JPH0722788A - Component transfer apparatus integrated with recognition camera equipped with zoom function - Google Patents
Component transfer apparatus integrated with recognition camera equipped with zoom functionInfo
- Publication number
- JPH0722788A JPH0722788A JP5160814A JP16081493A JPH0722788A JP H0722788 A JPH0722788 A JP H0722788A JP 5160814 A JP5160814 A JP 5160814A JP 16081493 A JP16081493 A JP 16081493A JP H0722788 A JPH0722788 A JP H0722788A
- Authority
- JP
- Japan
- Prior art keywords
- component
- recognition camera
- magnification
- actuator
- zoom lens
- 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
Landscapes
- Lenses (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、部品を認識し保持して
移載するズーム機能付認識カメラ一体型部品移載装置に
関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component transfer device integrated with a recognition camera having a zoom function for recognizing, holding and transferring components.
【0002】[0002]
【従来の技術】従来の部品移載装置の一例について図面
を参照しながら以下に説明する。従来の部品移載装置
は、図3に示すように構成されている。図3において、
9は部品を認識する固定倍率の認識カメラ、12は部品
を保持し固定する部品保持部、13は移載する部品であ
る。この場合、認識カメラ9の中心線Aと部品保持部1
2の中心線Bとは一致していない。2. Description of the Related Art An example of a conventional component transfer apparatus will be described below with reference to the drawings. The conventional component transfer device is configured as shown in FIG. In FIG.
Reference numeral 9 is a recognition camera with a fixed magnification for recognizing the component, 12 is a component holding unit for holding and fixing the component, and 13 is a component to be transferred. In this case, the center line A of the recognition camera 9 and the component holder 1
The center line B of 2 does not coincide.
【0003】この構成において、図3の(a)に示すよ
うに、認識カメラ9の中心線Aを部品13の中心線Cに
一致させて、認識カメラ9により部品13の位置を認識
した後、認識した位置のデータに基づいて、図3の
(b)に示すように、部品保持部12を移動して、部品
保持部12の中心線Bを部品13の中心線Cに一致さ
せ、部品保持部12を矢印Dに示すように下降させ、部
品保持部12で部品13を保持して固定し、この部品1
3を移載位置まで移載する。In this structure, as shown in FIG. 3A, after the center line A of the recognition camera 9 is aligned with the center line C of the component 13 and the position of the component 13 is recognized by the recognition camera 9, Based on the recognized position data, as shown in FIG. 3B, the component holding unit 12 is moved so that the center line B of the component holding unit 12 coincides with the center line C of the component 13 and the component holding unit 12 holds the component. The part 12 is lowered as shown by the arrow D, and the part 13 is held and fixed by the part holding part 12.
3 is transferred to the transfer position.
【0004】[0004]
【発明が解決しようとする課題】しかしながら、このよ
うな従来の構成では、部品13を認識カメラ9で認識し
た後、部品13の中心線Cまで部品保持部12が移動
し、部品13を保持し固定する必要があるため、部品1
3を移載するタクトが長くなり、また、装置が大型とな
るという問題点を有している。However, in such a conventional configuration, after the component 13 is recognized by the recognition camera 9, the component holder 12 moves to the center line C of the component 13 to hold the component 13. Part 1 because it needs to be fixed
There is a problem that the tact for transferring 3 is long and the device is large.
【0005】また、認識カメラ9は固定倍率であるた
め、部品13のサイズが変更した場合、部品13が認識
できなくなるという問題点も有している。本発明は、部
品13を高タクトで移載位置まで移載でき、また、装置
が小型化でき、かつ、部品13のサイズが変更しても部
品13の認識が確実にでき、安定して部品13を移載で
きるズーム機能付認識カメラ一体型部品移載装置を提供
することを目的とする。Further, since the recognition camera 9 has a fixed magnification, there is a problem that when the size of the component 13 is changed, the component 13 cannot be recognized. According to the present invention, the component 13 can be transferred to the transfer position with high tact, the apparatus can be downsized, and the component 13 can be surely recognized even if the size of the component 13 is changed, and the component can be stably provided. It is an object of the present invention to provide a recognition camera-integrated type component transfer device with a zoom function capable of transferring 13 components.
【0006】[0006]
【課題を解決するための手段】本発明のズーム機能付認
識カメラ一体型部品移載装置は、認識カメラで認識した
部品を部品保持部で保持し、この部品を移載する部品移
載装置であって、カメラ本体にズームレンズを取り付け
た前記認識カメラを部品保持部の中心線と同軸に配置
し、前記認識カメラが部品保持部を通して前記部品を撮
像するよう構成し、かつ前記ズームレンズの倍率可変な
らびに部品保持部の昇降駆動を実施するアクチュエータ
を設けたことを特徴とする。SUMMARY OF THE INVENTION A recognition camera-integrated component transfer device with a zoom function according to the present invention is a component transfer device that holds a component recognized by a recognition camera in a component holder and transfers the component. The recognition camera having a zoom lens attached to the camera body is arranged coaxially with the center line of the component holder, and the recognition camera is configured to capture an image of the component through the component holder, and the magnification of the zoom lens. It is characterized in that an actuator is provided for variably and vertically moving the component holder.
【0007】[0007]
【作用】本発明の構成によると、認識カメラが部品保持
部の中心線と同軸に配置され、部品保持部を通して部品
を撮像し認識して、認識カメラが部品を認識して確認し
た位置で、部品保持部をアクチュエータで下降駆動して
部品を保持して移載する。また、アクチュエータでズー
ムレンズを倍率可変して部品サイズに応じてズームレン
ズの倍率を変更し、部品サイズの変化に対応する。According to the structure of the present invention, the recognition camera is arranged coaxially with the center line of the component holder, the component is imaged and recognized through the component holder, and the recognition camera recognizes and confirms the component. The component holding section is driven downward by an actuator to hold and transfer the component. Further, the magnification of the zoom lens is changed by the actuator, and the magnification of the zoom lens is changed according to the component size to cope with the change in the component size.
【0008】[0008]
【実施例】以下、本発明の一実施例のズーム機能付認識
カメラ一体型部品移載装置について図1と図2に基づい
て説明する。なお、従来例を示す図3と同様の作用をな
すものは同一の符号を付けて説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A recognition camera-integrated component transfer device with a zoom function according to an embodiment of the present invention will be described below with reference to FIGS. It should be noted that components having the same functions as those of the conventional example shown in FIG.
【0009】図1は、本実施例のズーム機能付認識カメ
ラ一体型部品移載装置の構成を示すものである。11
は、認識カメラ10を構成するカメラ本体、21は、カ
メラ本体11に取り付けられてカメラ本体とともに認識
カメラ10を構成し、認識カメラ10の倍率を可変する
ズームレンズ、12は部品保持部、22は、ズームレン
ズ21および部品保持部12を駆動するアクチュエー
タ、13は移載する部品である。ここで、カメラ本体1
1と、ズームレンズ21と、アクチュエータ22と、部
品保持部12とは、これらの中心線が全て同軸の中心線
Eになるように配置されている。また、アクチュエータ
22の外ケースは、装置を支持する支持部14に固定さ
れている。FIG. 1 shows the construction of a component transfer apparatus with a zoom function-equipped recognition camera according to this embodiment. 11
Is a camera body that constitutes the recognition camera 10, 21 is a zoom lens that is attached to the camera body 11 and constitutes the recognition camera 10 together with the camera body, and that changes the magnification of the recognition camera 10, 12 is a component holder, and 22 is An actuator that drives the zoom lens 21 and the component holder 12, and 13 is a component that is transferred. Here, the camera body 1
1, the zoom lens 21, the actuator 22, and the component holder 12 are arranged so that their center lines are all coaxial center lines E. The outer case of the actuator 22 is fixed to the support portion 14 that supports the device.
【0010】上記の構成において、部品13の認識時に
は、ズームレンズ21をアクチュエータ22で駆動して
所定の倍率に位置させ、部品13を認識し、部品保持部
12の中心線Eが部品13の中心線Cに一致するように
補正を行う。部品13の移載時には、ズームレンズ21
を駆動したアクチュエータ22により部品保持部12を
下降させ、部品13を保持して固定し、移載位置まで移
載する。In the above structure, when the component 13 is recognized, the zoom lens 21 is driven by the actuator 22 to be positioned at a predetermined magnification, the component 13 is recognized, and the center line E of the component holder 12 is the center of the component 13. Correction is performed so as to match the line C. When transferring the part 13, the zoom lens 21
The component holding unit 12 is moved down by the actuator 22 that has driven, the component 13 is held and fixed, and the component 13 is transferred to the transfer position.
【0011】図2は、アクチュエータ22によるズーム
レンズ21および部品保持部12の駆動を説明する構成
図である。21aは、ズームレンズ21を構成するレン
ズのうち倍率可変するレンズを可動させるレンズ可動
部、22はアクチュエータ、31は、アクチュエータ2
2で回転駆動される円筒形カムであり、この外周面には
螺線状にカム溝31aが形成されている。12は部品保
持部である。FIG. 2 is a configuration diagram for explaining the driving of the zoom lens 21 and the component holder 12 by the actuator 22. Reference numeral 21a is a lens movable portion for moving a lens of the zoom lens 21 whose magnification is variable, 22 is an actuator, 31 is the actuator 2
It is a cylindrical cam that is driven to rotate by 2, and a cam groove 31a is formed in a spiral shape on the outer peripheral surface thereof. Reference numeral 12 is a component holder.
【0012】ここで、レンズ可動部21aには、円筒形
カム31のカム溝31aにスライド自在に係合されてい
る突起21bが形成されており、レンズ可動部21a
は、アクチュエータ22によって円筒形カム31を矢印
Hに示すように回転させることにより、矢印Fに示すよ
うに、中心線Eの方向の運動を得ることができ、ズーム
レンズ21の倍率を可変することができる。また、部品
保持部12側にもレンズ可動部21a側と同様な円筒形
カム(図示せず)を設けて同様な方法で駆動することに
より、矢印Gに示すように、中心線Eの方向の運動が得
られる。Here, the lens movable portion 21a is formed with a protrusion 21b slidably engaged with the cam groove 31a of the cylindrical cam 31, and the lens movable portion 21a.
Can rotate the cylindrical cam 31 by the actuator 22 as shown by the arrow H to obtain movement in the direction of the center line E as shown by the arrow F, and change the magnification of the zoom lens 21. You can Further, by providing a cylindrical cam (not shown) similar to that on the lens movable portion 21a side on the component holding portion 12 side and driving in the same manner, as shown by an arrow G, the direction of the center line E can be increased. Get exercise.
【0013】上記の動作を以下に具体的に説明する。部
品13の認識時には、部品13の位置に装置を移動し、
アクチュエータ22によって円筒形カム31を回転させ
ることにより、円筒形カム31のカム溝31aに係合す
るレンズ可動部21aを矢印Fに示すように移動させ
る。レンズ可動部21aの移動によりズームレンズ21
の倍率を変更して、認識カメラ10を部品13のサイズ
に応じて所定の倍率に設定する。この認識カメラ10で
部品保持部12を通して部品13を撮像して認識し、部
品保持部12の中心線Eが部品13の中心線Cに一致す
るように補正を行う。この動作により,部品保持部12
の正確な位置決めが行われる。The above operation will be specifically described below. When recognizing the component 13, move the device to the position of the component 13,
By rotating the cylindrical cam 31 with the actuator 22, the lens movable portion 21a that engages with the cam groove 31a of the cylindrical cam 31 is moved as shown by an arrow F. By moving the lens movable portion 21a, the zoom lens 21 is moved.
Is changed to set the recognition camera 10 to a predetermined magnification according to the size of the component 13. The recognition camera 10 images and recognizes the component 13 through the component holding unit 12, and corrects the center line E of the component holding unit 12 so as to match the center line C of the component 13. By this operation, the component holder 12
Accurate positioning of is performed.
【0014】部品13の移載時には、認識カメラ10に
よる部品13の認識結果に基づいて、レンズ可動部21
a側と同様に部品保持部12側に設けられた円筒形カム
(図示せず)が、レンズ可動部21aを移動させた同一
のアクチュエータ22により、レンズ可動部21aと同
様な方法で駆動される。この円筒形カムの駆動により、
部品保持部12が下降する。この駆動によりレンズ可動
部21aの位置が、部品13の認識時から変化してしま
うが、この時点では、部品13の認識が完了しているの
で、レンズ可動部21aの位置の変化による支障はな
い。つぎに、下降した部品保持部12が部品を保持し、
この部品13を所定の移載位置に移載する。At the time of transferring the component 13, the lens movable part 21 is based on the recognition result of the component 13 by the recognition camera 10.
Similar to the a side, a cylindrical cam (not shown) provided on the component holding section 12 side is driven in the same manner as the lens moving section 21a by the same actuator 22 that moves the lens moving section 21a. . By driving this cylindrical cam,
The component holder 12 moves down. By this driving, the position of the lens movable portion 21a changes from the time of recognizing the component 13, but at this time, since the recognition of the component 13 has been completed, there is no problem due to the change of the position of the lens movable portion 21a. . Next, the lowered component holder 12 holds the component,
This component 13 is transferred to a predetermined transfer position.
【0015】この構成により、部品13を認識した位置
で部品保持部12を下降させれば部品13が保持できる
ため、部品13を高タクトで移載位置まで移載できる。
また、単一のアクチュエータ22で、同軸に配置された
ズームレンズ21と部品保持部12が駆動できるため、
装置が小型化できる。さらに、部品13のサイズが変更
しても、ズームレンズ21の倍率を変更して部品13の
認識が確実にできるため、安定して部品13が移載でき
る。With this structure, since the component 13 can be held by lowering the component holder 12 at the position where the component 13 is recognized, the component 13 can be transferred to the transfer position with high tact.
Further, since the zoom lens 21 and the component holder 12 arranged coaxially can be driven by the single actuator 22,
The device can be downsized. Further, even if the size of the component 13 is changed, the magnification of the zoom lens 21 can be changed to surely recognize the component 13, so that the component 13 can be transferred stably.
【0016】[0016]
【発明の効果】以上のように本発明によれば、認識カメ
ラが部品保持部の中心線と同軸に配置され、部品保持部
を通して部品を撮像し認識するので、認識カメラが部品
を認識して確認した位置で、部品保持部をアクチュエー
タで下降駆動すれば部品を保持して移載できる。そのた
め、部品を高タクトで移載位置まで移載でき、装置が小
型化できる。As described above, according to the present invention, the recognition camera is arranged coaxially with the center line of the component holder and the component is imaged and recognized through the component holder, so that the recognition camera recognizes the component. At the confirmed position, the component can be held and transferred by driving the component holder downward by the actuator. Therefore, the components can be transferred to the transfer position with high tact, and the device can be downsized.
【0017】また、アクチュエータでズームレンズを倍
率可変して部品サイズに応じてズームレンズの倍率を変
更するので、部品サイズの変化に対応できる。そのた
め、部品のサイズが変更しても、ズームレンズの倍率を
変更して部品の認識が確実にできるので、安定して部品
が移載できる。Further, since the magnification of the zoom lens is changed by the actuator and the magnification of the zoom lens is changed according to the component size, it is possible to cope with the change in the component size. Therefore, even if the size of the component is changed, the magnification of the zoom lens can be changed to surely recognize the component, so that the component can be transferred stably.
【図1】本発明のズーム機能付認識カメラ一体型部品移
載装置の一実施例の構成図FIG. 1 is a configuration diagram of an embodiment of a component transfer device with an integrated recognition camera with a zoom function according to the present invention.
【図2】同実施例のズームレンズと部品保持部の駆動の
説明図FIG. 2 is an explanatory view of driving the zoom lens and the component holding unit of the embodiment.
【図3】従来の部品移載装置の動作を説明する構成図FIG. 3 is a configuration diagram illustrating an operation of a conventional component transfer device.
10 認識カメラ 11 カメラ本体 12 部品保持部 13 部品 21 ズームレンズ 22 アクチュエータ 10 recognition camera 11 camera body 12 parts holding part 13 parts 21 zoom lens 22 actuator
フロントページの続き (72)発明者 仕田 智 大阪府門真市大字門真1006番地 松下電器 産業株式会社内Continued Front Page (72) Inventor Satoshi Soda 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.
Claims (1)
で保持し、この部品を移載する部品移載装置であって、
カメラ本体にズームレンズを取り付けた前記認識カメラ
を部品保持部の中心線と同軸に配置し、前記認識カメラ
が部品保持部を通して前記部品を撮像するよう構成し、
かつ前記ズームレンズの倍率可変ならびに部品保持部の
昇降駆動を実施するアクチュエータを設けたズーム機能
付認識カメラ一体型部品移載装置。1. A component transfer device for holding a component recognized by a recognition camera by a component holder and transferring the component,
The recognition camera having a zoom lens attached to the camera body is arranged coaxially with the center line of the component holder, and the recognition camera is configured to capture an image of the component through the component holder.
Further, a recognition camera-integrated component transfer device with a zoom function, which is provided with an actuator for varying the magnification of the zoom lens and for raising and lowering the component holder.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5160814A JPH0722788A (en) | 1993-06-30 | 1993-06-30 | Component transfer apparatus integrated with recognition camera equipped with zoom function |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5160814A JPH0722788A (en) | 1993-06-30 | 1993-06-30 | Component transfer apparatus integrated with recognition camera equipped with zoom function |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0722788A true JPH0722788A (en) | 1995-01-24 |
Family
ID=15723003
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP5160814A Pending JPH0722788A (en) | 1993-06-30 | 1993-06-30 | Component transfer apparatus integrated with recognition camera equipped with zoom function |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0722788A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005068199A1 (en) * | 2004-01-19 | 2005-07-28 | Siemens Aktiengesellschaft | Device and method for double printing in an accurately fitting manner |
-
1993
- 1993-06-30 JP JP5160814A patent/JPH0722788A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005068199A1 (en) * | 2004-01-19 | 2005-07-28 | Siemens Aktiengesellschaft | Device and method for double printing in an accurately fitting manner |
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