Display device and interference checking method

Abstract

Provided is a display device that simultaneously displays an image of a cavity, an image of a component disposed in the cavity, and a visualization image of a holding tool for holding the component.　Also provided is an interference confirmation method in which an image of a component provided in a cavity and an image of a grasping claw for grasping the component are displayed in an overlapping manner, and in which it is determined whether or not the grasping claw will interfere with the cavity or with an upward facing surface of the component provided in the cavity when the grasping claw is moved within the range of operation for grasping the component and grasps the component.

Description

[Technical field]

[0001] The present invention relates to a display device that displays an image of a part placed in a cavity. [Background technology]

[0002] The following Patent Document describes a display device that displays an image of a part to be held. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 168590 [Patent Document 2] Japanese Patent Application Publication No. 4-172000 Summary of the Invention [Problem to be solved by the invention]

[0004] The present specification aims to ensure proper retention of a component placed in a cavity. [Means for solving the problem]

[0005] In order to solve the above problem, the present specification provides a method for displaying an image of a cavity, an image of a part placed in the cavity, and an image of a holder that holds the part in a superimposed state, the image of the holder includes an image of a pair of gripping jaws provided on the holder, In the image The pair of grippers Nails and A pair of gripping jaws for gripping the part Face and In order to solve the above problem, the present specification discloses a display device that displays an image of a part disposed in a cavity and a pair of gripping jaws that grip the part. image When displaying the image overlaid, In the image The pair of grippers Nails andA pair of gripping jaws for gripping the part Face and and an interference checking method for checking whether or not the pair of gripping jaws interferes with the cavity or an upward facing surface of the part disposed within the cavity when the pair of gripping jaws moves within a range of motion for gripping the part to grip the part. Effect of the Invention

[0006] In the present disclosure, an image of the cavity, an image of the part placed in the cavity, and an image of the holder holding the part are displayed simultaneously. Alternatively, an image of the part placed in the cavity and an image of the gripping jaws holding the part are displayed in an overlapping state. This makes it possible to check whether or not there is interference with the holder or gripping jaws holding the part, and ensures that the part placed in the cavity is properly held. [Brief description of the drawings]

[0007] [Figure 1] FIG. 2 is a perspective view showing a component mounter. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 2 is a block diagram showing a control device. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] FIG. [Figure 9] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.

[0009] 1 shows a component mounter 10. The component mounter 10 is a device for executing a mounting operation of components on a circuit board 12. The component mounter 10 includes a device main body 20, a board transport and holding device 22, a component mounting device 24, a mark camera 26, a parts camera 28, a component supply device 30, a bulk component supply device 32, and a control device (see FIG. 5) 34. Examples of the circuit board 12 include a circuit board, a three-dimensional structure board, etc., and examples of the circuit board include a printed wiring board, a printed circuit board, etc.

[0010] The device body 20 is composed of a frame 40 and a beam 42 suspended on the frame 40. The substrate transport and holding device 22 is disposed in the center of the frame 40 in the front-rear direction, and includes a transport device 50 and a clamp device 52. The transport device 50 is a device for transporting the circuit substrate 12, and the clamp device 52 is a device for holding the circuit substrate 12. As a result, the substrate transport and holding device 22 transports the circuit substrate 12 and holds the circuit substrate 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. In other words, the width direction of the component mounter 10 is the X direction, and the front-rear direction is the Y direction.

[0011] The component mounting device 24 is disposed on the beam 42, and has two work heads 60, 62 and a work head moving device 64. The work head moving device 64 has an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. The two work heads 60, 62 are moved integrally to any position on the frame 40 by the X-direction moving device 68 and the Y-direction moving device 70. The work heads 60, 62 are attached to sliders 74, 76 in a position that allows the worker to detach them without using tools, and the Z-direction moving device 72 moves the sliders 74, 76 individually in the vertical direction. That is, the work heads 60, 62 are moved individually in the vertical direction by the Z-direction moving device 72.

[0012] 2, a component holder 77 is attached to the lower end surface of each of the work heads 60 and 62. The component holder 77 is a so-called chuck, and includes a main body 78, a pair of gripping jaws 80, and a stopper 82, as shown in FIG. 3. The pair of gripping jaws 80 are arranged to extend downward from the lower surface of the main body 78, and slide linearly so as to approach and separate from each other. The stopper 82 is fixed to the lower surface of the main body 78 between the pair of gripping jaws 80. As a result, the component holder 77 holds a component with the pair of gripping jaws 80 by bringing the pair of gripping jaws 80 close to each other. At this time, the component holder 77 holds the component with the pair of gripping jaws 80 in a state in which the lower surface of the stopper 82 is in contact with the upper surface of the component. As a result, the component holder 77 can hold the component with the posture of the component stabilized. Then, the component holder 77 separates the pair of gripping jaws 80 to release the component from between the pair of gripping jaws 80. Each work head 60, 62 is provided with a rotation device (not shown) that rotates the component holder 77 about a vertical axis, and the attitude of the component held by the component holder 77 can be changed by operating the rotation device.

[0013] As shown in Fig. 2, mark camera 26 is attached to slider 74 facing downward on a vertical line, and moves in the X, Y, and Z directions together with work head 60. Therefore, mark camera 26 can capture an image of any position on frame 40. As shown in Fig. 1, part camera 28 is disposed between substrate conveying and holding device 22 and component supplying device 30 on frame 40 facing upward on a vertical line. In this way, part camera 28 captures an image of a component held by component holder 77 of work heads 60, 62. Note that mark camera 26 and part camera 28 are two-dimensional cameras and capture two-dimensional images.

[0014] The component supply device 30 is disposed at one end of the frame 40 in the front-rear direction. The component supply device 30 has a tray-type component supply device 86 and a feeder-type component supply device (see FIG. 5) 88. The tray-type component supply device 86 is a device that supplies components placed on a tray. More specifically, as shown in FIG. 4, a plurality of cavities 92 are formed in the tray 90, and electronic components 96 are accommodated in each of the plurality of cavities 92. The electronic components 96 are accommodated inside the cavities 92 in a state where they are in contact with the inner wall surface of the cavities 92 or in a state where there is a clearance. A pair of gripping claws 80 of a component holder 77 provided on the work head is inserted into the clearance between the inner wall surface of the cavity 92 and the electronic components 96 so as to sandwich a pair of opposing side surfaces of the electronic components 96, and the pair of gripping claws 80 are brought close to each other to grip the electronic components 96 by the pair of gripping claws 80. In this manner, the tray-type component supplying device 86 supplies the electronic components 96 accommodated in the cavities 92 of the tray 90 to the working head. The feeder-type component supplying device 88 supplies components to the working head by a tape feeder or a stick feeder (not shown).

[0015] 1, the bulk parts supplying device 32 is disposed at the other end of the frame 40 in the front-rear direction. The bulk parts supplying device 32 is a device that aligns multiple parts that are scattered randomly and supplies the parts in the aligned state. In other words, it is a device that aligns multiple parts in any orientation into a predetermined orientation and supplies the parts in the predetermined orientation.

[0016] The components supplied by the component supply device 30 and the bulk component supply device 32 include electronic circuit components, solar cell components, power module components, etc. The electronic circuit components include components with leads and components without leads.

[0017] As shown in FIG. 5, the control device 34 includes a controller 100, a plurality of drive circuits 102, an image processing device 104, and a control circuit 106. The plurality of drive circuits 102 are connected to the above-mentioned conveying device 50, the clamping device 52, the working heads 60 and 62, the working head moving device 64, the tray type component supplying device 86, the feeder type component supplying device 88, and the bulk component supplying device 32. The controller 100 includes a CPU, a ROM, a RAM, and the like, and is mainly a computer, and is connected to the plurality of drive circuits 102. As a result, the operation of the substrate conveying and holding device 22, the component mounting device 24, and the like is controlled by the controller 100. The controller 100 is also connected to the image processing device 104. The image processing device 104 processes image data obtained by the mark camera 26 and the parts camera 28, and the controller 100 acquires various information from the image data. Furthermore, the controller 100 is also connected to a display device 108 via the control circuit 106. 1, the display device 108 is disposed in the bulk component supplying device 32, and displays any image in response to a command from the controller 100. The controller 100 also stores a production program 110. The production program 110 is a program for executing a mounting operation, which will be described later.

[0018] In the component mounter 10, components are mounted on the circuit board 12 held by the board transport and holding device 22 in accordance with the processing of the production program 110. The component mounter 10 is capable of mounting various components onto the circuit board 12, but the following describes the case where electronic components 96 supplied by a tray-type component supply device 86 are mounted onto the circuit board 12.

[0019] Specifically, the circuit board 12 is conveyed to a working position by the conveying device 50 of the substrate conveying and holding device 22, and fixedly held at that position by the clamping device 52. Next, the mark camera 26 moves above the circuit board 12 and captures an image of the circuit board 12. This provides information on the holding position of the circuit board 12, etc. Also, the tray-type component supply device 86 supplies the electronic components 96 accommodated in the cavities 92 of the tray 90 to the working heads 60 and 62. Then, one of the working heads 60 and 62 moves above the electronic components 96 accommodated in the cavities 92, and the electronic components 96 are held by the pair of gripping jaws 80 of the component holder 77. More specifically, when the working heads 60 and 62 are moving above the electronic components 96, the pair of gripping jaws 80 of the component holder 77 are spaced apart from each other, and the pair of gripping jaws 80 move in the XY direction so as to be positioned outside the electronic components 96. Then, the working heads 60, 62 are lowered, so that the pair of gripping claws 80 are inserted into the clearance between the cavity 92 and the electronic component 96 housed in the cavity 92, facing a pair of opposing side surfaces of the electronic component 96, and the lower surface of the backing metal 82 is brought into contact with the upper surface of the electronic component 96. Next, each of the pair of gripping claws 80 is brought close to the opposing side surfaces of the electronic component, and the electronic component 96 is gripped by the pair of gripping claws 80 at the pair of side surfaces facing the pair of gripping claws.

[0020] Next, the work heads 60, 62 holding the electronic component 96 accommodated in the cavity 92 move above the part camera 28, and the part camera 28 captures an image of the electronic component 96 held by the pair of gripping jaws 80 of the component holder 77. This provides information on the holding position of the component, etc. Next, the work heads 60, 62 holding the electronic component 96 move above the circuit board 12, and corrects errors in the holding position of the circuit board 12, errors in the holding position of the component, etc. Then, the electronic component 96 held by the component holder 77 is mounted on the circuit board 12 at the intended mounting position.

[0021] In this manner, in the component mounter 10, the work of mounting components on the circuit board 12 is executed by processing the production program 110. For this purpose, the production program 110 is programmed with information on the planned mounting positions of components on the circuit board 12, information on the components to be mounted on the circuit board 12, information on the component holder 77 that holds the components to be mounted on the circuit board 12, and the like. Specifically, for example, the information on the components includes the size of the components, the attitude of the components, a pair of side surfaces (hereinafter referred to as "gripping surfaces") of the components gripped by the pair of gripping jaws 80 of the component holder 77, and the position of the cavity 92 of the tray 90 in which the components are accommodated, and the like. In addition, the information on the component holder 77 includes the distance s1 between the pair of gripping jaws 80 when the pair of gripping jaws 80 are separated from each other, the thickness dimension t1 of the gripping jaws 80, the width dimension w1 of the gripping jaws 80, the thickness dimension t2 of the abutment 82, and the width dimension w2 of the abutment 82, and the like. The thickness dimensions t1, t2 of the gripping claws 80, etc. are dimensions in the sliding direction of the gripping claws 80, as shown in Fig. 3. The width dimensions w1, t2 of the gripping claws 80, etc. are dimensions in the sliding direction of the gripping claws 80 and in a direction perpendicular to the extension direction of the gripping claws 80. In other words, the width dimensions w1, t2 of the gripping claws 80, etc. are dimensions in the depth direction in Fig. 3.

[0022] In this way, by executing production program 110 in which the planned component mounting positions, information about the components, information about the component holder 77, etc. are programmed, the mounting work is performed, the components are properly held by the component holder 77, and the components are properly mounted at the planned mounting positions on the circuit board 12. However, because production program 110 was created on paper, there is a possibility that some kind of operational error will occur when the mounting work is actually performed by component mounter 10. For this reason, before the component mounting work is actually performed by component mounter 10, a confirmation work is performed to check whether the component mounting work will be performed properly when production program 110 is executed.

[0023] Various operations are performed as the confirmation operation, and one of them is a confirmation operation for confirming whether the component holder 77 can properly hold the electronic component 96 accommodated in the cavity 92 of the tray 90. Specifically, the cavity 92 of the tray 90 accommodates the electronic component 96 used in the mounting operation performed by executing the production program. Then, the mark camera 26 captures an image of the electronic component 96 accommodated in the cavity 92. In addition, based on information about the component holder 77 programmed in the production program 110, the size of the component holder 77 is specified. That is, the distance s1 between the pair of gripping jaws 80 when the pair of gripping jaws 80 are separated, the thickness dimension t1 of the gripping jaws 80, the width dimension w1 of the gripping jaws 80, the thickness dimension t2 of the abutment 82, the width dimension w2 of the abutment 82, and the like are specified. In addition, based on information about the component programmed in the production program 110, a pair of side surfaces of the component to be gripped by the pair of gripping jaws 80, i.e., gripping surfaces, are specified. An image based on the imaging data captured by mark camera 26 and an image of component holder 77 based on information about component holder 77 programmed in production program 110 are simultaneously displayed on display device 108. That is, as shown in Fig. 6, an image 120 of the cavity based on the imaging data, an image 122 of the electronic component based on the imaging data, and an image 124 of the component holder are simultaneously displayed on display device 108. Note that the image based on the imaging data is an image showing an actual object, that is, a real image. On the other hand, the image is an image based on various information specified by production program 110, in other words, an image based on image data, that is, a virtual image.

[0024] In detail, a pair of image images 124a of the gripping claws and an image image 124b of the metal are displayed as the image image 124 of the component holder. The image image 124a of the pair of gripping claws is displayed so as to face a pair of gripping surfaces of the electronic component gripped by the pair of gripping claws 80. In other words, when the image 122 of the electronic component is generally rectangular and a pair of short sides 122a corresponds to a pair of gripping surfaces, the image image 124a of the pair of gripping claws is displayed so as to face the pair of short sides 122a. At this time, the distance between the image images 124a of the pair of gripping claws is set to s1, and the thickness and width dimensions of the image image 124a of the gripping claws are set to t1 and w1. The image image 124b of the metal is displayed between the image images 124a of the pair of gripping claws. At this time, the thickness and width dimensions of the image image 124b of the metal are set to t2 and w2.

[0025] In this manner, in the confirmation work, the component holder image 124 is simultaneously displayed on the display device 108 in a state where it is projected onto the cavity image 120 based on the imaging data and the electronic component image 122, i.e., in a state where they are superimposed. This allows the worker to check the image displayed on the display device 108 and check whether the gripping claws 80 will interfere when the gripping claws 80 are moved within the range of motion for gripping a component and grip the component accommodated in the cavity. In other words, the pair of gripping claws 80 that are spaced apart above the component are moved in the XY directions to be positioned outside the component to be gripped, the positioned pair of gripping claws are lowered to a height facing the pair of gripping surfaces of the component to be gripped, and then the pair of gripping claws that have been lowered to the pair of gripping surfaces are brought close to each other, so that it is possible to check whether the gripping claws 80 will interfere when gripping the component. 6, for example, when an image 120 of a cavity, an image 122 of an electronic component, and an image 124 of a component holder are displayed simultaneously on display device 108, the worker can confirm that the pair of gripping claws 80 interfere with cavity 92. Note that the concept of interference between gripping claws 80 and cavity 92 includes not only a case where gripping claws 80 come into contact with cavity 92, but also a case where gripping claws come into contact with the upper surface of tray 90 in which cavity 92 is formed.

[0026] In addition, since the image of the component holder 77 is displayed based on various information programmed in the production program 110, if these various information are different, the image of the component holder 77 displayed on the display device 108 also changes. For example, when a state in which a pair of gripping claws 80 are separated by a distance s2 (<S1) is programmed as information regarding the component holder 77 in the production program 110, as shown in FIG. 7, the image 120 of the cavity, the image 122 of the electronic component, and the image 124 of the component holder are simultaneously displayed on the display device 108. When such an image is displayed on the display device 108, the operator can confirm that the pair of gripping claws 80 interfere with the surface of the component facing upward. That is, in the confirmation operation, the operator can confirm whether or not the gripping claws 80 interfere with the cavity 92 or the surface of the component disposed in the cavity 92 facing upward by checking the display device 108.

[0027] In addition, when a pair of long sides 122b (see FIG. 8) are programmed in the production program 110 instead of a pair of short sides 122a (see FIG. 6) as a pair of gripping surfaces of the electronic component, as shown in FIG. 8, the image 120 of the cavity, the image 122 of the electronic component, and the image 124 of the component holder are simultaneously displayed on the display device 108. That is, an image 124a of a pair of gripping claws is displayed so as to face the pair of long sides 122b. When such an image is displayed on the display device 108, the operator can confirm that the gripping claws 80 do not interfere with either the cavity 92 or the surface of the component disposed in the cavity 92 facing upward.

[0028] However, since the image 120 of the cavity and the image 122 of the electronic component are images based on imaging data of the electronic component 96 accommodated in the tray 90, the position of the electronic component 96 inside the cavity 92 differs depending on the timing of imaging. That is, for example, when the electronic component 96 is arranged in the center of the cavity 92, the image 122 of the electronic component is displayed in the center of the image 120 of the cavity as shown in FIG. 8. On the other hand, when the electronic component 96 is arranged in a position shifted from the center of the cavity 92, the image 122 of the electronic component is displayed in a position shifted from the center of the image 120 of the cavity as shown in FIG. 9. In this way, the image 124a of the component holder is displayed superimposed on the image 120 of the cavity and the image 122 of the electronic component, so that the worker can confirm that one of the pair of gripping jaws 80 interferes with the cavity 92.

[0029] Moreover, the cavity image 120 and the electronic component image 122 change not only depending on the placement position of the component inside the cavity 92, but also depending on the shape of the cavity and the shape of the component placed in the cavity. Moreover, the component holder image 124 changes not only depending on the distance between the pair of gripping jaws of the component holder 77, but also depending on the shape of the gripping jaws. That is, the image displayed on the display device 108 changes based on various combinations of the type of cavity, the type of component placed in the cavity, the position of the component placed in the cavity, the type of gripping jaws, and the position of the gripping jaws. Therefore, whether or not the gripping jaws interfere with the cavity or the upward facing surface of the component placed in the cavity when holding the component placed in the cavity varies based on these combinations. For all of these combinations, the cavity image 120, the electronic component image 122, and the component holder image 124 are simultaneously displayed on the display device 108, as described above, so that the presence or absence of interference of the component holder can be confirmed. This allows the component holders in the component mounter 10 to properly hold the components placed in the cavities, and ultimately allows the component mounter to properly perform the component mounting operation.

[0030] It should be noted that the mark camera 26 is an example of an imaging device. The component holder 77 is an example of a holder. The gripping claws 80 are an example of a gripping claw. The cavity 92 is an example of a cavity. The electronic component 96 is an example of a component. The display device 108 is an example of a display device. The production program 110 is an example of a production program.

[0031] The present invention is not limited to the above embodiment, and can be embodied in various forms with various modifications and improvements based on the knowledge of a person skilled in the art. For example, in the above embodiment, the cavity image 120 and the electronic component image 122 are images based on imaging data obtained by imaging the actual object, but at least one of the cavity image 120 and the electronic component image 122 may be an image image that is a virtual image. That is, for example, the electronic component image 122 may be displayed on the display device 108 as an image image based on information about the component programmed in the production program 110. Also, for example, if information about the cavity 92 is programmed in the production program 110, the cavity image 120 may be displayed on the display device 108 as an image image based on the information about the cavity 92.

[0032] In the above embodiment, imaging data of the electronic components 96 accommodated in the tray 90 captured by the mark camera 26 is used when the checking operation is performed, but imaging data of the electronic components 96 accommodated in the tray 90 captured by the mark camera 26 before the checking operation may be used. Then, imaging data captured before the checking operation may be stored in the control device 34, and the image 120 of the cavity and the image 122 of the electronic components may be displayed on the display device 108 based on the imaging data stored in the control device 34.

[0033] In the above embodiment, the component holder 77 that holds a component with a pair of gripping jaws 80, a so-called chuck, is used as the holder, but a suction nozzle may also be used. That is, an image of the cavity, an image of the component placed in the cavity, and an image of the suction nozzle may be displayed simultaneously on the display device 108 to check whether any part of the suction nozzle will interfere with the cavity 92 or the component placed in the cavity 92 when holding the component.

[0034] In the above embodiment, the two-dimensional image data captured by the mark camera 26 is used, but imaging data captured by other types of imaging devices, such as a stereo camera, a video camera, a three-dimensional camera, or a plurality of imaging devices, may be used. Furthermore, imaging data captured by a stereo camera, a video camera, or a three-dimensional camera may be converted into two-dimensional imaging data, and the two-dimensional imaging data may be used.

[0035] In the above embodiment, when the holder of the work head holds the component arranged in the cavity 92, the worker checks the image displayed on the display device 108 to see whether the component can be held well or not. However, for example, the control device 34 of the component mounter 10 may automatically make that judgment and notify the worker. Also, information may be obtained from the component mounter 10, and a control device independent of the component mounter 10 may automatically make the judgment and display the information on the display device 108 of the component mounter 10, or on a different display device. [Explanation of symbols]

[0036] 26: Mark camera (imaging device) 77: Part holder (holder) 80: Grip jaw 92: Cavity 96: Electronic part (part) 108: Display device 110: Production program

Claims

1. A display device that displays an image of a cavity, an image of a part placed in the cavity, and an image of a holder holding the part in a superimposed state, wherein the image of the holder includes an image of a pair of gripping claws provided on the holder, and displays the pair of gripping claws in the image image facing a pair of gripping surfaces of the part gripped by the pair of gripping claws.

2. The display device according to claim 1 , wherein the image of the cavity is based on imaging data obtained by imaging the cavity with an imaging device.

3. 3. The display device according to claim 1, wherein an image of the pair of gripping jaws is displayed based on a production program for causing the holder to hold the part.

4. The image of the holder includes an image of a metal provided on the holder, 4. The display device according to claim 1, wherein an image of the cavity, an image of the part, and an image of the pair of gripping jaws and abutment of the holder are displayed in an overlapping state.

5. When an image of a part disposed in a cavity and an image of a pair of gripping jaws gripping the part are displayed in a superimposed state, the pair of gripping jaws in the image are displayed so as to face a pair of gripping surfaces of the part gripped by the pair of gripping jaws, An interference confirmation method for confirming whether the pair of gripping claws interfere with the cavity or an upward facing surface of the part disposed within the cavity when the pair of gripping claws move within a range of motion for gripping the part to grip the part.

Images