EP3155699B1 - Method for calibrating a mounting apparatus - Google Patents
Method for calibrating a mounting apparatus Download PDFInfo
- Publication number
- EP3155699B1 EP3155699B1 EP15728033.0A EP15728033A EP3155699B1 EP 3155699 B1 EP3155699 B1 EP 3155699B1 EP 15728033 A EP15728033 A EP 15728033A EP 3155699 B1 EP3155699 B1 EP 3155699B1
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- European Patent Office
- Prior art keywords
- marking
- holder
- gripper
- points
- iii
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49002—Electrical device making
- Y10T29/49117—Conductor or circuit manufacturing
- Y10T29/49124—On flat or curved insulated base, e.g., printed circuit, etc.
- Y10T29/4913—Assembling to base an electrical component, e.g., capacitor, etc.
Definitions
- the present invention relates to a method of calibrating a mounting apparatus, which is adapted to automatically populate a connector housing with a mounted on an electrical line contact part and a holder for the connector housing, a positioning device with a movable gripper for positioning the contact part with respect to the holder and for introducing the contact part in an insertion direction into a cavity of the plug housing, an image acquisition device for receiving at least one spatially resolved image of at least a part of the holder and a control unit for determining a position of the cavity in the at least one spatially resolved image and for determining a for introducing the contact part in the cavity comprises required movement of the gripper based on the determined position of the cavity.
- machining of electrical wiring harnesses is often performed using robots or similar positioning devices equipped with grippers as end effectors.
- a gripper holds a contact part either directly or on the electrical line, moves it to the desired cavity and introduces it into it.
- the term "plug housing" is basically a socket housing, a terminal block or the like to understand. Ensuring a reliable and efficient assembly process requires accurate knowledge of the positions of the corresponding components of the system.
- each marker point indicates exactly the position that is approached during the placement process with appropriate control of the positioning system. Deviations of the movement from a given course remain irrelevant here. Regardless of the extent to which such deviations occur and how they come about, a marking point in any case indicates the exact insertion position, which results in the corresponding control of the positioning device.
- the stored positions of the marker points can be interrogated and taken into account in the calculation of the required traverse movement of the gripper.
- step (iii) the gripper is in each case moved to a marking position in a traverse plane extending transversely to the insertion direction according to predetermined trajectory coordinates of the positioning device, wherein in step (v) the traversing coordinates together with the determined position of the associated marker point are stored in the memory device.
- the marking points are thus assigned to those traversing coordinates that underlie their creation.
- the memory device not only the positions of the marking points themselves are stored in this embodiment, but also the respective causal control parameters. After completion of the calibration process, it is then possible to proceed during normal operation of the placement device in such a way that the matching positioning coordinates or control parameters are retrieved for a given insertion position.
- step (iii) the gripper is preferably moved towards the marking carrier in the insertion direction after the gripper has reached the marking position.
- each marking point is set exactly at the point at which a contact part would be introduced if it were held by the gripper instead of the marking means.
- the positions of the marker points are directly and directly linked to insertion positions of contact parts.
- An embodiment of the invention provides that, in step (iv), the positions of the marking points on the marking carrier are determined relative to a reference mark provided on the holder and detectable by the image capture device.
- a reference mark By using such a reference mark, the positions of the marker points relative to the holder can be determined particularly precisely - even if the image capture device assumes different points of view when determining the positions of the marker points on the marker carrier in step (iv).
- step (v) the position of the reference mark can also be stored in the memory device.
- the stored position of the reference mark can be used as a reference for other holders.
- a special embodiment of the invention provides that a reference body connected to the holder, preferably made of sheet metal, with at least one, in particular punched or lasered, recess is provided as a reference mark.
- a reference body connected to the holder preferably made of sheet metal, with at least one, in particular punched or lasered, recess is provided as a reference mark.
- the recognition of a sharply bordered recess in a camera image is possible with suitable illumination with relatively high accuracy.
- a reference body in the form of a lasered sheet metal plate is comparatively inexpensive to produce. If necessary, the edges of the recess can be recognized from both sides of the reference body, ie independently of whether the image capture device is located in front of or behind the holder. In order to ensure a particularly reliable detection of the reference mark, an arrangement of a plurality of recesses may be provided on the reference body.
- a further embodiment of the invention provides that in step (iii) the gripper is first moved to the reference mark and from there to the respective marking position.
- the positioning of the marking means relative to the reference mark can be checked by the image capture device.
- the marker points are thus related to the coordinate system of the holder.
- the marker points may be set line by line or column by column, preferably at a uniform distance from each other. In this way, lines with spaced landmarks on the marker carrier can be created, each of which can be used similar to a scale for position determination.
- a grid-like dot field can be formed on the marking carrier which extends at least over a working area of the holder holding the plug housing.
- Such a grid-like point field can include a whole area of the holder and, if required, even the complete holder in the calibration.
- a flat labeling medium in particular a paper or film element, is used as the marking carrier.
- a flat labeling medium can be attached in a simple manner to a gripper facing the front of the holder.
- suitable fastening means for example one or more clamping strips, can be provided on the holder.
- step (ii) in particular a pin, a needle, a laser head or a thermocouple can be used as marking means.
- a pen or needle is particularly cost effective.
- the use of a laser head or a thermocouple allows the setting of very fine and / or structured marking points.
- a further embodiment of the invention provides that step (iii) is carried out at a loading station of the mounting device and step (iv) is carried out at a measuring station of the mounting device separate from the mounting station.
- the provision of a surveying station and a separate loading station is favorable in terms of process equipment with respect to a placement device.
- a contact part can be introduced, while already measured at the surveying station another holder with connector housing becomes.
- both stations can be used to advantage.
- a further embodiment of the invention provides that in step (iv) the image capture device is successively moved to the individual marker points by means of a further positioning device, wherein the positions of the marker points on the marker carrier respectively from the displacement position of the further positioning system and the position of the marker point in the captured image.
- the individual approach of the marker points can be used to determine the position of a marker point in the image with a particularly high resolution.
- due to the individual approach of the marking points it is possible to use an image capture device with comparatively low resolution for cost savings.
- the holder is designed to hold a plurality of connector housings, wherein in step (iii) the marking points are set such that each held connector housing at least two, preferably at least five, marking points are assigned. This ensures a sufficiently accurate consideration of any positional deviations.
- the invention also relates to a mounting apparatus for automatically populating a connector housing with a contact part attached to an electrical lead, comprising a holder for the connector housing, a positioning device with a movable gripper for positioning the contact part with respect to the holder and for inserting the contact part in an insertion direction in a cavity of the plug housing, an image capture device for receiving at least one spatially resolved image of at least a portion of the holder and a control unit for determining a position of the cavity in the at least one spatially resolved image and determining a for introducing the Contact part in the cavity required movement of the gripper based on the determined position of the cavity.
- a control unit of the mounting device is designed to carry out a calibration method as described above.
- Such a calibration function allows a reliable compensation of all tolerances and deviations of the entire system.
- surveying station 10 forms the input part of a mounting device according to the invention and comprises a pallet-like holder 12 to which a plurality of connector housing 14 are fixed.
- the plug housings 14 may be latched into receptacles of the holder 12, for example, optionally using additional individual brackets.
- On the rear sides of the connector housing 14 are each a plurality of cavities 16, in which subsequently to be described contact parts are inserted.
- An image capture device in the form of a first camera 19 with associated image processing system serves to receive spatially resolved images of a portion of the holder 12 including the connector housing 14 fixed thereto.
- the first camera 19 is attached to a camera positioning system 20 by means of which it can be moved in front of the individual connector housings 14.
- the camera positioning system 20 is designed as a biaxial linear system.
- the holder 12 with the fixed connector housings 14 and the camera positioning system 20 are shown in a front view, while the first camera 19 itself is shown in a plan view.
- the holder 12, the reference plate 17, the camera positioning system 20 and the first camera 19 are associated with respective coordinate systems, which in Fig. 1 shown as arrow arrangements and designated by the reference numerals 61-64.
- placement station 24 is associated with the same placement device as in Fig. 1 shown surveying station 10 and this is preferably downstream of process engineering.
- the in Fig. 1 shown holder 12 can be transported including the fixed connector housing 14 by means of a transport system not shown to the loading station 24.
- a second camera 26 is provided including an image processing system, not shown.
- the camera 26 shown in plan view is disposed behind the holder 12 shown in front view - ie on the side facing away from the cavities 16 - in the region of the reference plate 17 so that it has the recesses 18 of the reference plate 17 in view.
- FIG Fig. 2 In front the holder 12 are two grippers 28a, 28b, which are combined into a double gripper and movable by means of a gripper positioning system 30.
- the coordinate system 65 of the second camera 26 and the coordinate system 66 of the gripper positioning system 30 are shown in FIG Fig. 2 also shown as arrow arrangements.
- the gripper positioning system 30 is designed here as a linear system, wherein the grippers 28a, 28b along respective x-, y- and z-axes both in and against an insertion direction E and in a perpendicular thereto extending traverse plane are movable.
- a robot for moving the grippers 28a, 28b could also be provided.
- Each of the grippers 28a, 28b is formed to hold a contact part 32a, 32b via an electric wire 34 attached thereto.
- both contact parts 32a, 32b are connected to each other by a common electrical line 34.
- prefabricated connector housing 14 are first engaged in the corresponding receptacles of a holder 12, for example manually. Subsequently, the holder 12 with the fixed plug housings 14 to the surveying station 10 (FIG. Fig. 1 ). The first camera 19 is then automatically moved by the camera positioning system 20 in front of the reference plate 17. The camera 19 associated image processing system detects the position of the existing in the reference plate 17 recesses 18 and thereby determines the position of the coordinate system 61 of the holder 12 fixed. Subsequently, the first camera 19 is positioned in succession in front of each individual connector housing 14. The image processing system assigned to the first camera 19 in each case determines the position and the rotational position of the plug housing 14.
- the relative positions of the individual cavities 16 with respect to the associated plug housing 14 are taken from a database. Based on the position of the camera 19 in the trajectory as well as the determined position of the plug housing 14 in the image, the relative position of the plug housing 14 with respect to the reference plate 17 is determined.
- the holder 12 with the plug housings 14 to the placement station 24 ( Fig. 2 ). Both grippers 28 a, 28 b engage corresponding contact parts 32 a, 32 b on the common electrical line 34.
- the grippers 28 a, 28 b are moved by means of the gripper positioning system 30 to the center of the reference plate 17, behind which the camera 26 is located.
- the relative position of the first contact part 32a with respect to the reference plate 17 and the coordinate system 61 of the holder 12 is determined.
- an electronic control unit not shown, then the necessary for equipping movement of the gripper 28a is calculated.
- the electrical line 34 with the contact part 32 a is then moved to the desired connector housing 14 taking into account the determined relative position with respect to the reference plate 17 and the contact part 32 a is inserted into the associated cavity 16 in the insertion direction E.
- the process is repeated with the same operations.
- the working steps for the two contact parts 32a, 32b can be interleaved.
- a marking carrier 38 for example in the form of a paper or film element, is attached to the holder 12.
- suitable, not shown fastening means may be provided as one or more terminal strips on the holder 12.
- the marker carrier 38 covers substantially the entire front surface of the holder 12, but a recess 42 is provided, which releases the view of the reference plate 17.
- the holder 12 with the fastened marking carrier 38 is optionally transported to the loading station 24 and placed in front of the second camera 26.
- the coordinate system 65 of the second camera 26 aligns with the coordinate system 62 of the reference plate 17.
- respective marking means 40a, 40b are gripped.
- the marking means 40a, 40b are in Fig. 3 generally shown as arrows.
- the marking means 40a, 40b may be designed in particular as pins, needles, laser heads or thermocouples.
- the first gripper 28 a is moved with the gripped marking means 40 a to a reference point of the reference plate 17.
- the gripper 28a is first moved in the x-direction, that is, along a horizontal line.
- the movement is stopped and the gripper 28a is moved in the direction of insertion E on the marking carrier 38 until the tip of the marking means 40a contacts this and thereby sets a marking point 50.
- a further row of marker points 50 is created with a changed vertical position. Line by line marking points 50 is repeated until the entire working area 52 of holder 12 is covered by a grid-like dot field 54.
- the holder 12 with the marking carrier 38 attached thereto is moved to the surveying station 10 (FIG. Fig. 1 ) and positioned in front of the first camera 19.
- the first camera 19 determines the position of the reference plate 17 and thus defines the coordinate system 61 of this particular holder 12.
- the position data are stored in a memory device of the control unit. They can be used as a reference value for other holders 12.
- the first camera 19 is then successively moved toward the individual marker points 50 by the camera positioning system 20, and the positions of the marker dots 50 on the marker substrate 38 are respectively determined from the traveling position of the camera positioning system 20 and the position of the marker point 50 in the captured image determined.
- the positions of the marking points 50 determined in this way are stored together with the travel coordinates of the gripper positioning system 30 in the memory device, for example as a value table. Subsequently, the calibration process is repeated with the second gripper 28b and the marking means 40b gripped therefrom, wherein in turn the traversing coordinates of the gripper positioning system 30 and the corresponding positions of the marking points 50 are stored together in the storage device.
- the corresponding travel coordinates of the gripper positioning system 30 can be determined from the positions of the connector housing 14 on the holder 12 using the stored calibration data. Intermediate values can be determined here by suitable mathematical methods, for example by an interpolation method. Possible deviations from an orthogonal and linear movement of the grippers 28a, 28b, which for example lead to a trapezoidal, pincushion-shaped or barrel-shaped distortion of the grid-like point field 54, are detected by the calibration data and can be correspondingly compensated in terms of control technology. If necessary, at any time Checking the calibration of the mounting device to be performed. Both the normal operation and the calibration are coordinated by the above-mentioned control unit of the mounting apparatus.
- the invention enables a reliable and cost-effective calibration of the entire placement device.
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Description
Die vorliegende Erfindung betrifft ein Verfahren zum Kalibrieren einer Bestückungsvorrichtung, welche zum automatischen Bestücken eines Steckergehäuses mit einem an einer elektrischen Leitung angebrachten Kontaktteil ausgebildet ist und einen Halter für das Steckergehäuse, eine Positioniervorrichtung mit einem beweglichen Greifer zum Positionieren des Kontaktteils in Bezug auf den Halter und zum Einführen des Kontaktteils in einer Einführrichtung in eine Kavität des Steckergehäuses, eine Bilderfassungseinrichtung zum Aufnehmen wenigstens eines ortsaufgelösten Bildes zumindest eines Teils des Halters sowie eine Steuereinheit zum Ermitteln einer Position der Kavität in dem wenigstens einen ortsaufgelösten Bild und zum Ermitteln einer zum Einführen des Kontaktteils in die Kavität erforderlichen Bewegung des Greifers anhand der ermittelten Position der Kavität umfasst.The present invention relates to a method of calibrating a mounting apparatus, which is adapted to automatically populate a connector housing with a mounted on an electrical line contact part and a holder for the connector housing, a positioning device with a movable gripper for positioning the contact part with respect to the holder and for introducing the contact part in an insertion direction into a cavity of the plug housing, an image acquisition device for receiving at least one spatially resolved image of at least a part of the holder and a control unit for determining a position of the cavity in the at least one spatially resolved image and for determining a for introducing the contact part in the cavity comprises required movement of the gripper based on the determined position of the cavity.
Das maschinelle Fertigen von elektrischen Leitungssätzen wird häufig unter Verwendung von Robotern oder ähnlichen Positioniervorrichtungen durchgeführt, die mit Greifern als Endeffektoren ausgestattet sind. Üblicher Weise hält ein solcher Greifer ein Kontaktteil entweder direkt oder an der elektrischen Leitung, bewegt es zu der gewünschten Kavität und führt es in diese ein. Unter dem Begriff "Steckergehäuse" ist grundsätzlich auch ein Buchsengehäuse, eine Klemmleiste oder dergleichen zu verstehen. Um einen zuverlässigen und effizienten Bestückungsprozess zu gewährleisten, ist eine genaue Kenntnis der Positionen der entsprechenden Komponenten des Systems erforderlich.The machining of electrical wiring harnesses is often performed using robots or similar positioning devices equipped with grippers as end effectors. Usually, such a gripper holds a contact part either directly or on the electrical line, moves it to the desired cavity and introduces it into it. The term "plug housing" is basically a socket housing, a terminal block or the like to understand. Ensuring a reliable and efficient assembly process requires accurate knowledge of the positions of the corresponding components of the system.
Aus Kostengründen können weder die Steckergehäuse noch die Kontaktteile üblicher elektrischer Leitungen mit strengen Toleranzvorgaben gefertigt werden. Demgemäß kommt es beim Betrieb gängiger Bestückungsvorrichtungen immer wieder zu Ungenauigkeiten hinsichtlich der Positionierung, wodurch ein zuverlässiger und effizienter Betrieb erschwert wird. Eine Beobachtung des Halters mittels der Bilderfassungseinrichtung kann hier nur zum Teil Abhilfe schaffen. Insbesondere können sich Positionsabweichungen des Greifers, die sich erst im Laufe der Positionier- und Einführbewegung ergeben, durch die Bilderfassungseinrichtung im Allgemeinen nicht berücksichtigt werden.For cost reasons, neither the connector housing nor the contact parts of conventional electrical cables can be manufactured with strict tolerance specifications. Accordingly, it comes in the operation of common placement devices again and again to inaccuracies in the positioning, whereby a reliable and efficient operation is difficult. An observation of the holder by means of the image capture device can only partially remedy this situation. In particular, positional deviations of the gripper, which only arise in the course of the positioning and insertion movement, can generally not be taken into account by the image capture device.
In der
Es ist eine Aufgabe der Erfindung, auch bei Verwendung von toleranzbehafteten Positioniervorrichtungen, Steckergehäusen, Haltern und/oder Kontaktteilen ein präzises, fehlerfreies und schnelles Bestücken eines Steckergehäuses mit einem an einer elektrischen Leitung angebrachten Kontaktteil zu ermöglichen.It is an object of the invention, even with the use of tolerance-sensitive positioning devices, connector housings, holders and / or contact parts to allow a precise, error-free and fast placement of a connector housing with a mounted on an electrical line contact part.
Die Lösung dieser Aufgabe erfolgt durch ein Verfahren zum Kalibrieren einer Bestückungsvorrichtung mit den Merkmalen des Anspruchs 1.The solution of this object is achieved by a method for calibrating a placement device having the features of claim 1.
Erfindungsgemäß umfasst ein solches Verfahren die Schritte, dass
- (i) ein Markierungsträger an dem Halter angebracht wird,
- (ii) mit dem beweglichen Greifer ein Markierungsmittel gegriffen wird,
- (iii) mittels des Greifers und des durch diesen gegriffenen Markierungsmittels mehrere Markierungspunkte auf dem an dem Halter angebrachten Markierungsträger gesetzt werden,
- (iv) mittels der Bilderfassungseinrichtung die Positionen der Markierungspunkte auf dem Markierungsträger ermittelt werden und
- (v) die ermittelten Positionen der Markierungspunkte in einer der Steuereinheit zugeordneten Speichereinrichtung abgelegt werden.
- (i) a marking carrier is attached to the holder,
- (ii) a marking means is gripped by the movable gripper,
- (iii) by means of the gripper and the marking means gripped by the latter, a plurality of marking points are set on the marking carrier attached to the holder,
- (iv) the positions of the marker points on the marker carrier are determined by means of the image capture device, and
- (V) the determined positions of the marker points are stored in a memory device associated with the control unit.
Da die Markierungspunkte mit demselben beweglichen Greifer gesetzt werden, mit dem auch während des Normalbetriebs der Bestückungsvorrichtung die Kontaktteile positioniert und eingeführt werden, gibt jeder Markierungspunkt exakt diejenige Position an, die während des Bestückungsvorgangs bei entsprechender Ansteuerung des Positionierungssystems angefahren wird. Abweichungen der Verfahrbewegung von einem vorgegebenen Verlauf bleiben hierbei ohne Belang. Unabhängig davon, in welchem Umfang solche Abweichungen auftreten und auf welche Weise sie zustande kommen, gibt ein Markierungspunkt in jedem Fall die genaue Einsteckposition an, die sich bei der entsprechenden Ansteuerung der Positioniervorrichtung ergibt.Since the marker points are set with the same movable gripper with which the contact parts are positioned and inserted even during normal operation of the mounting device, each marker point indicates exactly the position that is approached during the placement process with appropriate control of the positioning system. Deviations of the movement from a given course remain irrelevant here. Regardless of the extent to which such deviations occur and how they come about, a marking point in any case indicates the exact insertion position, which results in the corresponding control of the positioning device.
Während des Normalbetriebs der Bestückungsvorrichtung können die gespeicherten Positionen der Markierungspunkte abgefragt und bei der Berechnung der zum Bestücken erforderlichen Verfahrbewegung des Greifers berücksichtigt werden. Durch das erfindungsgemäße Kalibrierverfahren ist es somit möglich, alle mechanischen Toleranzen und Abweichungen der Bestückungsvorrichtung sowie der bereitgestellten Steckergehäuse und Kontaktteile im Rahmen der Maschinensteuerung vollständig zu kompensieren. Ein besonderer Vorteil des erfindungsgemäßen Kalibrierverfahrens besteht darin, dass es mit einfachen Mitteln und speziell unter Verwendung der ohnehin vorgesehenen Bilderfassungseinrichtung durchführbar ist.During normal operation of the placement device, the stored positions of the marker points can be interrogated and taken into account in the calculation of the required traverse movement of the gripper. By means of the calibration method according to the invention, it is thus possible to completely compensate for all mechanical tolerances and deviations of the placement device as well as the provided connector housing and contact parts in the context of the machine control. A particular advantage of the calibration method according to the invention is that it can be carried out by simple means and especially using the image capture device provided anyway.
Erfindungsgemäß wird in Schritt (iii) der Greifer jeweils mit von dem Markierungsträger beabstandetem Markierungsmittel in einer quer zu der Einführrichtung verlaufenden Verfahrebene gemäß vorgegebenen Verfahrkoordinaten der Positioniervorrichtung bis zu einer Markierungsposition bewegt, wobei in Schritt (v) jeweils die Verfahrkoordinaten gemeinsam mit der ermittelten Position des zugehörigen Markierungspunkts in der Speichereinrichtung abgelegt werden. Die Markierungspunkte werden somit jeweils denjenigen Verfahrkoordinaten zugeordnet, die ihrem Erstellen zugrunde liegen. In der Speichereinrichtung sind bei dieser Ausgestaltung also nicht nur die Positionen der Markierungspunkte selbst abgelegt, sondern auch die jeweils ursächlichen Steuerungsparameter. Nach Abschluss des Kalibrierverfahrens kann während des Normalbetriebs der Bestückungsvorrichtung dann so vorgegangen werden, dass bei vorgegebener Einsteckposition die passenden Verfahrkoordinaten bzw. Steuerungsparameter herausgesucht werden. Bevorzugt wird in Schritt (iii) der Greifer jeweils in der Einführrichtung auf den Markierungsträger zu bewegt, nachdem der Greifer die Markierungsposition erreicht hat. Dadurch wird jeder Markierungspunkt exakt an derjenigen Stelle gesetzt, an der ein Kontaktteil zur Einführung kommen würde, falls es anstelle des Markierungsmittels von dem Greifer gehalten wäre. Somit sind die Positionen der Markierungspunkte direkt und unmittelbar mit Einführpositionen von Kontaktteilen verknüpft.According to the invention, in step (iii) the gripper is in each case moved to a marking position in a traverse plane extending transversely to the insertion direction according to predetermined trajectory coordinates of the positioning device, wherein in step (v) the traversing coordinates together with the determined position of the associated marker point are stored in the memory device. The marking points are thus assigned to those traversing coordinates that underlie their creation. In the memory device not only the positions of the marking points themselves are stored in this embodiment, but also the respective causal control parameters. After completion of the calibration process, it is then possible to proceed during normal operation of the placement device in such a way that the matching positioning coordinates or control parameters are retrieved for a given insertion position. In step (iii), the gripper is preferably moved towards the marking carrier in the insertion direction after the gripper has reached the marking position. As a result, each marking point is set exactly at the point at which a contact part would be introduced if it were held by the gripper instead of the marking means. Thus, the positions of the marker points are directly and directly linked to insertion positions of contact parts.
Eine Ausführungsform der Erfindung sieht vor, dass in Schritt (iv) die Positionen der Markierungspunkte auf dem Markierungsträger relativ zu einer an dem Halter vorgesehenen, durch die Bilderfassungseinrichtung erkennbaren Referenzmarkierung ermittelt werden. Durch Verwenden einer solchen Referenzmarkierung können die Positionen der Markierungspunkte relativ zum Halter besonders präzise ermittelt werden - selbst dann, wenn die Bilderfassungseinrichtung beim Ermitteln der Positionen der Markierungspunkte auf dem Markierungsträger in Schritt (iv) unterschiedliche Standpunkte einnimmt.An embodiment of the invention provides that, in step (iv), the positions of the marking points on the marking carrier are determined relative to a reference mark provided on the holder and detectable by the image capture device. By using such a reference mark, the positions of the marker points relative to the holder can be determined particularly precisely - even if the image capture device assumes different points of view when determining the positions of the marker points on the marker carrier in step (iv).
In Schritt (v) kann auch die Position der Referenzmarkierung in der Speichereinrichtung abgelegt werden. Die gespeicherte Position der Referenzmarkierung kann als Bezugswert für andere Halter verwendet werden.In step (v), the position of the reference mark can also be stored in the memory device. The stored position of the reference mark can be used as a reference for other holders.
Eine spezielle Ausgestaltung der Erfindung sieht vor, dass ein mit dem Halter verbundener, vorzugsweise aus Blech gefertigter, Referenzkörper mit wenigstens einer, insbesondere gestanzten oder gelaserten, Ausnehmung als Referenzmarkierung bereitgestellt wird. Das Erkennen einer scharf berandeten Ausnehmung in einem Kamerabild ist bei geeigneter Beleuchtung mit relativ hoher Genauigkeit möglich. Ein Referenzkörper in Form einer gelaserten Blechplatte ist vergleichsweise kostengünstig herstellbar. Die Ränder der Ausnehmung können bei Bedarf von beiden Seiten des Referenzkörpers aus erkannt werden, also unabhängig davon, ob sich die Bilderfassungseinrichtung vor oder hinter dem Halter befindet. Um ein besonders zuverlässiges Erkennen der Referenzmarkierung zu gewährleisten, kann auch eine Anordnung von mehreren Ausnehmungen an dem Referenzkörper vorgesehen sein.A special embodiment of the invention provides that a reference body connected to the holder, preferably made of sheet metal, with at least one, in particular punched or lasered, recess is provided as a reference mark. The recognition of a sharply bordered recess in a camera image is possible with suitable illumination with relatively high accuracy. A reference body in the form of a lasered sheet metal plate is comparatively inexpensive to produce. If necessary, the edges of the recess can be recognized from both sides of the reference body, ie independently of whether the image capture device is located in front of or behind the holder. In order to ensure a particularly reliable detection of the reference mark, an arrangement of a plurality of recesses may be provided on the reference body.
Eine weitere Ausführungsform der Erfindung sieht vor, dass in Schritt (iii) der Greifer zunächst zu der Referenzmarkierung und ausgehend von dieser zu der jeweiligen Markierungsposition bewegt wird. Die Positionierung des Markierungsmittels relativ zu der Referenzmarkierung kann hierbei von der Bilderfassungseinrichtung überprüft werden. Die Markierungspunkte werden auf diese Weise mit dem Koordinatensystem des Halters in Beziehung gesetzt.A further embodiment of the invention provides that in step (iii) the gripper is first moved to the reference mark and from there to the respective marking position. The positioning of the marking means relative to the reference mark can be checked by the image capture device. The marker points are thus related to the coordinate system of the holder.
In Schritt (iii) können die Markierungspunkte zeilenweise oder spaltenweise, vorzugsweise in einem gleichmäßigen Abstand voneinander, gesetzt werden. Auf diese Weise können Linien mit beabstandeten Markierungspunkten auf dem Markierungsträger erstellt werden, die jeweils ähnlich wie eine Skala zur Positionsermittlung herangezogen werden können.In step (iii), the marker points may be set line by line or column by column, preferably at a uniform distance from each other. In this way, lines with spaced landmarks on the marker carrier can be created, each of which can be used similar to a scale for position determination.
Insbesondere kann in Schritt (iii) durch wiederholtes zeilenweises oder spaltenweises Setzen von Markierungspunkten ein rasterartiges Punktefeld auf dem Markierungsträger gebildet werden, welches sich zumindest über einen das Steckergehäuse haltenden Arbeitsbereich des Halters erstreckt. Durch ein solches rasterartiges Punktefeld kann ein ganzer Bereich des Halters und bei Bedarf sogar der komplette Halter in die Kalibrierung einbezogen werden.In particular, in step (iii) by repeated line-by-line or column-wise setting of marking points, a grid-like dot field can be formed on the marking carrier which extends at least over a working area of the holder holding the plug housing. Such a grid-like point field can include a whole area of the holder and, if required, even the complete holder in the calibration.
Vorzugsweise wird in Schritt (i) ein flächiges Beschriftungsmedium, insbesondere ein Papier- oder Folienelement, als Markierungsträger verwendet. Ein solches flächiges Beschriftungsmedium kann in einfacher Weise an einer zum Greifer weisenden Vorderseite des Halters angebracht werden. An dem Halter können hierzu geeignete Befestigungsmittel wie zum Beispiel eine oder mehrere Klemmleisten vorgesehen sein.Preferably, in step (i) a flat labeling medium, in particular a paper or film element, is used as the marking carrier. Such a flat labeling medium can be attached in a simple manner to a gripper facing the front of the holder. For this purpose, suitable fastening means, for example one or more clamping strips, can be provided on the holder.
In Schritt (ii) kann insbesondere ein Stift, eine Nadel, ein Laserkopf oder ein Thermoelement als Markierungsmittel verwendet werden. Die Verwendung eines Stifts oder einer Nadel ist besonders kostengünstig. Demgegenüber ermöglicht die Verwendung eines Laserkopfes oder eines Thermoelements das Setzen von besonders feinen und/oder von strukturierten Markierungspunkten.In step (ii), in particular a pin, a needle, a laser head or a thermocouple can be used as marking means. The use of a pen or needle is particularly cost effective. In contrast, the use of a laser head or a thermocouple allows the setting of very fine and / or structured marking points.
Eine weitere Ausgestaltung der Erfindung sieht vor, dass Schritt (iii) an einer Bestückungsstation der Bestückungsvorrichtung durchgeführt wird und Schritt (iv) an einer von der Bestückungsstation getrennten Vermessungsstation der Bestückungsvorrichtung durchgeführt wird. Das Vorsehen einer Vermessungsstation und einer separaten Bestückungsstation ist bei einer Bestückungsvorrichtung in prozesstechnischer Hinsicht günstig. Insbesondere kann bei einer solchen Ausgestaltung während des Normalbetriebs ein Kontaktteil eingeführt werden, während an der Vermessungsstation bereits ein weiterer Halter mit Steckergehäuse vermessen wird. Bei der Kalibrierung der Anlage können beide Stationen in vorteilhafter Weise genutzt werden.A further embodiment of the invention provides that step (iii) is carried out at a loading station of the mounting device and step (iv) is carried out at a measuring station of the mounting device separate from the mounting station. The provision of a surveying station and a separate loading station is favorable in terms of process equipment with respect to a placement device. In particular, in such a configuration during normal operation, a contact part can be introduced, while already measured at the surveying station another holder with connector housing becomes. When calibrating the system, both stations can be used to advantage.
Eine weitere Ausführungsform der Erfindung sieht vor, dass in Schritt (iv) die Bilderfassungseinrichtung mittels einer weiteren Positioniervorrichtung nacheinander zu den einzelnen Markierungspunkten hin bewegt wird, wobei die Positionen der Markierungspunkte auf dem Markierungsträger jeweils aus der Verfahrstellung des weiteren Positionierungssystems und der Position des Markierungspunkts in dem aufgenommenen Bild ermittelt werden. Durch das einzelne Anfahren der Markierungspunkte kann die Positionsermittlung eines Markierungspunkts im Bild mit besonders hoher Auflösung erfolgen. Ebenso ist es aufgrund des einzelnen Anfahrens der Markierungspunkte möglich, zur Kostenersparnis eine Bilderfassungseinrichtung mit vergleichsweise geringer Auflösung zu verwenden.A further embodiment of the invention provides that in step (iv) the image capture device is successively moved to the individual marker points by means of a further positioning device, wherein the positions of the marker points on the marker carrier respectively from the displacement position of the further positioning system and the position of the marker point in the captured image. The individual approach of the marker points can be used to determine the position of a marker point in the image with a particularly high resolution. Likewise, due to the individual approach of the marking points, it is possible to use an image capture device with comparatively low resolution for cost savings.
Es kann vorgesehen sein, dass der Halter zum Halten mehrerer Steckergehäuse ausgebildet ist, wobei in Schritt (iii) die Markierungspunkte derart gesetzt werden, dass jedem gehaltenen Steckergehäuse wenigstens zwei, bevorzugt wenigstens fünf, Markierungspunkte zugeordnet sind. Dies gewährleistet eine ausreichend genaue Berücksichtigung etwaiger Positionsabweichungen.It can be provided that the holder is designed to hold a plurality of connector housings, wherein in step (iii) the marking points are set such that each held connector housing at least two, preferably at least five, marking points are assigned. This ensures a sufficiently accurate consideration of any positional deviations.
Die Erfindung betrifft auch eine Bestückungsvorrichtung zum automatischen Bestücken eines Steckergehäuses mit einem an einer elektrischen Leitung angebrachten Kontaktteil, welche einen Halter für das Steckergehäuse, eine Positioniervorrichtung mit einem beweglichen Greifer zum Positionieren des Kontaktteils in Bezug auf den Halter und zum Einführen des Kontaktteils in einer Einführrichtung in eine Kavität des Steckergehäuses, eine Bilderfassungseinrichtung zum Aufnehmen wenigstens eines ortsaufgelösten Bildes zumindest eines Teils des Halters sowie eine Steuereinheit zum Ermitteln einer Position der Kavität in dem wenigstens einen ortsaufgelösten Bild und zum Ermitteln einer zum Einführen des Kontaktteils in die Kavität erforderlichen Bewegung des Greifers anhand der ermittelten Position der Kavität umfasst.The invention also relates to a mounting apparatus for automatically populating a connector housing with a contact part attached to an electrical lead, comprising a holder for the connector housing, a positioning device with a movable gripper for positioning the contact part with respect to the holder and for inserting the contact part in an insertion direction in a cavity of the plug housing, an image capture device for receiving at least one spatially resolved image of at least a portion of the holder and a control unit for determining a position of the cavity in the at least one spatially resolved image and determining a for introducing the Contact part in the cavity required movement of the gripper based on the determined position of the cavity.
Erfindungsgemäß ist eine Steuereinheit der Bestückungsvorrichtung dazu ausgebildet, ein Kalibrierungsverfahren wie vorstehend beschrieben auszuführen. Eine derartige Kalibrierfunktion ermöglicht eine zuverlässige Kompensation aller Toleranzen und Abweichungen der gesamten Anlage.According to the invention, a control unit of the mounting device is designed to carry out a calibration method as described above. Such a calibration function allows a reliable compensation of all tolerances and deviations of the entire system.
Weiterbildungen der Erfindung sind auch in den abhängigen Ansprüchen, der Beschreibung sowie den beigefügten Zeichnungen angegeben.Further developments of the invention are set forth in the dependent claims, the description and the accompanying drawings.
Die Erfindung wird nachfolgend beispielhaft unter Bezugnahme auf die Zeichnungen beschrieben.
- Fig. 1
- zeigt eine Vermessungsstation einer erfindungsgemäßen Bestückungsvorrichtung während eines Normalbetriebs.
- Fig. 2
- zeigt eine Bestückungsstation einer erfindungsgemäßen Bestückungsvorrichtung während eines Normalbetriebs.
- Fig. 3
- zeigt die in
Fig. 2 dargestellte Bestückungsstation während eines erfindungsgemäßen Kalibriervorgangs. - Fig. 4
- zeigt die in
Fig. 1 dargestellte Vermessungsstation während eines erfindungsgemäßen Kalibriervorgangs.
- Fig. 1
- shows a surveying station of a mounting device according to the invention during normal operation.
- Fig. 2
- shows a placement station of a mounting device according to the invention during normal operation.
- Fig. 3
- shows the in
Fig. 2 shown placement station during a calibration process according to the invention. - Fig. 4
- shows the in
Fig. 1 illustrated surveying station during a calibration process according to the invention.
Die in
Eine Bilderfassungseinrichtung in Form einer ersten Kamera 19 mit zugehörigem Bildverarbeitungssystem (nicht dargestellt) dient dazu, ortsaufgelöste Bilder eines Teils des Halters 12 einschließlich der an diesem fixierten Steckergehäuse 14 aufzunehmen. Die erste Kamera 19 ist an einem Kamera-Positionierungssystem 20 befestigt, mittels welchem sie vor den einzelnen Steckergehäusen 14 positioniert bewegt werden kann. In dem dargestellten Ausführungsbeispiel ist das Kamera-Positionierungssystem 20 als zweiachsiges Linearsystem ausgeführt. Der Deutlichkeit halber sind der Halter 12 mit den fixierten Steckergehäusen 14 sowie das Kamera-Positionierungssystem 20 in einer Vorderansicht dargestellt, während die erste Kamera 19 selbst in einer Draufsicht dargestellt ist. Dem Halter 12, der Referenzplatte 17, dem Kamera-Positionierungssystem 20 sowie der ersten Kamera 19 sind jeweilige Koordinatensysteme zugeordnet, welche in
Die in
Das Greifer-Positionierungssystem 30 ist hier als Linearsystem ausgebildet, wobei die Greifer 28a, 28b entlang jeweiliger x-, y- und z-Achsen sowohl in und entgegen einer Einführrichtung E als auch in einer rechtwinklig hierzu verlaufenden Verfahrebene verfahrbar sind. Anstelle des Greifer-Positionierungssystems 30 könnte auch ein Roboter zum Bewegen der Greifer 28a, 28b vorgesehen sein. Jeder der Greifer 28a, 28b ist zum Halten eines Kontaktteils 32a, 32b über eine daran angebrachte elektrische Leitung 34 ausgebildet. In dem dargestellten Ausführungsbeispiel sind beide Kontaktteile 32a, 32b durch eine gemeinsame elektrische Leitung 34 miteinander verbunden.The
Während des Normalbetriebs der Bestückungsvorrichtung werden zunächst entsprechend vorgefertigte Steckergehäuse 14 in die zugehörigen Aufnahmen eines Halters 12 eingerastet, beispielsweise manuell. Anschließend wird der Halter 12 mit den fixierten Steckergehäusen 14 zu der Vermessungsstation 10 (
Nach Abschluss dieses Vermessungsvorgangs wird der Halter 12 mit den Steckergehäusen 14 zu der Bestückungsstation 24 (
Um einen fehlerfreien und effizienten Ablauf des vorstehend beschriebenen Normalbetriebs der Bestückungsvorrichtung zu gewährleisten, ist eine exakte Ausrichtung aller Koordinatensysteme 61-66 relativ zueinander von großer Bedeutung. Insbesondere müssen die Koordinatensysteme 61-66 jeweils orthogonal bzw. rechtwinklig zueinander ausgerichtet sein. In der Praxis ist dies nur unter beträchtlichem Aufwand erfüllbar.In order to ensure a faultless and efficient operation of the above-described normal operation of the mounting device, an exact alignment of all coordinate systems 61-66 relative to each other is of great importance. In particular, the coordinate systems 61-66 must each be oriented orthogonally or at right angles to each other. In practice, this can only be achieved with considerable effort.
Zur Kompensation von Fehlausrichtungen der einzelnen Koordinatensysteme 61-66 wird daher ein Verfahren zum Kalibrieren der Bestückungsvorrichtung durchgeführt, welches nachfolgend unter Bezugnahme auf
Der Halter 12 mit dem befestigen Markierungsträger 38 wird gegebenenfalls zu der Bestückungsstation 24 transportiert und vor der zweiten Kamera 26 platziert. Das Koordinatensystem 65 der zweiten Kamera 26 richtet sich an dem Koordinatensystem 62 der Referenzplatte 17 aus. Mittels der Greifer 28a, 28b werden anstelle von Enden der elektrischen Leitung 34 jeweilige Markierungsmittel 40a, 40b ergriffen. Die Markierungsmittel 40a, 40b sind in
Der erste Greifer 28a wird mit dem gegriffenen Markierungsmittel 40a zu einem Referenzpunkt der Referenzplatte 17 bewegt. Gemäß dem Koordinatensystem 62 der Referenzplatte 17 wird der Greifer 28a zunächst in x-Richtung, das heißt entlang einer horizontalen Linie, bewegt. In einem gleichmäßigen Abstand von beispielsweise 10 mm wird die Bewegung angehalten und der Greifer 28a wird in der Einführrichtung E auf den Markierungsträger 38 zu bewegt, bis die Spitze des Markierungsmittels 40a diesen kontaktiert und dadurch einen Markierungspunkt 50 setzt. Anschließend wird mit veränderter vertikaler Position eine weitere Zeile von Markierungspunkten 50 erstellt. Das zeilenweise Setzen von Markierungspunkten 50 wird so oft wiederholt, bis der komplette Arbeitsbereich 52 des Halters 12 von einem rasterartigen Punktefeld 54 bedeckt ist.The
Nach dem Setzen aller Markierungspunkte 50 wird der Halter 12 mit dem daran befestigten Markierungsträger 38 zu der Vermessungsstation 10 (
Bei einem nachfolgenden Normalbetrieb der Bestückungsvorrichtung können aus den Positionen der Steckergehäuse 14 auf dem Halter 12 unter Verwendung der gespeicherten Kalibrierungsdaten die entsprechenden Verfahrkoordinaten des Greifer-Positionierungssystems 30 bestimmt werden. Zwischenwerte können hierbei durch geeignete mathematische Verfahren, beispielsweise durch ein Interpolationsverfahren, ermittelt werden. Eventuelle Abweichungen von einer orthogonalen und linearen Bewegung der Greifer 28a, 28b, welche zum Beispiel zu einer trapezförmigen, kissenförmigen oder tonnenförmigen Verzerrung des rasterartigen Punktefelds 54 führen, sind durch die Kalibrierungsdaten erfasst und können steuerungstechnisch entsprechend kompensiert werden. Bei Bedarf kann jederzeit eine Überprüfung der Kalibrierung der Bestückungsvorrichtung durchgeführt werden. Sowohl der Normalbetrieb als auch die Kalibrierung werden durch die vorstehend erwähnte Steuereinheit der Bestückungsvorrichtung koordiniert.In a subsequent normal operation of the mounting device, the corresponding travel coordinates of the
Die Erfindung ermöglicht eine zuverlässige und kostengünstige Kalibrierung der gesamten Bestückungsvorrichtung.The invention enables a reliable and cost-effective calibration of the entire placement device.
- 1010
- VermessungsstationData collection device
- 1212
- Halterholder
- 1414
- Steckergehäuseplug housing
- 1616
- Kavitätcavity
- 1717
- Referenzplattereference plate
- 1818
- Ausnehmungrecess
- 1919
- erste Kamerafirst camera
- 2020
- Kamera-PositionierungssystemCamera positioning system
- 2424
- Bestückungsstationloading station
- 2626
- zweite Kamerasecond camera
- 28a, 28b28a, 28b
- Greifergrab
- 3030
- Greifer-PositionierungssystemGripper positioning system
- 32a, 32b32a, 32b
- Kontaktteilcontact part
- 3434
- elektrische Leitungelectrical line
- 3838
- Markierungsträgermarking carrier
- 40a, 40b40a, 40b
- Markierungsmittelmarker
- 4242
- Aussparungrecess
- 5050
- Markierungspunktmarker
- 5252
- ArbeitsbereichWorkspace
- 5454
- Punktefeldpoints field
- 6161
- Koordinatensystem des HaltersCoordinate system of the holder
- 6262
- Koordinatensystem der ReferenzplatteCoordinate system of the reference plate
- 6363
- Koordinatensystem des Kamera-PositionierungssystemsCoordinate system of the camera positioning system
- 6464
- Koordinatensystem der ersten KameraCoordinate system of the first camera
- 6565
- Koordinatensystem der zweiten KameraCoordinate system of the second camera
- 6666
- Koordinatensystem des Greifer-PositionierungssystemsCoordinate system of the gripper positioning system
Claims (13)
- Method for calibrating an assembling device which is adapted to automatically assemble a connector housing (14) with a contact part (32a, 32b) attached to an electrical line (34) and which includes a holder (12) for the connector housing (14), a positioning device (30) with a movable gripper (28a, 28b) for positioning the contact part (32a, 32b) in respect to the holder (12) and for inserting the contact part (32a, 32b) into a cavity (16) of the connector housing (14) in an insertion direction (E), an image capturing device (19) for capturing at least one spatially resolved image of at least a portion of the holder (12), and a control unit for determining a position of the cavity (16) in the at least one spatially resolved image and for determining a movement of the gripper (28a, 28b) required for inserting the contact part (32a, 32b) into the cavity (16) based on the determined position of the cavity (16),
characterized in that(i) a marking carrier (38) is attached to the holder (12),(ii) a marking means (40a, 40b) is gripped by the movable gripper (28a, 28b),(iii) a plurality of marking points (50) is set on the marking carrier (38) attached to the holder (12) by means of the gripper (28a, 28b) and the marking means (40a, 40b) gripped thereby,(iv) the positions of the marking points (50) on the marking carrier (38) are determined by means of the image capturing device (19), and(v) the determined positions of the marking points (50) are stored in a memory device associated with the control unit,wherein
in step (iii) the gripper (28a, 28b) is respectively moved to a marking position with marking means (40a, 40b) spaced from the marking carrier (38) in a process plane extending transversely to the insertion direction (E) according to predetermined process coordinates of the positioning device (30), wherein in step (v) the process coordinates are respectively stored together with the determined position of the associated marking point (50) in the memory device. - Method according to claim 1,
characterized in that
in step (iii) the gripper (28a, 28b) is respectively moved in the insertion direction (E) toward the marking carrier (38) after the gripper (28a, 28b) has reached the marking position. - Method according to one of the preceding claims,
characterized in that
in step (iv) the positions of the marking points (50) on the marking carrier (38) are determined relative to a reference mark (17) provided on the holder (12) and detectable by the image capturing device (19). - Method according to claim 3,
characterized in that
in step (v) the position of the reference mark (17) also is stored in the memory device. - Method according to claim 3 or 4,
characterized in that
a reference body (17) connected with the holder (12), preferably made of sheet metal, with at least one, in particular punched or lasered, recess (18) is provided as a reference mark. - Method according to one of claims 3 to 5,
characterized in that
in step (iii) the gripper (28a, 28b) is first moved to the reference mark (17) and from there to the respective marking position. - Method according to one of the preceding claims,
characterized in that
in step (iii) the marking points (50) are set in rows or columns, preferably equally spaced. - Method according to claim 7,
characterized in that
in step (iii) a grid-like points field (54) is formed on the marking carrier (38) by repeated row-wise or column-wise setting of marking points (50), which extends at least over a working area (52) of the holder (12) holding the connector housing (14). - Method according to one of the preceding claims,
characterized in that
in step (i) a planar labeling medium (38), in particular a paper or film element, is used as marking carrier. - Method according to one of the preceding claims,
characterized in that
in step (ii) a pin, a needle, a laser head or a thermo-element is used as marking means (40a, 40b). - Method according to one of the preceding claims,
characterized in that
step (iii) is carried out at an assembling station (24) of the assembling device and step (iv) is carried out at a measuring station (10) of the assembling device separate from the assembling station (24). - Method according to one of the preceding claims,
characterized in that
in step (iv) the image capture device (19) is moved successively to the individual marking points (50) by means of a further positioning device (20) wherein the positions of the marking points (50) on the marking carrier (38) are respectively determined from the process position of the further positioning system (20) and the position of the marking point (50) in the captured image. - Method according to one of the preceding claims,
characterized in that
the holder (12) is adapted for holding a plurality of connector housings (14), wherein in step (iii) the marking points (50) are set such that each held connector housing (14) is associated with at least two marking points (50).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14172587.9A EP2958200A1 (en) | 2014-06-16 | 2014-06-16 | Method for calibrating a mounting apparatus |
PCT/EP2015/063349 WO2015193247A1 (en) | 2014-06-16 | 2015-06-15 | Method for calibrating a mounting device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3155699A1 EP3155699A1 (en) | 2017-04-19 |
EP3155699B1 true EP3155699B1 (en) | 2018-07-11 |
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Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14172587.9A Withdrawn EP2958200A1 (en) | 2014-06-16 | 2014-06-16 | Method for calibrating a mounting apparatus |
EP15728033.0A Active EP3155699B1 (en) | 2014-06-16 | 2015-06-15 | Method for calibrating a mounting apparatus |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14172587.9A Withdrawn EP2958200A1 (en) | 2014-06-16 | 2014-06-16 | Method for calibrating a mounting apparatus |
Country Status (4)
Country | Link |
---|---|
US (1) | US10396520B2 (en) |
EP (2) | EP2958200A1 (en) |
CN (1) | CN106415948B (en) |
WO (1) | WO2015193247A1 (en) |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5537204A (en) * | 1994-11-07 | 1996-07-16 | Micron Electronics, Inc. | Automatic optical pick and place calibration and capability analysis system for assembly of components onto printed circuit boards |
US5806753A (en) * | 1995-12-22 | 1998-09-15 | International Business Machines Corporation | Application of low temperature metallurgical paste to form a bond structure to attach an electronic component to a carrier |
US6999835B2 (en) * | 2001-07-23 | 2006-02-14 | Fuji Machine Mfg. Co., Ltd. | Circuit-substrate working system and electronic-circuit fabricating process |
ATE504868T1 (en) * | 2006-05-31 | 2011-04-15 | Panasonic Corp | METHOD FOR CALCULATION OF A CENTER OF ROTATION, METHOD FOR CALCULATION OF AN AXIS OF ROTATION, METHOD FOR CREATING A PROGRAM, OPERATING METHOD AND ROBOTIC DEVICE |
DE102007027877B4 (en) * | 2007-06-18 | 2009-10-29 | Grohmann Engineering Gmbh | Calibration device for a setting head for contact elements |
CN102738683B (en) * | 2012-06-05 | 2014-11-19 | 广西梧州市平洲电子有限公司 | Automatic assembling terminal machine |
CN103682949A (en) * | 2013-12-16 | 2014-03-26 | 慈溪市剑峰电器有限公司 | End foot connecting structure of plug machine |
-
2014
- 2014-06-16 EP EP14172587.9A patent/EP2958200A1/en not_active Withdrawn
-
2015
- 2015-06-15 EP EP15728033.0A patent/EP3155699B1/en active Active
- 2015-06-15 WO PCT/EP2015/063349 patent/WO2015193247A1/en active Application Filing
- 2015-06-15 CN CN201580032005.5A patent/CN106415948B/en active Active
- 2015-06-15 US US15/318,076 patent/US10396520B2/en active Active
Non-Patent Citations (1)
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CN106415948A (en) | 2017-02-15 |
CN106415948B (en) | 2018-11-16 |
WO2015193247A1 (en) | 2015-12-23 |
US20170117678A1 (en) | 2017-04-27 |
US10396520B2 (en) | 2019-08-27 |
EP3155699A1 (en) | 2017-04-19 |
EP2958200A1 (en) | 2015-12-23 |
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