JPS63196909A - Device for automatically adjusting building-in position of parts - Google Patents

Abstract

PURPOSE:To automatically adjust the building-in position with a high precision by observing the positioning point of an automobile electric lamp with an image pickup camera and comparing the measured result of the position with a reference position by an image processing program and adjusting the position by motor driving. CONSTITUTION:When an electric lamp 1 is combined with a flange 3 positionally adjustably and is guided to the position of a chuck 12 of a four-axis position adjusting device 11, a sequencer 101 of an image processing and controller 81 starts a CPU 82. The CPU 82 causes the chuck to grasp the part of a mouth piece 2 of the electric lamp 1 and confirms the grasp to automatically start execution of the image processing program for position adjustment. The image signal stored in a frame memory 88 by two illuminating lamps and image pickup cameras 73-75 is observed by a monitor TV 94 to accurately measure positions of a filament 5 and a reflection plate 6, and the measured result is compared with the preliminarily inputted reference position, and motors 20, 35, 43, and 56 of the device 11 are driven based on the comparison result, thus adjusting the attaching position of the electric lamp 1 to the flange with respect to X, Y, and Z axes and the theta axis around them.

Description

TECHNICAL FIELD OF THE INVENTION The present invention relates to an automatic adjustment device for aligning alignment points of parts to reference positions by image processing when parts to be assembled are fixed in a predetermined position.

BACKGROUND OF THE INVENTION Prior art components, such as automobile light bulbs, are mounted in position on a ring-shaped flange portion during the manufacturing process. In this case, if the light emitting center of the light bulb is shifted from the flange, the irradiation direction will shift from the specified position when the light bulb is installed in a car headlight, so accurate alignment is required. be done.

Conventionally, such positioning has been performed by mechanically aligning the base of the light bulb with respect to the flange, or by lighting the light bulb and observing the direction of the light beam. With the former method of mechanical positioning, the relative positional relationship between the light emitting center of the filament and the base is not accurately regulated during the manufacturing stage of the light bulb, so accurate positioning cannot be expected. When aligning by observation, it is difficult to determine the emission center and there is a limit to accurate alignment.For reasons such as 0 or more, a means for accurate alignment of this type of parts, especially light bulbs for automobiles, is desired. .

Purpose of the Invention Therefore, the present invention is an image processing field in which the alignment points of parts to be assembled are directly observed, instead of the conventional mechanical alignment or alignment by observing a light beam. The purpose is to automatically adjust the assembly position in four axial directions.

SUMMARY OF THE INVENTION Therefore, the present invention illuminates parts to be assembled, such as automobile light bulbs, from the photographing direction with an illumination lamp, and
Using multiple imaging cameras in each direction of the Y-axis and Z-axis, we observe the alignment point of the bulb, that is, the emission center of the filament, and use the image signals to accurately measure the positions of the filament and reflector. The input reference position is compared with the image processing program field, and based on the comparison result, the motor of the 4-axis position adjustment device is driven to automatically adjust the installation position of the light bulb with respect to the flange. .

In this type of adjustment, the positions of the filament and reflector of the light bulb are directly measured, and adjustments are made between those positions and the reference position, so the relative position of the filament and base is determined for each product. Even if it is misaligned, it is related to the amount of misalignment (accurate alignment is achieved. Also, according to this alignment, the bulb does not necessarily need to be lit during adjustment, so the effect of thermal changes in the bulb when lit) There is no need for power supply and lighting circuits for lighting.

Structure of the Invention First, FIG. 1 shows a state in which parts are assembled. In this example, the parts to be assembled are an automobile light bulb 1
The base 2 is spot welded or soldered to the ring-shaped flange 3 while positioning the X-axis, Y-axis, Z-axis, and θ-axis around the Z-axis with the reference point 7 as the coordinate origin. It is fixed by etc. Note that this light bulb 1 includes a filament 5 and a reflector plate 6 as positioning parts inside the glass bulb 4.

Next, FIGS. 2 to 8 show the mechanical configuration of the assembly position automatic adjustment device 10 according to the present invention. Of these figures, FIGS. 2 to 7 show the specific configuration of the four-axis position adjustment device 11, and FIG.
The figure simplifies the mechanism and represents it as a skeleton.

This four-axis position adjustment device 11 moves the light bulb 1 along the X axis, Y axis, and Z axis.
A chuck 12 in the Z-axis direction is provided to hold the device in a state where the position can be adjusted about the θ-axis around the axis and the Z-axis. As shown in FIG. 2, this chuck 12 is, for example, of a collet type, and has a hollow holding shaft 1 in the Z-axis direction.
3, and the bearing 14 and the bearing are rotatably supported by a housing 15 at the middle part of the holding shaft 13 relative to the movable table 16. Note that the opening/closing operation of this chuck 12 transmits only axial movement while allowing rotation of the cylinder 17 attached to the upper part of the movable table 16, the clamp rod 18 inside the holding shaft 13, and the clamp rod 18. This is done by moving the outer sleeve 12b relative to the central collet pawl 12a using the shaft coupling 19. The rotational movement of the chuck 12 in the θ-axis direction is performed by a pulse drive motor 20 attached to the movable table 16. That is, the rotation of this motor 20 is caused by the timing belt pulley 21.
is transmitted to the holding shaft 13 by.

Further, as shown in FIGS. 3, 4, and 5, the movable table 16 has a pair of sliders 22 in the Z-axis direction on the back side thereof, so that the movable table 16 is moved along the Z-axis relative to the sliding guide 24 of the slide table 23. It is supported so as to be movable in the Z-axis direction, and is attached to be movable in the Z-axis direction by a fast-feeding cylinder 25 on the slide table 23 side.

The amount of movement in the fast-forwarding direction is regulated by pressing an adjustment screw 26 on the movable table 16 side, which also serves as shock absorption, against a reference piece 27 on the slide table 23 side. Further, positioning after fast forwarding is performed by moving the locate pin 28 on the movable table 16 side along the guide 29 with the cylinder 30 and pressing it against the locate hole 31 of the slide table 23 example.

Further, the slide table 23 has a slide guide 34 for the slide base 33 by a pair of sliders 32 on the back side.
They fit into each other and are supported so as to be movable in the Z-axis direction. The movement of the chuck 12 in the Z-axis direction is
This is done by a motor 35 attached to the slide base 33.

That is, the rotation of this motor 35 is caused by the rotation of the slide base 3.
3 is transmitted to a feed screw 37 rotatably supported by a bearing 36 on the front surface of the slide table 23, and is transmitted to a feed nut 38 on the slide table 23 side as movement in the Z-axis direction.

Furthermore, this slide base 33 is supported by three grooved rollers 39 on the back side so as to be able to roll and move in pairs relative to an arcuate guide body 41 on the front side of the frame 40. The arc-shaped guide body 41 is formed by an arc centered on the reference point 7 of the light bulb 1, as shown in FIG. The rotational movement of the slide base 33 about the Y axis is controlled by a motor 43 attached to the frame 40.
carried out by. In other words, as shown in FIG. 7, the rotation of the motor 43 is transmitted to the feed screw 45 supported by the block 44 and the bearing 42 at the bearing on the frame 40 side, and This is transmitted to the nut 46 as rotational movement around the Y axis. and,
This feeding nand 46 has the pair of bearings in the block 44.
It is supported so as to be movable in the axial direction with respect to the two upper and lower guide shafts 47, and is prevented from rotating with respect to the center line of the feed screw 45.
8 fits into a roller 49 attached to the back side of the slide base 33.

Further, the frame 40 has a symmetrical gate shape when viewed from the front side, and is rotatably supported by a bearing 50 at one lower end portion with respect to a support shaft 52 of a machine frame 51. It is rotatably supported with respect to the machine frame 55 by a drive-side support shaft 53 fixed to an end portion and bearings S4 at both ends. Note that the axes of these support shafts 52 and the driving side support shaft 53 are perpendicular to the reference point 7 in the direction of the X-axis. The frame 40 is bent into an L-shape when viewed from the side in order to align the reference point 7 with the axis of the support shafts 52 and 53. As a result, the center of gravity of the frame 40 is located behind the X-axis, and the support shafts 52, 53
It is eccentric rIM. Therefore, this eccentric load is stopped by a support spring 59 attached to the machine frame 55. That is, the support spring 5
9 is provided between the bracket 60 of the machine frame 55 and the lower surface of the frame 40, and offsets the eccentric load by pushing up the frame 40. The amount of movement is regulated by upper and lower stoppers 62.63 of the rod 61 fixed to the bracket 60 and an abutment body 64.65 on the frame 40 side.

The drive-side support shaft 53 is driven by a motor 56. That is, the rotation of this motor 56 is transmitted to the input side of a Harmonic Drive (registered trademark) type reducer 58, and is transmitted to the drive side support via a four-section link mechanism 57 on the output side under a large reduction ratio. The signal is transmitted to the shaft 53.

Next, FIG. 9 shows a plurality of, for example, two illumination lamps 71.
72 and the imaging cameras 73, 74, and 75 are shown. The two imaging cameras 73 and 74 are arranged on an axis tilted by an inclination angle α around the θ axis of the reflection plate 6 on the XY plane, and the other imaging camera 75 is
It is arranged on the Y-axis on the front side of the reflecting plate 6. Also, 2
The two illumination lamps 71 and 72 are respectively arranged on the rear side of the imaging camera 74 and 75.

Next, FIG. 10 shows the configuration of the image processing/control device 81. This image processing/control device 81 processes image signals from the imaging cameras 73, 74, 75 based on an image processing program, and based on the processing results, the motors 20, 35, 43, . In order to control the rotation amount of 56, it is constituted by a combinator.

That is, the program is executed by the CPU 82. This CPU 82 is bidirectionally connected to the input port 85, output port 86.3 channel disconnection circuit 87, frame memory 88, and motor controller 89.90 via the stupid data bus 84 of the printer 83. These are connected to a power supply circuit 91. The switching circuit 87 is connected to the imaging camera 7, respectively.
3, 74, and 75 in a switchable state, and is further connected to the input end of the frame memory 88 by an A-D converter circuit 93 on the output side, and is branched to the input end of the frame memory 88 and connected to the selector switch 9.
2, it is also connected to a monitor television 94. In addition,
The output end of this frame memory 88 is connected to the D-A converter circuit 9.
5 to the other terminal of the changeover switch 92. Furthermore, the motor controller 89.90 is
They are connected to pulse drive motors 20, 35, 43, and 56 via drivers 96, 97, 98, and 99, respectively. The input board 85 also includes a keyboard 10 for inputting standard values, origin values, and other control data on the input side.
0 and the sequencer 10 of the four-axis position adjustment device 11
1, and the output port 86 is connected to the input terminal of the sequencer 1ot, as well as the illumination lamp 71.7.
It is also connected to a control circuit 102 such as No.2.

Effect of the Invention The automatic assembly position adjustment device 1O is installed in the production line for light bulbs 1, and automatically adjusts the fixed position of the light bulb 1 with respect to the flange 3 to v4! ! do.

On a production line for light bulbs 1, the light bulbs 1 are mounted on the chuck 12 while being assembled to the flange 3 so that its position can be adjusted.
is guided by a rotary index mechanism or the like to a position below . When the light bulb 1 and flange 3 have been guided to this position, the sequencer 101 confirms their arrival and gives a start command to the CPU 82 via the input boat 85. Therefore, the CPU 82 first outputs the output port 8.
6, the fast-forwarding cylinder 25 is operated to lower the movable table 16 from the raised position until it is regulated by the reference piece 27, and then the cylinder 17 is operated to lower the chuck 1.
By closing the open collet claw 12a of No. 2, the base 2 of the light bulb I is gripped. After this lowering, the cylinder 30 receives an operation command from the sequencer 101 and pushes the locate pin 28 into the locate hole 31, thereby fixing the movable table 16 to the slide table 23.

After confirming this gripping, the CPU 82 automatically starts a position adjustment program. First, this position adjustment program lights up the illumination lamp 71 and operates the imaging camera 73 at the same time.

Here, the imaging camera 73 captures the illumination lamp 71 as a backlight, captures the filament 5 and reflection plate 6 of the light bulb 1 as a shadow, and converts it into a digital signal via the switching circuit 87 and the A-D conversion circuit 93 as an image signal. This image signal, which is sent to the frame memory 88 while being converted, can be changed by switching the changeover switch 92.
A monitor television 94 allows confirmation as necessary. The image screen at this time is as shown in FIG. Here, in the next step, the CPU 82 determines the height h from the flange 30 reference plane to the end of the filament 5.
is measured by image processing, the measured value is compared with a reference value input in advance, and the need for adjustment is confirmed based on the difference or shift. If the deviation is greater than or equal to the allowable value, the CPU 82 calculates the necessary adjustment amount in order to make the height h match the reference value, operates the motor controller 89 based on this, and adjusts the height h in the Z-axis direction. By rotating the motor 35 by a predetermined amount, the movable table 16 and the slide table 23 are moved together by the feed screw 37 and the feed nut 38, and the base 2 of the light bulb 1 is moved by the required amount in the direction of the Z-axis. In this way, for the light bulb l, the reference point 7 coincides with the coordinate origin from the position of the filament 5.

After completion of this 1llll in the Z-axis direction, the CPU 82 again adjusts the direction of the reflecting plate 6 based on the image signal.

If this reflector 6 is regulated to a predetermined inclination angle α, the distance from the front edge of the reflector 6 to the rotation axis is 1!
ld should be the maximum. However, if the reflector 6 is not parallel to the inclination angle α, the distance d
should be smaller than the maximum value. Therefore, in a step of the adjustment program, the CPU 82 measures the distance Md from the rotation axis to the front surface of the reflector 6, and calculates the adjustment angle necessary to adjust the reflector 6 to a predetermined angle so as to reach the maximum value. is calculated and used as an adjustment amount to rotate the motor 20 by a predetermined angle through the motor controller 89. This rotation of the motor 20 causes the holding shaft 13 to rotate around the Z-axis, giving a rotational motion to the light bulb 1, so that the base 2 is tilted at an angle α around the θ axis with respect to the fixed flange 3. is adjusted in the direction of In this way, the light bulb l can be accurately adjusted to a predetermined height h and orientation by moving within the fixed flange 3 in the direction of the Z axis and rotating around it about the θ axis. be done.

After the above adjustment, the CPU 82 operates the imaging camera 75 with the illumination lamp 71 turned on, captures the light bulb l from the front side of the reflector plate 6, and stores the image (No. 8 in the frame memory 88). let

The image capturing screen at this time is as shown in FIG.

At this time, if the filament 5 is in a state parallel to the Z-axis direction, there is no need for adjustment. However, when the filament 5 is not parallel to the Z-axis and its inclination is greater than the allowable value, the CPU 82 executes the adjustment program and adjusts the motor in the direction to eliminate the inclination, as described above. 43 to rotate the chuck 12 around the Y axis, adjustment is performed.

When the motor 43 rotates, the slide base 33 is moved along the arc-shaped guide body 41 by the grooved roller 39, so that the movable table 16 supported by the slide base 33 is moved by the grooved roller 39.
, the slide table 23 and the holding shaft 13 rotate together with the chuck 12 around the Y axis. Since this adjustment is performed by circular motion centered on the coordinate origin, the adjusted reference point 7 does not deviate from the coordinate origin.

Note that the direction of the filament 5 is determined by observing the parallelism between the linear direction of a bright spot appearing by the side illumination lamp 71 in the longitudinal direction of the outer portion of the coiled filament and the Z-axis direction on the image. .

Finally, the CPU 82 turns off the illumination lamp 71, lights up the illumination lamp 72 anew, operates the imaging cameras 73 and 74, captures images of the reflector 6 from both sides, and captures images of the reflector 6 from both sides. Adjust the axial position. At this time, images appear as shown in FIGS. 11 and 13. Therefore, the CPU 82 executes the adjustment program,
The left edge of the reflector 6 as seen in the image taken by the imaging camera 73 is compared with the reference position, and the right edge of the reflector 6 as seen in the image taken by the imaging camera 74 is compared with the reference position. Depending on the amount, determine the need for adjustment,
When adjustment is required, the motor 56 is rotated by a predetermined amount of rotation in a direction that eliminates the misalignment. The rotation of this motor 56 is
The speed is reduced by the speed reducer 58, and the support shafts 52 and 53 on the driving side
is transmitted to the frame 40 around the support shaft 53, that is,
By rotating it around the axis, the reflecting plate 6 is moved in the Y-axis direction, that is, in the front-back direction when viewed from the front of the light bulb 1. Since the movement around the X-axis at this time is a rotational movement about the reference point 7, it appears as a movement in the Y-axis direction on the reflection plate 6 to be aligned that is deviated from this point. However, at this time, deviations in the already adjusted direction almost never occur.

In this way, the light bulb l is fitted in the base 2 against the flange 3 in an adjustable position on its production line, and is finely adjusted around the X, Y, Z and θ axes. , accurately positioned.

In this positioned state, the bulb 1 is fixed to the flange 3 at the base 2 by fixing means such as spot welding. After this fixing is completed, the chuck 12 opens the base 2 of the light bulb 1 by opening the collet claw 12a.
is released and moved up again by the fast-forwarding cylinder 25 to prepare for the adjustment of the next bulb 1. Even at the maximum adjustment amount, this series of adjustments is done once every 6 seconds.
This is done at a rate of 1. Note that the reference value, necessary adjustment amount, actual sampling value, and various data are printed on recording paper by the printer 83 as necessary.

Further, since these adjustment amounts and data are recorded inside the CPU 82 as necessary, they can also be used as materials for sampling inspections on the production line of the light bulb 1.

Modifications of the Invention The automatic assembly position adjustment device 210 was developed on the premise that the light bulb l as a component would be fixed to the flange 3, so the above description is limited to the light bulb l as a component. However, the parts to be assembled are not limited to the light bulb l, but other similar parts can also be used for fixing to a board or the like in place of the flange 3.

Further, the four-axis position adjustment device 11 is supported on the frame 4° so that the chuck 12 can be moved in the X-axis direction and the X-axis direction, and can also be rotated around the Z-axis, that is, in the θ-axis direction. It is sufficient.

Therefore, the movable table 16, the slide table 23
The order in which the slide base 33 and the like are attached to the frame 40 may be reversed to that in the embodiment, and the relationship in their arrangement may be changed as necessary. The chuck 12 is not limited to a collet type chuck, and may be appropriately selected depending on the type of parts, such as an LA type chuck, a vacuum type chuck, or an air-driven type chuck.

Furthermore, the imaging cameras 73, 74, 75 are adjusted to positions that clearly capture the light bulb l, but the field of view is large with the same camera, and when the camera is zoomed out, those imaging cameras 73, 74, 75 The position of is automatically adjusted by a moving stage or the like. In addition, the lighting lamp 71.
The number of lights 72 does not necessarily have to be plural, and may be one light, and may be kept on continuously during observation, and the light may be blocked by a shutter if necessary.

Effect of the invention The present invention provides the following unique effects.

First, the parts to be assembled are optically measured by multiple image carrier cameras, converted to image signals, and then adjusted in the field of image processing, so the position of the parts can be measured and observed in a non-contact manner. Therefore, the position adjustment of the component is not restricted by the proximity of the measurement and observation member, and can be adjusted with a high degree of freedom.

The adjustment position of a part can be easily changed by inputting the reference value to the image processing/control device, so even when the type of part changes, changing the reference value data and processing the measurement program is easy in the field of programming. can correspond to

Furthermore, the reference points for positioning the parts to be assembled, such as the filament or reflector in the case of a light bulb, are directly measured from a distance, and the position of the light bulb or other parts is directly adjusted based on the respective positions. Therefore, compared to the conventional method of observing and adjusting the position of other parts near the alignment point, the range of deviation after adjusting the assembly position is smaller, and the assembly position can be adjusted with higher precision. can be done automatically.

[Brief explanation of the drawing]

Figure 1 is an enlarged front view of the flange and light bulb as parts to be assembled, Figure 2 is a partially cutaway front view of the mechanical 4-axis position adjustment device of the automatic assembly position adjustment device, and Figure 3 is the 4-axis position A partially cutaway side view of the adjustment device, Figure 4 shows the 4-axis position! Fig. 5 is a partially cutaway side view of the JR adjustment device from different sides, Fig. 5 is a partially cutaway plan view of the 4-axis position adjustment device, Fig. 6 is a front view of the arc-shaped guide body, and Fig. 7 is a partially cutaway side view of the 4-axis position adjustment device. A partially cutaway front view of the part, Figure 8 is a schematic skeleton diagram of the 4-axis position adjustment device, Figure 9 is a plan view of the arrangement of the imaging camera and illumination lamp, and Figure 1θ is the block line of the image processing device. 11 to 13 are images of the shadow screen. 1
... Light bulb, 2. Base, 3. Flange, 5. Filament, 6. Reflector, lO. Automatic assembly position adjustment device, 11. 4-axis position adjustment device, 12. Chuck,
13...Holding axis, 16...Movable table, 20...Motor, 23...Ni-Ride table, 28...Locate pin, 33...Slide base, 35...Motor, 39...
Grooved roller, 40... Frame, 41... Arc-shaped guide, 43... Motor, 51... Machine frame, 52. 53... Support shaft, 56... Motor, ? ! , 72...Lighting lamp, 7
3.74.75...Image camera, 81...Image processing/control device, 82...CPU, 88...Frame memory, 8
9.90...Motor controller, 96.97.98.
99...Driver, 101...Sequencer-1102.
・Control circuit. Figure 7 Figure 8 Figure 9 Rei Figure 70 Figure 77 Figure 72 , Incident indication 1988 Patent Application No. 028566 2, Title of invention Component assembly position automatic adjustment device 3,
Relationship with the case of the person making the amendment Patent Applicant Address 1331-1 Futsukamachi, Fukuno-cho, Higashitonami-gun, Toyama Prefecture
Name Rozefu Co., Ltd. Representative Yamamoto Sho 4, Agent @ 160 5, Date of amendment order None 6, Subject of amendment Drawing 7, Contents of amendment (11 Figures 1 and 5 are corrected as shown in the attached sheet) Figure 7 above.

Claims (1)

[Claims] A four-axis position adjustment device (11) that holds the parts to be assembled in a state where the position can be adjusted by each motor with respect to the X-axis, Y-axis, Z-axis, and θ-axis around the Z-axis, and a 4-axis position adjustment device (11) that illuminates the above-mentioned parts from the shooting direction. Illumination lamps (71, 72) and the X axis,
A plurality of imaging cameras (73, 74, 75) provided in each direction of the Y-axis and Z-axis and image signals from these imaging cameras are used as input to determine the positioning portion of the component and the reference position input in advance. An automatic part assembly position adjustment device (10) comprising an image processing/control device (81) that compares the values and drives the motors of the respective axes according to the deviation.