CN1512836A - Part adsorptive position demonstration method for part mounting device - Google Patents
Part adsorptive position demonstration method for part mounting device Download PDFInfo
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- CN1512836A CN1512836A CNA2003101205585A CN200310120558A CN1512836A CN 1512836 A CN1512836 A CN 1512836A CN A2003101205585 A CNA2003101205585 A CN A2003101205585A CN 200310120558 A CN200310120558 A CN 200310120558A CN 1512836 A CN1512836 A CN 1512836A
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Abstract
To teach a suction position of a component in a component mounting device. The component supplied from a component supply device is image-picked up by a recognition camera, and the suction position of the component is taught. When a component size is large, teaching is performed by performing a jog operation after the recognition camera moves to a lower left endpoint which is previously obtained from a component dimension (S6). Then, the recognition camera moves to an upper right endpoint (S9) and second teaching is performed. A center of a straight line connecting both points is taught as the suction position of the component. Since the recognition camera automatically moves to the two points which are previously obtained by calculation when teaching work is performed on the two points of the component, a distance that an operator is to move the recognition camera small by a jogging operation can be shortened, and a time required for teaching work can be shortened.
Description
Technical field
The present invention relates to parts absorption position teaching (teaching) method in a kind of apparatus for mounting component, more particularly, relate to the identification video camera parts of being supplied with by the assembly supply device in the apparatus for mounting component are taken, then the teaching method of the absorption position of teaching parts.
Background technology
In apparatus for mounting component in the past, the electronic unit (being designated hereinafter simply as parts) supplied with by the assembly supply device of feed appliance or transfer dish (tray) and so on when adsorbing, is being necessary the adsorption mouth of adsorption head is moved to the parts center.Therefore, need carry out teaching operation, that is, with the identification video camera parts be taken, when observing this image, teaching absorption position (parts center) is stored its coordinate figure, and adsorption mouth is moved to this coordinate figure place.Like this when being presented at the absorption position of the image teaching parts of identification on the video camera, at first discern the center position that video camera automatically moves to the parts that the information according to the feed appliance of input or transfer dish calculates automatically.After this, the operator selects a kind of in following two kinds of teaching methods, i.e. any method (1 lead-through teaching) at teaching center only from here, or teaching is positioned at any 2 points of the position at diagonal angle, with the center of the straight line of 2 formation thus method (2 lead-through teachings) as absorption position.Then, when observation is presented at the image of the parts on the picture, the fine motion operation (JOG) that adsorption head is moved by a small margin to the four directions, if 1 lead-through teaching is with regard to the teaching center, if 2 lead-through teachings are just come teaching with the center of cornerwise connecting line of parts as absorption position at 2.
In addition, in patent documentation 1, record has the method that the part of the profile portion of parts is carried out teaching as the characteristic point shooting.
Patent documentation 1
The spy opens 2000-307293 ([0006]～[0009] section)
But apparatus for mounting component in the past is if 1 lead-through teaching owing to move to the parts center that calculates automatically, only needing therefore can carry out the teaching operation of less fine motion operation.But when adopting 2 lead-through teachings, at first the operator moves to first teaching position (lower lefts of parts) by the fine motion operation from the parts center, and the operator must similarly be undertaken from first o'clock to second o'clock move operation by the fine motion operation more then.Particularly when the parts body is big, distance that must fine motion becomes very long, and can not enter the parts in the visual field of video camera for parts integral body, will spend the more time looking on the parts end points.
Summary of the invention
Therefore, in order to solve above-described problem, research topic of the present invention is the absorption position of a kind of parts of teaching effectively on apparatus for mounting component to be provided, thereby can to improve the parts absorption position teaching method of the apparatus for mounting component of parts installation effectiveness.
In order to address the above problem, the present invention takes the parts of being supplied with by the assembly supply device in the apparatus for mounting component with the identification video camera, the teaching method of the absorption position of teaching parts then, what adopt is following formation, promptly, with the identification video camera move on the parts of trying to achieve in advance according to part dimension a bit after, for the more above-mentioned teaching operation that carries out, to discern then video camera move on the parts of trying to achieve in advance according to part dimension another the point after, carry out teaching operation for above-mentioned another point, will according to by above-mentioned teaching operation determined a bit and another put determined absorption position and carry out teaching as parts.
In addition, the present invention takes the parts of being supplied with by the assembly supply device in the apparatus for mounting component with the identification video camera, the teaching method of the absorption position of teaching parts then, also can adopt following formation, promptly, be provided with 1 teaching operation that the identification video camera is moved to the absorption position of teaching parts after 1 specific on the parts, with 2 that move on the parts after 2 teaching operations of absorption position of teaching parts, and can carry out the switching of described 1 teaching operation and 2 teaching operations according to the kind of parts.
Description of drawings
Fig. 1 is the stereogram of formation of the major part of the used apparatus for mounting component of expression the present invention.
Fig. 2 is the pie graph of formation of control system of the apparatus for mounting component of presentation graphs 1.
Fig. 3 is the flow chart of the flow process of expression teaching operation.
Fig. 4 is a key diagram of having represented to supply with the transfer dish of various parts.
Wherein, the 1-adsorption head, the 2-feed appliance, the 3-parts, the 4-transfer dish, 31-discerns video camera, and 40, the 41-parts.
Concrete example
The present invention will be described in detail for example shown in inciting somebody to action with reference to the accompanying drawings below.
Fig. 1 represents the formation of the major part of apparatus for mounting component, and Fig. 2 represents the formation of its control system.The adsorption mouth 1a of adsorption head 1 is driven by the X that controls with the controller 10 that possesses CPU, RAM, ROM, Y- axis motor 11,12 in addition, moves to as spool type (reel) feed appliance 2 of assembly supply device or the position of transfer dish 4.After this, after having adsorbed the parts of supplying with from here 3, move to identification video camera 6 (ccd video camera) and locate.So, parts just are taken, its image is handled through the pattern recognition device 7 that is made of CPU7a, memory 7b, A/D converter 7c etc., identifies the absorption posture of parts, calculates the position deviation and the absorption angle deviating degree of parts center and adsorption site.Controller 10 is when passing through parts 3 lift-launchs on conveyer belt 32 substrate conveying 30, according to the position offset that calculates the driving amount of X-axis, Y-axis, θ axle motor 11,12,14 is revised, parts 3 are installed on the certain location on the substrate 30.
In such apparatus for mounting component, under making that owing to departing from of the installation site of assembly supply device or arrangement of parts position the parts absorption position of adsorption mouth 1a can not the situation at aligning parts center, the accuracy of identification of identification video camera 6 is reduced.Therefore, before installing, carry out following teaching operation, promptly, use is installed in the identification video camera 31 on the adsorption mouth 1, the parts that feed appliance 2 or transfer dish 4 are carried are taken, teaching absorption position (parts center) when observing its image, and its coordinate figure stored.
In addition, in apparatus for mounting component, be provided with input units such as the keyboard 21 that is used to import production routine data, substrate data, parts data etc., mouse 22.Like this, the data of generation just can be stored with the storage device 23 that is made of hard disk, flash memory etc.Production routine data, substrate data and parts data also can not passed through input unit like this, but in advance will be by the storage that is connected main frame (not shown) supply on the apparatus for mounting component in storage device 23.In addition, also be provided with monitor 24, can the display unit data on its picture, operational data or by the captured image of identification video camera 6,31 etc.
To the teaching operation of the present invention in such formation be described according to the flow process of Fig. 3 below.
At first, when teaching begins,, adsorption mouth 1 and identification video camera 31 are moved to the center position (step S1) that calculates the parts of trying to achieve under the control of controller according to the parts data of being recorded and narrated in the generator data that transmit by storage device 23 or main frame.For example, as shown in Figure 4, when the parts 40 to transfer dish 4 carried out teaching, identification video camera 31 moved to the O place, about center of parts 40.
Then, select teaching method (step S2).In teaching operation, following two kinds of methods are arranged, promptly, only with 1 lead-through teaching of a bit carrying out teaching of the center of parts as absorption position, 2 specific points with the teaching parts, for example be positioned at locational any 2 points at diagonal angle, then will be thus the center of the straight line of 2 formation 2 lead-through teachings of carrying out teaching as absorption position.Therefore, according to variety of components, for example, can automatically switch 1 lead-through teaching or 2 lead-through teachings according to the size of parts.For example, when during less than specific dimensions, switching to 1 lead-through teaching, perhaps when judging, switch to 2 lead-through teachings greater than specific size according to parts data decision means size.
Also can not switch selection like this, but part dimension be observed affirmation, then by manually selecting by the operator.
Now, because parts 40 bodies are less, so select 1 lead-through teaching (NO of step S3).Owing to will discern the position that video camera 31 moves to about parts center, therefore carry out fine motion operation (step S4) by the operator.This fine motion operation is the operation that identification video camera 31 is moved to the four directions by a small margin.After this, when observing the image that is presented at by this operation on the identification video camera, the specified point (for example center, the visual field or depart from the point at this center, visual field) in the visual field is overlapped with the parts center.Then, when overlapping, press confirming button (step S5), coordinate figure is at this moment stored as absorption position.
Owing to by such teaching operation, can make the parts center of the adsorption mouth 1a adsorption element 40 of adsorption head 1, therefore can improve the accuracy of identification of identification video camera 6.
On the other hand, as shown in Figure 4, when the bigger parts 41 of enantiomorph carry out teaching operation, switch to 2 lead-through teachings, identification video camera 31 automatically move under the control of controller on the parts that calculate by part dimension (overall dimension) according to parts data specific a bit, the end points P place (step S6) of lower left for example.So the operator carries out fine motion operation (step S7), by specified point on visual definite visual field and more above-mentioned the coincidence time, presses confirming button (step S8).Like this, by being stored, coordinate figure at this moment just finished the 1st teaching operation.
When this teaching operation of the 1st is finished, identification video camera 31 automatically move on the parts more in addition, for example be positioned at the top-right end points Q place on the diagonal positions.So the operator is the same with the 1st, carry out fine motion operation (step S10), press confirming button (step S11), carry out the 2nd teaching operation.When the 2nd teaching operation was finished, the identification video camera moved to by the midpoint (step S12) to the 1st, 2 determined 2 formed straight lines of PQ of teaching.Then, it as the absorption position of being determined by 2 lead-through teachings, is stored its coordinate figure down.Owing to by these 2 teaching operations, can make the parts center of the adsorption mouth 1a adsorption element 41 of adsorption head 1, therefore can improve the accuracy of identification of identification video camera 6.
In above-mentioned example, when part dimension is big, select 2 lead-through teachings, also can change the order of initial step S1, step S2, S3, when the decision means size is big, be transferred to step S6, will discern video camera and move to the lower-left end points, perhaps, will discern video camera and move to the parts center position when judging hour.
As described above, in the present invention, for specific 2 when carrying out teaching operation of parts, the identification video camera automatically moves to 2 points that calculating is in advance tried to achieve in 2 lead-through teachings.Therefore, can shorten the operator and must will discern the distance that video camera moves by a small margin, thereby can shorten the time that teaching operation spends by the fine motion operation.
In addition, in the present invention,, therefore can reduce operator's burden, improve the parts installation effectiveness owing to automatically switch 1 lead-through teaching or 2 lead-through teachings according to variety of components.
Claims (3)
1. the parts absorption position teaching method in the apparatus for mounting component, be the parts of being supplied with by the assembly supply device in the apparatus for mounting component to be taken with the identification video camera, the teaching method of the absorption position of teaching parts then, it is characterized in that, after the identification video camera moved to some place on the parts of trying to achieve in advance according to part dimension, to the more above-mentioned teaching operation that carries out, after will discerning video camera then and moving to another some place on the parts of trying to achieve in advance according to part dimension, above-mentioned another point is carried out teaching operation, will according to by above-mentioned teaching operation determined a bit and another point come definite point, carry out teaching as the absorption position of parts.
2. the parts absorption position teaching method in the apparatus for mounting component, be the parts of being supplied with by the assembly supply device in the apparatus for mounting component to be taken with the identification video camera, the teaching method of the absorption position of teaching parts then, it is characterized in that, be provided with 1 teaching operation that the identification video camera is moved to the absorption position of teaching parts after 1 specific on the parts, with 2 that move on the parts after 2 teaching operations of absorption position of teaching parts, and can carry out the switching of 1 teaching operation and 2 teaching operations according to the kind of parts.
3. the parts absorption position teaching method in the apparatus for mounting component according to claim 2, it is characterized in that, when carrying out above-mentioned 2 teaching operations, after the identification video camera moved to some place on the parts of trying to achieve in advance according to part dimension, to the more above-mentioned teaching operation that carries out, after will discerning video camera then and moving to another some place on the parts of trying to achieve in advance according to part dimension, above-mentioned another point is carried out teaching operation, will according to by above-mentioned teaching operation determined a bit and another point come definite point, carry out teaching as the absorption position of parts.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002378863 | 2002-12-27 | ||
| JP2002378863A JP2004214246A (en) | 2002-12-27 | 2002-12-27 | Component suction position teaching method in component mounting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1512836A true CN1512836A (en) | 2004-07-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2003101205585A Pending CN1512836A (en) | 2002-12-27 | 2003-12-12 | Part adsorptive position demonstration method for part mounting device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2004214246A (en) |
| CN (1) | CN1512836A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101442899B (en) * | 2007-11-21 | 2012-04-18 | Juki株式会社 | Component mounting method and apparatus |
-
2002
- 2002-12-27 JP JP2002378863A patent/JP2004214246A/en active Pending
-
2003
- 2003-12-12 CN CNA2003101205585A patent/CN1512836A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101442899B (en) * | 2007-11-21 | 2012-04-18 | Juki株式会社 | Component mounting method and apparatus |
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| Publication number | Publication date |
|---|---|
| JP2004214246A (en) | 2004-07-29 |
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