JP5570050B2 - Component mounter - Google Patents

Description

  The present invention relates to a component mounter including a mounting head to which a plurality of suction nozzles are attached.

  For example, in a component mounter equipped with a revolver type mounting head, as described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2004-304120), a plurality of suction nozzles are attached to the mounting head, The components are sucked and mounted on the circuit board.

  In Patent Document 1, “revolver” is described as “revolver”, but “revolver” is used in the following description. Here, the “revolver-type mounting head” means a multi-nozzle mounting head having a plurality of suction nozzles in the mounting head.

JP 2004-304120 A

  By the way, when adsorbing components to each adsorbing nozzle, it is necessary to limit the maximum size of the components adsorbed to each adsorbing nozzle to a range where the components adsorbing to adjacent adsorbing nozzles do not interfere with each other. When a larger-sized component is adsorbed to the adsorption nozzle, the adsorption nozzle adjacent to the adsorption nozzle that adsorbs the component is a non-use nozzle that is not used for component adsorption. The maximum size can be enlarged as long as it does not interfere with the adjacent suction nozzle (unused nozzle).

  However, in the current component mounting machine, there is no means for confirming that the component sucked by the suction nozzle does not interfere with the adjacent suction nozzle. Therefore, when the size of the sucked component increases, the component interferes with the adjacent suction nozzle. As a result, the suction position of the component shifts or the suction of the component fails, which causes a mounting failure.

  In addition, even if a component sucked by the suction nozzle interferes with the adjacent suction nozzle, if the component suction position is shifted, the component may not interfere with the adjacent suction nozzle. However, since it is unclear how much the suction position of the component is shifted, the suction position of the component cannot be shifted.

In order to solve the above-mentioned problem, the invention according to claim 1 is a component mounting machine in which a plurality of suction nozzles are attached to a mounting head, and parts are sucked to the suction nozzles and mounted on a circuit board. Whether or not the component to be interfered with the adjacent suction nozzle is determined by interference determination means based on the data of the size of the component acquired in advance, and as a result, when the component interferes with the adjacent suction nozzle It is a technical idea to correct the suction position of the component by the suction position correction means so that the component does not interfere with the adjacent suction nozzle when it is determined. A camera that picks up an image, and an area in which the part to be sucked for each suction nozzle does not interfere with the adjacent suction nozzle and falls within the field of view of the camera. A component suckable area setting means for setting as a suckable area, wherein the interference determination means compares the size data of the component to be sucked to the suction nozzle with the size data of the component suckable area of the suction nozzle. Then, when it is determined that the size of the component is larger than the size of the component suckable area, it is determined that the component cannot be sucked. As described above, by using the part size data acquired in advance, it is possible to accurately determine whether or not the part to be sucked by the suction nozzle interferes with the adjacent suction nozzle, and the initial (before correction) suction position. Then, even when a component interferes with the adjacent suction nozzle, the suction position of the component can be accurately corrected so that the component does not interfere with the adjacent suction nozzle, and the space does not interfere with the adjacent suction nozzle. Can be used to effectively absorb large-sized parts.

  By the way, in a component mounter equipped with a camera that picks up the part sucked by the suction nozzle from below, if the part sucked by the suction nozzle protrudes even from a part of the camera's field of view, the captured image of the whole suction part cannot be captured. An image processing error occurs, causing problems such as the inability to determine the component adsorption posture and the adsorption position deviation.

Therefore, in the invention according to claim 1, a camera that picks up an image of the component sucked by the suction nozzle from below and the component for each suction nozzle that sucks the component does not interfere with the adjacent suction nozzle and falls within the camera's field of view. A component suckable area setting unit that sets an area as a component suckable region, and the interference determination unit sets data on the size of the component to be sucked to the suction nozzle in the size of the component suckable region of the suction nozzle. When it is determined that the size of the component is larger than the size of the component suckable area as compared with the data, it is determined that the component cannot be sucked. In this way, it is possible to prevent suction of components that protrude from the camera's field of view, and to prevent image processing errors, and for each suction nozzle that sucks components, the component interferes with adjacent suction nozzles. If the area that does not fall within the field of view of the camera is set as a part suctionable area, the presence / absence of interference, the necessity of correction of the suction position, and the possibility of suction can be efficiently determined for each suction nozzle that sucks parts. be able to.
According to a second aspect of the present invention, it is preferable that the component suckable area setting means narrows and sets the component suckable area by a suction margin corresponding to a suction position shift error during component suction. In this way, it is possible to prevent the component from interfering with an adjacent suction nozzle or protruding from the camera field of view due to a suction position shift error during component suction.
Further, according to a third aspect of the present invention, the interference determination means compares the size data of the component to be sucked into the suction nozzle with the size data of the component suckable area of the suction nozzle to determine the size of the component. the If component was equal to or less than the size of the adsorption region, the parts suction position before correction is determined whether fit into the component adsorbable region, the component is said adsorption position before correction If it is determined that fits the component adsorbable region, the component is adsorbed on the suction nozzle in the suction position before correction, the component is determined not to fit into the component adsorbable area at the suction position before correction In such a case, the suction position of the component is corrected by the suction position correcting means by the amount that the component protrudes from the component suction-possible area, and the component is sucked by the suction nozzle. There.

FIG. 1 is a bottom view of a mounting head showing an embodiment of the present invention. FIG. 2 is a diagram for explaining a method of interference determination and suction position correction. FIG. 3 is a flowchart showing the flow of processing of the interference determination / suction position correction program.

Hereinafter, an embodiment in which a mode for carrying out the present invention is applied to a revolver type component mounting machine will be described.
In the present embodiment, for example, a component mounting machine described in JP 2000-294990 A is used. Since the mechanical configuration of this component mounting machine may be the same as that described in the above publication, description thereof will be omitted and only the main part will be described.

  As shown in FIG. 1, a plurality (eight in this embodiment) of suction nozzles 12 and 13 are held downward in a predetermined arrangement pattern on the lower surface side of a revolver-type circular mounting head 11. A camera (not shown) that captures images of the parts adsorbed by the adsorption nozzles 12 and 13 from below is provided.

  When adsorbing components to the adsorbing nozzles 12 and 13 adjacent to each other, the maximum size of the components adsorbing to the respective adsorbing nozzles 12 and 13 is limited to a range in which the components adsorbing to the adjacent adsorbing nozzles 12 and 13 do not interfere with each other. However, when a larger size component is adsorbed by the adsorption nozzle 12, the adsorption nozzle 13 adjacent to the adsorption nozzle 12 that adsorbs the component is used as an unused nozzle that is not used for component adsorption. The maximum size of the component attracted by the nozzle 12 can be enlarged within a range that does not interfere with the adjacent unused nozzle 13.

  Hereinafter, a method of sucking a component having a relatively large size to the suction nozzle 12 so as not to interfere with the adjacent unused nozzle 13 will be described with reference to FIGS. 1 and 2. In a component mounter equipped with a camera that picks up the part sucked by the suction nozzle 12 from below, if the part sucked by the suction nozzle 12 protrudes even from a part of the camera's field of view, the captured image of the entire suction part cannot be captured. An image processing error occurs, causing problems such as the inability to determine the component adsorption posture and the adsorption position deviation.

  Therefore, in this embodiment, for each suction nozzle 12 that picks up a component, a region where the component does not interfere with the adjacent unused nozzle 13 and falls within the field of view of the camera is set as the component pickable region 14. Each component suckable area 14 is set to be narrowed by the suction margins Mx and My corresponding to the suction position deviation error at the time of component suction, so that the component interferes with the unused nozzle 13 due to the suction position shift error at the time of component suction. To prevent it from sticking out of the camera field of view. Each component suckable area 14 may be calculated based on the X / Y coordinates of the center of each suction nozzle 12, 13 obtained from the design / manufacturing data, the nozzle diameter, and the size of the field of view of the camera.

  In a storage device (not shown) of the component mounting machine, each component suction possible area 14 calculated in advance based on the X / Y coordinates of the center of each suction nozzle 12, 13 and the nozzle diameter and the size of the field of view of the camera is stored. Data on the X and Y coordinates of the four corners is stored, and data on the size of the component (at least the sizes Xp and Yp in the X and Y directions) to be suctioned by each suction nozzle 12 is stored as component data. Yes. The component data may be image recognition component data that is used when the component picked up by the suction nozzle 12 is picked up by the camera from below to recognize the image.

  A control device (not shown) of the component mounting machine compares the size data of the component to be attracted to the suction nozzle 12 with the size data of the component suckable area 14 of the suction nozzle 12 to determine the size of the component. It is determined whether or not the size is equal to or smaller than the size of the component suckable area 14, and if the size of the component is larger than the size of the component suckable region 14 (size Xp in both the X and Y directions of the component) If Yp or one of the sizes is larger than the sizes Xs and Ys in the X and Y directions of the component suckable region 14), it is determined that suction is not possible, and whether or not suction is possible with another suction nozzle 12. Is determined in a similar manner. Finally, if it is determined that any of the suction nozzles 12 cannot be sucked, a data check error is displayed on a display device (not shown).

  On the other hand, when the size of the component to be attracted to the suction nozzle 12 is equal to or smaller than the size of the component suckable area 14 of the suction nozzle 12 (the sizes Xp and Yp of the component in both X and Y directions can be sucked. If the size of the region 14 in both the X and Y directions is smaller than Xs and Ys), it is determined that the suction is possible. In this case, it is determined whether or not the part fits in the part suction possible area 14 at the initial (before correction) suction position, and if it is determined that the part fits in the part suction possible area 14 at the initial suction position. The component is sucked to the suction nozzle 12 at the initial suction position without correcting the suction position.

  On the other hand, if it is determined that the component protrudes from the component adsorbable region 14 at the initial adsorption position, the amount of the component protruding from the component adsorbable region 14 (the X direction protruding amount ΔX and the Y direction protruding amount ΔY) is calculated. After the component suction position is corrected in the X and Y directions by the protrusion amounts ΔX and ΔY, the component is suctioned to the suction nozzle 12. Note that the suction position correction amount may be larger than the protrusion amounts ΔX and ΔY. In short, the part may be set so as to be within the part suction possible region 14.

The interference determination / suction position correction processing of the present embodiment described above is executed according to the interference determination / suction position correction program of FIG. 3 by the control device of the component mounting machine. This program is executed before starting the operation of sucking the component to each suction nozzle 12 and realizes the functions as the interference determination means , the suction position correction means, and the part suction possible area setting means in the claims.

When this program is started, first, in step 101, the X and Y coordinate data (Xmin, Ymin), (Xmax, Ymin), (Xmin, Ymax), (Xmax, Ymax) are read from the storage device, and the sizes Xs, Ys in the X and Y directions of the component suckable area 14 are calculated.
Xs = Xmax -Xmin
Ys = Ymax -Ymin

  Thereafter, the process proceeds to step 102, and the data of the sizes Xp and Yp in the X and Y directions of the part to be sucked by the suction nozzle 12 is read from the part data for image processing stored in the storage device.

  Here, “reading of component sizes Xp and Yp” in step 102 is in principle the component outer dimensions, but depending on the component type (eg, BGA element, connector, etc.), it is necessary to perform image processing because of the necessity of image processing. In some cases, the dimension is not the dimension up to the outermost dimension, but is the dimension up to the electrode position near the part outline. Therefore, in this case, it is only necessary that the electrode position in the vicinity of the component outer shape is in the component suckable area 14, and the two sides on the camera view side are the component suckable area as long as there is no interference with the adjacent unused nozzle 13. Even if it sticks out from 14, it will be sucked without correction of the suction position. In other words, two sides on the adjacent unused nozzle 13 side must have the part outline in order to determine the presence or absence of interference, but the two sides on the camera field of view side are determined by the outline for image processing.

  After reading the component sizes Xp and Yp in step 102, the process proceeds to step 103 where both the sizes Xp and Yp of the component to be sucked in the X and Y directions are in the X and Y directions of the component suckable area 14. It is determined whether or not the size is less than or equal to Xs, Ys. As a result, if it is determined that the size Xp, Yp in the X / Y direction of the part to be picked up is larger than the size Xs, Ys in the X / Y direction of the part pickable area 14, If it is determined that the part to be fit does not fit in the part attractable area 14, the process proceeds to step 104, where it is determined that the part cannot be attracted. In this case, it is determined in a similar manner whether or not it can be sucked to another suction nozzle 12, and if it is finally determined that none of the suction nozzles 12 can be sucked, a data check error is displayed on the display device. (Not shown).

  On the other hand, if it is determined in step 103 that both the sizes Xp and Yp in the X and Y directions of the part to be picked up are smaller than the sizes Xs and Ys in the X and Y directions of the part pickable area 14. Then, the process proceeds to step 105, where it is determined whether or not the component is within the component suction possible area 14 at the initial (before correction) suction position. This determination may be made by comparing the X / Y coordinates of the four corners of the component with the X / Y coordinates of the four corners of the component attractable region 14. Note that the X and Y coordinates of the four corners of the component may be calculated using the X and Y coordinates of the initial (before correction) suction position and the component sizes Xp and Yp.

  If it is determined in step 105 that the part fits in the part suction available area 14 at the initial suction position, the process proceeds to step 106, and the part is moved to the suction nozzle 12 at the original suction position without correcting the suction position. Adsorb.

  On the other hand, if it is determined in step 105 that the component does not fit in the component suction area 14 at the initial suction position, the process proceeds to step 107, and the amount of the component protruding from the component suction area 14 (the amount of protrusion in the X direction) ΔX and Y-direction protrusion amount ΔY) are calculated, and in the next step 108, the component suction position is corrected in the X and Y directions by the protrusion amounts ΔX and ΔY, and then the component is sucked to the suction nozzle 12. .

  According to the present embodiment described above, for each suction nozzle 12 that picks up a component, an area in which the component does not interfere with the adjacent unused nozzle 13 and fits in the field of view of the camera is set as the component pickable area 14, The size data (component data) of the component to be attracted to the nozzle 12 is compared with the data of the size of the component attractable region 14 of the suction nozzle 12 to determine whether or not the component fits in the component attractable region 14. Therefore, it is possible to accurately determine whether or not the part to be sucked does not interfere with the adjacent unused nozzle 13 and fit in the field of view of the camera. Even if it interferes with the adjacent unused nozzle 13 or does not fit in the camera field of view, the component does not interfere with the adjacent unused nozzle 13 and fits in the camera field of view. The suction position of the part can be accurately corrected in the product suction area 14, and a large size part can be efficiently suctioned by effectively using the space in the part suction area 14, thereby improving the throughput. be able to.

In this embodiment, the component suckable area 14 is set for each suction nozzle 12 that sucks the component. However, in the reference example related to the present invention , the interference determination and the suction position are set without setting the component suckable area 14. The correction is performed as follows . For example, first, whether or not a part to be sucked by the suction nozzle 12 interferes with the adjacent unused nozzle 13 is determined in advance, the size data of the part acquired in advance, the X / Y coordinates of the suction position, and the unused nozzle 13. Is determined based on the X and Y coordinates of the center of the nozzle and the nozzle diameter, and it is determined whether or not the part is within the field of view of the camera at the initial suction position. When it is determined that there is interference, or when it is determined that the part does not fit in the field of view of the camera, the suction position of the part is corrected within a range where the part does not interfere with the adjacent unused nozzle 13 and is within the field of view of the camera. However, if the part does not fit in the field of view of the camera, it is determined that suction is not possible.

  In addition, the present invention can be implemented with various changes without departing from the gist, such as changing the number of suction nozzles 12 attached to the mounting head 11 or changing the arrangement pattern of the suction nozzles 12.

  DESCRIPTION OF SYMBOLS 11 ... Mounting head, 12 ... Adsorption nozzle which adsorb | sucks components, 13 ... Adjacent unused nozzle (adsorption nozzle), 14 ... Component adsorption | suction possible area | region

Claims (3)

In a component mounting machine that attaches a plurality of suction nozzles to a mounting head, sucks components to the suction nozzles and mounts them on a circuit board,
Interference determining means for determining whether or not a component to be sucked by the suction nozzle interferes with an adjacent suction nozzle based on data of the size of the component acquired in advance;
A suction position correction unit that corrects the suction position of the component so that the component does not interfere with the adjacent suction nozzle when the interference determination unit determines that the component interferes with the adjacent suction nozzle;
A camera that captures an image of the component adsorbed by the adsorption nozzle from below;
A component suction capable region setting means for setting a region that does not interfere with the adjacent suction nozzle and that falls within the field of view of the camera as a component suckable region;
The interference determination means compares the data on the size of the component to be sucked into the suction nozzle with the data on the size of the component suckable area of the suction nozzle so that the size of the component is smaller than the size of the component suckable area. A component mounter characterized in that if it is determined to be large, it is determined that suction cannot be performed.   2. The component mounting machine according to claim 1, wherein the component suckable area setting unit narrows and sets the component suckable area by a suction margin corresponding to a suction position shift error during component suction. The interference determination means compares the data on the size of the component to be attracted to the suction nozzle with the data on the size of the component suckable area of the suction nozzle, and the size of the component is equal to or smaller than the size of the component suckable area. determined that if it is determined that, the parts suction position before correction is determined whether fit into the component adsorbable region, the part fits the part adsorbable area at the suction position before correction the case, the component is adsorbed on the suction nozzle in the suction position before correction, the correction if the component is determined not to fit into the component adsorbable area in front of the suction position, the part is the component pickup 3. The suction position of the component is corrected by the suction position correction means by an amount that protrudes from the possible area, and the component is sucked by the suction nozzle. Component mounting machine.

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