JP-7855703-B2 - Component mounting machine and component imaging method

JP7855703B2JP 7855703 B2JP7855703 B2JP 7855703B2JP-7855703-B2

Inventors

曽根剣
春日大介

Assignees

ヤマハ発動機株式会社

Dates

Publication Date: 20260508
Application Date: 20220914

Claims (13)

A parts supply unit that supplies parts to the parts supply location, A circuit board transport unit that carries the circuit board to the work position, A head unit that performs a suction operation to attract the component supplied to the component supply position, A unit drive unit that drives the head unit to perform a component transfer operation that moves the component attracted to the head unit to a position facing the substrate, A camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and is driven by the unit drive unit and moves together with the head unit. A camera drive unit that drives the camera in the predetermined direction relative to the head unit, The head unit comprises a control unit that performs imaging of the component attached to the head unit by the camera while driving the camera in a predetermined direction, The control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit. The unit drive unit performs the component transfer operation by accelerating the head unit to a predetermined unit speed during the acceleration period, moving the head unit at a constant speed at the unit speed during the constant speed period following the acceleration period, and decelerating the head unit from the unit speed during the deceleration period following the constant speed period. The aforementioned time-limited imaging control can execute a constant-velocity imaging mode in which the camera does not image the component during the acceleration period and the deceleration period, but images the component during the constant-velocity period, and a stop imaging mode in which the camera images the component as it is attracted to the head unit which is stopped before the start of the component transfer operation, and executes either the constant-velocity imaging mode or the stop imaging mode. The control unit performs a mode selection process to select one imaging mode from the constant-speed imaging mode and the stationary imaging mode, and then executes the imaging mode selected by the mode selection process. In the mode selection process, the component mounting machine selects the first imaging mode based on a comparison between the time required to complete the mounting of the component picked up by the pick-up operation onto the substrate when the constant-speed imaging mode is executed and the time required to complete the mounting of the component picked up by the pick-up operation onto the substrate when the stop imaging mode is executed.
A parts supply unit that supplies parts to the parts supply location, A circuit board transport unit that carries the circuit board to the work position, A head unit that performs a suction operation to attract the component supplied to the component supply position, A unit drive unit that drives the head unit to perform a component transfer operation that moves the component attracted to the head unit to a position facing the substrate, A camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and is driven by the unit drive unit and moves together with the head unit. A camera drive unit that drives the camera in the predetermined direction relative to the head unit, The head unit comprises a control unit that performs imaging of the component attached to the head unit by the camera while driving the camera in a predetermined direction, The control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit. The aforementioned components include high-precision components that are subject to the time-limited imaging control and low-precision components that are not subject to the time-limited imaging control. The control unit is a component mounting machine that performs imaging of the high-precision component by the camera using the time-limited imaging control.
The component mounting machine according to claim 2, wherein the control unit does not perform the time-limited imaging control for imaging of the low-precision component by the camera, and allows imaging of the low-precision component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit.
A parts supply unit that supplies parts to the parts supply location, A circuit board transport unit that carries the circuit board to the work position, A head unit that performs a suction operation to attract the component supplied to the component supply position, A unit drive unit that drives the head unit to perform a component transfer operation that moves the component attracted to the head unit to a position facing the substrate, A camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and is driven by the unit drive unit and moves together with the head unit. A camera drive unit that drives the camera in the predetermined direction relative to the head unit, The head unit comprises a control unit that performs imaging of the component attached to the head unit by the camera while driving the camera in a predetermined direction, The control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit. The aforementioned time-limited imaging control can execute a stop imaging mode in which the camera images the component being attracted to the head unit, which is stopped before the start of the component transfer operation. The aforementioned components include high-precision components that are subject to the time-limited imaging control and low-precision components that are not subject to the time-limited imaging control. The control unit is a component mounting machine that performs imaging of the high-precision component by the camera using the time-limited imaging control.
The component mounting machine according to claim 4, wherein the control unit does not perform the time-limited imaging control for imaging of the low-precision component by the camera, and allows imaging of the low-precision component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit.
The head unit has a plurality of nozzles arranged in the predetermined direction, and the nozzles attract the parts, The camera is movable relative to the head unit between a one-side retraction position located on one side of the plurality of nozzles in a predetermined direction and a other-side retraction position located on the other side of the plurality of nozzles in a predetermined direction, and is capable of performing a first scan imaging, which images the high-precision component attached to the nozzle while moving from the one-side retraction position toward the other-side retraction position, and a second scan imaging, which images the high-precision component attached to the nozzle while moving from the other-side retraction position toward the one-side retraction position. The control unit performs a scan imaging determination process before the start of the suction operation to determine which scan imaging to perform in the stopped imaging mode for the high-precision component that is attracted to the head unit by the suction operation, from among the first scan imaging and the second scan imaging. In the scan imaging determination process, the scan imaging to be performed is determined according to the position in the predetermined direction of the high-precision component that is picked up by the head unit by the suction operation. The component mounting machine according to claim 4, wherein the control unit, when the first scan imaging is determined to be the execution scan imaging, positions the camera to the one retracted position before the start of the suction operation, and when the second scan imaging is determined to be the execution scan imaging, positions the camera to the other retracted position before the start of the suction operation.
When the head unit picks up the high-precision component and the low-precision component, the control unit executes either a first pick-up mode in which the high-precision component and the low-precision component are picked up by the head unit such that all of the high-precision component is located on one side of all of the low-precision component, or a second pick-up mode in which the high-precision component and the low-precision component are picked up by the head unit such that all of the high-precision component is located on the other side of all of the low-precision component. When the first adsorption mode is executed, the first scan imaging is performed in the stop imaging mode. The component mounting machine according to claim 6 , wherein, when the second suction mode is executed, the second scan imaging is performed in the stop imaging mode.
The system further includes a control selection unit that accepts user input to select whether or not to perform the aforementioned time-limited imaging control. The component mounting machine according to any one of claims 1 to 7, wherein the control unit, when selected in the control selection unit to execute the time-limited imaging control, executes imaging of the component by the time-limited imaging control, and when selected in the control selection unit not to execute the time-limited imaging control, allows imaging of the component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit without executing the time-limited imaging control.
A parts supply unit that supplies parts to the parts supply location, A circuit board transport unit that carries the circuit board to the work position, A head unit that performs a suction operation to attract the component supplied to the component supply position, A unit drive unit that drives the head unit to perform a component transfer operation that moves the component attracted to the head unit to a position facing the substrate, A camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and is driven by the unit drive unit and moves together with the head unit. A camera drive unit that drives the camera in the predetermined direction relative to the head unit, A control unit that performs imaging of the component attached to the head unit by the camera while driving the camera in the predetermined direction , A control selection unit that accepts user input and Equipped with, The control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit. The control selection unit receives a user's input to select whether or not to perform the time-limited imaging control. The control unit, when selected in the control selection unit to execute the time-limited imaging control, executes imaging of the component by the time-limited imaging control; on the other hand, when selected in the control selection unit to not execute the time-limited imaging control, it allows imaging of the component by the camera during the period when the unit drive unit accelerates or decelerates the head unit, without executing the time-limited imaging control.
The process involves a unit drive unit performing a component transfer operation , which involves driving a head unit that performs a suction operation to pick up a component, thereby transferring the component picked up by the head unit to a position facing the substrate, and The process includes capturing an image of the component attached to the head unit by a camera supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and driven in the predetermined direction by a camera drive unit , In the process of imaging the aforementioned component, the control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction for a period different from the period during which the head unit is accelerated or decelerated . The unit drive unit performs the component transfer operation by accelerating the head unit to a predetermined unit speed during the acceleration period, moving the head unit at a constant speed at the unit speed during the constant speed period following the acceleration period, and decelerating the head unit from the unit speed during the deceleration period following the constant speed period. The aforementioned time-limited imaging control can execute a constant-velocity imaging mode in which the camera does not image the component during the acceleration period and the deceleration period, but images the component during the constant-velocity period, and a stop imaging mode in which the camera images the component as it is attracted to the head unit which is stopped before the start of the component transfer operation, and executes either the constant-velocity imaging mode or the stop imaging mode. The control unit performs a mode selection process to select one imaging mode from the constant-speed imaging mode and the stationary imaging mode, and then executes the imaging mode selected by the mode selection process. A component imaging method in which, in the mode selection process, selects the first imaging mode based on a comparison between the time required to complete the mounting of the component attached by the suction operation onto the substrate when the constant velocity imaging mode is executed and the time required to complete the mounting of the component attached by the suction operation onto the substrate when the stop imaging mode is executed .
The process involves a unit drive unit performing a component transfer operation , which involves driving a head unit that performs a suction operation to pick up a component, thereby transferring the component picked up by the head unit to a position facing the substrate, and The process includes capturing an image of the component attached to the head unit by a camera supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and driven in the predetermined direction by a camera drive unit , In the process of imaging the aforementioned component, the control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction for a period different from the period during which the head unit is accelerated or decelerated . The aforementioned components include high-precision components that are subject to the time-limited imaging control and low-precision components that are not subject to the time-limited imaging control. The control unit is a component imaging method that performs imaging of the high-precision component by the camera using the time-limited imaging control .
The process involves a unit drive unit performing a component transfer operation , which involves driving a head unit that performs a suction operation to pick up a component, thereby transferring the component picked up by the head unit to a position facing the substrate, and The process includes capturing an image of the component attached to the head unit by a camera supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and driven in the predetermined direction by a camera drive unit , In the process of imaging the aforementioned component, the control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction for a period different from the period during which the head unit is accelerated or decelerated. The aforementioned time-limited imaging control can execute a stop imaging mode in which the camera images the component being attracted to the head unit, which is stopped before the start of the component transfer operation. The aforementioned components include high-precision components that are subject to the time-limited imaging control and low-precision components that are not subject to the time-limited imaging control. The control unit is a component imaging method that performs imaging of the high-precision component by the camera using the time-limited imaging control .
The process involves a unit drive unit performing a component transfer operation , which involves driving a head unit that performs a suction operation to pick up a component, thereby transferring the component picked up by the head unit to a position facing the substrate, and The process includes capturing an image of the component attached to the head unit by a camera supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and driven in the predetermined direction by a camera drive unit , In the process of imaging the aforementioned component, the control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction for a period different from the period during which the head unit is accelerated or decelerated . The system further includes a control selection unit that accepts user input to select whether or not to perform the aforementioned time-limited imaging control. The control unit, when selected in the control selection unit to execute the time-limited imaging control, executes imaging of the component by the time-limited imaging control; on the other hand, when selected in the control selection unit to not execute the time-limited imaging control, the control unit allows imaging of the component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit without executing the time-limited imaging control .

Description

This invention relates to a technology for imaging components that have been attracted to a substrate by a head unit, which mounts the components onto a substrate, using a camera. Patent Document 1 describes a component mounting machine that uses a nozzle on a mounting head to pick up components supplied to a component supply position and mount them onto a substrate. This component mounting machine is equipped with a component recognition camera. Before mounting the component onto the substrate, the nozzle that has picked up the component passes above the component recognition camera, and the component recognition camera images the component as it moves upward. Based on the image of the component, the position of the component relative to the nozzle is recognized. In particular, in Patent Document 1, a correction coefficient derived from predicted vibrations is stored in advance to suppress the effects of vibrations in the component mounting machine. The position of the component obtained from the image of the component is then corrected by this correction coefficient. Japanese Patent Publication No. 2005-243668 A schematic plan view showing an example of a component mounting machine according to the present invention.A block diagram showing the electrical configuration of the component mounting machine in Figure 1.A schematic front view showing the component recognition unit of a component mounting machine.A schematic side view of the component recognition unit shown in Figure 3A.Figure 3A is a schematic front view illustrating the operation of the component recognition unit.Figure 3A is a schematic front view illustrating the operation of the component recognition unit.A flowchart illustrating the operation during the mounting turn, where the head unit picks up components and mounts them onto the circuit board.A timing chart schematically showing an example of speed control performed on the component recognition unit during the implementation turn shown in Figure 4.A flowchart showing an example of a constant velocity imaging mode.A schematic diagram illustrating the control procedures performed in constant velocity imaging mode.A schematic diagram illustrating the control procedures performed in constant velocity imaging mode.A schematic diagram illustrating the control procedures performed in constant velocity imaging mode.A flowchart showing an example of a stopped imaging mode.A schematic diagram illustrating the control procedures performed in stop imaging mode.A schematic diagram illustrating the control procedures performed in stop imaging mode.A schematic diagram illustrating the control procedures performed in stop imaging mode.A flowchart illustrating an example of the imaging mode determination process.A schematic front view illustrating an example of the adsorption operation.A schematic front view illustrating an example of the adsorption operation. Figure 1 is a schematic plan view showing an example of a component mounting machine according to the present invention, and Figure 2 is a block diagram showing the electrical configuration of the component mounting machine in Figure 1. In Figure 1, the horizontal direction X, the horizontal direction Y perpendicular to the X direction, and the vertical direction Z are shown as appropriate. This component mounting machine 1 performs component mounting, mounting components E (Figures 3A to 3D) onto a substrate B. As shown in Figure 2, the component mounting machine 1 is equipped with a control unit 100 that comprehensively controls the operation of the component mounting machine 1. The control unit 100 includes a main control unit 110, a storage unit 120, a drive control unit 130, an imaging control unit 140, and a UI (User Interface) 150. The main control unit 110 is composed of a processor such as a CPU (Central Processing Unit) and performs signal processing necessary for controlling the component mounting machine 1. Note that the specific configuration of the main control unit 110 is not limited to a CPU; for example, it may be an FPGA (Field Programmable Gate Array). The storage unit 120 is a storage device composed of an SSD (Solid State Drive) or an HHD (Hard Disk Drive), etc. The drive control unit 130 controls the drive system of the component mounting machine 1, and the imaging control unit 140 controls the imaging system of the component mounting machine 1. The UI 150 has input devices such as a keyboard and mouse, and output devices such as a display. Furthermore, it is not necessary to configure the input and output devices of the UI150 as separate units; for example, they may be integrated using a touch panel display. The memory unit 120 stores various data and information necessary for component mounting, such as board data 121 and component information 122. Here, the board data 121 indicates the type of component E to be mounted on the mounting position (e.g., land) provided on the board B, and the order in which the component E will