Component Mounting Equipment

Abstract

To provide a component mounting device with which it is possible to reduce the discarding of components by, when a recognition error occurs, correcting the displaced position or angle of a component and re-recognizing the component.SOLUTION: The component mounting device comprises: a mounting head 32 in which a nozzle 34 that draws in a component E is installed on an axis line L; a conveyance unit for conveying the mounting head in a direction that is orthogonal to the axis line L; a rotation mechanism for rotating the nozzle around the axis line L; an imaging unit for imaging the component stuck to the nozzle; a storage unit for storing component data; and a control unit. When the component E cannot be recognized due to that the whole of the component is not fitted within the imaging range of the captured image acquired by the imaging unit, the control unit executes a calculation process to calculate the position and angle of the component on the basis of the captured image, a correction process to correct the misalignment of the position and / or the angle of the component with respect to the imaging range from the calculation result so that the component fits within the imaging range, and a re-recognition process to capture an image of the component by the imaging unit after the correction process and re-recognize the component.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a component mounting apparatus. [Background technology]

[0002] Conventionally, a component mounter capable of correcting suction deviation of a component picked up by a nozzle member is known, for example, as described in JP 2007-103436 A (Patent Document 1 below). In this component mounter, an image of a component picked up by a nozzle member is captured from below by an imaging unit. Based on the captured image, a main control unit recognizes the component. After the recognition of the component is completed, the position of the component is adjusted relative to the imaging range of the image, and then the suction deviation of the component is corrected. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-103436 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above configuration, if the component to be sucked onto the nozzle member is large, it is possible that the component will be misaligned with respect to the nozzle member or the imaging unit, causing the component to not fall within the imaging range. If the component does not fall within the imaging range, the component cannot be recognized, and a recognition error may occur. If a recognition error occurs, it is not possible to proceed to a step of correcting the misalignment of the component, and the component may be discarded even if there is no defect in the part itself.

[0005] The present disclosure has been completed based on the above-mentioned circumstances, and aims to provide a component mounting device that is capable of reducing component waste by correcting deviations in component position and angle and re-recognizing the component when a recognition error occurs. [Means for solving the problem]

[0006] The component mounting device disclosed herein is a component mounting device that mounts components on a board, and includes a mounting head having a nozzle attached on an axis for adsorbing the component, a transport unit that transports the mounting head in a direction perpendicular to the axis, a rotation mechanism that rotates the nozzle about the axis, an imaging unit that images the component adsorbed by the nozzle, a memory unit that stores component data, and a control unit, wherein if the component cannot be recognized because the entire component does not fall within an imaging range of an image acquired by the imaging unit, the control unit executes the following steps: a calculation process that calculates a position and angle of the component based on the captured image; a correction process that corrects at least one of a positional deviation and an angle deviation of the component relative to the imaging range from a result of the calculation process so that the component falls within the imaging range; and a re-recognition process that images the component using the imaging unit after the correction process and re-recognizes the component. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a component mounting device that can reduce component waste by correcting deviations in the position or angle of a component and re-recognizing the component when a recognition error occurs. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a plan view of the component mounting apparatus according to the first embodiment. [Diagram 2] FIG. 2 is a front view of the component mounting apparatus. [Diagram 3] FIG. 3 is a block diagram showing the electrical configuration of the component mounting apparatus. [Figure 4] FIG. 4 is a diagram illustrating the configuration of the connector. [Diagram 5] FIG. 5 is a diagram illustrating the angle deviation of the connector and a captured image. [Figure 6]FIG. 6 is a diagram showing a characteristic portion of a connector in a captured image in which the connector is misaligned at an angle. [Figure 7] FIG. 7 is a diagram for explaining the positional deviation of the connector and the captured image. [Figure 8] FIG. 8 is a diagram showing characteristic parts of a connector in a captured image in which the connector is misaligned. [Figure 9] FIG. 9 is a flowchart for explaining the process of the control unit in correcting the position and angle deviation of a component and in re-recognizing a component. [Figure 10] FIG. 10 is a diagram illustrating the configuration of the shielding member according to the second embodiment. [Figure 11] FIG. 11 is a diagram illustrating the positional deviation of the shield member and a captured image. [Figure 12] FIG. 12 is a diagram showing a characteristic portion of the shield member in a captured image in which the shield member is misaligned. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] [Description of the embodiments of the present disclosure] First, embodiments of the present disclosure will be listed and described.

[0010] (1) A component mounting device disclosed herein is a component mounting device that mounts components on a board, the component mounting device comprising: a mounting head having a nozzle attached on an axis for adsorbing the component; a transport unit that transports the mounting head in a direction perpendicular to the axis; a rotation mechanism that rotates the nozzle about the axis; an imaging unit that images the component adsorbed by the nozzle; a memory unit that stores component data; and a control unit, wherein when the component cannot be recognized because the entire component does not fall within an imaging range of an image acquired by the imaging unit, the control unit executes the following steps: a calculation process that calculates a position and angle of the component based on the captured image; a correction process that corrects at least one of a positional deviation and an angle deviation of the component relative to the imaging range from a result of the calculation process so that the component falls within the imaging range; and a re-recognition process that images the component using the imaging unit after the correction process and re-recognizes the component.

[0011] With this configuration, even if a part cannot be recognized because the entire part is not within the imaging range of the captured image, a calculation process is executed to calculate the position and angle of the part based on the captured image, a correction process is executed to correct at least one of the positional deviation and angle deviation of the part, and a re-recognition process is executed to image the part and re-recognize it after the correction process, thereby reducing waste of parts.

[0012] (2) It is preferable that the control unit executes the correction process by changing at least one of a position and an angle of the nozzle at which the component is picked up.

[0013] According to this configuration, at least one of the positional deviation and the angular deviation of the component can be easily corrected by changing at least one of the position and the angle of the nozzle.

[0014] (3) It is preferable that the component has a suction point at which the component is picked up by the nozzle and a component center located at a position different from the suction point, and when the imaging center, which is the center of the imaging range, coincides with the suction point, the component does not fall within the imaging range, and when the imaging center and the component center coincide with each other, the component falls within the imaging range, the component data includes the position of the component center of the component, and the control unit executes the correction process so that the imaging center and the component center coincide with each other.

[0015] According to this configuration, for a component whose pickup point position and component center position differ, the component data includes the position of the component center, making it possible to facilitate correction processing.

[0016] (4) When at least one of a positional deviation and an angular deviation of the component with respect to the imaging range is repeatable, it is preferable that the control unit stores a correction parameter used in the correction process in the storage unit.

[0017] According to this configuration, the correction parameters are stored for at least one of the positional deviation and the angular deviation of the component that are repeatable, so that the same correction process can be easily performed from the next time onwards.

[0018] (5) The calculation process may be performed by pattern matching using image data included in the part data, or by detecting an angle component of an edge of the part.

[0019] (6) The imaging unit may capture an image of the component by line imaging.

[0020] [Details of the First Embodiment of the Present Disclosure] A first embodiment of the present disclosure will be described with reference to Figures 1 to 9. Note that the present disclosure is not limited to these examples, but is intended to include all modifications within the scope and meaning equivalent to the claims as set forth in the claims. As shown in Figure 1, the first embodiment illustrates a component mounting apparatus 10 that mounts a component E, such as an electronic component, on a board B, such as a printed circuit board.

[0021] <Overall configuration of component mounting equipment> 1, the component mounting apparatus 10 includes a base 11, a transport conveyor 14 for transporting the board B, a head unit 30, and a transport section 20 for moving the head unit 30 on the base 11. In the following description, the longitudinal direction of the base 11 (left-right direction in FIG. 1) is referred to as the left-right direction, the depth direction of the base 11 (up-down direction in FIG. 1) is referred to as the front-rear direction, and the direction perpendicular to the paper surface of FIG. 1 is referred to as the up-down direction. In each figure, the positive direction of the X axis indicates the right, the positive direction of the Y axis indicates the rear, and the positive direction of the Z axis indicates the upward direction.

[0022] The transport conveyor 14 is disposed in the center of the base 11. The transport conveyor 14 is equipped with a pair of transport belts 15 that are driven in a circulating manner in the left-right direction, and transports the board B on the transport belts 15 to the right by friction with the transport belts 15. In this embodiment, the board B is carried into the component mounting device 10 from the left side through the transport conveyor 14. The carried-in board B is carried by the transport conveyor 14 to a working position in the center of the base 11, and stopped there.

[0023] Four component supply units 12 are provided around the work position on the base 11. Each component supply unit 12 has a number of feeders 13 for supplying components E arranged adjacent to each other in the left-right direction.

[0024] At the work position, the components E are supplied by the feeder 13, and the mounting head 32 of the head unit 30 mounts the components E on the board B. Thereafter, the board B on which the components E have been mounted is transported to the right via the transport conveyor 14 and taken out of the component mounting apparatus 10.

[0025] The transport unit 20 transports the head unit 30 in the X-axis direction and the Y-axis direction within a predetermined movable range. As shown in Fig. 1, the transport unit 20 includes an X-axis beam 21, a Y-axis frame 22, an X-axis servo motor 23, and a Y-axis servo motor 24. The head unit 30 is supported by the X-axis beam 21, and can be moved back and forth in the X-axis direction by the X-axis servo motor 23. The X-axis beam 21 is supported by the Y-axis frame 22, and can be moved back and forth in the Y-axis direction by the Y-axis servo motor 24.

[0026] As shown in FIGS. 1 and 2, the head unit 30 has a box-shaped head unit main body 31, five mounting heads 32 that perform mounting operations for components E, and a board imaging camera 40.

[0027] The mounting head 32 protrudes downward from the head unit main body 31. As shown in Fig. 2, the mounting head 32 has a shaft 33 extending in the vertical direction, and a nozzle 34 that is detachably attached to the lower end of the shaft 33. A line passing through the center of the mounting head 32 and extending in the vertical direction is defined as an axis L, and the nozzle 34 is attached on the axis L of the mounting head 32. A negative pressure is supplied to the mounting head 32 from an air supply device (not shown), thereby generating a suction force at the tip of the nozzle 34. This enables the nozzle 34 to pick up and mount the component E.

[0028] A Z-axis servo motor 35 (see FIG. 3) provided inside the head unit body 31 is attached to the shaft 33. The shaft 33 (and the nozzle 34) can be raised and lowered in the vertical direction by the Z-axis servo motor 35. Also, an R-axis servo motor 36 (see FIG. 3) that rotates the mounting head 32 around the axis L is provided inside the head unit body 31.

[0029] As shown in Fig. 1, a board imaging camera 40 is disposed on the head unit 30 with the imaging surface facing downward. The board imaging camera 40 is configured to capture an image of a fiducial mark (not shown) on the board B in order to recognize the position and orientation of the board B. In addition, lighting (not shown) is provided near the board imaging camera 40. This lighting is configured to irradiate visible light onto the board B when the board imaging camera 40 captures an image. This allows the board imaging camera 40 to capture a clear image of the board B.

[0030] As shown in FIG. 1, a component imaging camera 41 (an example of an imaging unit) is disposed on the base 11 with its imaging surface facing upward. The component imaging camera 41 captures an image (bottom surface image) of the component E adsorbed to the nozzle 34. A light (not shown) is provided near the component imaging camera 41. The light is configured to irradiate the component E adsorbed to the nozzle 34 with visible light when the component imaging camera 41 captures an image. This allows the component imaging camera 41 to clearly capture an image of the component E adsorbed to the nozzle 34.

[0031] The component imaging camera 41 of this embodiment is a line sensor camera that performs line imaging. The line sensor camera includes an imaging element row in which imaging elements are arranged in a straight line, and the line sensor camera is installed on the base 11 so that this imaging element row is aligned in the Y-axis direction. In other words, this line sensor camera is capable of line imaging to obtain a line image that is elongated in the Y-axis direction. Line imaging is performed at predetermined short time intervals for a component E that moves in the X-axis direction above the component imaging camera 41 (line sensor camera), and the obtained line images are arranged in the X-axis direction to obtain an image of the component E.

[0032] <Electrical configuration of component mounter> Next, the electrical configuration of the component mounting apparatus 10 will be described with reference to Fig. 3. The component mounting apparatus 10 includes a control unit 50 and an operation unit 51. The control unit 50 includes an arithmetic processing unit 52, a motor control unit 53, a storage unit 54, an image processing unit 55, an external input / output unit 56, a communication unit 57, and the like.

[0033] The arithmetic processing unit 52 includes a CPU, a ROM, a RAM, etc., and controls each unit of the component mounting apparatus 10 by executing a control program stored in the ROM.

[0034] Under the control of the calculation processing unit 52, the motor control unit 53 controls the X-axis servo motor 23, the Y-axis servo motor 24, the Z-axis servo motor 35, the R-axis servo motor 36, the conveyor drive motor 16, etc. Rotate each motor.

[0035] The storage unit 54 stores various data including data (component data) related to the components E. The various data includes information related to the number and variety of boards B to be produced, information related to the number and type of components E to be mounted on the board B, information related to the mounting positions of the components E on the board B, information related to the mounting sequence of the components E, shape data representing the outer peripheral shape of the components E, and the like.

[0036] The image processing section 55 is configured to receive image signals output from the component imaging camera 41 and the board imaging camera 40, and generates a digital image based on the output image signals.

[0037] The external input / output unit 56 is a so-called interface, and is configured to receive detection signals output from the various sensors 45 provided in the main body of the component mounting apparatus 10. The external input / output unit 56 is also configured to control the operation of the various actuators 46 based on control signals output from the arithmetic processing unit 52.

[0038] The communication unit 57 enables the control unit 50 to communicate with the feeder 13 .

[0039] The operation unit 51 includes a display device such as a liquid crystal display, and input devices such as a touch panel, a keyboard, a mouse, etc. An operator can operate the operation unit 51 to perform various settings and the like.

[0040] <Parts Recognition> In the component mounting device 10, after the component E is adsorbed to the nozzle 34, and before the component E is mounted on the board B, an image of the component E adsorbed to the nozzle 34 is acquired by the component imaging camera 41, and the component E is recognized based on the captured image. In recognizing the component E, the control unit 50 judges whether or not there is an abnormality in the component E.

[0041] 4, when the component E is a connector 60, the control unit 50 acquires actual information about the component E, such as the external size of the component E, the number and length of the leads 62, and the lead pitch, based on the captured image. Then, when the acquired information about the component E matches data about the component to be mounted that is stored in advance in the storage unit 54, the control unit 50 is configured to determine that the component E is normal.

[0042] On the other hand, if the information on component E acquired from the captured image does not match the data on the component to be mounted, the control unit 50 determines that there is an abnormality in component E. For example, if the external size of component E is different or if the leads 62 of the connector 60 are deformed, it is determined that there is an abnormality in component E. In this case, the control unit 50 executes a recognition error process and displays an error message on the display device to the effect that a recognition error has occurred for component E.

[0043] Another possible case where a recognition error occurs is when information about component E cannot be obtained from the captured image. For example, when a large connector 60 as shown in Fig. 4 is to be mounted as component E, the entire component E does not fall within the imaging range PS of the captured image as shown on the right side of Fig. 5, and therefore a recognition error may occur because correct information about component E cannot be obtained from the captured image.

[0044] In conventional component mounting devices, if a recognition error occurs for component E, component E is not mounted and is discarded. However, as shown on the right side of Fig. 5, if a recognition error occurs because the entire component E does not fall within the imaging range PS, it may be possible to recognize component E by correcting the position and angle deviation of component E.

[0045] Therefore, in the component mounting device 10 of this embodiment, when the component E cannot be recognized because the entire component E does not fall within the imaging range PS of the captured image, the control unit 50 is configured to correct at least one of the positional deviation and the angular deviation of the component E so that the entire component E falls within the imaging range PS, and to re-recognize the component E. This makes it possible to prevent the component E from being discarded due to a recognition error caused by a deviation in the position or angle of the component E, rather than an abnormality in the component E itself.

[0046] <Component recognition error due to angle misalignment> Hereinafter, a large connector 60 shown in FIG. 4 will be described as a component E to be mounted. The connector 60 includes a long and thin housing 61 and 18 leads 62 that are surface-mounted on a board B. The leads 62 protrude from the right or left side of the housing 61 and are arranged in a line in the front-rear direction. In the connector 60, a suction point 63 that is sucked by the nozzle 34 is arranged on the upper surface (the surface on the back side in the direction perpendicular to the paper surface) of the central part of the housing 61. In addition, the central part of the housing 61 coincides with the center of the outline of the connector 60, i.e., the component center EC, in a plan view. The state in which the connector 60 is sucked by the nozzle 34 at the suction point 63 and the long side direction of the connector 60 coincides with the Y-axis direction is regarded as the correct suction posture of the connector 60.

[0047] 5 shows the relationship between the angle deviation of the connector 60 with respect to the nozzle 34 and the captured image. Here, it is assumed that there is no positional deviation (deviation in the X-axis direction or Y-axis direction) of the connector 60 with respect to the nozzle 34. In other words, it is assumed that the nozzle 34 adsorbs the connector 60 at a suction point 63. Normally, the imaging center PC, which is the center of the imaging range PS, is set to coincide with the center of the nozzle 34 in a planar view, and therefore the imaging center PC coincides with the suction point 63 and the component center EC in a planar view.

[0048] 5, when the connector 60 is in a correct suction posture with respect to the nozzle 34, the angle of the connector 60 with respect to the nozzle 34 is 0°, and the entire connector 60 is within the imaging range PS of the captured image. Therefore, information such as the external shape of the component E and the number of leads 62 is correctly acquired based on the captured image, and the component E is determined to be normal. In other words, the control unit 50 succeeds in recognizing the component E.

[0049] Next, consider a case where there is an angular misalignment of the connector 60 with respect to the nozzle 34. For example, as shown on the right side of Fig. 5, if the connector 60 is misaligned by an angle α with respect to the nozzle 34, the entire connector 60 may not fit within the imaging range PS of the captured image. In this case, information such as the outer shape of the component E and the number of leads 62 cannot be correctly acquired from the captured image, resulting in a recognition error of the component E.

[0050] In the present embodiment, when a recognition error of the part E occurs because the part E is not within the imaging range PS as described above, the control unit 50 estimates the shape of the part E based on the partial structure of the part E shown in the captured image, and calculates the position and angle of the part E (calculation process). In the present embodiment, the control unit 50 executes the calculation process using part data previously stored in the storage unit 54. For example, the part data includes information on a characteristic portion 64 of the part E that characterizes the part E. Specifically, as shown in FIG. 6, a partial structure in which six leads 62 are arranged in the long side direction of the connector 60 and a structure in which the partial structure is arranged in the short side direction of the connector 60 can be the characteristic portion 64 of the part E. Based on the characteristic portion 64 of the part E and the captured image, the control unit 50 can calculate that the connector 60 has an angle deviation of angle α with respect to the nozzle 34.

[0051] The part data also includes image data of part E at various angles and positions, and the position and angle of part E can be calculated from the captured image by a pattern matching technique using this image data of part E.

[0052] Alternatively, for example, the captured image may be processed using a so-called edge filter to extract edges and analyze the angle components of the edges to calculate the position and angle of the part E. When extracting edges, for example, image processing such as Hough transform of straight lines and curves may be used.

[0053] While the nozzle 34 holds the component E by suction, the control unit 50 controls the R-axis servo motor 36 to rotate the nozzle 34 by angle -α about the axis L, thereby correcting the angular misalignment of the component E. Note that, although the angular misalignment of the component E is corrected here so that the long side direction of the component E coincides with the Y-axis direction, it is not necessary to coincide the long side direction of the component E with the Y-axis direction, and it is sufficient if the component E is corrected so that the entire component E falls within the imaging range PS.

[0054] Next, the control unit 50 uses the component imaging camera 41 to capture an image of the component E after the correction. In the captured image acquired at this time, the angular deviation of the component E has been corrected, so that the entire component E falls within the imaging range PS of the captured image (similar to the left side of FIG. 5). The control unit 50 re-recognizes the component E using the captured image after the angular deviation has been corrected. If the control unit 50 is successful in re-recognizing the component E, it determines that the component E is normal, and mounts the component E.

[0055] <Part recognition error due to misalignment> 7 and 8, a case where the connector 60 is misaligned with respect to the nozzle 34 will be described. Here, the position of the connector 60 is a position in a horizontal plane including the X-axis and the Y-axis. For simplicity, it is assumed that there is no angular misalignment of the connector 60 with respect to the nozzle 34. That is, consider a state in which the long side direction of the connector 60 coincides with the Y-axis direction and the connector 60 is attracted to the nozzle 34 at a position that is misaligned with the suction point 63 of the connector 60.

[0056] Fig. 7 shows the relationship between the positional misalignment of the connector 60 with respect to the nozzle 34 and the captured image. The left side of Fig. 7 shows a captured image of the connector 60 in a correct suction posture with no positional misalignment. When there is no positional misalignment, the position of the connector 60 is expressed as (0,0) in the XY coordinate system. In this state, the component center EC and the imaging center PC coincide with each other, and the entire connector 60 is contained within the imaging range PS of the captured image. Therefore, the control unit 50 can recognize the component E.

[0057] The right side of Fig. 7 shows a captured image of the misaligned connector 60, in which the position of the connector 60 is expressed as (x1, y1) in the XY coordinate system. That is, the component center EC is displaced from the imaging center PC by (x1, y1) in the XY coordinate system. Since the imaging center PC and the nozzle 34 are positioned to coincide in a plan view, the nozzle 34 picks up the connector 60 at a position displaced in the positive direction of the Y axis and the negative direction of the X axis from the component center EC of the connector 60. As shown on the right side of Fig. 7, if the amount of displacement of the connector 60 is large, the entire connector 60 does not fall within the imaging range PS of the captured image, which may result in a recognition error of the component E.

[0058] In the above case, similarly to when a recognition error occurs due to an angle deviation, the control unit 50 calculates the position and angle of the component E based on the partial structure of the component E shown in the captured image and the characteristic portion 65 of the component E included in the component data. Specifically, as shown in Fig. 8, the partial structure including the end of the housing 61 in the long side direction and six leads 62 extending from the housing 61 on both sides in the short side direction can be set as the characteristic portion 65 of the component E. Based on the characteristic portion 65 of the component E and the captured image, the control unit 50 can calculate that the component center EC of the connector 60 is misaligned by (x1, y1) in the XY coordinates with respect to the nozzle 34 (or the imaging center PC of the imaging range PS).

[0059] The control unit 50 corrects the positional deviation of the component E with respect to the imaging center PC by controlling the X-axis servo motor 23 and the Y-axis servo motor 24 to move the nozzle 34 by (-x1, -y1) in the XY coordinates while the component E is being sucked by the nozzle 34. Note that, here, the positional deviation of the component E is corrected so that the component center EC and the imaging center PC coincide with each other, but it is not necessary that the component center EC and the imaging center PC coincide with each other, and it is sufficient that the component E is corrected so that the entire component E falls within the imaging range PS.

[0060] Next, the control unit 50 uses the component imaging camera 41 to capture an image of the corrected component E. In the captured image acquired at this time, the positional deviation of the component E has been corrected, so that the entire component E falls within the imaging range PS of the captured image (similar to the left side of FIG. 7). The control unit 50 re-recognizes the component E using the captured image after the positional deviation has been corrected. If the control unit 50 is successful in re-recognizing the component E, it determines that the component E is normal, and mounts the component E.

[0061] 9, a procedure for correcting the position and angle deviation of component E when a recognition error occurs and for re-recognizing component E will be described below. First, the control unit 50 causes the nozzle 34 to pick up the component E supplied from the feeder 13 (S10).

[0062] The control unit 50 moves the component E picked up by the nozzle 34 above the component imaging camera 41, and the component imaging camera 41 captures an image of the component E (S20).

[0063] The control unit 50 performs a recognition process for the component E based on the captured image of the component E (S30), and determines whether or not the recognition of the component E has been successful (S40). If the recognition of the component E has been successful (S40: YES), that is, if the component E is determined to be normal, the control unit 50 mounts the component E on the board B (S50).

[0064] If the recognition of the component E fails (S40: NO), the control unit 50 executes a recognition error process for the component E (S60). If the recognition of the component E fails, the control unit 50 judges whether the entire component E is within the imaging range PS of the captured image (S70). If the entire component E is within the imaging range PS (S70: YES), a retry operation for the component recognition is performed up to the upper limit of the preset number of retries (S75: NO). That is, the component is imaged (S20) and recognized (S30) again. If the recognition of the component is still unsuccessful even after the recognition retry is performed up to the upper limit of the number of retries (S75: YES), the information of the component E obtained from the captured image does not match the data of the component to be mounted, so a recognition error occurs, and the component E is determined to be defective and discarded (S80).

[0065] If the entire part E is not contained within the imaging range PS (S70: NO), the control unit 50 executes a calculation process to calculate the position and angle of part E based on the partial structure of part E that is captured within the imaging range PS of the captured image (S90).

[0066] Based on the result of the calculation process, the control unit 50 executes a correction process to correct at least one of the positional deviation and the angular deviation of the part E with respect to the imaging range PS so that the entire part E falls within the imaging range PS (S100). In this embodiment, the control unit 50 performs the correction process by changing at least one of the position and the angle of the nozzle 34. For example, in the case of the angular deviation of the part E shown in Figs. 5 and 6, the angle of the nozzle 34 around the axis L is changed, and in the case of the positional deviation of the part E shown in Figs. 7 and 8, the XY coordinates of the nozzle 34 are changed. Although not shown, when both the positional deviation and the angular deviation of the part E are calculated, the correction process may be performed by changing both the position and the angle of the nozzle 34.

[0067] Once the correction process is complete, the control unit 50 captures an image of the component E using the component imaging camera 41 (S110), and executes a re-recognition process to re-recognize the component E based on the captured image (S120). Since the position and angle deviation of the component E is corrected, the entire component E falls within the imaging range PS, and the re-recognition process makes it possible to determine whether the component E itself is normal or not. If the re-recognition is successful (S130: YES), the control unit 50 mounts the component E on the board B (S50). If the re-recognition is unsuccessful (S130: NO), the control unit 50 discards the component E (S80).

[0068] When the mounting or disposal of the component E is completed, if the production of the board B is continued, the control unit 50 returns to the suction of the component E by the nozzle 34 (S10) and repeats the flow from S10 onwards. Here, if a recognition error of the component E occurs (S60), the component E is not within the imaging range PS (S70: NO), the calculation process (S90), the correction process (S100), the imaging of the component E (S110), and the re-recognition of the component E (S120) are executed, and the re-recognition is successful (S130: YES), and the flow is repeated, if at least one of the positional deviation and the angle deviation of the component E with respect to the imaging range PS calculated in the calculation process is repeatable, the control unit 50 stores the correction parameters used in the correction process in the storage unit 54. This makes it possible to easily perform a similar correction process from the next time onwards.

[0069] [Effects of embodiment 1] As described above, the component mounting apparatus 10 according to the first embodiment is a component mounting apparatus 10 that mounts a component E on a board B, and includes a mounting head 32 having a nozzle 34 that adsorbs the component E attached on an axis L, a transport unit 20 that transports the mounting head 32 in a direction perpendicular to the axis L, a rotation mechanism (R-axis servo motor 36) that rotates the nozzle 34 about the axis L, an imaging unit (component imaging camera 41) that images the component E adsorbed by the nozzle 34, a memory unit 54 that stores component data, and a control unit 50. When the component E cannot be recognized because the entire component E does not fall within the imaging range PS of the image acquired by the imaging unit, the control unit 50 executes a calculation process that calculates the position and angle of the component E based on the captured image, a correction process that corrects at least one of the positional deviation and angle deviation of the component E with respect to the imaging range PS from the result of the calculation process so that the component E falls within the imaging range PS, and a re-recognition process that images the component E by the imaging unit after the correction process and re-recognizes the component E.

[0070] With this configuration, even if part E cannot be recognized because the entire part E does not fall within the imaging range PS of the captured image, a calculation process is executed to calculate the position and angle of part E based on the captured image, a correction process is executed to correct at least one of the positional deviation and angle deviation of part E, and a re-recognition process is executed to image part E and re-recognize it after the correction process, thereby reducing waste of part E.

[0071] In the first embodiment, the control unit 50 executes the correction process by changing at least one of the position and the angle of the nozzle 34 that has picked up the component E.

[0072] According to this configuration, by changing at least one of the position and angle of the nozzle 34, at least one of the positional deviation and the angular deviation of the component E can be easily corrected.

[0073] In the first embodiment, when at least one of the positional deviation and the angular deviation of the part E with respect to the imaging range PS is repeatable, the control unit 50 causes the storage unit 54 to store the correction parameters used in the correction process.

[0074] According to this configuration, the correction parameters are stored for at least one of the positional deviation and the angular deviation of the component E, which are repeatable, so that similar correction processing can be easily performed from the next time onwards.

[0075] In the first embodiment, the calculation process may be performed by pattern matching using image data included in the part data, or by detecting the angle component of the edge of the part E.

[0076] In the first embodiment, the imaging unit may capture an image of the component E by line imaging.

[0077] [Details of the second embodiment of the present disclosure] A second embodiment of the present disclosure will be described with reference to Fig. 10 to Fig. 12. Hereinafter, the description of the same configurations, functions and effects as those of the first embodiment will be omitted. Also, the same configurations as those of the first embodiment will be described using the same reference numerals.

[0078] In the second embodiment, a large shielding member 70 shown in FIG. 10 will be described as a component E to be mounted. The shielding member 70 is made of a metal such as aluminum and has a frame shape. The shielding member 70 is used, for example, in a mobile phone. The shielding member 70 includes a rectangular outer frame portion 71 that forms an outer shape, a first beam portion 72 that extends in the Y-axis direction inside the outer frame portion 71, and a second beam portion 73 that extends in the X-axis direction inside the outer frame portion 71. The component center EC of the shielding member 70 is set to the center of the outer frame portion 71. A suction point 74, which is a position where the shielding member 70 is suctioned by the nozzle 34, is set to the upper surface (the surface on the far side in the direction perpendicular to the paper surface) of the portion where the first beam portion 72 and the second beam portion 73 intersect.

[0079] Unlike the connector 60 of the first embodiment, the shield member 70 of the second embodiment has an adsorption point 74 and a component center EC disposed at different positions. Therefore, even if the shield member 70 is adsorbed by the nozzle 34 at the adsorption point 74, in a normal setting in which the center of the nozzle 34 coincides with the imaging center PC of the captured image, the component E may not fall within the imaging range PS, as shown on the right side of Fig. 11. In such a case, conventionally, the worker would manually change the offset of the XY coordinates via the operation unit 51 to adjust the positional relationship between the component E and the imaging range PS, but this adjustment could take a long time.

[0080] In this embodiment, as described above, for a part E whose position differs from that of the suction point 74, the position of the part center EC is included in the part data. As a result, if a recognition error occurs because the entire part E does not fall within the imaging range PS, the control unit 50 can correct the position of the part E so that the part center EC coincides with the imaging center PC, thereby making it possible for the part E to fall within the imaging range PS.

[0081] In detail, when a recognition error occurs because the entire part E does not fall within the imaging range PS, the control unit 50 calculates the position and angle of the part E based on the partial structure of the part E shown in the captured image and a characteristic portion 75 of the part E included in the part data. Specifically, as shown in Fig. 12, a partial structure including an intersection between the first beam portion 72 and the second beam portion 73 in the shield member 70 and a part of the outer frame portion 71 can be set as the characteristic portion 75 of the part E. Based on the characteristic portion 75 of the part E and the captured image, the control unit 50 can calculate that the position of the shield member 70 with respect to the imaging center PC is (0,0) in XY coordinates, and the angle of the shield member 70 with respect to the imaging center PC is 0° (right side of Fig. 11).

[0082] Next, based on the result of the calculation process and the position of the part center EC included in the part data, the control unit 50 corrects the position of the part E so that the part center EC coincides with the imaging center PC while keeping the part E being picked up by the nozzle 34. Specifically, the control unit 50 controls the X-axis servo motor 23 and the Y-axis servo motor 24 to move the nozzle 34 by (x2, y2) in the XY coordinates.

[0083] Next, the control unit 50 captures an image of the component E after the correction using the component imaging camera 41. In the captured image acquired at this time, as shown on the left side of Fig. 11, the component center EC and the imaging center PC coincide with each other, and the entire component E is within the imaging range PS of the captured image. The control unit 50 re-recognizes the component E using the captured image after the positional deviation has been corrected. If the control unit 50 is successful in re-recognizing the component E, it determines that the component E is normal, and mounts the component E.

[0084] In the second embodiment, the flow from pickup of component E (S10) to mounting of component E (S50) or disposal of component E (S80) is the same as in the first embodiment, and therefore a description thereof will be omitted (see FIG. 9).

[0085] Furthermore, when the positional deviation of the component E with respect to the imaging range PS calculated in the calculation process is repeatable, the control unit 50 may be configured to store the correction parameters used in the correction process in the storage unit 54. When the mounting flow (see FIG. 9) for the component E in which the position of the component center EC and the position of the suction point 74 are different is executed multiple times, as long as the nozzle 34 picks up the component E at the suction point 74, the positional deviation of the component E with respect to the imaging range PS will be the same each time, and therefore the above configuration can facilitate similar correction processes from the next time onwards.

[0086] [Effects of the second embodiment] In embodiment 2, part E (shield member 70) has an suction point 74 that is adsorbed by nozzle 34, and a part center EC that is located at a position different from the suction point 74. When the imaging center PC, which is the center of the imaging range PS, coincides with the suction point 74, part E does not fit within the imaging range PS, but when the imaging center PC and the part center EC coincide, part E fits within the imaging range PS. The part data includes the position of the part center EC of part E, and the control unit 50 performs a correction process so that the imaging center PC and the part center EC coincide.

[0087] According to this configuration, for a component E whose position of the component center EC differs from the position of the pickup point 74, the position of the component center EC is included in the component data, so that the correction process can be easily performed.

[0088] <Other embodiments> (1) In the above embodiment, the connector 60 and the shield member 70 are described as examples of the component E. However, the component E is not limited to these. (2) In the above embodiment, the position and angle of the nozzle 34 are changed to correct the position and angle deviation of the component E. However, this is not limited to this, and the position and angle deviation of the component may be corrected by changing the position and angle of the component imaging camera. (3) In the above embodiment, the head unit 30 is a so-called inline head in which multiple mounting heads 32 are arranged side by side in the X-axis direction. However, this is not limited to this, and the head unit may be, for example, a rotary head in which multiple mounting heads are arranged on a circumference. [Explanation of symbols]

[0089] 10...Component mounting device 11: base, 12: part supply unit, 13: feeder, 14: transport conveyor, 15: transport belt, 16: conveyor drive motor 20...conveyor section, 21...X-axis beam, 22...Y-axis frame, 23...X-axis servo motor, 24...Y-axis servo motor 30…Head unit 31: head unit body, 32: mounting head, 33: shaft, 34: nozzle, 35: Z-axis servo motor, 36: R-axis servo motor (rotation mechanism) 40: circuit board imaging camera, 41: component imaging camera (imaging unit) 45...Sensors, 46...Actuators 50...Control unit 51: operation unit, 52: calculation processing unit, 53: motor control unit, 54: storage unit, 55: image processing unit, 56: external input / output unit, 57: communication unit 60…Connector 61...housing, 62...lead, 63...suction point, 64, 65...characteristic part 70...Shielding material 71: outer frame portion, 72: first beam portion, 73: second beam portion, 74: suction point, 75: characteristic portion B... Board, E... Component, EC... Component center, L... Axis, PC... Imaging center, PS... Imaging range

Claims

1. A component mounting apparatus for mounting components on a substrate, comprising: a mounting head having a nozzle for suctioning the component attached on an axis thereof; a conveying unit that conveys the mounting head in a direction perpendicular to the axis; A rotation mechanism that rotates the nozzle about the axis; an imaging unit that images the component sucked by the nozzle; A storage unit that stores part data; A control unit; Equipped with When the part cannot be recognized because the whole of the part is not included within an imaging range of the image acquired by the imaging unit, The control unit is a calculation process for calculating a position and an angle of the part based on the captured image; a correction process for correcting at least one of a positional deviation and an angle deviation of the component with respect to the imaging range based on a result of the calculation process so that the component falls within the imaging range; a re-recognition process of capturing an image of the component by the imaging unit after the correction process and re-recognizing the component; Run The control unit is If the component recognition is successful, the component is mounted on the board without executing the calculation process, the correction process, and the re-recognition process. A component mounting device that fails to recognize a component, executes a recognition error process, and if the entire component is not contained within the imaging range of the captured image acquired by the imaging unit in the recognition error process, executes the calculation process, the correction process, and the re-recognition process.

2. The component mounting apparatus according to claim 1 , wherein the control unit executes the correction process by changing at least one of a position and an angle of the nozzle at which the component is picked up.

3. A component mounting device for mounting components on a substrate, comprising: a mounting head having a nozzle for suctioning the component attached on an axis thereof; a conveying unit that conveys the mounting head in a direction perpendicular to the axis; A rotation mechanism that rotates the nozzle about the axis; an imaging unit that images the component sucked by the nozzle; A storage unit that stores part data; A control unit; Equipped with When the part cannot be recognized because the whole of the part is not included within an imaging range of the image acquired by the imaging unit, The control unit is a calculation process for calculating a position and an angle of the part based on the captured image; a correction process for correcting at least one of a positional deviation and an angle deviation of the component with respect to the imaging range based on a result of the calculation process so that the component falls within the imaging range; a re-recognition process of capturing an image of the component by the imaging unit after the correction process and re-recognizing the component; Run the component has a suction point that is picked up by the nozzle and a component center that is disposed at a position different from the suction point, When the imaging center, which is the center of the imaging range, coincides with the suction point, the component does not fit within the imaging range, When the imaging center and the component center are aligned, the component is located within the imaging range. the part data includes a position of the part center in the part; The control unit executes the correction process so that the imaging center and the component center coincide with each other.

4. 4. The component mounting device according to claim 1, wherein when at least one of the positional misalignment and the angular misalignment of the component relative to the imaging range is repeatable, the control unit stores correction parameters used in the correction process in the memory unit.

5. The component mounting device according to claim 1 , wherein the calculation process is performed by pattern matching using image data included in the component data, or by detecting an angle component of an edge of the component.

6. The component mounting apparatus according to claim 1 , wherein the imaging unit captures an image of the component by line imaging.

Images