JPH0760448B2 - Component position recognition device in component mounting machine - Google Patents
Component position recognition device in component mounting machineInfo
- Publication number
- JPH0760448B2 JPH0760448B2 JP60185214A JP18521485A JPH0760448B2 JP H0760448 B2 JPH0760448 B2 JP H0760448B2 JP 60185214 A JP60185214 A JP 60185214A JP 18521485 A JP18521485 A JP 18521485A JP H0760448 B2 JPH0760448 B2 JP H0760448B2
- Authority
- JP
- Japan
- Prior art keywords
- component
- light
- mounting head
- input device
- image
- 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.)
- Expired - Lifetime
Links
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- Automatic Assembly (AREA)
- Character Input (AREA)
- Image Input (AREA)
- Supply And Installment Of Electrical Components (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明はチップ型抵抗、チップ型積層コンデンサなどの
電子部品を、電子回路を構成する基板上に自動装着する
部品装着機において、装着ヘッドにピックアップされて
いる電子部品の位置認識を画像入力装置によって行なう
部品位置認識装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is a component mounting machine that automatically mounts electronic components such as chip resistors and chip multilayer capacitors on a substrate that constitutes an electronic circuit, and is picked up by a mounting head. The present invention relates to a component position recognizing device for recognizing the position of an existing electronic component by an image input device.
従来の技術 部品装着機において従来用いられている部品位置認識装
置として第４図に示すものがある。この従来例は、装着
ヘッドａに光ファイバーを備えたリング型照明具ｂが取
付けられ、このリング型照明具ｂから照明される光線に
よって得られる部品ｃの影像がテレビカメラなどの画像
入力装置ｄに入力されるようになっている。2. Description of the Related Art A component position recognition device conventionally used in a component mounting machine is shown in FIG. In this conventional example, a ring-type illuminator b equipped with an optical fiber is attached to a mounting head a, and a shadow image of a component c obtained by a light beam emitted from the ring-type illuminator b is displayed on an image input device d such as a television camera. It is supposed to be entered.
また、本出願人は先に第５図に示すように、装着ヘッド
ａに反射鏡ｅを取付ける一方、この反射鏡ｅに向け光線
を照射する照明具ｆを配して、反射鏡ｅで反射した光線
によって得らえる前記部品の影像が画像入力装置ｄに入
力するようにしたものを提案している。Further, as shown in FIG. 5, the applicant of the present invention attaches a reflecting mirror e to the mounting head a, and at the same time arranges an illuminating tool f for irradiating a light beam toward this reflecting mirror e and reflects it by the reflecting mirror e. It is proposed that the image of the component obtained by the light beam is input to the image input device d.
発明が解決しようとする問題点 しかしながらリング型照明具ｂを装着ヘッドａに取付け
たものはその重量分装着ヘッドａが重くなり、装着ヘッ
ドａの高速化を困難にするという問題があった。また、
装着ヘッドａに反射鏡ｅを取付けて照明具ｆからの全反
射光を用いるものでは、部品に照射される照明光に場所
によって明暗ムラが生じ、その結果部品の影像とそれ以
外の部分との間にコントラストの不十分な部分を生ずる
ことになって、良い画像が得られない場合があるという
問題がある。Problems to be Solved by the Invention However, in the case where the ring-type illuminator b is attached to the mounting head a, the mounting head a becomes heavier by the weight of the mounting head a, which makes it difficult to increase the speed of the mounting head a. Also,
In the case where the reflecting mirror e is attached to the mounting head a and the total reflection light from the illuminator f is used, the illumination light applied to the component has uneven brightness depending on the location, and as a result, the image of the component and other parts are not. There is a problem that a good image may not be obtained because a portion with insufficient contrast is generated between them.
本発明は上記問題点を解消することを目的とするもので
ある。The present invention is intended to solve the above problems.
問題点を解決するための手段 本発明は、上記目的を達成するため、装着ヘッドに吸着
されている部品の位置認識を画像入力装置によって行う
部品装着機における部品位置認識装置において、 前記装着ヘッドに設けられ、部品吸着側とは反対側から
入射される光線を透過させ、内部で散乱光に変えて、吸
着された部品に照射する照明体と、 前記照明体に光線を入射し、前記部品からみて装着ヘッ
ド側の位置であって、かつ直接光および部品からの反射
光が前記画像入力装置に入力しない位置に配される照明
具と、 前記吸着された部品に対向するように、かつ前記照明体
と反対側に配され、前記散乱光により生ずる部品の影像
を撮像し、部品の位置認識を行う画像入力装置とを備え
たことを特徴とする。Means for Solving the Problems In order to achieve the above object, the present invention provides a component position recognizing device in a component mounting machine for recognizing the position of a component attracted to a mounting head by an image input device, wherein An illuminating body which is provided and transmits a light ray incident from the side opposite to the component suction side, converts it into scattered light inside, and irradiates the adsorbed component with a light ray, and irradiates the illuminating body with a light ray, and from the component A illuminating device arranged at a position on the side of the mounting head where direct light and reflected light from the component are not input to the image input device, and the illuminator so as to face the attracted component. An image input device, which is arranged on the side opposite to the body, captures a shadow image of a component generated by the scattered light and recognizes the position of the component.
作用 本発明は上記した構成を有するので、照明具から部品に
対して画像入力装置と反対側から入射される光線を透過
させ、内部で散乱光に変えられ、そのムラのない散乱光
が装着ヘッドに吸着されている部品に照射され、この部
品の影像が画像入力装置に入力されるので、コントラス
トのある良好な影像が得られ、認識率が向上する。Effect Since the present invention has the above-described configuration, the light rays that are incident from the lighting device from the side opposite to the image input device are transmitted to the parts, are converted into scattered light inside, and the scattered light without unevenness is attached to the mounting head. The component that is adsorbed on is irradiated, and the image of this component is input to the image input device. Therefore, a favorable image with contrast is obtained and the recognition rate is improved.
実施例 以下本発明の一実施例について、第１図〜第３図を参照
しながら説明する。Embodiment An embodiment of the present invention will be described below with reference to FIGS. 1 to 3.
第３図は電子部品装着機を示している。その部品供給部
１にはテープ状電子部品集合体２が多数並列配置され、
各テープ状部品集合体２には一列状に多数個の電子部品
３（第１図参照）が装入されている。これらテープ状電
子部品集合体２はＸ方向に間欠的に送り出され、ピック
アップ位置にある任意の部品３が１回の装着作業毎に装
着ヘッド４によって選択的にピックアップされる。FIG. 3 shows an electronic component mounting machine. A large number of tape-shaped electronic component assemblies 2 are arranged in parallel in the component supply unit 1,
A large number of electronic components 3 (see FIG. 1) are loaded in a row in each tape-shaped component assembly 2. The tape-shaped electronic component assembly 2 is intermittently sent out in the X direction, and the optional component 3 at the pickup position is selectively picked up by the mounting head 4 for each mounting operation.
前記装着ヘッド４はバキューム吸引力を利用して、テー
プ状電子部品集合体２より部品３をピックアップし、次
いでＹ方向に移動して部品位置認識装置５に達し、ここ
で部品位置を認識された後、再びＹ方向に移動して作業
ライン６の作業位置に部品３を搬送し、ここでワーク７
に部品３を装着する。装着ヘッド４の吸着ノズル８はピ
ックアップ時及び部品装着時にＺ方向に昇降動する。装
着ヘッド４のＹ方向の移動位置及び移動速度はリニアパ
ルスモータを備えたヘッド移動手段９にて制御される。
作業ライン６には、ワーク７を保持してそのＸ方向の移
動位置及び移動速度を制御するワーク移動手段10が配設
されている。このワーク移動手段10もリニアパルスモー
タを備えたものが好適である。The mounting head 4 uses the vacuum suction force to pick up the component 3 from the tape-shaped electronic component assembly 2, and then moves in the Y direction to reach the component position recognition device 5, where the component position is recognized. After that, it moves in the Y direction again to convey the component 3 to the work position on the work line 6, where the work 7
Install the component 3 on. The suction nozzle 8 of the mounting head 4 moves up and down in the Z direction at the time of pickup and component mounting. The moving position and the moving speed of the mounting head 4 in the Y direction are controlled by the head moving means 9 equipped with a linear pulse motor.
The work line 6 is provided with work moving means 10 for holding the work 7 and controlling the moving position and moving speed of the work 7 in the X direction. The work moving means 10 is also preferably equipped with a linear pulse motor.
前記ワーク７に対する部品３の装着位置は、装着ヘッド
４のＹ方向の装着位置とワーク移動手段10のＸ方向の装
着位置とを予め定められたプログラムに従って決定する
ことにより定められるが、ピックアップ時などにおいて
生ずる部品３の位置ずれは前記部品位置認識装置５の位
置認識データに基づいて補正される。The mounting position of the component 3 with respect to the work 7 is determined by determining the mounting position of the mounting head 4 in the Y direction and the mounting position of the work moving means 10 in the X direction according to a predetermined program. The positional deviation of the component 3 that occurs in 1 is corrected based on the position recognition data of the component position recognition device 5.
装着ヘッド４にピックアップされている部品３の位置認
識を画像入力装置11によって行う部品位置認識装置５は
第１図に示すように構成されている。装着ヘッド４下端
部の吸着ノズル８の周囲に、内部で散乱光を生ずるポリ
アセタール樹脂（デュポン社商標「ジュラコン」）など
の材料からなる間接照明体12が取付けられ、これと共に
吸着ヘッド８が昇降する。この間接照明体12の下面は円
錘面状に形成されているとともにその表面が粗面にさ
れ、乱反射面に形成されている。また、この間接照明体
12の周囲には、この間接照明体12に向って光線を照射す
る照明具13が複数個適当間隔置きに配設され、照明具13
から照射された光線が間接照明体12内で乱反射して生じ
た散乱光が部品３に照射され、その影像が画像入力装置
11に入力するように配置されている。また、前記照明具
13はその直接光及びその部品３による反射光が画像入力
装置11に入力しないように配置されている。画像入力装
置11はテレビジョンカメラを利用して、入力された前記
部品３の影像のＸ−Ｙ平面における位置を正確に認識で
きるように構成されている。The component position recognizing device 5 for recognizing the position of the component 3 picked up by the mounting head 4 by the image input device 11 is configured as shown in FIG. An indirect illumination body 12 made of a material such as polyacetal resin (DuPont's trademark "Duracon") that produces scattered light inside is attached around the suction nozzle 8 at the lower end of the mounting head 4, and the suction head 8 moves up and down with it. . The lower surface of the indirect illumination body 12 is formed in a conical surface shape, and the surface thereof is roughened so as to be a diffuse reflection surface. Also, this indirect lighting
Around the periphery of 12, a plurality of illuminators 13 for irradiating light rays toward the indirect illuminator 12 are arranged at appropriate intervals.
The scattered light generated by diffuse reflection of the light rays emitted from the inside of the indirect illumination body 12 is emitted to the component 3, and the image thereof is an image input device.
11 is arranged to enter. Also, the lighting fixture
Reference numeral 13 is arranged so that the direct light and the reflected light from the component 3 do not enter the image input device 11. The image input device 11 is configured so that the position of the input image of the component 3 on the XY plane can be accurately recognized by using the television camera.
以上の構成によると、照明具13から照射された光線が間
接照明体12内に入射して乱反射し、また一部の光線は間
接照明体12の表面で乱反射し、それらの散乱光によって
生じた部品３の影像が画像入力装置11に入力され、コン
トラストのある良好な影像により部品３の位置が確実に
認識される。According to the above configuration, the light rays emitted from the illuminator 13 are incident on the indirect illumination body 12 and are irregularly reflected, and some of the light rays are irregularly reflected on the surface of the indirect illumination body 12 and are generated by their scattered light. The image of the component 3 is input to the image input device 11, and the position of the component 3 is surely recognized by the good image with contrast.
前記間接照明体12を構成する材料としては、上記ポリア
セタール樹脂、ポリアミド樹脂（「ナイロン」）、ポリ
プロピレン樹脂のように散乱光を生ずる樹脂や、アクリ
ル樹脂、ポリカーボネート樹脂、ポルスチレン樹脂など
の透明樹脂に充填材を混合して散乱光を生ずるようにし
た樹脂等があり、またガラス等を用いることもでき、さ
らにこれらを組み合わせて構成することもできる。As a material forming the indirect illumination body 12, a resin that generates scattered light such as the polyacetal resin, the polyamide resin (“nylon”), or the polypropylene resin, or a transparent resin such as an acrylic resin, a polycarbonate resin, or a styrene resin is filled. There is a resin or the like in which materials are mixed so as to generate scattered light, and glass or the like can be used, or a combination thereof can be used.
又、本発明は上記実施例に示す外、種々の態様に構成す
ることができる。例えば、間接照明体12は上記実施例に
示す形状のものに限定されず、第２図（ａ）に示すよう
な円錘体状や、第２図（ｂ）に示すような下面が平面状
で上面が中央に向かって肉厚が厚くなるような局面とな
った円盤状のもの等、種々の形状のものを設計でき、さ
らに第２図（ｃ）に示すように軸心位置に吸引孔14を穿
設して吸着ノズルを兼用するようにしたものでもよい。
また、間接照明体12の表面を粗面にして光線を乱反射す
るようにしたものに限らず、平滑面にしてもよく、その
場合は照明具13からの一部の光線がその表面で反射しな
いように、または反射してもその反射光による部品３の
影像が画像入力装置11に入力しないように照明具13によ
る光線照射方向を考慮すればよい。Further, the present invention can be configured in various modes other than those shown in the above embodiments. For example, the indirect illuminator 12 is not limited to the shape shown in the above-mentioned embodiment, and it has a conical shape as shown in FIG. 2 (a) or a flat lower surface as shown in FIG. 2 (b). It is possible to design various shapes such as a disk-like shape whose upper surface becomes thicker toward the center with a suction hole at the axial center position as shown in FIG. 2 (c). It is also possible to provide 14 so as to also serve as the suction nozzle.
Further, the surface of the indirect illuminator 12 is not limited to a rough surface to diffusely reflect light rays, and may be a smooth surface, in which case some light rays from the illuminator 13 are not reflected on the surface. As described above, or even if reflected, the light irradiation direction by the illuminator 13 may be considered so that the image of the component 3 due to the reflected light does not enter the image input device 11.
また、照明具13による光線の照射方向も第２図に矢印で
示すように間接照射体12の形状に合わせて適宜選定すれ
ばよい。また、照明具13自体も第１図に図示したような
点光源のものに限らず、リング型照明具などの他の種類
のものを採用することが可能である。Also, the irradiation direction of the light beam by the illuminator 13 may be appropriately selected according to the shape of the indirect irradiation body 12 as shown by the arrow in FIG. Further, the illuminator 13 itself is not limited to the point light source shown in FIG. 1, but other types such as a ring type illuminator can be adopted.
更に画像入力装置11も上記実施例に示すもの以外に、例
えば部品３のＸ方向又はＹ方向の一方向のみを認識すれ
ばよい場合にはラインセンサを用いることができる。Further, the image input device 11 may be a line sensor other than the ones shown in the above embodiment, for example, when only one of the X direction and the Y direction of the component 3 needs to be recognized.
発明の効果 本発明の部品装着機における部品位置認識装置によれ
ば、以上のように装着ヘッドには従来のリング型照明具
に代えて軽量な間接照明体を取付けるだけであるため、
装着ヘッドの軽量化を図ることができ、その高速化が可
能となる。また、照明具から照射された光線を間接照明
体の内部で散乱させて、ムラのない散乱光を装着ヘッド
にピックアップされている部品に広範囲で照射し、その
影像を画像入力装置に入力させるようにしているので、
部の形状・大きさが変わっても、コントラストのある良
好な影像が得られ、認識率が向上する。EFFECTS OF THE INVENTION According to the component position recognition device in the component mounting machine of the present invention, as described above, only a lightweight indirect illuminator is attached to the mounting head instead of the conventional ring-type illuminator.
The weight of the mounting head can be reduced, and the speed can be increased. In addition, the light emitted from the illuminator is scattered inside the indirect illuminator, so that the scattered light with no unevenness is widely radiated to the parts picked up by the mounting head, and the image is input to the image input device. Because I am
Even if the shape and size of the part change, a good image with contrast can be obtained and the recognition rate is improved.
また照明具は、部品からみて装着ヘッド側の位置であっ
て、かつ直接光および部品からの反射光が画像入力装置
に入力しない位置に配されているので、部品からの反射
光がなくなり、部品の影像が鮮明になり、部品の位置認
識が正確に行える。Further, since the illuminator is located on the side of the mounting head as viewed from the parts and at a position where direct light and reflected light from the parts do not enter the image input device, there is no reflected light from the parts, The image of is clear and the position of the parts can be recognized accurately.
第１図は本発明の一実施例の要部の部分断面正面図、第
２図（ａ）、（ｂ）、（ｃ）はそれぞれ間接照明体の変
形実施例の断面図、第３図は部品装着機の一例を示す斜
視図、第４図及び第５図は各々従来例の要部の部分断面
正面図である。 ３……部品 ４……装着ヘッド ５……部品位置認識装置 ８……吸着ノズル 11……画像入力装置 12……間接照明体 13……照明具FIG. 1 is a partial cross-sectional front view of an essential part of one embodiment of the present invention, FIGS. 2 (a), (b), and (c) are cross-sectional views of a modified embodiment of the indirect illuminator, and FIG. FIG. 4 is a perspective view showing an example of a component mounting machine, and FIG. 4 and FIG. 5 are partial sectional front views of essential parts of a conventional example. 3 ... Parts 4 ... Mounting head 5 ... Parts position recognition device 8 ... Suction nozzle 11 ... Image input device 12 ... Indirect illuminator 13 ... Illuminator
フロントページの続き (72)発明者 秦 寛二 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 一天満谷 英二 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (56)参考文献 特開 昭59−46179（ＪＰ，Ａ) 特開 昭58−48837（ＪＰ，Ａ) 特開 昭55−84975（ＪＰ，Ａ)Front Page Continuation (72) Inventor Kanji Hata 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. ) Reference JP 59-46179 (JP, A) JP 58-48837 (JP, A) JP 55-84975 (JP, A)
Claims (2)
識を画像入力装置によって行う部品装着機における部品
位置認識装置において、 前記装着ヘッドに設けられ、入射される光線を透過さ
せ、内部で散乱光に変えて、吸着された部品に照射する
照明体と、 前記照明体に光線を入射し、前記部品からみて装着ヘッ
ド側の位置であって、かつ直接光および部品からの反射
光が前記画像入力装置に入力しない位置に配される照明
具と、 前記吸着された部品に対向するように、かつ前記照明体
と反対側に配され、前記散乱光により生ずる部品の影像
を撮像し、部品の位置認識を行う画像入力装置とを備え
たことを特徴とする部品装着機における部品位置認識装
置。1. A component position recognizing device in a component mounting machine in which a position of a component attracted to a mounting head is recognized by an image input device. The component position recognizing device is provided in the mounting head, transmits an incident light beam, and scatters inside. An illuminating body that irradiates the adsorbed component in place of the light, and a light beam is incident on the illuminating body, is at a position on the mounting head side as viewed from the component, and direct light and reflected light from the component are the images. An illuminator arranged at a position where input is not made in the input device, is arranged so as to face the adsorbed component, and is disposed on the opposite side of the illuminating body, and captures an image of the component caused by the scattered light. A component position recognition device in a component mounting machine, comprising: an image input device that performs position recognition.
ていることを特徴とする特許請求の範囲第１項記載の部
品装着機における部品位置認識装置。2. The component position recognizing device in a component mounting machine according to claim 1, wherein the illuminating body forms a suction nozzle of the mounting head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60185214A JPH0760448B2 (en) | 1985-08-23 | 1985-08-23 | Component position recognition device in component mounting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60185214A JPH0760448B2 (en) | 1985-08-23 | 1985-08-23 | Component position recognition device in component mounting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6246382A JPS6246382A (en) | 1987-02-28 |
| JPH0760448B2 true JPH0760448B2 (en) | 1995-06-28 |
Family
ID=16166867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60185214A Expired - Lifetime JPH0760448B2 (en) | 1985-08-23 | 1985-08-23 | Component position recognition device in component mounting machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0760448B2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0244560Y2 (en) * | 1987-04-03 | 1990-11-27 | ||
| JPH0775817B2 (en) * | 1989-02-27 | 1995-08-16 | 富士機械製造株式会社 | Electronic component holding position detector |
| JPH0824234B2 (en) * | 1990-01-24 | 1996-03-06 | 松下電器産業株式会社 | Electronic component suction device |
| JP2554431B2 (en) * | 1992-11-05 | 1996-11-13 | ヤマハ発動機株式会社 | Mounting device component suction state detection device |
| JP2002079484A (en) | 2000-09-05 | 2002-03-19 | Fuji Mach Mfg Co Ltd | Suction nozzle and electrical part holding position detector |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5584975A (en) * | 1978-09-28 | 1980-06-26 | Nitto Electric Ind Co | Reflective type light diffusion plate |
| JPS5848837A (en) * | 1981-09-17 | 1983-03-22 | Matsushita Electric Ind Co Ltd | Defect checking method |
| JPS5946179A (en) * | 1982-09-09 | 1984-03-15 | 株式会社日立製作所 | Recognizer for chip part |
-
1985
- 1985-08-23 JP JP60185214A patent/JPH0760448B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6246382A (en) | 1987-02-28 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |