JPS6246382A - Parts position recognizing device in parts fitting machine - Google Patents

Abstract

PURPOSE:To improve recognition rate by irradiating uniform light irradiated toward an indirect illuminating body from an illuminator and reflected irregularly in its inside onto a part picked up by a mounting head, and inputting the image of the part to a picture inputting device. CONSTITUTION:Light irradiated from an illuminator 13 enters an indirect illuminating body 12 and reflected irregularly, or, a part of the light is reflected irregularly on the surface of the indirect illuminating body 12. The image of a part 3 formed by the diffused light is inputted to a picture inputting device 11, and the position of the part 3 is recognized surely by an image with good contrast. As only a light indirect illuminating body is attached instead of a conventional ring-shaped illuminator, the weight of the mounting head can be reduced.

Description

[Detailed description of the invention] Industrial application field 8□lt f y 7' Tsuyui, A77. Tsu □-, 22
Eyes, f. 6 electronic items, 1 child circuit, and Nobunari. Basics
[In a parts mounting machine that automatically places parts on parts 1, it is possible to recognize the position of electronic parts picked up on parts 1, i,;
11 is used in a component position recognition device using an image input device.
-(・1 Conventional technology There is a component position recognition device conventionally used in component placement machines as shown in Fig. 4.
The conventional example is 1, in which the mounting head a is equipped with an optical fiber.
2□1.1. Ka, Ka (”t it b n, Yu.1,2
□I: The image of the part obtained by the light beam illuminated by the light beam is captured by an image input device such as a television camera! “:” is now entered in the id.

In addition, as shown in FIG. 5, the present applicant has previously installed a reflector e on the mounting head a, and arranged a lighting device f for emitting light toward the reflector e, so that the light is reflected by the reflector e. The proposed method is such that an image of the component obtained by the light beam is inputted to an image input device d.

Problems to be Solved by the Invention However, when a ring-shaped lighting fixture is attached to the mounting head a, there is a problem in that the mounting head a becomes heavier due to its weight, making it difficult to increase the mounting speed of the mounting head a. . Also,
When a reflector e is attached to the mounting radar a and the total reflected light from the illumination %f is used, the illumination light irradiated onto the component has uneven brightness depending on the location, resulting in a difference between the image of the component and the other parts. There is a problem in that a good image may not be obtained due to insufficient contrast between the two.

The present invention aims to solve the above problems.

Means for Solving the Problems In order to achieve the above object, the present invention provides a component position recognition device in a component placement machine that uses an image input device to recognize the position of a component being picked up by a placement head.
An indirect illumination body made of a material that internally generates scattered light is disposed in the mounting head, and a lighting fixture that irradiates a light beam toward this indirect illumination body is disposed. The position is such that an image of the component obtained by a light beam emitted from an indirect illumination body is input to the image input device, and a light beam irradiated from the illumination body and reflected light from the component are not input. It is characterized by the following.

Function Since the present invention has the above-described configuration, the lighting device emits light toward the indirect illumination body, and inside the indirect illumination body, a light beam without irregular reflection is irradiated onto the component picked up by the mounting head, and the image of this component is inputted as an image. Since the image is input to the device, a good image with good contrast can be obtained, and the recognition rate can be improved.

EXAMPLE Hereinafter, an example of the present invention will be described with reference to FIGS. 1 to 3.

FIG. 3 shows an electronic component mounting machine. A large number of tape-shaped electronic component assemblies 2 are arranged in parallel in the component supply section 1.
A large number of electronic components 3 (see FIG. 1) are loaded into each tape-shaped component assembly 2 in a line. These tape-shaped electronic component assemblies 2 are intermittently sent out in the X direction, and any component 3 at the pickup position is selectively picked up by the mounting pad 4 for each mounting operation.

The mounting head 4 uses vacuum suction force to pick up the component 3 from the tape-shaped electronic component assembly 2, and then moves in the Y direction to reach the component position recognition device 5, where the component position is recognized. After that, the part 3 is moved again in the Y direction to the work position on the work line 6, where the work 7 is
Attach part 3 to. The suction nozzle 8 of the mounting rod 4 moves up and down in the Z direction when picking up and mounting parts. The moving position and moving speed of the mounting head 4 in the Y direction are controlled by a head moving means 9 equipped with a near pulse motor.

The work line 6 is provided with a workpiece moving means 1'0 that holds the workpiece 7 and controls its moving position and moving speed in the X direction. Preferably, this workpiece moving means 10 also includes a linear pulse motor.

The mounting position of the component 3 on the workpiece 7 is determined by determining the mounting position of the mounting rod 4 in the Y direction and the mounting position of the workpiece moving means 10 in the X direction according to a predetermined program. The positional deviation of the component 3 that occurs in the above is corrected based on the position recognition data of the component position recognition device 5.

A component position recognition device 5 that recognizes the position of the component 3 picked up by the mounting head 4 using an image input device 11
As shown in FIG. 1, 61 are constructed. To install Rad4
Around the suction nozzle 8 at the lower end, there is a polyacetal resin (trademark “'-ra°’”) that generates scattered light inside.
2″ material i: Indirect illumination body 12
is attached, and the rad 8 is moved up and down to the suction together with this. The lower surface of this indirect illumination body 12 is formed into a conical shape, and its surface is roughened to form a diffusely reflective surface.

Further, around this indirect lighting body 12, a plurality of lighting fixtures 13 that emit light beams toward this indirect lighting body 12 are arranged at appropriate intervals, and the light beams irradiated from the lighting J1413 are directed toward the indirect lighting body 12. The component 3 is arranged so that scattered light generated by diffuse reflection within the component 3 is irradiated onto the component 3, and its image is input to the image input device 11. Also, said lighting! At 4:13, the direct light and the reflected light from the component 3 are reflected by the image input device 1.
It is arranged so that it is not input to 1. Image input device 1
1 is configured to be able to accurately recognize the position of the inputted image of the part 3 on the XY plane by using a telepino camera.

According to the above configuration, the light rays emitted from the lighting fixture 13 enter the indirect illumination body 12 and are diffusely reflected, and some of the light rays are diffusely reflected on the surface of the indirect illumination body 12. An image of the part 3 is input to the image input device 11, and the position of the part 3 is reliably recognized by the image with good contrast.

Materials constituting the indirect illumination body 12 include resins that generate scattered light such as the polyacetal resin, polyamide resin ("nylon"), and polypropylene resin, acrylic resin, and polycarbonate.
y fill ill υ
- Yes, or glass or the like can be used, or a combination of these materials can be used.

In addition, the present invention can be configured in various ways other than those shown in the above embodiment.6For example, the indirect illumination body 12 is not limited to the shape shown in the above embodiment, but as shown in FIG. 2(a). Various shapes are available, such as a conical shape as shown in Figure 2(b), and a disk shape with a flat bottom surface and a curved top surface that becomes thicker toward the center as shown in Figure 2(b). In addition, as shown in Figure 2(c), there is a suction hole 1 at the axial center position.
4 may also be provided to serve as a suction nozzle. In addition, the surface of the indirect illumination body 12 may be roughened to provide light.
The surface is not limited to one that diffusely reflects the beams, but may also be a smooth surface. The direction of light irradiation by the lighting device 13 may be considered so that the image of the component 3 is not input to the image input device 11.

Further, the direction of irradiation of the light beam by the lighting device 13 may be appropriately selected according to the shape of the indirect lighting body 12, as shown by the arrow in FIG. Further, the illumination J% 13 itself is not limited to a point light source as shown in FIG. 1, but other types such as a ring type illumination device may be used.

Furthermore, the image input device 11 also includes, in addition to the one shown in the above embodiment,
For example, if it is necessary to recognize only one direction of the part 3 in the X direction or the Y direction, a line sensor can be used.

Effects of the Invention According to the component position recognition device in the component placement machine of the present invention, as described above, since the conventional Ringera Shomei tool is simply attached to the conventional Ringera Shomei tool, the 9th generation Kaipei Seimei body is attached to the placement head. 7. Try to reduce the weight of the mounting head. □, Ya. □A, 7. □、6゜、E、工□ ['1 Ka1.
□t. □□, □engineering. 1□6. Then, evenly scattered light is applied to the parts being picked up by the mounting head, and the image is input to the image input device, so it is easy to use.
A good image with trust is obtained, and the recognition rate is improved.

[Brief explanation of the drawing]

“°“′”n-*1afjuer>”l”°”“iz
Figure 2 (a), (b), and (e) are joint points "K"* m 91 n % m 6 ,
FIG. 4 and FIG. 5 are respectively partial sectional front views of the main parts of the conventional example. 3...Parts 4...Mounting head 5...Component position recognition device 8001810.,li/X'/l/
1 (11... Image input device 12... Indirect lighting body 13... Lighting fixture.

Claims (3)

[Claims] (1) In a component position recognition device in a component placement machine that uses an image input device to recognize the position of a component being picked up by a placement head, an indirect illumination body made of a material that internally generates scattered light is provided in the placement head, and , a lighting fixture that emits a light beam toward the indirect lighting body is arranged, and the arrangement position of the indirect lighting body and the lighting fixture is determined by the image input of the component obtained by the light beam emitted from the indirect lighting body. 1. A component position recognition device for a component mounting machine, characterized in that a light beam irradiated from the illumination body and reflected light from the component are not input to the device. (2) A component position recognition device in a component mounting machine according to claim 1, wherein the surface of the indirect illumination body is formed into a diffusely reflective surface. (3) A component position recognition device in a component mounting machine according to claim 1, wherein the indirect illumination body forms a suction nozzle of a mounting head.