CN102778206A - Part spacing measuring means and part spacing measuring method - Google Patents
Part spacing measuring means and part spacing measuring method Download PDFInfo
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- CN102778206A CN102778206A CN2012101467021A CN201210146702A CN102778206A CN 102778206 A CN102778206 A CN 102778206A CN 2012101467021 A CN2012101467021 A CN 2012101467021A CN 201210146702 A CN201210146702 A CN 201210146702A CN 102778206 A CN102778206 A CN 102778206A
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Abstract
The invention provides a part spacing measuring means and a part spacing measuring method, which can automatically measure space of parts arranged on a tray of a disk type loader. A mark camera (18) moves to the right side of a central position of a starting part on the tray to shoot the starting part; the shot image is used as a reference image to be stored in a storage device; the mark camera (18) moves along an arrangement direction of the part and meanwhile continuously shoot and calculates relative values the shot image and the reference image (the shot image of the start part) in a storage device (14) each time to store the relative values in the storage device (14) according to time order. When the amount of movement of the mark camera (18) exceeds the width of the tray, the movement and shooting of the mark camera (18) finish; the time sequence data of the relative values stored in the storage device (14) is analyzed to find peak points of the relative values and calculate the amount of movement of the mark camera (18) in a peak point period of the relative values as a periodic quantity of the relative values; the calculated values are stored in the storage device as part spacing.
Description
Technical field
The component clearance measurement mechanism of the component clearance of each part after the present invention relates to measure the part of same shape arranged and the invention of component clearance measuring method.
Background technology
For example, as tape feeder, tray feeder, bulk feeder etc. being arranged to the loader of component-mounting machine feeding parts is known.Wherein, tray feeder is arranged in rectangular (checkerboard) with part on pallet, is installed on circuit substrate with the part on the pick-up nozzle absorption pallet of component-mounting machine and with it.Under this situation; In order to adsorb the part that is arranged on the pallet successively, need comprise the pallet data of data such as part count of part count, the Y direction of component clearance, the directions X of component clearance, the Y direction of position coordinates, the directions X of the part of initial absorption with pick-up nozzle.
At present, data such as component clearance are the operators with reference to the design data that obtains from parts supplier etc. etc. with the handwork input, but the size of pallet, component clearance etc. are not necessarily carried out strict size management.Therefore, the component clearance of operator input possibly depart from actual component clearance, consequently, and the number of the part of each row on the corresponding pallet of the error of part position and the increase of accumulation property, the absorption error that possibly produce part.
For this problem; In the pallet data method for making of (the TOHKEMY 2001-345595 communique) of patent documentation 1; The top of the part (absorption starting point) that camera will adsorb on pallet is at first moved, take the part of this absorption starting point and be presented in the display device, operator manual position of the part of this absorption starting point of input in this display frame; Then; Camera is moved to the top of the part that will adsorb at last (final adsorption site) of these part row, take the part of this final adsorption site and be presented in the display device position of operator's part of manual this final adsorption site of input in this display frame; To try to achieve component clearance thus from the absorption starting point to the amount of movement of the camera of final adsorption site part count divided by these row.
In addition; In the pallet data correcting method of (the TOHKEMY 2008-10594 communique) of patent documentation 2; To carrying out image recognition by the absorption position departure of the part of pick-up nozzle absorption; Try to achieve the modified value relevant according to this absorption position departure, predefined pallet data are revised with the inclination of component clearance, pallet.
Patent documentation 1: TOHKEMY 2001-345595 communique
Patent documentation 2: TOHKEMY 2008-10594 communique
But; In the pallet data creation method of patent documentation 1; Since the operator must manually import adsorb starting point and finally adsorption site, manually import part count; Therefore not only expend man-hour, and the operator also maybe be because of the number of parts of input errors such as misunderstandings etc., the component clearance that causes calculating mistake.
In addition, because the technology of patent documentation 2 is technology of the pallet data of the component clearance made in advance etc. being revised according to the absorption position departure, therefore, the operator need make the pallet data of component clearance etc. in advance, expends man-hour.
Summary of the invention
Therefore, the problem that the present invention will solve is, a kind of component clearance measurement mechanism and the component clearance measuring method that can measure component clearance automatically is provided.
In order to solve above-mentioned problem, first aspect of the present invention provides a kind of component clearance measurement mechanism, measures the component clearance with each part after the part arrangement of same shape, and it constitutes, and possesses: camera, take said part; Travel mechanism makes said camera movement; The component clearance measuring unit; Utilizing said travel mechanism that the orientation of the said part in said camera one edge is moved on one side takes continuously; Periodicity to the change of these photographic images is estimated, and measures component clearance based on the relation of the amount of movement of the periodicity of this change and said camera.Wherein, so-called " taking continuously " is meant to compare with the interval of enough weak points with the component clearance that becomes measuring object and takes repeatedly.
Like the present invention,,, also can obtain to comprise a plurality of photographic images of photographic images of a plurality of parts of arrangement even in the visual field of camera, only take under the situation of a part Yi Bian the orientation of camera one edge part is moved when taking continuously.These photographic images are along with moving period's property change of camera; Make from taking a last part to taking shooting number of times (amount of movement of camera) till the next part as the one-period change, the amount of movement and the component clearance of the camera of this one-period amount are suitable.Based on this relation,, then can measure component clearance according to the amount of movement of the camera of this one-period amount if the periodicity of the change of photographic images is estimated.Thus, can measure component clearance automatically.
Under this situation, estimate the periodic method of the change of photographic images and for example can frequency of utilization resolve, also can use cross-correlation method.Under the situation of using cross-correlation method; Like second aspect of the present invention; As long as when camera is taken, calculate the correlation of the benchmark image of this photographic images and part at every turn, get final product based on amount of movement measurement component clearance as the camera between the peak point of the correlation of the one-period amount of the change of this correlation.Wherein, the benchmark image of part is with the image that is accommodated in the center, the visual field (reference position) of camera with the identical part of part of measuring component clearance and takes.It is the highest photographic images of benchmark image similar degree with part that correlation becomes the photographic images of peak point; Be meant the image that in fact part is accommodated in the center, the visual field of camera and takes; Therefore, become the position of camera of the photographic images of peak point to distinguish part position from having taken correlation.According to this relation, the amount of movement and the component clearance of the camera between the peak point of correlation are suitable, therefore, can measure component clearance according to the amount of movement of the camera between the peak point of correlation.
If use this cross-correlation method; Then owing to reason such as the luminance difference between the part in the photographic images and its background parts is less; Even under the shooting condition of Parts Recognition low precision; Owing to become the position of camera of the photographic images of peak point to distinguish part position from having taken correlation, therefore also can measure component clearance according to the amount of movement of camera between the peak point of correlation.In addition; Under the periodic situation of the change of frequency of utilization analyzing and evaluating photographic images; Owing to do not require the Parts Recognition precision of photographic images yet; Therefore, also can measure component clearance according to the amount of movement of the camera of the one-period amount of the change of photographic images even under the shooting condition of Parts Recognition low precision.
The benchmark image of employed part also can be taken the image that obtains with being accommodated in the center, the visual field of camera with the identical part of part of measuring component clearance in advance and is stored in the memory storage as benchmark image among the present invention.At this moment, the shooting condition (background, lighting condition, position of camera etc.) that preferably shooting condition when measuring with component clearance is identical is taken benchmark image.
Perhaps, like the third aspect of the invention,, the photographic images of initial part is used as benchmark image Yi Bian also can move when taking continuously in the orientation that makes camera one edge part.Thus, when measuring component clearance, can obtain correct benchmark image easily with the photographic images of the initial part of taking with identical shooting condition as benchmark image.At this moment, under the situation that can not carry out high precision image identification to initial part, the operator is as long as specify the position of initial part.The photographic images that be shown in the display device and the manual position of the initial part of input for example also can be observed by the operator in the position of specifying initial part, the position that also can wait the initial part of manually input with reference to the design data that obtains from parts supplier etc.
More than first aspect～the third aspect of the present invention of explanation is implemented applicable to the various devices of the part of having arranged same shape, for example also goes for tray feeder.The rectangular part that is arranged with same shape on the pallet that is arranged on the tray feeder; Therefore as fourth aspect of the present invention, as long as make camera move component clearance, camera is moved to measure the component clearance of Y direction along the Y direction with the measured X direction along directions X.Thus, can measure directions X and the component clearance of Y direction on the pallet automatically.
In addition, the 5th aspect of the present invention will be put down in writing as " component clearance measuring method " with the practically identical technological thought of invention of " the component clearance measurement mechanism " put down in writing in the said first aspect.
Description of drawings
Fig. 1 is the block scheme of the formation example of the component clearance measurement mechanism in expression one embodiment of the invention;
Fig. 2 is the planimetric map of the arrangement of the part on the expression pallet;
Fig. 3 moves the orientation that makes camera one edge part to take on one side the figure (its 1) that the method for measuring component clearance describes continuously;
Fig. 4 moves the orientation that makes camera one edge part to take on one side the figure (its 2) that the method for measuring component clearance describes continuously;
Fig. 5 is the process flow diagram of the treatment scheme of expression component clearance process of measurement.
Symbol description
11 ... Control device (component clearance measuring unit), 14 ... Memory storage, 15 ... Installation head mobile device (travel mechanism), 17 ... Part camera, 18 ... Mark camera, 19 ... Tray feeder, 20 ... Pallet, 21 ... Part
Embodiment
Below, the mode that will be used for embodiment of the present invention is applied to an also specific embodiment of component-mounting machine describes.
At first, based on Fig. 1 system's formation of component-mounting machine is described.
Component-mounting machine possesses: the input of the control device 11 that constitutes by computing machine, keyboard, mouse etc. carry put 12, the display device 13 of LCD, CRT etc., storage component-mounting machine control program, after Fig. 5 of stating component clearance process of measurement etc. memory storage 14, make the installation head mobile device 15 (travel mechanism) that the installation head that keeps pick-up nozzle moves along the X-Y-Z direction, the base board delivery device 16 of carrying the circuit substrate that part will be installed, take the part camera 17 of the part that is adsorbed in pick-up nozzle from the below, take the mark camera 18 etc. of the reference position mark etc. of circuit substrate from the top; It constitutes; Through mark camera 18 is installed on the installation head, mark camera 18 and installation head one are moved along the X-Y-Z direction.In the present embodiment, with mark camera 18 as after the measuring camera of the component clearance stated use.
This component-mounting machine is provided with the loader of tray feeder 19, tape feeder, bulk feeder etc., from this loader feeding parts.As shown in Figure 2, the rectangular part 21 that is arranged with same shape on the pallet 20 that is arranged on the tray feeder 19.Under this situation; In order to adsorb the part 21 that is arranged on the pallet 20 successively with pick-up nozzle; Need comprise initial absorption initial part 21 the center coordinate (X0, Y0), the pallet data of the data of component clearance of directions X, the component clearance of Y direction, the part count of directions X, the part count of Y direction etc.
Therefore; In the present embodiment; Through component clearance process of measurement by the Fig. 5 that states after control device 11 execution; Arrangement through the part 21 on 18 pairs of pallets 20 of mark camera is taken continuously, uses these photographic images, counts the component clearance and the part count of X, Y direction automatically according to cross-correlation method.Below, the method for counting of component clearance and part count is described.
About passing through the pick-up nozzle coordinate (X0 of the center of the initial part 21 of absorption at first; Y0); To stipulate that above precision can be under the situation of the outer shape of this initial part 21 of image recognition of the initial part 21 taken through mark camera 18; As long as handle the image of the initial part of taking through mark camera 18 21 and discern the outer shape of this initial part 21, (X0 Y0) gets final product to calculate the coordinate of the center of this initial part 21.
On the other hand; Owing to reason such as the difference of the brightness between the part in the photographic images of mark camera 18 21 and its background parts is less; Thereby can not discern accurately under the situation of outer shape of initial part 21, the operator is as long as specify the center of initial part 21.The designation method of the center of initial part 21 for example also can be taken initial part 21 and its image is shown in display device 13 through mark camera 18; The operator observes photographic images that is shown in the display device 13 and the center of manually importing initial part 21; Also can with reference to coordinate through the center of the initial part 21 of input media 12 inputs such as the design data that obtains from parts supplier etc. (X0, Y0).
Then; As shown in Figure 3; Make mark camera 18 move to initial part 21 the center directly over; The center that initial part 21 is accommodated in the visual field of mark camera 18 is taken, this photographic images is stored in memory storage 14 as benchmark image after, move shooting continuously while make mark camera 18 pass through installation head mobile device 15 along the orientation (directions X or Y direction) of part 21.Wherein, so-called " taking continuously " is to compare with the component clearance that becomes measuring object with very short interval to take repeatedly.
Like this; The orientation of mark camera 18 1 edge parts 21 is moved when taking continuously on one side; Even in the visual field of mark camera 18, only hold under the situation of a part 21, also can obtain to comprise a plurality of photographic images of photographic images of a plurality of parts 21 of arrangement.These photographic images are along with mark camera 18 moves and cyclical movement; Make from taking a last part 21 to taking shooting number of times (amount of movement of mark camera 18) till the next part 21 as the one-period change, the amount of movement and the component clearance of the mark camera 18 of this one-period amount are suitable.Based on this relation,, then can measure component clearance from the amount of movement of the mark camera 18 of this one-period amount if the periodicity of the change of photographic images is estimated.
Under this situation, estimate the periodic method of the change of photographic images and for example can frequency of utilization resolve, also can use cross-correlation method.Below, the method for using cross-correlation method to measure component clearance is described.
As above-mentioned; Make the orientation of mark camera 18 1 edge parts 21 move on one side shooting continuously; This photographic images and the correlation that is stored in the benchmark image (photographic images of initial part 21) in the memory storage 14 are calculated in each shooting, the data of this correlation are stored in the memory storage 14 by the time sequence.This correlation becomes similar degree along with photographic images and benchmark image and uprises and become big value.
And; The moment that surpasses the width of pallet 20 at the amount of movement of mark camera 18; Moving and shooting of end mark camera 18; The time series data of the correlation of analyzing stored in memory storage 14 is also sought the peak point of correlation, calculates amount of movement as the mark camera 18 between the peak point of the correlation of the one-period amount of the change of this correlation (below be called " camera movement amount "), and this calculated value is stored in the memory storage 14 as component clearance.
Wherein, The photographic images that correlation becomes peak point is the highest photographic images of benchmark image similar degree with part 21; Be meant the image that in fact part 21 is accommodated in the center, the visual field of mark camera 18 and takes; The position of therefore, distinguishing part 21 from the position of mark camera 18 of taking correlation and become the photographic images of peak point.Based on this relation, camera movement amount and component clearance between the peak point of correlation are suitable, therefore, and can be from the camera movement measurement amount component clearance between the peak point of correlation.
At this moment, also can calculate the camera movement amount between all peak points respectively,, perhaps also can calculate the mean value of the camera movement amount between all peak points, this mean value is stored as general component clearance each part 21 storage component clearance.
In addition, correlation becomes peak value in the position of each part 21, and therefore, the quantity of the peak point of enumeration correlation value is stored in the quantity of this peak point in the memory storage 14 as part count.
More than the measurement processing of the component clearance of the present embodiment of explanation is carried out according to the component clearance process of measurement of Fig. 5 by control device 11 as follows.
The component clearance process of measurement of Fig. 5 is whenever pallet 20 is being carried out the effect of said component clearance measuring unit in the scope of realization the application's claim when take out the component delivery position of regulation from tray feeder 19.After starting this program; At first, in step 101, make mark camera 18 move to initial part 21 the center directly over; In the step of following 102; Initial part 21 is taken in center in the visual field of mark camera 18, in the step of following 103, the photographic images of initial part 21 is stored in the memory storage 14 as benchmark image.
Then, get into step 104, make mark camera 18 move ormal weight along the orientation (directions X or Y direction) of part 21 through installation head mobile device 15.Wherein, " ormal weight " is the value of setting continuously the interval of taking (camera movement amount), is set at and compares very short interval with the component clearance that becomes measuring object.Then; Get into step 105, take, then in step 106 through mark camera 18; Calculate this photographic images and the correlation that is stored in the benchmark image (photographic images of initial part 21) in the memory storage 14, and this correlation is stored in the memory storage 14.
Then, get into step 107, judge that whether the camera movement amount that begins from the position of initial part 21 surpasses the width of pallet 20, if be judged as the width that the camera movement amount does not surpass pallet 20, then repeats the processing of above-mentioned step 104～106.Thus, take, when each the shooting, calculate the correlation of this photographic images and benchmark image, and the data of this correlation are stored in the memory storage 14 by the time sequence Yi Bian the orientation of mark camera 18 1 edge parts 21 is moved continuously.
Afterwards, surpassed moment of the width of pallet 20 at the amount of movement of mark camera 18, got into step 108 from step 107, the time series data of the correlation of analyzing stored in memory storage 14 is searched the peak point of correlation.Afterwards, get into step 109, the camera movement amount between the peak point of calculating correlation is stored in this calculated value in the memory storage 14 as component clearance.At this moment, also can calculate the camera movement amount between all peak points respectively,, perhaps also can calculate the mean value of the camera movement amount between all peak points, this mean value is stored as general component clearance each part 21 storage component clearance.
Then, get into step 110, the quantity of the peak point of enumeration correlation value is stored in the quantity of this peak point in the memory storage 14 as part count, finishes this program.
According to this program, mark camera 18 is moved along directions X, the part count of the component clearance of measured X direction and counting directions X makes mark camera 18 move along the Y direction, measures the component clearance of Y direction and the part count of counting Y direction.
Present embodiment as described above; Measure component clearance if use cross-correlation method; Then owing to reason such as the luminance difference between the part in the photographic images 21 and its background parts is less; Even under the shooting condition of Parts Recognition low precision, because the position of just distinguishing part 21 from the position of mark camera 18 of having taken correlation and become the photographic images of peak point, so can measure component clearance accurately according to the amount of movement of the mark camera 18 between the peak point of correlation.
In addition; As shown in Figure 4; Even have rotary shifted, the impurity above the part 21 or the spot of local brightness variation that illumination change etc. causes, part 21 etc.; Because correlation becomes peak value at the center position of this part 21, thus can be from the amount of movement high-acruracy survey component clearance of the mark camera 18 between the peak point of correlation, can improve the soundness of the local brightness variation that causes with respect to illumination change etc., rotary shifted, impurity or spot etc.
In addition; In the present embodiment; Move when taking continuously on one side in the orientation that makes mark camera 18 1 edge parts, because photographic images that will initial part 21 uses as benchmark image, therefore when the measurement component clearance; Can obtain correct benchmark image easily with the photographic images of the initial part of taking with identical shooting condition 21 as benchmark image.
Wherein, Benchmark image is not limited to the photographic images of initial part 21, for example also can take the image that obtains with being accommodated in the center, the visual field (reference position) of camera with the part 21 identical parts of measuring component clearance in advance and be stored in the memory storage as benchmark image.At this moment, the shooting condition (background, lighting condition, position of camera etc.) that preferably shooting condition when measuring with component clearance is identical is taken benchmark image.
In addition; In the present embodiment; As the method that the periodicity of the change of photographic images is estimated, used cross-correlation method, but also can frequency of utilization resolve the periodicity of the change of photographic images is estimated; Under this situation; Owing to do not require the Parts Recognition precision of photographic images, even therefore under the shooting condition of Parts Recognition low precision or have local brightness variation that illumination change etc. causes, rotary shifted, impurity or a spot etc., also can be according to the camera movement measurement amount component clearance of the one-period amount of the change of photographic images.
In addition; In the present embodiment; Spacing on pallet 20, being arranged in rectangular part 21 is measured; But also can to the part that for example is accommodated in tape feeder take in on the spacing of part measure, or the spacing of the part supplied with by the various loaders of bulk feeder etc. is measured.
In addition, the present invention is not limited to loader, can be widely used in measuring the system of the component clearance in the device of the part that is arranged with same shape and implements etc., in the scope that does not break away from aim, can carry out various changes and enforcement.
Claims (5)
1. a component clearance measurement mechanism is measured the component clearance with each part after the part arrangement of same shape, it is characterized in that possessing:
Camera is taken said part;
Travel mechanism makes said camera movement;
The component clearance measuring unit; Utilizing said travel mechanism that the orientation of the said part in said camera one edge is moved on one side takes continuously; Periodicity to the change of these photographic images is estimated, and measures component clearance based on the relation of the amount of movement of the periodicity of this change and said camera.
2. component clearance measurement mechanism as claimed in claim 1; It is characterized in that; Said component clearance measuring unit calculates the correlation of the benchmark image of this photographic images and said part when said camera is taken at every turn, measure component clearance based on the amount of movement of the said camera between the peak point of this correlation.
3. component clearance measurement mechanism as claimed in claim 2; It is characterized in that; Said component clearance measuring unit moves when taking continuously on one side in the orientation that makes said camera one edge part, and the photographic images of initial part is used as said benchmark image.
4. like each described component clearance measurement mechanism in the claim 1～3, it is characterized in that,
Said part is to be arranged in rectangular part on the pallet of tray feeder being arranged at,
Said component clearance measuring unit makes said camera move the component clearance with the measured X direction along directions X, and said camera is moved to measure the component clearance of Y direction along the Y direction.
5. a component clearance measuring method is measured the component clearance with each part after the part arrangement of same shape, it is characterized in that,
The orientation of the said part in camera one edge is moved on one side take continuously, the periodicity of the change of these photographic images is estimated, measure component clearance based on the periodicity of this change and the relation of the amount of movement of said camera.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011107817A JP5755935B2 (en) | 2011-05-13 | 2011-05-13 | Component pitch measuring apparatus and component pitch measuring method |
| JP2011-107817 | 2011-05-13 |
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| Publication Number | Publication Date |
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| CN102778206A true CN102778206A (en) | 2012-11-14 |
| CN102778206B CN102778206B (en) | 2017-05-17 |
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| CN201210146702.1A Active CN102778206B (en) | 2011-05-13 | 2012-05-11 | Part spacing measuring means and part spacing measuring method |
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| US10925200B2 (en) * | 2015-11-17 | 2021-02-16 | Fuji Corporation | Mounting processing method, mounting system, exchange control device, and component mounter |
| JP6647049B2 (en) * | 2016-01-18 | 2020-02-14 | ヤマハ発動機株式会社 | Pitch measuring device, pitch measuring method and component mounting device |
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|---|---|
| CN102778206B (en) | 2017-05-17 |
| JP2012238777A (en) | 2012-12-06 |
| JP5755935B2 (en) | 2015-07-29 |
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