JP3690653B2 - Mounting device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mounting method and a mounting apparatus for mounting a minute electronic component (hereinafter referred to as an article) such as an IC, a resistor, and a capacitor on a substrate.
[0002]
[Prior art]
Conventionally, for example, after a mounting head holds an article in an article supply unit, the image of the article is read by a reading head while the article is moved to the mounting unit by a moving unit. As the reading head, a CCD element that reads an article two-dimensionally, a camera with a built-in imaging tube, or the like is used, and an image of the article is read during the movement process of the article.
[0003]
A read head equipped with a CCD element, a camera, etc. reads an image of the entire article at the moment when the article passes through a corresponding position. Then, the relative position of the article with respect to the mounting head is detected based on the reading result of the reading head, and the relative position between the mounting head and the article is corrected based on the detection result, whereby the article is set to a preset position. Installing.
[0004]
[Problems to be solved by the invention]
However, a CCD element, a camera, or the like that reads an article two-dimensionally is expensive, and it is necessary to temporarily stop the movement when reading an image of the article, which takes time.
[0005]
For this reason, for example, as described in Japanese Patent Application Laid-Open No. 3-208080, there is one that reads an image of an article using a line sensor. However, since such a line sensor is usually fixed to a mounting apparatus, the article After moving to the line sensor, image processing by the line sensor is performed. For this reason, the movement path | route of articles | goods is limited, will perform an extra movement, and there exists a malfunction which requires time from supply to mounting | wearing.
[0006]
The present invention has been made in view of such points, and an object of the present invention is to provide a mounting method and a mounting apparatus that recognize a component in the process of moving the component from the supply unit to the mounting unit and reduce the mounting time. .
[0007]
[Means for Solving the Problems]
In order to solve the above-described problems and achieve the object, the present invention is configured as follows.
[0008]
The invention according to claim 1 is a mounting apparatus that reads an image of a component and moves the component to a predetermined position while moving the component from the supply unit to the mounting unit.
A mounting head on which nozzles for moving components to the mounting unit and mounting the components after the component is adsorbed in the supply unit;
A line sensor that is provided in the mounting head and performs data reading for recognizing a suction state of a component sucked by a nozzle by moving with respect to the component;
In the process of moving the component from the supply unit to the mounting unit, each time the mounting head moves from the supply unit to the mounting unit, the line sensor is moved from one of the nozzles to the other of the nozzles along the nozzle with respect to the component. A sensor moving means capable of alternately moving from the other side to the one side along the nozzle;
Each time the mounting head moves from the supply unit to the mounting unit, the movement direction of the line sensor is changed, and the data reading direction and the data reading start point are determined according to the position of the line sensor, and the component is attracted to the line sensor moving unit. A mounting apparatus characterized in that the movement direction of the line sensor is changed so that the data reading movement of the situation is sequentially performed and the suction state of the parts sucked by the nozzle is recognized. ].
[0009]
According to the first aspect of the present invention, the moving direction of the line sensor is changed every time the mounting head moves from the supply unit to the mounting unit, and the data reading direction and the data reading start point are determined by the position of the line sensor. Then, by causing the line sensor moving means to sequentially read the data on the component adsorption status, for example, if the line sensor is at the right end in the previous mounting process and the capture process has been completed, the line sensor Since data reading starts from the right end of the part to the left, the image capture is more efficient than the one in only one direction, and the line sensor moves to recognize the suction state of the part sucked by the nozzle. There is no waste and the mounting time can be shortened.
[0011]
The invention according to claim 2 is a mounting apparatus that reads an image of a component and moves the component to a predetermined position while moving the component from the supply unit to the mounting unit.
A mounting head in which a plurality of nozzles that move to the mounting unit and mount the component after the component is sucked in the supply unit are arranged in a row
A line sensor which is provided in the mounting head and performs data reading for recognizing the suction status of the parts sucked for each nozzle by moving with respect to the parts;
In the process of moving the component from the supply unit to the mounting unit, each time the mounting head moves from the supply unit to the mounting unit, the line sensor is moved from one side of the nozzle row to the other side of the nozzle row with respect to the component. And sensor moving means capable of alternately moving from the other side to the one side along the nozzle row,
Each time the mounting head moves from the supply unit to the mounting unit, the movement direction of the line sensor is changed, and the data reading direction and the data reading start point are determined according to the position of the line sensor, and the component is attracted to the line sensor moving unit. A mounting apparatus characterized in that the movement direction of the line sensor is changed so that the situation data reading movement is sequentially performed and the suction state of the parts sucked for each nozzle is recognized. ].
[0012]
According to the second aspect of the present invention, the moving direction of the line sensor is changed every time the mounting head moves from the supply unit to the mounting unit, and the data reading direction and the data reading start point are determined by the position of the line sensor. Then, by causing the line sensor moving means to sequentially read the data on the component adsorption status, for example, if the line sensor is at the right end in the previous mounting process and the capture process has been completed, the line sensor Since data reading starts from the right end of the part to the left, the image capture is more efficient than in one direction only, and the suction status of the parts picked up for each nozzle arranged in multiple rows is recognized. In doing so, the movement of the line sensor is not wasted, and the mounting time can be shortened.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. 1 is a schematic configuration diagram of the mounting apparatus, FIG. 2 is a plan view of the mounting head and the licensor unit, and FIG. 3 is a view as seen from the direction of arrow A in FIG.
[0015]
A transport line 1 is provided at the center of the mounting apparatus, and the transport line 1 transports the substrate 2 to the mounting unit 100. A supply unit 3 is arranged on both sides of the transport line 1, and the supply unit 3 supplies a component P with a feeder 4.
[0016]
The component P of the supply unit 3 is sucked by the mounting head 6, moved by the operation of the lateral movement unit 7 and the vertical movement unit 8, and mounted on the substrate 2 of the mounting unit 100. The horizontal direction moving means 7 and the vertical direction moving means 8 constitute a component moving means K1 for moving the component 5 from the supply unit 3 to the mounting unit 1.
[0017]
The mounting head 6 includes a head main body 70, a nozzle holder 71 provided on the head main body 70, and a plurality of nozzle portions 72 provided on the nozzle holder 71 so as to be movable up and down. The part P is adsorbed by this.
[0018]
The head main body 70 is attached to the shaft 9 of the lateral movement means 7, and the shaft 9 is rotated by a motor 10, whereby the mounting head 6 moves laterally on the shaft 9. The bracket 11 of the lateral movement means 7 is attached to the shaft 12 of the vertical movement means 8, and this shaft 12 is rotated by a motor 13, whereby the bracket 11 moves on the shaft 12 in the vertical direction. ing.
[0019]
The head main body 70 of the mounting head 6 is attached to the shaft 9 of the lateral movement means 7, and the shaft 9 is rotated by a motor 10, whereby the mounting head 6 moves laterally on the shaft 9. Yes.
[0020]
Further, the bracket 11 of the lateral movement means 7 is attached to the shaft 12 of the vertical movement means 8, and this shaft 12 is rotated by a motor 13 so that the bracket 11 moves on the shaft 12 in the vertical direction. It has become.
[0021]
Further, the bracket 11 is provided with a shaft 60, and the shaft 60 is rotated by a motor 61. A line sensor unit 62 is provided on the shaft 60, and the line sensor unit 62 moves on the shaft 60 by the rotation of the shaft 60. The shaft 60, the motor 61, and the line sensor unit 62 constitute sensor moving means K2 that moves the line sensor in conjunction with the movement of the component P.
[0022]
The line sensor unit 62 includes a line sensor 63 and mirrors 64 and 65, and the mirror 65 is positioned below the part P attracted to the nozzle portion 72 of the mounting head 6, and the image of the part P is the mirror 65. Is reflected through the mirror 64 and input to the line sensor 63.
[0023]
In the process of moving the component P from the supply unit 3 to the mounting unit 100, the line sensor 63 is moved with respect to the component P, the image of the component P is read and sent to the image processing unit 20. The relative position of the component P with respect to the mounting head 6 is detected based on the reading result of 63, and the relative position between the mounting head 6 and the component P is corrected based on the detection result, whereby the component P is set in a preset position. It is attached to.
[0024]
That is, in the process of moving the component P from the supply unit 3 to the mounting unit 100, the line sensor 63 is moved with respect to the component P and the image of the component P is read, so the component P is transferred from the supply unit 3 to the mounting unit 100. While moving, the component P can be recognized using the line sensor 63, and the mounting time can be shortened.
[0025]
For example, when the component P is located on the left side of the supply unit 3, it moves from the left side to the position on the substrate 2 of the mounting unit 100 along the paths a 1, b 1, c 1, d 1, e 1. The line sensor unit 62 is moved to the right from the left side of the row of the portions 72 to the vicinity of the nozzle portion 72 at the left end of the row, and further, in the vicinity of the nozzle portion 72 in order to recognize the suction state of the parts to the nozzle portion 72 Write to perform data reading moving image that moves the line sensor unit 62, following the recognition ready movement of the component suction status to move the line sensor unit 62 to the right until the next nozzle section 72 near, next nozzle portion 72 near Then, the data reading movement for moving the line sensor unit 62 to the right is sequentially performed, and the line sensor unit 62 is moved with respect to all the parts P adsorbed to each nozzle portion 72. Performs image reading, then mounted in a predetermined position.
[0026]
On the other hand, for example, when the component P is positioned on the right side of the supply unit 3, the component P moves from the right side to a position on the substrate 2 of the mounting unit 100 along the paths a2, b2, c2, d2, and e1, and a plurality of 1 The line sensor unit 62 is moved leftward from the right side of the row of nozzle rows 72 to the vicinity of the rightmost nozzle portion 72 of the row, and further, in the vicinity of the nozzle portion 72 in order to recognize the suction state of components on the nozzle portion 72 Then, the image data reading movement for moving the line sensor unit 62 to the left is performed, and the component suction status recognition preparation movement for moving the line sensor unit 62 to the left near the next nozzle portion 72 and the next nozzle The data reading movement for moving the line sensor unit 62 to the left in the vicinity of the part 72 is sequentially performed, and the line sensor unit 62 is applied to all the parts P sucked by the nozzle parts 72. Go and subjected to image reading, then mounted in a predetermined position.
[0027]
FIG. 4 is an operation flowchart of the mounting apparatus.
[0028]
In step a, the line sensor 63 is retracted so that the mounting head 6 does not get in the way of picking up the component P. In step b, the mounting head 6 picks up the component P and moves the component P to the mounting position (step c). In the process of moving the part P, the line sensor 63 is moved with respect to the part P to read an image (step d). When the reading of the image is completed, the line sensor 63 is retracted (step e), the position and inclination of the component P are recognized (step f), the position and inclination of the component P are corrected (step g), and a predetermined position is obtained. (Step h).
[0029]
FIG. 5 is a block diagram of an embodiment of the image processing unit. The image processing unit 200 according to this embodiment enables the line sensor to move with respect to the component from either the left or right side. In this embodiment, the image information read by the line sensor 630 is input to the A-D conversion unit 210 and input to the memory write control unit 220 as digital information. On the other hand, the capture direction determination unit 300 determines the capture direction and capture start point of the image based on the current position of the line sensor 630, and outputs them to the memory write control unit 220 and the capture start control unit 230. The capture start control unit 230 outputs a capture start command to the memory write control unit 220, and the memory write control unit 220 writes to the image memory 240 based on this command. Based on the information stored in the image memory 240, the position / tilt detection unit 250 recognizes the position and tilt of the component P, and the position / tilt correction unit 260 corrects the position and tilt of the component P from this. It has become.
[0030]
Therefore, for example, if the line sensor 630 is at the right end in the previous mounting process and the capturing process is completed, in the next mounting process, the line sensor 630 starts capturing an image from the right end of the component P toward the left. For this reason, the efficiency is improved as compared with the image capturing in only one direction.
[0031]
6 to 8 show other embodiments of the mounting apparatus, FIG. 6 is a schematic configuration diagram of the mounting apparatus, FIG. 7 is a plan view of the mounting head and the licensor unit, and FIG. 8 is viewed from the direction of arrow B in FIG. It is an arrow view.
[0032]
In this embodiment, the mounting head 6 is provided with a shaft 81 that is rotated by a motor 80, and the line sensor unit 62 can be moved by the rotation of the shaft 81. The line sensor unit 62 is configured in the same manner as described above, and the apparatus is miniaturized by providing the mounting head 6 with sensor moving means K2 that moves the line sensor unit 62 in conjunction with the movement of the component P. Can do. The sensor moving means K2 includes a line sensor unit 62, a motor 80, and a shaft 81.
[0033]
【The invention's effect】
As described above, according to the first aspect of the present invention, the movement direction of the line sensor is changed every time the mounting head moves from the supply unit to the mounting unit, and the data reading direction and the data reading start point depend on the position of the line sensor. If the line sensor is at the right end in the previous mounting process and the acquisition process has been completed, the line sensor moving means sequentially executes the component adsorption status data reading movement. Since the sensor starts reading data from the right end of the part to the left, the image capture is more efficient than the one in only one direction, and the line sensor is used for recognizing the suction state of the part sucked by the nozzle. There is no waste in movement, and the mounting time can be shortened.
[0035]
In the second aspect of the invention, the movement direction of the line sensor is changed every time the mounting head moves from the supply unit to the mounting unit, and the data reading direction and the data reading start point are determined according to the position of the line sensor. By causing the sensor moving means to sequentially read the data on the component pick-up status, for example, if the line sensor is at the right end in the previous mounting process, and the capture process has been completed, the line sensor will move to the right end of the component in the next mounting process. Since data reading starts from left to right, the image capture is more efficient than the one in only one direction, and the line is used for recognizing the suction status of parts picked up for each nozzle arranged in multiple rows. The movement of the sensor is not wasted, and the mounting time can be shortened.
[0036]
Further, by recognizing the suction state of all the parts sucked by each nozzle every time the line sensor is alternately moved, all the parts can be mounted at a predetermined position.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of a mounting apparatus.
FIG. 2 is a plan view of a mounting head and a licensor unit.
3 is an arrow view seen from the direction of arrow A in FIG. 2;
FIG. 4 is an operation flowchart of the mounting apparatus.
FIG. 5 is a block diagram of an image processing unit.
FIG. 6 is a schematic configuration diagram of a mounting apparatus.
FIG. 7 is a plan view of the mounting head and the licensor unit.
8 is a view as seen from the direction of arrow B in FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Conveyance line 3 Supply part 6 Mounting head 20 Image processing part 63 Line sensor 100 Mounting part P Component K2 Sensor moving means

Claims (2)

In a mounting apparatus that reads an image of this component and moves the component to a predetermined position while moving the component from the supply unit to the mounting unit.
A mounting head on which nozzles for moving parts to the mounting part and mounting the parts are arranged after sucking the parts in the supply unit;
A line sensor that is provided in the mounting head and performs data reading for recognizing a suction state of a component sucked by a nozzle by moving with respect to the component;
In the process of moving the component from the supply unit to the mounting unit, each time the mounting head moves from the supply unit to the mounting unit, the line sensor is moved from one of the nozzles to the other of the nozzles along the nozzle with respect to the component. A sensor moving means capable of alternately moving from the other side to the one side along the nozzle;
Each time the mounting head moves from the supply unit to the mounting unit, the movement direction of the line sensor is changed, and the data reading direction and the data reading start point are determined according to the position of the line sensor, and the component is attracted to the line sensor moving unit. A mounting apparatus characterized in that the movement direction of the line sensor is changed so that the situation data reading movement is sequentially performed and the suction state of the parts sucked by the nozzles is recognized. In a mounting apparatus that reads an image of this component and moves the component to a predetermined position while moving the component from the supply unit to the mounting unit.
A mounting head in which a plurality of nozzles that move to the mounting unit and mount the component after the component is adsorbed in the supply unit are arranged in a row;
A line sensor that is provided in the mounting head and performs data reading for recognizing the suction status of a component sucked for each nozzle by moving with respect to the component;
In the process of moving the component from the supply unit to the mounting unit, each time the mounting head moves from the supply unit to the mounting unit, the line sensor is moved from one side of the nozzle row to the other side of the nozzle row with respect to the component. And sensor moving means capable of alternately moving from the other side to the one side along the nozzle row,
Each time the mounting head moves from the supply unit to the mounting unit, the movement direction of the line sensor is changed, and the data reading direction and the data reading start point are determined according to the position of the line sensor, and the component is attracted to the line sensor moving unit. A mounting apparatus characterized in that the movement direction of the line sensor is changed so that the situation data reading movement is sequentially performed and the suction state of the parts sucked for each nozzle is recognized.

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