Component mounter, lead component position calculation method, and lead component position calculation program

Abstract

To calculate the positions of lead components with high accuracy, regardless of a dispersion in lead lengths.SOLUTION: An X segment 93x where an extension line V93 extending in parallel with a direction Ey from a tip T93 of a lead 93 and an X-coordinate axis intersect is calculated (step S301), and an X segment representative position Ax (X segment average value) that is the average of X segments 93x is calculated (step S302). Y segments 91y, 92y where extension lines V91, V92 extending in parallel with a direction Ex from tips T91, T92 of leads 91, 92 and a Y-coordinate axis intersect is calculated (step S304), and a Y segment representative position Ay (Y segment average value) that is the average of Y segments 91y, 92y is calculated. The position of the intersection point N of an X segment representative line Rx that passes through the X segment representative position Ax and is parallel to the direction Ex and a Y segment representative line Ry that passes through the Y segment representative position Ay and is parallel to the direction Ex is calculated.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] This invention relates to a component mounting technology for mounting lead components on a substrate by a mounting head, and particularly to a technology for calculating the position of lead components.

Background Art

[0002] In a component mounter for mounting lead components on a substrate by a mounting head, in order to mount the lead components at appropriate positions with respect to the substrate, the position of the lead components is calculated based on a lead component image obtained by imaging the lead components held by the mounting head. For example, in Patent Documents 1 and 2, the position of the lead components is calculated based on the position of the tips of the leads calculated from the lead component image.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the leads of lead components are designed to have a predetermined length in their extending directions. However, the actual lengths of the leads vary. Therefore, it has been difficult to accurately calculate the position of lead components from the positions of the leads.

[0005] This invention has been made in view of the above problems, and an object thereof is to enable accurate calculation of the position of lead components regardless of variations in the lengths of the leads of lead components.

Means for Solving the Problems

[0006] The component mounter according to the present invention includes a mounting head that holds a lead component having a rectangular component body, a plurality of first extension leads extending from the component body in a first extension direction, and a plurality of second extension leads extending from the component body in a second extension direction perpendicular to the first extension direction; a component imaging unit that takes an image of a lead component that shows the lead component held in the mounting head; and a lead component recognition unit that recognizes the lead component shown in the lead component image in an XY coordinate system consisting of an X coordinate axis and a Y coordinate axis perpendicular to the X coordinate axis, and the lead component recognition unit includes an extension direction calculation unit that calculates the first extension direction and the second extension direction in the XY coordinate system based on the lead component image, and a line extending from the tip of the first extension lead parallel to the first extension direction and the X coordinate axis. the position of the lead component is determined based on the position of the intersection.

[0007] A lead component position calculation method according to the present invention includes a step of acquiring a lead component image showing a lead component having a rectangular component body, a plurality of first extension leads extending from the component body in a first extension direction, and a plurality of second extension leads extending from the component body in a second extension direction perpendicular to the first extension direction, and a step of recognizing the lead component shown in the lead component image in an XY coordinate system consisting of an X coordinate axis and a Y coordinate axis perpendicular to the X coordinate axis. The lead component recognition step includes a process of calculating the first extension direction and the second extension direction in the XY coordinate system based on the lead component image, and a process of recognizing a line where a line extending from a tip of the first extension lead in parallel to the first extension direction intersects with the X coordinate axis. a process of calculating an X-intercept for each of the plurality of first extension leads, a process of calculating an X-intercept average value which is the average of the X-intercepts calculated for each of the plurality of first extension leads, a process of calculating a Y-intercept for each of the plurality of second extension leads where a line extending from the tip of the second extension lead in parallel to the second extension direction intersects with the Y coordinate axis, a process of calculating an Y-intercept average value which is the average of the Y-intercepts calculated for each of the plurality of second extension leads, and a process of calculating the position of the intersection between a line passing through the X-intercept average value and parallel to the first extension direction and a line passing through the Y-intercept average value and parallel to the second extension direction, and the position of the lead component is found based on the position of the intersection.

[0008] In the present invention configured as described above, a lead component shown in a lead component image is recognized in an XY coordinate system. The lead component includes a rectangular component body, a plurality of first extended leads extending from the component body in a first extension direction, and a plurality of second extended leads extending from the component body in a second extension direction perpendicular to the first extension direction. In particular, the first extension direction and the second extension direction in the XY coordinate system are calculated based on the lead component image. Then, an X-intercept, where a line extending parallel to the first extension direction from the tip of the first extended lead intersects with the X coordinate axis, is calculated for each of the first extended leads, and an average X-intercept value is calculated, which is the average of the calculated X-intercepts for each of the first extended leads. Furthermore, a Y-intercept, where a line extending parallel to the second extension direction from the tip of the second extended lead intersects with the Y coordinate axis, is calculated for each of the second extended leads, and an average Y-intercept value is calculated, which is the average of the calculated Y-intercepts for each of the second extended leads. Then, the position of the intersection between a line passing through the average X-intercept value and parallel to the first extension direction and a line passing through the average Y-intercept value and parallel to the second extension direction is calculated. This intersection can be uniquely determined regardless of variations in the lengths of the first and second extension leads. The position of the lead component is then determined based on this intersection. As a result, it is possible to calculate the position of the lead component with high accuracy regardless of variations in the lead lengths of the lead component.

[0009] Various specific modes for determining the position of a lead component based on such an intersection are possible. For example, the component mounter may be configured so that the lead component recognition unit determines the position of the intersection as the position of the lead component. With such a configuration, it becomes possible to calculate the position of the lead component with high accuracy regardless of variations in the lead length of the lead component.

[0010] The lead component recognition unit further includes a storage unit that stores the positional relationship between the intersection position and the center position of the component body, and the lead component recognition unit stores the positional relationship between the intersection position and the center position of the component body. centralThe mounter may be configured to calculate the position of the lead component, regardless of variations in the lead length of the lead component.

[0011] The mounter may also be configured so that the positional relationship indicates the amount of deviation between the intersection point in the first extension direction and the center of the component body. With this configuration, even for a lead component in which the arrangement of multiple second extension leads in the first extension direction is offset from the center of the component body, it becomes possible to calculate the position of the lead component with high accuracy regardless of variations in the lead lengths of the lead component.

[0012] The mounter may also be configured so that the positional relationship indicates the amount of deviation between the intersection point in the second extension direction and the center of the component body. With this configuration, even for a lead component in which the arrangement of multiple first extension leads in the second extension direction is offset from the center of the component body, it becomes possible to calculate the position of the lead component with high accuracy regardless of variations in the lead lengths of the lead component.

[0013] A lead component position calculation program according to the present invention causes a computer to execute the lead component position calculation method described above. [Effects of the Invention]

[0014] As described above, according to the present invention, it is possible to calculate the position of a lead component with high accuracy regardless of variations in the lead length of the lead component. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a plan view schematically showing an example of a component mounter according to the present invention; [Figure 2] FIG. 2 is a block diagram showing an electrical configuration of the component mounter of FIG. 1. [Figure 3A] FIG. 3 is a bottom view schematically showing a component to be imaged by the component recognition camera. [Figure 3B]FIG. 2 is a side view schematically showing a component to be imaged by the component recognition camera. [Figure 4] 10 is a flowchart showing an example of component recognition executed in a component mounter. [Figure 5] 5 is a flowchart showing an example of rotation angle calculation executed in the component recognition of FIG. 4; [Figure 6] 6 is a diagram showing a schematic diagram of the calculation content executed on the part image in the rotation angle calculation of FIG. 5. [Figure 7] 5 is a flowchart showing an example of position calculation performed on a component image in the component recognition of FIG. 4; [Figure 8] FIG. 8 is a diagram schematically showing the calculation contents executed in the position calculation of FIG. 7; [Figure 9] 5 is a flowchart showing a modified example of position calculation executed for a component image in the component recognition of FIG. 4; [Figure 10] FIG. 10 is a diagram schematically showing the calculation contents executed in the position calculation of FIG. 9; [Figure 11] 10A and 10B are bottom views schematically showing modified examples of the configuration of target components and the contents of calculations performed on the components. DETAILED DESCRIPTION OF THE INVENTION

[0016] FIG. 1 is a plan view schematically illustrating an example of a component mounter according to the present invention, and FIG. 2 is a block diagram illustrating the electrical configuration of the component mounter of FIG. 1. In FIG. 1, the horizontal Gx direction, the horizontal Gy direction perpendicular to the Gx direction, and the vertical Gz direction are appropriately indicated. As shown in FIG. 2, this component mounter 1 includes a controller 100, which controls each unit of the device to mount components 9 at each mounting location on a board B. The controller 100 includes an arithmetic processing unit 110, which is a processor including a central processing unit (CPU) and random access memory (RAM), and a memory unit 120, which is a storage device including a hard disk drive (HDD) or solid state drive (SSD). The memory unit 120 stores a component recognition program P that causes the arithmetic processing unit 110 to execute component recognition, which will be described in detail later. Furthermore, the controller 100 has a drive control unit 130 that controls the drive system of the component mounter 1, a valve control unit 140 that controls the negative pressure used to adsorb the components 9, and an imaging control unit 150 that controls the imaging system of the component mounter 1, and the calculation processing unit 110 comprehensively manages the operation of each control unit 130, 140, 150.

[0017] The controller 100 also has a communication IF 160 that communicates with a server computer S that is provided separately from the component mounter 1. A component recognition program P is stored in a storage device of this server computer S, and the component recognition program P downloaded from the server computer S by the communication IF 160 is stored in the storage unit 120. Note that the component recognition program P does not have to be provided by downloading it from the server computer S. In other words, the component recognition program P may be provided by a USB (Universal Serial Bus) memory or the like that stores the component recognition program P.

[0018] 1, the component mounter 1 includes a pair of conveyors 12, 12 arranged in parallel in the Gx direction on a base 11, and each conveyor 12 transports a board B in the Gx direction. The component mounter 1 mounts components on a board B that has been transported by each conveyor 12 from the upstream side in the Gx direction (board transport direction) to a board support position 12B (the position of board B in FIG. 1), and then transports the board B, on which component mounting has been completed, from the board support position 12B to the downstream side in the Gx direction by each conveyor 12.

[0019] The component mounter 1 is provided with a pair of Y-axis rails 21, 21 extending in the Gy direction, a Y-axis ball screw 22 extending in the Gy direction, and a Y-axis motor My that rotates and drives the Y-axis ball screw 22. An X-axis rail 23 extending in the Gx direction is supported by the pair of Y-axis rails 21, 21 so as to be movable in the Gy direction and is fixed to the nut of the Y-axis ball screw 22. An X-axis ball screw 24 extending in the Gx direction and an X-axis motor Mx that rotates and drives the X-axis ball screw 24 are attached to the X-axis rail 23. A head unit 25 is supported on the X-axis rail 23 so as to be movable in the Gx direction and is fixed to the nut of the X-axis ball screw 24. Therefore, the drive control unit 130 can rotate the Y-axis ball screw 22 using the Y-axis motor My to move the head unit 25 in the Gy direction, or can rotate the X-axis ball screw 24 using the X-axis motor Mx to move the head unit 25 in the Gx direction.

[0020] Two tray component supply units 3 are lined up in the Gx direction on one side of the pair of conveyors 12, 12 in the Gy direction. Each tray component supply unit 3 has a configuration similar to that of the tray component supply device disclosed in, for example, JP 2015-179709 A, and supplies components 9 (lead components) using a tray 32 pulled out along with a pallet to a component removal position 31 provided on the upper surface of the base 11. This tray 32 has a plurality of component supply locations 33 arranged in a matrix (3 rows and 5 columns in the example of FIG. 1), and each component supply location 33 stores a component 9.

[0021] On the other side of the pair of conveyors 12, 12 in the Gy direction, two tape component supply units 4 are lined up in the Gx direction. Multiple tape feeders 41 are lined up in the Gx direction and detachably attached to each tape component supply unit 4. The tape feeders 41 extend in the Gy direction and have a component supply point 43 at their tip on the head unit 25 side in the Gy direction. A tape containing small piece-like components (chip components) such as integrated circuits, transistors, and capacitors at predetermined intervals is loaded into the tape feeder 41. The tape feeder 41 intermittently feeds the tape in the Gy direction toward the head unit 25, thereby feeding the components on the tape in the Gy direction and supplying them to the component supply points 43 in order.

[0022] The head unit 25 has multiple (five) mounting heads 5 aligned in a straight line in the Gx direction. Each mounting head 5 extends parallel to the Gz direction, and a nozzle is attached to the bottom end of each mounting head 5. Each mounting head 5 receives driving force from an X-axis motor Mx and a Y-axis motor My, which operate under the control of the drive control unit 130, and moves in the Gx and Gy directions along with the head unit 25. The mounter 1 also has a Z-axis motor Mz and an R-axis motor Mr connected to each mounting head 5. Each mounting head 5 raises and lowers its nozzle with the driving force from the Z-axis motor Mz, which operates under the control of the drive control unit 130, and rotates the nozzle in the R direction with the driving force from the R-axis motor Mr, which operates under the control of the drive control unit 130. Here, the R direction is the direction of rotation about an axis of rotation parallel to the Gz direction. Furthermore, the component mounter 1 has a negative pressure generator 6 that communicates with each mounting head 5, and a valve control unit 140 controls the opening and closing of a valve provided between the negative pressure generator 6 and the mounting head 5, thereby adjusting the air pressure applied to the nozzle of the mounting head 5. The mounting head 5 then uses the air pressure adjusted in this way to pick up and mount components using the nozzle.

[0023] That is, the mounting head 5 lowers the nozzle positioned above the component supply location 33 of the tray 32 until it abuts against the component 9 stored in the component supply location 33, and then raises the nozzle while sucking up the component 9 by the negative pressure supplied to the nozzle. Next, the mounting head 5 moves to above the mounting location of the board B supported at the board support position 12B, lowers the nozzle until the component 9 abuts against the mounting location of the board B, and then mounts the component 9 on the mounting location of the board B by the atmospheric pressure or positive pressure supplied to the nozzle. The same pickup and mounting process is performed on components supplied to the component supply location 43 by the tape feeder 41.

[0024] The component mounter 1 further includes a component recognition camera 7 attached to the base 11 and facing upward. The component recognition camera 7 has a solid-state imaging element and captures an image of the target by detecting light from the target with the solid-state imaging element. In particular, the component recognition camera 7 captures an image of the component 9 while facing the component 9 picked up by the nozzle of the mounting head 5 from below, thereby obtaining a component image I showing the component 9 in a bottom view. Specifically, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to position the component 9 picked up by the nozzle of the mounting head 5 facing the component recognition camera 7 from above. The imaging control unit 150 then causes the component recognition camera 7 to capture an image and receives the component image I captured by the component recognition camera 7 from the component recognition camera 7. The drive control unit 130 and the imaging control unit 150 cooperatively perform these operations in accordance with instructions from the arithmetic processing unit 110, and the component image I captured by the component recognition camera 7 is transmitted to the arithmetic processing unit 110 via the imaging control unit 150.

[0025] 3A is a bottom view of a component to be imaged by the component recognition camera, and FIG. 3B is a side view of the component to be imaged by the component recognition camera. Both figures show a horizontal direction Ex and a direction Ey that is perpendicular to direction Ex.

[0026] The component 9 has a package 90 that is rectangular in bottom view, and the package 90 has four sides 911, 912, 913, and 914 that define the periphery of the package 90 in bottom view. Sides 911 and 912 are parallel to direction Ey and have the same length, and sides 913 and 914 are parallel to direction Ex and have the same length. In other words, sides 911 and 912 face each other with a distance equal to the length of side 913 (or side 914), sides 913 and 914 face each other with a distance equal to the length of side 911 (or side 912), and sides 911 and 912 are perpendicular to sides 913 and 914, respectively.

[0027] Furthermore, component 9 has multiple leads 91 arranged at equal intervals in direction Ey along side 911. In bottom view, each lead 91 extends parallel to direction Ex from side 911 of package 90 and has a predetermined width in direction Ey. Component 9 also has multiple leads 92 arranged at equal intervals in direction Ey along side 912. In bottom view, each lead 92 extends parallel to direction Ex from side 912 of package 90 and has a predetermined width in direction Ey. Component 9 also has multiple leads 93 arranged at equal intervals in direction Ex along side 913. In bottom view, each lead 93 extends parallel to direction Ey from side 913 of package 90 and has a predetermined width in direction Ex. Thus, component 9 is a so-called lead component having leads 91 and 92.

[0028] Figure 4 is a flowchart showing an example of component recognition performed in a component mounter, Figure 5 is a flowchart showing an example of rotation angle calculation performed in the component recognition of Figure 4, Figure 6 is a diagram showing a schematic diagram of the calculation content performed on the component image in the rotation angle calculation of Figure 5, Figure 7 is a flowchart showing an example of position calculation performed on the component image in the component recognition of Figure 4, and Figure 8 is a diagram showing a schematic diagram of the calculation content performed in the position calculation of Figure 7.

[0029] 6 and 8 show an XY coordinate system consisting of a horizontal X coordinate axis and a Y coordinate axis perpendicular to the X coordinate axis. This XY coordinate system corresponds to the coordinate system used by the calculation processing unit 110 to perform calculations (image processing) on ​​the part image I and recognize the part 9 shown in the part image I. In particular, of the directions Ex and Ey set for the part 9, the direction Ex corresponds to the X coordinate axis, and the direction Ey corresponds to the Y coordinate axis. In other words, when the rotation angle θ of the part 9 about a rotation axis parallel to the vertical direction is zero, the direction Ex is parallel to the X coordinate axis, and the direction Ey is parallel to the Y coordinate axis. However, the positional relationship between the directions Ex and Ey and the XY coordinate system is not limited to this example, and the XY coordinate system for the directions Ex and Ey can be set in any manner. Furthermore, the X coordinate axis is parallel to the Gx direction, and the Y coordinate axis is parallel to the Gy direction. However, the X coordinate axis and the Y coordinate axis do not necessarily need to be parallel to the Gx direction and the Gy direction, respectively.

[0030] 4 is executed by the arithmetic processing unit 110 in accordance with the component recognition program P. In this component recognition step S100, a component image I is acquired. Specifically, the arithmetic processing unit 110 controls the drive control unit 130 to cause the component 9 picked up by the nozzle of the mounting head 5 to face the component recognition camera 7 from above. Then, the arithmetic processing unit 110 controls the imaging control unit 150 to cause the component recognition camera 7 to capture an image of the component 9 and acquire the component image I. In this way, the component image I acquired by the component recognition camera 7 is transmitted to the arithmetic processing unit 110 via the imaging control unit 150.

[0031] In the rotation angle calculation in step S200, the rotation angle θ of the part 9 is calculated based on the part image I acquired in step S100. Here, the rotation angle θ of the part 9 is the angle at which the part 9 rotates around a rotation axis parallel to the vertical direction, and in the example of Fig. 6, the angle of the direction Ex relative to the X coordinate axis (in other words, the angle of the direction Ey relative to the Y coordinate axis) corresponds to the rotation angle θ.

[0032] 5 and 6, in the rotation angle calculation, the position of the tip T91 of each of the multiple leads 91 is calculated based on the component image I (step S201). Here, the tip T91 of the lead 91 refers to the end of the lead 91 opposite the end on the package 90 side, of both ends of the lead 91 in the direction Ex, which is the extension direction of the lead 91. The position of the tip T91 is also the position of the center C91 of the tip T91 in the direction Ey, which is the width direction of the lead 91. Similarly, the position (center C92) of the tip T92 of each of the multiple leads 92 is calculated based on the component image I. Furthermore, the position (center C93) of the tip T93 of each of the multiple leads 93 is calculated based on the component image I.

[0033] In step S202, a regression line L91 representing the position (center C91) of each of the multiple leads 91 is calculated by the least squares method. Similarly, a regression line L92 representing the position (center C92) of each of the multiple leads 92 is calculated by the least squares method. Furthermore, a regression line L93 representing the position (center C93) of each of the multiple leads 93 is calculated by the least squares method.

[0034] In step S203, a rotation angle θ91 of a regression line L91 centered on a rotation axis parallel to the vertical direction is calculated. This rotation angle θ91 indicates the direction in which tips T91 of the multiple leads 91 are arranged. Similarly, a rotation angle θ92 of a regression line L92 centered on a rotation axis parallel to the vertical direction is calculated. This rotation angle θ92 indicates the direction in which tips T92 of the multiple leads 92 are arranged. Furthermore, a rotation angle θ93 of a regression line L93 centered on a rotation axis parallel to the vertical direction is calculated. This rotation angle θ93 indicates the direction in which tips T93 of the multiple leads 93 are arranged.

[0035] Then, in step S204, the average of rotation angles θ91, θ92, and θ93 is calculated as the rotation angle θ of component 9. This rotation angle θ corresponds to information indicating the tilt of the ExEy coordinate system set for component 9 with respect to the XY coordinate system. In other words, by referring to the rotation angle θ, it is possible to determine that, in the XY coordinate system, direction Ex is tilted by the rotation angle θ with respect to the X coordinate axis, and direction Ey is tilted by the rotation angle θ with respect to the Y coordinate axis. In other words, rotation angle θ corresponds to information indicating direction Ex, which is the extension direction of leads 91 and 92, and direction Ey, which is the extension direction of lead 93, in the XY coordinate system.

[0036] As shown in FIG. 4, once rotation angle calculation (step S200) is completed, position calculation (step S300) is performed to calculate the position of component 9 based on component image I. As shown in FIGS. 7 and 8, in the position calculation, an X-intercept is calculated for lead 93 extending in direction Ey corresponding to the Y coordinate axis (step S301). That is, an extension line V93 extending from center C93 of tip T93 of lead 93 in parallel with the extension direction Ey of lead 93 is calculated, and an X-intercept 93x where extension line V93 intersects with the X coordinate axis is calculated. In this way, multiple X-intercepts 93x aligned on the X coordinate axis are calculated.

[0037] In step S302, an average value of the multiple X-intercepts 93x is calculated as the X-intercept representative position Ax. That is, the X-intercept representative position Ax corresponds to the geometric center of the multiple X-intercepts 93x. In addition, in step S303, an X-intercept representative line Rx that passes through the X-intercept representative position Ax and is parallel to the extension direction Ey of the lead 93 is calculated.

[0038] In step S304, Y-intercepts are calculated for the leads 91 and 92 extending in the direction Ex corresponding to the X-coordinate axis. That is, an extension line V91 extending from the center C91 of the tip T91 of the lead 91 in parallel to the extension direction Ex of the lead 91 is calculated, and a Y-intercept 91y where the extension line V91 intersects with the Y-coordinate axis is calculated. Similarly, an extension line V92 extending from the center C92 of the tip T92 of the lead 92 in parallel to the extension direction Ex of the lead 92 is calculated, and a Y-intercept 92y where the extension line V92 intersects with the Y-coordinate axis is calculated. In this way, a plurality of Y intercepts 91y and 92y aligned on the Y coordinate axis are calculated.

[0039] In step S305, the average value of the multiple Y-intercepts 91y, 92y is calculated as the Y-intercept representative position Ay. In other words, the Y-intercept representative position Ay corresponds to the geometric center of the multiple Y-intercepts 91y, 92y. In addition, in step S306, a Y-intercept representative line Ry that passes through the Y-intercept representative position Ay and is parallel to the extension direction Ex of the leads 91, 92, and 93 is calculated.

[0040] Then, in step S307, the intersection N between the X-intercept representative position Ax and the Y-intercept representative position Ay is calculated as the position C9 of the component 9.

[0041] In the embodiment described above, a component 9 (lead component) shown in component image I (lead component image) is recognized in an XY coordinate system ( FIG. 4 ). This component 9 has a rectangular package 90 (component body), multiple leads 93 (first extended leads) extending from the package 90 in direction Ey, and multiple leads 91, 92 (second extended leads) extending from the package 90 in direction Ex (second extension direction). In particular, a rotation angle θ of the component 9, which is information indicating direction Ex and direction Ey in the XY coordinate system, is calculated based on component image I (step S200). Then, an X-intercept 93x, where an extended line V93 extending parallel to direction Ey from tip T93 of lead 93 intersects with the X coordinate axis, is calculated for each of the multiple leads 93 (step S301). An X-intercept representative position Ax (X-intercept average value) is calculated, which is the average of the X-intercepts 93x calculated for each of the multiple leads 93 (step S302). Furthermore, Y-intercepts 91y and 92y, where extension lines V91 and V92 extending parallel to the direction Ex from the tips T91 and T92 of the leads 91 and 92 intersect with the Y-coordinate axis, are calculated for each of the leads 91 and 92 (step S304). A Y-intercept representative position Ay (average Y-intercept) is calculated, which is the average of the Y-intercepts 91y and 92y calculated for each of the leads 91 and 92. Then, the position of the intersection N between an X-intercept representative line Rx passing through the X-intercept representative position Ax and parallel to the direction Ex and a Y-intercept representative line Ry passing through the Y-intercept representative position Ay and parallel to the direction Ex is calculated. This intersection N can be uniquely determined regardless of variations in the lengths of the leads 93 and 91 and 92. The position of the component 9 is then determined based on this intersection N. As a result, it is possible to calculate the position of the component 9 with high accuracy regardless of variations in the lengths of the leads 91, 92, and 93 of the component 9.

[0042] In the above embodiment, the intersection point N between the X-intercept representative line Rx and the Y-intercept representative line Ry is calculated as the position C9 of the component 9 (step S307). However, the specific manner in which the position C9 of the component 9 is calculated from the intersection point N is not limited to this example. It may also be calculated as follows.

[0043] Fig. 9 is a flowchart showing a modified example of the position calculation performed on a component image in the component recognition of Fig. 4, and Fig. 10 is a diagram schematically showing the calculation contents performed in the position calculation of Fig. 9. In the modified example of Fig. 9, steps S301 to S307 are executed to calculate the intersection N in the same way as in the example of Fig. 7. However, in the modified example of Fig. 9, the position C9 of the component 9 is calculated by performing an offset correction on this intersection N.

[0044] 10, the arrangement of the leads 91 and 92 extending in the direction Ex is offset in the direction Ey from the center C90 (geometric center) of the package 90 of the component 9. The position of the center C90 of the package 90 corresponds to the position C9 of the component 9. Therefore, the intersection N is shifted (offset) in the direction Ey from the center C90 of the package 90 of the component 9 by an offset amount F. This offset amount F is calculated in advance based on the configuration of the component 9 defined by the standard and stored in the storage unit 120. Specifically, offset information indicating the direction Ey in which the offset occurs between the center C90 of the package 90 and the intersection N and the offset amount F in the direction Ey is stored in the storage unit 120. In response to this, in step S308, the calculation processing unit 110 calculates the position of the center C90 obtained by correcting the intersection N in the direction Ey by the offset amount F based on the offset information read from the storage unit 120, as the position C9 of the component 9.

[0045] In this modified example, the positional relationship (offset information) between the position of intersection N and the position of center C90 of package 90 is stored in storage unit 120. Then, processing unit 110 (lead component recognition unit) determines the position of center C90 of package 90 (component body) calculated based on the position of intersection N and the offset information as position C9 of component 9. With this configuration, it becomes possible to calculate the position of component 9 with high accuracy regardless of variations in the lengths of leads 91, 92, 93 of component 9.

[0046] The offset information also indicates an offset amount F (amount of deviation) between the intersection N in the direction Ey (first extension direction) and the center C90 of the package 90. This makes it possible to calculate the position C9 of the component 9 with high accuracy, even for a component 9 in which the arrangement of multiple leads 91, 92 in the direction Ey is biased relative to the center C90 of the package 90, regardless of variations in the lengths of the leads 91, 92, 93 of the component 9.

[0047] The direction in which the offset occurs is not limited to the direction Ey, and it is also possible that the offset occurs in the direction Ex (second extension direction). In such a case, it is advisable to store offset information indicating the offset amount F between the intersection point N in the direction Ex and the center C90 of the package 90 in the storage unit 120. This makes it possible to calculate the position of the component 9 with high accuracy, regardless of variations in the lengths of the leads 93 of the component 9, even for a component 9 in which the arrangement of the multiple leads 93 is biased relative to the center C90 of the package 90 in the direction Ex.

[0048] As explained above, in this embodiment, the component mounter 1 corresponds to an example of a "component mounter" of the present invention, the mounting head 5 corresponds to an example of a "mounting head" of the present invention, the component recognition camera 7 corresponds to an example of a "component imaging unit" of the present invention, the component 9 corresponds to an example of a "lead component" of the present invention, the package 90 corresponds to an example of a "component main body" of the present invention, the position of the center C90 of the package 90 corresponds to an example of a "position of the component main body" of the present invention, the leads 91 and 92 correspond to an example of a "plurality of second extended leads" of the present invention, the Y-intercepts 91y and 92y correspond to an example of a "Y-intercept" of the present invention, the lead 93 corresponds to an example of a "plurality of first extended leads" of the present invention, the X-intercept 93x corresponds to an example of an "X-intercept" of the present invention, the arithmetic processing unit 110 corresponds to an example of a "lead component recognition unit" of the present invention, and the arithmetic processing unit 110 corresponds to an example of an "extension direction calculation unit", an "X-intercept calculation unit", and an "X-intercept calculation unit" of the present invention. the component image I corresponds to an example of a "lead component image" of the present invention; the intersection N corresponds to an example of an "intersection" of the present invention; the component recognition program P corresponds to an example of a "lead component position calculation program" of the present invention; the X-coordinate axis corresponds to an example of an "X-coordinate axis" of the present invention; the Y-coordinate axis corresponds to an example of a "Y-coordinate axis" of the present invention; and the offset information corresponds to an example of a "positional relationship" of the present invention.

[0049] Note that the present invention is not limited to the above-described embodiments, and various modifications can be made to the above-described embodiments without departing from the spirit thereof. For example, the specific configuration of the target component 9 is not limited to the above example, and the component 9 shown in FIG. 11 may be targeted. Here, FIG. 11 is a bottom view schematically showing a modification of the configuration of the target component and the calculation content for the component. In the component 9 shown in FIG. 8, the range where the leads 91 are arranged and the range where the leads 92 are arranged do not overlap in the direction Ey, whereas in the component 9 shown in FIG. 11, the range where the leads 91 are arranged and the range where the leads 92 are arranged overlap in the direction Ey. Even for the component 9 of FIG. 11 as described above, the position C9 of the component 9 can be calculated based on the intersection point N in the same manner as above.

[0050] Also, the specific method for calculating the rotation angle θ of the component 9 in the rotation angle calculation of step S200 is not limited to the above example. Therefore, for example, the rotation angle θ of the component 9 may be calculated by a known method described in Japanese Patent Publication No. 7-67036 or Japanese Patent Publication No. 8-31715.

Explanation of Reference Numerals

[0051] 1... Component mounter 5... Mounting head 7... Component recognition camera (component imaging unit) 9... Component 9 (lead component) 90... Package (component body) C90... Center (position of component body) 91, 92... Leads (second extended leads) 91y, 92y... Y-section 93... Lead (first extended lead) 93x... X-section 110... Arithmetic processing unit (lead component recognition unit, extended direction calculation unit, X-section calculation unit, X-section average calculation unit, Y-section calculation unit, Y-section average calculation unit, intersection point calculation unit, computer) 120... Storage unit Ax... Representative position of X-section (X-section average value) Ay... Representative position of Y-section (Y-section average value) Ex… direction (second extension direction) Ey... direction (first extension direction) I...Component image (lead component image) N...intersection P...Component recognition program (lead component position calculation program) S...Server computer X...X coordinate axis Y...Y coordinate axis

Claims

1. a mounting head that holds a lead component having a rectangular component body, a plurality of first extension leads extending from the component body in a first extension direction, and a plurality of second extension leads extending from the component body in a second extension direction perpendicular to the first extension direction; a component imaging unit that captures a lead component image showing the lead component held by the mounting head; a lead component recognition unit that recognizes the lead components shown in the lead component image in an XY coordinate system that is configured with an X coordinate axis and a Y coordinate axis that is orthogonal to the X coordinate axis; Equipped with The lead component recognition unit an extension direction calculation unit that calculates the first extension direction and the second extension direction in the XY coordinate system based on the lead component image; an X-intercept calculation unit that calculates an X-intercept at which a line extending from a tip of the first extended lead in parallel to the first extension direction intersects with the X coordinate axis for each of the first extended leads; an X-intercept average calculation unit that calculates an X-intercept average value that is an average of the X-intercepts calculated for each of the plurality of first extended leads; a Y-intercept calculation unit that calculates a Y-intercept at which a line extending from a tip of the second extension lead in parallel to the second extension direction intersects with the Y coordinate axis for each of the second extension leads; a Y-intercept average calculation unit that calculates an average Y-intercept, which is an average of the Y-intercepts calculated for each of the plurality of second extended leads; an intersection calculation unit that calculates the position of an intersection between a straight line that passes through the X-intercept average value and is parallel to the first extension direction and a straight line that passes through the Y-intercept average value and is parallel to the second extension direction; and A component mounter that determines the position of the lead component based on the position of the intersection.

2. 2. The component mounter according to claim 1, wherein the lead component recognition unit determines the position of the intersection as the position of the lead component.

3. a storage unit that stores a positional relationship between the position of the intersection and the position of the center of the component body; 2. The component mounter according to claim 1, wherein the lead component recognition unit determines, as the position of the lead component, the position of the center of the component body calculated based on the position of the intersection and the positional relationship.

4. The mounter according to claim 3 , wherein the positional relationship indicates a deviation amount between the intersection point and the center of the component body in the first extension direction.

5. The component mounter according to claim 3 , wherein the positional relationship indicates a deviation amount between the intersection point and the center of the component body in the second extension direction.

6. acquiring a lead component image showing a lead component having a rectangular component body, a plurality of first extension leads extending from the component body in a first extension direction, and a plurality of second extension leads extending from the component body in a second extension direction perpendicular to the first extension direction; a step of recognizing the lead component shown in the lead component image in an XY coordinate system formed by an X coordinate axis and a Y coordinate axis perpendicular to the X coordinate axis; Equipped with In the step of recognizing the lead component, a process of calculating the first extension direction and the second extension direction in the XY coordinate system based on the lead component image; a process of calculating an X-intercept at which a line extending from a tip of the first extended lead in parallel to the first extension direction intersects with the X-coordinate axis for each of the first extended leads; a process of calculating an average X-intercept value, which is an average of the X-intercepts calculated for each of the plurality of first extended leads; a process of calculating a Y-intercept at which a line extending from a tip of the second extended lead in parallel to the second extension direction intersects with the Y-coordinate axis for each of the second extended leads; A process of calculating an average Y-intercept value, which is an average of the Y-intercepts calculated for each of the plurality of second extended leads; a process of calculating a position of an intersection between a straight line passing through the X-intercept average value and parallel to the first extension direction and a straight line passing through the Y-intercept average value and parallel to the second extension direction; is executed, A lead component position calculation method for determining the position of the lead component based on the position of the intersection.

7. A lead component position calculation program that causes a computer to execute the lead component position calculation method according to claim 6.

Images