JP6804741B2 - Mounting device and mounting method - Google Patents

Description

The present invention relates to a mounting device and a mounting method.

Conventionally, as a mounting device, for example, a device that reads a reference mark formed on a component supply pallet and calculates a fixed position error thereof has been proposed (see, for example, Patent Document 1). In this device, it is possible to correct the misalignment between the component holding unit and the component receiving unit and improve the receiving accuracy. Further, as a mounting device, for example, a device in which a positioning hole and a mark are provided on the pallet and the suction position is corrected by recognizing the mark to stabilize the suction of parts from the pallet has been proposed (for example, Patent Document 2). reference).

Japanese Unexamined Patent Publication No. 6-216576 Japanese Unexamined Patent Publication No. 10-335589

However, it is necessary to prepare some kind of mark in the mounting apparatus described in Patent Documents 1 and 2.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a mounting device and a mounting method capable of performing production without preparing a mark.

The present invention has taken the following measures to achieve the above-mentioned main object.

That is, the mounting device of the present invention is a mounting device that collects and processes parts.
A tray member that has a portion including borders in at least two different directions at a plurality of positions to accommodate parts and moves between the accommodation position and the collection position.
An imaging unit that captures an image of a portion including borders in at least two different directions.
When the tray member is moved to the sampling position, the portion including the borders in at least two different directions is imaged, and the component is sampled based on the position of the portion including the borders in at least two different directions in the image. A control unit that executes a mode for obtaining a correction value for correcting the position,
It is equipped with.

In this device, since the part of the tray member including the borders in at least two different directions is used to obtain a correction value for correcting the sampling position of the part when the tray member is moved, production is performed without preparing a mark. Can be done.

The schematic explanatory view which shows an example of the outline of the structure of the mounting apparatus 11. Explanatory drawing which shows an example of a pallet 23 and a tray member 24. A flowchart showing an example of a tray component supply processing routine. Explanatory drawing which shows the misalignment of a tray body 25. Explanatory drawing which shows the inclination of a tray body 25. Explanatory drawing which shows the distortion of a tray body 25.

Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing a schematic example of the configuration of the mounting device 11 of the mounting system 10. FIG. 2 is an explanatory view showing an example of the pallet 23 and the tray member 24. The mounting system 10 is, for example, a system that executes a mounting process in which the component P is arranged on the substrate S, as shown in FIG. The mounting system 10 includes a mounting device 11 and a management computer (PC) 40. In the mounting system 10, a plurality of mounting devices 11 are arranged from upstream to downstream. In FIG. 1, only one mounting device 11 is shown for convenience of explanation. The management PC 40 manages mounting job information including processing conditions in the mounting device 11. In this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIG.

The mounting device 11 includes a board transfer unit 12, a mounting unit 13, a parts camera 19, a parts supply unit 20, and a control unit 30. The board transfer unit 12 is a unit for carrying in, carrying, fixing, and carrying out the board S at the mounting position. The substrate transport unit 12 has a pair of conveyor belts that are provided at intervals in the front and rear of FIG. 1 and are bridged in the left-right direction. The substrate S is conveyed by this conveyor belt.

The mounting unit 13 collects parts from the component supply unit 20 and arranges them on the board S fixed to the board transfer unit 12. The mounting unit 13 includes a head moving portion 15, a mounting head 16, and a suction nozzle 17. The head moving unit 15 includes a slider that is guided by a guide rail and moves in the XY directions, and a motor that drives the slider. The mounting head 16 is detachably mounted on the slider and is moved in the XY direction by the head moving portion 15. One or more suction nozzles 17 are detachably mounted on the lower surface of the mounting head 16. The suction nozzle 17 is a collecting member that collects the component P by using the pressure. The sampling member may be a mechanical chuck that grips the component P. Further, the mounting head 16 is provided with a mark camera 18 for photographing the substrate S and the like from above. The mark camera 18 has a photographing region below, and reads a portion 27 including a reference position of the substrate S and borders of the tray member 24 in at least two different directions. The mark camera 18 moves in the XY directions as the mounting head 16 moves.

The parts camera 19 is arranged between the board transfer unit 12 and the parts supply unit 20. The imaging range of the parts camera 19 is above the parts camera 19. When the suction nozzle 17 sucking the component P passes above the parts camera 19, the parts camera 19 takes an image of the component P sucked by the suction nozzle 17 from below and outputs the image to the control unit 30.

The component supply unit 20 includes a plurality of feeders including reels and a tray unit accommodating a plurality of trays. The feeder sends out a tape wound around a reel and holding a component, and supplies the component P to the mounting unit 13. The tray unit includes a magazine portion 21, a pallet 23, and a tray member 24. The magazine section 21 accommodates a plurality of pallets 23 to which the tray member 24 is fixed. The pallet 23 moves between the initial position in the magazine section 21 (see the dotted line in FIG. 1) and the sampling position in which the component P is collected (see the solid line in FIG. 1) by a moving mechanism (not shown). As shown in FIG. 2, the tray member 24 has a tray main body 25 and a portion 27 including a frame line in at least two directions different from the fixing member 26. The tray body 25 is a plate-shaped member in which a large number of rectangular cavities are formed, and the component P is housed in the cavities. The fixing member 26 is a member that fixes the tray body 25 to the pallet 23, and is connected to the tray body 25 in a state where the position accuracy is ensured. FIG. 2 shows an example in which the tray body 25 is fixed at four locations by the fixing member 26. Here, the frame line forms a section for arranging the parts on the tray.

The control unit 30 is configured as a microprocessor centered on the CPU 31, and includes a storage unit 32 for storing a processing program and the like. The control unit 30 outputs a control signal to the board transfer unit 12, the mounting unit 13, the parts camera 19, and the parts supply unit 20, and inputs signals from the mounting unit 13, the parts camera 19, and the parts supply unit 20.

Next, the operation of the mounting system 10 of the present embodiment configured in this way, particularly the process of correcting the position of the component P when collecting the component P from the tray unit will be described. FIG. 3 is a flowchart showing an example of a tray component supply processing routine executed by the CPU 31 of the control unit 30. This routine is stored in the storage unit 32 and executed after the mounting process of the mounting device 11 is started.

When this routine is started, the CPU 31 of the control unit 30 sets a mode for correcting the position of the component P collected from the tray member 24 (step S100). In this mode, when the tray member 24 is moved to the first sampling position at at least one of the start of new production and the replacement of the tray, the portion 27 including the borders in at least two different directions is imaged to obtain the correction value. There is one mode and a second mode in which a correction value is obtained more frequently than in the first mode. Here, in the first mode, the CPU 31 obtains the correction value of the collection position of the component P only for the first time, and thereafter, the correction value is repeatedly used to collect the component P. Further, in the second mode, the CPU 31 obtains a correction value each time the tray member 24 is pulled out from the magazine unit 21, and collects the component P with the correction value. In step S100, the mode selected in advance by the operator may be set to the execution mode, or the initial setting mode (for example, the second mode) may be set to the execution mode. In this embodiment, it is described that the image is taken at the time of the first movement, but the correction value is not limited to this as long as it can be obtained. For example, an image may be taken by preparation.

Next, the CPU 31 determines whether or not the tray member 24 has a drawer based on whether or not the component P of the tray unit is collected (step S110), and when the tray member 24 is pulled out, the corresponding tray. The member 24 is moved to the sampling position (step S120). Next, the CPU 31 determines whether or not the corresponding tray member 24 is to be pulled out for the first time (step S130). When the corresponding tray member 24 is the first drawer, the CPU 31 performs a process of imaging the portion 27 including the borders in at least two different directions of the tray member 24 with the mark camera 18 (step S140), and captures the image. A correction value for correcting the position, inclination, and distortion of the tray member 24 is obtained based on the position of the portion 27 including the borders in at least two different directions of the image (step S150). Here, the CPU 31 takes an image of the portion 27 including the borders in at least two different directions of the tray member 24, and corrects the position and inclination of the tray member 24, and the tray member 24 at three locations. The portion 27 including the borders in at least two different directions is imaged, and the second correction process for correcting the position, inclination, and distortion of the tray member 24 is executed. Here, it is assumed that the second correction process is performed when the tray member 24 is pulled out for the first time, and the first correction process is executed when the tray member 24 is pulled out for the second time or later. The position on the plane can be acquired if the image of the portion 27 includes the borders in at least two different directions. Depending on the specifications, the border may be 51 in length, 52 in width, and 53 in diagonal.

FIG. 4 is an explanatory diagram showing the positional deviation of the tray body 25. In FIGS. 4 and later, the portion 27 including the borders in at least two different directions is represented as a coordinate point. FIG. 5 is an explanatory view showing the inclination of the tray body 25. FIG. 6 is an explanatory diagram showing the distortion (elongation) of the tray body 25. As shown in FIG. 4, the misalignment of the tray body 25 can be obtained by the difference between the reference coordinates (dotted line in the figure) of the portion 27 including the borders in at least two different directions and the coordinates of the captured image. .. Since the component P also shifts in the same manner as the position shift of the tray body 25, the correction value of the position shift may be a value that shifts the position of the suction nozzle 17 in the same manner as the position shift of the tray body 25. Further, as shown in FIG. 5, the inclination of the tray main body 25 can be obtained by the inclination of a straight line connecting the portions 27 including at least two different borders in two directions. The tilt correction value can be obtained as the amount of misalignment according to the tilt of the tray body 25. Further, as shown in FIG. 6, the distortion of the tray body 25 includes a third border in at least two different directions with respect to a portion 27 containing at least two borders in at least two different directions. It can be obtained by how the portion 27 is displaced. For example, when the distance between the two points is the same and only the length of the third point is different as shown in FIG. 6, it can be detected that the tray body 25 expands and contracts at a predetermined ratio. In this case, a value for shifting the position of the suction nozzle 17 may be obtained in consideration of the predetermined ratio. Further, when the third portion 27 including the borders in at least two different directions is displaced in the left-right direction, the ratio of the tray body 25 being distorted in the left-right direction is obtained, and the ratio is taken into consideration to obtain the suction nozzle 17 You can find the value that shifts the position of.

After step S150, the CPU 31 stores the correction value and causes the mounting unit 13 to collect the component using the correction value (step S240). Since the position, inclination, and distortion of the tray body 25 are corrected, the component P can be collected at an accurate position. Next, the CPU 31 determines whether or not there is a component P to be sampled next (step S250), and when there is a component P to be sampled next, whether or not the component P is in another tray member 24. Determine (step S260). When the other tray member 24 does not have the component P, that is, when the component P is sampled from the tray member 24 currently in the sampling position, the CPU 31 uses the current correction value to execute the processes after step S240. On the other hand, when the component P to be sampled next in step S260 is on another tray member 24, the CPU 31 moves the tray member 24 currently at the sampling position to the initial position (step S270), and executes the processes after step S120. To do. That is, the CPU 31 moves the corresponding tray member 24 to the collection position in step S120, and determines whether or not it is the first drawer in step S130.

When the corresponding tray member 24 is not the first drawer, that is, the second and subsequent drawers in the same tray member 24, the CPU 31 determines what the current setting mode is (step S160). When the current setting is the second mode, the CPU 31 obtains the correction value in the first correction process each time the tray member 24 is pulled out, and the CPU 31 provides two locations of the portion 27 including borders in at least two different directions. An image is taken (step S170), and the position and tilt correction values of the tray body 25 are calculated (step S180). As the distortion correction value, the value obtained at the first time may be repeatedly used.

Next, the CPU 31 determines whether or not the obtained correction value continues within a predetermined allowable range (step S190). This determination determines whether it is necessary to obtain a correction value each time. For example, when there is almost no change in the correction value obtained a plurality of times, it can be said that the tray main body 25 is fixed without further deviation from the state even if there is a positional deviation or inclination. In this case, the mounting unit 13 can secure the suction position accuracy of the component P even if the correction value once obtained is repeatedly used. Here, the "predetermined allowable range" may be, for example, a range empirically determined as a range in which the correction value can be regarded as not fluctuating, and may be, for example, a fluctuation range of ± 10%. Further, "continuation" may be empirically defined as, for example, three times in a row or five times in a row. Then, when the obtained correction value does not continue within the predetermined allowable range, the processing of step S240 and subsequent steps is executed as it is. On the other hand, when the obtained correction value continues within a predetermined allowable range, the CPU 31 shifts to the first mode in which the frequency of obtaining the correction value is low (step S200), and executes the processes after step S240.

On the other hand, when the setting mode is the first mode in step S160, the sampling position deviation information of the component P is acquired (step S210). The sampling position deviation information includes the amount of displacement between the component P and the suction nozzle 17 when the component P is sampled by the suction nozzle 17. This sampling position deviation can be obtained by sampling the component P with the suction nozzle 17 in step S240 and then imaging the state with the component camera 19. This misalignment information may include, for example, a plurality of collection misalignment amounts obtained as described above after this determination is first performed. Subsequently, the CPU 31 determines whether or not the collection position deviation amount of the component P is out of the permissible range (step S220). This "allowable range" may be empirically defined as a range in which it can be considered that the mounting of the component P is less affected even if there is a deviation in the sampling position. When the collection position deviation amount of the component P is within the permissible range, the CPU 31 directly executes the processes after step S240. On the other hand, when the collection position deviation amount of the component P is out of the permissible range, the CPU 31 shifts to the second mode (step S230) in order to improve the accuracy of the position correction of the tray body 25, and performs the processing after step S240. Execute. Then, in step S250, when there is no next component, that is, when all the components have been supplied, the CPU 31 ends this routine.

Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. The tray member 24 of the present embodiment corresponds to the tray member, the portion 27 including the borders in at least two different directions corresponds to the portion including the borders in at least two different directions, and the mark camera 18 corresponds to the imaging unit. The control unit 30 corresponds to the control unit, and the mounting unit 13 corresponds to the sampling unit.

The control unit 30 of the present embodiment described above captures the portion 27 including the borders in at least two different directions when the tray member 24 is moved to at least the first sampling position, and the frame in at least two different directions of the captured image. The first mode for obtaining a correction value for correcting the sampling position of the component P based on the position of the portion 27 including the line is executed. Further, the control unit 30 images the portion 27 including the borders in at least two different directions when the tray member 24 is moved to the sampling position, and at the position of the portion 27 including the borders in at least two different directions in the captured image. The second mode is executed, in which the correction value for correcting the sampling position of the component P is obtained more frequently than in the first mode. In this apparatus, the part P can be collected with higher accuracy by executing the second mode, or the component P can be collected with higher efficiency by executing the first mode. Further, the first mode is a mode for obtaining a correction value at the time of the first movement of the tray member 24 to the sampling position at at least one of the start of new production and the replacement of the tray. In the mounting device 11, since the subsequent parts can be collected by using the correction value obtained at the start of new production or at the time of restarting after the tray is replaced, the parts P can be collected more efficiently.

Further, when the correction value obtained in the second mode is continued within a predetermined allowable range, the control unit 30 shifts from the second mode to the first mode, so that the correction value is continuously allowed in this device. When it is within the range, that is, when the displacement fluctuation of the tray member 24 is small, the first mode, which is executed infrequently, is performed to maintain the high-precision sampling of the component P and to increase the sampling of the component P. It can be done efficiently. Furthermore, the control unit 30 acquires the misalignment information (collection misalignment information) of the component P collected by the mounting unit 13 that collects the component P housed in the tray member 24, and the displacement amount is a predetermined tolerance. When it is out of the range, the mode shifts from the first mode to the second mode. In this device, in the first mode, when the misalignment of the sampled part P is out of the permissible range, that is, when the misalignment of the component is large, the device changes to the second mode, so that the component is sampled with higher accuracy. be able to. Then, in the second mode, the control unit 30 obtains a correction value each time the tray member 24 reaches the sampling position, so that the component P can be sampled with higher accuracy.

Further, the control unit 30 images the portion 27 including the borders in at least two different directions of the tray member 24, and the tray 30 is based on the position of the portion 27 including the borders in at least two different directions in the captured image. The first correction process for obtaining a correction value for correcting the position and inclination of the member 24 is executed. Further, the control unit 30 takes an image of the portion 27 of the tray member 24 including three or more different borders in two directions, and based on the position of the portion 27 including the borders in at least two different directions in the captured image. A second correction process for obtaining a correction value for correcting the position, inclination, and distortion of the tray member 24 is executed. In this device, parts are collected more efficiently by performing the first correction process using the portion 27 including the borders in at least two different directions at two places, while the borders in at least three different directions are performed at three or more places. By performing the second correction process of correcting the distortion of the tray member 24 by using the portion 27 including the part 27, the parts can be collected with higher accuracy. Further, the control unit 30 executes the second correction process at the first movement of the tray member 24 to the sampling position at at least one of the start of new production and the replacement of the tray, and then executes the first correction process. In this device, since the strain of the tray member 24 is first corrected, the sampling of the component P can be performed with higher accuracy, and after that, the measurement of the correction value of the strain is omitted, so that the sampling of the component P is more efficient. Can be done.

It is needless to say that the present invention is not limited to the above-described embodiment, and can be implemented in various aspects as long as it belongs to the technical scope of the present invention.

For example, in the above-described embodiment, the first mode and the second mode are switched based on the fluctuation of the correction value and the amount of the sampling position deviation, but the mode is not particularly limited to this, and the mode is changed according to other parameters. It may be switched. Further, either the first mode or the second mode may be executed based on the setting of the operator. Further, the first mode is a mode in which the correction value is obtained only when the tray body 25 is moved for the first time, but if the frequency is lower than that in the second mode, the correction value may be obtained periodically after the second time. .. Similarly, in the second mode, the correction value is obtained every time the tray member 24 is pulled out from the magazine section 21, but if the frequency is higher than that in the first mode, the correction value may not be obtained periodically. There may be. Further, the control unit 30 may shift from the first mode to the second mode when the obtained correction value is continued outside the predetermined allowable range in the first mode. In this device, when the correction value is not continuously within the permissible range, that is, when the displacement fluctuation of the tray member 24 is large, the second mode, which is frequently executed, is performed, so that the component P is collected with higher accuracy. be able to.

Although not particularly described in the above-described embodiment, for example, when the control unit 30 acquires information on the component P housed in the tray main body 25 and the component P is a component that requires a predetermined high-precision position, the control unit 30 is the first. Two modes may be executed. In this device, the part P can be collected with higher accuracy for the part that requires a highly accurate position. Here, the "parts requiring a high-precision position" include, for example, a part placed on the previously placed part, a part narrowly adjacent to the part, and the like.

Although not particularly described in the above-described embodiment, for example, when the control unit 30 acquires information on the component P housed in the tray member 24 and the component P is a component that requires a predetermined high-precision position, the first 2 The correction process may be executed. In this device, the part P can be collected with higher accuracy for the part that requires a highly accurate position.

In the above-described embodiment, the second correction process is performed when the tray member 24 is pulled out for the first time, and the first correction process is performed when the tray member 24 is pulled out for the second time or later, but the present invention is not particularly limited thereto. For example, the control unit 30 shifts from the second correction process to the continuation of the first correction process when the obtained correction value of the distortion is continued within a predetermined allowable range while the second correction process is being continued. May be good. In this device, since the correction is omitted when the fluctuation of the strain of the tray member 24 is within the permissible range, the sampling of the component P can be performed more efficiently. Here, "continuing the second correction process" includes continuous continuation in which the second correction process is performed each time the tray member moves, and intermittent continuation performed every predetermined number of times or after a predetermined time has elapsed. Also includes. Further, the "predetermined allowable range" may be, for example, a range empirically determined as a range in which the correction value can be regarded as not fluctuating, and may be, for example, a fluctuation range of ± 10%. Further, the control unit 30 acquires the sampling position deviation information of the component P collected by the mounting unit 13 that collects the component P housed in the tray member 24, and when the displacement amount is out of the predetermined allowable range, the control unit 30 obtains the information. The transition from the 1 correction process to the continuation of the 2nd correction process may be performed. In this device, when the misalignment of the sampled component P is out of the permissible range, that is, when the misalignment of the component P is large, the second correction process for correcting the distortion of the tray member 24 is continued, so that the component P is sampled. Can be performed with higher accuracy.

In the above-described embodiment, the combination in which the second correction process is performed in the second mode and the first correction process is performed in the first mode is the main combination, but the present invention is not particularly limited thereto. For example, various combinations may be made, such as performing the second correction process in the first mode and performing the first correction process in the second mode.

In the above-described embodiment, both the first mode and the second mode are switched, and the first correction process and the second correction process are switched, but the present invention is not particularly limited, and switching of either one is omitted. You may. Even in this way, the part P can be collected with higher accuracy, or the part P can be collected with higher efficiency. Alternatively, in the above-described embodiment, the first mode and the second mode are provided, but one of them may not be provided. Further, in the above-described embodiment, the first correction process and the second correction process are provided, but one of them may not be provided. Specifically, for example, the control unit 30 images the portion 27 including the borders in at least two different directions when the tray member 24 is moved to at least the first sampling position, and the frame in at least two different directions of the captured image. A mode (first mode) for obtaining a correction value for correcting the sampling position of the component P based on the position of the portion 27 including the line is set, and the portion 27 including three or more positions of the tray member 24 or at least two different directions is used. Executed by a correction process (second correction process) for obtaining a correction value for correcting the position, inclination, and distortion of the tray member 24 based on the position of the portion 27 including the borders in at least two different directions of the captured image. It may be the one to do. In this device, the component P can be collected with high efficiency by the first mode and with high accuracy by the second correction process.

In the above-described embodiment, the second correction process uses the portion 27 including the borders in at least three different directions, but the number is not particularly limited as long as it is three or more. In the mounting device 11, as the number of imaging points increases, the imaging time and analysis time become longer, so that the mounting process is highly accurate but takes time.

In the above-described embodiment, the frequency of processing for obtaining the correction value is changed. However, for example, when the fluctuation of the correction value is within a predetermined correction-unnecessary range, the correction itself may be omitted. In this device, the correction can be omitted and the part P can be collected more efficiently.

In the above-described embodiment, the mounting device 11 has been described, but the present invention is not particularly limited to this, and the mounting method may be used or the program may be used to execute the mounting method. In this mounting method, various aspects of the mounting device described above may be adopted, or steps may be added to realize each function of the mounting device described above.

The present invention can be used in the field of mounting electronic components.

10 mounting system, 11 mounting device, 12 board transfer unit, 13 mounting unit, 15 head moving part, 16 mounting head, 17 suction nozzle, 18 mark camera, 19 parts camera, 20 parts supply unit, 21 magazine part, 23 pallets, 24 tray member, 25 tray body, 26 fixing member, 27 part including borders in at least two different directions, 30 control unit, 31 CPU, 32 storage unit, 40 management PC, 51 frame line vertical, 52 frame line horizontal, 53 Diagonal border, P parts, S board.

Claims (13)

It is a mounting device that collects parts and mounts them.
A tray member that has a portion including borders in at least two different directions at a plurality of positions to accommodate parts and moves between the accommodation position and the collection position.
An imaging unit that captures an image of a portion including borders in at least two different directions.
Based on the position of the portion including the borders in at least two different directions in the image obtained by imaging the portion including the borders in at least two different directions when the tray member is moved to the sampling position for at least the first time. The first mode for obtaining a correction value for correcting the sampling position of a part, and the at least two different directions of the image captured by imaging a portion including a border in at least two different directions when the tray member is moved to the sampling position. A control unit that executes one of a second mode in which a correction value for correcting the sampling position of the part based on the position of the portion including the frame line of the above is obtained more frequently than in the first mode.
It is a mounting device equipped with
The control unit is a mounting device that acquires information on a component housed in the tray member and executes the second mode when the component is a component that requires a high-precision position. The first mode is a mode in which the correction value is obtained when the tray member is first moved to the sampling position at at least one of the start of new production and the tray replacement, and the control unit is attached to the tray member. The mounting device according to claim 1, wherein the mounting device according to claim 1 acquires information on a housed component and executes the second mode when the component is a component that requires a high-precision position. Either claim 1 or 2, wherein the control unit shifts from the second mode to the first mode when the obtained correction value is continued within a predetermined allowable range in the second mode. The mounting device according to item 1. The control unit acquires information on the misalignment of the parts collected by the sampling unit that collects the parts housed in the tray member, and when the misalignment amount is out of a predetermined allowable range, the first mode is performed. The mounting device according to any one of claims 1 to 3, which shifts to the second mode. The mounting device according to any one of claims 1 to 4, wherein the control unit obtains the correction value each time the tray member reaches the collection position in the second mode. The control unit captures images of two portions of the tray member including the borders in at least two different directions, and the tray member is based on the positions of the portions including the borders in at least two different directions in the captured image. The first correction process for obtaining a correction value for correcting the position and inclination of the tray member, and the at least two different directions of the image obtained by imaging three or more parts of the tray member including the borders in the at least two different directions. Any one of claims 1 to 5 is executed, which is a second correction process for obtaining a correction value for correcting the position, inclination, and distortion of the tray member based on the position of the portion including the frame line of the above. The mounting device described in the section. It is a mounting device that collects parts and mounts them.
A tray member that has a portion including borders in at least two different directions at a plurality of positions to accommodate parts and moves between the accommodation position and the collection position.
An imaging unit that captures an image of a portion including borders in at least two different directions.
The position and inclination of the tray member are based on the positions of the two parts of the tray member including the borders in at least two different directions and the positions of the portions including the borders in at least two different directions in the captured image. Includes the first correction process for obtaining a correction value for correcting the above, and the at least two different directions of the image obtained by imaging three or more parts of the tray member including the at least two different directions. A control unit that executes any of a second correction process for obtaining a correction value for correcting the position, inclination, and distortion of the tray member based on the position of the portion.
Mounting device equipped with. The claim that the control unit executes the second correction process when the tray member is moved to the collection position at least one of the start of new production and the replacement of the tray, and then executes the first correction process. The mounting device according to 6 or 7. According to any one of claims 6 to 8, the control unit acquires information on a component housed in the tray member and executes the second correction process when the component is a component that requires a high-precision position. The mounting device described. When the correction value of the obtained distortion is continued within a predetermined allowable range while the second correction process is being continued, the control unit shifts from the second correction process to the continuation of the first correction process. The mounting device according to any one of claims 6 to 9. The control unit acquires information on the misalignment of the parts collected by the sampling unit that collects the parts housed in the tray member, and when the misalignment amount is out of a predetermined allowable range, the first correction process is performed. The mounting apparatus according to any one of claims 6 to 10, wherein the second correction process is continued. The control unit captures the portion including the borders in at least two different directions when the tray member is moved to the sampling position for at least the first time, and the portion including the borders in at least two different directions of the image captured. In the first mode for obtaining a correction value for correcting the sampling position of the component based on the position, at least the image captured by imaging three or more parts of the tray member including the borders in at least two different directions. The mounting device according to claim 1 or 2, which is executed by a correction process for obtaining a correction value for correcting the position, inclination, and distortion of the tray member based on the position of a portion including a frame line in two different directions. A mounting device that has parts including borders in at least two different directions at a plurality of positions, accommodates parts, has a tray member that moves between the storage position and the collection position, and collects and mounts the parts. It is an implementation method to do
The position and inclination of the tray member are based on the positions of the two parts of the tray member including the borders in at least two different directions and the positions of the portions including the borders in at least two different directions in the captured image. And the position of the part including the borders in at least two different directions of the image taken by imaging the first correction process for correcting the above and three or more parts including the borders in at least two different directions of the tray member. A step of executing any of the second correction processing for correcting the position, inclination, and distortion of the tray member based on the above.
Implementation method including.

Images