DE102019113095A1 - Recording device - Google Patents

Abstract

The invention relates to a recording device (10) for a placement machine (100) for determining at least one position of an object (1) in a detection area (200) in the placement machine (100), comprising: a first imaging system (21) for detecting a first Sub-area (211) of the detection area (200) to provide a first image recording (221) of the first sub-area (211), - at least one second imaging system (22) for detecting at least a second sub-area (212) of the detection area (200) in order to at least to provide a second image recording (222) of the second sub-area (212), the imaging systems (21, 22) being arranged next to one another in such a way that at least the first and second sub-areas (211, 212) overlap in order to use the image recordings (221, 222 ) to determine correction information for determining the position.

Description

The present invention relates to a receiving device for a placement machine for determining at least one position of an object in a detection area in the placement machine. The invention also relates to an automatic placement machine and a method.

It is known from the prior art that camera systems are used in automatic assembly machines, that is to say machines for assembling printed circuit boards. These serve z. B. as a movable circuit board camera to determine the position of the circuit board relative to the placement machine. This makes it possible to place components very precisely on the circuit board based on the determined position. It is also known that an additional stationary camera is used to measure the components on the placement head. For reliable placement, it can be crucial that the position of the component relative to the placement head is also determined. In addition, traveling cameras are also known which can move within the automatic placement machine. These typically move along with the placement head.

Placement heads can z. B. be provided in the form of flat heads (according to a turret or matrix design). For component measurement, z. B. large stationary cameras with telecentric lenses can be used compared to the circuit board camera. The reason for the use of this telecentric optics is that not all components can be measured on the optical axis and thus with an entocentric optics an uncertainty in the z-presentation can lead to a lateral measurement error and thus a placement offset.

The disadvantage of the known solutions, however, is that such telecentric optics are technically complex to manufacture and can therefore be associated with higher costs. Furthermore, telecentric optics are heavier and larger than comparable entocentric optics, and therefore require additional installation space. The scalability, e.g. B. for the use of optics with improved resolution, is possibly limited due to the higher technical complexity.

It is therefore an object of the present invention to at least partially remedy the disadvantages described above. In particular, it is the object of the present invention to provide a simplified and yet reliable option for detecting positions in the automatic placement machine.

The above object is achieved by a receiving device with the features of claim 1, an automatic placement machine with the features of claim 11 and by a method with the features of claim 14. Further features and details of the invention emerge from the respective subclaims, the description and the drawings. Features and details that are described in connection with the receiving device according to the invention also apply, of course, in connection with the automatic placement machine according to the invention and the method according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is or will always be made to each other can.

The object is achieved in particular by a receiving device, in particular a stationary receiving device, for an automatic placement machine to determine at least one position of an object (specifically, e.g., a component or a circuit board) in a detection area in the automatic placement machine. In other words, the receiving device can be designed for (optically) receiving an object in the automatic placement machine when the object is in the detection area. In particular, this detection area is assigned to the receiving device. In the case of a stationary design of the receiving device, the detection area can thus also be provided stationary and thus unchangeable. In the case of a movable design of the receiving device, the detection area can accordingly be designed to be changeable. The detection area can be divided into sub-areas. The recording device is z. B. executed as an optical detection and / or measuring device, in particular as a camera. When the camera comes z. B. a circuit board camera or a stationary camera for component measurement of the placement machine in question. It is also possible for the camera to be designed as a movable camera that moves along with a placement head.

It is provided that the recording device has at least two imaging systems, namely a first imaging system for recording a first sub-area of the detection area in order to provide a first image recording of the first sub-area, and at least one second imaging system for detecting at least a second sub-area of the detection area around at least one provide a second image recording of the second sub-area. The different imaging systems can be arranged and / or aligned and / or designed in such a way that the different partial areas of the detection area can be detected (optically). The imaging systems are advantageous technically the same, z. B. each with an imaging optics for generating an optical image of the respective sub-area and a detection means for recording this image. In particular, the imaging systems differ from one another (preferably only) in that they cover different detection areas (that is, with different positions). The respective image recording can serve to represent the respective recorded detection area as - in particular digital - information for further processing.

It is provided in particular that the imaging systems are arranged next to one another and / or adjacent in such a way that at least the first and second partial areas overlap in order to determine correction information for determining the position based on the image recordings. Specifically, the correction information can be z. B. can be determined in particular as height information using a stereo approach. In this way, the advantage can be achieved that a technically simple and thus cost-effective hardware structure is used, which, if necessary, initially only enables an impaired position determination. Due to the inventive arrangement of the imaging systems in such a way that the detection subareas of the imaging systems, that is at least the first and second subareas, overlap, the position determination can nevertheless be used for the equipping. The arrangement advantageously allows the correction information to be determined on the basis of the overlap in order to at least reduce the impairment of the position determination. This impairment can specifically relate to a positional deviation that is caused by the individual imaging systems. In particular, the correction information can be determined by further processing the image recordings. In particular, the image recordings each include image information, with stereo information possibly being able to be determined through the combination / processing of the image recordings.

It can be provided that the receiving device and / or the imaging systems are designed for stationary attachment and / or stationary integration on the automatic placement machine. It is thus not possible to operate the recording device as a movable, in particular so-called “traveling” camera. This can increase the reliability and reduce the complexity for using the receiving device.

It can be possible for the respective imaging system to be designed as an entocentric line camera or as an entocentric matrix camera. Several (that is, at least two) imaging systems can thus be arranged next to one another in such a way that the partial areas of the imaging systems overlap in pairs, preferably in such a way that the object can always be completely measured by at least two imaging systems. The sub-area is understood to mean, in particular, a field of view of the imaging system. These at least two imaging systems can preferably form a stereo camera. This makes it possible to improve the position determination on the basis of the image recordings (in particular the disparity between different ones of the image recordings), and in particular to clearly define a lateral position again.

It is also conceivable that the imaging systems are arranged next to one another in only one direction (that is to say form a line), or are arranged next to one another in two directions (and thus two-dimensionally). Correspondingly, the detection area can extend in one direction or in two directions.

It can also be possible for a three-dimensional image to be determined from the image recordings. This can optionally be further processed for the assembly process of the assembly machine, in particular by a processing device of the receiving device according to the invention and / or the assembly machine. E.g. this processing includes an upright recognition of components and / or a three-dimensional measurement of a pipette of the placement machine and / or a detection of the absence of the component on the placement head in order to ensure a previous placement. For the generation of the three-dimensional image, for. B. a so-called "stereo matching process" can be carried out.

Furthermore, it is possible for the receiving device to be designed as a non-stationary and / or (within the automatic placement machine) movable receiving device. Thus, the measuring principle according to the receiving device according to the invention can also be applied to the sensors of such movable receiving devices, such as moving head cameras of the placement head, in particular turret heads. By using at least two imaging systems, a beam path with at least two detection means (in particular sensors) and two imaging optics (in particular entocentric lenses) could therefore be used. As sensors come here z. B. area as well as line sensors into consideration.

The recording device is advantageously used to record the image recordings in order to determine the position of the object relative to the placement machine therefrom. The receiving device can also be designed as a measuring device for component measurement, ie for measuring the component position relative to the placement head. In this case, the object can be understood as the component that is to be placed on the circuit board. According to the invention, this component measurement can take place primarily laterally if the depth information (axial) is used to correct the image due to the error of the entocentric optics.

The detection area can in particular be defined as the entire area which can be detected by all of the imaging systems.

For example, it can be provided that the imaging systems each have imaging optics for (optical) imaging of the respective sub-area, and in particular each have associated with the imaging optics a (in particular electronic) acquisition means for providing the respective image recording. In other words, the first imaging system can have a first imaging optics and a first acquisition means and the second imaging system a second imaging optics and a second acquisition means, etc. The respective image recording is preferably designed as an image recording of the imaged sub-area. For this purpose, the respective imaging optics z. B. be arranged in relation to the assigned detection means that the optical image of the respective sub-area can be detected by the detection means. E.g. if the imaging optics have an objective for this purpose in order to generate the optical image on the detection means. The detection means can in turn be designed as a sensor (image sensor) in order to convert the optical image into a digital image. If the detection means is designed as a two-dimensional sensor, the mapping is correspondingly a two-dimensional mapping of a two-dimensional partial area.

Furthermore, it can be provided that the respective imaging optics are designed as an entocentric (also: endocentric) objective, in particular to generate an optical image, preferably with an entocentric perspective, in such a way that a lateral position of the object in the image depends on the distance (Distance) of the object to the imaging optics is dependent. This is particularly true when the object is not arranged in the optical axis of the imaging optics. In the case of entocentric optics or perspective, the image scale can be dependent on the distance between the object and the lens, since the bundles of rays diverge. In the case of an object that is not exactly in the center of the image, a change in the distance thus leads to a change in the lateral X / Y position.

In this context, a distinction is made between the position of the object in the image, i.e. the measured (determined) position, and the real position in the placement machine. The entocentric mapping of the object here has the disadvantageous aspect that the lateral position in the mapping can differ significantly from the real position. In the invention, the correction information can therefore be used to compensate for this disadvantage.

In the context of the invention, the lateral position can be understood to mean a position in the lateral direction. The lateral direction can relate to all directions orthogonal to the optical axis of the imaging system, i. H. orthogonal to an axial direction. In particular, the axial direction corresponds to the direction in which the components are moved by the placement head, in particular by the pipette, to be picked up.

It is also conceivable within the scope of the invention that a processing device is provided to correct a positional deviation of the object in the image recordings using the correction information, the positional deviation preferably correlating with the distance-dependent lateral position in the image. As described above, the lateral position in the image can be dependent on the distance of the object from the imaging system. This therefore leads to a deviation from the real position, that is to say to the position deviation. In other words, the positional deviation correlates with the distance-dependent lateral position in the image; the deviation is therefore caused by the distance dependency. In order to still be able to use the advantages of the imaging system, in particular the entocentric lens, the correction information can be used to correct this position deviation. The use of the entocentric lens offers in particular the advantage of low costs and little space required.

In addition, it is advantageous if the respective acquisition means is designed as an image sensor in order to provide the respective image recording as a two-dimensional recording of the respective partial area. Such an image sensor can be designed, for example, as a CMOS (complementary metal-oxide-semiconductor) or CCD (charge-coupled device) sensor. This provides an opportunity for further digital processing.

It is also conceivable that a third and / or at least one fourth imaging system are provided for capturing a respective sub-area of the detection area in order to provide an image recording of the respective sub-area, with all of the imaging systems such can be arranged next to one another so that the detected subregions overlap in pairs and preferably differ from one another. The overlap is preferably selected in such a way that additional distance information about a distance of the imaging system to the object can be provided by the overlap. The principle of a stereo camera can be used here, it being possible for more imaging systems to be provided than with a conventional stereo camera. This enables a particularly reliable determination of the position and coverage of a relatively large detection area by the partial areas.

It can also be possible for the (respective) detection means to have a line and / or matrix sensor. If necessary, a combination of different sensors can also be provided.

For example, it can be provided that the imaging systems are arranged side by side in such a way that at least two of the provided image recordings always jointly provide information for determining the position, in particular so that the object, preferably in the form of an electronic component on a placement head of the placement machine, always passes through these two image recordings are captured simultaneously. This has the advantage that distance information can be provided for the object.

It may further be possible for a processing device to be provided in order to receive the provided image recordings, in particular from the acquisition means, and to determine the correction information based on the received image recordings, in particular based on a determination of differences between the image recordings. For reception, for. B. a signal connection between the processing device and the detection means can be provided. The processing device can, if necessary, repeatedly and / or automatically determine the correction information by processing the image recordings. This processing is preferably carried out as part of the placement process of the placement machine, and is thus coordinated with further steps of the placement process (such as the movement of the placement head). It is also possible that the processing determines the position, and the movement of the placement head is controlled as a function of the determined position.

Preferably, within the scope of the invention, it can be provided that a processing device is provided in order to generate three-dimensional information about the detection area on the basis of processing the image recordings, which each provide only two-dimensional information, whereby in particular two neighboring imaging systems each jointly generate a stereo Train camera. The correction information can thus be reliably determined on the basis of this additional dimension.

It can preferably be provided that the receiving device comprises a housing which receives the imaging systems in order to be integrated in the assembly machine as a unit. A particularly simple structure for determining the position is thus possible. The integration can e.g. B. be stationary and immobile, alternatively also movable z. B. on the placement head.

• - ein erstes Abbildungssystem zur Erfassung eines ersten Teilbereichs des Erfassungsbereichs, um eine erste Bildaufnahme des ersten Teilbereichs bereitzustellen,
• - wenigstens ein zweites Abbildungssystem zur Erfassung wenigstens eines zweiten Teilbereichs des Erfassungsbereichs, um zumindest eine zweite Bildaufnahme des zweiten Teilbereichs bereitzustellen, wobei die Abbildungssysteme derart nebeneinander angeordnet sind, dass sich zumindest der erste und zweite Teilbereich überlappen, um anhand der Bildaufnahmen eine Korrekturinformation für die Ermittlung der Position zu bestimmen. Damit bringt der erfindungsgemäße Bestückungsautomat die gleichen Vorteile mit sich, wie sie ausführlich mit Bezug auf eine erfindungsgemäße Aufnahmevorrichtung beschrieben worden sind. Zudem kann die Aufnahmevorrichtung des erfindungsgemäßen Bestückungsautomaten als die erfindungsgemäße Aufnahmevorrichtung ausgebildet sein.

The invention also relates to an automatic placement machine for placing (mounting) components on a circuit board, having a (in particular optoelectronic) recording device for determining at least one position of an object, in particular one of the components or the circuit board, in a detection area, in particular relative to the automatic placement machine. It is provided here that the receiving device has:

• a first imaging system for capturing a first sub-area of the detection area in order to provide a first image recording of the first sub-area,
• At least one second imaging system for capturing at least a second sub-area of the detection area in order to provide at least one second image recording of the second sub-area, the imaging systems being arranged next to one another in such a way that at least the first and second sub-areas overlap in order to provide correction information for the Determine the position. The automatic placement machine according to the invention thus has the same advantages as have been described in detail with reference to a receiving device according to the invention. In addition, the receiving device of the automatic placement machine according to the invention can be designed as the receiving device according to the invention.

In addition, it is conceivable within the scope of the invention that a placement head is provided for receiving (receiving), in particular suction, the component, in particular for receiving the component only on one side, so that the receiving device can be designed to position the component relative to the placement head determine. By designing the placement head only for one-sided accommodation of components, a relatively simple and stationary arrangement of the receiving device can be selected. The placement head is designed, for example, as a matrix head or as a turret head or as a line head.

It is conceivable that the recording device is designed as a stationary camera of the placement machine, preferably for determining the position of the component. Alternatively, the recording device can be designed as a movable (in particular “traveling”) camera, with the movable camera preferably being attached to a placement head in order to move with the placement head. In addition, the receiving device can optionally be arranged permanently on the placement head, preferably to determine the position of the circuit board. In addition, the movement of the receiving device can optionally be controlled as a function of a movement of the placement head. It is also possible, if necessary, for a first recording device to be configured as the stationary camera in the sense mentioned, and at least one further recording device as the movable camera in the mentioned sense.

• - Bereitstellen einer ersten Bildaufnahme eines ersten Teilbereichs des Erfassungsbereichs durch ein erstes Abbildungssystem,
• - Bereitstellen einer zweiten Bildaufnahme eines zweiten Teilbereichs des Erfassungsbereichs durch ein zweites Abbildungssystem, wobei sich der erste und zweite Teilbereich überlappen und insbesondere voneinander unterscheiden,
• - optional: Bereitstellen wenigstens einer dritten Bildaufnahme wenigstens eines dritten Teilbereichs des Erfassungsbereichs durch wenigstens ein drittes Abbildungssystem, wobei sich immer wenigstens oder nur zwei der (ersten, zweiten, dritten usw.) Teilbereiche überlappen und insbesondere voneinander unterscheiden,
• - Verarbeiten zumindest der ersten und zweiten (und ggf. dritten und insbesondere weiteren) Bildaufnahme, um eine Korrekturinformation für die Ermittlung der Position zu bestimmen.

The invention also relates to a method for determining at least one position of an object in a detection area in an automatic placement machine, in particular according to the invention, preferably using a receiving device according to the invention. It is provided that the following steps are carried out, preferably one after the other in the order specified or in any order, with all and / or individual steps also being able to be carried out repeatedly if necessary:

• - Provision of a first image recording of a first sub-area of the detection area by a first imaging system,
• - Providing a second image recording of a second sub-area of the detection area by a second imaging system, wherein the first and second sub-areas overlap and in particular differ from one another,
• - optional: providing at least one third image recording of at least a third sub-area of the detection area by at least one third imaging system, with at least or only two of the (first, second, third, etc.) sub-areas always overlapping and in particular differing from one another,
• Processing at least the first and second (and possibly third and in particular further) image recordings in order to determine correction information for determining the position.

The method according to the invention thus has the same advantages as have been described in detail with reference to a receiving device according to the invention and an automatic placement machine according to the invention. In addition, the method can be suitable for operating a receiving device according to the invention and / or an automatic placement machine according to the invention.

• - Korrigieren einer Positionsabweichung des Objekts in den Bildaufnahmen anhand der Korrekturinformation, wobei die Positionsabweichung für eine Abbildungscharakteristik einer jeweiligen Abbildungsoptik der jeweiligen Abbildungssysteme spezifisch sein kann.

In another option, it can be provided that the following step is carried out after processing:

• Correcting a positional deviation of the object in the image recordings on the basis of the correction information, wherein the positional deviation can be specific to an imaging characteristic of a respective imaging optics of the respective imaging system.

The correction is made e.g. B. in a simple manner in that a distance to the object is calculated and the correction information is determined on the basis of the distance and the (known) imaging characteristic. As an alternative or in addition, it can be provided that, during processing, the correction information is determined based on a disparity of the image recordings, and / or a distance of the object is determined based on the image recordings.

• 1 eine schematische Darstellung von Teilen einer erfindungsgemäßen Aufnahmevorrichtung und eines erfindungsgemäßen Bestückungsautomaten,
• 2 eine weitere schematische Darstellung von Teilen einer erfindungsgemäßen Aufnahmevorrichtung und eines erfindungsgemäßen Bestückungsautomaten,
• 3 eine schematische Darstellung einer erfindungsgemäßen Aufnahmevorrichtung.

Further advantages, features and details of the invention emerge from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. Show it:

• 1 a schematic representation of parts of a receiving device according to the invention and a pick and place machine according to the invention,
• 2 a further schematic representation of parts of a receiving device according to the invention and an automatic placement machine according to the invention,
• 3 a schematic representation of a receiving device according to the invention.

In the following figures, the same reference numerals are used for the same technical features from different exemplary embodiments.

In the 1 and 2 is in each case a pick and place machine according to the invention 100 shown, which for placing components 1 on a circuit board 2 serves. Furthermore, there is a receiving device according to the invention 10 for determining at least one position of an object 1 shown schematically. Simplified, there is only one mapping system 20th representative of all imaging systems 20th the receiving device 10 in order to use this representation to create the Imaging characteristics of an entocentric imaging optics 30th to clarify. In addition, for a simplified and uniform representation, the schematic arrangement is shown in FIG 1 "rotated" by 180 ° in relation to a possible real arrangement, so that the receiving device 10 and the component 1 real above the circuit board 2 can be located. The imaging system 20th serves to capture a partial area 210 of an entire detection area 200 , in which also the object 1 is localized. The imaging optics 30th of the imaging system 20th an optical image of the sub-area 210 generate which from an associated detection means 40 is recorded. In this way the recording can be used as a picture recording 220 of the sub-area 210 can be provided to determine the position. The image capture 220 is only shown in isolation to visualize a method according to the invention. Due to the entocentric imaging optics 30th however, a positional deviation may occur P in the illustration and thus also in the image recording 220 come. This is justified by the fact that the object 1 outside the optical axis A. is arranged, and the lateral position in the image is then from the distance D. of the object 1 to the imaging system 20th is dependent (see 1 ). To illustrate this, it is based on the distance of the line 210 another light beam is shown in dashed lines. To this positional deviation P to correct, a processing device can 50 be provided to use the image recordings 220 to determine correction information. Here are the imaging systems 20th arranged side by side in such a way that the respective sub-areas 210 overlap (see 3 , in which exemplary sub-areas 210 are shown overlapping). This makes it possible to use the correction information as additional information (in addition to the lateral position of the object 1 ) over the distance D. from the image recordings 220 to determine.

In 1 is shown that the object 1 as part of a circuit board 2 can be designed to in particular the position of the circuit board 2 relative to the placement machine 100 , preferably relative to an in 2 shown placement head 110 , to determine. This enables the placement head 110 depending on the determined position for placing a component on the circuit board 2 to move. The object 1 is designed for this purpose, for example, as a marker or the like.

The receiving device 10 according to 1 and or 2 can be designed as a movable camera, and thus the detection area is flexible 200 can be set. The receiving device 10 possibly fixed to the placement head 110 be arranged, or relative to the placement head 110 move, and accordingly with the placement head 110 move along (i.e. the position relative to the placement head 110 hold).

In 2 is shown that the object 1 also the component 1 on the placement head 110 can be. This is in 3 shown with further details. This is how the component can 1 from a pipette 111 of the placement head 110 be included.

It is also shown that the receiving device 10 a housing 60 which may include the imaging systems 20th takes up in order to be integrated in the placement machine 100 to be integrated.

• - ein erstes Abbildungssystem 21 zur Erfassung eines ersten Teilbereichs 211 des (gesamten) Erfassungsbereichs 200, um eine erste Bildaufnahme 221 des ersten Teilbereichs 211 bereitzustellen, wobei das erste Abbildungssystem 21 eine erste Abbildungsoptik 31 und ein zugeordnetes erstes Erfassungsmittel 41 aufweisen kann,
• - ein zweites Abbildungssystem 22 zur Erfassung eines zweiten Teilbereichs 212 des Erfassungsbereichs 200, um eine zweite Bildaufnahme 222 des zweiten Teilbereichs 212 bereitzustellen, wobei das zweite Abbildungssystem 22 eine zweite Abbildungsoptik 32 und ein zugeordnetes zweites Erfassungsmittel 42 aufweisen kann,
• - ein drittes Abbildungssystem 23 zur Erfassung eines dritten Teilbereichs 213 des Erfassungsbereichs 200, um eine dritte Bildaufnahme 223 des dritten Teilbereichs 213 bereitzustellen, wobei das dritte Abbildungssystem 23 eine dritte Abbildungsoptik 33 und ein zugeordnetes drittes Erfassungsmittel 43 aufweisen kann,
• - wenigstens ein viertes Abbildungssystem 24 zur Erfassung wenigstens eines vierten Teilbereichs 214 des Erfassungsbereichs 200, um zumindest eine vierte Bildaufnahme 224 des vierten Teilbereichs 214 bereitzustellen, wobei das vierte Abbildungssystem 24 eine vierte Abbildungsoptik 34 und ein zugeordnetes viertes Erfassungsmittel 44 aufweisen kann.

In 3 is a receiving device according to the invention 10 for a pick and place machine 100 for determining at least one position of an object 1 in one detection area 200 at the pick and place machine 100 shown with more details. The receiving device according to the invention can 10 exhibit:

• - a first imaging system 21st for capturing a first partial area 211 of the (entire) detection area 200 to take a first picture 221 of the first sub-area 211 to provide, the first imaging system 21st a first imaging optics 31 and an associated first detection means 41 may have
• - a second imaging system 22nd for capturing a second sub-area 212 of the detection area 200 to take a second picture 222 of the second sub-area 212 to provide, the second imaging system 22nd a second imaging optics 32 and an associated second detection means 42 may have
• - a third imaging system 23 for capturing a third sub-area 213 of the detection area 200 to take a third picture 223 of the third sub-area 213 to provide, the third imaging system 23 a third imaging optics 33 and an associated third detection means 43 may have
• - at least a fourth imaging system 24 for detecting at least a fourth sub-area 214 of the detection area 200 to get at least a fourth image capture 224 of the fourth section 214 to provide, the fourth imaging system 24 a fourth imaging optics 34 and an associated fourth detection means 44 may have.

As shown, the imaging systems are 21st , 22nd , 23 , 24 arranged side by side in such a way that at least the first and second partial areas 211 , 212 and / or all directly adjacent sub-areas 211 , 222 , 223 , 224 (in pairs) overlap, based on the images 221 , 222 , 223 , 224 to determine correction information for determining the position.

According to 3 is also a method according to the invention for determining at least one position of an object 1 in one detection area 200 with a pick and place machine 100 visualized. According to a first step, a first image recording is provided 221 a first sub-area 211 of the detection area 200 through a first imaging system 21st . According to a second step, a second image recording is provided 222 a second sub-area 212 of the detection area 200 through a second imaging system 22nd , the first and second sub-areas 211 , 212 overlap. According to a third step, at least the first and second image recordings are processed 221 , 222 to determine correction information for determining the position.

The above explanation of the embodiments describes the present invention exclusively in the context of examples. Of course, individual features of the embodiments can be freely combined with one another, provided that they are technically sensible, without leaving the scope of the present invention.

List of reference symbols

1

Object, component, component

2

Circuit board

10

Recording device, measuring device

20th

Imaging system, camera system

21st

first imaging system

22nd

second imaging system

23

third imaging system

24

fourth imaging system

30th

Imaging optics, entocentric lens

31

first imaging optics

32

second imaging optics

33

third imaging optics

34

fourth imaging optics

40

Detection means, sensor, image sensor

41

first acquisition means

42

second detection means

43

third detection means

44

fourth detection means

50

Processing device

60

casing

100

Pick & place machine

110

Placement head

111

pipette

200

Detection area

210

Section

211

first part

212

second part

213

third sub-area

214

fourth sub-area

220

Image acquisition

221

first image acquisition

222

second image capture

223

third image capture

224

fourth image capture

A.

optical axis

P

Position deviation

D.

distance

Claims (18)

Receiving device (10) for an automatic placement machine (100) for determining at least one position of an object (1) in a detection area (200) in the automatic placement machine (100), comprising: - A first imaging system (21) for capturing a first sub-area (211) of the detection area (200) in order to provide a first image recording (221) of the first sub-area (211), - At least one second imaging system (22) for capturing at least one second sub-area (212) of the detection area (200) in order to provide at least one second image recording (222) of the second sub-area (212), the imaging systems (21, 22) arranged next to one another in this way are that at least the first and second sub-areas (211, 212) overlap in order to determine correction information for determining the position on the basis of the image recordings (221, 222). Recording device (10) according to Claim 1 , characterized in that the imaging systems (21, 22) each have an imaging optics (30) for imaging the respective sub-area (211, 212), and in particular an electronic detection means (40) assigned to the imaging optics (30) for providing the respective Have image recording (221, 222). Recording device (10) according to Claim 2 , characterized in that the respective imaging optics (30) is designed as an entocentric lens (30), in particular to generate an optical image in such a way that a lateral position of the object (1) in the image depends on the distance of the object (1) for imaging optics (30) is dependent. Recording device (10) according to Claim 3 , characterized in that a processing device (50) is provided to correct a positional deviation of the object (1) in the image recordings (221, 222) on the basis of the correction information, the positional deviation correlating with the distance-dependent lateral position in the image. Recording device (10) according to one of the Claims 2 to 4th , characterized in that the respective detection means (40) is designed as an image sensor (40) in order to provide the respective image recording (221, 222) as a two-dimensional recording of the respective sub-area (211, 212). Recording device (10) according to one of the preceding claims, characterized in that at least one third and / or at least one fourth imaging system (23, 24) are provided for capturing a respective sub-area (213, 214) of the capturing area (200) by one in each case Provide image recording (223, 224) of the respective sub-area (213, 214), all of the imaging systems (21, 22, 23, 24) being arranged next to one another in such a way that the recorded sub-areas (211, 212, 213, 214) overlap in pairs , and preferably differ from each other. Recording device (10) according to Claim 6 , characterized in that the imaging systems (21, 22, 23, 24) are arranged side by side in such a way that at least two of the provided image recordings (221, 222, 223, 224) always jointly provide information for determining the position, in particular so that the object (1), preferably in the form of an electronic component (1) on a placement head (110) of the placement machine (100), is always captured simultaneously by these two image recordings (221, 222, 223, 224). Recording device (10) according to one of the preceding claims, characterized in that a processing device (50) is provided to receive the provided image recordings (221, 222, 223, 224) and to use the received image recordings (221, 222, 223 , 224) to determine the correction information, in particular based on a determination of differences between the image recordings (221, 222, 223, 224). Recording device (10) according to one of the preceding claims, characterized in that a processing device (50) is provided to use a processing of the image recordings (221, 222, 223, 224), which each provide only two-dimensional information, to provide three-dimensional information to generate the detection area (200), in particular two adjacent imaging systems (21, 22, 23, 24) jointly forming a stereo camera. Receiving device (10) according to one of the preceding claims, characterized in that the receiving device (10) comprises a housing (60) which accommodates the imaging systems (21, 22, 23, 24) in order to be integrated in the assembly machine (100) as a unit will. Automatic placement machine (100) for placing components (1) on a circuit board (2), having a receiving device (10) for determining at least one position of an object (1), in particular one of the components (1) or the circuit board (2), in a detection area (200), wherein the receiving device (10) comprises: - A first imaging system (21) for capturing a first sub-area (211) of the detection area (200) in order to provide a first image recording (221) of the first sub-area (211), - At least one second imaging system (22) for capturing at least one second sub-area (212) of the detection area (200) in order to provide at least one second image recording (222) of the second sub-area (212), the imaging systems (21, 22) arranged next to one another in this way are that at least the first and second sub-areas (211, 212) overlap in order to determine correction information for determining the position on the basis of the image recordings (221, 222). Pick and place machine (100) Claim 11 , characterized in that a placement head (110) is provided for receiving, in particular suction, the component (1), in particular for receiving the component (1) on one side only, so that the receiving device (10) is designed to determine the position of the component ( 1) relative to the placement head (110). Pick and place machine (100) Claim 11 or 12 , characterized in that the receiving device (10) is designed as a stationary camera of the placement machine (100), preferably for determining the position of the component (1). Pick and place machine (100) Claim 11 or 12 , characterized in that the recording device (10) as a movable camera of the A placement machine (100) is formed, the movable camera preferably being attached to a placement head (110) in order to move with the placement head (110). Pick and place machine (100) according to one of the Claims 11 to 14th , characterized in that the receiving device (10) according to one of the Claims 1 to 10 is trained. Method for determining at least one position of an object (1) in a detection area (200) in an automatic placement machine (100), in particular according to one of the Claims 11 to 15th , preferably by a receiving device (10) according to one of the Claims 1 to 10 , the following steps being carried out: - providing a first image recording (221) of a first partial area (211) of the detection area (200) by a first imaging system (21), - providing a second image recording (222) of a second partial area (212) of the Detection area (200) by a second imaging system (22), the first and second partial areas (211, 212) overlapping, processing of at least the first and second image recordings (221, 222) in order to determine correction information for determining the position . Procedure according to Claim 16 , characterized in that the following step is carried out after processing: - Correcting a positional deviation of the object (1) in the image recordings (221, 222) on the basis of the correction information, the positional deviation for an imaging characteristic of a respective imaging optics (30) of the respective imaging system (21, 22) is specific. Procedure according to Claim 16 or 17th , characterized in that during processing, the correction information is determined on the basis of a disparity of the image recordings (221, 222) and / or a distance of the object (1) is determined on the basis of the image recordings (221, 222).

Images