KR970010617B1 - Device and method for installing mechanical parts - Google Patents

Abstract

A part installing device having table(1), 3-axis cross robot(6), inspecting part(11), image handling part(4) and controlling part(5) is disclosed. The table(1) supports board(2) on which parts installed, and a vacuum absorber(7) is attached to the 3-axis cross robot(6). The inspecting part(11) comprises CCD camera(3A), lighting(12,13) half reflection mirror(14,16,17) and total reflection mirror(15). The CCD camera(3A) is installed between board(2) and 3-axis cross robot(6), and inspects both the situation of parts(6) and installing situation of the board(2) at the same time. The image handling part(40) received image from the CCD camera(3A). And the controlling part(5) inspects the situation of parts and board(2), and control by the output of the image handling part(4) Thereby, it is possible to inspect the situation of parts(6) and board(2) at the same time. So the installing accuracy of the parts(6) is very high and data process is become simple.

Description

Component mounting device and method

1 is a schematic view showing a conventional component mounting.

2 is a schematic diagram showing a conventional part position recognition.

3 is a schematic diagram showing part position recognition and part mounting of the present invention.

4 is a flowchart of operation according to FIG.

* Explanation of symbols for the main parts of the drawings

1: Table 2: Attachment

3A: CCD camera 4: image processing unit

5: control unit 6: 3-axis orthogonal robot

7: vacuum adsorber 8: parts

11: mounting position recognition unit 12, 13: first and second lighting

14,16,17: first to third reflective mirrors

15: total reflection mirror 18, 19: first and second relay

The present invention relates to an apparatus and a method for mounting a component. In particular, the position of a component and the mounting position of an object are recognized by a single charge-coupled device (CCD) camera in one stage, thereby improving accuracy and software data. This makes the process easier.

Conventional component mounting and component position recognition can be performed using the table (1), the object (2), the CCD camera (3) for mounting position recognition, the image processing unit (4), and the control unit (5) as shown in FIGS. It consisted of the axis orthogonal robot 6, the vacuum adsorption machine 7, the component 8, the illumination 9, and the CCD camera 10 for component position recognition.

The prior art thus constructed has a three-axis orthogonal robot 6 on which a component 2 is mounted on a table 1, on which a three-axis orthogonal robot 6 with a vacuum adsorber 7 for adsorbing the component 8 is mounted to mount the component 8 thereon. The CCD camera 3 for mounting position recognition is moved to a component mounting position. Therefore, by acquiring images from the mounting position recognition CCD camera 3 and the image processing unit 4, the controller 5 recognizes the component mounting position, and moves the three-axis orthogonal robot 6 to the component position. 8) Adsorb. In the state where the illumination 9 is turned on, the CCD camera 10 for component position recognition recognizes the position of the component 8 and compares it with the component mounting position to determine the mounting position. 8) Fit.

As described above, the conventional technology is divided into two stages, a stage for recognizing the position of the component 8 and a stage for recognizing the mounting position of the object 2, so that the conveyance distance of the component 8 becomes longer. As a result, the error is increased and the apparatus is complicated by using two CCD cameras 3 and 10.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described drawbacks, and its object is to achieve a simplified software data processing by simultaneously recognizing a part position and a mounting position of an object in the same coordinate system at the same time. A feature of the component mounting apparatus according to the present invention for achieving the above object is a three-axis orthogonal robot equipped with an object on the table, a vacuum adsorber for adsorbing the component, and the object and the three-axis orthogonal robot A mounting position recognition unit consisting of a CCD camera, lights, semi-reflective mirrors, and a total reflection mirror that simultaneously recognizes the position of the component and the mounting position of the object therebetween, and an image processing unit that acquires an image from the CCD camera of the mounting position recognition unit. And a control unit configured to recognize and control the position of the component and the mounting position of the object to the output of the image processing unit.

In addition, the feature of the component mounting method of the present invention is to determine the position of the object on the table by using the known position data, move the mounting position recognition unit to the recognition position to recognize the part and the object on the same screen at the same time And if yes, drive first and second relays according to the control signal of the controller to turn on the first and second lights at the same time to obtain necessary images to Comparing the mounting position, and if the step is no, acquiring an image of the object 2 by turning on and off the first and second lights according to the on / off operation of the first and second relays; Recognize the mounting position and, on the contrary, turn off and on the first and second lights according to the reverse driving of the first and second relays to acquire the image of the component and recognize the mounting position of the component after the mounting position is recognized. Please correct the mounting position by treatment compared to the mounting position, move to the next mounting position recognition section and has a point for performing the step of mounting the components according to the three-axis orthogonal coordinate system in turn. Hereinafter, with reference to the accompanying drawings a preferred embodiment of the component mounting apparatus and method according to the present invention will be described in detail.

FIG. 3 is a schematic diagram showing part position recognition and part mounting according to the present invention, wherein a three-axis orthogonal robot having a fixture 2 on a table 1 and a vacuum adsorber 7 for sucking a part 8 is provided. 6) first and second CCD cameras 3A which simultaneously recognize the position of the component 8 and the mounting position of the object 2 between the object 2 and the three-axis orthogonal robot 6; A mounting position recognition unit 11 comprising two lights 12, 13, first to third reflection mirrors 14, 16 and 17, and a total reflection mirror 15, and the mounting position recognition unit 11; An image processing unit 4 for acquiring an image from the CCD camera 3A of < RTI ID = 0.0 >), < / RTI > (5) and the first and second to turn on and off the first and second lights 12 and 13 in accordance with control signals output from the first and second output ports P1 and P2 of the controller 5; It consists of two relays 18 and 19.

According to the present invention configured as described above, the position of the mounted object 2 is determined on the table 1 by using the known position data according to the operation flowchart as shown in FIG. 4 (S2). It moves between the axis orthogonal robot 6 and the to-be-attached object 2 (S3), and it determines whether the component 8 and the to-be-attached object 2 are recognized simultaneously on the same screen (S4).

If the determination of step S4 is YES, the first and second relays 18 and 19 are output by outputting '1', which is a high signal, from the first and second output ports P1 and P2 of the controller 5. ) Is operated to turn on the first and second lights l2 and 13 (S10) to obtain an image and to process the mounting position of the object 2 and the component 8 (S11).

On the other hand, if the determination of the step (S4) is no, the second output port (P2) of the control unit 5 outputs a '1' to turn on the second relay 19 to turn on the second light (l3), Since the first relay 18 is turned off by outputting a low signal '0' from the first output port P1 of the controller 5, the first illumination 12 is turned off to acquire an image of the object 2. Recognize the position (S5, S6).

The second light l3 is turned off by outputting a low signal from the second output port P2 of the controller 5 to turn off the second relay 19, and the first output port P1 of the controller 5. Output the high signal and turn on the first relay 18 to turn on the first light 12 to acquire the image of the component 8 and recognize the mounting position (S7, S8). The position and the mounting position of the component 8 are compared (S9).

Subsequently, the mounting position is corrected (S12) and the mounting position recognition unit 11 is moved sideways (S13). After mounting the component 8 according to the 3-axis Cartesian coordinate system, if the mounting is not completed, it is executed again from the beginning (S15). ).

As described above, the present invention has the effect of improving the accuracy of mounting the component 2 and simplifying the software data processing by recognizing the position of the component 8 and the position of the object 2 at the same time in one stage. .

Claims (3)

An article 2 on the table 1; A three-axis orthogonal robot 6 having a vacuum adsorber 7 for adsorbing the parts thereon; CCD camera (3A), illumination (l2) (13), semi-reflective mirror which simultaneously recognizes the position of the component (6) and the mounting position of the object between the object (2) and the three-axis orthogonal robot (6) (14) (16) (17), the mounting position recognizing part 11 which consists of the total reflection mirror 15; An image processor (4) for acquiring an image from the CCD camera (3A) of the mounting position recognition unit (11); And a control unit (5) which recognizes and controls the position of the component and the mounting position of the object (2) by the output of the image processing unit (4). According to claim 1, The mounting position recognition unit 11 is a total reflection mirror 15, the light of the first illumination 12 is partially reflected by the semi-reflective mirror 14, the position of the component 8 is illuminated; A semi-reflective mirror 17 which partially reflects the light by the second illumination 13 to transmit the mounting position of the object 2, and a component according to the total reflection mirror 15 and the semi-reflective mirror 17 8) a CCD camera (3A) for inputting the position of 8) and the mounting position of the object (8) through a semi-reflective mirror (16). By using the known position data, the position of the object to be mounted 2 is determined on the table 1, and the mounting position recognition part 11 is moved to the recognition position so that the parts 8 and the object 2 can be moved. At the same time, determining whether to recognize on the same screen (S1-S4), and if yes in the step (S4), the first and second relays are driven by driving the first and second relays according to the control signal of the controller 5; (12) (13) are simultaneously turned on to acquire necessary images and to compare the mounting positions of the object (2) and the component (8) (S10) (S14), and if no in the step (S4) According to the on / off operation of the first and second relays, the first and second lights 12 and 13 are turned on and off, respectively, to recognize the image acquisition and the mounting position of the object 2, and On the contrary, in response to the reverse driving of the first and second relays, the first and second lights 12 and 13 are turned off and on, respectively, and are mounted after acquiring the image of the component 8 and recognizing the mounting position. The mounting position is corrected by comparing the mounting position of the water 2 with the mounting position of the component 8, and then the mounting position recognition unit 11 is moved to the side to mount the component 8 according to the 3-axis Cartesian coordinate system. Component mounting method characterized in that the step (S5-S9) (S12-S14) to be carried out in sequence.