JPH02303740A - Adjustment of turn of part - Google Patents
Adjustment of turn of partInfo
- Publication number
- JPH02303740A JPH02303740A JP12214189A JP12214189A JPH02303740A JP H02303740 A JPH02303740 A JP H02303740A JP 12214189 A JP12214189 A JP 12214189A JP 12214189 A JP12214189 A JP 12214189A JP H02303740 A JPH02303740 A JP H02303740A
- Authority
- JP
- Japan
- Prior art keywords
- groove
- tool
- robot
- adjustment
- adjusted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000758 substrate Substances 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000002950 deficient Effects 0.000 description 6
- 230000013011 mating Effects 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は産業用のロボットと視覚認識装置によって構成
される、フレキシブルで信頼性の高い部品の回転調整方
法に関するものである。DETAILED DESCRIPTION OF THE INVENTION FIELD OF INDUSTRIAL APPLICATION The present invention relates to a flexible and highly reliable method for adjusting the rotation of parts constructed by an industrial robot and a visual recognition device.
従来の技術
従来の可変抵抗器等の回転を必要とする部品の調整方法
としては、マイナス溝に工具先を嵌合させる場合、工具
先を回転しながらボリュームの溝方向と工具先の方向が
一致した時点で自然嵌合させる方法となっている。Conventional technology The conventional adjustment method for parts that require rotation, such as variable resistors, is that when fitting a tool tip into a minus groove, the direction of the volume groove matches the direction of the tool tip while rotating the tool tip. The method is to allow a natural fit at this point.
以下図面を参照し、従来の一例について説明する。２１
はボリュームが有する調整用のマイナス溝である。パッ
ケージ基板２３内に装置されたボリューム２２のマイナ
ス溝２１に調整用工具１９の先に設けられたドライバー
２０を回転しながら、溝２１とドライバー２０の方向が
一致すれば嵌合されるものである。A conventional example will be described below with reference to the drawings. 21
is a negative groove for adjustment that the volume has. While rotating the screwdriver 20 provided at the tip of the adjustment tool 19 in the minus groove 21 of the volume 22 installed in the package substrate 23, if the direction of the groove 21 and the driver 20 match, it will fit. .
発明が解決しようとする課題
以上の方法では、嵌合されるまでボリューム面でドライ
バーが接触回転するためボリューム面の損傷をまねく問
題と、嵌合するまでの時間にロスが生じる問題があった
。Problems to be Solved by the Invention In the above methods, there are problems in that the driver rotates in contact with the volume surface until it is fitted, resulting in damage to the volume surface, and that there is a loss in time until the fitting is achieved.
本発明は上記問題点を解決するため、ボリュームに工具
が接触する前に、ボリュームの溝方向と工具先のドライ
バ一方向を一致させておき、−発嵌合を可能としボリュ
ーム面の損傷の防止と、嵌合ロス時間をなくすものであ
る。In order to solve the above problems, the present invention aligns the groove direction of the volume with the direction of the driver at the tip of the tool before the tool comes into contact with the volume, thereby enabling mating and preventing damage to the volume surface. This eliminates mating loss time.
課題を解決するための手段
本発明は前記課題を解決するため、パッケージ基板をロ
ボットで把持し、視覚認識を行うＴＶ左カメラ下移動し
、部品の溝位置、方向を認識し、認識データによって、
調整台上の工具位置にボリューム溝の位置が合うよう、
移載外部か・らパッケージ基板を押え固定するとともに
、工具のドライバ一方向を合わせた後、工具を下降し、
溝に工具を一発嵌合させる。また、作業能率を上げるた
め、複数組の調整台に順次パッケージを供給し、前述の
動作により、工具の嵌合後、ボリュームの調整作業を効
率よく行うものである。Means for Solving the Problems In order to solve the above problems, the present invention grasps the package board with a robot, moves under the TV left camera that performs visual recognition, recognizes the groove position and direction of the component, and uses the recognition data to:
Adjust the volume groove so that it matches the tool position on the adjustment table.
While holding and fixing the package board from the outside of the transfer, and aligning one direction of the tool's driver, lower the tool,
Fit the tool into the groove at once. In addition, in order to increase work efficiency, packages are sequentially supplied to a plurality of sets of adjustment tables, and the volume adjustment work is efficiently performed after the tools are fitted by the above-described operation.
作 用
前述の構成によれば、工具が部品に接触する前に溝方向
と、工具先の方向が完全に一致するとともに、溝の中心
位置と工具先の中心位置も一致しているため、正確な一
発嵌合が可能となる。また、ロボットで把持移載したパ
ッケージを調整台上に押え固定することによって、ロボ
ットは調整作業中に、次のワークを順次取扱いが可能と
なり、作業能率を高めるためのマルチ作業の装置構成を
可能するものである。Function According to the above-mentioned configuration, the direction of the groove and the direction of the tool tip completely match before the tool comes into contact with the part, and the center position of the groove and the center position of the tool tip also match, so that precision can be achieved. One-shot mating is possible. In addition, by holding and fixing the package gripped and transferred by the robot on the adjustment table, the robot can handle the next workpiece one after another during adjustment work, making it possible to configure a multi-task device to increase work efficiency. It is something to do.
実施例
以下、本発明の実施例を第１図から第３図によって説明
する。第１図と第２図はボリューム溝の視覚認識と調整
台の構成を示すものである。Embodiments Hereinafter, embodiments of the present invention will be explained with reference to FIGS. 1 to 3. 1 and 2 show the visual recognition of the volume groove and the configuration of the adjustment table.
水平多関節ロボット８にはパッケージ基板３を把持する
ハンド４が設けられている。２は可変抵抗器等の部品（
以下ボリューム２を記す）のマイナス溝１を認識するた
めのＴＶ左カメラには照明光源７が設置されている。こ
のような構成で、まずロボット８によって５把持された
パッケージ基板３をＴＶ左カメラの下に移動し、ボリュ
ーム２のマイナス溝１の中心位置と、方向の認識を行う
。The horizontal articulated robot 8 is provided with a hand 4 that grips the package substrate 3. 2 is parts such as variable resistors (
An illumination light source 7 is installed on the TV left camera for recognizing the minus groove 1 of the volume 2 (hereinafter referred to as volume 2). With this configuration, first, the package substrate 3 which is gripped by the robot 8 is moved under the TV left camera, and the center position and direction of the minus groove 1 of the volume 2 are recognized.
調整台ｊ２にはパッケージ基板３を押え固定するための
押え１４が上下動を行うためのエアシリンダ１３に取付
けられている。調整用工具９にはドライバー１０を回転
させるためのモータとドライバ一方向の絶対位置を検出
する・。エンコーダが内蔵されている。また調整工具は
上下動を行うためのエアシリンダ１１に固定されている
。On the adjustment table j2, a presser foot 14 for pressing and fixing the package substrate 3 is attached to an air cylinder 13 for vertical movement. The adjustment tool 9 includes a motor for rotating the driver 10 and a motor for detecting the absolute position of the driver in one direction. Built-in encoder. Further, the adjustment tool is fixed to an air cylinder 11 for vertical movement.
以上のような構成によって、認識されたパッケージ基板
３を調整台１２上にロボット８で位置補正移載し、押え
１４を下降させ、押え固定する。With the above configuration, the recognized package substrate 3 is transferred onto the adjustment table 12 with position correction by the robot 8, and the presser foot 14 is lowered and fixed.
固定完了でロボット８はパッケージ基板３を解放する。Upon completion of fixing, the robot 8 releases the package substrate 3.
同時に、ドライバー１０は認識データによってボリュー
ム２のマイナス溝１方向に回転補正される。このように
して、マイナス溝１とドライバー１０の位置、方向が合
致した条件でエアシリンダ１１によって、調整用工具９
を下降させ嵌合後ボリューム２を回転調整するものであ
る。At the same time, the rotation of the driver 10 is corrected in the direction of the minus groove 1 of the volume 2 based on the recognition data. In this way, under the condition that the position and direction of the slotted groove 1 and the screwdriver 10 match, the adjustment tool 9 is operated by the air cylinder 11.
is lowered, and after fitting, the volume 2 is rotated and adjusted.
第３図は、装置の全体構成を示すものである。FIG. 3 shows the overall configuration of the device.
１６はパッケージ基板５の供給用コンベア。１７は認識
および、調整後の不良品をストックする不良品トレイ。16 is a conveyor for supplying the package substrate 5; 17 is a defective product tray for stocking defective products after recognition and adjustment.
１８は調整後の良品収納する良品トレイである。調整用
工具９は複数組配置されている。Reference numeral 18 denotes a non-defective tray for storing non-defective products after adjustment. A plurality of sets of adjustment tools 9 are arranged.
このような構成で、コンベア１６上でロボット８によっ
て把持されたパッケージ基板５を、ＴＶ左カメラの下に
移載し、ロボット８で把持したままで認識を行い、空と
なっている調整台１２に移載する。パッケージ基板５が
押え固定された時点で、ロボットはパッケージ基板５を
放し、複数組の調整台１２に順次パッケージ基板５を供
給するとと・もに、調整完了のパッケージ基板５を不良
品トレイ１７もしくは良品トレイ１８に移載ストックを
行うものである。With such a configuration, the package substrate 5 gripped by the robot 8 on the conveyor 16 is transferred to the bottom of the TV left camera, recognized while being gripped by the robot 8, and transferred to the empty adjustment table 12. Transferred to. When the package substrate 5 is held in place, the robot releases the package substrate 5, sequentially supplies the package substrates 5 to the adjustment tables 12, and transfers the adjusted package substrates 5 to the defective product tray 17 or This is to transfer and stock onto the non-defective tray 18.
発明の効果
以上のように、本発明の部品の回転調整方法によれば、
部品の被調整面の損傷を生じない正確で素速い工具の嵌
合と調整を可能とするとともに、マルチ作業によって、
作業能率を高めることができるものである。Effects of the Invention As described above, according to the component rotation adjustment method of the present invention,
It enables accurate and quick tool fitting and adjustment without damaging the adjusted surface of the part, and also allows for multi-tasking.
This can improve work efficiency.
第１図及び第２図は本発明の一実施例における視覚認識
および調整台の構成を示す斜視図及び正面図、第３図は
同調整装置の全体構成図、第４図は従来の一例を示す斜
視図である。
１・・・・・・ボリューム溝、２・・・・・・部品（ボ
リューム）、３・・・・・・パッケージ基板、６・・・
・・・１’Ｖカメラ、８・・・・・・ロボット、９・・
・・・・調整用工具。
代理人の氏名 弁理士 粟野重孝 ほか１名第１図
第２図1 and 2 are a perspective view and a front view showing the configuration of a visual recognition and adjustment table in an embodiment of the present invention, FIG. 3 is an overall configuration diagram of the adjustment device, and FIG. 4 is a conventional example. FIG. 1...Volume groove, 2...Component (volume), 3...Package board, 6...
...1'V camera, 8...Robot, 9...
...adjustment tool. Name of agent: Patent attorney Shigetaka Awano and one other person Figure 1 Figure 2
Claims (2)
をロボットで把持し、ＴＶカメラ下に移動し、被調整部
品に形成された溝方向と溝の中心位置を視覚認識し、被
調整部品の回転調整を行う工具の中心位置と溝の回転中
心が一致するようロボットで位置補正するとともに、工
具先のマイナスドライバーの方向を溝方向に回転補正し
、溝に工具先を嵌合させる部品の回転調整方法。(1) A robot grasps a package board with a negative groove volume, moves it under the TV camera, visually recognizes the direction of the groove formed on the part to be adjusted and the center position of the groove, and adjusts the rotation of the part to be adjusted. A method for adjusting the rotation of parts by using a robot to correct the position so that the center position of the tool and the center of rotation of the groove match, and also correct the rotation of the flat head screwdriver at the tip of the tool in the direction of the groove so that the tip of the tool fits into the groove.
正されたパッケージ基板を、調整工具下の調整台に乗せ
、前記パッケージ基板を前記調整台に固定後、ロボット
把持を解除し、調整台上のパッケージ基板の部品の位置
調整を行なう請求項１記載の部品の回転調整方法。(2) Place the package board gripped by the robot and whose position has been corrected by visual recognition on the adjustment table below the adjustment tool, and after fixing the package board to the adjustment table, release the grip of the robot and place it on the adjustment table. 2. The component rotation adjustment method according to claim 1, further comprising adjusting the position of components on a package substrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12214189A JPH02303740A (en) | 1989-05-16 | 1989-05-16 | Adjustment of turn of part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12214189A JPH02303740A (en) | 1989-05-16 | 1989-05-16 | Adjustment of turn of part |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02303740A true JPH02303740A (en) | 1990-12-17 |
Family
ID=14828629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12214189A Pending JPH02303740A (en) | 1989-05-16 | 1989-05-16 | Adjustment of turn of part |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02303740A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04293110A (en) * | 1991-03-22 | 1992-10-16 | Sharp Corp | Variable element adjusting device |
| CN104440073A (en) * | 2014-12-08 | 2015-03-25 | 苏州博众精工科技有限公司 | Dynamic correction mechanism for screw lock |
| CN110757144A (en) * | 2019-12-02 | 2020-02-07 | 东阳坎层电子科技有限公司 | Automatic assembling equipment for electronic camera |
| CN111136464A (en) * | 2020-03-02 | 2020-05-12 | 新乡创想自动化科技有限公司 | Potentiometer assembling equipment and process for manual speed regulation of belt motor |
-
1989
- 1989-05-16 JP JP12214189A patent/JPH02303740A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04293110A (en) * | 1991-03-22 | 1992-10-16 | Sharp Corp | Variable element adjusting device |
| CN104440073A (en) * | 2014-12-08 | 2015-03-25 | 苏州博众精工科技有限公司 | Dynamic correction mechanism for screw lock |
| CN110757144A (en) * | 2019-12-02 | 2020-02-07 | 东阳坎层电子科技有限公司 | Automatic assembling equipment for electronic camera |
| CN111136464A (en) * | 2020-03-02 | 2020-05-12 | 新乡创想自动化科技有限公司 | Potentiometer assembling equipment and process for manual speed regulation of belt motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6674529B2 (en) | Robot arm control system | |
| US4951388A (en) | Method of mounting electronic components | |
| JPH0315359B2 (en) | ||
| US7406362B2 (en) | Workpiece regrasping system for robot | |
| WO2011142149A1 (en) | Clamping device | |
| CN206425934U (en) | Lens gripper automatic plate feeding machine | |
| KR102124533B1 (en) | Robot and method of work by robot | |
| JPH02303740A (en) | Adjustment of turn of part | |
| JPH11102936A (en) | Method and equipment for supplying part | |
| US11395449B2 (en) | Three-dimensional mounting device and three-dimensional mounting method | |
| JP2655516B2 (en) | Work processing apparatus and work processing method | |
| JPH03128126A (en) | Press brake robot | |
| JP2572380B2 (en) | LSI inspection handling system | |
| JPH02191188A (en) | Cap fastener | |
| JPH0676105B2 (en) | Cap fastening system | |
| CN205218728U (en) | That takes attitude control system is used for aluminum shell part burring device | |
| JP2002066970A (en) | Attitude changing device and pin picking device | |
| JPH02226800A (en) | Automatic mounting apparatus of electronic parts | |
| JPH02215610A (en) | Micro-chip supply device | |
| JP4245105B2 (en) | Robot object tracking device and tracking method | |
| JPH10135697A (en) | Electronic parts mounting device | |
| JPH0637493A (en) | Electronic parts inserter | |
| CN206998957U (en) | A kind of clamping jaw structure for being used to grip module gripping | |
| JP3419893B2 (en) | Component mounting method | |
| JP4734147B2 (en) | Chip component transfer method and chip component transfer apparatus |