JPH06300523A - Part mounting device and its positioning method - Google Patents
Part mounting device and its positioning methodInfo
- Publication number
- JPH06300523A JPH06300523A JP5086125A JP8612593A JPH06300523A JP H06300523 A JPH06300523 A JP H06300523A JP 5086125 A JP5086125 A JP 5086125A JP 8612593 A JP8612593 A JP 8612593A JP H06300523 A JPH06300523 A JP H06300523A
- Authority
- JP
- Japan
- Prior art keywords
- component
- work
- image
- mounting apparatus
- moving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Supply And Installment Of Electrical Components (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、部品実装装置及び位置
合わせ方法に関するものであり、特に、プリント基板の
被装着ワーク等に部品を高精度に搭載するために、位置
・姿勢補正ができる部品実装装置及び位置合わせ方法に
関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus and a positioning method, and more particularly to a component capable of position / orientation correction for mounting the component on a work to be mounted on a printed circuit board with high accuracy. The present invention relates to a mounting device and a positioning method.
【０００２】[0002]
【従来の技術】従来のこの種の部品実装装置及び位置合
わせ方法に関連するものとして、特開昭６０−１８８８
０３号公報に掲載の技術がある。図１０は、上記公報に
示された、従来の自動組立装置の全体構成を示すブロッ
ク図である。図において、１は組立ロボット、２は組立
ロボット１の先端に装着された把持用チャック、３は挿
入される部品であるＩＣ、４はＩＣ３が挿入される基
板、５は基板４とＩＣ３のリードの両方を見るための鏡
筒、６は鏡筒５を通過した映像を撮像するテレビカメ
ラ、７はテレビカメラ６からのビデオ信号を２値化する
カメラコントローラ、８はＩＣ３のリードと基板４の位
置ずれを計算する演算装置、９は組立ロボット１を制御
する制御装置である。2. Description of the Related Art Japanese Patent Application Laid-Open No. 60-1888 discloses a conventional component mounting apparatus and alignment method of this type.
There is a technology published in No. 03 bulletin. FIG. 10 is a block diagram showing the overall configuration of the conventional automatic assembly apparatus shown in the above publication. In the figure, 1 is an assembly robot, 2 is a gripping chuck attached to the tip of the assembly robot 1, 3 is an IC to be inserted, 4 is a substrate into which IC3 is inserted, and 5 is a lead of the substrate 4 and IC3. For viewing both of them, 6 is a television camera for picking up an image that has passed through the barrel 5, 7 is a camera controller for binarizing the video signal from the television camera 6, 8 is a lead of the IC 3 and the substrate 4. A calculation device for calculating the positional deviation, and a control device 9 for controlling the assembly robot 1.
【０００３】図１１の（ａ）は従来の鏡筒による部品と
被装着ワークの計測点の像をモニターテレビに表示した
状態を示す説明図、（ｂ）は従来の鏡筒の構造を示す断
面図である。図において、１０はＩＣリード、１０ａは
ＩＣリード１０の２値化画像、１１ａ，１１ｂは鏡筒５
に内蔵されているプリズム、１２は基板４に穿設された
挿入孔、１２ａは挿入孔１２の２値化画像である。図１
１の（ｂ）に示すように、鏡筒５はＩＣリード１０から
の映像を反射させるプリズム１１ａと、基板４の挿入孔
１２の映像を反射させるプリズム１１ｂとで構成されて
いる。FIG. 11A is an explanatory view showing a state in which an image of a measuring point of a component and a work to be mounted by a conventional lens barrel is displayed on a monitor TV, and FIG. 11B is a cross section showing a structure of the conventional lens barrel. It is a figure. In the figure, 10 is an IC lead, 10a is a binarized image of the IC lead 10, and 11a and 11b are lens barrels 5.
, 12 is an insertion hole formed in the substrate 4, and 12a is a binarized image of the insertion hole 12. Figure 1
As shown in FIG. 1B, the lens barrel 5 is composed of a prism 11a that reflects the image from the IC lead 10 and a prism 11b that reflects the image of the insertion hole 12 of the substrate 4.
【０００４】次に、この構成の部品実装装置の動作につ
いて説明する。ＩＣリード１０と挿入孔１２の映像は、
プリズム１１ａ，１１ｂでそれぞれ反射され、同時にテ
レビカメラ６に取込まれる。前記映像はテレビカメラ６
でビデオ信号に変換され、カメラコントローラ７で２値
化後、演算装置８に転送される。前記２値化信号は演算
装置８内のＲＡＭ（ランダムアクセスメモリ）に１画素
が１つのアドレスに対応するように記憶される。その内
容がモニターテレビ（図示しない）に表示されると、例
えば、図１１の（ａ）のようになる。ＩＣリード１０か
ら得られる２値化画像１０ａと挿入孔１２から得られる
２値化画像１２ａの画像重心Ｇ，ｇを既知の方法で求
め、予め求めておいた左右の画像の座標変換式 （ｘ，ｙ）＝ｆ（Ｘ，Ｙ） ・・・・・・（１） により、前記二者の位置ずれ誤差を求める。そして、こ
の位置ずれ誤差を制御装置９へ転送し、組立ロボット１
の姿勢を補正する。これら一連の動作を、ＩＣリード１
０と挿入孔１２の位置ずれ誤差が許容範囲内に納まるま
で繰返し行ない、微調整完了後に挿入を行なう。Next, the operation of the component mounting apparatus having this structure will be described. The images of the IC lead 10 and the insertion hole 12 are
It is reflected by the prisms 11a and 11b, respectively, and is simultaneously taken in by the television camera 6. The image is a TV camera 6
Are converted into video signals by the camera controller 7, binarized by the camera controller 7, and transferred to the arithmetic unit 8. The binarized signal is stored in a RAM (random access memory) in the arithmetic unit 8 so that one pixel corresponds to one address. When the content is displayed on a monitor television (not shown), for example, it becomes as shown in FIG. The image centroids G and g of the binarized image 10a obtained from the IC lead 10 and the binarized image 12a obtained from the insertion hole 12 are obtained by a known method, and the coordinate conversion formula (x , Y) = f (X, Y) (1) The positional deviation error between the two is obtained. Then, this positional deviation error is transferred to the control device 9, and the assembly robot 1
Correct the posture of. These series of operations are performed by the IC lead 1
This is repeated until the positional deviation error between 0 and the insertion hole 12 falls within the allowable range, and the insertion is performed after the fine adjustment is completed.
【０００５】[0005]
【発明が解決しようとする課題】従来の部品実装装置は
上記のように構成されているので、ＩＣと基板の前後左
右方向の位置ずれには対応できるものの、挿入されるＩ
Ｃと基板に回転ずれが生じている場合には対応できなか
った。また、ＩＣと基板の画像を同時にテレビカメラに
取込むために、視野が狭くなり、ＩＣまたは基板の位置
ずれが大きくなると、視野からはみ出るなどの問題があ
った。更に、部品及び被装着ワークの材質或いは表面状
態によっては、良好な画像が得られないなどの問題点も
あった。Since the conventional component mounting apparatus is constructed as described above, it is possible to cope with the positional deviation between the IC and the board in the front-rear, left-right direction, but the I
It was not possible to deal with the case where there was a rotational deviation between C and the substrate. Further, since the images of the IC and the board are simultaneously captured by the television camera, there is a problem that the field of view becomes narrow and the position of the IC or the board becomes large, so that the IC and the board are out of the field of view. Further, there is a problem that a good image cannot be obtained depending on the material and surface condition of the parts and the work to be mounted.
【０００６】そこで、本発明は、上記のような問題を解
決するためになされたもので、部品と被装着ワークに回
転ずれが生じていても正確に部品を装着できる部品実装
装置及び位置合わせ方法（請求項１，２の発明）の提供
を課題とするものである。また、部品と被装着ワークの
位置ずれが大きくなっても、テレビカメラ等の視野内に
部品と被装着ワークを納めることのできる部品実装装置
（請求項３の発明）の提供を課題とするものである。更
に、同軸照明機構を具備することにより良好な画像が得
られる部品実装装置（請求項４の発明）の提供を課題と
するものである。Therefore, the present invention has been made to solve the above problems, and a component mounting apparatus and a positioning method capable of accurately mounting a component even if there is a rotational deviation between the component and the workpiece to be mounted. It is an object to provide (the inventions of claims 1 and 2). It is another object of the present invention to provide a component mounting apparatus (the invention of claim 3) that can accommodate a component and a work to be mounted within a visual field of a television camera or the like even if the positional deviation between the component and the work to be mounted becomes large. Is. Another object of the present invention is to provide a component mounting apparatus (invention of claim 4) that can obtain a good image by providing the coaxial illumination mechanism.
【０００７】[0007]
【課題を解決するための手段】請求項１の発明にかかる
部品実装装置は、部品の把持及び移動動作を行なう部品
把持手段と、前記部品把持手段が把持した部品及びコン
ベア等に載置された被装着ワークをＴ字形鏡筒を介して
同時に視野に納める撮像手段と、前記撮像手段を移動さ
せる移動手段と、前記部品及び被装着ワークの各々対応
する複数個の検出対象箇所から前記部品及び被装着ワー
クの相対位置関係を演算する画像処理手段と、前記画像
処理手段で演算した相対位置関係に基づき前記部品及び
被装着ワークの回転ずれを補正する補正手段とを具備す
るものである。A component mounting apparatus according to the invention of claim 1 is mounted on a component gripping means for gripping and moving a component, a component gripped by the component gripping means, a conveyor and the like. An image pickup means for simultaneously placing the mounted work in the visual field through the T-shaped lens barrel, a moving means for moving the image pickup means, and a plurality of detection target portions corresponding to the part and the mounted work from the plurality of detection target locations. An image processing unit for calculating the relative positional relationship of the mounted work and a correction unit for correcting the rotational deviation of the component and the mounted work based on the relative positional relationship calculated by the image processing unit are provided.
【０００８】請求項２の発明にかかる部品実装位置合わ
せ方法は、請求項１の部品実装装置において、部品及び
被装着ワークの対応する少なくとも２点以上の複数点の
位置ずれを計測して、前記部品及び被装着ワークの相対
回転ずれを補正するものである。According to a second aspect of the present invention, there is provided a component mounting position adjusting method, wherein in the component mounting apparatus according to the first aspect, the positional deviation of at least two or more corresponding points of the component and the work to be mounted is measured, It is intended to correct the relative rotational displacement between the component and the mounted work.
【０００９】請求項３の発明にかかる部品実装装置は、
部品の把持及び移動動作を行なう部品把持手段と、前記
部品把持手段が把持した部品及びコンベア等に載置され
た被装着ワークをＴ字形鏡筒を介して同時に視野に納め
る撮像手段と、前記Ｔ字形鏡筒内の反射鏡を前後方向に
移動させる反射鏡移動手段と、前記部品及び被装着ワー
クの各々対応する複数個の検出対象箇所から前記部品及
び被装着ワークの相対位置関係を演算する画像処理手段
と、前記画像処理手段で演算した相対位置関係に基づき
前記部品及び被装着ワークの回転ずれを補正する補正手
段とを具備するものである。The component mounting apparatus according to the invention of claim 3 is
A component gripping means for gripping and moving a component, an image pickup means for simultaneously placing the component gripped by the component gripping means and a mounted work placed on a conveyor or the like into a visual field through a T-shaped lens barrel; An image for calculating the relative positional relationship between the component and the work to be mounted from a plurality of detection target locations corresponding to the component and the work to be mounted, and a reflecting mirror moving means for moving the reflector in the character-shaped lens barrel in the front-back direction. The processing means and the correction means for correcting the rotational deviation of the component and the mounted work based on the relative positional relationship calculated by the image processing means.
【００１０】請求項４の発明にかかる部品実装装置は、
部品の把持及び移動動作を行なう部品把持手段と、前記
部品把持手段が把持した部品及びコンベア等に載置され
た被装着ワークをＴ字形鏡筒を介して同時に視野に納め
る撮像手段と、前記Ｔ字形鏡筒内に配設された同軸照明
手段と、前記部品及び被装着ワークの各々対応する複数
個の検出対象箇所から前記部品及び被装着ワークの相対
位置関係を演算する画像処理手段と、前記画像処理手段
で演算した相対位置関係に基づき前記部品及び被装着ワ
ークの回転ずれを補正する補正手段とを具備するもので
ある。The component mounting apparatus according to the invention of claim 4 is
A component gripping means for gripping and moving a component, an image pickup means for simultaneously placing the component gripped by the component gripping means and a mounted work placed on a conveyor or the like into a visual field through a T-shaped lens barrel; Coaxial illumination means arranged in a character-shaped lens barrel, image processing means for calculating a relative positional relationship between the component and the mounted work from a plurality of detection target locations corresponding to the component and the mounted work, respectively, And a correction unit that corrects the rotational deviation between the component and the mounted work based on the relative positional relationship calculated by the image processing unit.
【００１１】[0011]
【作用】請求項１の発明の部品実装装置においては、装
着する部品及び被装着ワークをＴ字形鏡筒を介して同時
に視野に納めて撮像し、それぞれ複数個の検出対象箇所
を有する部品及び被装着ワークの相対位置関係を演算し
て回転ずれを補正するものであるから、部品と被装着ワ
ークとに回転ずれが生じている場合にも、正しい位置に
実装される。In the component mounting apparatus according to the first aspect of the present invention, the component to be mounted and the workpiece to be mounted are simultaneously captured in the field of view through the T-shaped lens barrel and imaged. Since the rotational displacement is corrected by calculating the relative positional relationship of the mounted work, even when the component and the mounted work are rotationally displaced, they are mounted at the correct positions.
【００１２】請求項２の発明の部品実装位置合わせ方法
部においては、部品及び被装着ワークの対応する少なく
とも２点以上の複数点の位置ずれを計測して、前記部品
及び被装着ワークの相対回転ずれを補正するものである
から、部品と被装着ワークとに回転ずれが生じている場
合にも、この回転ずれが正確に補正される。In the component mounting position aligning method section of the invention of claim 2, the relative displacement between the component and the mounted work is measured by measuring the positional deviation of at least two corresponding points of the component and the mounted work. Since the deviation is corrected, even if there is a rotation deviation between the component and the work to be mounted, this rotation deviation is accurately corrected.
【００１３】請求項３の発明の部品実装装置において
は、Ｔ字形鏡筒内の反射鏡を前後方向に移動させる反射
鏡移動手段を設けたものであるから、部品と被装着ワー
クの位置ずれが大きくなっても、撮像手段の視野が拡大
し、部品及び被装着ワークが撮像手段の視野内からはみ
出ない。In the component mounting apparatus according to the third aspect of the invention, since the reflecting mirror moving means for moving the reflecting mirror in the T-shaped lens barrel in the front-rear direction is provided, the positional deviation between the component and the work to be mounted is prevented. Even if the size is increased, the field of view of the image pickup means is expanded, and the component and the mounted work do not protrude from the field of view of the image pickup means.
【００１４】請求項４の発明の部品実装装置において
は、Ｔ字形鏡筒内に同軸照明手段を設けたものであるか
ら、部品及び被装着ワークの材質或いは表面状態が鏡面
に近い状態であっても、良好な画像を得ることができ
る。In the component mounting apparatus according to the fourth aspect of the present invention, since the coaxial illumination means is provided in the T-shaped lens barrel, the material and surface condition of the component and the work to be mounted are close to the mirror surface. Also, a good image can be obtained.
【００１５】[0015]
【実施例】以下、本発明の各実施例について説明をす
る。 〈第一実施例〉まず、第一実施例を図１乃至図５により
説明する。図中、上記従来例と同一符号及び記号は上記
従来例の構成部分と同一または相当する構成部分を示
す。図１は本発明の第一実施例である部品実装装置の全
体構成を示す斜視図である。図１において、２１は多軸
移動機構を有するロボット等の部品把持装置、２２は部
品２３を把持するハンド、２３は装着用の部品、２４は
部品２３が実装される被装着ワーク、２５は部品２３及
び被装着ワーク２４の画像を同時に入力するＴ字形鏡
筒、２６はカメラ等の撮像装置、３１は撮像装置２６を
二次元移動させる移動機構、３２は撮像装置２６から入
力される部品２３及び被装着ワーク２４の像に基づき部
品２３及び被装着ワーク２４の相対的な位置ずれを演算
する画像処理装置、３０は部品把持装置２１及び撮像装
置２６の移動機構３１の位置を制御する制御装置であ
る。Embodiments of the present invention will be described below. <First Embodiment> First, a first embodiment will be described with reference to FIGS. In the figure, the same reference numerals and symbols as those of the above-mentioned conventional example indicate the same or corresponding components as those of the above-mentioned conventional example. FIG. 1 is a perspective view showing the overall configuration of a component mounting apparatus that is a first embodiment of the present invention. In FIG. 1, 21 is a component gripping device such as a robot having a multi-axis moving mechanism, 22 is a hand that grips a component 23, 23 is a component for mounting, 24 is a workpiece to be mounted on the component 23, and 25 is a component. A T-shaped barrel for simultaneously inputting images of 23 and the work 24 to be attached, 26 an image pickup device such as a camera, 31 a moving mechanism for two-dimensionally moving the image pickup device 26, 32 a component 23 input from the image pickup device 26, and An image processing device that calculates a relative positional deviation between the component 23 and the mounted work 24 based on the image of the mounted work 24, and 30 is a control device that controls the positions of the component gripping device 21 and the moving mechanism 31 of the imaging device 26. is there.
【００１６】図２は本発明の第一実施例である部品実装
装置のＴ字形鏡筒の構造を示す正面図である。図におい
て、３３は部品２３及び被装着ワーク２４の像を反射す
る反射鏡であり、この反射鏡３３で反射した像は撮像装
置２６に取込まれる。FIG. 2 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the first embodiment of the present invention. In the figure, 33 is a reflecting mirror that reflects the image of the component 23 and the work 24 to be mounted, and the image reflected by the reflecting mirror 33 is taken into the image pickup device 26.
【００１７】図３及び図４は、部品２３と被装着ワーク
２４における各々の計測点の像をモニターテレビ（図示
しない）に表示した図であり、図３は本発明の第一実施
例である部品実装装置による部品と被装着ワークの１点
目の像をモニターテレビに表示した状態を示す説明図、
図４は本発明の第一実施例である部品実装装置による部
品と被装着ワークの２点目の像をモニターテレビに表示
した状態を示す説明図である。図において、２３ａ，２
３ｂは部品２３の１点目，２点目の映像を示し、２４
ａ，２４ｂは被装着ワーク２４の１点目，２点目の映像
を各々示している。FIGS. 3 and 4 are views showing images of respective measurement points on the component 23 and the work 24 to be mounted on a monitor television (not shown), and FIG. 3 is a first embodiment of the present invention. Explanatory drawing showing a state in which a first image of a component and a work to be mounted by a component mounting device is displayed on a monitor TV,
FIG. 4 is an explanatory diagram showing a state in which a second image of the component and the work to be mounted by the component mounting apparatus according to the first embodiment of the present invention is displayed on the monitor television. In the figure, 23a, 2
3b shows images of the first and second points of the component 23, and 24
Reference numerals a and 24b respectively show images of the first and second points of the work 24 to be mounted.
【００１８】図５は本発明の第一実施例である部品実装
装置による部品と被装着ワークの相対角度のずれを演算
する方法を示す説明図である。図において、Ａは移動機
構３１の移動距離を示し、αは部品２３のＸ軸に対する
角度を、また、βは被装着ワーク２４のＸ軸に対する角
度を示している。FIG. 5 is an explanatory diagram showing a method of calculating the deviation of the relative angle between the component and the work to be mounted by the component mounting apparatus according to the first embodiment of the present invention. In the figure, A indicates the moving distance of the moving mechanism 31, α indicates the angle of the component 23 with respect to the X axis, and β indicates the angle of the mounted work 24 with respect to the X axis.
【００１９】次に、上記構成の本実施例の部品実装装置
の動作について説明する。まず、制御装置３０の指令に
基づき、撮像装置２６の移動機構３１及び部品２３を把
持した部品把持装置２１が予め決められた位置に位置決
めされる。次いで、部品２３と被装着ワーク２４の１点
目の計測点ａの映像がＴ字形鏡筒２５内の反射鏡３３で
それぞれ反射されて、同時に撮像装置２６に取込まれ
る。この映像は、撮像装置２６でビデオ信号に変換さ
れ、画像処理装置３２に入力される。画像処理装置３２
では、入力されたビデオ信号に基づき、部品２３と被装
着ワーク２４の計測点ａの中心座標（重心でも良い）で
ある（ｘ11，ｙ11）及び（ｘ12，ｙ12）を良く知られた
方法で演算する。Next, the operation of the component mounting apparatus of this embodiment having the above configuration will be described. First, based on a command from the control device 30, the moving mechanism 31 of the image pickup device 26 and the component holding device 21 that holds the component 23 are positioned at a predetermined position. Next, the images of the first measurement point a of the component 23 and the work 24 to be mounted are reflected by the reflecting mirror 33 in the T-shaped lens barrel 25, respectively, and simultaneously captured by the imaging device 26. This image is converted into a video signal by the image pickup device 26 and input to the image processing device 32. Image processing device 32
Then, based on the input video signal, the central coordinates (which may be the center of gravity) (x11, y11) and (x12, y12) of the measurement point a of the component 23 and the mounted work 24 are calculated by a well-known method. To do.
【００２０】次いで、移動機構３１を所定距離だけ移動
させ、上記と同様の方法で画像処理装置３２が部品２３
と被装着ワーク２４の計測点ｂの中心座標（ｘ21，ｙ2
1）及び（ｘ22，ｙ22）を演算する。Then, the moving mechanism 31 is moved by a predetermined distance, and the image processing device 32 is moved to the part 23 by the same method as described above.
And the center coordinates (x21, y2) of the measuring point b of the work 24 to be mounted.
1) and (x22, y22) are calculated.
【００２１】画像処理装置３２では、得られた４個の座
標及び移動機構３１の移動距離から、次に示す方法によ
って部品２３と被装着ワーク２４の相対角度ずれを演算
する。ここでは、移動機構３１の移動距離をＸ方向にＡ
だけ移動したものとし、更に、角度算出基準点をａ点、
角度は反時計回りを正にする。このとき、部品２３の角
度αは、 α＝ｔａｎ-1｛（ｙ21−ｙ11）／（ｘ21−ｘ11＋Ａ）｝・・・（２） と表わされ、また、被装着ワーク２４の角度βは、 β＝ｔａｎ-1｛（ｙ22−ｙ12）／（ｘ22−ｘ12＋Ａ）｝・・・（３） と表わされる。したがって、部品２３と被装着ワーク２
４の相対角度ずれは、 相対角度ずれ＝α−β ・・・・・・（４） となる。In the image processing device 32, the relative angular displacement between the component 23 and the mounted work 24 is calculated by the following method from the obtained four coordinates and the moving distance of the moving mechanism 31. Here, the moving distance of the moving mechanism 31 is set to A in the X direction.
And the angle calculation reference point is point a,
The angle makes counterclockwise rotation positive. At this time, the angle α of the component 23 is expressed as α = tan −1 {(y21−y11) / (x21−x11 + A)} (2), and the angle β of the mounted work piece 24 is β = tan −1 {(y22−y12) / (x22−x12 + A)} (3) Therefore, the component 23 and the mounted work 2
The relative angular deviation of 4 is: relative angular deviation = α−β (4)
【００２２】制御装置３０では、画像処理装置３２から
の相対角度ずれを受けてハンド２２を回転させ、部品２
３と被装着ワーク２４の角度ずれを０にする。The control device 30 rotates the hand 22 in response to the relative angular deviation from the image processing device 32, and
The angle deviation between 3 and the work 24 to be mounted is set to zero.
【００２３】次いで、画像処理装置３２は、再度、部品
２３と被装着ワーク２４の計測点ｂの座標を演算し、そ
の位置ずれ量を制御装置３０に送信する。このとき得ら
れた中心座標を（ｘ21，ｙ21）及び（ｘ22，ｙ22）、被
装着ワーク２４を基準にとったときの位置ずれ量をδ
ｘ，δｙとすると、 δｘ＝ｘ22−ｘ21 ・・・・・・（５） δｙ＝｜ｙ22｜−｜ｙ21｜ ・・・・・・（６） となる。Next, the image processing device 32 again calculates the coordinates of the measurement point b of the component 23 and the work 24 to be mounted, and sends the positional deviation amount to the control device 30. The central coordinates obtained at this time are (x21, y21) and (x22, y22), and the positional deviation amount when the mounted work 24 is taken as a reference is δ.
If x and δy, then δx = x22−x21 (5) δy = | y22 | − | y21 | (6)
【００２４】制御装置３０では、Ｔ字形鏡筒２５を退避
させると共に、画像処理装置３２から送られた位置ずれ
量δｘ，δｙに基づき部品２３を被装着ワーク２４に実
装する。こうして、部品２３を被装着ワーク２４の適正
な位置に実装する。なお、本実施例では、画像処理装置
３２で相対角度ずれを演算するようにしたが、制御装置
３０で演算するように構成してもよい。The control device 30 retracts the T-shaped lens barrel 25 and mounts the component 23 on the work 24 to be mounted based on the positional deviation amounts δx and δy sent from the image processing device 32. In this way, the component 23 is mounted on the mounted work 24 at an appropriate position. In this embodiment, the image processing device 32 calculates the relative angular displacement, but the control device 30 may calculate the relative angular displacement.
【００２５】このように、本実施例の部品実装装置は、
部品２３の把持及び移動動作を行なう多軸移動機構を有
するロボット等の部品把持装置２１（部品把持手段）
と、前記部品把持装置２１（部品把持手段）が把持した
部品２３及びコンベア等に載置された被装着ワーク２４
をＴ字形鏡筒２５を介して同時に視野に納めるカメラ等
の撮像装置２６（撮像手段）と、前記撮像装置２６（撮
像手段）を二次元移動させる移動機構３１（移動手段）
と、前記部品２３及び被装着ワーク２４の各々対応する
複数個の検出対象箇所から前記部品２３及び被装着ワー
ク２４の相対位置関係を演算する画像処理装置３２（画
像処理手段）と、前記画像処理装置３２（画像処理手
段）で演算した相対位置関係に基づき前記部品２３及び
被装着ワーク２４の回転ずれを補正する制御装置３０
（補正手段）とを備えている。なお、この装置は請求項
１の発明の実施例に相当する。As described above, the component mounting apparatus of this embodiment is
Component gripping device 21 (component gripping means) such as a robot having a multi-axis moving mechanism for gripping and moving the component 23
And the component 23 gripped by the component gripping device 21 (component gripping means) and the mounted work 24 placed on the conveyor or the like.
And an image pickup device 26 (image pickup means) such as a camera that simultaneously fits in the field of view via the T-shaped lens barrel 25, and a moving mechanism 31 (moving means) that two-dimensionally moves the image pickup device 26 (image pickup means).
An image processing device 32 (image processing means) for calculating a relative positional relationship between the component 23 and the mounted work 24 from a plurality of detection target locations corresponding to the component 23 and the mounted work 24, respectively, and the image processing. A control device 30 for correcting the rotational deviation of the component 23 and the mounted work 24 based on the relative positional relationship calculated by the device 32 (image processing means).
(Correction means). This device corresponds to the embodiment of the invention of claim 1.
【００２６】そして、本実施例の部品実装装置を使用し
て、部品実装位置合わせ方法が行なわれる。つまり、上
記の部品実装装置を用いて、部品２３及び被装着ワーク
２４の対応する少なくとも２点以上の複数点の位置ずれ
を計測して、前記部品２３及び被装着ワーク２４の相対
回転ずれを補正する。この方法は請求項２の発明の実施
例に相当する。Then, a component mounting position aligning method is performed by using the component mounting apparatus of this embodiment. That is, by using the component mounting apparatus described above, the positional deviation of at least two or more corresponding points of the component 23 and the mounted work 24 is measured, and the relative rotational displacement of the component 23 and the mounted work 24 is corrected. To do. This method corresponds to the embodiment of the invention of claim 2.
【００２７】したがって、部品２３と被装着ワーク２４
とに回転ずれが生じている場合にも、この回転ずれが正
確に補正され、正しい位置に実装されるので、高精度の
位置合わせが可能になり、実装精度が極めて向上する。Therefore, the component 23 and the mounted work 24
Even if there is a rotational deviation between the and, the rotational deviation is accurately corrected and mounted at the correct position, so that highly accurate alignment is possible and the mounting accuracy is significantly improved.
【００２８】〈第二実施例〉次に、第二実施例を図１、
図６、図７により説明する。図１は本発明の第二実施例
である部品実装装置の全体構成を示す斜視図であり、上
記第一実施例と共通である。図６は本発明の第二実施例
である部品実装装置のＴ字形鏡筒の構造を示す正面図で
あり、反射鏡移動機構を設けたものである。図７は本発
明の第二実施例である部品実装装置による部品と被装着
ワークの計測点の像をモニターテレビに表示した状態を
示す説明図であり、（ａ）は部品及び被装着ワークの位
置ずれが大きく一部分の像が欠けた状態を示し、（ｂ）
は正常に映った状態を示す。図中、第一実施例と同一符
号及び記号は第一実施例の構成部分と同一または相当す
る構成部分を示す。図において、３４はＴ字形鏡筒２５
内の反射鏡３３を前後方向に移動させる反射鏡移動機構
である。４３ａは部品２３の映像であり、４４ａは被装
着ワーク２４の映像である。この他の構成は、上記第一
実施例と同一である。<Second Embodiment> Next, a second embodiment will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 1 is a perspective view showing an overall configuration of a component mounting apparatus according to a second embodiment of the present invention, which is common to the first embodiment. FIG. 6 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the second embodiment of the present invention, in which a reflecting mirror moving mechanism is provided. FIG. 7 is an explanatory diagram showing a state in which an image of the measurement points of the component and the work to be mounted by the component mounting apparatus according to the second embodiment of the present invention is displayed on the monitor TV, and FIG. It shows a state in which there is a large misalignment and a part of the image is missing.
Indicates that the image is normally reflected. In the figure, the same reference numerals and symbols as those in the first embodiment denote the same or corresponding components as those of the first embodiment. In the figure, 34 is a T-shaped lens barrel 25.
This is a reflecting mirror moving mechanism that moves the inside reflecting mirror 33 in the front-back direction. 43a is an image of the component 23, and 44a is an image of the mounted work 24. The other structure is the same as that of the first embodiment.
【００２９】次に、本実施例の部品実装装置の動作につ
いて説明する。部品２３或いは被装着ワーク２４の位置
が−Ｙ方向に大きくずれた場合、反射鏡３３で反射され
てカメラ等の撮像装置２６に入力される映像４３ａ，４
４ａは、図７の（ａ）に示すように、部品２３或いは被
装着ワーク２４の全ては映らず一部分の像しか得られな
い。また、場合によっては全く映らないことも有り得
る。ここでは、一部分の像が得られたとして説明する。
この状態で部品２３の映像４３ａ及び被装着ワーク２４
の映像４４ａの位置を演算した場合、実際の位置とは異
なるために、大きな誤差を生じることになる。そこで、
斯かる場合には、反射鏡移動機構３４を制御し、部品２
３或いは被装着ワーク２４の像が正しく得られるように
反射鏡３３を−Ｙ方向に動かすことにより、図７の
（ｂ）に示すような像を得て、正規の位置を演算する。Next, the operation of the component mounting apparatus of this embodiment will be described. When the position of the component 23 or the mounted work 24 is largely displaced in the −Y direction, the images 43a, 4 reflected by the reflecting mirror 33 and input to the imaging device 26 such as a camera.
4a, as shown in FIG. 7A, the component 23 or the workpiece 24 is not entirely reflected and only a partial image is obtained. In some cases, it may not be displayed at all. Here, it is assumed that a partial image is obtained.
In this state, the image 43a of the part 23 and the work 24 to be mounted are attached.
When the position of the image 44a is calculated, a large error will occur because it is different from the actual position. Therefore,
In such a case, the reflecting mirror moving mechanism 34 is controlled and the component 2
3 or moving the reflecting mirror 33 in the -Y direction so that the image of the work 24 to be mounted can be obtained correctly, an image as shown in FIG. 7B is obtained, and the normal position is calculated.
【００３０】そして、こうして得られた図７の（ｂ）に
示すような像を基にして、上記第一実施例で述べたよう
に、画像処理装置３２で部品２３と被装着ワーク２４の
相対角度ずれを演算するとともに、制御装置３０で位置
ずれ量に基づき部品２３を被装着ワーク２４に実装する
ことにより、部品２３を被装着ワーク２４の適正な位置
に実装する。なお、本実施例においても、相対角度ずれ
を制御装置３０で演算するように構成してもよい。Then, based on the image thus obtained as shown in FIG. 7 (b), as described in the first embodiment, the relative position between the component 23 and the mounted work 24 in the image processing device 32 is set. The component 23 is mounted on the mounted work 24 by the controller 30 based on the amount of positional displacement while calculating the angular displacement, so that the component 23 is mounted on the mounted work 24 at an appropriate position. Note that, also in the present embodiment, the control device 30 may be configured to calculate the relative angular deviation.
【００３１】このように、本実施例の部品実装装置は、
部品２３の把持及び移動動作を行なう多軸移動機構を有
するロボット等の部品把持装置２１（部品把持手段）
と、前記部品把持装置２１（部品把持手段）が把持した
部品２３及びコンベア等に載置された被装着ワーク２４
をＴ字形鏡筒２５を介して同時に視野に納めるカメラ等
の撮像装置２６（撮像手段）と、前記Ｔ字形鏡筒２５内
の反射鏡３３を前後方向に移動させる反射鏡移動機構３
４（反射鏡移動手段）と、前記撮像装置２６（撮像手
段）を移動させる移動機構３１（移動手段）と、前記部
品２３及び被装着ワーク２４の各々対応する複数個の検
出対象箇所から前記部品２３及び被装着ワーク２４の相
対位置関係を演算する画像処理装置３２（画像処理手
段）と、前記画像処理装置３２（画像処理手段）で演算
した相対位置関係に基づき前記部品２３及び被装着ワー
ク２４の回転ずれを補正する制御装置３０（補正手段）
とを備えている。なお、この装置は請求項３の発明の実
施例に相当する。As described above, the component mounting apparatus of this embodiment is
Component gripping device 21 (component gripping means) such as a robot having a multi-axis moving mechanism for gripping and moving the component 23
And the component 23 gripped by the component gripping device 21 (component gripping means) and the mounted work 24 placed on the conveyor or the like.
The image pickup device 26 (image pickup means) such as a camera that simultaneously puts the image in the visual field through the T-shaped lens barrel 25, and the reflecting mirror moving mechanism 3 that moves the reflecting mirror 33 in the T-shaped lens barrel 25 in the front-back direction.
4 (reflecting mirror moving means), a moving mechanism 31 (moving means) for moving the imaging device 26 (imaging means), and a plurality of detection target parts corresponding to the parts 23 and the mounted work 24, respectively. 23 and the mounted work 24, the image processing device 32 (image processing means) for calculating the relative positional relationship between the workpiece 23 and the mounted work 24, and the component 23 and the mounted work 24 based on the relative positional relationship calculated by the image processing device 32 (image processing means). Controller 30 (correction means) for correcting the rotational deviation of
It has and. This device corresponds to the third embodiment of the invention.
【００３２】即ち、本実施例の部品実装装置は、上記第
一実施例の部品実装装置に、Ｔ字形鏡筒２５内の反射鏡
３３を前後方向に移動させる反射鏡移動機構３４を設け
たものである。That is, the component mounting apparatus of the present embodiment is the component mounting apparatus of the first embodiment provided with a reflecting mirror moving mechanism 34 for moving the reflecting mirror 33 in the T-shaped lens barrel 25 in the front-back direction. Is.
【００３３】したがって、部品２３と被装着ワーク２４
の位置ずれが大きくなっても、撮像装置２６の視野が拡
大し、部品２３及び被装着ワーク２４が撮像装置２６の
視野内からはみ出ない。特に、Ｔ字形鏡筒２５全体を移
動することなく、反射鏡３３のみを移動させて、視野を
拡大できるので、撮像装置２６（撮像手段）を移動させ
るための移動機構３１（移動手段）を一軸分減らすこと
が可能になり、移動機構３１を簡素化できる。この結
果、装置が小形化でき、安価になる。Therefore, the component 23 and the mounted work 24
Even when the position shift of the image pickup device 26 becomes large, the field of view of the image pickup device 26 expands, and the component 23 and the mounted work 24 do not protrude from the image pickup device 26. In particular, since the field of view can be expanded by moving only the reflecting mirror 33 without moving the entire T-shaped lens barrel 25, the moving mechanism 31 (moving means) for moving the imaging device 26 (imaging means) is uniaxial. Therefore, the moving mechanism 31 can be simplified. As a result, the device can be downsized and the cost can be reduced.
【００３４】〈第三実施例〉次に、第三実施例を図１、
図８、図９により説明する。図１は本発明の第三実施例
である部品実装装置の全体構成を示す斜視図であり、上
記各実施例と共通である。図８は本発明の第三実施例で
ある部品実装装置のＴ字形鏡筒の構造を示す正面図であ
り、反射鏡と撮像装置との間に照明装置とハーフミラー
を設けたものである。図９は本発明の第三実施例である
部品実装装置による部品と被装着ワークの計測点の像を
モニターテレビに表示した状態を示す説明図であり、
（ａ）は照明装置とハーフミラーがない場合を示し、
（ｂ）は照明装置とハーフミラーを設けた場合を示す。
図中、第一実施例及び第二実施例と同一符号及び記号は
第一実施例及び第二実施例の構成部分と同一または相当
する構成部分を示す。図において、３５は反射鏡３３と
撮像装置２６との間に配設された照明装置、３６は同じ
く反射鏡３３と撮像装置２６との間に配設されたハーフ
ミラーであり、照明装置３５の照射光は反射鏡３３に向
って照射されるとともに、反射鏡３３を介して入力され
た光はハーフミラー３６を透過して撮像装置２６に取込
まれる。５３ａは部品２３の映像であり、５４ａは被装
着ワーク２４の映像である。この他の構成は、上記第一
実施例と同一である。<Third Embodiment> Next, a third embodiment will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 1 is a perspective view showing the overall structure of a component mounting apparatus according to a third embodiment of the present invention, which is common to the above-described embodiments. FIG. 8 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the third embodiment of the present invention, in which an illuminating device and a half mirror are provided between the reflecting mirror and the image pickup device. FIG. 9 is an explanatory view showing a state in which images of measurement points of the component and the work to be mounted by the component mounting apparatus according to the third embodiment of the present invention are displayed on the monitor TV,
(A) shows the case where the lighting device and the half mirror are not provided,
(B) shows the case where an illuminating device and a half mirror are provided.
In the figure, the same reference numerals and symbols as those of the first and second embodiments indicate the same or corresponding components as those of the first and second embodiments. In the figure, 35 is an illuminating device arranged between the reflecting mirror 33 and the image pickup device 26, and 36 is a half mirror similarly arranged between the reflecting mirror 33 and the image pickup device 26. The irradiation light is emitted toward the reflecting mirror 33, and the light input through the reflecting mirror 33 passes through the half mirror 36 and is taken into the imaging device 26. 53a is an image of the component 23, and 54a is an image of the mounted work 24. The other structure is the same as that of the first embodiment.
【００３５】次に、本実施例の部品実装装置の動作につ
いて説明する。図８に示すように、照明装置３５から出
た光はハーフミラー３６で反射され、更に反射鏡３３で
反射されて部品２３及び被装着ワーク２４（図示せず）
を照射する。部品２３及び被装着ワーク２４で反射した
光は、前記と逆のルートを通り反射鏡３３で反射され、
更にハーフミラー３６を透過してカメラ等の撮像装置２
６へ入力される。Next, the operation of the component mounting apparatus of this embodiment will be described. As shown in FIG. 8, the light emitted from the illuminating device 35 is reflected by the half mirror 36, and further reflected by the reflecting mirror 33 so that the component 23 and the mounted work 24 (not shown).
Irradiate. The light reflected by the component 23 and the workpiece 24 is reflected by the reflecting mirror 33 through the route opposite to the above.
Furthermore, the image pickup device 2 such as a camera is transmitted through the half mirror 36.
6 is input.
【００３６】通常、部品２３或いは被装着ワーク２４の
表面が鏡面状態の場合における斜め照明では、反射光が
Ｔ字形鏡筒２５へ返らず、撮像装置２６に入力される像
は図９の（ａ）に示す如く正規の形状とはならない。そ
こで、本実施例で示すように、照明装置３５とハーフミ
ラー３６を使用した同軸照明を用いれば、部品２３或い
は被装着ワーク２４が鏡面に近い状態であっても、照射
した光はＴ字形鏡筒２５へ確実に返り、撮像装置２６に
入力される像は図９の（ｂ）に示す如く良好な像とな
る。Normally, in oblique illumination when the surface of the component 23 or the work 24 to be mounted is a mirror surface, the reflected light does not return to the T-shaped lens barrel 25, and the image input to the image pickup device 26 is as shown in FIG. It does not have a regular shape as shown in (). Therefore, as shown in the present embodiment, if coaxial illumination using the illumination device 35 and the half mirror 36 is used, even if the component 23 or the workpiece 24 is close to a mirror surface, the emitted light is a T-shaped mirror. The image reliably returned to the tube 25 and input to the image pickup device 26 becomes a good image as shown in FIG. 9B.
【００３７】そして、この図９の（ｂ）に示すような像
により、正規の位置を演算し、上記第一実施例で述べた
ように、画像処理装置３２で部品２３と被装着ワーク２
４の相対角度ずれを演算するとともに、制御装置３０に
よって位置ずれ量に基づき部品２３を被装着ワーク２４
に実装する。こうして、部品２３を被装着ワーク２４の
適正な位置に実装する。なお、本実施例においても、相
対角度ずれを制御装置３０で演算するように構成しても
よい。Then, the normal position is calculated from the image shown in FIG. 9 (b), and as described in the first embodiment, the image processing device 32 causes the component 23 and the workpiece 2 to be mounted.
4 calculates the relative angle deviation, and the control device 30 causes the component 23 to mount the component 23 on the basis of the position deviation amount.
To implement. In this way, the component 23 is mounted on the mounted work 24 at an appropriate position. Note that, also in the present embodiment, the control device 30 may be configured to calculate the relative angular deviation.
【００３８】このように、本実施例の部品実装装置は、
部品２３の把持及び移動動作を行なう多軸移動機構を有
するロボット等の部品把持装置２１（部品把持手段）
と、前記部品把持装置２１（部品把持手段）が把持した
部品２３及びコンベア等に載置された被装着ワーク２４
をＴ字形鏡筒２５を介して同時に視野に納めるカメラ等
の撮像装置２６（撮像手段）と、前記Ｔ字形鏡筒２５内
に配設されたハーフミラー３６及び照明装置３５からな
る同軸照明手段と、前記撮像装置２６（撮像手段）を二
次元移動させる移動機構３１（移動手段）と、前記部品
２３及び被装着ワーク２４の各々対応する複数個の検出
対象箇所から前記部品２３及び被装着ワーク２４の相対
位置関係を演算する画像処理装置３２（画像処理手段）
と、前記画像処理装置３２（画像処理手段）で演算した
相対位置関係に基づき前記部品２３及び被装着ワーク２
４の回転ずれを補正する制御装置３０（補正手段）とを
備えている。なお、この装置は請求項４の発明の実施例
に相当する。As described above, the component mounting apparatus of this embodiment is
Component gripping device 21 (component gripping means) such as a robot having a multi-axis moving mechanism for gripping and moving the component 23
And the component 23 gripped by the component gripping device 21 (component gripping means) and the mounted work 24 placed on the conveyor or the like.
An image pickup device 26 (image pickup means) such as a camera that simultaneously puts the same in the visual field through the T-shaped lens barrel 25, and a coaxial illumination means including a half mirror 36 and an illumination device 35 arranged in the T-shaped lens barrel 25. , A moving mechanism 31 (moving means) for moving the imaging device 26 (imaging means) two-dimensionally, and a plurality of detection target locations corresponding to the parts 23 and the work 24 to be detected, respectively. Image processing device 32 (image processing means) for calculating the relative positional relationship of
And the component 23 and the mounted work 2 based on the relative positional relationship calculated by the image processing device 32 (image processing means).
The control device 30 (correction means) for correcting the rotational deviation of No. 4 is provided. This device corresponds to the fourth embodiment of the invention.
【００３９】即ち、本実施例の部品実装装置は、上記第
一実施例の部品実装装置に、Ｔ字形鏡筒２５内にハーフ
ミラー３６及び照明装置３５からなる同軸照明手段を設
けたものである。That is, the component mounting apparatus of this embodiment is the same as the component mounting apparatus of the first embodiment except that the T-shaped lens barrel 25 is provided with the coaxial illuminating means including the half mirror 36 and the illuminating device 35. .
【００４０】したがって、部品２３及び被装着ワーク２
４の材質或いは表面状態が鏡面に近い状態であっても、
良好な画像を得ることができるので、正確な位置合わせ
ができ、部品２３を被装着ワーク２４の正しい位置に実
装できる。この結果、高精度の位置合わせが可能にな
り、実装精度が極めて向上する。Therefore, the component 23 and the mounted work 2
Even if the material or surface condition of 4 is close to the mirror surface,
Since a good image can be obtained, accurate alignment can be performed, and the component 23 can be mounted at the correct position on the mounted work 24. As a result, it is possible to perform highly accurate positioning, and the mounting accuracy is significantly improved.
【００４１】[0041]
【発明の効果】以上説明したように、請求項１の発明の
部品実装装置は、部品把持手段と、撮像手段と、移動手
段と、画像処理手段と、補正手段とを備え、装着する部
品及び被装着ワークをＴ字形鏡筒を介して同時に視野に
納めて撮像し、それぞれ複数個の検出対象箇所を有する
部品及び被装着ワークの相対位置関係を演算して回転ず
れを補正することにより、部品と被装着ワークとに回転
ずれが生じている場合にも、正しい位置に実装されるの
で、高精度の位置合わせが可能になり、実装精度が極め
て向上する。As described above, the component mounting apparatus of the invention of claim 1 comprises the component holding means, the image pickup means, the moving means, the image processing means, and the correcting means, and the components to be mounted and The mounted work is put into the visual field at the same time through the T-shaped lens barrel to be imaged, and the relative positional relationship between the part having a plurality of detection target points and the mounted work is calculated to correct the rotation deviation. Even if there is a rotational deviation between the workpiece and the workpiece to be mounted, the workpiece is mounted at the correct position, so that highly accurate alignment is possible and the mounting accuracy is significantly improved.
【００４２】請求項２の発明の部品実装位置合わせ方法
は、請求項１の部品実装装置を用いて、部品及び被装着
ワークの対応する少なくとも２点以上の複数点の位置ず
れを計測して、前記部品及び被装着ワークの相対回転ず
れを補正することにより、部品と被装着ワークとに回転
ずれが生じている場合にも、この回転ずれが正確に補正
されるので、高精度の位置合わせが可能になる。In the component mounting alignment method of the invention of claim 2, the component mounting apparatus of claim 1 is used to measure the positional deviation of at least two or more corresponding points of the component and the workpiece to be mounted, By correcting the relative rotation deviation between the component and the work to be mounted, even if there is a rotation deviation between the component and the work to be mounted, this rotation deviation is accurately corrected, so that highly accurate alignment is possible. It will be possible.
【００４３】請求項３の発明の部品実装装置は、部品把
持手段と、撮像手段と、反射鏡移動手段と、画像処理手
段と、補正手段とを備え、Ｔ字形鏡筒内の反射鏡を前後
方向に移動させる反射鏡移動手段を設けたことにより、
部品と被装着ワークの位置ずれが大きくなっても、撮像
手段の視野が拡大し、部品及び被装着ワークが撮像手段
の視野内からはみ出ないので、撮像手段を移動させるた
めの移動手段を簡素化でき、装置が小形化でき、安価に
なる。A component mounting apparatus according to a third aspect of the present invention comprises a component holding means, an image pickup means, a reflecting mirror moving means, an image processing means, and a correcting means, and the reflecting mirror in the T-shaped lens barrel is moved forward and backward. By providing the reflecting mirror moving means for moving in the direction,
Even if the positional deviation between the component and the work to be mounted becomes large, the field of view of the image pickup means is expanded, and the component and the work to be mounted do not protrude from the field of view of the image pickup means. Therefore, the moving means for moving the image pickup means is simplified. It is possible, the device can be downsized, and the cost can be reduced.
【００４４】請求項４の発明の部品実装装置は、部品把
持手段と、撮像手段と、同軸照明手段と、画像処理手段
と、補正手段とを備え、Ｔ字形鏡筒内に同軸照明手段を
設けたことにより、部品及び被装着ワークの材質或いは
表面状態が鏡面に近い状態であっても、良好な画像を得
ることができるので、正確な位置合わせができ、部品を
被装着ワークの正しい位置に実装できる。According to a fourth aspect of the present invention, there is provided a component mounting apparatus including a component holding means, an image pickup means, a coaxial illumination means, an image processing means and a correction means, and the coaxial illumination means is provided in the T-shaped lens barrel. As a result, a good image can be obtained even when the material or surface condition of the component and the work to be mounted is close to a mirror surface, so accurate alignment can be performed and the component can be placed in the correct position on the work to be mounted. Can be implemented.
【図１】図１は本発明の第一実施例乃至第三実施例であ
る部品実装装置の全体構成を示す斜視図である。FIG. 1 is a perspective view showing an overall configuration of a component mounting apparatus which is a first embodiment to a third embodiment of the present invention.
【図２】図２は本発明の第一実施例である部品実装装置
のＴ字形鏡筒の構造を示す正面図である。FIG. 2 is a front view showing the structure of a T-shaped lens barrel of the component mounting apparatus according to the first embodiment of the present invention.
【図３】図３は本発明の第一実施例である部品実装装置
による部品と被装着ワークの１点目の像をモニターテレ
ビに表示した状態を示す説明図である。FIG. 3 is an explanatory view showing a state in which a first point image of a component and a work to be mounted by the component mounting apparatus according to the first embodiment of the present invention is displayed on a monitor television.
【図４】図４は本発明の第一実施例である部品実装装置
による部品と被装着ワークの２点目の像をモニターテレ
ビに表示した状態を示す説明図である。FIG. 4 is an explanatory view showing a state where a second point image of a component and a work to be mounted by the component mounting apparatus according to the first embodiment of the present invention is displayed on a monitor television.
【図５】図５は本発明の第一実施例である部品実装装置
による部品と被装着ワークの相対角度のずれを演算する
方法を示す説明図である。FIG. 5 is an explanatory diagram showing a method for calculating a deviation in relative angle between a component and a mounted work by the component mounting apparatus according to the first embodiment of the present invention.
【図６】図６は本発明の第二実施例である部品実装装置
のＴ字形鏡筒の構造を示す正面図である。FIG. 6 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the second embodiment of the present invention.
【図７】図７は本発明の第二実施例である部品実装装置
による部品と被装着ワークの計測点の像をモニターテレ
ビに表示した状態を示す説明図である。FIG. 7 is an explanatory diagram showing a state in which images of measurement points of a component and a work to be mounted by the component mounting apparatus according to the second embodiment of the present invention are displayed on a monitor television.
【図８】図８は本発明の第三実施例である部品実装装置
のＴ字形鏡筒の構造を示す正面図である。FIG. 8 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the third embodiment of the present invention.
【図９】図９は本発明の第三実施例である部品実装装置
による部品と被装着ワークの計測点の像をモニターテレ
ビに表示した状態を示す説明図である。FIG. 9 is an explanatory diagram showing a state in which images of measurement points of a component and a work to be mounted by the component mounting apparatus according to the third embodiment of the present invention are displayed on a monitor television.
【図１０】図１０は従来の自動組立装置の全体構成を示
すブロック図である。FIG. 10 is a block diagram showing an overall configuration of a conventional automatic assembly apparatus.
【図１１】図１１の（ａ）は従来の鏡筒による部品と被
装着ワークの計測点の像をモニターテレビに表示した状
態を示す説明図、（ｂ）は従来の鏡筒の構造を示す断面
図である。11A is an explanatory view showing a state in which an image of a measurement point of a component and a work to be mounted by a conventional lens barrel is displayed on a monitor TV, and FIG. 11B shows a structure of the conventional lens barrel. FIG.
【符号の説明】 ２１ 部品把持装置 ２２ ハンド ２３ 部品 ２３ａ １点目の映像 ２３ｂ ２点目の映像 ２４ 被装着ワーク ２４ａ １点目の映像 ２４ｂ ２点目の映像 ２５ Ｔ字形鏡筒 ２６ 撮像装置 ３０ 制御装置 ３１ 移動機構 ３２ 画像処理装置 ３３ 反射鏡 ３４ 反射鏡移動機構 ３５ 照明装置 ３６ ハーフミラー ４３ａ，４４ａ，５３ａ，５４ａ 映像[Explanation of reference numerals] 21 component gripping device 22 hand 23 component 23a first image 23b second image 24 mounted work 24a first image 24b second image 25 T-shaped lens barrel 26 imaging device 30 Control device 31 Moving mechanism 32 Image processing device 33 Reflecting mirror 34 Reflecting mirror moving mechanism 35 Illuminating device 36 Half mirror 43a, 44a, 53a, 54a Video
─────────────────────────────────────────────────────
─────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成５年１２月９日[Submission date] December 9, 1993
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１２[Correction target item name] 0012
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１２】請求項２の発明の部品実装位置合わせ方法
においては、部品及び被装着ワークの対応する少なくと
も２点以上の複数点の位置ずれを計測して、前記部品及
び被装着ワークの相対回転ずれを補正するものであるか
ら、部品と被装着ワークとに回転ずれが生じている場合
にも、この回転ずれが正確に補正される。In the component mounting alignment method of the invention of claim 2, the component and the workpiece to be mounted are measured by measuring the positional deviation of at least two points corresponding to the component and the workpiece to be mounted. Since the relative rotational deviation is corrected, the rotational deviation is accurately corrected even when the component and the mounted work have rotational deviation.
【手続補正２】[Procedure Amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１６[Correction target item name] 0016
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１６】図２は本発明の第一実施例である部品実装
装置のＴ字形鏡筒の構造を示す側面図である。図におい
て、３３は部品２３及び被装着ワーク２４の像を反射す
る反射鏡であり、この反射鏡３３で反射した像は撮像装
置２６に取込まれる。FIG. 2 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the first embodiment of the present invention. In the figure, 33 is a reflecting mirror that reflects the image of the component 23 and the work 24 to be mounted, and the image reflected by the reflecting mirror 33 is taken into the image pickup device 26.
【手続補正３】[Procedure 3]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００２８[Correction target item name] 0028
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００２８】〈第二実施例〉次に、第二実施例を図１、
図６、図７により説明する。図１は本発明の第二実施例
である部品実装装置の全体構成を示す斜視図であり、上
記第一実施例と共通である。図６は本発明の第二実施例
である部品実装装置のＴ字形鏡筒の構造を示す側面図で
あり、反射鏡移動機構を設けたものである。図７は本発
明の第二実施例である部品実装装置による部品と被装着
ワークの計測点の像をモニターテレビに表示した状態を
示す説明図であり、（ａ）は部品及び被装着ワークの位
置ずれが大きく一部分の像が欠けた状態を示し、（ｂ）
は正常に映った状態を示す。図中、第一実施例と同一符
号及び記号は第一実施例の構成部分と同一または相当す
る構成部分を示す。図において、３４はＴ字形鏡筒２５
内の反射鏡３３を前後方向に移動させる反射鏡移動機構
である。４３ａは部品２３の映像であり、４４ａは被装
着ワーク２４の映像である。この他の構成は、上記第一
実施例と同一である。<Second Embodiment> Next, a second embodiment will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 1 is a perspective view showing an overall configuration of a component mounting apparatus according to a second embodiment of the present invention, which is common to the first embodiment. FIG. 6 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the second embodiment of the present invention, in which a reflecting mirror moving mechanism is provided. FIG. 7 is an explanatory diagram showing a state in which an image of the measurement points of the component and the work to be mounted by the component mounting apparatus according to the second embodiment of the present invention is displayed on the monitor TV, and FIG. It shows a state in which there is a large misalignment and a part of the image is missing.
Indicates that the image is normally reflected. In the figure, the same reference numerals and symbols as those in the first embodiment denote the same or corresponding components as those of the first embodiment. In the figure, 34 is a T-shaped lens barrel 25.
This is a reflecting mirror moving mechanism that moves the inside reflecting mirror 33 in the front-back direction. 43a is an image of the component 23, and 44a is an image of the mounted work 24. The other structure is the same as that of the first embodiment.
【手続補正４】[Procedure amendment 4]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００３４[Correction target item name] 0034
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００３４】〈第三実施例〉次に、第三実施例を図１、
図８、図９により説明する。図１は本発明の第三実施例
である部品実装装置の全体構成を示す斜視図であり、上
記各実施例と共通である。図８は本発明の第三実施例で
ある部品実装装置のＴ字形鏡筒の構造を示す側面図であ
り、反射鏡と撮像装置との間に照明装置とハーフミラー
を設けたものである。図９は本発明の第三実施例である
部品実装装置による部品と被装着ワークの計測点の像を
モニターテレビに表示した状態を示す説明図であり、
（ａ）は照明装置とハーフミラーがない場合を示し、
（ｂ）は照明装置とハーフミラーを設けた場合を示す。
図中、第一実施例及び第二実施例と同一符号及び記号は
第一実施例及び第二実施例の構成部分と同一または相当
する構成部分を示す。図において、３５は反射鏡３３と
撮像装置２６との間に配設された照明装置、３６は同じ
く反射鏡３３と撮像装置２６との間に配設されたハーフ
ミラーであり、照明装置３５の照射光は反射鏡３３に向
って照射されるとともに、反射鏡３３を介して入力され
た光はハーフミラー３６を透過して撮像装置２６に取込
まれる。５３ａは部品２３の映像であり、５４ａは被装
着ワーク２４の映像である。この他の構成は、上記第一
実施例と同一である。<Third Embodiment> Next, a third embodiment will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 1 is a perspective view showing the overall structure of a component mounting apparatus according to a third embodiment of the present invention, which is common to the above-described embodiments. FIG. 8 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the third embodiment of the present invention, in which an illuminating device and a half mirror are provided between the reflecting mirror and the image pickup device. FIG. 9 is an explanatory view showing a state in which images of measurement points of the component and the work to be mounted by the component mounting apparatus according to the third embodiment of the present invention are displayed on the monitor TV,
(A) shows the case where the lighting device and the half mirror are not provided,
(B) shows the case where an illuminating device and a half mirror are provided.
In the figure, the same reference numerals and symbols as those of the first and second embodiments indicate the same or corresponding components as those of the first and second embodiments. In the figure, 35 is an illuminating device arranged between the reflecting mirror 33 and the image pickup device 26, and 36 is a half mirror similarly arranged between the reflecting mirror 33 and the image pickup device 26. The irradiation light is emitted toward the reflecting mirror 33, and the light input through the reflecting mirror 33 passes through the half mirror 36 and is taken into the imaging device 26. 53a is an image of the component 23, and 54a is an image of the mounted work 24. The other structure is the same as that of the first embodiment.
【手続補正５】[Procedure Amendment 5]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】図２[Name of item to be corrected] Figure 2
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図２】図２は本発明の第一実施例である部品実装装置
のＴ字形鏡筒の構造を示す側面図である。FIG. 2 is a side view showing the structure of a T-shaped lens barrel of the component mounting apparatus according to the first embodiment of the present invention.
【手続補正６】[Procedure correction 6]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】図６[Name of item to be corrected] Figure 6
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図６】図６は本発明の第二実施例である部品実装装置
のＴ字形鏡筒の構造を示す側面図である。FIG. 6 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the second embodiment of the present invention.
【手続補正７】[Procedure Amendment 7]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】図８[Correction target item name] Figure 8
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図８】図８は本発明の第三実施例である部品実装装置
のＴ字形鏡筒の構造を示す側面図である。FIG. 8 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the third embodiment of the present invention.
Claims (4)
持手段と、 前記部品把持手段が把持した部品及びコンベア等に載置
された被装着ワークをＴ字形鏡筒を介して同時に視野に
納める撮像手段と、 前記撮像手段を移動させる移動手段と、 前記部品及び被装着ワークの各々対応する複数個の検出
対象箇所から前記部品及び被装着ワークの相対位置関係
を演算する画像処理手段と、 前記画像処理手段で演算した相対位置関係に基づき前記
部品及び被装着ワークの回転ずれを補正する補正手段と
を具備することを特徴とする部品実装装置。1. An image capturing method for holding and moving a component, and a component gripped by the component gripping unit and a work to be mounted placed on a conveyor or the like are simultaneously placed in a visual field through a T-shaped lens barrel. Means, moving means for moving the imaging means, image processing means for calculating a relative positional relationship between the component and the mounted work from a plurality of detection target locations corresponding to the component and the mounted work, respectively, the image A component mounting apparatus comprising: a correction unit that corrects a rotational deviation between the component and the mounted work based on the relative positional relationship calculated by the processing unit.
び被装着ワークの対応する少なくとも２点以上の複数点
の位置ずれを計測して、前記部品及び被装着ワークの相
対回転ずれを補正する部品実装位置合わせ方法。2. The component mounting apparatus according to claim 1, wherein the positional deviations of at least two corresponding points of the component and the mounted work are measured to correct the relative rotational displacement of the component and the mounted work. Parts mounting alignment method.
持手段と、 前記部品把持手段が把持した部品及びコンベア等に載置
された被装着ワークをＴ字形鏡筒を介して同時に視野に
納める撮像手段と、 前記Ｔ字形鏡筒内の反射鏡を前後方向に移動させる反射
鏡移動手段と、 前記部品及び被装着ワークの各々対応する複数個の検出
対象箇所から前記部品及び被装着ワークの相対位置関係
を演算する画像処理手段と、 前記画像処理手段で演算した相対位置関係に基づき前記
部品及び被装着ワークの回転ずれを補正する補正手段と
を具備することを特徴とする部品実装装置。3. An image capturing device for holding and moving a component, and a component gripped by the component gripping device and a work to be mounted placed on a conveyor or the like are simultaneously placed in the visual field via a T-shaped lens barrel. Means, a reflecting mirror moving means for moving the reflecting mirror in the T-shaped lens barrel in the front-back direction, and a relative position of the component and the mounted work from a plurality of detection target locations corresponding to the component and the mounted work, respectively. A component mounting apparatus comprising: an image processing unit that calculates a relationship; and a correction unit that corrects a rotational deviation of the component and the mounted work based on the relative positional relationship calculated by the image processing unit.
持手段と、 前記部品把持手段が把持した部品及びコンベア等に載置
された被装着ワークをＴ字形鏡筒を介して同時に視野に
納める撮像手段と、 前記Ｔ字形鏡筒内に配設された同軸照明手段と、 前記部品及び被装着ワークの各々対応する複数個の検出
対象箇所から前記部品及び被装着ワークの相対位置関係
を演算する画像処理手段と、 前記画像処理手段で演算した相対位置関係に基づき前記
部品及び被装着ワークの回転ずれを補正する補正手段と
を具備することを特徴とする部品実装装置。4. An image capturing device for holding and moving a component, and a component gripped by the component gripping device and a workpiece to be mounted placed on a conveyor and the like are simultaneously placed in the visual field through a T-shaped lens barrel. And an image for calculating a relative positional relationship between the component and the mounted work from a plurality of detection target locations corresponding to the component and the mounted work, respectively. A component mounting apparatus comprising: a processing unit; and a correction unit that corrects a rotational deviation between the component and the mounted work based on the relative positional relationship calculated by the image processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5086125A JPH06300523A (en) | 1993-04-13 | 1993-04-13 | Part mounting device and its positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5086125A JPH06300523A (en) | 1993-04-13 | 1993-04-13 | Part mounting device and its positioning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06300523A true JPH06300523A (en) | 1994-10-28 |
Family
ID=13877987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5086125A Pending JPH06300523A (en) | 1993-04-13 | 1993-04-13 | Part mounting device and its positioning method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06300523A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1213951A2 (en) * | 2000-12-08 | 2002-06-12 | Matsushita Electric Industrial Co., Ltd. | Component-mounting method and component-mounting apparatus |
| JP2014228479A (en) * | 2013-05-24 | 2014-12-08 | 株式会社デンソー | Detection device and detection method |
| CN113165188A (en) * | 2018-12-21 | 2021-07-23 | 欧姆龙株式会社 | Aligning device |
| CN113165188B (en) * | 2018-12-21 | 2024-07-26 | 欧姆龙株式会社 | Alignment device |
-
1993
- 1993-04-13 JP JP5086125A patent/JPH06300523A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1213951A2 (en) * | 2000-12-08 | 2002-06-12 | Matsushita Electric Industrial Co., Ltd. | Component-mounting method and component-mounting apparatus |
| US7020322B2 (en) | 2000-12-08 | 2006-03-28 | Matsushita Electric Industrial Co., Ltd. | Component-mounting method and component-mounting apparatus |
| JP2014228479A (en) * | 2013-05-24 | 2014-12-08 | 株式会社デンソー | Detection device and detection method |
| CN113165188A (en) * | 2018-12-21 | 2021-07-23 | 欧姆龙株式会社 | Aligning device |
| US11922616B2 (en) | 2018-12-21 | 2024-03-05 | Omron Corporation | Alignment device |
| CN113165188B (en) * | 2018-12-21 | 2024-07-26 | 欧姆龙株式会社 | Alignment device |
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