JPH0786797A - Detection equipment of mounted component - Google Patents

Abstract

PURPOSE:To simply enable stable detectiton of components, its form and bonding state with high precision by using an image processing means of practical simple constitution, by forming the component retaining portion of a mounting head from transparent material, and arranging the components retaining portion on a center line between an illumination light source and an image means which face each other. CONSTITUTION:Since the suction pad 8 or the portion where a component 7 of a chuck is mounted is transparent, illumination light penetrates the outer periphery of the portion where the components 7 is mounted, and enters a TV camera 11. Illumination light cast on the component 7 is reflected or scattered by the component 7, and does not enter the TV camera 11. As a result, in the TV camera, the portion where the components 7 is mounted turns to a dark portion, and the peripheral part turns to a bright portion. Since the TV camera picks up only the image of the suction pad 8 or the portion where the components 7 of a chuck is mounted, binary processing which is simply performed by an image processing means is possible, and sure detection of mounted components is enabled with high precision.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting device,
In particular, the present invention relates to an apparatus for detecting a component held by a hand unit such as a robot or a mounting head and detecting the state thereof.

[0002]

2. Description of the Related Art Conventionally, as a device for recognizing the state of a component sucked and held by a mounting head, for example, Japanese Patent Laid-Open No. 2-22 has been proposed.
There is an invention described in Japanese Patent No. 899. In the above invention, the mounting head is provided with the reflecting means, the ring light source is disposed so as to face the mounting head, the camera is disposed below the ring light source, and the mounting head further includes a suction nozzle for vacuum suctioning the component. A mark pin corresponding to this suction nozzle is provided.

In the apparatus having the above-mentioned structure, the light beam emitted from the ring light source is reflected by the reflecting means of the mounting head so as to enter the camera, and is not reflected by the tip surface of the component pin and the mark pin which are attracted by the mounting head. By utilizing this, an image in which the parts and the mark pins are in the dark part is displayed on the same screen by the camera, and the positions of the parts are recognized. Further, it is also disclosed that even when a component having an outer shape smaller than the tip end face of the suction nozzle is suction-held, the suction nozzle is formed of a semitransparent member so that an image in which only the component is a dark part can be captured. There is.

[0004]

However, the above-mentioned prior art has the following drawbacks. That is, when a component such as a suction sleeve that suction-holds a screw used in a screw mounting head of a screw tightening device is not flat and the suction surface of the component to be suction-held is not flat, or when the suction head When it is necessary to make the diameter larger than the outer shape of the component to be suction-held, a suction pad is used to suction so that the component to be suction-held is housed inside. The detection of the component suctioned and held in the suction pad, its shape, and its mounting state by the image input detection device makes at least the suction port of the metal pipe a dark part in the conventional metal pipe. Needless to say, it is difficult.

Further, a method of forming a suction pad with a semi-transparent member and detecting it with a reflection type image input device has the following drawbacks. That is, it is possible to capture an image in which only the parts that have been sucked and held in the suction pad become a dark part, but the semi-transparent member appropriately scatters and reflects incident light, and therefore the semi-transparent suction pad that becomes a bright part. The brightness of the part is lower than that of the reflection means of the mounting head,
The contrast ratio with the dark part of the part cannot be obtained.

Further, a dark part, a semi-transparent suction pad which becomes a bright part and has a different degree of brightness, and a reflecting means of the mounting head are taken in as an image on the same screen, which is practically easy. In the component detection processing such as the binarization processing that is usually performed by the image processing means having various configurations, the processing of an image having two or more background brightness levels becomes complicated and the detection accuracy decreases. There is a problem in the detection accuracy and the detection reliability with respect to the detection and the detection of its shape and its suction-holding state.

Therefore, the present invention was developed in view of the above-mentioned drawbacks of the prior art, and the components mounted on the mounting head can be processed even by using an image processing means having a practical and simple structure. It is an object of the present invention to provide a device for detecting a mounted component, which is capable of easily performing high-precision, stable detection of the component, its shape, and its mounting state.

[0008]

SUMMARY OF THE INVENTION According to the present invention, a mounting component for detecting a component held by a mounting head and detecting its shape and mounting state by arranging an illuminating light source and capturing an image by an image inputting means. In the above detection device, at least the component holding portion of the mounting head is formed of a transparent member, and the component holding portion is arranged on the center line between the illumination light source and the image input means that face each other. .

[0009]

According to the present invention, since the illumination light emitted from the illumination light source is transparent at the portion on which the component of the suction pad or the chuck is mounted, the peripheral portion on the outer side of the component on which the component is mounted is transmitted. The image input means is irradiated. Further, the illumination light that has passed through the transparent portion of the suction pad or the chuck and is applied to the component is reflected or scattered by the component and is not applied to the image input means. Therefore, in the image of the part on which the component captured by the image input means is mounted, the component is a dark portion, and the peripheral portion outside the component is a bright portion.

Further, the degree of darkness of the dark part becomes considerably dark, and the brightness of the peripheral part outside the background part which becomes the bright part is most influenced by the transmittance of the transparent member of the suction pad or the chuck. However, since it has a high transmittance for the member, it is quite bright. Further, the image input means is designed to capture only the image of the portion where the suction pad or the chuck component is mounted. Therefore, the image input means can capture an image having a high brightness ratio of the background having a high contrast ratio with respect to the background of the mounted component, and thus the image processing means can perform the binarization processing which is simple in processing. Etc. can be performed, and further, it is possible to perform the detection processing of the mounted component with improved accuracy.

[0011]

[Embodiment 1] FIG. 1 is a schematic configuration diagram showing this embodiment.
The mounting head 1 used in the apparatus of the present embodiment is provided with an elevating part 3 which is movable up and down and rotatable with respect to a main body part 2.
A suction pipe 4 that moves up and down is attached to the lower end of the suction pipe 4, and a ring-shaped light source 5 that is a ring-shaped illumination light source that irradiates downward is disposed by a support member 6 around the suction pipe 4 and the suction is performed. At the lower end of the pipe 4, a suction pad 8 made of a transparent member for vacuum suctioning the component 7 to be mounted is provided. A diffusion plate 9 is attached to the irradiation surface of the ring-shaped light source 5, and a ring-shaped optical component 10 including a lens for converting illumination light into parallel light is provided above the suction pad 8 on the irradiation side of the ring-shaped light source 5. Has been.

The transparent member forming the suction pad 8 is made of transparent resin such as transparent acrylic, hard vinyl chloride and polycarbonate, or transparent glass. Also,
This suction pad 8 is formed by melt-molding and cutting or cutting a transparent resin or transparent glass, and is bubbled so that air does not remain in the member during melting, and no cut marks remain on the processed surface during processing. It is either processed or polished on the processed surface, and the cleaning process removes chips and the like to finish it neatly. Further, the suction pad 8 is provided with a mounting hole for the suction pipe 4, and is attached to the lower end of the suction pipe 4 with an adhesive or the like.

The mounting head 1 is attached as a main body 2 to an orthogonal robot (not shown) or a horizontal articulated robot or the like, and is movable in the X and Y directions. Below the mounting head 1, a TV camera 1 as an image input means is provided.
1 is arranged so that the center of the TV camera 11 and the center of the ring-shaped light source 5 can coincide with each other.

In the detection device having the above-described structure, first, the suction pipe 4 and the suction pad 8 are lowered by the elevating part 3 of the mounting head 1, and the component 7 to be mounted from a component supply unit (not shown) is vacuumed by the suction pad 8. By adsorption, it is encapsulated in this, adsorbed and held, and then raised. Next, the mounting head 1 is moved so that the suction pad 8 that holds the component 7 by suction is located above the TV camera 11, and is viewed from below the component 7 that is suction-held in the suction pad 8 by the TV camera 11. Capture a still image.

The captured image is obtained only in the portion of the suction pad 8 where the component 7 is suction-held by the image pickup lens of the TV camera 11. Since the suction pad 8 is transparent, the illumination light emitted from the ring-shaped light source 5 is transmitted through the peripheral portion outside the component 7 where the component 7 is suction-held and is transmitted to the TV camera 11. . Also, the suction pad 8
The illumination light that has been transmitted through and is applied to the component 7 therein is reflected or scattered by the component 7 and is not applied to the TV camera 11. Therefore, in the image of the portion where the component 7 captured by the TV camera 11 is suction-held, the component 7 becomes a dark portion and the peripheral portion outside the component 7 becomes a bright portion.

Since the transparent member of the suction pad 8 has a high transmittance, and the illumination light is finished so as to be transmitted through the suction pad 8 without being scattered, a background part which becomes a bright part. The brightness of the outer peripheral part of 7 is considerably bright. On the contrary, the darkness of the component 7, which is the dark portion, is considerably darker than the background, and the image of the component 7 having a high contrast ratio with respect to the background is captured. Also,
The illumination light emitted from the ring-shaped light source 5 is uniformly diffused by the diffusion plate 9, and the ring-shaped optical component 1 including a lens or the like.
Since 0 is used as parallel light in order to sharpen the border between the bright and dark parts, that is, the outline of the image, the background that becomes the bright part is a uniform bright part without uneven brightness, and the part 7 having a sharp outline is used. The image is captured.

The image viewed from the bottom of the component 7 sucked and held in the suction pad 8 captured by the TV camera 11 is detected by the image processing means by the binarization process or the like to detect the component 7 and its shape. Then, the mounting state is detected to determine whether the correct component 7 is suction-held or whether the component 7 is suction-held in the correct posture. According to the result of the determination by the image processing means, the mounting head 1 ejects the wrong component,
The component 7 is again taken out from the component supply unit, and the suction pad 8
Then, the operation of suction-holding, the operation of correcting the position of the suction pad 8 or the normal operation to be performed next is performed.

According to this embodiment, when capturing an image viewed from below the mounted component, the illumination light can be surely illuminated to the object without being blocked by the object constituting the mounting head. It will be possible.

[0019]

Second Embodiment FIG. 2 is a schematic configuration diagram showing this embodiment.
In this embodiment, the mounting head 21 is provided with a screw tightening device 22. Screw mounting head 2 used in the apparatus of this embodiment
1 is a slide bracket 2 attached to the elevating part 24 in which an elevating part 24 is provided so as to be able to move up and down with respect to the body part 23.
Reference numeral 5 denotes a screw tightening device 22 which is vertically movable.

The screw tightening device 22 is provided with an electric screwdriver 26 at the uppermost portion, and a slide bracket 25 of the elevating part 24 is provided.
A universal joint and a holder 28 having a bit 27 connected to the universal joint at its upper end, a compression spring, and a pipe are provided below the electric screwdriver 26. The lower end of the holder 28 supports the suction pipe 29 through which the bit 27 is inserted, and the lower portion for vacuum-sucking the screw component 30 mounted on the lower end of the suction pipe 29 holds and absorbs at least the screw component 30. An adsorption sleeve 32, which is composed of a transparent member 31, is provided. This suction sleeve 32
The lower transparent member is fixed to the upper member with an adhesive or the like.

The diffusion plate 33 and the illumination light are parallel to the irradiation side so that the illumination light can be emitted from the side at the axial position where the suction sleeve 32 moves up and down at the position where the screw component 30 is taken out from the screw component supply unit (not shown). A surface light source 35 provided with an optical lens 34 for converting light is arranged, and the suction sleeve 3
The TV camera 36 is arranged at a position facing each other with the two lifting shafts in between so that the center of the TV camera 36 and the center of the surface light source 35 coincide with each other.

The operation of this embodiment differs from that of the first embodiment in the following points. The suction sleeve 32 of the screw tightening device 22 is lowered by the elevating unit 24 of the screw mounting head 21, and the screw component 30 to be mounted from the screw component supply unit or the like is suction-held inside the suction sleeve 32 by vacuum suction and then raised. . As the suction sleeve 32 that holds the screw component 30 by suction rises, the screw component 30 that is suction-held passes between the surface light source 35 and the TV camera 36. At this time, the TV camera 36 uses the transparent portion 31 of the suction sleeve 32.
A still image viewed from the side of the screw component 30 suction-held inside the is captured.

Based on an image of the screw part 30 adsorbed and held inside the transparent part 31 of the adsorbing sleeve 32 captured by the TV camera 36 as seen from the side, the image processing means detects the screw part 30 and its shape. And the mounting state thereof is detected to make a determination, and the screw mounting head 21 performs the next operation to be performed according to the determination result. In this embodiment, instead of the position correcting operation of the suction sleeve 32, the operation of reattaching the screw component 30 is performed. The operation of the other structures is the same as that of the first embodiment, and the description thereof will be omitted.

According to the present embodiment, by using the image of the mounted component viewed from the side, it is possible to detect and determine the mounted component, its shape and its mounting state, which cannot be seen from the image viewed from below. It becomes possible to perform surely.

[0025]

Third Embodiment FIG. 3 is a schematic configuration diagram showing this embodiment.
This embodiment is different from the first embodiment in the following points,
Others are omitted. In contrast to the first embodiment, the mounting head 41 used in the apparatus of the present embodiment is provided with an elevating part 43 which is vertically movable and rotatable with respect to a main body part 42, and is vertically moved to a lower part of the elevating part 43. A pair of chuck drive units 44 is provided.

A surface light source 45A for illuminating illumination light is attached to the lower end of the elevating part 43. Further, the chuck arm 46 is attached to the chuck driving section 44 via a rod. A chuck 48 made of a transparent member for gripping a component 47 to be mounted on the lower end of the chuck arm 46 is provided by fixing with an adhesive or screws. A diffusion plate 49A and an optical lens 50A for converting illumination light into parallel light are attached to the irradiation side of the surface light source 45A.

Below the mounting head 41, a TV camera 51A is provided with a center of the TV camera 51A and a surface light source 45A.
It is placed so that it can be aligned with the center of. Further, at the axial position where the chuck 48 at the position where the component 47 is taken out from a component supply unit (not shown) moves up and down, the diffuser plate 49B and the optics for collimating the illuminating light to the illuminating side so that the illuminating light can be radiated directly from the side. Surface light source 45B provided with lens 50B
Then, the TV camera 51B is arranged at a position facing each other with the lifting shaft of the chuck 48 in between so that the center of the TV camera 51B and the center of the surface light source 45B coincide with each other.

The operation of this embodiment is different from that of the first embodiment in the following points. The chuck drive unit 44, the chuck arm 46, and the chuck 48 are lowered by the elevating unit 43 of the mounting head 41, and the component 47 to be mounted from the component supply unit or the like is held by the chuck 48 by the grip drive of the chuck drive unit 44 and then raised. . The surface of the surface light source 45B and the TV camera 5 are raised by raising the chuck 48 that holds the component 47.
The gripped component 47 passes between 1B and TV
The camera 51B captures a still image B viewed from the side of the component 47 held by the chuck 48. Next, the mounting head 41 is moved so that the chuck 48 holding the component 47 is above the TV camera 51A, and the still image A viewed from below the component 47 held by the chuck 48 by the TV camera 51A is captured.

Based on the images A and B viewed from below and from the side of the component 47 held by the chuck 48 captured by the TV cameras 51A and 51B, the image processing means detects the component 47 and its shape and its mounting state. Is detected to make a determination, and the mounting head 41 performs the next operation to be performed according to the determination result. The operation of the other structures is the same as that of the first embodiment, and the description thereof will be omitted.

According to this embodiment, by using the images viewed from the bottom and the side of the mounted component, it is possible to detect and determine the mounted component, its shape and its mounting state, which cannot be seen from the images viewed from one side respectively. On the other hand, it is possible to reliably and accurately carry out.

[0031]

As described above, according to the mounted component detecting apparatus of the present invention, the image processing in which the processing method of the simple structure is easy for the detection and determination of the component mounted on the mounting head is easy. It is possible to detect the component and its shape and its mounting state with high accuracy and high reliability.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram illustrating a first embodiment.

FIG. 2 is a schematic configuration diagram showing a second embodiment.

FIG. 3 is a schematic configuration diagram showing a third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Adsorption head 2 Body part 3 Elevating part 4 Adsorption pipe 5 Ring-shaped light source 6 Supporting member 7 Parts 8 Adsorption pad 9 Diffusing plate 10 Optical parts 11 TV camera

Claims (1)

[Claims] 1. A mounting component detecting apparatus for detecting a component held by the mounting head and detecting its shape and mounting state by arranging an illuminating light source and capturing an image by an image input means. 2. At least the component holding part is formed of a transparent member, and the component holding part is arranged on the center line between the illumination light source and the image input means that face each other, and the mounted component detection device.