JPH0478199A - Component recognizing and mounting machine - Google Patents

Abstract

PURPOSE:To automatically regulate to a contracting magnification optimum for the size of an electronic component and to effectively obtain an image adapted for recognizing its position at a high speed by calculating the magnification of the image based on the image of the component input to camera means by control means, and controlling a zoom mechanism based on the calculated magnification. CONSTITUTION:A video of an electronic component is input to a television camera 1, and an image processor 3 stores a size W' x L' with the size W'XL' of an image as a reference image. Then, when the component of an arbitrary size is sucked to a suction nozzle 6, its image is input to the camera 1. In the case of W'>=l' with respect to the image, the processor 3 automatically calculates a magnification of W'' = W', and transfers the magnification to a zoom lens controller 4. Thus, the controller 4 enlarges, so as to perform an automatic zooming of the lens, inputs it to the camera 1 and accurately recognizes the image of even the small-sized component.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a component recognition and mounting machine that automatically mounts electronic components onto wiring boards and the like while recognizing their positions.

[Prior art] When electronic components such as chip-type resistors and ship-type multilayer capacitors are automatically mounted on a board on which an electronic circuit is formed, the position of the electronic component picked up by a mounting head is recognized. things are being done. FIG. 13 shows a conventional component recognition and mounting machine equipped with an electronic component recognition function disclosed in Japanese Patent Application Laid-Open No. 62-57282, in which a rotary table has a plurality of mounting heads 51 equidistantly spaced on the circumference. 52 is driven to rotate intermittently. Each mounting head 51 has a suction nozzle 54 that suctions the electronic component 53.
By intermittent rotation of the rotary table 52, electronic components 53 are picked up and mounted on a substrate 55. Due to the intermittent rotation of the rotary table 52, the mounting head 5
2 circulates in the order of component extraction position A, component recognition position B, component attitude adjustment position C, component mounting position, and head return position E. Then, the suction nozzle 54 is lowered at the component extraction position A to pick up the electronic component 53 from the component cassette 56, the position of the electronic component is recognized at the component recognition position B, and based on this recognition data, the electronic component is moved to the component attitude adjustment position C. The posture of the component is adjusted, the electronic component is mounted on the board 55 at the component mounting position, and the head returns to the return rotation position E. Below the mounting head 51 at the component recognition position B,
A 60-screen television camera is installed. The television camera 60 is attached to a movable table 61 that moves in the XY force direction in a horizontal plane, and recognizes the position of the electronic component 53 by inputting an image of the electronic component 53 adsorbed to the mounting nozzle of the mounting head 51. It is. In this case, by moving in the XY force direction, the moving table 61 allows the television camera 60 to partially recognize electronic components larger than the recognition area of the television camera 6°, and allows the camera 60 to recognize the position of the electronic components. It acts to do the following.

[Problems to be Solved by the Invention] However, in the conventional component recognition and mounting machine described above, the magnification of the television camera 60 is fixed, so when the magnification is set to match a standard size electronic component, large In order to recognize electronic components, it is necessary to reduce the television magnification. On the other hand, if small electronic components are recognized at this magnification, the image will be too small and the accuracy of the recognition data will be poor, so it is necessary to increase the magnification of the television camera. In other words, with conventional component recognition and mounting machines, it is necessary to manually set the magnification of the television camera to correspond to the size of the electronic component, which is cumbersome to operate.
The loss time for implementation was increasing. Furthermore, electronic components larger than the recognition area require movement of the movable table in the XY force directions, which requires space for the movement and limits miniaturization.

The present invention was made in view of such conventional problems, and
An object of the present invention is to provide a component recognition and mounting machine that can automatically obtain optimal image data depending on the size of an electronic component and can also be made compact.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides an apparatus in which a mounting head moves while holding an electronic component to mount an electronic component on a board. a camera means provided below the component recognition position of the electronic component and into which an image of the electronic component is input; a zoom mechanism for zooming a lens attached to the camera means; A component recognition and mounting machine comprising: control means for automatically setting a reduction ratio and controlling a zoom mechanism.

[Operation] In the component recognition and mounting machine of the present invention having the above configuration, the control means performs the following operations based on the image of the electronic component input to the camera means:
The magnification factor of the image is calculated, and the zoom mechanism is controlled based on the calculated magnification factor. Therefore, since the magnification ratio can be automatically adjusted to the optimum size for the size of the electronic component, an image suitable for position recognition can be obtained quickly and reliably.

[Examples] Hereinafter, the present invention will be specifically described based on Examples. Note that in each embodiment, the same elements are given the same reference numerals and correspond to each other, thereby omitting redundant explanation.

(First example) 1 to 6 show a first embodiment of the invention.

The component recognition and mounting machine has a plurality of mounting heads, and as the mounting heads move, they pick up electronic components and recognize the picked up electronic components.

The position of the electronic component is adjusted based on the recognized data and the component is mounted on the board.For this purpose, the mounting head is divided equally on the circumference of the rotary table as shown in Figure 13, and this rotation The structure is such that the above operations are cycled by intermittent rotation of the table. Further, the present invention is not limited to this, and the above operation may be performed by reciprocating the mounting head in a linear direction.

FIG. 1 shows the structure of recognition positions of electronic components in such a component recognition and mounting machine. A suction nozzle 6 is attached to the lower end of the moving mounting head 5, and an electronic component 8 is suctioned and held by this suction nozzle 6. Electronic parts 8
A song-shaped lighting device 7 equipped with an optical fiber is disposed around the suction nozzle 6 above, and illuminates the electronic component 8 from above. A television camera (camera means) 1 to which an image of the electronic component 8 is input is fixed below the mounting head 5 at this electronic component recognition position.

The television camera 1 receives an image of the electronic component 8 when the light from the lighting fixture 7 illuminates the electronic component 8.

A zoom lens 2 is attached to the upper end of this television camera 1.
is attached, and the reduction ratio of the image input to the television camera 1 is adjusted by zooming. Further, an image processing device 3 to which an image of an electronic component 8 is input is connected to the television camera 1, and a zoom lens control device 4 is connected to this image processing device 3. The image processing device 3 determines the size of the image based on the inputted image of the electronic component 8, and calculates the reduction ratio so that the image has an optimal size. Reference numeral 4 controls the focal length of the zoom lens 2 based on this reduction ratio, and the image processing device 3 and the zoom lens control device 4 constitute a control means for controlling the zoom lens. Note that the zoom lens control device 4 controls the rotation speed of the motor 11 that performs zooming of the zoom lens 2.

2 and 3 show an example of a zoom mechanism for zooming the zoom lens 2. In FIG. 2, a large electronic component 9 is sucked by the suction nozzle 6, and in FIG. 3, a small electronic component 1 is sucked.
o is adsorbed. A zoom lens joining ring 21 is attached to the lower end of the zoom lens 2, and the zoom lens joining ring 21 is inserted into the fixing ring 22 so as to be relatively rotatable. A convex shape 23 inclined in one direction is formed in parallel on the outer peripheral surface of the zoom lens bonding ring 21, and a concave shape 24 in which the convex shape 23 engages is formed on the inner surface of the fixing ring 22. This constitutes a helicoid mechanism that performs zooming. In such a configuration, the motor 11 is driven to rotate one of the zoom lens bonding lens 21 and the fixing ring 22 relative to the other, thereby zooming the zoom lens 2 corresponding to the size of the electronic component. It can be performed.

Next, a method for recognizing electronic components with the above configuration will be explained.

FIG. 4 shows the electronic components sucked by the suction nozzle 6.
a) is the dimension WX9. (b) is the largest size electronic component with dimension WXL, and images of these electronic components are input to the television camera l. FIG. 5 is an image of the electronic component shown in FIG. 4(b) input to the television camera 1, and the size W
'XL'. Dimensions of this image W'X
Using L' as a reference image, the image processing device 3 calculates the size W'XL
'Remember. Next, when the electronic component of any size shown in FIG. 4(a) is suctioned by the suction nozzle 6, its image is input to the television camera 1. FIG. 6(a) is an image of this electronic component, which has dimensions W"×2".

In this image, if W゛≧e゛, the image processing device 3
automatically calculates the magnification that becomes W''·If' (FIG. 6(b)), and transfers the magnification to the zoom lens control device 4. As a result, the zoom lens control device 4 starts automatic zooming of the zoom lens. In order to do this, the image of the electronic component shown in FIG. 4(a) is enlarged as shown in FIG. 6(b) and input to the television camera 1. Therefore, even if the electronic component is small,
The image recognition can be performed with high accuracy.

On the other hand, if w'<p' in the image of FIG. It is input to the television camera 1.

This type of control compares the longer vertical or horizontal dimension of the electronic component with a reference image, automatically sets the magnification, and performs zooming, making it possible to recognize electronic components of any size. Become.

FIG. 7(a) shows an area of the image storage memory in the television camera 1, into which an image of the size shown in FIG. 7(b) is input. The size α of this area is stored in the image processing device 3. FIG. 8(a) is an image of an electronic component of arbitrary size, and its outer periphery has a length β.

FIG. 8(b) is an image of this electronic component enlarged by zooming, and its outer periphery has a length β°.

On the other hand, FIG. 9 is an image of the largest electronic component, and its outer periphery has a length γ.

When the electronic component having the maximum size shown in FIG. 9 is image recognized by the television camera 1, the image processing device 3 sets a ratio K between the size α of the image memory area and the outer circumference γ. After this setting, when the image shown in FIG. 8(a) is input, the image processing device 3 automatically sets the magnification so that the ratio between the outer circumference β of the image and the image memory area α becomes K. do. As a result, zooming is automatically performed, and recognition can be performed based on the enlarged image (FIG. 8(b)) whose outer periphery is β.

Therefore, in this type of control, the image memory area of the television camera l is stored, and the ratio between the size of this memory area and the outer circumference of large-sized electronic components is set to adjust the reduction ratio. Even if the electronic component is larger than the memory area, the entire electronic component can be reliably recognized. For this reason, there is no need to move the television camera 1, and the space required for moving the television camera 1 is eliminated, so that it can be made more compact.

(Second Embodiment) FIG. 10 shows a second embodiment of the present invention corresponding to FIG. 1, in which a lighting fixture 15 is arranged to illuminate the electronic component 8 from below. In this configuration, reflected light from the electronic component 8 enters the television camera 1, and an image based on the reflected light is input. Therefore, television camera 1 has 2
Input as a digitized image.

FIG. 11 shows a binarized image of the largest sized electronic component input to the television camera 1, and the ratio A of the white image to the entire image is calculated and stored in the image processing device 3. FIG. 12(a) is a binarized image of an electronic component of an arbitrary size newly sucked by the suction nozzle 6. By inputting this image, the image processing device 3 automatically calculates the magnification so that the ratio of the white image to the entire image is A, and transfers it to the zoom lens control device 4. As a result, the zoom lens control device 4 automatically performs zooming, as shown in FIG. 12(b).
An enlarged image shown by is manually input to the television camera 1, and image recognition based on this enlarged image becomes possible.

Therefore, in such control, the reduction ratio is automatically set based on the ratio of the white image to the entire reference image, so that highly accurate image recognition of electronic components can be performed.

[Effects of the Invention] As explained above, according to the component recognition mounting machine of the present invention,
Based on the image of the electronic component input to the camera, the magnification is automatically set and zooming is automatically performed in accordance with the magnification, allowing accurate image recognition of electronic components of all sizes. This enables reliable mounting on the board, and also eliminates the need for a space for moving the camera means, allowing for compactness.

[Brief explanation of drawings]

FIG. 1 is a side view of essential parts in the first embodiment of the present invention, FIGS. 2 and 3 are side views showing the operation of the zooming mechanism for electronic components, and FIGS. 4(a) and 4(b) are side views of the electronic components. A plan view showing an example of the size of FIGS. 5 and 6 (a), (
b) is an image diagram showing the operation of image recognition, Fig. 7(a), (
b) is a diagram showing the image memory area of the television camera;
8(a), (b) and FIG. 9 are image diagrams showing operations based on the image memory area, FIG. 10 is a side view showing main parts of the second embodiment of the present invention, and FIG. Figure 12 (a
), (b) is an image diagram showing the operation of image recognition, No. 13
The figure is a perspective view showing the configuration of a conventional device. ■ Camera means 2 Zoom lens 3 Image processing device 4 Zoom lens control device 5 Mounting head 8 Electronic components Camera means Zoom lens ...Image processing device...Zoom lens control device...Mounting head...Electronic component T6 Figure (a) Figure b Figure (a) (b) Figure

Claims (1)

[Claims] (1) In an apparatus in which a mounting head moves while holding an electronic component to mount an electronic component onto a board, a device is provided below the component recognition position of the electronic component held by the mounting head, and an image of the electronic component is input. a zoom mechanism for zooming a lens attached to the camera means; and a control for controlling the zoom mechanism by automatically setting a magnification based on an image of an electronic component input to the camera means. A component recognition mounting machine characterized by comprising: means.