CN104541596A - Component mounting device and position correction method - Google Patents
Component mounting device and position correction method Download PDFInfo
- Publication number
- CN104541596A CN104541596A CN201280075272.7A CN201280075272A CN104541596A CN 104541596 A CN104541596 A CN 104541596A CN 201280075272 A CN201280075272 A CN 201280075272A CN 104541596 A CN104541596 A CN 104541596A
- Authority
- CN
- China
- Prior art keywords
- mentioned
- imageing sensor
- component mounting
- image
- mounting portion
- 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
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
- H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
Abstract
Disclosed are a component mounting device and a position correction method, the component mounting device comprising: a housing part (3); a nozzle (4) that can extend and contract in the vertical direction; a first image sensor (5) that captures an image of a component mounting section (31) corresponding to an electronic component (20); a second image sensor (6) that captures an image of the electronic component (20) held by the nozzle (4); a data processing unit that calculates a correction amount by using the image of the component mounting section (31) captured by the first image sensor (5) and the image of the electronic component (20) captured by the second image sensor (6); a control unit that generates a command signal in accordance with the correction amount calculated by the data processing unit; and a drive unit that is driven in accordance with the command signal which is input from the control unit, and moves the housing part (3) and the nozzle (4). With the present component mounting device and position correction method, a component can be positioned with high accuracy with respect to a mounting section.
Description
Technical field
The present invention relates to the apparatus for mounting component and the position correcting method that use imageing sensor to carry out installing component.
Background technology
The printed circuit board that electronic equipment uses is provided with many electronic units of resistance, IC chip etc.These electronic units are automatically installed on the installation position of regulation by apparatus for mounting component (device).
But, advance the refinement of electronic unit in recent years rapidly, need to improve the positioning precision when mounting electronic parts.In order to accurately be positioned to the installation position being located at printed circuit board by electronic unit, such as, there will be a known the technology at apparatus for mounting component carrying image transducer.
Patent documentation 1 describes following component mounter: it state possessed above adsorption nozzle arrival installation site takes the parts and installation site that are adsorbed by this adsorption nozzle from oblique upper.In addition, this component mounter possesses: what calculate that parts depart from relative to the relative position of installation site based on the picture signal from filming apparatus calculates arithmetic element; The control unit of adsorption nozzle mobile also position of correcting part in horizontal plane is made according to the position deviation calculated.
Prior art document
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 7-115296 publication
Summary of the invention
Invent problem to be solved
In the technology that patent documentation 1 is recorded, to be taken the parts and installation site that are adsorbed by adsorption nozzle from oblique upper by a shooting unit.Therefore, when setting the focal length etc. of shooting unit, the both sides making parts and installation site are needed to come into view (namely, shooting picture).
Like this, if want the both sides taking parts and installation site, then shared by parts and its installation site, the ratio of shooting picture diminishes.This tendency becomes remarkable, the thus very difficult problem accurately positioned to installation site by parts of existence along with parts (such as, electronic unit) refinement.
So technical problem of the present invention is to provide the apparatus for mounting component and position correcting method that parts can be positioned accurately to installation position.
For the scheme of technical solution problem
In order to solve above-mentioned technical task, the invention is characterized in, possessing: be fixed on chest portion and the first imageing sensor of the shooting component mounting portion position corresponding with parts; Be fixed on above-mentioned chest portion and take the second imageing sensor being held in the above-mentioned parts of member retainer section; The image of above-mentioned parts using the image of the above-mentioned component mounting portion position taken by above-mentioned first imageing sensor and taken by above-mentioned second imageing sensor calculates the data processing division of above-mentioned parts relative to the above-mentioned position of component mounting portion position and the correction of angle.
In addition, be described in the mode for carrying out an invention about detailed content.
The effect of invention
According to the present invention, the apparatus for mounting component and position correcting method that parts can be located accurately relative to installation position can be provided.
Accompanying drawing explanation
Fig. 1 is the structure chart of the apparatus for mounting component of the first execution mode of the present invention.
Fig. 2 takes parts installation position by the first imageing sensor and the key diagram of VGA image after image is changed.
Fig. 3 is the key diagram of the image of the electronic unit taken by the second imageing sensor.
Fig. 4 is the key diagram of the structure representing data processing division, control part and drive division that apparatus for mounting component possesses.
Fig. 5 is the flow chart of the position correction handling process representing apparatus for mounting component.
Fig. 6 is the key diagram that electronic unit is positioned at the situation of first area, and (a) is the key diagram of the situation of observing from y-axis direction, and (b) is the key diagram of the situation of observing from z-axis direction.
Fig. 7 (a) is the key diagram of the relation of the position representing parts installation position and nozzle, and (b) is the key diagram of the relation of the component mounting portion position representing ideal position and taken by the first imageing sensor.
Fig. 8 represents that electronic unit is positioned at the flow chart calculating the flow process of process of the correction of the situation of first area.
Fig. 9 (a) performs the image after edge pump-and-treat system about the image of Fig. 7 (b), and (b) is the key diagram representing the center of gravity of installation position image and the center of gravity of ideal position.
Figure 10 (a) is the key diagram making the center of gravity of parts installation diagram picture and the center of gravity of ideal position as one man make the situation of chest portion movement, and (b) is the key diagram representing the state that the center of gravity of installation position image is roughly consistent with the center of gravity of ideal position.
Figure 11 is the key diagram observed from y-axis direction under the state being positioned at second area at electronic unit.
Figure 12 represents that electronic unit is positioned at the flow chart calculating the flow process of process of the correction of the situation of second area.
Figure 13 (a) is the key diagram of installation position image after pre-treatment and electronic unit image, and (b) performs the image after edge pump-and-treat system about the image of (a).
Figure 14 (a) is the key diagram representing the center of gravity of installation position image and the center of gravity of electronic unit image, b () is the key diagram making electronic unit image and installation position image as one man make the situation of chest portion movement, (c) is the key diagram representing the state that electronic unit image is roughly consistent with installation position image.
Figure 15 be electronic unit be positioned at the 3rd region state under from y-axis direction observe key diagram.
Figure 16 is the structure chart of the apparatus for mounting component of the second execution mode of the present invention.
Figure 17 is the structure chart of the apparatus for mounting component of the 3rd execution mode of the present invention.
Figure 18 is the structure chart of the apparatus for mounting component of the 4th execution mode of the present invention.
Figure 19 is the ideograph of the apparatus for mounting component of variation of the present invention.
Figure 20 is the plan structure figure of the apparatus for mounting component of variation of the present invention.
Embodiment
About for implementing mode of the present invention (hereinafter referred to as execution mode), be described in detail with reference to suitable accompanying drawing.
" the first execution mode "
Apparatus for mounting component 100 is the devices for mounting electronic parts 20 (parts) on the component mounting portion position 31 of printed circuit board 30 (mounted member).In the present embodiment, a situation electronic unit 20 (overlooking as rectangular-shaped) being installed on printed circuit board 30 is described, but in fact many electronic units 20 is installed on printed circuit board 30 successively.
The structure > of < apparatus for mounting component
Fig. 1 is the structure chart of the apparatus for mounting component of present embodiment.As shown in Figure 1, apparatus for mounting component 100 possesses: support portion 1; Arm 2; Chest portion 3; Nozzle 4; First imageing sensor 5; And second imageing sensor 6.
With regard to support portion 1, its underpart is fixed on holder (not shown) and is erected upward, and is fixed with one end of arm 2 in side.
With regard to arm 2, its one end (end on the right side of paper) is fixed on the side of support portion 1, and extends abreast with x-y plane.The profile of arm 2 is square tabular, built with making chest portion 3 in x-axis direction, multiple motors (not shown: to be equivalent to drive division 9 as shown in Figure 4) of y-axis direction movement.In addition, the height (z coordinate) of arm 2 has nothing to do with the position (x coordinate, y coordinate) of chest portion 3, is fixing.
The profile of chest portion 3 is rectangular-shaped, is located at the bottom of arm 2.Chest portion 3 becomes the structure that can be moved in parallel at x-axis direction (left and right directions of paper), y-axis direction (front of paper, depth direction) by above-mentioned drive division 9.In addition, in chest portion 3 built with the circuit (not shown) being equivalent to aftermentioned data processing division 7 (with reference to Fig. 4) and control part 8.
The upper side end of nozzle 4 (member retainer section) is fixed on chest portion 3, and gives prominence to downward.Nozzle 4 can stretch in the z-axis direction according to the instruction from control part 8 (with reference to Fig. 4), and centered by z-axis, can rotate predetermined angular by axle.And, nozzle 4 have according to from control part 8 instruction and in the function of its front end (end of downside) vacuum suction electronic unit 20.
By the way, if electronic unit 20 arrives the component mounting portion position 31 (namely, answering the position of mounting electronic parts 20) of printed circuit board 30, then remove the above-mentioned absorption of nozzle 4.Printed circuit board 30 shown in Fig. 1 is placed in the assigned position of mounting table (not shown).
In addition, the positional information of the component mounting portion position 31 corresponding with electronic unit 20 (x coordinate, y coordinate, when installing towards) is corresponding with the printed circuit board 30 becoming mounting object, and is stored in memory cell (not shown) in advance.
(the first imageing sensor)
First imageing sensor 5 is the shooting unit taking the component mounting portion position 31 corresponding with electronic unit 20.First imageing sensor 5 is the cameras such as with camera lens (not shown), and is fixed on the lower surface of chest portion 3.
In addition, in FIG, record in the optical axis mode along the z-axis direction of the first imageing sensor 5, but above-mentioned optical axis also can be arranged in have predetermined angular between z-axis.
With regard to the first imageing sensor 5, by making the position of camera lens (not shown) move along optical axis direction, thus can adjusting focal length, photographic images amplitude, the depth of field etc.
Here, " picture amplitude " refers to longitudinal, the lateral length of the real space corresponding with the picture taken by the first imageing sensor 5 (or aftermentioned second imageing sensor 6).Picture amplitude is such as lateral length A1=6.4mm, longitudinal length B1=4.8mm (with reference to Fig. 2).
And the meaning of " depth of field " refers to can at the distance range in the real space of optical axis direction clearly subject.
Fig. 2 takes parts installation position by the first imageing sensor and the key diagram of VGA (Video Graphics Array: Video Graphics Array) image after image is changed.In the example shown in Fig. 2, have lateral length A1, longitudinal length B1 picture amplitude shooting picture G in, the component mounting portion position 31 (Fig. 1 reference) being located at printed circuit board 30 is taken as image 31a.
In addition, the focal length of the first imageing sensor 5 is redefined for, and can clearly take parts installation position 31.Below, (namely profile the is not fuzzy) state clearly can being taken reference object by imageing sensor is denoted as " focus aligning ".
But, in order to improve positioning precision during mounting electronic parts 20, need to make the first imageing sensor 5 (and second imageing sensor 6) be high-resolution.Namely the pixel count of the component mounting portion position 31 shared by shooting picture being increased in the first imageing sensor 5, is needed.
But, if want to become high-resolution, then with its concomitantly, picture amplitude stenosis (in other words, the region of the real space that can take diminishes), the depth of field shoals.Like this, if picture amplitude stenosis, the depth of field shoal, be then difficult to take parts installation position 31 and electronic unit 20 with an imageing sensor simultaneously.
In order to solve this problem, in the present embodiment, the first imageing sensor 5 is taken parts installation position 31, second imageing sensor 6 and is taken electronic unit 20, just respective reference object can be reduced into one.Thus, even if the depth of field of the first imageing sensor 5, second imageing sensor 6 is shallow, also respective reference object can clearly be taken with high-resolution.
As mentioned above, chest portion 3 can move in x-y plane (horizontal plane), and the height in z-axis direction is fixed.And the height being placed with the mounting portion (not shown) of printed circuit board 30 is also fixing.Therefore, with the movement of chest portion 3 and stretching independently of nozzle 4, the first imageing sensor 5 can maintain the state that focus aims at printed circuit board 30.
According to such structure, if component mounting portion position 31 enters the visual field of the first imageing sensor 5, then can very clearly take its profile.In addition, in the picture amplitude A1 × B1 of Fig. 2, if such as A1=6.4mm, B1=4.8mm, then VGA image is the pixel count of 640 × 480, thus can obtain the high-resolution that every pixel is 10 μm (=A1, B1).
(the second imageing sensor)
Second imageing sensor 6 is for taking towards the shooting unit of the electronic unit 20 of component mounting portion position 31 movement.Second imageing sensor 6 is the cameras such as with camera lens (not shown), and is fixed on the lower surface of chest portion 3.Second imageing sensor 6 is by making the position of camera lens move at optical axis direction thus can adjusting the picture amplitude of shooting, the depth of field etc.
Fig. 3 is the key diagram of the image of the electronic unit taken by the second imageing sensor.Detailed content is aftermentioned, and the second imageing sensor 6 is redefined for, and when electronic unit 20 is arranged in regulation region (second area shown in Fig. 6) in z-axis direction, focus is in alignment with this electronic unit 20.If namely moved downward by the electronic unit 20 that nozzle 4 adsorbs, and arrive second area (with reference to Fig. 6 (A)), then take electronic unit 20 by the second imageing sensor 6 with high-resolution.
In the present embodiment, the electronic unit 20 (with reference to Fig. 1) adsorbed by nozzle 4 taken by the second imageing sensor 6 from oblique upper.Therefore, as shown in Figure 3, in the visual field of the second imageing sensor 6, except electronic unit 20, also there is nozzle 4.
In addition, in above-mentioned Fig. 1, describe the optical axis of the first imageing sensor 5 along the z-axis direction, but above-mentioned optical axis can also be arranged in have predetermined angular between z-axis.
Below, the image (comprising the parts carrying out the conversion process specified) of the component mounting portion position 31 taken by the first imageing sensor 5 is denoted as installation position image.And, the image (comprising the parts carrying out the process specified) of the electronic unit 20 taken by the second imageing sensor 6 is denoted as electronic unit image.
(data processing division)
Fig. 4 represents the key diagram of the structure of data processing division, control part and drive division that apparatus for mounting component possesses.As mentioned above, chest portion 3 is loaded in the circuit (not shown) being equivalent to data processing division 7 and control part 8.And the motor (not shown) etc. being equivalent to drive division 9 is located at arm 2 and nozzle 4.
Data processing division 7 is configured to the circuit possessing CPU (Central Processing Unit: central processing unit), FPGA (Field Programmable Gate Array: field programmable gate array), RAM (RandomAccess Memory: random access memory), ROM (Read Only Memory: read-only memory), various interfaces etc., plays various function according to the program being stored in its inside.Data processing division 7 has following function, namely, based on the installation position image inputted from image acquiring section 71 and electronic unit image calculates the position of electronic unit 20 and the correction of angle, this correction is outputted to control part 8.
Data processing division 7 possesses image acquiring section 71 and image processing part 72.
Image acquiring section 71 has following function, namely, using the image taken by the first imageing sensor 5 and the second imageing sensor 6 as image information obtains and exports to data processing division 72.Namely, image acquiring section 71 will be converted to digital information from the first imageing sensor 5 and the second imageing sensor 6 with the image information that analog signal inputs and export to image processing part 72.
In addition, the circuit (not shown) being equivalent to image acquiring section 71 and the circuit (not shown) being equivalent to data processing division 7 are located at shared printed circuit board (not shown).Thereby, it is possible to the image information obtained by image acquiring section 71 passed at a high speed to image processing part 72, and realize the miniaturization of system.
Image processing part 72 has: pre-treatment portion 72a; Edge extraction unit 72b; Center of gravity calculating section 72c; And correction calculating section 72d.
Pre-treatment portion 72a has following function, namely, for each image of the installation position image inputted from image acquiring section 71 and electronic unit image, carries out the Coordinate Conversion etc. of the relative position for comparing the two.
Edge extraction unit 72b has following function, and the image that handling part 72a inputs namely, in the past extracts edge out.
Center of gravity calculating section 72c has following function, namely, based on the image information inputted from edge extraction unit 72b calculates the barycentric coodinates of installation position image and the barycentric coodinates of electronic unit image.By the way, being meant to of above-mentioned " center of gravity ", by the center of gravity in the region (in present embodiment, rectangular area) of the surrounded by edges of being extracted out by edge extraction unit 72b.
Correction calculating section 72d has following function, namely, based on the difference of the barycentric coodinates of the installation position image inputted from center of gravity calculating section 72c and the barycentric coodinates of electronic unit image calculates correction and exports to control part 8.By the way, above-mentioned correction comprise casing amount of movement (x-axis direction, y-axis direction) and centered by z-axis the anglec of rotation of the nozzle 4 of axle, and to calculate in the mode eliminating above-mentioned difference.
Like this, data processing division 7 calculate correction and to control part 8 only pass on electronic unit 20 position correction needed for data (namely correction).Therefore, even when the first imageing sensor 5, second imageing sensor 6 high-speed capture image, the speed of passing on of data also can be suppressed.
In addition, image processing part 72 is the FPGA (Field ProgrammableGate Array: field programmable gate array) of program of such as can rewriting, and can change inter-process via cable connector K1.This change process can based on via cable connector K1 (such as, JTAG:Joint Test ActionGroup: joint test working group) and from computer K2 input information perform.
By changing the inter-process of image processing part 72 like this, just easily extract the edge of the image photographed out.Such as, the pre-treatment portion 72a that can have at image processing part 72 adds the process that histogram stretches, contrast improves, or makes the program optimization of edge extraction unit 72b.And, in order to calibration is carried out in the position of the image to shooting, pattern matching process can also be added.
By the way, the change of above-mentioned inter-process is operated computer K2 to carry out by keeper before making apparatus for mounting component 100 work.
(control part)
Control part 8 is electrically connected with above-mentioned data processing division 7, and possesses the circuit of CPU, RAM, ROM, various interfaces etc.Control part 8 has following function, namely, generates the command signal based on the data of passing on from data processing division 7 (above-mentioned correction) and exports to drive division 9.
(drive division)
Drive division 9 has following function, namely, according to the command signal inputted from control part 8 carries out driving and moves to make chest portion 3 and/or nozzle 4.In addition, above-mentioned movement is included in moving in parallel of chest portion 3 in horizontal plane (x-y plane) and nozzle 4 in rotary moving around z-axis.Like this, drive division 9 has following function, namely, according to the command signal inputted from control part 8 carrys out CD-ROM drive motor (not shown), thus revises the position of electronic unit 20, angle and positioning.
< position correction process >
Fig. 5 is the flow chart of the flow process representing the position correction process that apparatus for mounting component carries out.In addition, during the beginning of Fig. 5, refer to following state, namely, printed circuit board 30 is placed in the assigned position of brace table (not shown), is adsorbed with electronic unit 20 in the front end of nozzle 4.
In step S101, control part 8 to drive division 9 output instruction signal, chest portion 3 is moved until component mounting portion position 31 (with reference to Fig. 1) roughly directly over.In addition, the information such as kind, the position of component mounting portion position 31, the specification of the electronic unit 20 corresponding with component mounting portion position 31 about printed circuit board 30 is stored in memory cell (not shown) in advance.
Control part 8 reads above-mentioned information from memory cell, makes chest portion 3 in x-axis direction, y-axis direction moves, with make electronic unit 20 come component mounting portion position 31 roughly directly over.
In step s 102, control part 8 makes nozzle 4 extend downwards, and electronic unit 20 is declined towards component mounting portion position 31.This process performs continuously until electronic unit 20 is arranged on (S112) on component mounting portion position 31.
In process below step 103, control part 8 performs successively with the cycle of regulation and nozzle 4 is extended electronic unit 2 is declined, and makes the position of electronic unit 20 and around the position correction process corresponding with component mounting portion position 31 of the angle of z-axis.
Fig. 6 (a) is the key diagram of electronic unit when observing from y-axis direction when being positioned at first area.
In addition, will to be positioned in the z-axis direction between printed circuit board 30 and the first imageing sensor 5 (the second imageing sensor 6) and the focus of the second imageing sensor 6 in alignment with the region of electronic unit 20 as second area.And, region between second area and the first imageing sensor 5 (the second imageing sensor 6) will be positioned in the z-axis direction as first area.And, using the region in the z-axis direction between second area and printed circuit board 30 as the 3rd region.
Namely, first area is compared second area and is positioned at top, and the 3rd region is compared second area and is positioned at below.
As above-mentioned, in the z-axis direction, the first imageing sensor 5 is fixing with the distance of component mounting portion position 31.And the first imageing sensor 5 presets into, focus aims at the upper surface of the printed circuit board 30 be positioned at immediately below it.
Therefore, in the first imageing sensor 5, with the movement of chest portion 3, nozzle 4 flexible irrelevant (even if namely electronic unit 20 is present in arbitrary region in first, second, third region), also can maintain the state of focus in alignment with component mounting portion position 31.
On the other hand, the second imageing sensor 6 presets into, and under the state that electronic unit 20 is present in second area as shown in Fig. 6 (a), focus is in alignment with electronic unit 20.In other words, under the state that electronic unit 20 is present in first area or the 3rd region, electronic unit 20 does not enter the coverage (even if or enter into coverage, focus is misalignment also) of the second imageing sensor 6.
By the way, the position (z coordinate) of the second area of the focus aligning of the second imageing sensor 6 depends on the depth of field of the second imageing sensor 6 and the installation site to chest portion 3.
Control part 8, when making electronic unit 20 decline, takes parts installation position 31 by the first imageing sensor 5 with high speed (such as, every a few msec once takes).And, control part 8 when electronic unit 20 is positioned at second area, by the second imageing sensor 6 with high-speed capture electronic unit 20 (shooting operation).
Fig. 6 (b) represents when electronic unit is positioned at first area, the key diagram of the position relationship observed from z-axis direction.In addition, in fact, because electronic unit 20 is blocked by chest portion 3, nozzle 4 etc., thus cannot from directly over overlook electronic unit 20, omit chest portion 3, nozzle 4 in Fig. 6 (b).
As shown in Fig. 6 (b), electronic unit 20 relative to component mounting portion position 31 in x-axis direction only shifted by delta X1, at y-axis direction only shifted by delta Y1.In addition, electronic unit 20 relative to component mounting portion position 31 around z-axis only deviation angle θ 1.
Secondly, in the step S103 of Fig. 5, data processing division 7 calculates correction based on the installation position image obtained by the first imageing sensor 5.By the way, in this moment, electronic unit 20 is present in first area (with reference to Fig. 6 (a)), so do not enter the coverage (even if or enter coverage, focus is misalignment also) of the second imageing sensor 6.On the other hand, component mounting portion position 31 is clearly taken by the first imageing sensor 5.
Fig. 7 (a) is the key diagram of the relation representing ideal position and component mounting portion position.As mentioned above, the first imageing sensor 5 is fixed on the lower surface of chest portion 3.Therefore, in an x-y plane, the first imageing sensor 5 to be fixed (the distance, delta X namely, shown in Fig. 7 (a) relative to the relative position of nozzle 4
falways fix).In addition, nozzle 4 and z-axis direction are moved abreast.
So in the shooting picture G of the first imageing sensor 5, the ideal position 31p that component mounting portion position 31 should exist is determined by the position relationship of nozzle 4 and the first imageing sensor 5.Here, ideal position refers to following position, if namely in shooting picture G parts installation position 31 reflect in this position, then the x coordinate of the x coordinate of electronic unit 20, y coordinate and component mounting portion position 31, y coordinate are consistent.
Such as, shown in Fig. 7 (a), if still make nozzle 4 extend, then electronic unit 20 is placed in the position represented with symbol 31g, and become compare component mounting portion position 31 to the right only shifted by delta X1, to side, front the state of only shifted by delta Y1.
Fig. 7 (b) is the key diagram of the relation of the installation position image representing ideal position and taken by the first imageing sensor.As shown in Fig. 7 (b), by the first imageing sensor 5 take and image change after installation position image 31a compare ideal position 31p to the right only shifted by delta X1, to side, front (on the downside of paper) only shifted by delta Y1.
Therefore, data processing division 7 calculates the correction (correction calculates operation) in x-axis direction, y-axis direction, to make the installation position image 31a in fact taken by the first imageing sensor 5 consistent with the ideal position 31p in shooting picture G.
Control part 8 makes chest portion move according to the above-mentioned correction inputted from data processing division 7, thus carries out the position correction of electronic unit 20.In example shown in Fig. 7 (a), Fig. 7 (b), control part 8 makes chest portion 3 only move Δ X1 in the direction of the x axis left, only move Δ Y1 to depth direction in the y-axis direction.
By the way, the position (x coordinate, y coordinate) of the component mounting portion position 31 taken by the first imageing sensor 5 can be obtained from the resolution of the coordinate of the installation site of the position coordinates of chest portion 3, the first imageing sensor 5 and the image photographed.Such as, are (X at the position coordinates of nozzle 4
a, Y
a), the distance of nozzle 4 and the first imageing sensor 5 is Δ X
fwhen, the center of the shooting picture G taken by the first imageing sensor 5 becomes は (X
a-Δ X
f, Y
a).The position of component mounting portion position 31 can be obtained based on the coordinate of this center and picture amplitude, resolution.
Fig. 8 is the flow chart calculating the flow process of process representing the correction using the image taken by the first imageing sensor to perform.
In step S1031, data processing division 7 (edge extraction unit 72b: with reference to Fig. 4) performs edge pump-and-treat system.Edge pump-and-treat system can use differential edge, Sobel filter method, Canny edge detection method etc.
Fig. 9 (a) is the image of the image execution edge pump-and-treat system about Fig. 7 (b).Data processing division 7 extracts the edge 31b (rectangular-shaped profile) of the component mounting portion position 31 shown in Fig. 9 (a) and the edge 31p of above-mentioned ideal position out by carrying out above-mentioned edge pump-and-treat system.
Then, in the step S1032 of Fig. 8, what data processing division 7 (center of gravity calculating section 72c: with reference to Fig. 4) performed barycentric coodinates calculates process.Fig. 9 (b) is the key diagram representing the center of gravity of parts installation position and the center of gravity of ideal position.The edge 31b of the component mounting portion position 31 that data processing division 7 is extracted out based on the process in step S1031 calculates barycentric coodinates B1 (Xb, Yb).Similarly, data processing division 7 calculates the barycentric coodinates p1 (Xp, Yp) of above-mentioned ideal position 31p.
Secondly, in the step S1033 of Fig. 8, data processing division 7 (correction calculating section 72d: with reference to Fig. 4) calculates the correction of the position of electronic unit 20.Namely, data processing division 7 calculates correction, to make the barycentric coodinates of component mounting portion position 31 (Xb, Yb) consistent with the barycentric coodinates (Xp, Yp) of the ideal position calculated in step S1032.
When above-mentioned example, data processing division 7 calculates (Xp-Xb) correction as X-direction, and calculates (Yp-Yb) correction as Y direction.
The flow chart again turning back to Fig. 5 goes on to say.In step S104, the correction calculated in step S1033 is fed back to control part 8 by data processing division 7 (correction calculating section 72d: with reference to Fig. 4).
Figure 10 (a) is the key diagram of make chest portion move to make situation that the center of gravity of installation position image is consistent with the center of gravity of ideal position.If from data processing division 7 Introduced Malaria amount, then control part 8 outputs to drive division 9 by with this correction to corresponding command signal, chest portion 3 is moved (positioning process).Namely, control part 8 makes chest portion 3 move (Xp-Xb=Δ X1: with reference to Fig. 7 (a)) in x-axis direction, moves in y-axis direction (Yp-Yb=Y1: with reference to Fig. 7 (a)).
So the image taken by the first imageing sensor 5 becomes shown in Figure 10 (b).Figure 10 (b) is the key diagram representing the state that the center of gravity of installation position image is roughly consistent with the center of gravity of ideal position.Due to the movement of above-mentioned chest portion 3, the position in x-y plane of electronic unit 20 is close to parts installation position 31.
By the way, make because of the process of step S104 the x coordinate of electronic unit 20, y coordinate close to x coordinate, the y coordinate of parts installation position 31, but be not limited to completely the same.This results from (the distance, delta L with reference to Figure 10 (B)) such as errors that chest portion 3 produces when moving.
In addition, the location in the x-axis direction of electronic unit 20, y-axis direction is carried out in the process of step S104, does not obtain the anglec of rotation around z-axis (the angle θ 1 shown in Fig. 6 (b)) that will revise in this stage.
Secondly, in the step S105 of Fig. 5, data processing division 7 judges whether electronic unit 20 is present in first area.This judgement is such as carried out based on the amount of movement of the nozzle 4 on z-axis direction.
Under electronic unit 20 is present in the situation (S105 → be) of first area, the process of data processing division 7 turns back to step S103.On the other hand, electronic unit 20 is not present in first area, and under being namely present in the situation (S105 → no) of second area, the process of data processing division 7 enters step S106.Namely, data processing division 7 (and control part 8) as long as electronic unit 20 is present in first area, the just process of above-mentioned steps S103 ~ S105 repeatedly.
Figure 11 be electronic unit be positioned at second area state under the key diagram of situation observed from y-axis direction.If the electronic unit 20 being adsorbed in the front end of nozzle 4 enters second area, then become the state of focus in alignment with electronic unit 20 of the second imageing sensor 6.On the other hand, because the first imageing sensor 5 does not change, so the focus of the first imageing sensor 5 maintains with the state of aiming at component mounting portion position 31 with the distance (distance in z-axis direction) of component mounting portion position 31.
Namely, when electronic unit 20 is present in second area, parts installation position 31 can be clearly taken by the first imageing sensor 5, and electronic unit 20 can be clearly taken by the second imageing sensor 6.
In the step S106 of Fig. 5, data processing division 7 calculates correction based on the image of the component mounting portion position 31 taken by the first imageing sensor 5 and the image of electronic unit 20 taken by the second imageing sensor 6.
By the way, the position coordinates of the electronic unit 20 taken by the second imageing sensor 6 can be obtained based on the resolution of the coordinate of the installation site of the position coordinates of chest portion 3, the second imageing sensor 6 and the image photographed in the same manner as the first imageing sensor 5.
Figure 12 represents that electronic unit is positioned at the flow chart calculating the flow process of process of the correction of the situation of second area.
In step S1061, data processing division 7 (pre-treatment portion 72a) performs Coordinate Conversion process.As above-mentioned, the second imageing sensor 6 is from oblique upper shooting electronic unit 20.Therefore, even if electronic unit 20 is overlooked as rectangular-shaped, the image taken by the second imageing sensor 6 does not become rectangular-shaped (with reference to Fig. 3) yet.
As mentioned above, the specification information of the electronic unit 20 pre-entered is stored in memory cell (not shown).Therefore, data processing division 7 performs Coordinate Conversion process based on above-mentioned specification information (longitudinal, the horizontal length etc. of overlooking).
In step S1062, data processing division 7 (pre-treatment portion 72a) carries out image conversion process.Namely, data processing division 7 from the part of the image removing nozzle 4 after Coordinate Conversion, and only reproduces the image of electronic unit 20.
Figure 13 (a) is the key diagram of installation position image after pre-treatment and electronic unit image.The installation position image taken by the first imageing sensor 5 is carried out the image after Coordinate Conversion process, image conversion process by the image 31c shown in Figure 13 (a).Similarly, the electronic unit image taken by the second imageing sensor 6 is carried out the image after Coordinate Conversion process, image conversion process by image 20c.
In addition, the image 20c of electronic unit 20 can obtain by the region of the shooting picture making the first imageing sensor 5 is consistent with the coordinate in the region of the shooting picture of the second imageing sensor with the relative position of the image 31c of component mounting portion position 31.
In the step S1063 of Figure 12, data processing division 7 (edge extraction unit 72b) extracts the edge of electronic unit image 20c and the edge of installation position image 31c out.So, the image shown in Figure 13 (b) can be obtained.
Then, in the step S1064 of Figure 12, data processing division 7 (center of gravity calculating section 72c) is used in edge image 20c, 31c of step S1063 extraction to the center of gravity 31g of the center of gravity 20g and installation position image 31c that calculate electronic unit image 20c.In addition, data processing division 7 uses above-mentioned edge image 20c, 31c to calculate electronic unit 20 relative to component mounting portion position 31 around z-axis angulation θ 2 (with reference to Figure 13 (a)).
In step S1065, data processing division 7 (correction calculating section 72d) calculates correction based on the barycentric coodinates calculated in step S1064 and angle θ 2.
Secondly, in the step S107 of Fig. 5, the correction that step S1065 calculates by data processing division 7 feeds back to control part 8.
If from data processing division 7 Introduced Malaria amount, then the command signal corresponding with this correction is outputted to drive division 9 by control part 8.Namely, control part 8 makes chest portion 3 move, and offsets relative to the position of installation position image 31c to eliminate electronic unit image 20c.In addition, make nozzle 4 around the z-axis only anglec of rotation (-θ 2) (with reference to Figure 14 (b)).
So, make the position of electronic unit 20 further close to the position (with reference to Figure 14 (c)) of parts installation position 31 due to moving of chest portion 3.In addition, electronic unit 20 is made roughly to become zero relative to component mounting portion position 31 around z-axis angulation due to the rotation of nozzle 4.
Secondly, in the step S108 of Fig. 5, data processing division 7 judges whether electronic unit 20 is present in second area.
In the situation (S108 → be) that electronic unit 20 is present in second area, the process of data processing division 7 turns back to step S106.On the other hand, under not being present in second area at electronic unit 20, being namely present in the situation (S108 → no) in the 3rd region, the process of data processing division 7 enters step S109.
In step S109, data processing division 7 calculates correction based on the installation position image 31c taken by the first imageing sensor 5.By the way, in this moment, electronic unit 20 is present in the 3rd region (with reference to Figure 15), the electronic unit 20 therefore obtained by the second imageing sensor 6 as fuzzy (or not being taken).On the other hand, as mentioned above, component mounting portion position 31 is clearly taken by the first imageing sensor 5.
Therefore, the method that data processing division 7 uses and electronic unit 20 is positioned at the situation of first area identical calculates correction.Namely, the step S109 of Fig. 5, the process of S110 due to identical with the process of above-mentioned steps S103, S104, so omit the description.
In step S111, data processing division 7 judges whether electronic unit 20 is present in the 3rd region.In the situation (S111 → be) that electronic unit 20 is present in the 3rd region, the process of data processing division 7 turns back to step S109.On the other hand, in the situation (S111 → no) that electronic unit 20 is not present in the 3rd region, the process of data processing division 7 enters step S112.
Secondly, in step S112, electronic unit 20 is installed on component mounting portion position 31 by control part 8.This installation process comprises the process of the vacuum suction removing nozzle 4 pairs of electronic units 20.
Like this, dropping at electronic unit 20 in the process in first, second, third region, by revising the position (and direction) of electronic unit 20 successively, thus electronic unit 20 can be installed on component mounting portion position 31 exactly.
< effect >
Apparatus for mounting component 100 according to the present embodiment, parts installation position 31 is taken by the first imageing sensor 5, electronic unit 20 is taken by the second imageing sensor 6, thus narrowly can obtain photographic images amplitude (namely, make the distance of the real space corresponding to 1 pixel very little).Namely, even if the depth of field of the first imageing sensor 5, second imageing sensor 6 is shallow, also reference object can be taken with high-resolution.
Therefore, it is possible to the position of accurate assurance component mounting portion position 31 and the position of electronic unit 20 electronic unit 20 is located accurately.
In addition, the circuit (not shown) being equivalent to image acquiring section 71 and the circuit (not shown) that is equivalent to data processing division 7 are located at shared printed circuit board (not shown), thus the image information obtained by image acquiring section 71 can be transferred to image processing part 72 at high speed.And, without the need to arranging connector etc. between image acquiring section 71 and image processing part 72, the miniaturization of system can be realized.
In addition, when calculating the skew of parts relative to installation position image, by using respective barycentric coodinates, thus can appropriately and easily calculate correction.
In addition, usually, when using imageing sensor to carry out high-speed capture (shooting of every 1sec often), in order to pass on the data photographed, the wiring that data transfer speed is high is needed.But in present embodiment, the data (namely above-mentioned correction) needed for control part 8 are only passed on to control part 8 by data processing division 7.Like this, owing to only passing on required data at data processing division 7, thus can suppress data transfer speed, and take at high speed.In other words, utilize thinner wiring (low speed of passing on) to communicate with control part 8, thus can cut down the cost of manufacture of apparatus for mounting component 100.
In addition, owing to being loaded on chest portion 3 by data processing division 7, the layout of the wiring of thus image information inputted from the first imageing sensor 5 and the second imageing sensor 6 being passed on to data processing division 7 becomes easy.
In addition, in above-mentioned first, second, third region, carry out successively electronic unit 20 in x-axis direction, the position correction in y-axis direction, thus the center of gravity of electronic unit 20 can be made consistent with the center of gravity at component mounting position.Especially in the second area, use high-resolution electronic unit image and installation position image to carry out position correction, angle modification.Therefore, it is possible to relative to component mounting portion position 31 by electronic unit 20 at a high speed and position accurately.
In addition, in the present embodiment, use the relative position relation of the image taken by the first imageing sensor 5 and the second imageing sensor 6 of being located at chest portion 3 to revise, thus position correction can not be carried out by the impact ground of the rheological parameters' change with time of drive division 9, nozzle 4.
" the second execution mode "
Second execution mode different aspect compared with the first execution mode is, the second imageing sensor 6A of shooting electronic unit 20 carries out up and down together with nozzle 4, and other side is identical with the first execution mode.Therefore, this different piece is described, for the first execution mode repeating part, omit the description.
Figure 16 is the structure chart of the apparatus for mounting component of present embodiment.As shown in figure 16, be configured to, the second imageing sensor 6A of shooting electronic unit 20 is located at nozzle 4, and moves up and down together with nozzle 4.In this case, the fixing in the distance in z-axis direction of electronic unit 20 and the second imageing sensor 6.And, about the first imageing sensor 5, the bottom of being located at chest portion 3 the same as the first execution mode.
In present embodiment, the x-axis direction of electronic unit 20, the position in y-axis direction can obtain from the control part 8 etc. to drive division 9 output instruction signal.In addition, the gradient relative to component mounting portion position 31 (angle around z-axis) of electronic unit 20 can utilize the component mounting portion position 31 taken by the first imageing sensor 5 and the electronic unit 20 taken by the second imageing sensor 6 to obtain.
Control part 8 makes chest portion 3 move according to the correction inputted from data processing division 7, makes nozzle 4 rotate predetermined angular around z-axis, thus revises the position of electronic unit 20.In addition, be positioned at the control of the situation in first, second or the 3rd region about electronic unit 20, due to identical with the first execution mode, therefore omit the description.
< effect >
According to the present embodiment, in the Zone Full (namely, above-mentioned first, second, third region) that electronic unit 20 arrives till component mounting portion position 31, the state that the focus continuing the second imageing sensor 6 is aimed at electronic unit 20.Therefore, it is possible to always use the first imageing sensor 5 and the second imageing sensor 6 to revise the position of electronic unit 20 accurately relative to component mounting portion position 31.
" the 3rd execution mode "
3rd execution mode different aspect compared with the first execution mode is, use the reflection part 12 being supported in reflection part support portion 11B to take electronic unit 20 below tiltedly, other side is identical with the first execution mode.Therefore, this different piece is described, for the part repeated with the first execution mode, omits the description.
Figure 17 is the structure chart of the apparatus for mounting component of present embodiment.As shown in figure 17, welding or bolted etc. are utilized to connect reflection part support portion 11B securely in chest portion 3.Reflection part support portion 11B compares chest portion 3 to more below extension, moves up together with chest portion 3 in x-axis direction, y-axis side.
In addition, the lower end of reflection part support portion 11B is provided with reflection part 12.The reflecting surface of reflection part 12 with respect to the horizontal plane only tilts predetermined angular, and in the second area that the first execution mode illustrates, be set to, focus is in alignment with electronic unit 20.And, above reflection part 12, be provided with the second imageing sensor 6, incide the second imageing sensor 6 with the light (being equivalent to the picture of electronic unit 20) after reflection part 12 reflects.
< effect >
Apparatus for mounting component 100B according to the present embodiment, when utilizing the second imageing sensor 6 to take electronic unit 20, can take the bottom surface of electronic unit 20.Namely, mirroring beyond object such as nozzle 4 grade can be prevented.Thereby, it is possible to omit image conversion process (remove nozzle 4 from picture, and carry out reproduction processes to the image of electronic unit 20), can the process carried out of reduced data handling part 7.
" the 4th execution mode "
4th execution mode different aspect compared with the first execution mode is, utilize the second imageing sensor 6 by the second imageing sensor support portion 11C supports to take electronic unit 20 below tiltedly, other side is identical with the first execution mode.Therefore, this different piece is described, for the part repeated with the first execution mode, omits the description.
Figure 18 is the structure chart of the apparatus for mounting component of present embodiment.As shown in figure 18, in chest portion 3, connect the second imageing sensor support portion 11C securely by welding or bolted etc., and compare chest portion 3 and extend downwards.Namely, the second imageing sensor support portion 11C moves up in x-axis direction, y-axis side together with chest portion 3.
In the lower end of the second imageing sensor support portion 11C, the second imageing sensor 6 is set.Second imageing sensor 6 is arranged to, and its optical axis with respect to the horizontal plane with predetermined angular upward, and is set to, in the second area that the first execution mode illustrates, focus is in alignment with electronic unit 20.
< effect >
Apparatus for mounting component 100C according to the present embodiment, when taking electronic unit 20 with the second imageing sensor 6, can take the bottom surface of electronic unit 20.Namely, mirroring beyond object such as nozzle 4 grade can be prevented.Thereby, it is possible to omit image conversion process, and the process of energy reduced data handling part 7.
" variation "
Above, utilize each execution mode to be illustrated to apparatus for mounting component of the present invention, but embodiments of the present invention are not limited to these records, can carry out various change.
Such as, as shown in figure 19, in the respective embodiments described above, the nozzle 4 that absorption keeps electronic unit 20 can also be replaced, and use mechanical hand 13.In addition, parts 40 also can be the objects beyond electronic unit.In this case, also can utilize the method identical with the respective embodiments described above relative to arranging position to position accurately object.
In addition, in the respective embodiments described above, chest portion 3 is configured to, and its end side is supported by support portion 1, can be moved up, but be not limited thereto by drive division 9x in x-axis direction, y-axis side.
Such as, shown in top plan view ideograph as shown in figure 20, can also be that chest portion 3 is arranged on X-axis guide 61, X-axis guide 61 be arranged on the structure on Y-axis guide 62.In this case, chest portion 3 can move in the direction of the x axis along X-axis guide 61.And Y-axis guide 62 is set up on X-axis guide 62.Chest portion 3 can also move in the y-axis direction along Y-axis guide 62.In addition, the drive division 9 (motor etc.) that above-mentioned each movement accepts command signal by driving from control part 8 performs.According to this structure, even if component mounting portion position 31 is present in the optional position on printed circuit board 30, chest portion 3 is also made to move to corresponding position, can appropriately and exactly mounting electronic parts 20.
In addition, in the respective embodiments described above, with regard to data processing division 7, the situation that the first imageing sensor 5 and the second imageing sensor 6 are connected with identical printed circuit board (not shown) is illustrated, but is not limited thereto.Such as, also can be that the first imageing sensor 5 and the second imageing sensor 6 individually hold data handling part.In this case, correction calculating section 72d is shared, calculates correction based on the barycentric coodinates etc. inputted from respective data processing division.
In addition, in the respective embodiments described above, when moving into the first imageing sensor 5, second imageing sensor 6 object identified beyond object, have and be difficult to the image after using edge to extract out to calculate the possibility of barycentric coodinates.In this case, such as, can also carry out identifying that the pattern matching of object carrys out specific identification object.
In addition, in the respective embodiments described above, before carrying out the edge pump-and-treat system of image, data processing division 7 can also carry out the histogram stretch processing stretched to the installation position image taken by the first imageing sensor 5 and the histogram of electronic unit image taken by the second imageing sensor 6.
In addition, before carrying out the edge pump-and-treat system of image, the contrast that data processing division 7 can also carry out the installation position image taken by the first imageing sensor 5 and the contrast of electronic unit image of being taken by the second imageing sensor 6 improve improves process.And, can also these process appropriately combined.
Thereby, it is possible to the edge of more appropriate extraction installation position image or electronic unit image, and accurately can position electronic unit 20.
In addition, in the respective embodiments described above, the situation of the second imageing sensor 6 arranging a shooting electronic unit in chest portion 3 is illustrated, but is not limited thereto.Such as, the imageing sensor aiming at focus when the imageing sensor aiming at focus when electronic unit 20 is positioned at first area and electronic unit 20 are positioned at the 3rd district can also be added be used as the second imageing sensor except the second imageing sensor 5 aiming at focus when electronic unit 20 is positioned at second area.In this case, by switching the second imageing sensor of shooting electronic unit 20 along with the movement of this electronic unit 20, electronic unit 20 can clearly be taken in all regions in the z-axis direction.
Namely all regions, in the z-axis direction, by using the both sides of electronic unit image and installation position image to calculate correction, thus can position more accurately.
In addition, can also be the structure that two the second imageing sensors are set accordingly with arbitrary two regions in first area, second area and the 3rd region.
In addition, in the respective embodiments described above, illustrate the example using the first imageing sensor 5 and the second imageing sensor 6 as shooting unit, but be not limited thereto.Namely if the positional information of object or the transducer of range information can be obtained, then the transducer (such as, laser type transducer, photoelectric sensor) beyond imageing sensor can also be used.
The explanation of symbol
100,100A, 100B, 100C, 100D, 100E-apparatus for mounting component, 3-chest portion, 4-nozzle (member retainer section), 5-the first imageing sensor, 6-the second imageing sensor, 7-data processing division, 71-image acquiring section, 72-image processing part, 72a-pre-treatment portion, 72b-edge extraction unit, 72c-center of gravity calculating section, 72d-correction calculating section, 8-control part, 9-drive division, 20-electronic unit (parts), 30-printed circuit board (mounted member), 31-component mounting portion position.
Claims (10)
1. an apparatus for mounting component, is characterized in that, possesses:
Above the mounted member being provided with one or more component mounting portion position, can the chest portion of movement in horizontal plane;
Above-mentioned chest portion is located on top, holding member and the member retainer section that can stretch in the vertical direction;
Be fixed on above-mentioned chest portion, and take the first imageing sensor of the above-mentioned component mounting portion position corresponding with above-mentioned parts;
Be fixed on above-mentioned chest portion, and shooting is held in the second imageing sensor of the above-mentioned parts of above-mentioned member retainer section;
The image of above-mentioned parts using the image of the above-mentioned component mounting portion position taken by above-mentioned first imageing sensor and taken by above-mentioned second imageing sensor calculates the data processing division of above-mentioned parts relative to the above-mentioned position of component mounting portion position and the correction of angle;
The control part of command signal is generated according to the above-mentioned correction calculated by above-mentioned data processing division; And
Drive according to the above-mentioned command signal inputted from above-mentioned control part, make the drive division of above-mentioned chest portion and above-mentioned member retainer section movement.
2. apparatus for mounting component according to claim 1, is characterized in that,
Above-mentioned first imageing sensor presets into focus in alignment with above-mentioned component mounting portion position,
Above-mentioned second imageing sensor presets into, when the regulation region of the above-below direction of above-mentioned parts between this second imageing sensor and above-mentioned mounted member, focus in alignment with these parts,
Above-mentioned data processing division is when above-mentioned parts are positioned at afore mentioned rules region, above-mentioned correction is calculated based on the coordinate figure of the above-mentioned component mounting portion position taken by above-mentioned first imageing sensor and the coordinate figure of above-mentioned parts taken by above-mentioned second imageing sensor
When above-mentioned parts be positioned at than afore mentioned rules region by the top or below, based on by above-mentioned first imageing sensor take above-mentioned component mounting portion position coordinate figure and in the shooting picture of above-mentioned first imageing sensor the coordinate figure of the ideal position that above-mentioned component mounting portion position should exist calculate above-mentioned correction.
3. apparatus for mounting component according to claim 2, is characterized in that,
Above-mentioned data processing division is when above-mentioned parts are positioned at afore mentioned rules region, perform Coordinate Conversion process, this Coordinate Conversion process is for calculating the relative position of the above-mentioned component mounting portion position taken by above-mentioned first imageing sensor and the above-mentioned parts taken by above-mentioned second imageing sensor
Extract out respectively and carried out the image of above-mentioned component mounting portion position of above-mentioned Coordinate Conversion process and the edge of the image of above-mentioned parts,
To make the edge of the above-mentioned parts mode consistent with the edge of above-mentioned component mounting portion position to calculate above-mentioned correction.
4. apparatus for mounting component according to claim 2, is characterized in that,
Above-mentioned data processing division when above-mentioned parts be positioned at than afore mentioned rules region by the top or below, calculate the barycentric coodinates of the above-mentioned component mounting portion position taken by above-mentioned first imageing sensor and the difference of taking the barycentric coodinates of this component mounting portion position of the situation of above-mentioned component mounting portion position at above-mentioned ideal position, and in the mode eliminating above-mentioned difference to calculate above-mentioned correction.
5. apparatus for mounting component according to claim 1, is characterized in that,
Above-mentioned correction is only outputted to above-mentioned control part by above-mentioned data processing division.
6. apparatus for mounting component according to claim 1, is characterized in that,
Possess image information obtaining section, this image information obtaining section obtains the image taken by above-mentioned first imageing sensor and above-mentioned second imageing sensor as image information, and outputs to above-mentioned data processing division,
Above-mentioned image information obtaining section and above-mentioned data processing division are located at shared printed circuit board.
7. apparatus for mounting component according to claim 1, is characterized in that,
Above-mentioned data processing division as the pre-treatment calculating above-mentioned correction, and performs comprising the above-mentioned component mounting portion position taken by above-mentioned first imageing sensor and the histogram stretch processing stretched by the histogram of the image of the above-mentioned parts of above-mentioned second imageing sensor shooting and improving at least one in process to the contrast that the contrast of above-mentioned image improves.
8. apparatus for mounting component according to claim 1, is characterized in that,
Above-mentioned chest portion is loaded in above-mentioned data processing division.
9. a position correcting method, is characterized in that, comprising:
Shooting operation, in this operation, first imageing sensor of chest portion of movement the component mounting portion position be placed in than above-mentioned chest portion mounted member on the lower can be taken by be fixed in horizontal plane, and by the second imageing sensor being fixed on above-mentioned chest portion to being held in the member retainer section that can stretch in the vertical direction and the parts corresponding with above-mentioned component mounting portion position are taken;
Correction calculates operation, in this operation, use the image of the above-mentioned component mounting portion position taken by above-mentioned first imageing sensor and the image of above-mentioned parts taken by above-mentioned second imageing sensor to calculate above-mentioned parts relative to the above-mentioned position of component mounting portion position and the correction of angle; And
Positioning process, in this operation, makes above-mentioned chest portion and/or above-mentioned member retainer section move according to above-mentioned correction and positions above-mentioned parts.
10. position correcting method according to claim 9, is characterized in that,
Above-mentioned first imageing sensor presets into focus in alignment with above-mentioned component mounting portion position,
Above-mentioned second imageing sensor presets into, when the regulation region of above-mentioned parts in the vertical direction between this second imageing sensor and above-mentioned mounted member, focus in alignment with these parts,
Above-mentioned correction calculates in operation,
When above-mentioned parts are positioned at afore mentioned rules region, calculate above-mentioned correction based on the coordinate figure of the above-mentioned component mounting portion position taken by above-mentioned first imageing sensor and the coordinate figure of above-mentioned parts taken by above-mentioned second imageing sensor,
When above-mentioned parts be positioned at than afore mentioned rules region by the top or below, based on by above-mentioned first imageing sensor take above-mentioned component mounting portion position coordinate figure and in the shooting picture of above-mentioned first imageing sensor the coordinate figure of the ideal position that above-mentioned component mounting portion position should exist calculate above-mentioned correction.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2012/074387 WO2014045437A1 (en) | 2012-09-24 | 2012-09-24 | Component mounting device and position correction method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104541596A true CN104541596A (en) | 2015-04-22 |
Family
ID=50340786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280075272.7A Pending CN104541596A (en) | 2012-09-24 | 2012-09-24 | Component mounting device and position correction method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPWO2014045437A1 (en) |
| CN (1) | CN104541596A (en) |
| WO (1) | WO2014045437A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113165188A (en) * | 2018-12-21 | 2021-07-23 | 欧姆龙株式会社 | Aligning device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6915288B2 (en) * | 2017-02-08 | 2021-08-04 | オムロン株式会社 | Image processing system, image processing device, circuit reconstruction method in FPGA (Field Programmable Gate Array), and circuit reconstruction program in FPGA |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04275835A (en) * | 1991-01-22 | 1992-10-01 | Hitachi Ltd | Parts mounting device |
| JPH07115296A (en) * | 1993-10-15 | 1995-05-02 | Sanyo Electric Co Ltd | Controller for component mounting machine |
| CN101653057A (en) * | 2007-03-30 | 2010-02-17 | 雅马哈发动机株式会社 | Mounting apparatus and mounting method and substrate imaging means transfer method employed in the mounting apparatus |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009283525A (en) * | 2008-05-20 | 2009-12-03 | Yamaha Motor Co Ltd | Surface mounting machine, and component supply device |
| CN103098578A (en) * | 2010-08-27 | 2013-05-08 | 松下电器产业株式会社 | Component mounting device and component mounting method |
-
2012
- 2012-09-24 JP JP2014536532A patent/JPWO2014045437A1/en active Pending
- 2012-09-24 CN CN201280075272.7A patent/CN104541596A/en active Pending
- 2012-09-24 WO PCT/JP2012/074387 patent/WO2014045437A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04275835A (en) * | 1991-01-22 | 1992-10-01 | Hitachi Ltd | Parts mounting device |
| JPH07115296A (en) * | 1993-10-15 | 1995-05-02 | Sanyo Electric Co Ltd | Controller for component mounting machine |
| CN101653057A (en) * | 2007-03-30 | 2010-02-17 | 雅马哈发动机株式会社 | Mounting apparatus and mounting method and substrate imaging means transfer method employed in the mounting apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113165188A (en) * | 2018-12-21 | 2021-07-23 | 欧姆龙株式会社 | Aligning device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2014045437A1 (en) | 2016-08-18 |
| WO2014045437A1 (en) | 2014-03-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10438340B2 (en) | Automatic optical inspection system and operating method thereof | |
| CN103376269A (en) | Inspection machine for printed circuit board | |
| CN108482956B (en) | Conveyed object inspection system and conveying device | |
| WO2003043400A9 (en) | Pick and place machine with component placement inspection | |
| CN105359638A (en) | Part holding-state detection method and part mounting device | |
| CN104965167A (en) | Automatic circuit board detection device | |
| CN102419157B (en) | Micro-depth-dimension automatic image measuring system | |
| EP1264334B1 (en) | Method and apparatus for aligning a component on a substrate using digital feature separation | |
| JP2008091815A (en) | Mounting machine, and components imaging method thereof | |
| CN103247548A (en) | Wafer defect detecting device and method | |
| CN104541596A (en) | Component mounting device and position correction method | |
| CN108512008A (en) | Electronic equipment manufacturing device and electric equipment manufacturing method | |
| JP5600705B2 (en) | Component mounting equipment | |
| JP2633147B2 (en) | Component mounting method | |
| JPH0763923B2 (en) | Origin correction method in NC processing device | |
| EP2849553B1 (en) | Data creation device for mounting and inspection and data creation method for mounting and inspection | |
| CN205482791U (en) | Plug -in components component stitch vision positioning device based on binocular vision | |
| US6229608B1 (en) | Procedure and system for inspecting a component with leads to determine its fitness for assembly | |
| JP2008139260A (en) | Image display unit and method, appearance inspection device, cream solder printer | |
| JP2008541489A (en) | Method and apparatus for evaluating part picking motion of an electronic assembly machine | |
| JPH09312808A (en) | Ccd camera and method for positioning its ccd chip and lens | |
| CN113945575B (en) | Detection system and detection method for interlayer foreign matters of CG and OCA of display screen | |
| CN101082723A (en) | Method for combining two objects with perspective collineation and pressing effect | |
| CN105787476B (en) | A kind of non-contact high speed acquisition recognition methods based on multi-thread array camera | |
| Kejuan et al. | Research and Implementation of the Visual Location Algorithm Based on FPGA |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150422 |