JP6890243B2 - Parts removal method, parts removal device, and parts mounting device - Google Patents

Description

The present invention relates to a component extraction method, a component extraction device, and a component mounting device used in the component mounting field in which components are mounted on a substrate.

In the component mounting device, various types of components are mounted on a substrate. Of these parts, the insert parts that have connecting leads such as power transistors and connector parts and are mounted by inserting the leads into the mounting holes formed on the board use dedicated equipment prepared for each part. Was mounted on a substrate (see, for example, Patent Document 1). In the prior art shown in this patent document example, the axial parts supplied in the form of a taping component series in which both ends of the lead are held by tape are separated from the taping component series and mounted on the substrate.

Japanese Unexamined Patent Publication No. 2014-06937

However, in the prior art using the dedicated equipment for each part including the above-mentioned examples of patent documents, there are the following inconveniences in terms of versatility of the parts to be applied. That is, in the dedicated equipment used in the prior art, the parts are regularly arranged and arranged, such as a form in which the parts are held in a predetermined posture by taping as a form in which a plurality of parts are supplied, or a form in which the parts are stored in a tray-shaped holder. Needed to be supplied at.

For this reason, it is difficult to take out multiple types of parts with different shape and size of parts with common equipment, and it is a work form with low production efficiency such as manual part mounting, or dedicated equipment for each part type. It has been unavoidable to select one of the work modes having a high equipment cost of preparation, and there has been a demand for a parts extraction technology that is excellent in versatility and can realize high production efficiency at low cost. This problem is common not only to inserted parts but also to so-called deformed parts for which it is difficult to supply parts by taping or trays.

Therefore, an object of the present invention is to provide a component extraction method, a component extraction device, and a component mounting device that are excellent in versatility and can realize high production efficiency.

The component extraction method of the present invention includes a component supply step of supplying the component to be extracted in an irregular posture, a search window setting step of setting a search window which is a range in which the supplied component is imaged by a camera, and a search window setting step. An imaging step of capturing an image of the set search window by the camera, a component detection step of detecting a removable component in the captured search window, and extracting the detected removable component. In the search window setting step, the size of the search window is the size of the search window, which includes a component selection step of selecting a component to be selected and a component transfer step of holding and extracting the selected component to be extracted by a component holding unit. It is a part that is set based on the dimensions of the part and the number of the part holding parts from which the part is taken out , and is detected as the part that can be taken out in the previous part detection step in the search window setting step. range that includes the components that have not been selected as the component to retrieve the in the parts selection step of, Ru is set to the next search window.
Further, the component extraction method of the present invention includes a component supply step of supplying the component to be ejected in an irregular posture, and a search window setting step of setting a search window within a range in which the supplied component is imaged by a camera. Of the imaging step of capturing the set search window with the camera, the component detection step of detecting the retrievable component in the captured search window, and the detected retrievable component. In the search window setting step, the size of the search window includes a parts selection step of selecting parts to be taken out and a parts transfer step of holding and taking out the selected parts to be taken out by a parts holding unit. , The component is set based on the dimensions of the component and the number of component holding portions from which the component is taken out, and is captured in the previous imaging step in the search window setting step. The range including the parts not detected as the retrievable parts in the next search window is set in the next search window.
Further, the component extraction method of the present invention includes a component supply step of supplying the component to be ejected in an irregular posture, and a search window setting step of setting a search window which is a range in which the supplied component is imaged by a camera. Of the imaging step of capturing the set search window with the camera, the component detection step of detecting the retrievable component in the captured search window, and the detected retrievable component. In the search window setting step, in the previous component detection step, the component selection step of selecting the component to be taken out and the component transfer step of holding and taking out the selected component to be taken out by the component holding unit are included. The range including the parts detected as the parts that can be taken out but not selected as the parts to be taken out in the previous part selection step is set in the next search window.
Further, the component extraction method of the present invention includes a component supply step of supplying the component to be ejected in an irregular posture, and a search window setting step of setting a search window which is a range in which the supplied component is imaged by a camera. Of the imaging step of capturing the set search window with the camera, the component detection step of detecting the retrievable component in the captured search window, and the detected retrievable component. Including the component selection step of selecting the component to be taken out and the component transfer step of holding the selected component to be taken out by the component holding unit and taking it out, in the search window setting step, imaging is performed in the previous imaging step. The range including the parts that have been removed but were not detected as the retrievable parts in the previous part detection step is set in the next search window.

The component extraction device of the present invention includes a component supply unit that supplies a component to be extracted in an irregular posture, a search window setting unit that sets a search window that is a range for imaging the supplied component, and the setting. A camera that captures an image of the searched search window, a component detection unit that detects a removable component in the captured search window, and a component that selects a component to be extracted from the detected removable components. The search window setting unit includes a selection unit and a component transport unit that holds and retrieves the selected component to be extracted by the component holding unit, and the search window setting unit determines the size of the search window, the dimensions of the component, and the above. The parts are set based on the number of the parts holding parts, and the search window setting part is a part that was previously detected as a part that can be taken out by the part detection part, but was previously detected by the part selection part. The range including the parts not selected as the parts to be taken out is set in the next search window.
Further, the component extraction device of the present invention includes a component supply unit that supplies the component to be extracted in an irregular posture, a search window setting unit that sets a search window that is a range for imaging the supplied component, and a search window setting unit. A camera that captures the set search window, a component detection unit that detects a removable component in the captured search window, and a component that should be retrieved from the detected removable components are selected. The search window setting unit includes a component selection unit to be selected and a component transport unit that holds and retrieves the selected component to be taken out by the component holding unit, and the search window setting unit sets the size of the search window as the size of the component. The search window setting unit is a component that was previously imaged by the camera, but is a component that can be taken out by the component detection unit last time. Set the range including the undetected parts in the next search window.
Further, the component extraction device of the present invention includes a component supply unit that supplies the component to be extracted in an irregular posture, a search window setting unit that sets a search window that is a range for imaging the supplied component, and a search window setting unit. A camera that captures the set search window, a component detection unit that detects a removable component in the captured search window, and a component that should be retrieved from the detected removable components are selected. The search window setting unit is provided with a component selection unit to be selected and a component transport unit for holding and extracting the selected component to be taken out by the component holding unit, and the search window setting unit is a component that can be extracted by the component detection unit last time. The range including the detected parts but not selected as the parts to be taken out by the parts selection unit in the previous time is set in the next search window.
Further, the component extraction device of the present invention includes a component supply unit that supplies the component to be extracted in an irregular posture, a search window setting unit that sets a search window that is a range for imaging the supplied component, and a search window setting unit. A camera that captures the set search window, a component detection unit that detects a removable component in the captured search window, and a component that should be retrieved from the detected removable components are selected. The search window setting unit is provided with a component selection unit to be selected and a component transport unit for holding and extracting the selected component to be taken out by the component holding unit, and the search window setting unit is a component imaged by the camera last time. The range including the parts that were not detected as the retrievable parts by the part detection unit last time is set in the next search window.

The component mounting device of the present invention is a component mounting device that transfers and mounts a component taken out by the component taking device to a board held by a board holding portion, and the component taking device is the component taking device according to claims 6 to 10 . The parts extraction device according to any one of them.

According to the present invention, it is possible to realize high versatility and high production efficiency.

Perspective view of a component mounting device incorporating the component extraction device according to the embodiment of the present invention. Partial perspective view of the component extraction device according to the embodiment of the present invention. (A) (b) Structural explanatory view of the component holding portion used in the component extraction device according to the embodiment of the present invention. Partial plan view of the component mounting device incorporating the component extraction device according to the embodiment of the present invention. The block diagram which shows the structure of the control system of the component mounting apparatus which incorporated the component taking out apparatus of one Embodiment of this invention. (A) (b) Explanatory drawing of component basic shape and component posture in the component extraction device according to the embodiment of the present invention. (A) (b) (c) (d) Explanatory drawing of the size of the part taken out in the part taking-out device of the embodiment of the present invention and the size of the search window set at the first time. (A) (b) (c) Explanatory drawing of the size of the part taken out in the part taking-out device of the embodiment of the present invention and the size of the search window set after the second time. FIG. 5 is a flow chart of a component mounting method using a component mounting device incorporating the component taking device according to the embodiment of the present invention. (A) (b) Explanatory drawing of parts transfer operation by the parts taking-out apparatus of one Embodiment of this invention (A) (b) Explanatory drawing of component mounting operation by the component mounting device incorporating the component taking device according to the embodiment of the present invention. (A) (b) Explanatory drawing of component mounting operation by the component mounting device incorporating the component taking device according to the embodiment of the present invention. Flow diagram of a search window setting method by the component extraction device according to the embodiment of the present invention. (A) (b) Explanatory drawing showing an example of a search window and a detected component set in the component extraction device according to the embodiment of the present invention. (A) (b) Explanatory drawing showing an example of a search window and a detected component set in the component extraction device according to the embodiment of the present invention.

An embodiment of the present invention will be described in detail below with reference to the drawings. The configuration, shape, etc. described below are examples for explanation, and can be appropriately changed according to the specifications of the component mounting device and the component taking-out device. In the following, the corresponding elements will be designated by the same reference numerals in all the drawings, and duplicate description will be omitted. In FIG. 1 and a part described later, the X direction of the substrate transport direction, the Y direction orthogonal to the substrate transport direction, and the Z direction as the height direction orthogonal to the horizontal plane are shown as biaxial directions orthogonal to each other in the horizontal plane. .. The Z direction is the vertical direction when the component mounting device is installed on a horizontal plane.

First, with reference to FIGS. 1 and 2, the configuration of the component mounting device 1 in which the component extraction device according to the present embodiment is incorporated will be described. In FIG. 1, a substrate transport mechanism 3 is arranged in the X direction on the upper surface of the base 2. The board transfer mechanism 3 receives the board 4 to be mounted on the component from the upstream device (not shown), transports the board 4 in the X direction, and positions and holds the board 4 at the mounting work position by the component mounting mechanism described below. That is, the substrate transfer mechanism 3 is a substrate holding portion that positions and holds the substrate 4.

A component supply unit 5 is arranged on one side of the substrate transfer mechanism 3. A tray feeder 6 is arranged in the component supply unit 5. The tray feeder 6 supplies the tray 7 in which the component 8 to be mounted is housed to the take-out position by the component take-out head 12 provided in the component mounting mechanism. The tray feeder 6 provided in the component supply unit 5 used in the present embodiment does not supply the components to be taken out in a grid-like regular arrangement like the tray feeder generally used, but provides the parts 8 to be taken out. It adopts a form of supplying in an irregular posture. That is, the parts supply unit 5 supplies the parts 8 to be taken out by the tray 7 (parts supply tray) in an irregular posture.

In FIG. 1, a Y-axis beam 10 is arranged in the Y direction on the upper surfaces of a pair of frame portions 9 arranged at both ends of the base 2 in the X direction. A component extraction head 12 is mounted on the X-axis beam 11 erected on the Y-axis beam 10 so as to be movable in the X direction. Both the Y-axis beam 10 and the X-axis beam 11 are provided with a linear motor-driven linear motion mechanism. By driving the Y-axis beam 10 and the X-axis beam 11, the component take-out head 12 moves in the X-direction and the Y-direction, and the component 8 taken out from the tray 7 is transferred to the substrate 4 positioned and held by the substrate transfer mechanism 3. Mount.

In the present embodiment, the Y-axis beam 10, the X-axis beam 11, and the component take-out head 12 constitute a component transfer unit 13 that conveys the component 8 taken out from the tray 7. In the present embodiment, the component transport unit 13 also functions as a component mounting mechanism. That is, the component take-out head 12 has a function as a mounting head for transferring and mounting the component 8 on the substrate 4.

In FIG. 1, a first camera 14 that moves integrally with the component extraction head 12 in the X direction and the Y direction to take an image of the lower side is arranged on the side of the component extraction head 12. The first camera 14 moves above the tray 7 and images the component 8 supplied to the tray 7. The first camera 14 captures the tray 7 while moving in the X and Y directions (arrow a in FIG. 2) according to the size and position of the search window described later (arrow b in FIG. 2). As a result, it is possible to acquire an image of the component 8 supplied in an irregular posture on the tray 7.

The first camera 14 may be arranged in front of or behind the component extraction head 12 instead of on the side of the component extraction head 12. Further, the first camera 14 may be configured to move in the X direction and the Y direction by a mechanism different from the Y-axis beam 10 and the X-axis beam 11 that move the component extraction head 12. Further, the first camera 14 may be a wide-field camera fixed above the tray 7 and capable of capturing the entire tray 7. In this case, the wide-field camera captures the set search window range of the tray 7.

In FIG. 1, a second camera 15 is arranged in a transfer path in which the component take-out head 12 that takes out the component 8 from the tray 7 transfers the component 8 to the substrate 4. The second camera 15 lowers the component 8 held by the component extraction head 12 in the process of transferring the component 8 to the substrate 4 held by the substrate transfer mechanism 3 which is the substrate holding portion by the component extraction head 12. Take an image from.

In FIG. 2, the component take-out head 12 includes a plurality of (three in the example shown here) chuck units 16 extending downward from the lower surface side. The chuck unit 16 has a function of sandwiching and holding the component 8 from both side surfaces by a pair of chuck claws 17.

Next, the configuration and function of the chuck unit 16 will be described with reference to FIG. In FIG. 3A, the chuck unit 16 includes an elevating / rotating shaft 16b that extends upward from the main body 16a and is coupled to the component taking-out head 12. By driving the elevating mechanism and the θ-rotation mechanism (both not shown) built in the component take-out head 12, the chuck unit 16 is elevated (arrow c), and further θ-rotated around the elevating / rotating shaft 16b (arrow d). ) Is possible.

The main body 16a is provided with a pair of chuck claws 17 extending downward so as to be able to swivel around the horizontal swivel shaft 17a. By driving an opening / closing mechanism (not shown) built in the main body 16a, the pair of chuck claws 17 move in the approaching / separating directions to each other (arrow e). As a result, the parts 8 to be held can be held by being sandwiched by a pair of chuck claws 17. Further, a pushing mechanism 18 is provided on the front surface of the main body 16a. A pushing member 18b is coupled to the lower end of the elevating shaft 18a extending downward from the pushing mechanism 18.

As shown in FIG. 3B, by driving a claw swivel mechanism (not shown) built in the main body 16a, the pair of chuck claws 17 swivels around the swivel shaft 17a (arrow f). As a result, the chuck unit 16 can change the posture of the component 8 held in the horizontal posture to the vertical posture. Further, by driving the pushing mechanism 18, the pushing member 18b moves up and down (arrow g). By pushing down the component 8 held in the vertical position by the chuck claw 17 by the pushing member 18b, the lead 8b of the component 8 is inserted into the insertion hole 4a of the substrate 4 (see FIG. 12B).

When the component 8 is taken out from the tray 7 by the component take-out head 12, the position of the individual component 8 on the tray 7 is recognized by the recognition processing unit 19 (see FIG. 5) for the image pickup result by the first camera 14. And posture are acquired. Then, by controlling the component take-out head 12 and the chuck unit 16 based on these recognition results, the component 8 can be held by each chuck unit 16 and taken out from the tray 7 (see FIG. 10B).

As shown in FIG. 4, the component 8 housed in the tray 7 is a so-called insertion component having a configuration in which a plurality of leads 8b extend from a rectangular component body 8a such as a power transistor. An insertion hole 4a into which the lead 8b is inserted is formed in the substrate 4 positioned and held by the substrate transfer mechanism 3. When the component 8 is mounted on the substrate 4, the component take-out head 12 holding the component 8 by each chuck unit 16 moves above the second camera 15, so that the second camera 15 mounts the component 8. The image is taken from below (see FIG. 11B).

Then, by recognizing the image pickup result by the second camera 15 by the recognition processing unit 19 (see FIG. 5), the position of the lead 8b in each component 8 is recognized. When the component 8 is mounted on the substrate 4 by the component extraction head 12 moved above the substrate 4, the lead 8b is aligned with the insertion hole 4a based on the above recognition result (FIG. 12A). reference).

In FIG. 4, in the parts replenishment work for storing the parts 8 in the tray 7, as a general rule, the operator does not overlap the parts 8 on the parts mounting surface 7a of the tray 7 and uniformly keeps only one layer. Level the parts so that they can be deployed. At this time, in the tray 7, the directions and front and back of each component 8 are irregular, and the inverted component (marked with the symbol "8 *") or the two components 8 are partially overlapped. Exists. In addition, the component 8 may be unevenly deployed on the tray 7. In the component take-out of the present embodiment, the following configuration is used in order to take out the component 8 supplied in such an irregular posture as efficiently as possible.

Here, the configuration of the control system will be described with reference to FIG. In FIG. 5, the control device 20 built in the component mounting device 1 controls the work operation by the component supply unit 5, the component transfer unit 13, and the board transfer mechanism 3 shown in FIG. Further, the control device 20 is connected to the recognition processing unit 19, and the recognition processing unit 19 recognizes the imaging results of the first camera 14 and the second camera 15 and transmits the recognition results to the control device 20. When the recognition processing unit 19 recognizes the image pickup result by the first camera 14, the position and orientation of the component 8 on the tray 7 are determined. Further, the recognition processing unit 19 recognizes the component 8 held by the chuck unit 16 of the component extraction head 12 by recognizing the image pickup result by the second camera 15.

The control device 20 includes a control processing unit 21, a program storage unit 28, and a data storage unit 35. Further, the control processing unit 21 includes a mounting control unit 22, a search setting unit 23, an imaging processing unit 24, a component detection unit 25, a component selection unit 26, and a transfer control unit 27 as internal control functions. The mounting control unit 22 controls the component mounting operation of mounting the component 8 taken out from the component supply unit 5 on the board 4 positioned and held by the board transfer mechanism 3. The control of the component mounting operation is performed by executing the mounting operation program 29 stored in the program storage unit 28 while referring to the mounting data 36 stored in the data storage unit 35. In this control, the component mounting mechanism described above is controlled based on the recognition result of the component 8 by the recognition processing unit 19, and the component 8 is mounted on the substrate 4.

In FIG. 5, the component data 37 stored in the data storage unit 35 includes component basic shape information, component posture information, and the like. Here, each information included in the component data 37 will be described with reference to FIG. FIG. 6A shows the component basic shape information of the component 8 to be taken out. The component basic shape information includes the plane dimensions A and B of the component body 8a constituting the component 8, the width w of the leads 8b, the lead length l, and the lead pitch p. The component 8 mounted in a normal posture (hereinafter referred to as "normal posture") without overlapping or tilting on the component mounting surface 7a of the tray 7 has a horizontal length of plane dimension A and a vertical length. Is within the rectangular range of the length (B + l) obtained by adding the lead length l to the plane dimension B. That is, the size of the normal posture of the component 8 is A in the horizontal length and (B + l) in the vertical length.

The component posture information shown in FIG. 6B includes a basic posture pattern in a state where the component 8 is placed flat on the component mounting surface 7a of the tray 7, and recognition corresponding to each posture pattern. Correspondence with an image, i.e., an image acquired by the first camera 14, is included. First, FIGS. 6 (b) and 6 (1) show a component posture (normal posture) in which the component main body 8a is completely in contact with the component mounting surface 7a and the surface 8c is placed in a horizontal state. In this state, in the image recognized by the first camera 14, the shapes of the surface 8c and the lead 8b appear as they are. 6 (b) and 6 (2) show a component posture (tilted posture) in which the component main body 8a is tilted on the component mounting surface 7a and the tip of the lead 8b is in contact with the component mounting surface 7a. ing. In this state, a shape in which the surface 8c and the lead 8b are inclined appears in the recognition image.

6 (b) (3) and 6 (b) (4) show the postures in which the component 8 is placed on the component mounting surface 7a with the component 8 turned upside down, respectively. 1) corresponds to the states shown in FIGS. 6 (b) and 6 (2). 6 (b) and 6 (3) show the component posture (reversed posture) in which the component main body 8a is placed in a state where the component main body 8a is completely in contact with the component mounting surface 7a with the back surface 8d facing upward. In this state, in the image recognized by the first camera 14, the shapes of the back surface 8d and the lead 8b appear as they are. 6 (b) and 6 (4) show a component posture in which the component main body 8a is tilted on the component mounting surface 7a with the back surface 8d facing upward, and the tip of the lead 8b is in contact with the component mounting surface 7a. (Inverted tilt posture) is shown. In this state, a shape in which the back surface 8d and the lead 8b are inclined appears in the recognition image.

By preparing and storing such component posture information in advance, it is possible to determine the posture including the front and back of the actual component 8 based on the recognition result captured by the first camera 14, and the posture can be taken out. Whether it is possible or not can be judged with high accuracy. The example shown in FIG. 6B is an example of the posture of the parts, and in addition to these, various posture patterns can be set according to the characteristics of the target part type and shape.

In FIG. 5, the search setting unit 23 performs a search window setting process for setting a search window W, which is a range in which the component 8 is imaged by the first camera 14 in the component detection process described later. This search window setting process is performed by executing the search setting process program 30 stored in the program storage unit 28 while referring to the component basic shape information included in the component data 37 stored in the data storage unit 35. .. The size of the search window W set by the search window setting process and the position of the search window W on the tray 7 are stored in the data storage unit 35 as search window data 38.

The image pickup processing unit 24 performs an image pickup process in which the range of the search window W is imaged by the first camera 14 based on the set search window W. This imaging process is performed by executing the imaging process program 31 stored in the program storage unit 28 while referring to the search window data 38 stored in the data storage unit 35. The image pickup result captured by the first camera 14 is recognized and processed by the recognition processing unit 19. In this way, the search setting unit 23 becomes the search window setting unit that sets the search window W that is the range for imaging the supplied component 8, and the first camera 14 serves as the camera that images the set search window W. ..

The component detection unit 25 performs component detection processing for detecting a component 8 that can be taken out in the search window W based on the image of the search window W captured by the first camera 14. This component detection process is performed by executing the component detection process program 32 stored in the program storage unit 28 while referring to the component attitude information included in the component data 37 stored in the data storage unit 35. The information of the component 8 detected by the component detection process is stored in the data storage unit 35 as the detected component data 39.

The component selection unit 26 performs a component selection process for selecting a plurality of components 8 to be extracted from the removable components 8 detected by the component detection unit 25. This component selection process is performed by executing the component selection process program 33 stored in the program storage unit 28 while referring to the detected component data 39 stored in the data storage unit 35. The information of the component 8 selected by the component selection process is stored in the data storage unit 35 as the selected component data 40.

The transfer control unit 27 controls a component transfer operation in which the selected component 8 to be removed is held and taken out by the chuck units 16 as a plurality of component holding units included in the component take-out head 12. The control of the component transfer operation is performed by executing the component transfer operation program 34 stored in the program storage unit 28 while referring to the selected component data 40 stored in the data storage unit 35. As described above, the component transport unit 13 having the above-described configuration has a function of holding and taking out the component 8 to be taken out selected by the component selection unit 26 by the plurality of component holding units.

In the present embodiment, in the process of taking out the plurality of parts 8 to be taken out by the parts conveying unit 13, the state in which the plurality of parts 8 to be taken out are simultaneously held by the chuck units 16 as the plurality of parts holding parts is always passed. I am trying to do it. As a result, a plurality of parts 8 can be taken out by one operation of the parts taking-out head 12, and the work efficiency of parts taking-out can be improved.

Among the components shown in FIG. 5, the elements for mounting the component 8 taken out from the component supply unit 5 in the component mounting device 1 on the substrate 4 (specifically, the second camera 15, the mounting control unit 22, The components excluding the mounting operation program 29 and the mounting data 36) constitute the component taking-out device according to the present embodiment. That is, the parts extraction device includes a parts supply unit 5, a search setting unit 23 (search window setting unit), a first camera 14 (camera), a parts detection unit 25, a parts selection unit 26, and a parts transport unit 13. .. Then, the component mounting device 1 transfers the component 8 taken out by the component taking-out device to the substrate 4 held by the substrate transport mechanism 3 (board holding portion) and mounts the component 8.

Next, an example of the search window W set in the search window setting process by the search setting unit 23 (search window setting unit) will be described with reference to FIGS. 7 and 8. In FIG. 7, the first search window W (hereinafter referred to as “first search window We”) is set by first executing the search window setting process after the parts 8 are supplied by the tray 7 in the parts supply unit 5. .) Is shown as an example. In FIG. 8, when the component 8 is not detected in the second and subsequent times or in the first component detection process, the component 8 is detected in the second and subsequent component detection processes in which the component 8 is detected by moving the initial search window We. An example of the search window W (hereinafter, referred to as “normal search window Wg”) that is set after the search is performed is shown.

FIG. 7A shows a plane dimension A (L) which is a horizontal length of a large part 8 (L), a medium-sized part 8 (M), and a small part 8 (S) mounted in a plane. ), Plane dimension A (M), Plane dimension A (S) multiplied by the number of chuck units 16 (parts holding portions) included in the component take-out head 12 (here, three), and the multiplication length. The comparison with the length Xt of the tray 7 in the X direction is shown.

For the large component 8 (L), the multiplication length (3 × A (L)) obtained by multiplying the plane dimension A (L) by the number of chuck units 16 is the length in the X direction of the tray 7 (component supply tray). It is larger than half of Xt (length Yt in the Y direction). In this case, the length of one side of the initial search window We (L) in the X direction (Y direction) by the search window setting process is the length Xt (length in the Y direction) of the tray 7 shown in FIG. 7B in the X direction. It is set to Yt).

Similarly, the multiplication length (3 × A (M)) of the medium-sized component 8 (M) is 4 minutes of the length Xt (length Yt in the Y direction) of the tray 7 (component supply tray) in the X direction. It is larger than one and less than half. In this case, the length of one side of the initial search window We (M) in the X direction (Y direction) is 2 of the length Xt (length Yt in the Y direction) of the tray 7 in the X direction shown in FIG. 7 (c). It is set to 1 /. Similarly, the multiplication length (3 × A (S)) of the small component 8 (S) is 4 minutes of the length Xt (length Yt in the Y direction) of the tray 7 (component supply tray) in the X direction. Is less than 1. In this case, the length of one side of the initial search window We (S) in the X direction (Y direction) is 4 of the length Xt (length Yt in the Y direction) of the tray 7 shown in FIG. 7 (d) in the X direction. It is set to 1 /.

In this way, the horizontal length (planar dimension A) or vertical length (sum of the flat dimension B and the REIT length l) of the component 8 and the number of chuck units 16 (component holding portions), that is, the component removal. By setting an appropriate size of the initial search window We based on the number of parts 8 held by the head 12 Nh, the number of part detection processes and the time required for the part detection process can be set appropriately. .. In the search window setting process, the vertical length of the component 8 (sum of the plane dimension B and the REIT length l) is compared with the length Yt of the tray 7 in the Y direction to determine the size of the initial search window We. You may set it.

In FIGS. 7 (c) and 7 (d), when the component 8 is not detected in the initial component detection process, the second search window W is the initial search window We (M), We (in the search window setting process). It has the same size as S) and is set at a position moved up, down, left and right. Similarly, when the component 8 is not detected in the previous component detection process after the third time, the search window W having the same size as the initial search windows We (M) and We (S) is set. In this example, the positions of the search window W are set in order of priority, starting from the upper left, from top to bottom, and from left to right. The priority for setting the search window W is not limited to this, and can be set as appropriate.

FIG. 8 shows an example of the normal search window Wg. The size of the normal search window Wg is the sum of the horizontal length (planar dimension A) of the component 8 mounted on the tray 7 in a plane and the vertical length of the part 8 (planar dimension B and the lead length l). ), Which is the sum of the dimensions (A + B + l) of the component 8, and the number of chuck units 16 (component holding portions) for taking out the component 8 (holding number Nh of the component 8). FIG. 8A shows a normal search window Wg1 when the number of holdings Nh of the component 8 is one, and FIG. 8B shows a normal search window Wg2 when the number of holdings Nh of the part 8 is two. FIG. 8C shows a normal search window Wg3 when the number of holdings Nh of the component 8 is three.

When the number of holdings Nh of the component 8 is one (FIG. 8A), the normal search window Wg1 having a side length of the dimension (A + B + l) of the component 8 is set. When the number of holdings Nh of the component 8 is two (FIG. 8B), the normal search window Wg2 whose one side length is twice the dimension (A + B + l) of the component 8 is set. When the number of holdings Nh of the component 8 is 3 (FIG. 8 (c)), the normal search window Wg3 whose one side length is three times the dimension (A + B + l) of the component 8 is set.

That is, in the search window setting process, the normal search window Wg is set in a rectangle having a length obtained by multiplying the dimension (A + B + l) of the component 8 by the holding number Nh of the component 8 as one side. In this way, by setting the normal search window Wg of an appropriate size based on the dimensions of the component 8 and the number of holdings Nh of the component 8, the number of component detection processes and the time required for the component detection process are appropriately set. Will be done.

Next, along the flow of FIG. 9, a component mounting method by the component mounting device 1 in which the component taking device is incorporated will be described with reference to FIGS. 10 to 12. First, the tray feeder 6 supplies the tray 7 (parts supply tray) on which the parts 8 are placed in an irregular posture to the take-out position (ST1: parts supply process). That is, the parts 8 to be taken out are supplied in an irregular posture by the tray 7 (parts supply tray). Next, the search setting unit 23 executes a search window setting process for setting the search window W, which is a range in which the supplied component 8 is imaged by the first camera 14 (ST2: search window setting step). The search window setting step (ST2) (search window setting method) will be described in detail later.

Next, the image pickup processing unit 24 executes an image pickup process in which the set search window W is imaged by the first camera 14 (ST3: imaging step). The imaging result is recognized by the recognition processing unit 19. Next, the component detection unit 25 executes a component detection process for detecting the removable component 8 in the captured search window W (ST4: component detection step). Next, the component selection unit 26 executes a component selection process for selecting the component 8 to be extracted from the detected removable components 8 (ST5: component selection step). Next, the transfer control unit 27 controls the component transfer unit 13 to execute a component transfer process in which the selected component 8 to be taken out is held by the chuck unit 16 (part holding unit) and taken out (ST6: parts transfer step).

In the component transfer step (ST6), as shown in FIG. 10A, the chuck unit 16 in which the pressing member 18b is in the raised position with the chuck claw 17 open is positioned on the component mounting surface 7a of the tray 7. The selected component 8 is moved upward and lowered with respect to the component 8 (arrow h). Here, the component 8 is placed on the component mounting surface 7a in a normal posture with the surface 8c of the component body 8a facing upward, and the sandwiching side surfaces 8e on both side surfaces of the component body 8a are in a free state. It has become. In the process of lowering the chuck unit 16 with respect to the component 8, the chuck claws 17 perform positioning so that the sandwiching side surface 8e can be clamped.

In FIG. 10B, in this state, the chuck unit 16 is lowered with respect to the component 8 to cause the chuck claw 17 to perform the closing operation (arrow i). As a result, the chuck unit 16 sandwiches the sandwiching side surface 8e of the component main body portion 8a from both sides by the chuck claws 17. As a result, the holding of the component 8 by the chuck unit 16 is completed. Then, the chuck unit 16 in this state is raised and moved in the take-out direction (arrow j). In this process, by turning the chuck claw 17 90 degrees clockwise in the YZ plane, the component 8 sandwiched by the chuck claw 17 is changed to a posture in which the lead 8b is directed downward. As a result, the removal of the parts 8 by one chuck unit 16 provided on the parts removal head 12 is completed.

This component extraction operation is sequentially executed for a plurality of (here, three) chuck units 16 provided on the component extraction head 12. As a result, as shown in FIG. 11A, the leads 8b are oriented downward in each of the three chuck units 16 (1), (2), and (3) provided in the component extraction head 12. The component 8 is held. That is, in the parts taking-out device shown in the present embodiment, in the parts taking-out process, in the process of taking out a plurality of parts 8 to be taken out by the parts carrying-out unit 13, the chuck unit is a plurality of parts holding parts. 16 (1), (2), and (3) are in the form of being held at the same time.

In FIG. 9, if the component 8 cannot be held in each of all the chuck units 16 provided in the component extraction head 12 (No in ST7), the process returns to the search window setting step (ST2). Then, the search window W for the next component detection process is set, and the component 8 to be taken out by the chuck unit 16 that cannot hold the component 8 is selected. If each of all the chuck units 16 included in the component take-out head 12 can hold the component 8 (Yes in ST7), the mounting control unit 22 controls the component transport unit 13 and the component 8 held by the chuck unit 16. Is executed on the board 4 which is positioned and held by the board transfer mechanism 3 (ST8: component mounting process).

In the component mounting step (ST8), as shown in FIG. 11B, the second camera 15 has a component take-out head 12 holding the component 8 in each of the chuck units 16 (1), (2), and (3). Move above. Then, the second camera 15 takes an image of the component 8 held by the chuck units 16 (1), (2), and (3) from below. Next, the misalignment of the component 8 is recognized based on the captured image. That is, by recognizing the imaging result by the recognition processing unit 19, the position deviation of the lead 8b of the held component 8 with respect to the normal position to be originally positioned is recognized.

Then, based on these recognition results, the positional deviation is corrected and the component 8 is mounted on the substrate 4. That is, as shown in FIG. 12A, the chuck unit 16 holding the component 8 in a posture in which the lead 8b faces downward is sandwiched and held by the chuck claw 17 is aligned with the mounting position of the component 8 on the substrate 4 and lowered. Let (arrow k). Here, the misalignment of the lead 8b detected by component recognition is corrected to match the insertion hole 4a.

Next, as shown in FIG. 12B, the pushing mechanism 18 is operated to lower the pushing member 18b (arrow m). As a result, the pushing member 18b pushes down the component main body 8a, and the lead 8b is inserted into the insertion hole 4a. When the operation of mounting the component 8 on the substrate 4 is executed in all the chuck units 16 holding the component 8, the component mounting step (ST8) is completed.

As described above, the parts supply process (ST1), the search window setting process (ST2), the imaging process (ST3), the parts detection process (ST4), the parts selection process (ST5), and the parts transfer process (ST6) are performed on the tray 7 (ST6). This is a component removal process (parts removal method) in which the parts 8 supplied to the parts supply tray) in an irregular posture are held and taken out by the chuck unit 16 (parts holding portion) provided in the parts removal head 12. Then, until all the parts 8 to be taken out by the parts 8 supplied to the tray 7 are taken out (Yes in ST9), the parts taking-out step and the part mounting step (ST8) are repeatedly executed (No in ST9).

Next, the details of the search window setting step (ST2) (search window setting method) for setting the search window W will be described with reference to FIGS. 14 and 15 along the flow of FIG. First, the search setting unit 23 determines whether or not it is the first search window setting process after the component supply step (ST1) in which the tray 7 is supplied to the take-out position is executed (ST11). In the case of the first time (Yes in ST11), the search setting unit 23 sets the first search window We (ST12: first search window setting step).

FIG. 14A shows an example of the tray 7 in which the initial search window We is set. In this example, the size of the component 8 is the medium-sized component 8 (M) shown in FIG. 7 (a), and the length of one side is half the length (Xt, Yt) of the tray 7. We is set at the upper left position of the tray 7.

That is, in the search window setting step (ST2), as the first search window We, the length of one side of the search window W is the horizontal (plane dimension A) or the vertical (plane dimension A) or the vertical (plane dimension) of the component 8 placed in a plane. The multiplication length, which is the length obtained by multiplying the length of B and the lead length l) by the number of chuck units 16 (part holding portions) for taking out the parts 8, is the length 4 of the tray 7 (parts supply tray). If it is greater than one-half and less than one-half, it is set to one-half of the length of the tray 7. Similarly, if the multiplication length is greater than half the length of tray 7, it is set to the length of tray 7, and if the multiplication length is less than one quarter of the length of tray 7, it is set to the length of tray 7. It is set to a quarter of the length of the tray 7.

When the component detection process is executed within the range of the initial search window We shown in FIG. 14 (a), five components 8 (1), 8 (4), and 8 (6) to 8 (8) can be taken out. It is detected as a component 8. On the other hand, since the parts 8 (2) and 8 (5) are in the inverted posture, the parts 8 (3) are in the tilted posture, and the parts 8 (9) are not detected as a whole, they can be taken out as the parts 8. Not detected. In the component selection process, component 8 (1), component 8 (4), and component 8 (6) are selected as component 8 to be taken out. That is, in the component selection process, the components 8 to be extracted are selected in order from the removable components 8 in the direction (left side) opposite to the direction in which the next search window W is set (right side).

In FIG. 13, in the case of the second and subsequent search window setting processes (No in ST11), the search setting unit 23 determines whether or not the component has been imaged in the search window W in the previous imaging step (ST3). (ST13: Imaging component determination step). When the component 8 has not been imaged last time (No in ST13), the position of the search window W is moved to the next position without changing the size from the previous time (ST14). That is, when the component 8 is not imaged in the first imaging step (ST3), the search setting unit 23 moves the initial search window We to the next position.

When the component 8 was imaged last time (Yes in ST13), the search setting unit 23 determines whether or not the component 8 which has been detected to be ejectable but has not been ejected remains (ST15: Remaining). Parts judgment process). When the unextracted component 8 remains (Yes in ST15), the search setting unit 23 sets the normal search window Wg including the unextracted component 8 (ST16).

That is, in the search window setting step (ST2), the part 8 detected as the part 8 that can be taken out in the previous part detection step (ST4) is selected as the part 8 to be taken out in the previous part selection step (ST5). The range including the unfinished component 8 is set in the next search window W. That is, the search setting unit 23 (search window setting unit) is a component 8 previously detected as a part 8 that can be taken out by the part detection unit 25, but is selected as a part 8 to be taken out by the part selection unit 26 last time. The range including the missing component 8 is set in the next search window W.

In FIG. 14A, in the range of the initial search window We, the parts 8 (1), the parts 8 (4), and the parts 8 (6) are taken out in the parts transporting process (ST6), but the parts can still be taken out. 8 (7) and part 8 (8) remain. Therefore, as shown in FIG. 14B, the normal search window Wg (1) is set in the range including the parts 8 (7) and the parts 8 (8).

At that time, the size of the normal search window Wg (1) (search window W) is the dimension (A + B + l) of the part 8 which is the sum of the horizontal length and the vertical length of the part 8 placed in a plane. , It is set to a rectangle having a length multiplied by the number of chuck units 16 (parts holding portions) as one side. In the range of the normal search window Wg (1), the three parts 8 (7) to 8 (9) are detected as the removable parts 8, and the parts 8 (10) are not detected as the removable parts 8.

In FIG. 13, when it is determined in the remaining component determination step (ST15) that there is no removable component 8 (No), the search setting unit 23 includes the component 8 that was not detected as the removable component 8. The normal search window Wg is set (ST17).

That is, in the search window setting step (ST2), the component 8 that was imaged in the previous imaging step (ST3), but was not detected as the part 8 that can be taken out in the previous component detection step (ST4). The range to be included is set in the next search window W. That is, the search setting unit 23 (search window setting unit) is the component 8 that was previously imaged by the first camera 14 (camera), but was not detected as the component 8 that can be taken out by the component detection unit 25 last time. The range including the component 8 is set in the next search window W.

In FIG. 14 (b), in the range of the normal search window Wg (1), the parts 8 (7), the parts 8 (8), and the parts 8 (9) are taken out in the part transfer step (ST6), but some of them are taken out. The imaged component 8 (10) remains. Therefore, as shown in FIG. 15A, the range includes the component 8 (10) that was imaged in the previous imaging step (ST3) but was not detected as retrievable in the previous component detection step (ST4). , Normal search window Wg (2) is set.

Normally, in the range of the search window Wg (2), two parts 8 (10) and 8 (13) are detected as removable parts 8, but the parts 8 (12) and 8 (14) overlap. Therefore, the parts 8 (15) and the parts 8 (16) are not detected as the removable parts 8 because the whole parts 8 (15) and the parts 8 (16) are not detected. Then, in the component transfer step (ST6), the component 8 (10) and the component 8 (13) are taken out, but one chuck unit 16 that does not hold the component 8 remains. Therefore, as shown in FIG. 15 (b), the normal search window Wg (3) is set in the range including the parts 8 (15) and the parts 8 (16), and the parts 8 (15) are set in the parts transport process (ST6). ) Is taken out.

In the search window setting step (ST2) described above, the size of the search window W (first search window We) set for the first time (ST12) is set for the second and subsequent search windows W (normal search) (normal search). It is set larger than the size of the window Wg). That is, the search setting unit 23 (search window setting unit) sets the size of the search window W set for the first time to be larger than the size of the search window W set for the second and subsequent times. As a result, even when the empty tray 7 is supplied to the take-out position, it can be determined that there is no part 8 to be taken out to the tray 7 with a small number of parts detection processes.

Further, in the search window setting step (ST2) described above, the size of the normal search window Wg (search window W) is determined by the dimensions (A + B + l) of the component 8 and the chuck unit 16 (component holding unit) from which the component 8 is taken out. It is set based on the number. As a result, the normal search window Wg having an appropriate size can be set, and the number of component detection processes and the time required for the component detection process are appropriately set.

As described above, the component extraction method of the present embodiment includes a component supply step (ST1) for supplying the component 8 to be extracted in an irregular posture, and a search window setting step (ST2) for setting the search window W. Of the imaging step (ST3) in which the search window W is imaged by the first camera 14, the component detection step (ST4) in which the retrievable component 8 is detected in the search window W, and the retrievable component 8 It includes a component selection step (ST5) for selecting a component 8 to be taken out, and a component transfer step (ST6) for holding the component 8 to be taken out by a chuck unit 16 (part holding unit) and taking it out. Then, in the search window setting step (ST2), the size of the search window W is set based on the dimensions of the parts and the number of parts holding portions (chuck units 16) from which the parts 8 are taken out.

As a result, the component 8 can be taken out in an appropriate time according to the shape and size of the component 8, and it is possible to realize excellent versatility and high production efficiency. In the above-described embodiment, as the type of the component to be taken out, the component 8 which is an insertion component having a shape in which a plurality of leads 8b extend from the component body 8a is targeted. It is not limited to the inserted parts. That is, if it is a deformed part that is not suitable for a part supply form using taping or a tray, the present invention is applied.

The component extraction method, component extraction device, and component mounting device of the present invention have the effect of being excellent in versatility and being able to realize high production efficiency, and are useful in the field of mounting components on a substrate.

8 Parts 14 First camera (camera)
16 Chuck unit (parts holding part)
We first search window (search window)
Wg normal search window (search window)

Claims (11)

The parts supply process that supplies the parts to be taken out in an irregular posture,
A search window setting process for setting a search window, which is a range in which the supplied parts are imaged by a camera, and a search window setting step.
An imaging process in which the set search window is imaged by the camera, and
A component detection step for detecting a removable component in the captured search window, and a component detection step.
A component selection process for selecting a component to be extracted from the detected components that can be extracted,
Including the component transfer step of holding and taking out the selected component to be taken out by the component holding unit.
In the search window setting step, the size of the search window is set based on the dimensions of the component and the number of component holding portions from which the component is taken out .
In the search window setting step, the range including the parts detected as the removable parts in the previous part detection step but not selected as the parts to be taken out in the previous part selection step is included in the range. is set for the next search window, characterized in Rukoto, component extraction method. The parts supply process that supplies the parts to be taken out in an irregular posture,
A search window setting process for setting a search window, which is a range in which the supplied parts are imaged by a camera, and a search window setting step.
An imaging process in which the set search window is imaged by the camera, and
A component detection step for detecting a removable component in the captured search window, and a component detection step.
A component selection process for selecting a component to be extracted from the detected components that can be extracted,
Including the component transfer step of holding and taking out the selected component to be taken out by the component holding unit.
In the search window setting step, the size of the search window is set based on the dimensions of the component and the number of component holding portions from which the component is taken out.
In the search window setting step, the range including the parts imaged in the previous imaging step but not detected as the retrievable parts in the previous part detection step is set in the next search window. A method of taking out parts, which is characterized by being carried out. The parts supply process that supplies the parts to be taken out in an irregular posture,
A search window setting process for setting a search window, which is a range in which the supplied parts are imaged by a camera, and a search window setting step.
An imaging process in which the set search window is imaged by the camera, and
A component detection step for detecting a removable component in the captured search window, and a component detection step.
A component selection process for selecting a component to be extracted from the detected components that can be extracted,
Including the component transfer step of holding and taking out the selected component to be taken out by the component holding unit.
In the search window setting step, the range including the parts detected as the removable parts in the previous part detection step but not selected as the parts to be taken out in the previous part selection step is included in the range. A parts extraction method characterized by being set in the next search window. The parts supply process that supplies the parts to be taken out in an irregular posture,
A search window setting process for setting a search window, which is a range in which the supplied parts are imaged by a camera, and a search window setting step.
An imaging process in which the set search window is imaged by the camera, and
A component detection step for detecting a removable component in the captured search window, and a component detection step.
A component selection process for selecting a component to be extracted from the detected components that can be extracted,
Including the component transfer step of holding and taking out the selected component to be taken out by the component holding unit.
In the search window setting step, the range including the parts imaged in the previous imaging step but not detected as the retrievable parts in the previous part detection step is set in the next search window. A method of taking out parts, which is characterized by being carried out. In the search window setting step, the size of the search window is the sum of the horizontal length and the vertical length of the component placed in a plane, and the number of the component holding portions is added to the dimension of the component. The method for taking out parts according to any one of claims 1 to 4 , wherein the product is set to a rectangle having a multiplied length as one side. A parts supply unit that supplies the parts to be taken out in an irregular posture,
A search window setting unit that sets a search window that is a range for imaging the supplied parts, and a search window setting unit.
A camera that captures the set search window and
In the imaged search window, a component detection unit that detects removable components, and a component detection unit.
Among the detected parts that can be taken out, a part selection unit that selects a part to be taken out,
It is provided with a component transport section for holding and taking out the selected component to be taken out by a component holding section.
The search window setting unit sets the size of the search window based on the dimensions of the component and the number of component holding units from which the component is taken out .
The search window setting unit covers a range including parts that were previously detected by the component detection unit as the retrievable parts, but were not previously selected by the component selection unit as the retrievable parts. A parts extraction device characterized by being set in the next search window. A parts supply unit that supplies the parts to be taken out in an irregular posture,
A search window setting unit that sets a search window that is a range for imaging the supplied parts, and a search window setting unit.
A camera that captures the set search window and
In the imaged search window, a component detection unit that detects removable components, and a component detection unit.
Among the detected parts that can be taken out, a part selection unit that selects a part to be taken out,
It is provided with a component transport section for holding and taking out the selected component to be taken out by a component holding section.
The search window setting unit sets the size of the search window based on the dimensions of the component and the number of component holding units from which the component is taken out.
The search window setting unit sets a range including parts that were previously captured by the camera but were not detected as the retrievable parts by the component detection unit in the next search window. A parts extraction device characterized by this. A parts supply unit that supplies the parts to be taken out in an irregular posture,
A search window setting unit that sets a search window that is a range for imaging the supplied parts, and a search window setting unit.
A camera that captures the set search window and
In the imaged search window, a component detection unit that detects removable components, and a component detection unit.
Among the detected parts that can be taken out, a part selection unit that selects a part to be taken out,
It is provided with a component transport section for holding and taking out the selected component to be taken out by a component holding section.
The search window setting unit covers a range including parts that were previously detected by the component detection unit as the retrievable parts, but were not previously selected by the component selection unit as the retrievable parts. A parts extraction device characterized by being set in the next search window. A parts supply unit that supplies the parts to be taken out in an irregular posture,
A search window setting unit that sets a search window that is a range for imaging the supplied parts, and a search window setting unit.
A camera that captures the set search window and
In the imaged search window, a component detection unit that detects removable components, and a component detection unit.
Among the detected parts that can be taken out, a part selection unit that selects a part to be taken out,
It is provided with a component transport section for holding and taking out the selected component to be taken out by a component holding section.
The search window setting unit sets a range including parts that were previously captured by the camera but were not detected as the retrievable parts by the component detection unit in the next search window. A parts extraction device characterized by this. The search window setting unit sets the size of the search window to the dimension of the component, which is the sum of the horizontal length and the vertical length of the component placed in a plane, and the number of the component holding portions. The component taking-out device according to any one of claims 6 to 9 , wherein the multiplied length is set to a rectangle having one side. It is a component mounting device that transfers and mounts the components taken out by the component extraction device to the board held by the board holding unit.
The component mounting device, which is the component fetching device according to any one of claims 6 to 10.

Images