JP4171336B2 - Component assembly apparatus and component assembly method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a component assembling apparatus used when an optical component such as a lens is assembled to a frame such as a lens frame.
[0002]
[Prior art]
In recent years, the demand for compact optical systems has increased, and aspheric lenses have been frequently used. In such an optical system, the assembly error allowed for the lens is about a few microns, and it is a situation where sufficient optical performance cannot be compensated only by the processing accuracy of the parts (mirror frame / lens). For this reason, it is necessary to adjust the optical axis with high accuracy when the optical system is assembled.
[0003]
As a conventional lens system assembly device, a lens centered in a lens barrel is inserted on the basis of an external shape, or the optical axis is measured from the reflected light position or interference fringe of the lens, and the optical axis is determined. What is assembled while adjusting is known (for example, see Patent Document 1).
[0004]
[Patent Document 1]
JP 2002-214498 A
[0005]
[Problems to be solved by the invention]
However, in a component assembly apparatus that inserts a lens centered on a lens barrel on the basis of an external shape, there is a problem that assembly accuracy depends on dimensional tolerances of components (mirror frame and lens). Therefore, it is good if the lens frame and all the optical components assembled to it are manufactured with sufficiently high precision, but if they have some dimensional tolerance, they are fine. However, there is an inconvenience that the assembly accuracy is lowered due to the accumulation of dimensional tolerances.
[0006]
On the other hand, the assembling apparatus shown in Patent Document 1 does not assemble parts on the basis of the external shape, but irradiates the optical parts to be assembled with laser light and detects the reflected light from the optical parts, whereby each optical part is detected. The posture and position of the optical component can be adjusted so that the optical axis of the lens and the central axis of the lens barrel coincide with each other. Specifically, there are a method of correcting the posture and position of an optical component by detecting the reflection position of the reflected light by a PSD element, and a method of correcting by observation of interference fringes formed by interference between the reflected light and the reference light. is there.
[0007]
However, in assembly adjustment using reflected light, the position of each optical component can be adjusted, but there is a disadvantage that performance evaluation of the optical system in the assembled state cannot be performed. That is, in the above apparatus, although it is possible to evaluate and assemble the optical axis shift and inclination of the optical component each time, it is impossible to evaluate the overall imaging characteristics of the assembled optical system, so the result As a result, the desired optical performance cannot be obtained.
[0008]
The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a component assembling apparatus that can assemble components while evaluating the performance of an assembly during or after assembly.
[0009]
[Means for Solving the Problems]
  In order to achieve the above object, the present invention provides the following means.
  The invention according to claim 1Frame optical components such as lensesA parts assembly device to be assembled toThe optical componentsA holding hand, and a transport device for moving the hand;A posture confirmation camera comprising at least two cameras having optical axes intersecting with each other for photographing the optical component held by the hand and confirming an inclination angle of the optical component and a suction position by the hand;,A chucking device for holding the frame for assembling the optical component is disposed on the upper surface of the disk-shaped member having a through hole in the center thereof, the tilt angle of the disk-shaped member, the tilt direction, and the center axis. And a stage equipped with a rotation tilting device capable of changing the rotation angle of the disc-shaped member and the frame body held by the chucking device on the disc-shaped member via the through-hole of the disc-shaped member. In order to measure the characteristics of the optical component, the disk-like member is disposed vertically below the through hole.A measuring device;Activating the rotation tilt device of the stage to adjust the tilt angle of the disk-shaped member of the stage based on the tilt angle of the optical component with respect to the hand and the posture information of the suction position obtained by the posture check camera And the control device operates on the rotation and tilting device based on the three-dimensional posture information of the optical component obtained by the posture confirmation camera, and is held on the upper surface of the disk-shaped member. The tilt angle is adjusted so that the central axis of the frame body is parallel to the optical axis of the optical component held by the hand, and the optical component is placed in the adjusted frame body by the transport device. InsertedA component assembling apparatus is provided.
[0010]
  The invention according to claim 2The component assembly apparatus according to claim 1, further comprising a component pallet on which the optical component to be assembled to the frame body is mounted, and the transport device includes a slider that moves the hand up and down. Is fixed with a component confirmation camera for recognizing the position and shape of the optical component placed on the component pallet.Providing parts assembly equipment.
[0011]
  According to a third aspect of the present invention, there is provided the component assembling apparatus according to the second aspect, wherein the component confirmation camera includes two types of cameras having different magnifications.
[0012]
  The invention according to claim 4 provides the component assembling apparatus according to claim 1, wherein the measuring device is an MTF measuring device.
[0013]
  The component assembling method according to claim 5 is a component assembling method for assembling an optical component such as a lens, which is moved by a conveying device and held by a hand, to a frame body, and the frame body for assembling the optical component is arranged at the center. And holding the stage by a stage provided with a rotation tilt device capable of changing the tilt angle, tilt direction, and rotation angle around the central axis when the frame is held; The optical component held by the hand is photographed by an attitude confirmation camera having at least two cameras having optical axes intersecting each other, and the inclination angle of the optical component held by the hand and the suction by the hand Based on the step of confirming the position, the inclination angle of the optical component with respect to the hand and the posture information of the suction position obtained by the posture confirmation camera, the control device performs the step. A step of adjusting the tilt angle of the frame body held on the stage by operating the rotary tilting device of the frame, and the center axis of the frame body held on the stage is adjusted to the hand by the tilt angle adjustment. After adjusting to be parallel to the optical axis of the held optical component, inserting the optical component held by the hand into the frame, and through the through hole of the stage, There is provided a component assembling method including a step of measuring characteristics of the optical component assembled to the frame held by a stage with a measuring device disposed below a through hole of the stage.
[0014]
  According to a sixth aspect of the present invention, in the component assembling method according to the fifth aspect, when measuring the characteristics of the optical component assembled to the frame by a measuring device disposed below the through hole of the stage, Provided is a component assembling method that is performed every time the optical component held by the hand is inserted into a frame.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
A component assembling apparatus according to a first embodiment of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the component assembling apparatus 1 according to the present embodiment is mounted on a component pallet 3 on which an optical component such as a lens to be assembled is mounted on an apparatus housing 2 and on the component pallet 3. A hand 4 that holds the optical components, a transport device 5 that can move the hands 4 in the XYZ directions, a posture confirmation camera 6 that photographs the optical components held by the hand 4, and a frame that assembles the optical components. The stage 7 to hold | maintain and the MTF measuring apparatus 8 which measures the characteristic of the optical component assembled | attached to the frame on the stage 7 are provided.
[0017]
The apparatus housing 2 includes an internal space sealed against the outside by a partition wall 2a, and a clean unit 2b for maintaining the cleanliness of the internal space at the top. That is, by operating the clean unit 2b, the internal space can be maintained in a state of higher purity than the outside of the apparatus housing 2. The apparatus housing 2 is provided with a horizontal table 2c in the vicinity of the center in the vertical direction. On the table 2c, the component pallet 3, the hand 4, the transfer device 5, the posture confirmation camera 6, and the hand stocker unit 21 are provided. The stage 7 is arranged over the top and bottom of the table 2c, and the main part of the MTF measuring device 8 is arranged under the table 2c.
[0018]
The component pallet 3 is a temporary placing table for placing optical components that are scheduled to be assembled to a frame, and is placed so that a plurality of types of optical components can be classified and placed. A partition member 3a for partitioning a space is provided. Moreover, the part which mounts the optical component of the components palette 3 consists of a transparent material, and is equipped with the illumination light source 3b for illuminating the mounted optical component below.
[0019]
The hand 4 is, for example, a suction hand provided with a suction port 4a directed downward, and the optical component on the component pallet 3 can be sucked by a negative pressure air pressure supplied by a suction pump (not shown). ing. Further, a plurality of types of hands 4 having a suction end shape that matches the shape of the optical component to be gripped are prepared, and can be exchanged by a hand attaching / detaching device 9 described later.
[0020]
The transport device 5 includes, for example, linear guides 5a, 5b, and 5c provided in the XYZ3 directions, sliders 5d, 5e, and 5f movable along the linear guides 5a to 5c, and the sliders 5d to 5f, respectively. A ball screw to be driven and a drive mechanism including a motor are combined. A slider 5f in the Z-axis (that is, vertical axis) direction arranged in the final stage has a hand attaching / detaching device 9 for detachably holding the hand 4, and an optical component placed on the component pallet 3. A component confirmation camera 10 for recognizing the position, shape, and the like, an adhesive application device 11 for fixing the assembled optical component, a pinhole chart 12 described later, and the like are fixed.
Each slider 5d-5f is urged in one direction by an urging means such as an air cylinder (not shown). Thereby, the backlash of the ball screw is removed, and the sliders 5d to 5f are configured to be accurately positioned.
[0021]
The component confirmation camera 10 includes, for example, two types of cameras 13 and 14 having different magnifications. As a result, first, the low-magnification camera 13 is operated to check the approximate position and shape of the optical component on the component pallet 3, and then the high-magnification camera 14 is operated to determine the detailed position and shape of the optical component. Can be confirmed.
[0022]
The posture confirmation camera 6 includes, for example, two cameras 15 and 16 in which optical axes are arranged in two directions, ie, the Z direction and the Y direction. The optical component attracted and moved by the hand 4 is arranged near the intersection of the optical axes of the two cameras 15 and 16, so that the inclination angle of the optical component that is attracted and held by the hand 4. And the suction position by the hand 4 can be confirmed.
[0023]
The stage 7 passes through a hole 2d provided in the table 2c of the apparatus housing 2 and is arranged over the table 2c. As shown in FIGS. 1 and 2, the stage 7 has a disc-shaped member 17 having a through hole in the center, and the tilt angle, tilt direction, and rotation angle around the central axis of the disc-shaped member 17 can be freely set. And a chucking device 20 that grips a frame body such as a lens barrel 19 disposed on the upper surface of the disk-like member 17 in a positioning state. ing. In FIG. 2, reference numerals 22a, 22b, and 22c denote first to third lenses, and reference numeral 23 denotes a ring-shaped spacer.
[0024]
The rotary tilting device 18 is, for example, a parallel link mechanism constituted by six cylinders 18a attached to the lower surface of the disc-like member 17, and the disc-like member is adjusted by adjusting the projecting dimension of each cylinder 18a. 17 can be accurately tilted in any direction or rotated around its central axis. The chucking device 20 includes, for example, three cylinders 20a that can advance and retreat in the direction of the central axis of the disk-like member 17, and press the outer surface of the lens barrel 19 from three directions as shown in FIG. To hold.
[0025]
The hand stocker unit 21 is a member for placing various hands 9 that can be attached / detached by the hand attaching / detaching device 9, and is changed to an appropriate hand 4 according to the shape of the optical parts 22a to 22c to be sucked or held. Making it possible.
[0026]
As shown in FIG. 3, the MTF measuring device 8 includes a CCD image sensor 24 arranged vertically upward below the stage 7, and an imaging optical system 25 arranged along the vertical direction above the CCD image sensor 24. The magnifying optical system 26 disposed along the vertical direction between the imaging optical system 25 and the stage 7, the actuator 27 capable of adjusting the position of the magnifying optical system 26 in the vertical direction, and the slider 5f are provided. The light source 28 and the pinhole chart 12 are included. The light source 28 is disposed so as to irradiate light downward above the pinhole chart 12.
[0027]
A component assembling method for assembling the optical system 29 shown in FIG. 2 by the component assembling apparatus 1 according to the present embodiment configured as described above will be described below.
An optical system 29 shown in FIG. 2 includes a substantially cylindrical lens barrel 19 having a stepped hole 19a in the center, and three lenses 22a to 22c (inside the stepped hole 19a of the lens barrel 19). Optical component) and a spacer 23 disposed between the lenses 22a to 22c.
[0028]
In order to assemble the optical system 29, first, the lens barrel 19 is placed on the disk-like member 17 of the stage 7, and the chucking device 20 is operated so that the outer surface of the lens barrel 19 is radially outward. The lens frame 19 is fixed on the disk-like member 17 of the stage 7 by pressing at three points from the side. At this time, the lens barrel 19 is arranged so that the center axis of the stepped hole 19 a of the lens barrel 19 coincides with the through hole 17 a of the disk-like member 17.
On the component pallet 3, lenses 22a to 22c and a spacer 23 to be assembled are placed. The lens barrel 19 may be placed on the parts pallet 3.
[0029]
Next, the transport device 5 is operated to pick up the hand 4 that matches the shape of the first lens 22 a to be assembled from the hand stocker 21 by the hand attaching / detaching device 9. Then, the conveying device 5 is further operated to place the hand 4 on the parts pallet 3. In this state, the low-magnification camera 13 among the component confirmation cameras 10 is operated to confirm the position of the lens 22 a on the component pallet 3. Thereby, since the rough position of the lens 22a on the component pallet 3 is confirmed, the transport device 5 is further moved based on the rough position information. Then, the high-magnification camera 14 is operated above the lens 22a. Thereby, the exact position of the lens 22a is confirmed.
[0030]
By the above processing, an accurate positional relationship between the hand 4 on the slider 5f and the lens 22a to be attracted is grasped. By operating the transport device 5 based on the information, the tip 4a of the hand 4 is moved to the lens 22a. Can be accurately positioned on the upper surface of the substrate. Then, the hand 4 is operated to adsorb the lens 22 a, and the conveying device 5 is operated to arrange the adsorbed lens 22 a in the field of view of the posture recognition camera 6.
[0031]
By operating the posture recognition camera 6 in this state, posture information such as an inclination angle and a suction position of the lens 22a being sucked by the hand 4 with respect to the hand 4 is grasped. Further, when the lens 22a has directionality as in the case where the lens 22a is a D-cut lens or a square lens, the posture information includes information on the rotation direction. Since a plurality of cameras 15 and 16 are arranged with their optical axes crossing each other, three-dimensional posture information of the lens 22a can be obtained. The obtained posture information is sent to a control device (not shown) and used for adjusting the tilt angle of the stage 7 described later.
[0032]
Although not particularly shown, a reversing device for reversing the lens 22a may be arranged. The lenses 22a to 22c placed on the component pallet 3 may be simply placed without any distinction between the front and back sides. For this reason, when the lenses 22a to 22c attracted by the hand 4 have been reversed when viewed from the assembling direction, the reversing device is operated to reverse the lens 22a to 22c so that they are attracted again in the correct assembling direction. That's fine. For example, the reversing device may be configured by a gripper that sandwiches the lenses 22 a to 22 c from the left and right so that the lenses 22 a to 22 c can be received from the hand 4, reversed, and handed over to the hand 4 again.
[0033]
In this way, the lens 22a sucked and held by the hand 4 is disposed above the stage 7 by further operating the transport device 5. The stage 7 operates the rotation tilting device 18 based on the posture information of the attracted lens 22a obtained by the posture recognition camera 6 by the control device, and thereby the center of the lens barrel 19 held on the upper surface thereof. The tilt angle is changed so that the axis is parallel to the optical axis of the attracted lens 22a. When the lens 22a has directionality, the lens barrel 19 is rotated around the central axis based on the directionality information included in the posture information.
[0034]
Thereafter, as shown in FIG. 3, the conveying device 5 is operated to insert the lens 22 a into the lens barrel 19. Since the optical axis of the lens 22a and the central axis of the lens barrel 19 are arranged in parallel and the directionality thereof is matched, the lens 22a is accurately placed in the stepped hole 19a of the lens barrel 19. It becomes possible. Thereafter, the suction state by the hand 4 is canceled, and the rotary tilting device 18 is operated to return the disk-like member 17 of the stage 7 to the horizontal state.
[0035]
In this state, the through-hole 17a provided in the disk-like member 17 of the stage 7 and the lens barrel 19 are arranged side by side in the vertical direction, and their central axes are arranged below the same. The optical axis of the MTF measuring device 8 is matched. Therefore, the optical axis of the lens 22a accurately aligned with the central axis of the lens barrel 19 is also matched with the optical axis of the MTF measuring device 8.
[0036]
In this state, the transport device 5 is operated, and the light source 28 and the pinhole chart 12 mounted on the slider 5f are arranged at a predetermined object point distance above the stage 7 as shown in FIG. Then, the light source 28 is operated to irradiate light downward, and at the same time, the MTF measuring device 8 is operated.
The light emitted from the light source 28 is allowed to pass through the pinhole chart 12 so as to be transmitted through the lens 22 a in the lens barrel 19 after forming an image of the pinhole chart 12.
[0037]
The light condensed by passing through the lens 22 a is then incident on the magnifying optical system 26. In the magnifying optical system 26, the incident light is magnified, and the parallel light of the image of the pinhole chart 12 is emitted, and the image forming optical system 25 disposed below the magnifying optical system 25 forms an enlarged image on the CCD image sensor 24. Make an image. The CCD image pickup device 24 picks up the formed enlarged image and sends it as image data to an arithmetic device (not shown). Then, the sent image data is subjected to image processing and calculation in the calculation device, whereby an MTF value is calculated.
[0038]
This makes it possible to evaluate the optical performance of the lens 22a disposed in the lens barrel 19. When the lens 22a attached in the lens barrel 19 satisfies the predetermined optical performance by MTF measurement, the conveying device 5 is operated to position the adhesive applicator 11 on the lens barrel 19, and the lens An adhesive is applied between the lens frame 19 and the lens 22a to fix them. When the optical performance is not satisfied, the lens 22a is exchanged by the hand 4.
[0039]
Next, with respect to the spacer 23 arranged on the component pallet 3, the above-described processing up to the MTF measurement is repeated, so that the spacer 23 is accurately aligned with the lens barrel 19 and the lens 22a. It can be assembled.
Further, the second lens 22b can be assembled in a similar manner in a state of being accurately positioned with respect to the lens barrel 19.
[0040]
In this case, when the MTF measuring device 8 is operated after the second lens 22b is assembled, not only the second lens 22b but also the first lens 22a arranged at a predetermined interval via the spacer 23. The MTF value of the optical system including is measured. Therefore, if the desired optical performance is not obtained at this time, it is possible to consider not only replacement of the second lens 22b but also replacement of the spacer 23. If the optical characteristics such as aberration are not satisfied, the lens 22a is re-adsorbed by the hand 4 and the rotary tilting device 18 is operated, whereby the lens barrel 19 around the central axis of the lens barrel 19 and the second lens barrel 19 are operated. The relative rotation angle with the lens 22b is adjusted. Thereby, the optical characteristics can be adjusted during the assembly.
[0041]
Similarly, for the third lens 22c, it is possible to evaluate the optical performance of the entire optical system 29 as a finished product in a state where it is assembled to the lens barrel 19. When the desired optical performance is obtained for the entire optical system 29, the third lens 22c is fixed to the lens barrel 19 by the operation of the adhesive application device 11, and the optical system 29 can be completed. .
[0042]
As described above, according to the component assembling apparatus 1 according to the present embodiment, the optical axis of the lenses 22 a to 22 c attracted and held by the hand 4 by the stage 7 whose tilt angle and rotation angle can be changed by the rotary tilting device 18. In addition, since the posture of the lens barrel 19 is changed, the lenses 22 a to 22 c can be easily and accurately assembled to the lens barrel 19.
Further, the optical performance of the lenses 22a to 22c being assembled can be evaluated through the through hole 17a provided in the disk-like member 17 of the stage 7. As a result, when the desired optical performance is not satisfied during the assembly, the adjustment can be performed each time, so that the yield can be improved. Further, since the optical performance is evaluated without moving the stage 7 during the assembly, the man-hours associated with the movement of the stage 7 and the positional shift between the lenses 22a to 22c and the lens barrel 19 do not occur. Accordingly, the optical system 29 having the desired optical performance can be assembled efficiently by shortening the working time.
[0043]
In the component assembling apparatus 1 according to the present embodiment, the conveying apparatus 5 having the three sliders 55d to 55f that linearly move in the XYZ3 direction in the orthogonal coordinate system is adopted as the conveying apparatus 5 that conveys the hand 4 and the like. However, the present invention is not limited to this, and a transport device or a manipulator that moves in a cylindrical coordinate system or other coordinate systems may be employed.
In addition, the component pallet 3 is made of a transparent material, and a method of applying transmitted illumination from below is adopted. However, a method of forming an opaque material and applying epi-illumination from above may be adopted. Further, the shape of the component pallet 3, the number of the partition members 3a, the shape, and the like may be arbitrary.
[0044]
In addition, although the two cameras 13 and 14 having different magnifications are mounted on the slider 5f as the component confirmation camera 10, a camera having a zoom lens may be mounted instead.
Moreover, although the thing of the system adsorb | sucked with an air pressure is employ | adopted as the hand 4 holding lens 22a-22c, it may replace with this and the thing of the system hold | gripped with a gripper may be employ | adopted.
[0045]
Moreover, although the hand switching device 9 for exchanging the hand 4 according to the shape of the lenses 22a to 22c is operated by air pressure, it may be operated by an arbitrary power source instead.
Further, the posture confirmation camera 6 is exemplified as having two cameras 15 and 16 having optical axes intersecting with each other, but is not limited thereto, and may have three or more cameras. Good.
[0046]
In addition, the MTF measuring device 8 is arranged below the table 2c, but instead of this, or provided in such a manner that the position can be exchanged, another optical performance measuring device, for example, a device for measuring the focal length and the angle of view is provided. You may decide to arrange.
Further, although the stage 7 is provided with the rotary tilting device 18 composed of a parallel link mechanism, a rotary tilting device composed of another mechanism may be adopted instead. Instead of this, the hand attaching / detaching mechanism 9 that holds the hand 4 may be provided with a rotary tilting device including a parallel link mechanism so that the posture of the hand 4 can be changed. Further, the rotary tilting device 18 may be a combination of a rotating device and a tilting device.
[0047]
Further, the optical system 29 to be assembled is exemplified by the lens barrel 19, the three lenses 22a to 22c, and the spacer 23. However, the size and shape of the optical system 29 and the types of the lenses 22a to 22c to be combined are particularly limited. There is no.
In the above embodiment, the single pinhole chart 12 is arranged on the slider 5f. However, instead of this, a plurality of pinhole charts may be prepared so as to be replaceable. As a result, the MTF value can be measured by appropriately exchanging the pinhole chart 12 in accordance with the optical characteristics such as the focal length and imaging magnification of the optical system 29, and the optical system 29 with higher accuracy can be assembled. it can.
[0048]
The component assembling apparatus according to the present invention is not only applied when an optical component such as a lens is assembled to a lens barrel, but may be applied to the assembly of other arbitrary components. In the above embodiment, the lens is described as an example of the optical component. However, in the present invention, a lens barrel, a spacer, and the like as components constituting the optical system are also considered as a kind of optical component.
[0049]
【The invention's effect】
As described above, according to the component assembling apparatus and the component assembling method according to the present invention, the assembly operation and the performance evaluation operation can be performed without changing the stage. There is an effect that it can be assembled with accuracy. Moreover, since the performance evaluation of the assembly in the middle of an assembly is performed, it can assemble, confirming performance in the middle of an assembly. Therefore, there is an effect that generation of defective products in the final finished product assembled can be reduced, yield can be improved, and manufacturing cost can be reduced.
[Brief description of the drawings]
FIG. 1 is a perspective view schematically showing a component assembling apparatus according to an embodiment of the present invention.
FIG. 2 is a longitudinal sectional view showing a stage portion of the component assembling apparatus of FIG.
FIG. 3 is a schematic view for explaining assembly work by the component assembling apparatus of FIG. 1;
4 is a schematic diagram for explaining MTF measurement work by the component assembling apparatus of FIG. 1; FIG.
[Explanation of symbols]
1 Parts assembly equipment
4 hands
5 Transport device
7 stage (holding part)
8 MTF measuring device (measuring device)
15,16 camera
17a Through hole (opening)
18 Rotating tilting device (tilting device, rotating device)
19 Lens frame (frame, assembled parts)
22a to 22c lens (optical component, component)
29 Optical system

Claims (6)

A component assembly device for assembling optical components such as lenses to a frame ,
A hand for holding the optical component ;
A transfer device for moving the hand;
A posture confirmation camera comprising at least two cameras having optical axes intersecting with each other for photographing the optical component held by the hand and confirming an inclination angle of the optical component and a suction position by the hand; ,
A chucking device for holding the frame for assembling the optical component is disposed on the upper surface of the disk-shaped member having a through hole in the center thereof, the tilt angle of the disk-shaped member, the tilt direction, and the center axis. A stage equipped with a rotation tilt device capable of changing the rotation angle of
In order to measure the characteristics of the optical component assembled to the frame body held by the chucking device on the disc-like member through the through-hole of the disc-like member, A measuring device arranged vertically upward below the through hole ;
Activating the rotation tilt device of the stage to adjust the tilt angle of the disk-shaped member of the stage based on the tilt angle of the optical component with respect to the hand and the posture information of the suction position obtained by the posture check camera A control device,
With
The central axis of the frame held on the upper surface of the disk-shaped member by the control device operating the rotary tilt device based on the three-dimensional posture information of the optical component obtained by the posture confirmation camera. However, the tilt angle is adjusted to be parallel to the optical axis of the optical component held by the hand, and the optical component is inserted into the adjusted frame by the transport device. Assembly equipment. A component pallet for mounting the optical component to be assembled to the frame body;
The transport device includes a slider for moving the hand up and down, and a component confirmation camera for recognizing the position and shape of the optical component placed on the component pallet is fixed to the slider. The component assembling apparatus according to claim 1, wherein 3. The component assembling apparatus according to claim 2, wherein the component confirmation camera includes two types of cameras having different magnifications . The component assembling apparatus according to claim 1, wherein the measuring apparatus is an MTF measuring apparatus. A component assembly method for assembling an optical component such as a lens that is moved by a conveying device and held by a hand to a frame,
The frame body to which the optical component is assembled has a through-hole at the center, and the tilting angle, tilting direction, and rotation angle around the central axis of the frame body can be changed when the frame body is held. Holding the stage with a stage,
The optical component held by the hand is photographed by an attitude confirmation camera having at least two cameras having optical axes intersecting each other, and the inclination angle of the optical component held by the hand and the hand A step of confirming the suction position;
Based on the inclination information of the optical component with respect to the hand and the posture information of the suction position obtained by the posture confirmation camera, the control device activates the rotary tilting device of the stage and the frame body held on the stage. A step of adjusting the tilt angle;
After the tilt angle is adjusted, the center axis of the frame held by the stage is adjusted to be parallel to the optical axis of the optical component held by the hand, and then held by the hand inside the frame. Inserting the optical component made;
Measuring the characteristics of the optical component assembled to the frame held by the stage via the through-hole of the stage with a measuring device disposed below the through-hole of the stage;
A method for assembling a part, comprising:   The stage penetrates the characteristics of the optical component assembled to the frame. 6. The component assembly according to claim 5, wherein in the step of measuring with a measuring device disposed below the hole, the step is performed each time the optical component held by the hand is inserted into the frame. Method.

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