0007]

According to a first aspect of the present invention, there is provided a component mounting apparatus, comprising: a suction nozzle for sucking and transferring a mounting component to a substrate; a background member provided on the suction nozzle; Imaging means for imaging the mounting component sucked by the suction nozzle as an image; correcting means for correcting the mounting position of the mounting component based on the imaging data of the imaging means; and foreign matter adhering to the background member. Foreign matter detecting means for detecting that the foreign matter is detected, and a notifying means for performing a notifying operation related to the foreign matter adhesion when the foreign matter detecting means detects the foreign matter adhesion. The method is characterized in that the adhesion of foreign matter is detected by comparing the image noise amount of the background member captured by the means with a reference noise amount.

According to the above means, when the background member is imaged, the image noise amount of the imaged data is compared with the reference noise amount. Then, based on the comparison result, the attachment of the foreign matter is detected, and the fact that the foreign matter is attached is notified. For this reason, the foreign matter can be removed based on this notification, so that there is no need to periodically clean the background member, visually confirm that the foreign matter is captured, and remove the foreign matter without any trouble. Thus, the recognition accuracy of the mounting component is improved.

According to a second aspect of the present invention, there is provided a component mounting apparatus, comprising: a suction nozzle for sucking and transferring a mounting component to a substrate; a background member provided on the suction nozzle; Imaging means for imaging the picked-up mounting component; correcting means for correcting the mounting position of the mounting component based on image data of the imaging means; and detecting that foreign matter is attached to the background member A foreign matter detection unit, and a foreign matter removing mechanism that removes foreign matter in accordance with the detection that foreign matter is attached to the background member,
The method is characterized in that the foreign matter detection means detects the adhesion of foreign matter by comparing the image noise amount of the background member imaged by the imaging means with a reference noise amount.

According to the above means, when the background member is imaged, the image noise amount of the imaged data is compared with the reference noise amount. Then, based on the comparison result, the adhesion of the foreign matter is detected, and the foreign matter is automatically removed. For this reason,
The accuracy of recognition of the mounting component can be improved without any trouble such as periodically cleaning the background member, visually confirming that the foreign matter is captured, and removing the foreign matter.

A third aspect of the present invention is characterized in that the foreign matter detecting means sets a reference noise amount based on a reference image of a background member captured in advance. According to the above means, the reference noise amount is accurately set based on the actually measured value, so that the detection accuracy of foreign matter adhesion is improved.

According to the fourth aspect, the foreign matter detecting means is characterized in that a portion of the image data which does not affect the component recognition is excluded from the measurement of the image noise amount.
According to the above-described means, the adhesion of the foreign matter can be detected with high accuracy because the noise is not affected by the image noise of the portion that does not affect the component recognition, such as the outer portion of the image data.

[0013]

FIG. 1 shows a first embodiment of the present invention.
A description will be given based on FIG. First, in FIG.
A base (not shown) is provided with a parts feeder 11, on which a plurality of electronic components 12 corresponding to mounting components are set. Also,
A mounting head 13 is attached to an arm (none is shown) of the XY robot. A suction nozzle 14 is attached to the mounting head 13, and a nozzle plate 14a corresponding to a background member is attached to the suction nozzle 14.

The control device 15 corresponding to the correction means and the foreign matter detection means is mainly composed of a microcomputer, and controls the mounting head 13 in the XY directions specific to the apparatus in accordance with the drive control of the XY robot. Transported to
The suction nozzle 14 is moved to a suction position on the parts feeder 11. The mounting head 13 has a built-in elevating mechanism (not shown).
Is moved to the suction position, the lifting mechanism is operated, and the suction nozzle 13 is moved up and down. Thereby, the electronic component 12 of the parts feeder 11 is sucked by the suction nozzle 13,
Take out from the parts feeder 11.

A printed circuit board 16 is set on the base. The control device 15 takes out the electronic component 12 from the parts feeder 11 and drives the XY robot to control the mounting head 13 so that the mounting head 13 is mounted on the device. After transporting in the −Y direction and moving the suction nozzle 14 to the mounting position on the printed wiring board 16, the lifting mechanism is operated to move the suction nozzle 13 up and down. Thereby, the electronic component 12 sucked by the suction nozzle 13 is pressed against the printed wiring board 16 and mounted.

The base is provided with a CCD camera 17 corresponding to an image pickup means. When the electronic device 12 is transported to the mounting position, the control device 15 moves the suction nozzle 14 to the C position.
It is moved into the field of view of the CD camera 17 and the CCD camera 17
Drive. The CCD camera 17 is provided with a light source 17a. The light source 17a is connected to the suction nozzle 14
Light is projected toward the CCD camera 17.
Captures reflected light from the nozzle plate 14a as a background image and reflected light from the electronic component 12 as images with different densities.

The control device 15 detects the suction posture of the electronic component 12 in accordance with the image processing of the image data of the CCD camera 17 and compares the detected suction posture with the normal suction posture, thereby detecting the suction posture. The shift amount X in the X direction, the shift amount Y in the Y direction, and the like are calculated. Then, the suction nozzle 14
Is corrected based on the displacement amounts X and Y by correcting the transport amount of the suction nozzle 14 by the XY robot while transporting the electronic component 12 to the mounting position.

The control device 15 has a conversion table 15a. This conversion table 15a corresponds to step S in FIG.
As shown in FIG. 2, the output is determined for each input of 256 gradations of 8 bits, and the control device 15 converts the brightness of each of n × m pixels (image data of the CCD camera 17) into a conversion table 15a. And outputs “1” if the brightness is equal to or higher than the set binarization level,
If it is less than the binarization level, “0” is output.

The control device 15 has an accumulator 15b as shown in FIG. The accumulator 15b accumulates the number of pixels of the output “1” and the number of pixels of the output “0”, and the control device 15 calculates the accumulation result r (the image noise) of the number of pixels of the output “1”. It is detected that foreign matter such as dust adheres to the nozzle plate 14a on the basis of the amount.
The display 18 corresponding to the notification means is formed of a liquid crystal display.
a is detected, the display 18
A message is displayed to urge the removal of foreign matter.

Next, the operation of the above configuration will be described. When the electronic components 12 set in the parts feeder 11 are exhausted and the components are in the out-of-component state, the control device 15 proceeds to step S1 in FIG. Then, with the drive control of the XY robot, the suction nozzle 14 is moved to the CCD camera 17.
After moving into the field of view, the reflected light from the nozzle plate 14a (background image) is driven by driving the CCD camera 17.
Is imaged. FIG. 3 shows this imaging data, and the symbol α is a background noise such as dust.

When the control device 15 captures the background image,
The process proceeds from step S1 to S2 in FIG. 2, and determines the brightness of each of the n × m pixels based on the conversion table 15a, and outputs “1” when the brightness is equal to or higher than the binarization level. If it is less than the binarization level, "0" is output. Then, the process proceeds from step S2 to S3, and accumulates the number of pixels of output “1” and the number of pixels of output “0”.

As the threshold value used as a criterion for the output of "1" and "0", the binarization level used in the immediately preceding component recognition is used as it is.

When the control device 15 accumulates the number of pixels of the output "1" and the number of pixels of the output "0", the process shifts from step S3 to S4, and based on the accumulation result r of the number of pixels of the output "1". The value is compared with a value S (corresponding to the reference noise amount). here,
If “accumulation result r ≦ reference value S”, step S
The process proceeds from S4 to S5, and it is determined that "no dust is attached".
If “accumulated result r> reference value S”, the process proceeds from step S4 to S6, and after it is determined that “dust is attached”, the process proceeds from step S6 to S7 to prompt removal of dust. The message is displayed on the display 18.

When a recognition error of the electronic component 12 is detected, the control device 15
After the suction of No. 2 is released and the electronic component 12 is discarded, the process proceeds to step S1 to perform the above-described series of operations.

According to the above embodiment, foreign matter is detected based on the image data of the nozzle plate 14a, and a display relating to the adhesion of the foreign matter is displayed on the display 18. Therefore, the foreign matter is removed based on this display. Can be. Therefore, the accuracy of recognizing the electronic component 12 is improved without any trouble such as periodically cleaning the nozzle plate 14a, visually confirming that the foreign matter is captured, and removing the foreign matter, and the like. There is no possibility that the tact time, the component usage rate, the reliability of the device, etc. may be reduced. Also, since the relatively high gradation used in the immediately preceding component recognition was used as the brightness determination criterion,
The adhesion of foreign matter is accurately detected.

In the first embodiment, a message is displayed on the display unit 18 in response to the determination of "no foreign matter attached" in step S5 to notify that no foreign matter has been attached. It is good. Further, in the above-described first embodiment, the attachment of the foreign matter is notified in accordance with the display of the message on the display unit 18. However, the present invention is not limited to this. For example, the notification may be performed by voice or the like.

Next, a second embodiment of the present invention will be described with reference to FIG. The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. Hereinafter, only different members will be described. A foreign matter removing mechanism 19 is mounted on the base. The foreign matter removing mechanism 19 mainly includes a rotatable cleaning head 19a having chemical fibers and a motor (not shown) for rotating both cleaning heads 19a. Nozzle plate 1
When it is detected that foreign matter has adhered to 4a, the suction nozzle 14 is conveyed to the foreign matter removing mechanism 19 by driving and controlling the XY robot.

When the suction nozzle 14 is conveyed to the foreign matter removing mechanism 19, the control device 15 drives the motor of the foreign matter removing mechanism 19 while moving the suction nozzle 14, thereby rotating each of the cleaning heads 19a. Clean head 19
The foreign matter adhering to the nozzle plate 14a is wiped off by the chemical fiber a.

According to the above embodiment, the foreign matter is detected and removed based on the image data of the nozzle plate 14a. For this reason, the recognition accuracy of the electronic component 12 is improved without taking the trouble of periodically cleaning the nozzle plate 14a and visually confirming that the foreign matter is captured and removing the foreign matter.

Next, a third embodiment of the present invention will be described with reference to FIG. The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. Hereinafter, only different members will be described. An air blower 20 is mounted on the base. The air blower 20 corresponds to a foreign matter removing mechanism. When the control device 15 detects that foreign matter has adhered to the nozzle plate 14a, the control device 15 controls the driving of the XY robot and causes the suction nozzle 14 to operate. It is transported onto the air blower 20. Then, the foreign matter attached to the nozzle plate 14a is blown off by operating the air blower 20 while moving the suction nozzle 14.

According to the above embodiment, foreign matter is detected and removed based on the image data of the nozzle plate 14a. For this reason, the recognition accuracy of the electronic component 12 is improved without taking the trouble of periodically cleaning the nozzle plate 14a and visually confirming that the foreign matter is captured and removing the foreign matter.

Next, a fourth embodiment of the present invention will be described with reference to FIG. The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. Hereinafter, only different members will be described. A suction device 21 corresponding to a foreign matter removing mechanism is mounted on the base, and the control device 15
When it is detected that foreign matter has adhered to the nozzle plate 14a, the suction nozzle 14 is conveyed to the suction device 21 by controlling the drive of the XY robot. And the suction nozzle 1
By moving the suction device 21 while moving the nozzle 4, the foreign matter adhering to the nozzle plate 14 a is sucked.

According to the above embodiment, the foreign matter is detected and removed based on the image data of the nozzle plate 14a. For this reason, the recognition accuracy of the electronic component 12 is improved without taking the trouble of periodically cleaning the nozzle plate 14a and visually confirming that the foreign matter is captured and removing the foreign matter.

In the above-described second to fourth embodiments, the foreign matter removing mechanisms 19 to 21 are used alone. However, the present invention is not limited to this, and any two of the foreign matter removing mechanisms 19 to 21 may be used. Alternatively, three may be used in combination.

In the second to fourth embodiments,
The display 18 may be connected to the control device 18 to display a message such as "presence of foreign matter" or "no foreign matter" on the display 18. Alternatively, a speaker may be connected to the control device 18 and sound such as "the presence of foreign matter" or "no foreign matter" may be output from the speaker.

In the second to fourth embodiments,
Although the foreign matter is removed while moving the suction nozzle 14, the present invention is not limited to this. The foreign matter may be removed by stopping the suction nozzle 14.

In the first to fourth embodiments,
The brightness was determined for each of the n × m pixels. However, the present invention is not limited to this. For example, as shown in FIG. Part and central part (part corresponding to suction nozzle 14)
A mask 22 may be applied to each pixel, and the determination of the brightness of each pixel to which the mask 22 has not been applied may be performed to detect the adhesion of a foreign substance. In this case, since the brightness of the outer portion and the central portion of the image data irrelevant to the component recognition does not affect the foreign object detection, the detection accuracy is improved.

In the first to fifth embodiments,
Although the accumulation result r of the accumulator 15b was compared with a preset reference value S, the present invention is not limited to this. For example,
After removing foreign matter from the nozzle plate 14a, the nozzle plate 14a
May be taken as a reference image, the number of pixels having brightness equal to or higher than the binarization level may be accumulated for this reference image, and the accumulation result may be used as the reference value S. In this case, if “the accumulation result r of the accumulator 15b−the reference value S” is larger than the set value S ′, it is determined that “there is a foreign substance attached”,
The “accumulated result r of the accumulator 15b−the reference value S” is the set value S ′.
In the following cases, it is preferable to judge that "there is no foreign matter attached".

In the first to fifth embodiments,
Although the binarization level used in the immediately preceding component recognition is used as a criterion for the output of “1” and “0”, the present invention is not limited to this. For example, it is lower than that in the immediately preceding component recognition. A binarization level, a minimum value among the binarization levels for total reflection recognition, and the like may be used. In this case, the attachment of the foreign matter is quickly determined.

In the first to fifth embodiments,
The configuration is such that a foreign object detection operation is automatically performed when a component shortage or a component recognition error is detected.However, the present invention is not limited to this. It is also possible to adopt a configuration in which the foreign matter detection operation is performed in the first place.

In the first to fifth embodiments,
Regarding the image noise amount of the background portion, the image noise amount less than n pixels may be discarded in each image noise amount, and the sum of the image noise amounts of n pixels or more may be set as the entire image noise amount r. Alternatively, the largest one of the image noise blocks may be set as the image noise amount r.

[0042]

As is clear from the above description, the component mounting apparatus of the present invention has the following effects. According to the first aspect, the attachment of the foreign matter is detected based on the imaging data of the background member, and the fact that the foreign matter is attached is notified. Therefore, the foreign matter can be removed based on the notification. For this reason, the recognition accuracy of the mounting component can be improved without any trouble such as periodically cleaning the background member, visually confirming that the foreign matter is captured, and removing the foreign matter, and the like.
There is no possibility that substantial reduction in tact time, reduction in the use rate of parts, reduction in the reliability of the device, and the like will occur.

According to the second aspect, the adhesion of the foreign matter is detected based on the image data of the background member, and the foreign matter is automatically removed. For this reason, the recognition accuracy of the mounting component is improved without any trouble such as periodically cleaning the background member, visually confirming that the foreign matter is captured, and removing the foreign matter, and the like. There is no fear that the tact time is reduced, the component usage rate is reduced, and the reliability of the device is reduced.

According to the third aspect of the present invention, the reference noise amount is set based on a previously captured reference image. For this reason, since the reference noise amount is set accurately, the detection accuracy of foreign matter adhesion is improved.

According to the fourth aspect of the present invention, the portion of the image data which does not affect the component recognition is excluded from the measurement of the image noise amount. For this reason, it is not affected by the image noise of the portion that does not affect the component recognition, so that the adhesion of the foreign matter can be detected with high accuracy.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention (a diagram schematically showing the entire configuration).

FIG. 2 is a flowchart showing control contents of a control device.

FIG. 3 is a diagram showing imaging data of a CCD camera.

FIG. 4 is a view showing a second embodiment of the present invention (a view showing a foreign matter removing mechanism);

FIG. 5 is a view corresponding to FIG. 4, showing a third embodiment of the present invention.

FIG. 6 is a view corresponding to FIG. 4, showing a fourth embodiment of the present invention;

FIG. 7 is a view corresponding to FIG. 3, showing a fifth embodiment of the present invention.

FIG. 8 is a diagram corresponding to FIG. 1 showing a conventional example.

[Explanation of symbols]

12 is an electronic component (mounting component), 14 is a suction nozzle, 1
4a is a nozzle plate (background member), 15 is a control device (correction means, foreign matter detection means), 16 is a printed wiring board (substrate), 17 is a CCD camera (imaging means), 18 is a display (notification means), 19 Denotes a foreign matter removing mechanism, 20 denotes an air blowing machine (foreign matter removing mechanism), and 21 denotes a suction machine (foreign matter removing mechanism).

Claims (4)

[Claims] 1. A suction nozzle for sucking a mounting component and transferring it to a substrate, a background member provided on the suction nozzle, and an image of the mounting component sucked on the suction nozzle using the background member as a background image. An image pickup unit that corrects a mounting position of the mounting component based on image data of the image pickup unit; a foreign object detection unit that detects that a foreign object is attached to the background member; As the means detects the attachment of foreign matter,
Notification means for performing a notification operation relating to the adhesion of foreign matter, wherein the foreign matter detection means detects the adhesion of foreign matter by comparing the image noise amount of the background member imaged by the imaging means with a reference noise amount. A component mounting apparatus characterized in that: 2. A suction nozzle for sucking a mounting component and transferring it to a substrate, a background member provided on the suction nozzle, and an image of the mounting component sucked on the suction nozzle using the background member as a background image. An image pickup unit that corrects a mounting position of the mounting component based on image data of the image pickup unit; a foreign object detection unit that detects that a foreign object is attached to the background member; A foreign matter removing mechanism that removes foreign matter in accordance with detection of the attachment of foreign matter to the foreign matter, wherein the foreign matter detection unit determines the amount of image noise of the background member captured by the imaging unit as a reference noise amount. A component mounting apparatus characterized by detecting the attachment of a foreign substance along with the comparison. 3. The component mounting apparatus according to claim 1, wherein the foreign matter detection unit sets the reference noise amount based on a reference image of the background member captured in advance. 4. The component mounting apparatus according to claim 1, wherein the foreign object detection unit excludes a portion of the image data that does not affect the component recognition from the measurement target of the image noise amount.