JPS61175808A - Substrate adjusting device - Google Patents

Abstract

PURPOSE:To execute exactly and quickly an adjustment, and to realize easily an automation of an adjusting work by measuring a position, etc. of an adjusting part by using a video camera. CONSTITUTION:First of all, position data theta1, theta2 of an adjusting part on substrate 5 are read out of a memory in a computer 1, supplied to a robot control device 2, and an arm 31 is driven by a prescribed quantity. Subsequently, the data theta1, theta2 are converted to orthogonal coordinates X, Y. Also, a video signal which is brought to an image pickup by a CCD camera 7 is processed by an image processor 8, and a difference of coordinates of the detected center of the camera 7 and the center of the adjusting part is added to the data X, Y by the computer 1. From obtained data X', Y', driving use position data theta1', theta2', of a robot 3 are formed, supplied to the device 2, and the position of the arm 31 is corrected. Also, these position data and an angle data of a groove of an adjusting screw head part from the device 8 are processed, a difference of an angle of a tooth of an adjusting drive 41 is calculated, this corrected angle is supplied to a driver control device 6 and the driver 41 is rotated by a corrected angle portion, and the adjustment is completed.

Description

[Detailed description of the invention]

The present invention will be explained in the following order. A. Field of industrial application B. Summary of the invention C. Prior art D. Problem to be solved by the invention E. Means for solving the problem (Fig. 1) F. Effect G. Example G1 Description of the configuration of the device (Fig. (Figure 1) G2 Description of operation of the device (Figures 2 to 5) 03 Description of image processing (Figures 6 to 8) H Effect of the invention A Industrial application field The present invention is applicable to so-called industrial robots The present invention relates to an apparatus for adjusting an adjusting element such as a volume on a substrate using the above. B. Summary of the Invention The present invention relates to a device that uses a so-called industrial robot to adjust adjustment elements such as volume on a board, and by measuring the position of lllll adjustment part using a video camera, This ensures that adjustments are made accurately and quickly. C. Conventional technology When tightening screws using a so-called industrial robot, conventionally a jig such as a driver is attached to the tip of the robot's arm via a spring or the like, and the driver is rotated while tightening the screws. By pressing the screw against the head of the screw, etc., the screwdriver initially spins idly, but eventually the teeth of the screwdriver fall into the grooves of the head of the screw, etc., and in this state, the position of the arm is regulated so that the driver shaft is vertical. Tightening is then performed. That is, in the work of tightening a screw or the like with a predetermined torque as described above, the above-mentioned method requires a simple device and is extremely effective. However, when trying to adjust the volume on a circuit board using an industrial robot such as the one described above, it is difficult to adjust the volume, which has a rotation angle of only about 180 to 270 degrees. If such a spear is used, there is an extremely high possibility that the volume containing the 1111 set screw will be damaged. D. Problems to be Solved by the Invention When attempting to adjust volume, etc. on a board using an industrial robot, there is a problem with conventional equipment in that there is an extremely high risk of damage to the volume, etc. E Means for Solving Problems The present invention provides an adjustment jig (4) and a video camera (7) provided at the tip of an arm (31) that is driven on a two-dimensional plane. The data drives the arm to bring the tip to a predetermined position on the substrate (5), and the video camera images the m-contact portion on the substrate. (81) Measure the relative position between the adjustment section and the video camera, add the difference in position between the video camera and the adjustment jig to this measured value, and based on this added value, measure the relative position of the adjustment section and the video camera. - This is a board adjustment device that moves the tip of the board to the final position where the adjustment jig is aligned with the adjustment section. Since it is designed to measure, accurate and quick adjustment can be performed using this, and automation of the adjustment work can be easily realized.G Example G1 Description of the configuration of the device This figure shows the overall configuration of the computer (1), which is the main controller.
Industrial Kawaguchi bot (3) through robot control device (2)
The robot arm (31) is driven in accordance with this control signal. Here, the arm (31) consists of a first arm (31a) and a second arm (31b) that are connected, and the robot (3) has these arms (31a).
(31b) are rotated by the θ1 axis and θ
Three axes are provided: a λ axis and a Z axis that moves the tip of the arm (31) up and down. The tip of the arm (31) can be brought to a desired position by driving the θ1θ2 axes, and the adjustment jig (4) provided at the tip can be lowered onto the adjustment board (5) by the Z axis. can be done. Note that the signal line between each device is bidirectional, and the driving amount by each control is fed back to improve control accuracy. Furthermore, the above-mentioned adjustment jig (4) is an adjustment driver (41
) and its rotation mechanism (42), and the computer (
The teeth of the driver (41) are rotated by a desired angle by a signal supplied from 1) through the adjustment jig control device (6). In addition, the above-mentioned adjustment jig (4) is attached to the tip of the arm (31).
), and a COD camera module (7) is provided, and a video signal captured by this module (7) is supplied to the computer (1) through an image processing device (8). Furthermore, the above-mentioned adjustment board (5) is mounted on a predetermined transport device ff (9
This device (9) is driven by a signal supplied from the computer (1) through the control device f (10), and the substrate (5) is placed at a desired adjustment position. Then, with this board (5) installed at the desired adjustment position, a socket (not shown) from the adjustment circuit (11) is connected to the input/output section of the board (5), and this circuit (11) It is controlled by a computer (11), and the signal extracted by this circuit (11) is supplied to the computer (1) through an analyzer (12). Description of the operation of the G2 device Figure 2 is a block diagram explaining the operation of the device. This is a diagram. In the diagram, blocks corresponding to those in the device in Figure 1 are given the same reference numerals. In this diagram, first, in step (1) in the computer +11, the adjustment on the board (5) is transferred from the built-in memory. The position data (θ1, θ2) of the parts are read out, and this data is supplied to the robot control bag Wi (21) to drive the arm (31) of the robot (3) by a predetermined amount.Next, in step [2], ( The position data given by θ1, θ2) is converted to orthogonal coordinates (X, Y). In the next step [3], the CCD camera module (
The video signal captured by the image processing circuit (8) is processed by the image processing circuit (8), and the coordinate difference (ΔX, ΔY) between the center of the camera (7) and the center of the adjustment unit detected here is processed by the combinator (11).
and is added to the coordinate data (X, Y) converted in step [2]. Note that at this time, the difference in coordinates between the center of the camera (7) and the center of the driver (41) is also added. Then, in the next step [4], the added data (X'
, Y') to position data (θ
f, θf) is converted and formed, and this data is supplied to the robot control device (2) to correct the position of the arm (31) of the robot (3). Through the above steps, the adjustment section and the adjustment driver are aligned. Furthermore, in step [5], the position data (θ1, θ2) from the memory and the corrected position data (θf, θ) are
) and data ZW of the angle of the groove in the head of the adjustment screw of the adjustment unit from the image processing device (8), for example, are processed, and the difference between the angle of the teeth of the adjustment driver (41) is calculated. This correction angle is then supplied to the driver control device (6),
The driver (41) is rotated by the above-mentioned correction frequency by the rotation mechanism (42). As a result, the groove of the head of the screw of the adjustment part of the adjustment board (5) and the teeth of the driver (41) are perfectly aligned in both position and angle. Furthermore, FIG. 3 is a flowchart of arm movement,
The position data (θ1, θ2) is loaded in step [11], and the arm (3) is loaded to (θ1, θ2) in step [12].
1) is moved, and in step [13] the deviation amount (ΔX, Δ
Y) is measured, in step [14] the data is converted from (θ1.θ2) to (X, Y), in step [15] (ΔX, ΔY) is added to (X, Y), and in step [ 1
6] The data (X', Y') added in (θf, θf
), and the arm (31) is corrected and moved to (θf, θf) in step [17]. FIG. 4 is a flowchart for correcting the angle of the teeth of the driver. In step [21], the groove angle ZW is detected from the image signal of the camera (7), and in step [22], the angle ZW of the groove (θ
1. The angle of the camera (7), 4A, is calculated from θ2),
In step [23], the driver (41
) is calculated, and in step [24] these are added and subtracted to calculate a correction angle ZC, and in step [25] the driver (41) is rotated by angle ZC. Note that FIG. 5 shows the correspondence of each angle to the groove. Explanation of G3 Image Processing FIG. 6 is a block diagram of the operation of image processing. In this figure, data on the type of elements of the regulator from the computer +11 is supplied to a data input block (61) and from this block (61) is stored in a memory (62). Note that elements of type 111i are generally used that have a rectangular groove in the head, as shown in Figure 7A.
Other shapes such as those shown in FIG. 6D may also be used, and the image processing operation can be changed depending on each type. Further, the video signal from the camera (7) is supplied to the image input and binarization block (63), and is binarized using the dark value from the binarized dark value calculation block (64). Note that the calculation block (64) forms a darkness value based on the type of element from the block (61) and the video signal from the block (63). This binarized signal is supplied to an element position recognition block (65). Furthermore, element type data from the memory (62) is supplied to this block (65), and recognized data is supplied to an adjustment groove position recognition block (66). This block (66) is also supplied with element type data from the memory (62), thereby recognizing the position of the carp alignment groove. Furthermore, these blocks (65)
Feedback is provided from (66) to block (64). From the data recognized in block (66), the data of the highest point, lowest point, oldest point, and leftmost point of the groove are stored in memories (67) to (70), respectively. Furthermore, the data in these memories (67) to (70) are supplied to the groove center point calculation block (71), and the calculated groove center point data is stored in the memory (72). Further, the data in the memories (67) to (70) are supplied to the groove angle calculation block (73), and the calculated groove angle data is stored in the memory (74). The data in these memories (72) (74) is sent to the computer (75) through the data output block (75).
1). As a result, data on the position and angle of the groove in the captured image are supplied to the computer (11). FIG. Then, in step [82], the type of element is determined, and a processing routine according to the type of element is executed.The following explanation will be based on the case of an element having the most common rectangular groove. A binarized darkness value is calculated in [83], an image from the camera is input in step [mix], the image is binarized in step [85], and the element position is recognized in step [86]. Then, in step [87], it is determined whether the recognition is possible, and if it is not possible, the process returns to step [83].If it is possible, the adjustment groove position is recognized in step [88].Then, in step [89], the adjustment groove position is recognized. is judged, and if it is impossible, the process returns to step [83].Furthermore, if it can be recognized in step [89], the process returns to step [89].

The four corner points of the groove are stored in [90] to [93]. Then, in step [94], the groove center point is calculated, the result is stored in step [95], the groove angle is calculated in step [96], and the result is stored in step [97]. . Further, in step [98], a check operation is performed on the result, and step

If the confirmation result is incorrect in [99], the process returns to step [83]. If correct, the groove center point and angle data are output in step (100). In this way, groove center point and angle data are retrieved. In this way, according to the above-mentioned device, the groove of the rM alignment part element and the position and angle of the adjusting driver are completely matched, and in this state, by driving the Z axis of the robot (3), the driver is placed exactly in the groove. They can be fitted in a matched state. Thereafter, the adjustment section can be adjusted while analyzing the signal from the 11 adjustment circuit (11) with the analyzer (12). Effects of the Invention According to the present invention, Ulilff1 can be recorded using a video camera.
Since the position of the parts is measured, accurate and quick adjustments can be made using this measurement, and the automation of the adjustment work can now be easily realized.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of an example of the present invention, and FIGS. 2 to 8 are diagrams for explaining the same. Tll is a computer, (2) is a robot control device, (
3) is a robot, (4) is an adjustment jig, (5) is an adjustment board, (6) is a jig control device, (7) is a camera module, (8) is an image processing device, and (9) is a transportation device. Apparatus, (lO)
(11) is an adjustment circuit, (12) is an analyzer, (3) is an arm, and (41) is a driver. Groove a of metal body at position i, Figure 1 Figure 2

Claims (1)

[Claims] An adjustment jig and a video camera are provided at the tip of an arm that is driven on a two-dimensional plane, and the arm is driven by position data from a memory to move the tip onto the substrate. While bringing it to a predetermined position, the video camera captures an image of the adjustment section on the board, and this image signal is image-processed to measure the relative position of the adjustment section and the video camera. The difference in position between the video camera and the adjustment jig is added up, and based on this added value, the tip of the arm is moved to the final position where the adjustment jig matches the adjustment part. board adjustment device.