JPH0722788A - Component transfer apparatus integrated with recognition camera equipped with zoom function - Google Patents

Abstract

PURPOSE:To provide a zoom function-equipped recognition camera-integrated transfer apparatus which can be made small, which can recognize a component surely even when its size is changed and which can transfer the component stably at high tact. CONSTITUTION:A recognition camera 10 which is arranged in the central line E which is coaxial with a component holding part 12 changes the magnification of a zoom lens 21 attached to a camera body 11 in such a way that the magnification is changed by an actuator 22 according to the size of a component 13 to be transferred. The component 13 to be transferred is imaged and recognized through the component holding part 12. On the basis of a recognized result, the component holding part 12 is driven so as to be lowered by the actuator 22 which has made the magnification of the zoom lens 21 variable, it holds the component 13 to be transferred, and it transfers the component to a transfer position.

Description

Detailed Description of the Invention

[0001]

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]

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.

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]

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.

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]

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]

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]

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.

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.

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.

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.

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.

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.

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.

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]

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.

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.

[Brief description of drawings]

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.

FIG. 2 is an explanatory view of driving the zoom lens and the component holding unit of the embodiment.

FIG. 3 is a configuration diagram illustrating an operation of a conventional component transfer device.

[Explanation of symbols]

 10 recognition camera 11 camera body 12 parts holding part 13 parts 21 zoom lens 22 actuator

Continued Front Page (72) Inventor Satoshi Soda 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.

Claims (1)

[Claims] 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.