JP7664936B2 - Display device and interference checking method - Google Patents

Description

The present invention relates to a display device that displays an image of a part placed in a cavity.

The following patent document describes a display device that displays an image of the part to be held:

International Publication No. 2017/168590 Japanese Patent Application Publication No. 4-172000

The objective of this specification is to ensure proper retention of parts placed in the cavity.

In order to solve the above problems, this specification discloses a display device that displays an image of a cavity, an image of a part placed in the cavity, and an image of a holder holding the part in a superimposed state, such that the image of the holder includes an image of a pair of gripping claws provided on the holder, and the pair of gripping claws in the image image face each other relative to a pair of gripping surfaces of the part gripped by the pair of gripping claws. In addition, in order to solve the above-mentioned problems, this specification discloses an interference confirmation method in which, when an image of a part arranged in a cavity and an image of a pair of gripping claws that grip the part are displayed in a superimposed state, the pair of gripping claws in the image face each other, and a pair of gripping surfaces of the part gripped by the pair of gripping claws are displayed, and it is confirmed whether the pair of gripping claws interfere with the cavity or the upward-facing surface of the part arranged in the cavity when the pair of gripping claws move within a range of motion for gripping the part to grip the part.

In the present disclosure, an image of the cavity, an image of the part placed in the cavity, and an image of the holder holding the part are displayed simultaneously. Alternatively, an image of the part placed in the cavity and an image of the gripping claws holding the part are displayed superimposed. This makes it possible to check whether there is interference with the holder or gripping claws holding the part, and ensures that the part placed in the cavity is held properly.

FIG. 2 is a perspective view showing a component mounter. FIG. FIG. FIG. FIG. 2 is a block diagram showing a control device. FIG. FIG. FIG. FIG.

Below, an embodiment of the present invention will be described in detail with reference to the drawings as a mode for carrying out the present invention.

Figure 1 shows a component mounter 10. The component mounter 10 is a device for performing the work of mounting components on a circuit board 12. The component mounter 10 is equipped with a device main body 20, a substrate transport and holding device 22, a component mounting device 24, a mark camera 26, a parts camera 28, a component supply device 30, a bulk component supply device 32, and a control device (see Figure 5) 34. Examples of the circuit substrate 12 include a circuit board and a substrate with a three-dimensional structure, and examples of the circuit substrate include a printed wiring board and a printed circuit board.

The device body 20 is composed of a frame 40 and a beam 42 suspended on the frame 40. The substrate transport and holding device 22 is disposed in the center of the frame 40 in the front-to-rear direction, and has a transport device 50 and a clamp device 52. The transport device 50 is a device that transports the circuit substrate 12, and the clamp device 52 is a device that holds the circuit substrate 12. As a result, the substrate transport and holding device 22 transports the circuit substrate 12 and holds the circuit substrate 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. In other words, the width direction of the component mounter 10 is the X direction, and the front-to-rear direction is the Y direction.

The component mounting device 24 is disposed on the beam 42 and has two work heads 60, 62 and a work head moving device 64. The work head moving device 64 has an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. The two work heads 60, 62 are moved together to any position on the frame 40 by the X-direction moving device 68 and the Y-direction moving device 70. The work heads 60, 62 are attached to sliders 74, 76 in a position that allows the worker to detach them without using tools, and the Z-direction moving device 72 moves the sliders 74, 76 individually in the vertical direction. In other words, the work heads 60, 62 are moved individually in the vertical direction by the Z-direction moving device 72.

Also, as shown in FIG. 2, a component holder 77 is attached to the lower end surface of each work head 60, 62. The component holder 77 is a so-called chuck, and includes a main body 78, a pair of gripping claws 80, and a stopper 82, as shown in FIG. 3. The pair of gripping claws 80 are arranged to extend downward from the lower surface of the main body 78, and slide linearly to approach and separate from each other. The stopper 82 is fixed to the lower surface of the main body 78 between the pair of gripping claws 80. As a result, the component holder 77 grips a component with the pair of gripping claws 80 by bringing the pair of gripping claws 80 closer to each other. At this time, the component holder 77 grips the component with the pair of gripping claws 80 with the lower surface of the stopper 82 in contact with the upper surface of the component. As a result, the component holder 77 can grip the component with the posture of the component stabilized. The component holder 77 then separates the pair of gripping jaws 80 to release the component from between the pair of gripping jaws 80. Each work head 60, 62 is also provided with a rotation device (not shown) that rotates the component holder 77 about a vertical axis, and the rotation device can be operated to change the position of the component held by the component holder 77.

As shown in FIG. 2, the mark camera 26 is attached to the slider 74 facing downward on a vertical line, and moves in the X, Y, and Z directions together with the work head 60. Therefore, the mark camera 26 can capture an image of any position on the frame 40. As shown in FIG. 1, the part camera 28 is disposed between the base material conveying and holding device 22 and the part supplying device 30 on the frame 40 facing upward on a vertical line. In this way, the part camera 28 captures an image of a part held by the part holder 77 of the work heads 60, 62. Note that the mark camera 26 and the part camera 28 are two-dimensional cameras and capture two-dimensional images.

The component supply device 30 is disposed at one end of the frame 40 in the front-rear direction. The component supply device 30 has a tray-type component supply device 86 and a feeder-type component supply device (see FIG. 5) 88. The tray-type component supply device 86 is a device that supplies components placed on a tray. In more detail, as shown in FIG. 4, a plurality of cavities 92 are formed in the tray 90, and electronic components 96 are housed in each of the plurality of cavities 92. The electronic components 96 are housed inside the cavities 92 in contact with the inner wall surface of the cavity 92 or in a state where there is a clearance. A pair of gripping claws 80 of a component holder 77 provided on the work head are inserted into the clearance between the inner wall surface of the cavity 92 and the electronic component 96 so as to sandwich a pair of opposing side surfaces of the electronic component 96, and the pair of gripping claws 80 are brought close to each other so that the electronic component 96 is gripped by the pair of gripping claws 80. In this way, the tray-type component supply device 86 supplies the electronic component 96 housed in the cavity 92 of the tray 90 to the work head. The feeder-type component supply device 88 also supplies components to the work head using a tape feeder or stick feeder (not shown).

As shown in FIG. 1, the bulk parts supply device 32 is disposed at the other end of the frame 40 in the front-rear direction. The bulk parts supply device 32 is a device that aligns multiple parts that are scattered randomly and supplies the parts in the aligned state. In other words, it is a device that aligns multiple parts in any position into a specified position and supplies the parts in the specified position.

The components supplied by the component supply device 30 and the bulk component supply device 32 include electronic circuit components, solar cell components, and power module components. Electronic circuit components include components with leads and components without leads.

5, the control device 34 includes a controller 100, a plurality of drive circuits 102, an image processing device 104, and a control circuit 106. The plurality of drive circuits 102 are connected to the above-mentioned conveying device 50, clamping device 52, working heads 60 and 62, working head moving device 64, tray type component supply device 86, feeder type component supply device 88, and bulk component supply device 32. The controller 100 includes a CPU, ROM, RAM, etc., and is mainly a computer, and is connected to the plurality of drive circuits 102. As a result, the operation of the substrate conveying and holding device 22, the component mounting device 24, etc. is controlled by the controller 100. The controller 100 is also connected to the image processing device 104. The image processing device 104 processes image data obtained by the mark camera 26 and the parts camera 28, and the controller 100 acquires various information from the image data. Furthermore, the controller 100 is also connected to a display device 108 via the control circuit 106. As shown in FIG. 1, the display device 108 is disposed in the bulk component supply device 32, and displays any image in response to a command from the controller 100. The controller 100 also stores a production program 110. The production program 110 is a program for executing the mounting work described below.

In the component mounter 10, components are mounted on the circuit board 12 held by the substrate conveying and holding device 22 in accordance with the processing of the production program 110. The component mounter 10 is capable of mounting various components on the circuit board 12, but the following describes the case where electronic components 96 supplied by a tray-type component supply device 86 are mounted on the circuit board 12.

Specifically, the circuit board 12 is transported to the work position by the transport device 50 of the substrate transport and holding device 22, and fixedly held at that position by the clamp device 52. Next, the mark camera 26 moves above the circuit board 12 and captures an image of the circuit board 12. This provides information on the holding position of the circuit board 12, etc. Also, the tray-type component supply device 86 supplies the electronic components 96 housed in the cavity 92 of the tray 90 to the work heads 60 and 62. Then, one of the work heads 60 and 62 moves above the electronic components 96 housed in the cavity 92, and the electronic components 96 are held by the pair of gripping claws 80 of the component holder 77. In more detail, when the work heads 60 and 62 are moving above the electronic components 96, the pair of gripping claws 80 of the component holder 77 are spaced apart, and the pair of gripping claws 80 move in the XY direction so as to be positioned outside the electronic components 96. Then, as the work heads 60, 62 are lowered, the pair of gripping claws 80 are inserted into the clearance between the cavity 92 and the electronic component 96 housed in the cavity 92, so as to face a pair of opposing side surfaces of the electronic component 96, and the lower surface of the metal 82 is brought into contact with the upper surface of the electronic component 96. Next, each of the pair of gripping claws 80 is brought close to the opposing side surfaces of the electronic component, and the electronic component 96 is gripped by the pair of gripping claws 80 at the pair of side surfaces facing the pair of gripping claws.

Then, the work heads 60, 62 holding the electronic component 96 housed in the cavity 92 move above the parts camera 28, and the parts camera 28 captures an image of the electronic component 96 held by the pair of gripping claws 80 of the component holder 77. This provides information about the holding position of the component, etc. Next, the work heads 60, 62 holding the electronic component 96 move above the circuit board 12, and corrects errors in the holding position of the circuit board 12, errors in the holding position of the component, etc. Then, the electronic component 96 held by the component holder 77 is mounted in the intended mounting position on the circuit board 12.

In this way, in the component mounter 10, the work of mounting components on the circuit board 12 is performed by processing the production program 110. For this reason, the production program 110 is programmed with the planned mounting positions of components on the circuit board 12, information about the components to be mounted on the circuit board 12, and information about the component holder 77 that holds the components to be mounted on the circuit board 12. Specifically, for example, the information about the components includes the size of the components, the attitude of the components, a pair of side surfaces (hereinafter referred to as "gripping surfaces") of the components gripped by the pair of gripping claws 80 of the component holder 77, and the position of the cavity 92 of the tray 90 in which the components are stored, all of which are programmed in the production program 110. In addition, the information about the component holder 77 includes the distance s1 between the pair of gripping claws 80 when the pair of gripping claws 80 are separated, the thickness dimension t1 of the gripping claws 80, the width dimension w1 of the gripping claws 80, the thickness dimension t2 of the abutment 82, and the width dimension w2 of the abutment 82, all of which are programmed in the production program 110. The thickness dimensions t1, t2 of the gripping claws 80, etc., are the dimensions in the sliding direction of the gripping claws 80, as shown in FIG. 3. The width dimensions w1, w2 of the gripping claws 80, etc., are the dimensions in the sliding direction of the gripping claws 80 and in a direction perpendicular to the direction in which the gripping claws 80 extend. In other words, the width dimensions w1, w2 of the gripping claws 80, etc., are the dimensions in the depth direction in FIG. 3.

In this way, by executing the production program 110, which is programmed with the planned component mounting positions, information about the components, and information about the component holder 77, the mounting work is performed, the components are properly held by the component holder 77, and the components are properly mounted in the planned mounting positions on the circuit board 12. However, because the production program 110 was created on paper, there is a possibility that some kind of operational error will occur when the mounting work is actually performed in the component mounter 10. For this reason, before the component mounting work is actually performed in the component mounter 10, a confirmation work is performed to check whether the component mounting work will be performed properly when the production program 110 is executed.

Various tasks are performed as the confirmation task, one of which is a confirmation task to confirm whether the component holder 77 can properly hold the electronic component 96 accommodated in the cavity 92 of the tray 90. Specifically, the cavity 92 of the tray 90 accommodates the electronic component 96 used in the mounting task performed by executing the production program. The electronic component 96 accommodated in the cavity 92 is then imaged by the mark camera 26. In addition, the size of the component holder 77 is specified based on the information about the component holder 77 programmed in the production program 110. That is, the distance s1 between the pair of gripping jaws 80 when the pair of gripping jaws 80 are separated, the thickness dimension t1 of the gripping jaws 80, the width dimension w1 of the gripping jaws 80, the thickness dimension t2 of the abutment 82, the width dimension w2 of the abutment 82, and the like are specified. In addition, a pair of side surfaces of the component to be gripped by the pair of gripping jaws 80, i.e., gripping surfaces, are specified based on the information about the component programmed in the production program 110. Then, an image based on the imaging data captured by the mark camera 26 and an image of the component holder 77 based on information about the component holder 77 programmed in the production program 110 are simultaneously displayed on the display device 108. That is, as shown in FIG. 6, an image 120 of the cavity based on the imaging data, an image 122 of the electronic component based on the imaging data, and an image 124 of the component holder are simultaneously displayed on the display device 108. Note that the image based on the imaging data is an image showing an actual object, that is, a real image. On the other hand, the image is an image based on various information specified by the production program 110, or in other words, an image based on image data, that is, a virtual image.

In more detail, a pair of image images 124a of the gripping claws and an image image 124b of the metal are displayed as the image image 124 of the component holder. The image image 124a of the gripping claws is displayed so as to face a pair of gripping surfaces of the electronic component gripped by the pair of gripping claws 80. In other words, when the image 122 of the electronic component is generally rectangular and a pair of short sides 122a corresponds to a pair of gripping surfaces, the image image 124a of the gripping claws is displayed so as to face the pair of short sides 122a. At this time, the distance between the image images 124a of the gripping claws is set to s1, and the thickness and width dimensions of the image image 124a of the gripping claws are set to t1 and w1. The image image 124b of the metal is displayed between the image images 124a of the gripping claws. At this time, the thickness and width dimensions of the image image 124b of the metal are set to t2 and w2.

In this way, in the confirmation work, the image 124 of the component holder is simultaneously displayed on the display device 108 in a state where it is projected onto the image 120 of the cavity based on the imaging data and the image 122 of the electronic component, that is, in a state where they are superimposed. This allows the worker to check the image displayed on the display device 108 and check whether the gripping claws 80 will interfere when the gripping claws 80 are moved within the range of motion for gripping the component and grip the component housed in the cavity. In other words, the pair of gripping claws 80 that are spaced apart above the component are moved in the XY direction to be positioned outside the component to be gripped, the positioned pair of gripping claws are lowered to a height facing the pair of gripping surfaces of the component to be gripped, and then the pair of gripping claws lowered to the pair of gripping surfaces are brought close to each other, so that the presence or absence of interference of the gripping claws 80 when gripping the component can be confirmed. In this case, for example, as shown in FIG. 6, when an image 120 of a cavity, an image 122 of an electronic component, and an image 124 of a component holder are displayed simultaneously on the display device 108, the worker can confirm that the pair of gripping claws 80 interfere with the cavity 92. The concept of interference between the gripping claws 80 and the cavity 92 includes not only the case where the gripping claws 80 come into contact with the cavity 92, but also the case where the gripping claws come into contact with the upper surface of the tray 90 in which the cavity 92 is formed.

In addition, the image of the component holder 77 is displayed based on various information programmed in the production program 110, so if the various information is different, the image of the component holder 77 displayed on the display device 108 will also change. For example, if the information about the component holder 77 in the production program 110 is programmed such that the pair of gripping jaws 80 are spaced apart by a distance s2 (<S1), as shown in FIG. 7, an image 120 of the cavity, an image 122 of the electronic component, and an image 124 of the component holder are simultaneously displayed on the display device 108. When such images are displayed on the display device 108, the worker can confirm that the pair of gripping jaws 80 interfere with the upward facing surface of the component. In other words, in the confirmation work, the worker can confirm whether the gripping jaws 80 interfere with the cavity 92 or the upward facing surface of the component disposed in the cavity 92 by checking the display device 108.

When a pair of long sides 122b (see FIG. 8) are programmed into the production program 110 as a pair of gripping surfaces of an electronic component instead of a pair of short sides 122a (see FIG. 6), an image 120 of a cavity, an image 122 of an electronic component, and an image 124 of a component holder are simultaneously displayed on the display device 108 as shown in FIG. 8. That is, an image 124a of a pair of gripping claws is displayed so as to face the pair of long sides 122b. When such an image is displayed on the display device 108, the operator can confirm that the gripping claws 80 do not interfere with either the cavity 92 or the upward-facing surface of the component disposed within the cavity 92.

However, since the cavity image 120 and the electronic component image 122 are images based on imaging data of the electronic component 96 contained in the tray 90, the position of the electronic component 96 inside the cavity 92 differs depending on the timing of imaging. That is, for example, when the electronic component 96 is placed in the center of the cavity 92, the electronic component image 122 is displayed in the center of the cavity image 120 as shown in FIG. 8. On the other hand, when the electronic component 96 is placed in a position shifted from the center of the cavity 92, the electronic component image 122 is displayed in a position shifted from the center of the cavity image 120 as shown in FIG. 9. In this way, the cavity image 120 and the electronic component image 122 are displayed in a state where the component holder image 124a is superimposed on the image of the cavity 120 and the image of the electronic component 122, so that the worker can confirm that one of the pair of gripping jaws 80 interferes with the cavity 92.

In addition, the image 120 of the cavity and the image 122 of the electronic component change not only depending on the position of the component inside the cavity 92, but also depending on the shape of the cavity and the shape of the component placed in the cavity. In addition, the image 124 of the component holder changes not only depending on the distance between the pair of gripping claws of the component holder 77, but also depending on the shape of the gripping claws. In other words, the image displayed on the display device 108 changes based on various combinations of the type of cavity, the type of component placed in the cavity, the position of the component placed in the cavity, the type of gripping claws, and the position of the gripping claws. Therefore, whether or not the gripping claws interfere with the cavity or the upward facing surface of the component placed in the cavity when holding the component placed in the cavity varies based on these combinations. For all of these combinations, as described above, the image 120 of the cavity, the image 122 of the electronic component, and the image 124 of the component holder are simultaneously displayed on the display device 108, so that the presence or absence of interference of the component holder can be confirmed. This allows the component holder in the component mounter 10 to properly hold the components placed in the cavities, and ultimately allows the component mounter to properly mount the components.

The mark camera 26 is an example of an imaging device. The component holder 77 is an example of a holder. The gripping claws 80 are an example of a gripping claw. The cavity 92 is an example of a cavity. The electronic component 96 is an example of a component. The display device 108 is an example of a display device. The production program 110 is an example of a production program.

The present invention is not limited to the above embodiment, and can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. For example, in the above embodiment, the cavity image 120 and the electronic component image 122 are images based on imaging data obtained by imaging the actual object, but at least one of the cavity image 120 and the electronic component image 122 may be an image image that is a virtual image. That is, for example, the electronic component image 122 may be displayed on the display device 108 as an image image based on information about the component programmed in the production program 110. Also, for example, if information about the cavity 92 is programmed in the production program 110, the cavity image 120 may be displayed on the display device 108 as an image image based on information about the cavity 92.

In the above embodiment, when the confirmation work is performed, imaging data of the electronic components 96 stored in the tray 90 captured by the mark camera 26 is used, but imaging data of the electronic components 96 stored in the tray 90 captured by the mark camera 26 before the confirmation work may also be used. Then, imaging data captured before the confirmation work may be stored in the control device 34, and the image 120 of the cavity and the image 122 of the electronic components may be displayed on the display device 108 based on the imaging data stored in the control device 34.

In the above embodiment, a component holder 77 that holds a component with a pair of gripping jaws 80, a so-called chuck, is used as the holder, but a suction nozzle may also be used. In other words, an image of the cavity, an image of the component placed in the cavity, and an image of the suction nozzle may be displayed simultaneously on the display device 108 to check whether any part of the suction nozzle will interfere with the cavity 92 or the component placed in the cavity 92 when holding the component.

In the above embodiment, two-dimensional image data captured by the mark camera 26 is used, but imaging data captured by other types of imaging devices, such as a stereo camera, a video camera, or a three-dimensional camera, or multiple imaging devices, may also be used. Furthermore, imaging data captured by a stereo camera, a video camera, or a three-dimensional camera may be converted into two-dimensional imaging data, and the two-dimensional imaging data may be used.

In the above embodiment, when the holder equipped in the work head holds the component arranged in the cavity 92, the worker checks the image displayed on the display device 108 to see whether the component can be held well. However, for example, the control device 34 equipped in the component mounter 10 may automatically make the judgment and notify the worker. Also, information may be obtained from the component mounter 10, and a control device independent of the component mounter 10 may automatically make the judgment and display the information on the display device 108 equipped in the component mounter 10, or on a different display device.

26: Mark camera (imaging device) 77: Part holder (holder) 80: Grip jaw 92: Cavity 96: Electronic part (part) 108: Display device 110: Production program

Claims (5)

A display device that displays an image of a cavity, an image of a part placed in the cavity, and an image of a holder holding the part in a superimposed state, wherein the image of the holder includes an image of a pair of gripping claws provided on the holder, and displays the pair of gripping claws in the image so as to face a pair of gripping surfaces of the part gripped by the pair of gripping claws. The display device according to claim 1, wherein the image of the cavity is based on imaging data obtained by imaging the cavity with an imaging device. The display device according to claim 1 or 2 displays an image of the pair of gripping jaws based on a production program for the holder to hold the part. The image of the holder includes an image of a metal provided on the holder,
4. The display device according to claim 1, wherein an image of the cavity, an image of the part, and an image of the pair of gripping jaws and abutment of the holder are displayed in an overlapping state. When an image of a part disposed in a cavity and an image of a pair of gripping jaws gripping the part are displayed in a superimposed state, the pair of gripping jaws in the image are displayed so as to face a pair of gripping surfaces of the part gripped by the pair of gripping jaws,
An interference confirmation method for confirming whether the pair of gripping claws interfere with the cavity or an upward facing surface of the part disposed within the cavity when the pair of gripping claws move within a range of motion for gripping the part to grip the part.

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