JP2009140945A - Component sucking apparatus, sucking position correcting method thereof and mounter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a component sucking apparatus capable of improving production efficiency. <P>SOLUTION: The component sucking apparatus includes: a plurality of component feeding means for feeding components; a head unit 40 having a head 41 provided thereon; a head unit moving means 4 for moving the head unit 40; a lower portion recognizing camera 21 arranged at the head unit 40 and consisting of a scanning camera; a camera moving means 25 for moving the camera 21 with respect to the head unit 40; an imaging control means for taking an image while allowing the camera 21 to pass above a component feeding position by moving at least any one of the head unit 40 and the camera 21; a sucking position confirming means for confirming the sucking position for the component on the head 41 on the basis of imaging information obtained by the imaging control means; and a component suction control means causing the head unit moving means 4 to move the head 41 to the sucking position and causing the head 41 to suck the component. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a component suction device that sucks a component supplied to a component supply position and a suction position correction method thereof.

  2. Description of the Related Art Conventionally, in a mounting machine that mounts electronic components on a printed circuit board, it is well known that a component supplied to a component supply position is picked up by a head, transferred to the substrate, and mounted.

  In such a mounting machine, when the component at the component supply position is picked up by the head, the head is moved toward the suction target position set in advance, but the position of the component supplied to the component supply position In the past, there has been proposed a technique for actually confirming the part position and correcting the suction target position based on the actual part position.

For example, in the mounting position correction method of the mounting machine shown in Patent Document 1, a lower imaging camera constituted by an area camera is fixed downward to the head unit, and the lower imaging camera is moved to the component supply position by moving the head unit, Therefore, the component supply position is imaged, and the suction target position is corrected based on the imaging result.
JP 2007-12888 (Claims)

  However, in the conventional mounting machine shown in Patent Document 1, since the lower imaging camera for imaging the component position is configured by an area camera (area sensor), when imaging the component position, the head unit is moved. Then, it is necessary to move the lower imaging camera to the component supply position, image the component supply position in a state where the lower imaging camera is stopped, and then move the head unit to move the head to the component supply position. As described above, since it is necessary to repeatedly move and stop the head unit every time the parts supply position is imaged, the time from the imaging to the suction becomes longer, resulting in a problem that the production efficiency is lowered.

  The present invention has been made in view of the above problems, and an object thereof is to provide a component suction device, a suction position correction method, and a mounting machine that can improve production efficiency.

  The present invention provides the following means.

[1] A plurality of component supply means for supplying components to their respective component supply positions;
A head unit provided with a head capable of sucking components;
A head unit moving means for moving the head unit;
A lower recognition camera which is provided on the head unit so as to image the lower side and is configured by a scan camera;
Camera moving means for moving the downward recognition camera along the arrangement direction of the component supply positions with respect to the head unit;
Imaging control means for imaging the component supply position while moving the lower recognition camera over the component supply position by moving at least one of the head unit and the lower recognition camera;
A suction position confirmation means for confirming the suction position of the head with respect to the component based on the imaging information by the imaging control means;
A component suction apparatus comprising: a component suction control unit that moves a head to a suction position by a head unit moving unit and sucks a component by the head.

[2] A plurality of heads are provided in the head unit along the arrangement direction of the component supply positions,
The imaging control means sequentially images a plurality of component supply positions sequentially,
The suction position recognition means confirms the suction position of each component at a plurality of component supply positions that have been imaged,
2. The component suction control device according to claim 1, wherein the component suction control means sucks a plurality of components whose suction positions have been confirmed sequentially by a plurality of heads.

  [3] The imaging control means includes a biaxial operation scan for imaging while moving both the head unit and the lower recognition camera in the arrangement direction of the component supply positions, and the head unit in a state where the lower recognition camera is fixed to the head unit. Appropriate conditions between head single-axis motion scan that captures images while moving in the array direction and camera single-axis motion scan that captures images while moving the lower recognition camera in the array direction relative to the head units with the head unit fixed 3. The component suction device according to 1 or 2 above, wherein imaging is performed with

  [4] The component supply apparatus according to any one of [1] to [4], wherein the moving speed of the lower recognition camera with respect to the component supply position is kept constant during imaging by the imaging control unit.

[5] A plurality of heads are provided in the head unit along the arrangement direction of the component supply positions,
An imaging confirmation process in which one component supply position is imaged by the imaging control unit among a plurality of component supply positions and the suction position of the component at the component supply position is confirmed by the suction position confirmation unit, and the suction position is confirmed. 2. The component suction apparatus according to item 1, wherein the suction processing for alternately sucking the one component by the component suction control means is performed.

  [6] The component suction device according to any one of [1] to [5], wherein the lower recognition camera is provided in the head unit so as to be disposed below the head.

[7] A mounting machine for mounting components on a board,
The component suction device according to any one of the preceding items 1 to 6,
A mounting machine comprising: component transfer mounting means for mounting a component adsorbed by a head by moving it to a substrate position by a head unit moving unit.

[8] A plurality of component supply means for supplying the components to their component supply positions, a head unit provided with a head capable of attracting the components, a head unit moving means for moving the head unit, and a head unit A component comprising: a lower recognition camera configured to image the side and configured by a scan camera; and a camera moving unit that moves the lower recognition camera along the arrangement direction of the component supply position with respect to the head unit. A suction position correction method for a suction device, comprising:
By moving at least one of the head unit and the lower recognition camera, while imaging the component supply position while passing the lower recognition camera over the component supply position,
Based on the imaging results, confirm the actual suction position for the head component,
Based on the actual suction position, the preset suction target position is corrected,
A suction position correction method for a component supply apparatus, wherein the head is moved to a corrected suction target position by a head unit moving means, and the component is sucked by the head.

  According to the component suction device according to the invention [1], since the downward recognition camera is configured by the scan camera, it is possible to capture images smoothly while moving on the component supply position, and to improve production efficiency. Furthermore, if necessary, by capturing the image while moving the lower recognition camera and the head unit together, it is possible to capture an image at a higher speed and further improve the production efficiency.

  According to the component adsorbing device according to the invention [2], the above effect can be obtained more reliably.

  According to the component suction device according to the invention [3], since it is possible to take an image under appropriate conditions, the production efficiency can be further improved.

  With the component suction device according to the above invention [4], it is possible to improve imaging accuracy.

  According to the component suction device according to the above inventions [5] and [6], the time from component imaging to component suction can be shortened, and the production efficiency can be further improved.

  According to the invention [7], it is possible to provide a mounting machine having the same effects as described above.

  According to the invention [8], it is possible to provide a suction position correction method for a component suction device that exhibits the same effects as described above.

<First Embodiment>
FIG. 1 is a plan view showing an example of a mounting machine M1 according to an embodiment of the present invention, and FIG. 2 is a front view showing the periphery of the head unit of the mounting machine M1.

  As shown in both figures, the mounting machine M1 includes a conveyor 20 disposed on the base 11, component supply units 30 provided on both sides of the conveyor 20, and a head provided above the base 11. Unit 40.

  The conveyor 20 can transport an unmounted printed board W from the board carry-in section to the mounting position, and can transport the mounted board W from the mounting position to the board discharge section.

  The component supply unit 30 is provided on the front side and the rear side with respect to the conveyor 20. In this embodiment, the component supply unit 30 is configured so that a plurality of tape feeders 31... Each reel of the tape feeder 31 is set with a tape on which electronic parts such as ICs, transistors, capacitors, etc. are stored at predetermined intervals. The tapes are fed out in order to supply the electronic parts. The position (supply window) 35 is sequentially supplied.

  The head unit 40 is movable in a region extending between the component supply unit 30 and the mounting position on the substrate W so that the component supplied to the component supply position 35 can be picked up and mounted on the substrate W. Specifically, the head unit 40 is supported by a head unit support member 42 extending in the X-axis direction (the substrate transport direction of the conveyor 20) so as to be movable in the X-axis direction. The head unit support member 42 is supported at both ends thereof by guide rails 43 and 43 extending in the Y-axis direction (a direction orthogonal to the X-axis in a horizontal plane) so as to be movable in the Y-axis direction. The head unit 40 is driven in the X axis direction by the X axis motor 44 via the ball screw 45, and the head unit support member 42 is driven in the Y axis direction by the Y axis motor 46 via the ball screw 47. To be done.

  In the present embodiment, the head unit moving means 4 is constituted by the head unit support member 42, the guide rail 43, the X-axis motor 44, the ball screw 45, the Y-axis motor 46, the ball screw 47, and the like.

  In the head unit 40, a plurality of heads 41 for component mounting are arranged side by side in the X-axis direction.

  Each head 41 is driven in the vertical direction (Z-axis direction) by an elevating mechanism using a Z-axis motor as a drive source, and in the rotation direction (R-axis direction) by a rotation drive mechanism using an R-axis motor as a drive source. It is designed to be driven.

  The heads 41 are provided with suction nozzles 411 for sucking and sucking the electronic component A and mounting them on the substrate W, respectively.

  Each suction nozzle 411 is connected to a negative pressure means (not shown), and when a negative pressure is supplied from the negative pressure means, an electronic component is sucked by a suction force generated by the negative pressure.

  As shown in FIGS. 1 to 3, the head unit 40 is provided with a camera unit 2. The camera unit 2 includes a lower recognition camera 21 provided in a mode capable of imaging the lower side, and a camera moving unit 25 that supports the camera 21 on the head unit 40 so as to be movable.

  The camera moving means 25 has a linear guide 26 provided on the front side of the head unit 40 and continuously extending in the X-axis direction. The linear guide 26 is disposed over a long range from one end of the head unit 40 in the X-axis direction to the other end.

  Further, the linear guide 26 is provided with a camera support member 27 slidable along the length direction (X-axis direction) of the linear guide 26.

  The camera 21 is fixed to the lower end portion of the camera support member 27 in a state where the imaging direction (image capturing portion) is arranged downward. Illumination means 23 composed of a plurality of LEDs or the like is provided on both sides of the camera 21, and the imaging area (subject) can be illuminated by the illumination means 23.

  The downward recognition camera 21 is configured by a scan camera such as a line sensor or a storage type line sensor (TDI sensor “Time Delay Integration sensor”) that accumulates charges by a plurality of line sensors arranged in parallel. As described above, the position reference mark of the substrate W, the substrate ID mark, and the like can be imaged while passing over the component supply position 35 while imaging the component at that position 35 and passing over the substrate W. Yes.

  1 to 3, a ball screw 28 is provided on the front side of the head unit 40 so as to be rotatable about its axis. The ball screw 28 is disposed along the X-axis direction in parallel with the linear guide 26 and is disposed over a long range from one end to the other end of the head unit 40 in the X-axis direction.

  A ball nut 281 corresponding to the ball screw 28 is fixed to the camera support member 27 that supports the lower imaging camera 21, and the ball nut 281 is attached to be screwed into the ball screw 28. ing.

  Further, a camera moving motor (camera X-axis motor) 29 such as a servomotor is attached to the front side of the head unit 40 corresponding to one end of the ball screw 28. When the motor 29 is rotationally driven, the ball screw 28 is rotated so that the camera support member 27 is moved along with the camera 21 along the X-axis direction.

  The moving range of the camera 21 is set to a range from one end to the other end in the X-axis direction of the head unit 40, and can move further outside the heads 41, 41 at both ends.

  In the present embodiment, the camera moving means 25 is configured by the linear guide 26, the camera support member 27, the ball screw 28, the camera moving motor 29, and the like.

  A component recognition camera 12 including a scan camera such as a line sensor camera or a TDI sensor camera is provided between the component supply unit 30 and the conveyor 20 in the mounting machine M1. The camera 12 can detect a component displacement or the like by imaging the component transferred by the head unit 40 from below.

  In the present embodiment, the component recognition camera 12 is configured by a scan camera. However, the present invention is not limited thereto, and in the present invention, the component recognition camera may be configured by an area sensor camera or the like.

  FIG. 4 is a block diagram showing a control system of the mounting machine M1. As shown in the figure, the mounting machine M1 of this embodiment includes a control device (controller) 6 composed of a personal computer or the like, and the control device 6 controls various operations of the mounting machine M1.

  The control device 6 includes an arithmetic processing unit 60, a mounting program storage unit 63, a conveyance system data storage unit 64, a motor control unit 65, an external input / output unit 66 and an image processing unit 67.

  The arithmetic processing unit 60 comprehensively manages various operations of the mounting machine M1.

  The mounting program storage unit 63 stores a mounting program (mounting data) for mounting each electronic component on the board W. This production program includes data relating to the mounting position (coordinates) and orientation of each electronic component based on the circuit pattern of the substrate W, the position (coordinates) of the tape feeder 31 supplied to each electronic component, and the like.

  The transfer system data storage means 64 stores various data related to the transfer of the substrate W on the production line.

  Further, the motor control unit 65 controls the operation of the drive motors for the XYZR axes of the head unit 40 (head 41), the camera moving motor (camera X-axis drive motor) 29, and the like.

  The external input / output unit 66 inputs / outputs various information to / from the various sensors included in the mounting machine M1 and a driving unit such as an air cylinder for advancing / retreating the suction nozzle.

  The image processing unit 67 processes image data (image information) captured by the component photographing camera 12 and the board photographing camera 21.

  The control device 6 is connected to a display unit 62 such as a CRT display or a liquid crystal display for displaying various information. Furthermore, an input unit (not shown) such as a keyboard and a mouse for inputting various information is connected to the control device 6.

  In the mounting machine M1 having the above configuration, the control device 6 operates in response to an operation start command input via the input unit, and the drive of each drive unit is controlled by the control device 6 to perform the following operations. Is done automatically.

  In the operation of the mounting machine M1, first, as shown in FIG. 5, a mounting program (mounting data) relating to the substrate W to be mounted is read (step S1). This mounting data is fetched from a recording medium such as a CD-ROM, DVD-ROM, or diskette, a storage device such as a hard disk, a host computer or the like via a LAN or Internet network line.

  Next, the unmounted substrate W is carried into a predetermined position by the conveyor 20 (step S2).

  Subsequently, the head unit 40 moves to the position of the loaded substrate W, and a reference mark or the like provided on the substrate W is imaged by the lower recognition camera 21 of the head unit 40, and the position and type of the substrate W, etc. Is recognized.

  Next, when a group of a plurality of parts sucked by the heads 41... In one cycle of operation (one mounting operation by the head unit 40) is set as the same suction group, each of the same suction group to be mounted from now on. Component data is acquired from the mounting data (step S3).

  The component data includes a component-specific number (component number) provided for each component type, a head number (head number) that picks up the component with that number, and a feeder number (feeder number) that supplies the component with that number. ), Data relating to the component supply position (coordinates) of the feeder, the mounting position (coordinates) of the component on the board, the mounting direction (orientation), and the like.

  Subsequently, a component suction process (step S4) by the head unit 40 is performed. In this component suction process, first, as shown in FIG. 6, the supply position (component position) of the component to be suctioned is imaged (step S41). . In the present embodiment, when imaging a component position, a forward scan in which the lower recognition camera 21 is moved downstream in the X-axis direction (downstream direction X2), and the lower recognition camera 21 is upstream in the X-axis direction (upstream). Reverse scanning is performed in which an image is captured while moving in the direction X1).

  In the forward scan, when the tape feeders 31 that supply parts of the same suction group are arranged as indicated by hatching in FIGS. 9 to 11, the tape feeder arrangement direction (X The lower recognition camera 21 is arranged at the position of the upstream end portion (the right end portion in FIGS. 9 to 11) in the axial direction, and the lower recognition camera 21 is moved in the forward direction from that position. The part supply position (part supply window 35) of each tape feeder 31 is imaged.

  9 to 11, 12 to 14, and 22 to 28, the head unit 40 is arranged so that the Y-axis direction position of the lower recognition camera 21 matches the Y-axis direction position of the component supply position of the tape feeder 31. , Located in the Y-axis direction.

  Also, as shown in FIGS. 12 to 14, in the backward scanning, among the tape feeders 31 that supply parts of the same suction group, the downstream end position in the X-axis direction (the left end position in FIGS. 12 to 14). In addition, the lower recognition camera 21 is arranged, and the lower recognition camera 21 is moved in the upstream direction X1 from the position, and the component supply position (component supply window 35) of each tape feeder 31 is imaged during the movement.

  Furthermore, in the present embodiment, when imaging is performed by the downward recognition camera 21, as described below, any one of the operating conditions (scanning operating conditions) of the head single axis operation, the camera single axis operation, and the biaxial operation is described. )

  In the head single-axis operation, as shown in FIG. 9 and the like, the lower recognition camera 21 is fixed to the head unit 40, and imaging is performed while moving only the head unit 40 along the X-axis direction.

  In the camera single-axis operation, the head unit 40 is fixed, and only the downward recognition camera 21 is imaged while moving relative to the head unit 40 along the X-axis direction.

  In the biaxial operation, as shown in FIGS. 10 and 11, in parallel with the movement of the head unit 40 along the X-axis direction, the lower recognition camera 21 captures an image while moving in the same direction with respect to the head unit 40.

  It should be noted that, as in the first embodiment, the camera single-axis operation is not basically used when the parts supply positions 35 of the same suction group are continuously imaged at a time. That is, the moving speed of the lower recognition camera 21 on the head unit 40 is slower than the moving speed of the head unit 40, and the camera moving distance (imaging distance) is short in the single-axis camera operation, so that the entire imaging range is reliably imaged. It may not be possible. For this reason, even under conditions where camera single-axis operation can be performed, head single-axis operation is generally performed with priority, and in the first embodiment, imaging by camera single-axis operation is not performed. ing. Needless to say, in the first embodiment (the present invention), imaging by camera single-axis operation may be performed in consideration of the position of the lower recognition camera 21 after imaging, the position of the head unit 40, and the like. For reference, in the second embodiment to be described later, imaging is performed by camera single-axis operation.

  In this embodiment, which of these operating conditions is used for imaging will be described in detail later.

  In the present embodiment, the control device 6 that controls the imaging of the component supply position while moving the lower recognition camera 21 functions as an imaging control unit.

  Next, the captured image data of the component supply position (imaging information) is processed, and partial images are cut out for each component supply position (supply window) 35 of all tape feeders to be picked up. Get a partial image. Then, for each tape feeder, the X-axis direction position (coordinates), Y-axis direction position (coordinates), and R-axis direction of the center position (suction position) of the component are detected for each tape feeder (step S42 in FIG. 6). . When detecting the suction positions of the components, the image data may be detected in a connected state without being cut out for each component supply position.

  The detected actual component suction position and orientation (R-axis direction) is compared with the reference component suction position (suction target position) and orientation included in the mounting data. If they are different, a correction value is calculated. The Thus, for each head 41, a correction value is calculated for each of the corresponding component feeder positions 35 in the tape feeders 31 (step S43).

  In the present embodiment, the image data is processed to detect the component suction position and the component orientation, the detected actual component suction position and orientation, and the reference component suction position and orientation included in the mounting data. The control device 6 that performs control so as to calculate the correction value functions as a suction position confirmation unit.

  After the correction value is calculated, the head unit 40 that performs the first suction as the head unit 40 moves toward the suction target position to which the position correction value is added, supplies the components of the corresponding tape feeder 31. The head 41 (suction nozzle 411) rotates in the R-axis direction according to the correction value in the R-axis direction, and the orientation of the suction nozzle 411 with respect to the components is adjusted. Thus, at the same time as the head 41 is lowered, the suction nozzle 411 is set to a negative pressure, and the center position (corrected suction target position) of the component is sucked by the suction nozzle 411 (step S44).

  Subsequently, when there is a remaining part that is not picked up in the same picking group (NO in step S45), the next head 41 is adjusted while the part target position and orientation are corrected as necessary, as described above. The component moves to the component supply position 35 of the corresponding tape feeder 31, and the component is sucked by the suction nozzle 41 of the head 41.

  In the present embodiment, the control device 6 that controls to pick up the components by the respective heads 41 while adding the correction value functions as the component pickup control means.

  When the suction of all the parts in the same suction group is completed (YES in step S45), the suction process (step S4) is completed.

  Needless to say, when it is not necessary to correct the position and orientation in the suction process (such as when the correction value is “0”), the parts are sucked according to the suction target position and orientation included in the mounting data in advance.

  After the suction process is completed, the parts sucked by the head unit 40 are mounted on the substrate W (step S5).

  In this mounting process, as shown in FIG. 7, the head unit 40 moves from the component supply unit 30, and each component sucked by each suction nozzle 41 sequentially passes through the component recognition camera 12 and is imaged ( Step S51).

  Next, the image data of the imaged part is processed to acquire a part image for each part. Then, the position (coordinates) of the component with respect to the suction nozzle 41 and the R-axis direction are detected from the component images (step S52).

  If the actual component position and orientation (R-axis direction) detected in this way are compared with the ideal component position (suction target position) and orientation held on the mounting machine side, A deviation amount and a rotation deviation amount (correction value) are calculated. In this way, the correction value is calculated for each component for each head 41 (step S53).

  On the other hand, in parallel with the calculation of the correction value, the head unit 40 moves to the substrate position while the correction value (position shift amount) of the position is added, and the head 41 to be mounted first is The head 41 (suction nozzle 411) rotates in the R-axis direction according to the orientation correction value (rotation deviation amount) and is disposed on the position where the substrate W is to be mounted. Is adjusted. Subsequently, at the same time when the head 41 (suction nozzle 411) is lowered, the suction nozzle 411 is set to a positive pressure, and the components held by the suction nozzle 411 are mounted at predetermined positions on the substrate W. While being corrected in this way, the components held by the heads 41 of the head unit 40 are sequentially mounted on the substrate, and all the components held by the head unit 40 are mounted on the substrate (step S54). This completes the mounting process (step S5).

  Here, in the present embodiment, the control device 6 that controls the component sucked by the head 41 to be transferred to the substrate position and mounted on the substrate W functions as a component transfer mounting unit.

  After the mounting process (step S5) is completed, if there are remaining components to be mounted on the substrate W (YES in step S6), the components are sequentially sucked from the tape feeder 31 by the head unit 40 as described above. Then, each sucked component is moved to the substrate position and mounted at a predetermined position.

  Then, when all the scheduled components are mounted on the substrate W (NO in step S6), the mounting process for the substrate W is completed, and the substrate W is carried out by the conveyor 20 (step S7).

  Subsequently, in the mounting machine M1, it is determined whether or not there is a substrate W to be mounted next. If there is (YES in step S8), the next substrate W to be mounted is predetermined by the conveyor 20. Is carried to the mounting position (step S2), and the same mounting operation as described above is repeated.

  If there is no more substrate W to be mounted (NO in step S8), the mounting operation is completed and the board is ready to be loaded.

  Next, the component position imaging operation in step S41 will be described in detail.

  When recognizing the component supply position 35 of each tape feeder 31, first, an imaging range is calculated (step S411). This imaging range can be calculated from the position data obtained by acquiring the component supply position of each tape feeder 31 that supplies each component of the same suction group based on the component data acquired in step S3.

  That is, the range from the position where the X coordinate position is the largest to the position where the X coordinate position is the smallest among the component supply positions of all the acquired tape feeders 31 is specified as the imaging range. Note that the imaging distance can also be accurately calculated from the difference between the two coordinate positions.

  In this embodiment, as shown in FIGS. 9 to 11, the imaging range is “R”, the upstream end position of the imaging range R is “Pr1”, and the downstream end position is “Pr2”. . Furthermore, in these drawings, the tape feeder 31 for supplying the parts to be sucked by the head 41 (parts in the same suction group) is indicated by hatching (the same applies to FIGS. 12 to 17 below).

  After specifying the imaging range R, the current position (coordinates) of the head unit 40 and the position (coordinates) of the lower imaging camera 21 with respect to the head unit 40 are acquired (step S412). These current positions can be acquired based on initial reference position data, for example, immediately after the start of production, and in the case of production, position data at the time when the mounting of the component on the substrate W is completed. Can be obtained based on.

  Next, selectable scanning operation conditions are extracted based on the current positions of the head unit 40 and the lower imaging camera 21 and the imaging range R, and a required time (preparation imaging time) for each scanning operation condition is calculated. (Step S413).

  That is, when imaging the imaging range R, the lower imaging camera 21 is moved from the current position to one of the end positions “Pr1” and “Pr2” of the imaging range R, while in the present embodiment, as described above. In addition, the imaging range R is imaged under either one of the head single-axis operation and the biaxial operation.

  Therefore, when imaging is performed with a single head movement in the forward direction, for example, as shown by the solid line in FIG. 9, the lower recognition camera 21 is arranged at the upstream end position “Pr1”, and only the head unit 40 is moved therefrom. In the downstream direction X2, the lower recognition camera 21 is moved to the downstream end position “Pr2” as shown by an imaginary line (dashed line) in the figure, and the imaging region R is imaged during the movement. Become.

  On the other hand, when performing a reverse head single-axis operation scan, for example, as shown by the solid line in FIG. 12, the lower recognition camera 21 is arranged at the downstream end position “Pr2”, and only the head unit 40 is moved therefrom. As shown by the imaginary line in the figure, the lower recognition camera 21 is moved to the upstream end position “Pr1” and the imaging region R is imaged during the movement.

  On the other hand, when performing imaging in the positive biaxial operation, the lower recognition camera 21 is moved to the downstream end position of the head unit 40 when the lower recognition camera 21 is moved to the upstream end position “Pr1”. If there is, the lower recognition camera 21 cannot be moved in the downstream direction X <b> 2 with respect to the head unit 40, so the lower recognition camera 21 needs to be arranged on the upstream side of the head unit 40. From this state, the head unit 40 is moved in the downstream direction X2, and the lower recognition camera 21 is also moved in the downstream direction X2 with respect to the head unit 40, and the imaging range R is imaged. In this imaging, the speed of the lower recognition camera 21 with respect to the imaging range R is a speed obtained by adding the moving speed of the lower recognition camera 21 to the moving speed of the head unit 40, and imaging can be performed at high speed.

  For example, as shown by the solid lines in FIGS. 10 and 11, the head unit 40 and the lower recognition camera are arranged with the lower recognition camera 21 arranged on the upstream side of the head unit 40 at the upstream end position “Pr1”. 21 is moved to the downstream direction X2 side, and the lower recognition camera 21 is moved to the downstream end position “Pr2” as shown in both imaginary lines.

  Further, when imaging is performed in the reverse biaxial operation, for example, as shown by the solid lines in FIGS. 13 and 14, the lower recognition camera 21 arranged on the downstream side of the head unit 40 is connected to the downstream end position “Pr2”. The head unit 40 and the lower recognition camera 21 are both moved in the upstream direction X1, and the lower recognition camera 21 is moved to the upstream end position “Pr1” as indicated by the imaginary lines in both figures.

  Here, if the speed of the lower recognition camera 21 with respect to the imaging range R changes during imaging, the lower recognition camera 21 cannot recognize the imaging range R with high accuracy, and even if image processing is performed, distortion occurs in the image. There is a possibility that imaging accuracy is lowered and it is difficult to accurately grasp the component supply position.

  Therefore, in the present embodiment, when imaging with a biaxial operation, for example, both the head unit 40 and the lower recognition camera 21 are arranged so that the speed of the lower recognition camera 21 with respect to the imaging range R is constant over the entire imaging range R. It moves at a constant speed.

  For this reason, as shown in FIG. 10, when imaging is performed in the biaxial motion in the forward direction, when the movement distance of the head unit 40 is extremely long compared to the movement distance of the lower recognition camera 21 relative to the head unit 40 at the time of imaging. Since the lower recognition camera 21 may move to the downstream end position “Ph2” of the head unit 40 during the imaging and only the lower recognition camera 21 may stop, the moving speed of the lower recognition camera 21 is set to be higher than the rated speed. The head unit 40 and the lower recognition camera 21 are adjusted so as to move at a constant speed until the imaging is completed.

  Further, when the movement distance of the lower recognition camera 21 relative to the head unit 40 can be ensured, for example, when the lower recognition camera 21 is arranged at the upstream end of the head unit 40, as shown in FIG. The unit 40 and the lower recognition camera 21 are adjusted so as to capture images while moving at the rated maximum speed.

  When the imaging range R is narrow, the lower recognition camera 21 does not move to the downstream end position of the head unit 40 and is at an intermediate position, and the lower recognition camera 21 is at the downstream end position of the imaging range R. However, in this case, the lower recognition camera 21 is moved to the upstream end or the downstream end of the head unit 40 without performing the imaging after the imaging is completed. It ’s fine. In some cases, the lower recognition camera 21 may be disposed at an intermediate position of the head unit 40 after the end of imaging.

  Further, when the lower recognition camera 21 is to be arranged at the downstream end position of the head unit 40 at the end of imaging, the moving speed of the head unit 40 is made slower than the rated speed, and at the end of imaging. Adjustment may be made so that the lower recognition camera 21 reaches the downstream end position of the head unit 40.

  As described above, in the biaxial operation, either the high-speed biaxial operation (see FIG. 11) in which the head unit 40 and the lower recognition camera 21 are respectively moved at the rated high speed, or the head unit 40 and the lower recognition camera 21 is operated at the rated speed. It can be divided into a shift biaxial operation (see FIG. 10) that moves at a slower speed.

  Even in the case of imaging in the reverse two-axis operation, it can be divided into the reverse shift two-axis operation (see FIG. 13) and the reverse high-speed two-axis operation (see FIG. 14) as described above.

  In the present embodiment, the shortest imaging time among the above-described scanning operations is imaging with high-speed biaxial operation (high-speed biaxial operation scanning), and then imaging with variable-speed biaxial operation (transmission biaxial) (Operation scan) and the longest imaging time is imaging in the head single-axis operation (head single-axis operation scan). Note that when the moving speed on the head unit 40 side is slowed down in the variable speed biaxial operation scan, the imaging time may be longer than in the head single axis operation scan. Since it is only necessary to perform the head single-axis operation scan without performing the operation scan, in this embodiment, the variable-speed two-axis operation scan always has a shorter imaging time (movement time) than the head single-axis operation scan.

  On the other hand, after all the electronic components sucked by the respective suction nozzles 411 are mounted on the substrate W, the lower recognition camera 21 can be imaged before the head unit 40 is moved from the upper position of the substrate W and imaging is started. It is necessary to arrange at positions “Pr1” and “Pr2”. That is, the head unit 40 is moved from the current position immediately after the mounting of the suction component, or the lower recognition camera 21 is further moved, and the lower recognition camera 21 can be imaged (the position of the lower recognition camera 21 in the Y-axis direction). Coincides with the position in the Y-axis direction of the component supply position of the tape feeder 31, and the preparation time for moving the position in the X-axis direction of the lower recognition camera 21 to the position in the vicinity of either one of the imaging ranges is required. . In the present embodiment, the sum of the preparation time and the actual imaging time is used as the preliminary imaging time, and the preliminary imaging time under all selectable scan operation conditions is calculated in advance, and the most preliminary imaging is performed. A scan operation condition with a short time is selected, and actual imaging is performed under the condition.

  The preparation time for the head single-axis operation scan is the time from the state of the head unit 40 and the lower recognition camera 21 in the upper position of the substrate W immediately after mounting to the state where the head single-axis operation scan is enabled.

  For example, as shown in FIG. 15, the current position of the head unit 40 in the upper position of the substrate W immediately after mounting is located on the upstream side in the X-axis direction with respect to the imaging range R, and the head unit with respect to the component supply position of the tape feeder 31. When the downward recognition camera 21 mounted on 40 is positioned on the substrate W side by Ly in the Y-axis direction, and the downward recognition camera 21 is disposed downstream of the head unit 40, the forward direction head In order to perform a single-axis operation scan, the head unit 40 is moved in parallel in the X-axis direction and the Y-axis direction, and the lower recognition camera 21 is disposed at the upstream end position “Pr1” as shown in FIG. . In this case, of the movement time in the X-axis direction and the movement time in the Y-axis direction of the head unit 40, the longer movement time becomes the preparation time.

  In the present embodiment, as described above, the movement time (preparation time) is estimated before the head unit 40 is actually moved to a scannable state. ) And the scan start position (coordinates), the amount of movement in the X-axis direction (distance Lx) and the amount of movement in the Y-axis direction (distance Ly) are obtained, and calculated from the amounts of movement Lx, Ly and the movement speed in each direction of XY. can do.

  15 to 17 are views in which the head unit 40 is in the state immediately after all the heads 41 have finished mounting the suction components above the substrate W in the Y-axis direction. In order for the Y-axis direction position of the lower recognition camera 21 to coincide with the Y-axis direction position of the component supply position of the tape feeder 31, it is necessary to move the head unit 40 by Ly in the Y-axis direction. The distance by which the head unit 40 is moved in the X-axis direction in parallel with the movement in the Y-axis direction is indicated by an arrow Lx.

  The imaging time is the time from the start to the end of imaging. Although the imaging time is also calculated in advance, the imaging time by the forward head single-axis operation scan can be calculated by the rated moving speed of the head unit 40 and the length of the imaging range R in the X-axis direction.

  The preparation time and imaging time calculated in this way are added, and before the head unit 40 is moved to a scannable state, the preparation imaging time by the forward head single-axis operation scan is calculated (step S413 in FIG. 8). .

  On the other hand, the current position on the substrate W immediately after mounting is the same as that in FIG. 15 described above, and in order to perform a forward-shifting biaxial operation scan, the head unit 40 is moved in the X and Y axes and simultaneously the lower recognition camera 21 is moved to the head. The unit 40 is moved in the upstream direction X1, and the lower recognition camera 21 is disposed at the intermediate position of the head unit 40 as shown in FIG. In this case, the longest movement time is the preparation time after the movement time of the head unit 40 in the X-axis direction, the movement time in the Y-axis direction, and the movement time in the upstream direction of the lower recognition camera 21. The preparation time of the downward recognition camera 21 can be calculated from the movement amount (distance) of the camera 21 and the movement speed.

  Further, the imaging time by the forward-direction shift biaxial operation scan is calculated based on the speed obtained by adding the moving speed of the head unit 40 in the X-axis direction and the moving speed of the lower recognition camera 21 and the length of the imaging range R in the X-axis direction. be able to.

  The preparation time and imaging time calculated in this way are added, and the preparation imaging time by the forward direction shift biaxial operation scan is calculated (step S413).

  The current position on the substrate W immediately after mounting is the same as in FIG. 15 described above, and in order to perform forward high-speed two-scan, the head unit 40 is moved in the XY-axis direction and the lower recognition camera 21 is moved in the upstream direction X1. Then, as shown in FIG. 11, the lower recognition camera 21 is arranged at the upstream end position “Pr1” in a state of being arranged upstream of the head unit. Similarly to the above, the longest movement time among the X-axis movement time, the Y-axis movement time, and the camera movement time of the head unit 40 is held as the preparation time.

  Further, the imaging time by the forward high-speed biaxial operation scan is calculated by adding the rated (fastest) moving speed of the head unit 40 and the rated (fastest) moving speed of the lower recognition camera 21 and the length of the imaging range R in the X-axis direction. Can be calculated based on

  The preparation time and imaging time calculated in this way are added, and the preparation imaging time by the forward high-speed biaxial motion scan is calculated (step S413).

  On the other hand, as shown by an imaginary line in FIG. 15, even when the lower recognition camera 21 is arranged on the downstream side with respect to the head unit 40 in the state immediately after mounting in which the head unit 40 is arranged above the substrate W, it is fundamental. First, a forward scan is performed in which the lower recognition camera 21 is moved from the upstream side to the downstream side. That is, a transition time (preparation time) from a state immediately after mounting in which the head unit 40 is disposed above the substrate W to a state where the single-axis motion scan in the forward direction can be performed (see FIG. 9), and a state where the two-axis motion scan in the forward direction can be performed. The transition time (preparation time) to each (see FIGS. 10 and 11) is calculated in the same manner as described above, and the imaging time in each scan operation condition is calculated in the same manner as described above to prepare for each imaging operation condition Time is calculated (step S413).

  Here, in this embodiment, when the head unit 40 is moved from the state shown in FIG. 15 to a scannable position, the X-axis movement amount Lx of the head unit 40 is shorter than the Y-axis movement amount Ly. Since there is a margin in the X-axis movement compared to the axis movement, the head unit 40 is further moved in the downstream direction X2 and the lower recognition camera 21 is moved in the upstream direction X1 using the time of the margin. . As a result, it is possible to perform a high-speed biaxial operation scan and a variable-speed biaxial operation scan with a short imaging time without increasing the preparation time, and the preparation imaging time can be shortened.

  Conversely, when the X-axis movement amount Lx of the head unit 40 is longer than the Y-axis movement amount Ly, the lower recognition camera 21 is moved using the entire X-axis movement time, so that the speed is high. It is also possible to take an image under scanning operation conditions.

  In the present embodiment, as shown in FIG. 15, when the current position of the head unit 40 immediately after mounting disposed above the substrate W is on the upstream side in the X-axis direction with respect to the imaging range R, basically, The preparatory imaging time can be shortened by performing forward scanning in which the recognition camera 21 is moved from the upstream side to the downstream side. However, in the present invention, the backward scan may be performed even when the current position of the head unit 40 is upstream of the imaging range R.

  On the other hand, as shown in FIG. 16, when the head unit 40 immediately after mounting arranged above the substrate W is arranged on the downstream side in the X-axis direction with respect to the imaging range R, the case shown in FIG. Therefore, the lower recognition camera 21 is moved to the position “Pr2” on the downstream side of the imaging range, and the backward scanning is performed from there.

  Accordingly, the transition time (preparation time) from the state immediately after mounting in which the head unit 40 shown in FIG. 16 is disposed above the substrate W to the state where the reverse single-axis operation scan can be performed (see FIG. 12), the reverse shift biaxial The movement amounts Lx and Ly of the head unit 40 and the respective movement speeds are respectively set to the state in which the operation scan can be performed (see FIG. 13) and the transition time (preparation time) to the state in which the reverse high-speed biaxial operation scan can be performed (see FIG. 14). Based on the above, the calculation is performed in the same manner as described above, and the imaging time for each scanning operation condition is calculated in the same manner as described above, and the preliminary imaging time for each scanning operation condition is calculated (step S413).

  Needless to say, the position of the lower recognition camera 21 relative to the head unit 40 in the state immediately after mounting when the head unit 40 is disposed above the substrate W is disposed downstream as shown by the solid line in FIG. As shown in the imaginary line in the figure, the preparation time under each scanning operation condition is different from the case where it is arranged on the upstream side.

  In the present invention, forward scanning may be performed even when the current position of the head unit 40 is downstream of the imaging range R as shown in FIG.

  On the other hand, as shown in FIG. 17, when the head unit 40 immediately after mounting disposed above the substrate W is disposed within the imaging range R, the scanning direction is also fully considered. That is, a transition time (preparation time) from a state immediately after mounting in which the head unit 40 is disposed above the substrate W to a state in which a forward head single-axis operation scan can be performed (see FIG. 9), a forward-shifting biaxial operation scan is performed. Transition time (preparation time) to a ready state (see FIG. 10), transition time (preparation time) to a state (see FIG. 11) in which a forward high-speed biaxial motion scan can be performed, and reverse head single-axis motion scanning can be performed Transition time (preparation time) to the state (see FIG. 12), transition time (preparation time) to the state (see FIG. 13) in which the reverse shift biaxial operation scan can be performed, and state in which the reverse high speed biaxial operation scan can be performed ( (See FIG. 14) is estimated in the same manner as described above based on the movement amounts Lx and Ly of the head unit 40 and the respective movement speeds. Time is calculated in the same manner as described above, it calculates the preparation imaging time for each scan operation condition (step S413 of FIG. 8).

  As shown by the solid line in FIG. 17, when the lower recognition camera 21 is arranged on the downstream side with respect to the head unit 40 in the state immediately after the mounting in which the head unit 40 is arranged above the substrate W, the lower recognition is performed. It is customary to place the camera 21 at the downstream end position “Pr2” of the imaging range and perform the reverse high-speed biaxial operation scan because the preparation imaging time can usually be shortened. Alternatively, the reverse high-speed operation scan may be selected.

  In addition, as shown by the imaginary line in FIG. 17, when the lower recognition camera 21 is arranged on the upstream side with respect to the head unit 40 in the state immediately after the mounting in which the head unit 40 is arranged above the substrate W, the lower recognition is performed. Usually, it is usually possible to shorten the preparation imaging time by placing the camera 21 at the upstream end position “Pr1” of the imaging range and performing the forward high-speed biaxial motion scanning. Alternatively, the reverse high-speed operation scan may be selected.

  As described above, in the mounting machine M1 of the present embodiment, the preparation imaging time for all selectable scanning operation conditions is calculated (step S413 in FIG. 8), and the shortest preparation among the scanning operation conditions is calculated. The scanning operation condition for the imaging time is specified (step S414), and actual imaging is performed according to the operation condition.

  That is, when the specified scanning condition is the forward head single axis operation or the forward direction biaxial operation, the lower recognition camera 21 is moved to the scan start position shown in FIGS. 9 to 11 (step S415), and the position Then, the lower recognition camera 21 is moved in the downstream direction X2 to image the component supply position in the imaging range R. If the specified scanning condition is the reverse head single-axis operation or the reverse biaxial operation, the lower recognition camera 21 is moved to the scan start position shown in FIGS. 12 to 14 (step S415), and the position The lower recognition camera 21 is moved in the upstream direction X1 to pick up an image of the component supply position within the imaging range R.

  As described above, according to the mounting machine of the first embodiment, the lower recognition camera 21 provided for imaging the component supply position in the head unit 40 is configured by a scan camera such as a line sensor or a TDI sensor. Therefore, it is possible to image the component while moving the component supply position. Therefore, it is not necessary to temporarily stop the head unit 40 or the lower recognition camera 21 during imaging, and imaging can be performed smoothly, and production efficiency can be improved.

  In particular, in the present embodiment, since a plurality of component supply positions (imaging range R) corresponding to components in the same suction group are continuously imaged at a time, the head unit Compared with the case of moving and stopping, the imaging can be performed more smoothly, the time required for imaging can be further reduced, and the production efficiency can be further improved.

  In addition, in the present embodiment, since the lower recognition camera 21 is configured to be movable in the X-axis direction with respect to the head unit 40, the lower recognition camera 21 may be moved in parallel with the movement of the head unit 40 in some cases. Images can be taken while moving in the same direction. For this reason, the moving speed of the lower recognition camera 21 with respect to the imaging range R can be further increased, the time required for imaging can be further reduced, and the production efficiency can be further improved.

  In this embodiment, when imaging the imaging range R, the preparation time and imaging time of the head unit 40 and the downward recognition camera 21 are calculated in advance according to the scanning operation conditions, and the total time of the preparation time and imaging time is calculated. Since actual imaging is performed based on the scanning operation condition with the shortest (preparation imaging time), imaging can be performed more efficiently.

  Further, in the present embodiment, since the lower recognition camera 21 is provided on the front side of the head unit 40, when the suction processing is performed on the tape feeder 31 disposed on the front side, after the component supply position is imaged. During the correction value calculation (during correction calculation), the head unit 40 is moved to the front side, so that the head 41 can be disposed directly above the component to be picked up. Therefore, after the position of the component is recognized, the component can be sucked in a short time, and the production efficiency can be further improved.

  Furthermore, in the present embodiment, in particular, when performing a biaxial operation scan, the lower recognition camera 21 is moved at a constant speed with respect to the entire imaging range with respect to the imaging range R. It is possible to effectively prevent the occurrence of the above-mentioned problems, improve the imaging accuracy, and more accurately detect the component suction position.

Second Embodiment
FIG. 18 is a front view showing the periphery of the head unit of the mounting machine M2 according to the second embodiment of the present invention, and FIG. 19 is a side view showing the periphery of the camera unit in the mounting machine M2. As shown in both drawings, in the mounting machine M2, the mounting unit M1 of the first embodiment is that the component recognition camera 7 for imaging the lower surface side of the electronic component A is provided in the head unit 40. It is very different.

  The camera unit 2 provided in the head unit 40 of the mounting machine M2 of the second embodiment includes a downward recognition camera 21, a component recognition camera 51, and a camera movement that supports both the cameras 21 and 51 movably on the head unit 40. Means 25.

  The camera moving means 25 has a linear guide 26 that is provided on the rear side of the head unit 40 and extends continuously in the X-axis direction. The linear guide 26 is disposed over a long range from one end of the head unit 40 in the X-axis direction to the other end.

  Further, the camera moving means 25 includes a camera support member 27 to which both cameras 21 and 51 are attached.

  The camera support member 27 includes a vertical piece 271 arranged vertically, and the vertical piece 271 is supported by the linear guide 26 so as to be able to ride along the length direction (X-axis direction). Furthermore, the camera support member 27 includes a horizontal piece 272 that is provided at the lower end of the vertical piece 271 and that is horizontally disposed so as to extend to the front side (forward) in the Y-axis direction. The tip of the horizontal piece 272 is the head unit. 40 corresponding to the lower side of the suction nozzle 411. The lower recognition camera 21 is provided on the lower surface of the tip of the horizontal piece 272, and the component recognition camera 51 is provided on the upper surface of the tip.

  The lower recognition camera 21 is fixed in a state in which the imaging direction (image capturing unit) is arranged downward so that the lower side of the head unit 40 can be imaged. Further, illumination means 23 composed of a plurality of LEDs and the like are provided on both sides of the downward recognition camera 21, and the imaging range can be illuminated by the illumination means 23.

  The component recognition camera 51 is fixed in a state in which the imaging direction is arranged upward so that the lower surface side of the component A sucked by the suction nozzle 411 can be imaged. Further, on both sides of the component recognition camera 51, illumination means 53 constituted by a plurality of LEDs and the like is provided, and the imaging range can be illuminated by the illumination means 53.

  The lower recognition camera 21 and the component recognition camera 51 are scan cameras such as a line sensor or a storage type line sensor (TDI sensor) that accumulates charges of a plurality of line sensors arranged in parallel, as in the first embodiment. The imaging unit can be imaged while passing through the imaging unit.

  Further, as shown in FIG. 19, a ball screw 28 is provided on the rear side of the head unit 40 so as to be rotatable around an axis. The ball screw 28 is disposed along the X-axis direction in parallel with the linear guide 26 and is disposed over a long range from one end to the other end of the head unit 40 in the X-axis direction.

  Further, a ball nut 281 is fixed to the camera support member 27 corresponding to the ball screw 28, and the ball nut 281 is attached in a manner to be screwed into the ball screw 28.

  Further, a camera moving motor (camera X-axis motor) 29 such as a servo motor is attached to the rear side of the head unit 40 corresponding to one end of the ball screw 28. When the motor 29 is rotationally driven, the ball screw 28 is rotated, and the camera support member 27 is moved along the X-axis direction together with the cameras 21 and 51.

  Note that the movement range of both the cameras 21 and 51 is set to a range from one end to the other end in the X-axis direction of the head unit 40 as in the first embodiment, and further to the outside of the heads 41 and 41 at both ends. It can be moved.

  In the present embodiment, the camera moving means 25 is configured by the linear guide 26, the camera support member 27, the ball screw 28, the camera moving motor 29, and the like.

  In the present embodiment, the vertical camera axes of the lower recognition camera 21 and the component recognition camera 51 are arranged so as to coincide with each other, and both the cameras 21 and 51 are moved below one of the suction nozzles 411. In this case, the camera axes of both cameras 21 and 51 coincide with the axis of the suction nozzle 411 (head 41).

  In the mounting machine M2 of the second embodiment, since the other configuration is the same as that of the first embodiment, the same parts are denoted by the same reference numerals, and the duplicate description is omitted.

  In the mounting machine M2, as shown in FIG. 20, after the mounting program (mounting data) is read, the substrate W is carried in and the component data of the same suction group is acquired as in the first embodiment. (Steps S11 to S13).

  Subsequently, it is determined whether or not the arrangement of the heads 41 in the head unit 40 and the arrangement of the tape feeders 31 that supply the components attracted by the heads 41 match (step S14).

  That is, the plurality of tape feeders 31 for supplying the components are ordered with, for example, the first tape feeder 31, the second tape feeder 31, the third tape feeder 31, in order from the upstream side or the downstream side, and the head Similarly, when the plurality of heads 41 of the unit 40 are sequentially ordered from the upstream side or the downstream side with the first head 41, the second head 41, the third head 41,. The parts supplied from the feeder 31 are sucked by the first head 41, the parts supplied from the second tape feeder 31 are sucked by the second head 41, and the parts supplied from the third tape feeder 31 are picked up. Adsorbed by the third head 41, and the parts supplied from the final tape feeder 31 are absorbed by the final head 41. If you like the head sequence and (alignment) and the tape feeder order (sequence) it is determined to be coincident.

  The position (coordinates) of the tape feeder 31 that supplies the parts, the suction order, the suction order of the heads 41 in the head unit 40, the part types sucked by the heads 41, and the data on the relationship between the part types and the tape feeder are as follows: It is included in the part data acquired in step S13.

  If the head arrangement does not match the feeder arrangement (NO in step S14), the first adsorption similar to the adsorption processing (step S4, steps S41 to S45, steps S411 to 416) described in the first embodiment is performed. Processing (step S15) is performed.

  On the other hand, if the head alignment matches the feeder alignment (YES in step S15), a second suction process (step S16) unique to the second embodiment is performed.

  In the second suction process, first, as shown in FIG. 22, the lower recognition camera 21 moves to the upstream end of the head unit 40 and the lower recognition camera 21 is on the component supply position 35 in the first tape feeder 31. (Step S161 in FIG. 21). In this state, the first head 41 (first suction nozzle 411) of the head unit 40 is disposed substantially correspondingly above the component supply position 35 of the first tape feeder 31. In FIG. 22, the tape feeder 31 that supplies the parts to be picked up by the head 41 is indicated by hatching (the same applies to FIGS. 23 to 28 below).

  Subsequently, as shown in FIG. 23, the downward recognition camera 21 moves by a small amount in the downstream direction X2 with respect to the head unit 40 by the camera single-axis operation, thereby passing over the component supply position 35 of the first tape feeder 31. While stopping, the parts recognition position 21 (parts) is imaged by the lower recognition camera 21 during the passage (step S162). Furthermore, the lower recognition camera 21 is arranged on the downstream side of the first head 41 by the movement of the lower recognition camera 21, and the lower portion of the first head 41 is opened.

  Next, the image data of the imaging component supply position is processed to obtain the component supply position (supply window 35) of the tape feeder 31 to be picked up, and the center of the component A supplied from the tape feeder 31 from the image. The position (XY position) of the position (suction position) and the R-axis direction are detected (step S163).

  Next, the actual component suction position and orientation (R-axis direction) thus detected are compared with the suction target position and orientation included in the mounting data in advance, and a correction value is calculated (step S164).

  Thereafter, the head unit 40 is moved and corrected in accordance with the position correction value, whereby the first head 41 is disposed immediately above the component supply position 35 of the first tape feeder 31, The head 41 (suction nozzle 411) rotates in the R-axis direction according to the correction value in the R-axis direction, so that the orientation of the suction nozzle 411 with respect to the components is adjusted.

  Next, as shown in FIG. 24, at the same time as the head 41 is lowered, the suction nozzle 411 is set to a negative pressure, and the parts are sucked by the suction nozzle 411 (step S165).

  Thereafter, when the head 41 that picks up the component remains (YES in step S166), the head unit 40 moves in the downstream direction X2, and the head (second head 41) moves to the corresponding tape feeder. They are arranged substantially correspondingly on the component supply position 35 in the (second tape feeder 31) (step S167). In this state, the lower recognition camera 21 is also arranged substantially corresponding to the second tape feeder 31.

  Subsequently, as shown in FIG. 25, similarly to the above, the lower recognition camera 21 moves a small amount in the downstream direction X2 with respect to the head unit 40, thereby passing over the component supply position 35 of the second tape feeder 31. While stopping, the part supply position 35 of the tape feeder 31 is imaged during the passage (step S162).

  Subsequently, as shown in FIG. 26, image processing (step S163) and correction value calculation (step S164) are performed in the same manner as described above, and the second component A is corrected by the second head 41 while being corrected as necessary. Is adsorbed (step S165).

  Further, as shown in FIG. 27, the component supply position 35 of the third tape feeder 31 is imaged by the lower recognition camera 21, and then the component A is moved by the third head 41 as shown in FIG. Is adsorbed.

  When the predetermined component A is sucked by all the heads 41... Thus scheduled (NO in step S166), the second sucking process (step S16 in FIG. 20) ends.

  On the other hand, after the adsorption process (steps S15 and S16) is completed, a mounting process is performed (step S17).

  In this mounting process, during the movement of the head unit 40 to the substrate W, the components recognition camera 51 provided in the head unit 40 images all the components A sucked by the head unit 40. That is, the component recognition camera 51 is disposed at either the upstream or downstream end of the head unit 40, and the component recognition camera 51 is placed on each head 41 along the X-axis direction (head alignment direction). The lower part of each part A... Is sequentially passed, and the part recognition camera 51 captures an image of the suction state of all parts A from the lower surface side during the passage.

  Next, the image data of the imaged component is processed to acquire a component image for each head. Then, the position (coordinates) of the component with respect to the suction nozzle 41 and the R-axis direction are detected from the component images.

  The component position and orientation (R-axis direction) thus detected are collated with the component position and orientation held in advance on the mounting machine side, and a positional deviation amount and a rotational deviation amount (correction value) are calculated. As described above, the correction value is calculated for each component for each head 41.

  On the other hand, while the imaging of the component recognition camera 51 and the calculation of the correction value are performed, the head unit 40 moves to the board position while taking the position correction value into consideration, and the head to be mounted first. 41 is arranged on the position where the substrate is to be mounted, and the head 41 (suction nozzle 411) rotates in the R-axis direction according to the orientation correction value, whereby the orientation of the suction nozzle 411 with respect to the components is adjusted. The Subsequently, at the same time when the head 41 (suction nozzle 411) is lowered, the suction nozzle 411 is set to a positive pressure, and the components sucked by the suction nozzle 411 are mounted at predetermined positions on the substrate W. Similarly, the components held by the heads 41 of the head unit 40 are sequentially mounted on the substrate while considering the correction value.

  After the mounting process (step S17) is completed in this way, if there are still components to be mounted on the substrate W (YES in step S18), the components are sequentially transferred from the tape feeder 31 by the head unit 40 as described above. The sucked parts are moved to the board position and mounted at predetermined positions.

  Then, when all the scheduled components are mounted on the substrate W (NO in step S18), the mounting process for the substrate W is completed, and the substrate W is carried out by the conveyor 20 (step S19).

  Subsequently, in the mounting machine M2, when there is a substrate W to be mounted next (YES in step S20), the next substrate W is carried to the predetermined mounting position by the conveyor 20 (step S12), and the above The same mounting operation is repeated.

  If there is no more substrate W to be mounted (NO in step S20), the mounting operation is completed and the board is ready to be loaded.

  As described above, according to the second embodiment, after the head 41 is positioned corresponding to the component (tape feeder) to be picked up, the component position is recognized by the camera single axis operation, and then the head 41 Since the parts are sucked, the parts can be picked up quickly in a short time after the parts are recognized, and the production efficiency can be improved.

  In addition, since all the heads 41 provided in the head unit 40 can be picked up in a short time after the components are recognized, the production efficiency can be further improved.

  Furthermore, in the present embodiment as well, as in the first embodiment, since the scan camera such as a line sensor camera or a TDI sensor camera is used as the lower recognition camera 21 for recognizing the component supply position 35, the component supply position The part can be imaged while moving on the surface 35. Therefore, it is not necessary to temporarily stop the lower recognition camera 21 during imaging, and imaging can be performed smoothly, and production efficiency can be improved.

  In the second embodiment, when parts in the same suction group are picked up, the parts are picked up by one of the first picking process and the second picking process. However, the present invention is not limited to this. In the present invention, the first and second adsorption processes may be used in combination. For example, some parts in the same adsorption group may be adsorbed by the first adsorption process, and the remaining parts may be adsorbed by the second adsorption process.

  In the above embodiment, the mounting unit provided with the component supply units 30 and 30 including a number of tape feeders 31 on both the front side and the rear side of the head unit 40 has been described as an example. However, the present invention is not limited thereto, and the present invention can also be applied to a mounting machine in which a component supply unit is provided on either the front side or the rear side of the head unit.

  Further, in the above-described embodiment, the case where a large number of tape feeders 31 are arranged in the component supply unit 30 has been described as an example. A tray feeder (component supply means) in which component supply containers such as these are stacked may be disposed.

It is a top view which shows the mounting machine concerning 1st Embodiment of this invention. It is a front view which shows the head unit periphery of the mounting machine of 1st Embodiment. It is a side view which shows the camera unit periphery for component position imaging applied to the mounting machine of 1st Embodiment. It is a block diagram which shows the control system of the mounting machine of 1st Embodiment. It is a flowchart for demonstrating operation | movement of the mounting machine of 1st Embodiment. It is a flowchart for demonstrating the adsorption | suction operation | movement of the mounting machine of 1st Embodiment. It is a flowchart for demonstrating mounting operation | movement of the mounting machine of 1st Embodiment. It is a flowchart for demonstrating the component position imaging operation of the mounting machine of 1st Embodiment. It is a schematic front view for demonstrating the positive direction head single-axis operation | movement at the time of imaging in the mounting machine of 1st Embodiment. It is a schematic front view for demonstrating the forward direction transmission biaxial operation | movement at the time of imaging in the mounting machine of 1st Embodiment. It is a schematic front view for demonstrating the positive direction high-speed biaxial operation | movement at the time of imaging in the mounting machine of 1st Embodiment. It is a schematic front view for demonstrating the reverse direction head uniaxial operation | movement at the time of imaging in the mounting machine of 1st Embodiment. It is a schematic front view for demonstrating the reverse transmission biaxial operation | movement at the time of imaging in the mounting machine of 1st Embodiment. It is a schematic front view for demonstrating the reverse high-speed biaxial operation | movement at the time of imaging in the mounting machine of 1st Embodiment. It is a schematic front view which shows the state by which the head unit was arrange | positioned in the mounting machine of 1st Embodiment in the upstream immediately before imaging. It is a schematic front view which shows the state by which the head unit was arrange | positioned in the mounting machine of 1st Embodiment in the downstream immediately before imaging. It is a schematic front view which shows the state by which the head unit was arrange | positioned in the imaging area in the mounting machine of 1st Embodiment. It is a front view which shows the head unit periphery of the mounting machine in 2nd Embodiment of this invention. It is a side view which shows the camera unit periphery applied to the mounting machine of 2nd Embodiment. It is a flowchart for demonstrating operation | movement of the mounting machine of 2nd Embodiment. It is a flowchart for demonstrating the 2nd adsorption | suction operation | movement of the mounting machine of 2nd Embodiment. It is a schematic front view which shows the state just before a component position imaging start in the mounting machine of 2nd Embodiment. It is a schematic front view which shows the state immediately after imaging the 1st component position in the mounting machine of 2nd Embodiment. It is a schematic front view which shows the state immediately after attracting | sucking the 1st component in the mounting machine of 2nd Embodiment. It is a schematic front view which shows the state immediately after imaging the 2nd component position in the mounting machine of 2nd Embodiment. It is a schematic front view which shows the state immediately after attracting | sucking the 2nd components in the mounting machine of 2nd Embodiment. It is a schematic front view which shows the state immediately after imaged the 3rd component position in the mounting machine of 2nd Embodiment. It is a schematic front view which shows the state immediately after attracting | sucking the 3rd components in the mounting machine of 2nd Embodiment.

Explanation of symbols

21 downward recognition camera 25 camera moving means 31 tape feeder (part supply means)
35 Component supply position 4 Head unit moving means 40 Head unit 41 Head A Components M1, M2 Mounting machine W Substrate

Claims (8)

A plurality of component supply means for supplying the components to their component supply positions;
A head unit provided with a head capable of sucking components;
A head unit moving means for moving the head unit;
A lower recognition camera which is provided on the head unit so as to image the lower side and is configured by a scan camera;
Camera moving means for moving the downward recognition camera along the arrangement direction of the component supply positions with respect to the head unit;
Imaging control means for imaging the component supply position while moving the lower recognition camera over the component supply position by moving at least one of the head unit and the lower recognition camera;
A suction position confirmation means for confirming the suction position of the head with respect to the component based on the imaging information by the imaging control means;
A component suction apparatus comprising: a component suction control unit that moves a head to a suction position by a head unit moving unit and sucks a component by the head. A plurality of heads are provided in the head unit along the arrangement direction of the component supply positions,
The imaging control means sequentially images a plurality of component supply positions sequentially,
The suction position recognition means confirms the suction position of each component at a plurality of component supply positions that have been imaged,
2. The component suction device according to claim 1, wherein the component suction control unit sequentially sucks a plurality of components whose suction positions are confirmed by a plurality of heads.   The imaging control means includes a biaxial operation scan for imaging while moving both the head unit and the lower recognition camera in the arrangement direction of the component supply position, and the head unit in the arrangement direction with the lower recognition camera fixed to the head unit. The imaging is performed under appropriate conditions between a head single-axis operation scan for imaging while moving and a camera single-axis operation scan for imaging while moving the lower recognition camera in the arrangement direction with respect to the head unit with the head unit fixed. The component suction device according to claim 1 or 2, wherein the component suction device is configured as described above.   The component supply apparatus according to any one of claims 1 to 4, wherein a moving speed of the downward recognition camera with respect to the component supply position is kept constant during imaging by the imaging control means. A plurality of heads are provided in the head unit along the arrangement direction of the component supply positions,
An imaging confirmation process in which one component supply position is imaged by the imaging control unit among a plurality of component supply positions and the suction position of the component at the component supply position is confirmed by the suction position confirmation unit, and the suction position is confirmed. The component suction device according to claim 1, wherein suction processing for alternately sucking the one component by the component suction control unit is performed.   6. The component suction device according to claim 1, wherein the lower recognition camera is provided in the head unit so as to be disposed below the head. A mounting machine for mounting components on a board,
The component adsorption device according to any one of claims 1 to 6,
A mounting machine comprising: component transfer mounting means for mounting a component adsorbed by a head by moving it to a substrate position by a head unit moving unit. A plurality of component supply means for supplying the components to their own component supply positions, a head unit provided with a head capable of sucking the components, a head unit moving means for moving the head unit, and an image of the lower side of the head unit And a camera unit for moving the lower recognition camera along the arrangement direction of the component supply positions with respect to the head unit. A suction position correction method,
By moving at least one of the head unit and the lower recognition camera, while imaging the component supply position while passing the lower recognition camera over the component supply position,
Based on the imaging results, confirm the actual suction position for the head component,
Based on the actual suction position, the preset suction target position is corrected,
A suction position correction method for a component supply apparatus, wherein the head is moved to a corrected suction target position by a head unit moving means, and the component is sucked by the head.

Images