JPH06300523A - Part mounting device and its positioning method - Google Patents

Abstract

PURPOSE:To mount parts precisely even when a rotational deviation is generated by putting the parts to be mounted and a mounting work in a field of view at the same time via a T-shaped barrel so as to pick up their images, computing the relative positional relation, and correcting rotational deviation. CONSTITUTION:On the basis of a command of a controller 30, a parts clamping device 21 clamping and holding a transfer mechanism 31 of an image pickup device 26 and parts 23 is positioned in the predetermined position. Then, images of the parts 23 and a mounting work 24 at the first measuring point (a) are reflected by a reflecting mirror inside a T-shaped barrel 25 respectively, and are taken into the image pickup device 26 at the same time. These images are converted into video signals in the image pickup device 26 to be inputted to an image processing device 32, and then, the central coordinates of the measuring point (a) for the parts 23 and the work 24 are computed. Subsequently, the transfer mechanism 31 is moved by the predetermined distance, and the central coordinates of a measuring point (b) is found by computing in the same way. On the basis of the found coordinates and the moving distance of the transfer mechanism 31, a relative angular deviation between the parts 23 and the work 24 is computed, and then, the positional deviation is found by computing the coordinates of the measuring point (b) after this angular deviation is set to 0.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus and a positioning method, and more particularly to a component capable of position / orientation correction for mounting the component on a work to be mounted on a printed circuit board with high accuracy. The present invention relates to a mounting device and a positioning method.

[0002]

2. Description of the Related Art Japanese Patent Application Laid-Open No. 60-1888 discloses a conventional component mounting apparatus and alignment method of this type.
There is a technology published in No. 03 bulletin. FIG. 10 is a block diagram showing the overall configuration of the conventional automatic assembly apparatus shown in the above publication. In the figure, 1 is an assembly robot, 2 is a gripping chuck attached to the tip of the assembly robot 1, 3 is an IC to be inserted, 4 is a substrate into which IC3 is inserted, and 5 is a lead of the substrate 4 and IC3. For viewing both of them, 6 is a television camera for picking up an image that has passed through the barrel 5, 7 is a camera controller for binarizing the video signal from the television camera 6, 8 is a lead of the IC 3 and the substrate 4. A calculation device for calculating the positional deviation, and a control device 9 for controlling the assembly robot 1.

FIG. 11A is an explanatory view showing a state in which an image of a measuring point of a component and a work to be mounted by a conventional lens barrel is displayed on a monitor TV, and FIG. 11B is a cross section showing a structure of the conventional lens barrel. It is a figure. In the figure, 10 is an IC lead, 10a is a binarized image of the IC lead 10, and 11a and 11b are lens barrels 5.
, 12 is an insertion hole formed in the substrate 4, and 12a is a binarized image of the insertion hole 12. Figure 1
As shown in FIG. 1B, the lens barrel 5 is composed of a prism 11a that reflects the image from the IC lead 10 and a prism 11b that reflects the image of the insertion hole 12 of the substrate 4.

Next, the operation of the component mounting apparatus having this structure will be described. The images of the IC lead 10 and the insertion hole 12 are
It is reflected by the prisms 11a and 11b, respectively, and is simultaneously taken in by the television camera 6. The image is a TV camera 6
Are converted into video signals by the camera controller 7, binarized by the camera controller 7, and transferred to the arithmetic unit 8. The binarized signal is stored in a RAM (random access memory) in the arithmetic unit 8 so that one pixel corresponds to one address. When the content is displayed on a monitor television (not shown), for example, it becomes as shown in FIG. The image centroids G and g of the binarized image 10a obtained from the IC lead 10 and the binarized image 12a obtained from the insertion hole 12 are obtained by a known method, and the coordinate conversion formula (x , Y) = f (X, Y) (1) The positional deviation error between the two is obtained. Then, this positional deviation error is transferred to the control device 9, and the assembly robot 1
Correct the posture of. These series of operations are performed by the IC lead 1
This is repeated until the positional deviation error between 0 and the insertion hole 12 falls within the allowable range, and the insertion is performed after the fine adjustment is completed.

[0005]

Since the conventional component mounting apparatus is constructed as described above, it is possible to cope with the positional deviation between the IC and the board in the front-rear, left-right direction, but the I
It was not possible to deal with the case where there was a rotational deviation between C and the substrate. Further, since the images of the IC and the board are simultaneously captured by the television camera, there is a problem that the field of view becomes narrow and the position of the IC or the board becomes large, so that the IC and the board are out of the field of view. Further, there is a problem that a good image cannot be obtained depending on the material and surface condition of the parts and the work to be mounted.

Therefore, the present invention has been made to solve the above problems, and a component mounting apparatus and a positioning method capable of accurately mounting a component even if there is a rotational deviation between the component and the workpiece to be mounted. It is an object to provide (the inventions of claims 1 and 2). It is another object of the present invention to provide a component mounting apparatus (the invention of claim 3) that can accommodate a component and a work to be mounted within a visual field of a television camera or the like even if the positional deviation between the component and the work to be mounted becomes large. Is. Another object of the present invention is to provide a component mounting apparatus (invention of claim 4) that can obtain a good image by providing the coaxial illumination mechanism.

[0007]

A component mounting apparatus according to the invention of claim 1 is mounted on a component gripping means for gripping and moving a component, a component gripped by the component gripping means, a conveyor and the like. An image pickup means for simultaneously placing the mounted work in the visual field through the T-shaped lens barrel, a moving means for moving the image pickup means, and a plurality of detection target portions corresponding to the part and the mounted work from the plurality of detection target locations. An image processing unit for calculating the relative positional relationship of the mounted work and a correction unit for correcting the rotational deviation of the component and the mounted work based on the relative positional relationship calculated by the image processing unit are provided.

According to a second aspect of the present invention, there is provided a component mounting position adjusting method, wherein in the component mounting apparatus according to the first aspect, the positional deviation of at least two or more corresponding points of the component and the work to be mounted is measured, It is intended to correct the relative rotational displacement between the component and the mounted work.

The component mounting apparatus according to the invention of claim 3 is
A component gripping means for gripping and moving a component, an image pickup means for simultaneously placing the component gripped by the component gripping means and a mounted work placed on a conveyor or the like into a visual field through a T-shaped lens barrel; An image for calculating the relative positional relationship between the component and the work to be mounted from a plurality of detection target locations corresponding to the component and the work to be mounted, and a reflecting mirror moving means for moving the reflector in the character-shaped lens barrel in the front-back direction. The processing means and the correction means for correcting the rotational deviation of the component and the mounted work based on the relative positional relationship calculated by the image processing means.

The component mounting apparatus according to the invention of claim 4 is
A component gripping means for gripping and moving a component, an image pickup means for simultaneously placing the component gripped by the component gripping means and a mounted work placed on a conveyor or the like into a visual field through a T-shaped lens barrel; Coaxial illumination means arranged in a character-shaped lens barrel, image processing means for calculating a relative positional relationship between the component and the mounted work from a plurality of detection target locations corresponding to the component and the mounted work, respectively, And a correction unit that corrects the rotational deviation between the component and the mounted work based on the relative positional relationship calculated by the image processing unit.

[0011]

In the component mounting apparatus according to the first aspect of the present invention, the component to be mounted and the workpiece to be mounted are simultaneously captured in the field of view through the T-shaped lens barrel and imaged. Since the rotational displacement is corrected by calculating the relative positional relationship of the mounted work, even when the component and the mounted work are rotationally displaced, they are mounted at the correct positions.

In the component mounting position aligning method section of the invention of claim 2, the relative displacement between the component and the mounted work is measured by measuring the positional deviation of at least two corresponding points of the component and the mounted work. Since the deviation is corrected, even if there is a rotation deviation between the component and the work to be mounted, this rotation deviation is accurately corrected.

In the component mounting apparatus according to the third aspect of the invention, since the reflecting mirror moving means for moving the reflecting mirror in the T-shaped lens barrel in the front-rear direction is provided, the positional deviation between the component and the work to be mounted is prevented. Even if the size is increased, the field of view of the image pickup means is expanded, and the component and the mounted work do not protrude from the field of view of the image pickup means.

In the component mounting apparatus according to the fourth aspect of the present invention, since the coaxial illumination means is provided in the T-shaped lens barrel, the material and surface condition of the component and the work to be mounted are close to the mirror surface. Also, a good image can be obtained.

[0015]

Embodiments of the present invention will be described below. <First Embodiment> First, a first embodiment will be described with reference to FIGS. In the figure, the same reference numerals and symbols as those of the above-mentioned conventional example indicate the same or corresponding components as those of the above-mentioned conventional example. FIG. 1 is a perspective view showing the overall configuration of a component mounting apparatus that is a first embodiment of the present invention. In FIG. 1, 21 is a component gripping device such as a robot having a multi-axis moving mechanism, 22 is a hand that grips a component 23, 23 is a component for mounting, 24 is a workpiece to be mounted on the component 23, and 25 is a component. A T-shaped barrel for simultaneously inputting images of 23 and the work 24 to be attached, 26 an image pickup device such as a camera, 31 a moving mechanism for two-dimensionally moving the image pickup device 26, 32 a component 23 input from the image pickup device 26, and An image processing device that calculates a relative positional deviation between the component 23 and the mounted work 24 based on the image of the mounted work 24, and 30 is a control device that controls the positions of the component gripping device 21 and the moving mechanism 31 of the imaging device 26. is there.

FIG. 2 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the first embodiment of the present invention. In the figure, 33 is a reflecting mirror that reflects the image of the component 23 and the work 24 to be mounted, and the image reflected by the reflecting mirror 33 is taken into the image pickup device 26.

FIGS. 3 and 4 are views showing images of respective measurement points on the component 23 and the work 24 to be mounted on a monitor television (not shown), and FIG. 3 is a first embodiment of the present invention. Explanatory drawing showing a state in which a first image of a component and a work to be mounted by a component mounting device is displayed on a monitor TV,
FIG. 4 is an explanatory diagram showing a state in which a second image of the component and the work to be mounted by the component mounting apparatus according to the first embodiment of the present invention is displayed on the monitor television. In the figure, 23a, 2
3b shows images of the first and second points of the component 23, and 24
Reference numerals a and 24b respectively show images of the first and second points of the work 24 to be mounted.

FIG. 5 is an explanatory diagram showing a method of calculating the deviation of the relative angle between the component and the work to be mounted by the component mounting apparatus according to the first embodiment of the present invention. In the figure, A indicates the moving distance of the moving mechanism 31, α indicates the angle of the component 23 with respect to the X axis, and β indicates the angle of the mounted work 24 with respect to the X axis.

Next, the operation of the component mounting apparatus of this embodiment having the above configuration will be described. First, based on a command from the control device 30, the moving mechanism 31 of the image pickup device 26 and the component holding device 21 that holds the component 23 are positioned at a predetermined position. Next, the images of the first measurement point a of the component 23 and the work 24 to be mounted are reflected by the reflecting mirror 33 in the T-shaped lens barrel 25, respectively, and simultaneously captured by the imaging device 26. This image is converted into a video signal by the image pickup device 26 and input to the image processing device 32. Image processing device 32
Then, based on the input video signal, the central coordinates (which may be the center of gravity) (x11, y11) and (x12, y12) of the measurement point a of the component 23 and the mounted work 24 are calculated by a well-known method. To do.

Then, the moving mechanism 31 is moved by a predetermined distance, and the image processing device 32 is moved to the part 23 by the same method as described above.
And the center coordinates (x21, y2) of the measuring point b of the work 24 to be mounted.
1) and (x22, y22) are calculated.

In the image processing device 32, the relative angular displacement between the component 23 and the mounted work 24 is calculated by the following method from the obtained four coordinates and the moving distance of the moving mechanism 31. Here, the moving distance of the moving mechanism 31 is set to A in the X direction.
And the angle calculation reference point is point a,
The angle makes counterclockwise rotation positive. At this time, the angle α of the component 23 is expressed as α = tan ⁻¹ {(y21−y11) / (x21−x11 + A)} (2), and the angle β of the mounted work piece 24 is β = tan ⁻¹ {(y22−y12) / (x22−x12 + A)} (3) Therefore, the component 23 and the mounted work 2
The relative angular deviation of 4 is: relative angular deviation = α−β (4)

The control device 30 rotates the hand 22 in response to the relative angular deviation from the image processing device 32, and
The angle deviation between 3 and the work 24 to be mounted is set to zero.

Next, the image processing device 32 again calculates the coordinates of the measurement point b of the component 23 and the work 24 to be mounted, and sends the positional deviation amount to the control device 30. The central coordinates obtained at this time are (x21, y21) and (x22, y22), and the positional deviation amount when the mounted work 24 is taken as a reference is δ.
If x and δy, then δx = x22−x21 (5) δy = | y22 | − | y21 | (6)

The control device 30 retracts the T-shaped lens barrel 25 and mounts the component 23 on the work 24 to be mounted based on the positional deviation amounts δx and δy sent from the image processing device 32. In this way, the component 23 is mounted on the mounted work 24 at an appropriate position. In this embodiment, the image processing device 32 calculates the relative angular displacement, but the control device 30 may calculate the relative angular displacement.

As described above, the component mounting apparatus of this embodiment is
Component gripping device 21 (component gripping means) such as a robot having a multi-axis moving mechanism for gripping and moving the component 23
And the component 23 gripped by the component gripping device 21 (component gripping means) and the mounted work 24 placed on the conveyor or the like.
And an image pickup device 26 (image pickup means) such as a camera that simultaneously fits in the field of view via the T-shaped lens barrel 25, and a moving mechanism 31 (moving means) that two-dimensionally moves the image pickup device 26 (image pickup means).
An image processing device 32 (image processing means) for calculating a relative positional relationship between the component 23 and the mounted work 24 from a plurality of detection target locations corresponding to the component 23 and the mounted work 24, respectively, and the image processing. A control device 30 for correcting the rotational deviation of the component 23 and the mounted work 24 based on the relative positional relationship calculated by the device 32 (image processing means).
(Correction means). This device corresponds to the embodiment of the invention of claim 1.

Then, a component mounting position aligning method is performed by using the component mounting apparatus of this embodiment. That is, by using the component mounting apparatus described above, the positional deviation of at least two or more corresponding points of the component 23 and the mounted work 24 is measured, and the relative rotational displacement of the component 23 and the mounted work 24 is corrected. To do. This method corresponds to the embodiment of the invention of claim 2.

Therefore, the component 23 and the mounted work 24
Even if there is a rotational deviation between the and, the rotational deviation is accurately corrected and mounted at the correct position, so that highly accurate alignment is possible and the mounting accuracy is significantly improved.

<Second Embodiment> Next, a second embodiment will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 1 is a perspective view showing an overall configuration of a component mounting apparatus according to a second embodiment of the present invention, which is common to the first embodiment. FIG. 6 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the second embodiment of the present invention, in which a reflecting mirror moving mechanism is provided. FIG. 7 is an explanatory diagram showing a state in which an image of the measurement points of the component and the work to be mounted by the component mounting apparatus according to the second embodiment of the present invention is displayed on the monitor TV, and FIG. It shows a state in which there is a large misalignment and a part of the image is missing.
Indicates that the image is normally reflected. In the figure, the same reference numerals and symbols as those in the first embodiment denote the same or corresponding components as those of the first embodiment. In the figure, 34 is a T-shaped lens barrel 25.
This is a reflecting mirror moving mechanism that moves the inside reflecting mirror 33 in the front-back direction. 43a is an image of the component 23, and 44a is an image of the mounted work 24. The other structure is the same as that of the first embodiment.

Next, the operation of the component mounting apparatus of this embodiment will be described. When the position of the component 23 or the mounted work 24 is largely displaced in the −Y direction, the images 43a, 4 reflected by the reflecting mirror 33 and input to the imaging device 26 such as a camera.
4a, as shown in FIG. 7A, the component 23 or the workpiece 24 is not entirely reflected and only a partial image is obtained. In some cases, it may not be displayed at all. Here, it is assumed that a partial image is obtained.
In this state, the image 43a of the part 23 and the work 24 to be mounted are attached.
When the position of the image 44a is calculated, a large error will occur because it is different from the actual position. Therefore,
In such a case, the reflecting mirror moving mechanism 34 is controlled and the component 2
3 or moving the reflecting mirror 33 in the -Y direction so that the image of the work 24 to be mounted can be obtained correctly, an image as shown in FIG. 7B is obtained, and the normal position is calculated.

Then, based on the image thus obtained as shown in FIG. 7 (b), as described in the first embodiment, the relative position between the component 23 and the mounted work 24 in the image processing device 32 is set. The component 23 is mounted on the mounted work 24 by the controller 30 based on the amount of positional displacement while calculating the angular displacement, so that the component 23 is mounted on the mounted work 24 at an appropriate position. Note that, also in the present embodiment, the control device 30 may be configured to calculate the relative angular deviation.

As described above, the component mounting apparatus of this embodiment is
Component gripping device 21 (component gripping means) such as a robot having a multi-axis moving mechanism for gripping and moving the component 23
And the component 23 gripped by the component gripping device 21 (component gripping means) and the mounted work 24 placed on the conveyor or the like.
The image pickup device 26 (image pickup means) such as a camera that simultaneously puts the image in the visual field through the T-shaped lens barrel 25, and the reflecting mirror moving mechanism 3 that moves the reflecting mirror 33 in the T-shaped lens barrel 25 in the front-back direction.
4 (reflecting mirror moving means), a moving mechanism 31 (moving means) for moving the imaging device 26 (imaging means), and a plurality of detection target parts corresponding to the parts 23 and the mounted work 24, respectively. 23 and the mounted work 24, the image processing device 32 (image processing means) for calculating the relative positional relationship between the workpiece 23 and the mounted work 24, and the component 23 and the mounted work 24 based on the relative positional relationship calculated by the image processing device 32 (image processing means). Controller 30 (correction means) for correcting the rotational deviation of
It has and. This device corresponds to the third embodiment of the invention.

That is, the component mounting apparatus of the present embodiment is the component mounting apparatus of the first embodiment provided with a reflecting mirror moving mechanism 34 for moving the reflecting mirror 33 in the T-shaped lens barrel 25 in the front-back direction. Is.

Therefore, the component 23 and the mounted work 24
Even when the position shift of the image pickup device 26 becomes large, the field of view of the image pickup device 26 expands, and the component 23 and the mounted work 24 do not protrude from the image pickup device 26. In particular, since the field of view can be expanded by moving only the reflecting mirror 33 without moving the entire T-shaped lens barrel 25, the moving mechanism 31 (moving means) for moving the imaging device 26 (imaging means) is uniaxial. Therefore, the moving mechanism 31 can be simplified. As a result, the device can be downsized and the cost can be reduced.

<Third Embodiment> Next, a third embodiment will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 1 is a perspective view showing the overall structure of a component mounting apparatus according to a third embodiment of the present invention, which is common to the above-described embodiments. FIG. 8 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the third embodiment of the present invention, in which an illuminating device and a half mirror are provided between the reflecting mirror and the image pickup device. FIG. 9 is an explanatory view showing a state in which images of measurement points of the component and the work to be mounted by the component mounting apparatus according to the third embodiment of the present invention are displayed on the monitor TV,
(A) shows the case where the lighting device and the half mirror are not provided,
(B) shows the case where an illuminating device and a half mirror are provided.
In the figure, the same reference numerals and symbols as those of the first and second embodiments indicate the same or corresponding components as those of the first and second embodiments. In the figure, 35 is an illuminating device arranged between the reflecting mirror 33 and the image pickup device 26, and 36 is a half mirror similarly arranged between the reflecting mirror 33 and the image pickup device 26. The irradiation light is emitted toward the reflecting mirror 33, and the light input through the reflecting mirror 33 passes through the half mirror 36 and is taken into the imaging device 26. 53a is an image of the component 23, and 54a is an image of the mounted work 24. The other structure is the same as that of the first embodiment.

Next, the operation of the component mounting apparatus of this embodiment will be described. As shown in FIG. 8, the light emitted from the illuminating device 35 is reflected by the half mirror 36, and further reflected by the reflecting mirror 33 so that the component 23 and the mounted work 24 (not shown).
Irradiate. The light reflected by the component 23 and the workpiece 24 is reflected by the reflecting mirror 33 through the route opposite to the above.
Furthermore, the image pickup device 2 such as a camera is transmitted through the half mirror 36.
6 is input.

Normally, in oblique illumination when the surface of the component 23 or the work 24 to be mounted is a mirror surface, the reflected light does not return to the T-shaped lens barrel 25, and the image input to the image pickup device 26 is as shown in FIG. It does not have a regular shape as shown in (). Therefore, as shown in the present embodiment, if coaxial illumination using the illumination device 35 and the half mirror 36 is used, even if the component 23 or the workpiece 24 is close to a mirror surface, the emitted light is a T-shaped mirror. The image reliably returned to the tube 25 and input to the image pickup device 26 becomes a good image as shown in FIG. 9B.

Then, the normal position is calculated from the image shown in FIG. 9 (b), and as described in the first embodiment, the image processing device 32 causes the component 23 and the workpiece 2 to be mounted.
4 calculates the relative angle deviation, and the control device 30 causes the component 23 to mount the component 23 on the basis of the position deviation amount.
To implement. In this way, the component 23 is mounted on the mounted work 24 at an appropriate position. Note that, also in the present embodiment, the control device 30 may be configured to calculate the relative angular deviation.

As described above, the component mounting apparatus of this embodiment is
Component gripping device 21 (component gripping means) such as a robot having a multi-axis moving mechanism for gripping and moving the component 23
And the component 23 gripped by the component gripping device 21 (component gripping means) and the mounted work 24 placed on the conveyor or the like.
An image pickup device 26 (image pickup means) such as a camera that simultaneously puts the same in the visual field through the T-shaped lens barrel 25, and a coaxial illumination means including a half mirror 36 and an illumination device 35 arranged in the T-shaped lens barrel 25. , A moving mechanism 31 (moving means) for moving the imaging device 26 (imaging means) two-dimensionally, and a plurality of detection target locations corresponding to the parts 23 and the work 24 to be detected, respectively. Image processing device 32 (image processing means) for calculating the relative positional relationship of
And the component 23 and the mounted work 2 based on the relative positional relationship calculated by the image processing device 32 (image processing means).
The control device 30 (correction means) for correcting the rotational deviation of No. 4 is provided. This device corresponds to the fourth embodiment of the invention.

That is, the component mounting apparatus of this embodiment is the same as the component mounting apparatus of the first embodiment except that the T-shaped lens barrel 25 is provided with the coaxial illuminating means including the half mirror 36 and the illuminating device 35. .

Therefore, the component 23 and the mounted work 2
Even if the material or surface condition of 4 is close to the mirror surface,
Since a good image can be obtained, accurate alignment can be performed, and the component 23 can be mounted at the correct position on the mounted work 24. As a result, it is possible to perform highly accurate positioning, and the mounting accuracy is significantly improved.

[0041]

As described above, the component mounting apparatus of the invention of claim 1 comprises the component holding means, the image pickup means, the moving means, the image processing means, and the correcting means, and the components to be mounted and The mounted work is put into the visual field at the same time through the T-shaped lens barrel to be imaged, and the relative positional relationship between the part having a plurality of detection target points and the mounted work is calculated to correct the rotation deviation. Even if there is a rotational deviation between the workpiece and the workpiece to be mounted, the workpiece is mounted at the correct position, so that highly accurate alignment is possible and the mounting accuracy is significantly improved.

In the component mounting alignment method of the invention of claim 2, the component mounting apparatus of claim 1 is used to measure the positional deviation of at least two or more corresponding points of the component and the workpiece to be mounted, By correcting the relative rotation deviation between the component and the work to be mounted, even if there is a rotation deviation between the component and the work to be mounted, this rotation deviation is accurately corrected, so that highly accurate alignment is possible. It will be possible.

A component mounting apparatus according to a third aspect of the present invention comprises a component holding means, an image pickup means, a reflecting mirror moving means, an image processing means, and a correcting means, and the reflecting mirror in the T-shaped lens barrel is moved forward and backward. By providing the reflecting mirror moving means for moving in the direction,
Even if the positional deviation between the component and the work to be mounted becomes large, the field of view of the image pickup means is expanded, and the component and the work to be mounted do not protrude from the field of view of the image pickup means. Therefore, the moving means for moving the image pickup means is simplified. It is possible, the device can be downsized, and the cost can be reduced.

According to a fourth aspect of the present invention, there is provided a component mounting apparatus including a component holding means, an image pickup means, a coaxial illumination means, an image processing means and a correction means, and the coaxial illumination means is provided in the T-shaped lens barrel. As a result, a good image can be obtained even when the material or surface condition of the component and the work to be mounted is close to a mirror surface, so accurate alignment can be performed and the component can be placed in the correct position on the work to be mounted. Can be implemented.

[Brief description of drawings]

FIG. 1 is a perspective view showing an overall configuration of a component mounting apparatus which is a first embodiment to a third embodiment of the present invention.

FIG. 2 is a front view showing the structure of a T-shaped lens barrel of the component mounting apparatus according to the first embodiment of the present invention.

FIG. 3 is an explanatory view showing a state in which a first point image of a component and a work to be mounted by the component mounting apparatus according to the first embodiment of the present invention is displayed on a monitor television.

FIG. 4 is an explanatory view showing a state where a second point image of a component and a work to be mounted by the component mounting apparatus according to the first embodiment of the present invention is displayed on a monitor television.

FIG. 5 is an explanatory diagram showing a method for calculating a deviation in relative angle between a component and a mounted work by the component mounting apparatus according to the first embodiment of the present invention.

FIG. 6 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the second embodiment of the present invention.

FIG. 7 is an explanatory diagram showing a state in which images of measurement points of a component and a work to be mounted by the component mounting apparatus according to the second embodiment of the present invention are displayed on a monitor television.

FIG. 8 is a front view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the third embodiment of the present invention.

FIG. 9 is an explanatory diagram showing a state in which images of measurement points of a component and a work to be mounted by the component mounting apparatus according to the third embodiment of the present invention are displayed on a monitor television.

FIG. 10 is a block diagram showing an overall configuration of a conventional automatic assembly apparatus.

11A is an explanatory view showing a state in which an image of a measurement point of a component and a work to be mounted by a conventional lens barrel is displayed on a monitor TV, and FIG. 11B shows a structure of the conventional lens barrel. FIG.

[Explanation of reference numerals] 21 component gripping device 22 hand 23 component 23a first image 23b second image 24 mounted work 24a first image 24b second image 25 T-shaped lens barrel 26 imaging device 30 Control device 31 Moving mechanism 32 Image processing device 33 Reflecting mirror 34 Reflecting mirror moving mechanism 35 Illuminating device 36 Half mirror 43a, 44a, 53a, 54a Video

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[Procedure amendment]

[Submission date] December 9, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction content]

In the component mounting alignment method of the invention of claim 2, the component and the workpiece to be mounted are measured by measuring the positional deviation of at least two points corresponding to the component and the workpiece to be mounted. Since the relative rotational deviation is corrected, the rotational deviation is accurately corrected even when the component and the mounted work have rotational deviation.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction content]

FIG. 2 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the first embodiment of the present invention. In the figure, 33 is a reflecting mirror that reflects the image of the component 23 and the work 24 to be mounted, and the image reflected by the reflecting mirror 33 is taken into the image pickup device 26.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0028

[Correction method] Change

[Correction content]

<Second Embodiment> Next, a second embodiment will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 1 is a perspective view showing an overall configuration of a component mounting apparatus according to a second embodiment of the present invention, which is common to the first embodiment. FIG. 6 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the second embodiment of the present invention, in which a reflecting mirror moving mechanism is provided. FIG. 7 is an explanatory diagram showing a state in which an image of the measurement points of the component and the work to be mounted by the component mounting apparatus according to the second embodiment of the present invention is displayed on the monitor TV, and FIG. It shows a state in which there is a large misalignment and a part of the image is missing.
Indicates that the image is normally reflected. In the figure, the same reference numerals and symbols as those in the first embodiment denote the same or corresponding components as those of the first embodiment. In the figure, 34 is a T-shaped lens barrel 25.
This is a reflecting mirror moving mechanism that moves the inside reflecting mirror 33 in the front-back direction. 43a is an image of the component 23, and 44a is an image of the mounted work 24. The other structure is the same as that of the first embodiment.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0034

[Correction method] Change

[Correction content]

<Third Embodiment> Next, a third embodiment will be described with reference to FIG.
This will be described with reference to FIGS. FIG. 1 is a perspective view showing the overall structure of a component mounting apparatus according to a third embodiment of the present invention, which is common to the above-described embodiments. FIG. 8 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the third embodiment of the present invention, in which an illuminating device and a half mirror are provided between the reflecting mirror and the image pickup device. FIG. 9 is an explanatory view showing a state in which images of measurement points of the component and the work to be mounted by the component mounting apparatus according to the third embodiment of the present invention are displayed on the monitor TV,
(A) shows the case where the lighting device and the half mirror are not provided,
(B) shows the case where an illuminating device and a half mirror are provided.
In the figure, the same reference numerals and symbols as those of the first and second embodiments indicate the same or corresponding components as those of the first and second embodiments. In the figure, 35 is an illuminating device arranged between the reflecting mirror 33 and the image pickup device 26, and 36 is a half mirror similarly arranged between the reflecting mirror 33 and the image pickup device 26. The irradiation light is emitted toward the reflecting mirror 33, and the light input through the reflecting mirror 33 passes through the half mirror 36 and is taken into the imaging device 26. 53a is an image of the component 23, and 54a is an image of the mounted work 24. The other structure is the same as that of the first embodiment.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Name of item to be corrected] Figure 2

[Correction method] Change

[Correction content]

FIG. 2 is a side view showing the structure of a T-shaped lens barrel of the component mounting apparatus according to the first embodiment of the present invention.

[Procedure correction 6]

[Document name to be amended] Statement

[Name of item to be corrected] Figure 6

[Correction method] Change

[Correction content]

FIG. 6 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the second embodiment of the present invention.

[Procedure Amendment 7]

[Document name to be amended] Statement

[Correction target item name] Figure 8

[Correction method] Change

[Correction content]

FIG. 8 is a side view showing the structure of the T-shaped lens barrel of the component mounting apparatus according to the third embodiment of the present invention.

Claims (4)

[Claims] 1. An image capturing method for holding and moving a component, and a component gripped by the component gripping unit and a work to be mounted placed on a conveyor or the like are simultaneously placed in a visual field through a T-shaped lens barrel. Means, moving means for moving the imaging means, image processing means for calculating a relative positional relationship between the component and the mounted work from a plurality of detection target locations corresponding to the component and the mounted work, respectively, the image A component mounting apparatus comprising: a correction unit that corrects a rotational deviation between the component and the mounted work based on the relative positional relationship calculated by the processing unit. 2. The component mounting apparatus according to claim 1, wherein the positional deviations of at least two corresponding points of the component and the mounted work are measured to correct the relative rotational displacement of the component and the mounted work. Parts mounting alignment method. 3. An image capturing device for holding and moving a component, and a component gripped by the component gripping device and a work to be mounted placed on a conveyor or the like are simultaneously placed in the visual field via a T-shaped lens barrel. Means, a reflecting mirror moving means for moving the reflecting mirror in the T-shaped lens barrel in the front-back direction, and a relative position of the component and the mounted work from a plurality of detection target locations corresponding to the component and the mounted work, respectively. A component mounting apparatus comprising: an image processing unit that calculates a relationship; and a correction unit that corrects a rotational deviation of the component and the mounted work based on the relative positional relationship calculated by the image processing unit. 4. An image capturing device for holding and moving a component, and a component gripped by the component gripping device and a workpiece to be mounted placed on a conveyor and the like are simultaneously placed in the visual field through a T-shaped lens barrel. And an image for calculating a relative positional relationship between the component and the mounted work from a plurality of detection target locations corresponding to the component and the mounted work, respectively. A component mounting apparatus comprising: a processing unit; and a correction unit that corrects a rotational deviation between the component and the mounted work based on the relative positional relationship calculated by the image processing unit.