TW202305385A - Handler for managing electronic components and method of setting teaching point thereof - Google Patents

Abstract

The present invention relates to a handler for electronic components and a method of setting teaching point thereof. The present invention is equipped with a first camera for confirming a position of a reference pickup and a second camera for confirming a teaching point, and is implemented so that the teaching point can be set based on images captured by the first camera and the second camera. According to the present invention, accuracy of setting the teaching point can be improved.

Description

Sorting machine for processing electronic parts and teaching point setting method therein

The invention relates to a sorting machine for handling electronic components.

After the electronic components are produced, they go through various processing procedures (testing procedures, sorting procedures, pallet resetting procedures, etc.) before being released as final products. And the electronic component processing sorter for processing electronic components is used in such various processing programs.

The electronic component processing sorter is equipped with various moving devices for moving electronic components in order to process electronic component processes.

FIG. 1 shows an example of a sorter HR for electronic component processing used in a test program as one of various processing programs for electronic components.

The electronic component processing sorter HR of FIG. 1 requires a test tray TT that circulates along a closed path C that passes through a loading position LP, a testing position TP, and an unloading position UP and reconnects to the loading position LP, and includes a loading device LA, Connecting device CA and unloading device UA. Among them, the test tray TT is a device element for supplying a plurality of electronic components to a tester (TESTER) at one time.

The loading device LA may be a moving device for moving electronic components to be tested located on the customer tray CT to the test tray TT located at the loading position LP, and may be configured as in Korean Laid-Open Patent No. 10-2011-0108204 in order to increase the speed of the device. Equipped with multiple mobile devices. Among them, the customer tray CT is a loading element for supplying electronic components to be tested to the electronic component processing sorter HR.

The connection device CA can electrically connect the electronic components loaded on the test tray TT at the test position TP to the testing machine, so that the electronic components can be tested by the testing machine.

The unloading device UA may be a mobile device that unloads the tested electronic components loaded on the test tray TT located at the unloading position UP and moves them to the customer tray CT after sorting them according to the test level. Similarly, in order to increase the unloading processing speed, it may be The test tray TT is equipped with a moving device called a sorter and a mover called a mover. The sorter may be a mobile device that unloads the electronic components located in the test tray TT and sorts them according to test levels to move them to the sorting table, and it may be equipped in multiples. Also, the mover may be a moving device that moves electronic components located on the sorting table to the customer tray CT, and may be provided in plural depending on the embodiment.

That is, the sorting machine HR for electronic parts processing is formed in such a way that a plurality of moving devices are equipped at necessary positions so that electronic parts can be moved from one side loading elements (such as customer trays, test trays, sorting tables) to The other side is loaded with elements (e.g. test trays, sorting tables, customer trays). For reference, the loading elements equipped in the sorter HR for processing electronic components may include a buffer zone for temporarily loading electronic components or other loading stages in addition to the above-mentioned elements.

FIG. 2 is a schematic diagram illustrating an example of the mobile device 100 .

Referring to FIG. 2 , the mobile device 100 may include 16 pickers P arranged in an 8×2 matrix form capable of picking up or releasing electronic components. That is, the mobile device 100 in FIG. 2 has eight pickers P in two rows modularized into one set. Therefore, the spacing between columns of pickups P can be adjusted, whereas the spacing between rows of pickups P cannot be adjusted.

In addition, in order to operate the electronic component processing sorter HR, the picker P should accurately pick up electronic components at the starting point (where the electronic location) to accurately disarm electronic component pickups. Recently, such a problem is becoming more and more important as the size of electronic parts becomes smaller and the distance between terminals becomes finer. Therefore, when the electronic component is moved from the starting point to the target point, the picker should be accurately located at the pick-up point (start point) for picking up the electronic component or the release point (target point) for releasing the picking of the electronic component. That is, the pickup point or release point of the pickup is called the teaching point, and if the teaching point is not set correctly, unexpected problems may occur.

If the teaching of the pick-up point for the electronic component is poor, unintended release of pick-up may occur during movement due to poor pick-up or incomplete pick-up. In addition, in such a case, not only loss of electronic components may occur, but also misoperation may occur due to picking up and removing electronic components or damaged electronic components mixed with other components.

In addition, when the teaching of the release point is defective, the following situations may occur: the phenomenon that the electronic part cannot be placed normally at the correct position and comes off, the phenomenon that the same position is repeatedly loaded, and the electronic part is placed in a bad state. Test failures, misoperations, and malfunctions that occur due to contact with the test machine.

Therefore, it is used to make the picker P pick up the electronic component in a state where the center of the pad 1 constituting the lower end of the picker P and in contact with the electronic component exactly coincides with the starting point, or to make the center of the pad 1 coincide with the target point (release Points) Accurate setting of the teaching point for picking up the pickup P to contact the electronic component in a state of accurate consistency is very important.

Therefore, when it is necessary to start the sorter for the first time, or when it is necessary to change the specifications of electronic components and replace the picking blocks or device elements with other specifications, it is necessary to go through the operation of setting the teaching point.

Usually, a loading element has containers in which electronic components can be placed. However, since the containers are arranged at standardized intervals, if the coordinates of the teaching points for any one container are known, the coordinates of the teaching points for the remaining containers can be known. In addition, since the pitch between the pickers P configured in the mobile device is also standardized, if the coordinates of the center of any reference picker P are known, the coordinates of the centers of the remaining pickers P can also be known. Therefore, the teaching can precisely set the teaching point by accurately confirming the position of any specific reference container and the position of any specific reference picker.

In the initial stage, the setting of the teaching point of the pickup P is performed manually. An example of manual setting is a method in which a teaching jig in which a teaching hole is formed is provided separately, and a teaching pin coupled to a picker (hereinafter referred to as "reference picker") P as a reference is inserted into the teaching hole And capture the place where it enters smoothly. However, in the case of manually adjusting the teaching points like this, it takes a lot of time to manually set a large number of teaching points corresponding to a large number of mobile devices one by one. In addition, considering the miniaturization trend of electronic components, the accuracy of setting the teaching point decreases due to the operator's proficiency or viewing angle, so it is more difficult to achieve a more accurate setting of the teaching point according to the operation recognized by the naked eye. That is, whether the teaching pin is smoothly inserted into the teaching hole depends on the operator's field of vision and hand feeling, so the standard of each operator is different, and the time consumed varies according to the operator's proficiency. Furthermore, the operation is troublesome due to the narrowness of the operation space, and the operator needs to bear the accompanying risks because the operator has to put his arm or the like into the electronic component processing sorter HR to perform the work. Therefore, for such a reason, the setting operation takes about 5 hours on average. In addition, when setting the teaching point, due to the difference in rigidity among the parts, the damage between the contacting structures is relatively large, which also causes cost waste. In addition, after setting the teaching point, it is necessary to remove the teaching jig and place a loading element corresponding to the type of electronic component to operate the equipment. However, in this procedure, it is difficult to consider the occurrence of setting tolerances.

In particular, in the past when electronic parts were relatively large, the problem of the above teaching point setting was not prominent, but as the size of electronic parts gradually becomes smaller, the above-mentioned problem is becoming more prominent.

Therefore, a method of automatically setting a teaching point has been studied, and various techniques for setting a teaching point using a camera have been developed.

If the camera is used to set the teaching point, the teaching point can be set more accurately, easily and quickly through an automated process, but the accompanying operations due to the setting or dismantling of various accessories and materials are still possible Concomitantly, and due to design or setup tolerances of various instruments (even setup tolerances of fiducial pickers or distortions of locations to be fiducials), setting of distorted teaching points may still occur. That is, the teaching point setting method using a camera proposed so far ignores the problem of the deviation of the reference point used as a reference for confirming various coordinates. [Prior art literature] [Patent Document]

Korean Patent Publication No. 10-2016-0120880 Korean Laid-Open Patent Publication No. 10-2016-0123502 Korean Patent Publication No. 10-2018-0041048

The invention proceeds from the motivation of minimizing the amount of fitting material and precisely setting the teaching points despite various design or setting tolerances by comparing them relative to one another rather than with absolute references.

A sorter for electronic component processing according to the present invention for achieving the above object, comprising: a moving device that picks up electronic components at a starting point and then moves to a target point for contact picking, thereby moving the electronic components from the starting point to the target point; setting means for accurately setting the starting point for picking up the electronic parts to be moved by the moving means or the target point for releasing the picking of the electronic parts; control means for controlling the moving means and setting means , to move the electronic components from the starting point to the target point after setting the starting point and the target point by a setting device, wherein the moving device includes: at least one picker, used to pick up or unpick up the electronic components; elevating a device for lifting and lowering the at least one picker in the vertical direction so that it is located at a height where the picker can pick up or release the electronic components; and a horizontal mover for moving the at least one picker in the horizontal direction, Wherein the setting device comprises: a first camera for confirming the position of the reference picker in the at least one picker; a second camera for confirming at least one position of the starting point or the target point and a judging unit, judging the position of the reference pickup according to the first image information from the first camera, and judging the starting point or the target point according to the second image information from the second camera.

A switcher is also included to switch in such a manner that the judger selectively receives any one of the first image information and the second image information, wherein the first image information and the second image information The information is video information based on continuous shooting by the first camera and the second camera.

It also includes an illumination device for irradiating light downward when the reference pickup located above is photographed by the first camera.

The lenses of the first camera and the second camera are glued to fix the focal length.

When the first camera and the second camera are located on the same vertical line or at least the shooting centers are located on the same vertical line, the sum of the first focal length of the first camera and the second focal length of the second camera is greater than the The distance between the first camera and the second camera is longer, so that a confirmation jig for confirming the positions of the first camera and the second camera with each other is required, and the confirmation jig has A structure in which there is a height difference between the first confirmation point confirmed by the first camera and the second confirmation point confirmed by the second camera.

The confirmation jig further includes a third confirmation location, the third confirmation location is confirmed by a second camera moving together with the at least one picker, and is separated from the second confirmation location in the horizontal direction, and the judgment The device compares the mutual positions of the second confirmation point and the third confirmation point to confirm the installation state of the confirmation jig.

And, the teaching point setting method of the sorting machine for electronic component processing according to the present invention for achieving the above purpose includes: a first confirmation step, confirming that the electronic component is picked up by the first camera in the upward direction Or release the position of the reference container picked up; the second confirming step is to confirm the mutual position of the first camera and the second camera moving together with the reference picker in order to photograph the downward direction, thereby confirming that the reference picker and the reference picker The distance of the second camera; the third confirming step is to confirm the reference teaching point (at least one of the starting point for picking up the electronic component or the target point for releasing the picking up of the electronic component) by the second camera ); and a setting step of setting other teaching points based on the reference teaching point confirmed in the third confirmation step.

The first confirmation step includes a photographing step of photographing a pad constituting a lower end of the reference picker in a backlit state with the first camera in a state where the reference picker is positioned above the first camera. (picking up the part of the electronic component); a selection step of selecting dark arbitrary points from the image information captured in the shooting step; a first drawing step of selecting three arbitrary points selected in the selection step And draw a circle; The second drawing step is to find the center of the circle described in the first drawing step, and draw a circle larger or smaller than the circle drawn in the first drawing step with the center as a reference; memory step, after confirming that there is any area with the most points between the circles drawn in the first drawing step and the second drawing step, remember the circle formed by the area; The drawing step, the second drawing step and the memory step repeat the preset multiple times to the other three arbitrary points selected by selection; the selected step, after the repeating step ends, starts from the repeated memory step Selecting the circle comprising the most arbitrary points in the remembered circles; determining a step of comparing the circle selected in said selecting step with the circle that the edge of the actual pad should have, thereby determining the circle that is closest to the edge of the actual pad; A recognizing step of recognizing the center of the circle determined in the determining step as the center of the pad.

In a state where a confirmation jig having a first confirmation place for confirmation with the first camera and a second confirmation place for confirmation with the second camera is provided, the second confirmation step includes: A first search step of searching for the first confirmation point using the first camera; a second search step of searching for the second confirmation point with the second camera positioned above the second confirmation point ; and a recognition step of confirming the mutual positions of the first camera and the second camera by the results acquired in the first search step and the second search step, and comparing the mutual positions of the first camera and the second camera in the first search step The mutual position of the second camera and the reference pickup is recognized by confirming the position of the reference pickup obtained in the step.

The third confirming step includes: a first moving step of moving the second camera to the center of the reference container where elements are loaded according to the design value; a photographing step of using the second camera to photograph the reference container; a moving step of calculating from the image acquired in said photographing step the extent to which said fiducial picker is spaced from the center of the image and moving said second camera by the calculated value so that said fiducial container located at the center of the image; and an identifying step of performing the photographing step and the second moving step at least once so as to find an identification located at the center of the reference container if the reference container is located at the center of the image The position of the mark is recognized as the center of the reference container, wherein the setting step uses the center of the reference container recognized in the recognition step as a reference teaching point to set other teaching points.

The third confirming step includes: a loading step of loading electronic components into the reference container located at the loading element; a first moving step of moving the second camera above the reference container according to the design value; a first photographing step , using the second camera to photograph the reference container; a calculating step of searching for a dark square ring located in the gap between the electronic component and the wall constituting the loading space from the image acquired in the first photographing step calculating the center of the reference container; a removing step of removing the electronic components loaded in the loading step from the reference container; a second moving step of moving the second camera to the center of the reference container calculated in the calculating step the center of the reference container; a second photographing step of photographing the reference container with a second camera moved to the center of the reference container by the second moving step; searching for a mark located at the center of the reference container in an image captured in the image, thereby recognizing the position of the mark as the center of the container, wherein the setting step uses the center of the reference container recognized in the recognizing step as a reference Teach points and set other teach points.

According to the present invention, there are the following effects.

First, since the teaching point is set by acquiring the relative position between the reference points using two cameras, the accuracy of setting the teaching point required for normal operation can be improved despite design errors.

Second, by using the switcher so that the decision unit selectively receives image information, the number of decision units does not increase despite the increase in the number of cameras, thereby suppressing an increase in the production unit price.

Third, since there is no concern about the focal length of the lens changing due to other factors (operator's error, vibration during operation, etc.), accurate confirmation can be achieved, and the reliability of the teaching point setting can be improved.

Fourth, since the setting of the accessory material is minimized to one confirmation jig, the complexity is greatly reduced, and since the teaching point is set in response to the setting state of the confirmation jig, the setting accuracy is very high.

Hereinafter, preferred embodiments according to the present invention as described above will be described. For brevity of description, main components or repeated descriptions are omitted or compressed as much as possible.

＜Schematic description of the main components of the sorting machine＞

As shown in the block diagram of FIG. 3 , the electronic component processing sorter HR according to an embodiment of the present invention includes a moving device 100 , a setting device 200 , a lighting device 300 , and a control device 400 . Of course, a plurality of mobile devices 100 may be installed in the actual electronic component processing sorter HR, but for convenience of description, only one mobile device 100 will be extracted and described.

The mobile device 100 picks up the electronic component at the starting point, moves it to the target point and releases the pickup, thereby moving the electronic component from the starting point to the target point. For this, as shown in FIG. 4 , the moving device 100 has 16 pickers P, a lifter 110 , a first horizontal mover 120 , and a second horizontal mover 130 .

16 pickers P are arranged in 2 rows by 8 modules. The lower end of the pickup P is made of a flexible pad 1 such as rubber or silicone, and the lower surface of the pad 1 is in the shape of a ring. In the present embodiment, in order to move 16 electronic components at a time, 16 pickers P are provided, however it is sufficient to provide at least one picker P according to the embodiment. For reference, in FIG. 4 , symbol _P0 is a pick-up that is arbitrarily selected for setting the teaching point, although it has the same structure and function as other pick-ups P. Therefore, it is called a reference pick-up for convenience and is denoted by Symbol P ₀ marks. Therefore, in this description, it is marked with the symbol P when referring to all pick-ups, whereas it is marked with the symbol P ₀ when specifically referring to the function as a reference pick-up.

The lifter 110 raises and lowers the picker P so that the picker P can be positioned at a height at which electronic components can be picked up or released, or at a movable height.

The first horizontal shifter 120 moves the pickup P in a left-right direction as a first direction, and the second horizontal shifter 130 moves the pickup P in a front-rear direction as a second direction. Of course, according to the function of the moving device 100 , any one of the first horizontal mover 120 and the second horizontal mover 130 can also be omitted.

The setting device 200 accurately sets a starting point where electronic components to be moved by the moving device 100 need to be picked up or a target point where picking up of electronic components needs to be released. To this end, as shown in the schematic diagram of FIG. 5 , the setting device 200 is equipped with a first camera 210 , a second camera 220 , a determiner 230 and a switcher 240 .

The first camera 210 is provided to check the position of the reference pickup P ₀ , and is fixed to the board BP or the like so as to photograph the upward direction.

The second camera 220 is equipped to confirm the position of the starting point or the target point as the teaching point (more specifically, in the center of the container where the electronic components are loaded), and is installed to photograph the downward direction . Such a second camera 220 is provided in the mobile device 100 so as to be movable together with the pickup P as referred to in FIGS. 4 and 5 . Therefore, the first camera 210 needs to be located below the second camera 220 .

Since the above-mentioned first camera 210 and second camera 220 need to continuously generate images until an accurate position is found in the area according to the design value, they are configured in the form of a network camera to generate video information through continuous shooting. Moreover, the captured video is provided to the judging unit 230 in real time. The reason why the cameras 210 and 220 are equipped in the network form as described above is that it is difficult to match the timing of shooting for each situation, and the cost increases if the sensor for recognizing the situation is to be improved. For the aforementioned first camera 210 and second camera 220 , a separate directory will be set up later for more detailed description.

The determiner 230 determines the position of the reference pickup P ₀ according to the first image information from the first camera 210 , and determines the position of the teaching point according to the second image information from the second camera 220 . Such a judging unit 230 is provided as a small computer equipped with arithmetic processing means.

A switcher 240 is provided for switching in such a manner that the determiner 230 selectively receives either one of the first video information and the second video information. Accordingly, the determiner 230 selectively receives the first image information and the second image information from the first camera 210 or the second camera 220 . The switch 240 can be configured as hardware, or as software installed in the determiner 230 .

In addition, from the standpoint of the manufacturer of the sorter HR for processing electronic components, since the judger 230 as a small computer is not manufactured by special order, only a model popular in the market can be purchased and installed. Therefore, if the judger 230 is made low-end and the number of judgers is increased (for example, one judger per camera), it is difficult to secure space for the judger 230, so that not only the size of the electronic component processing sorter HR becomes larger, but also And there are also difficulties in design. However, if a high-end judger 230 is purchased, films from multiple cameras 210 and 220 can be processed almost simultaneously, but the production unit price of the sorter HR for electronic component processing will increase significantly. As described in the background art, when a sorter HR for processing electronic components is equipped with 5 to 6 or more mobile devices 100, it is necessary to equip a larger number of judgers 230 equivalent to its multiple. In this regard, the above-mentioned problems will be more serious.

Therefore, in this embodiment, the switch 240 mentioned above is equipped, so that the determiner 230 is selectively connected to the first camera 210 or the second camera 220 . This is because only the image information of the first camera 210 is needed when finding the position of the reference pickup P ₀ , and only the image information of the second camera 220 is required when finding the teaching point, and the operation of finding the position of the reference pickup P ₀ The operation of finding the teaching point will not be parallel at the same time.

Furthermore, as shown in FIG. 6 , it is also necessary to consider the case where one mobile device 100 is equipped with more than two second cameras 220 . Usually, since a plurality of components are combined in the electronic component processing sorter HR, there may be a blind spot that cannot be confirmed by one second camera 220 . For example, when it is necessary to move the electronic component from the first loading element to the second loading element, it is necessary to set all the teaching points of the first loading element and the teaching points of the second loading element. Among them, the first loading element and the second loading element may be two places that exist on one integrated loading platform or on the customer pallet, and may also be different configurations depending on the situation (for example, one area of the loading platform and part of the customer tray).

Although one second camera 220 can be designed to be located vertically above the teaching points on both sides, there is also the possibility that one second camera 220 cannot reach the teaching point on one side due to obstacles H such as other structures or walls. situation. Therefore, in such a case, it is necessary to provide two second cameras 220 . Moreover, when the mobile device 100 needs to selectively move electronic components from the first loading element (eg, customer tray) to the second loading element (eg, test tray) or the third loading element (eg, buffer table), according to The case where four or more second cameras 220 are provided can also be sufficiently considered. In such a case, since the image information from the first camera 210 and the plurality of second cameras 220 are not required at the same time, the switcher 240 connects the second camera 220 that captures the currently required image information with the judger 230. way to operate. Furthermore, it is also possible that all the image information from multiple second cameras 220 may not be required at the same time, so the switcher 240 may also selectively connect only the specific second camera 220 that generates the image information of the required area. to the judging unit 230 to operate.

The lighting device 300 is equipped to irradiate light downward when the reference pickup P ₀ is photographed with the first camera 210 . That is, the illuminating device 300 does not irradiate light from below to above the area where the pad 1 of the reference pickup _P0 is located, but irradiates light from above the reference pickup _P0 to below, thereby making the pad 1 appear on the captured image. The bottom surface of is shown to be darker than other parts, and the determiner 230 uses an algorithm to find the position where the darker pad 1 is located. In this way, the bottom surface of the pad 1 is made darker, so that the pad 1 can be clearly divided from other instrument parts, so that it is easier and more accurate to find the center of the pad 1 . Wherein, upper should be interpreted as not only the vertical upper direction of the pad 1, but also the general meaning of the upper direction inclined at a certain angle relative to the vertical line. That is, "above" means a position higher than the pad 1, and it is sufficient that the light source emitting light is positioned higher than the pad 1 so that the light cannot directly irradiate the lower surface of the pad 1.

The control device 400 controls the mobile device 100 , the setting device 200 , and the lighting device 300 so that the electronic components can be moved from the starting point to the target point after the teaching point is set by the setting device 200 .

＜Specific instructions for cameras＞

Commercially available cameras can adjust the focal length by rotating the lens.

However, the first camera 210 and the second camera 220 applied to the sorter HR for electronic component processing according to the present embodiment are set in a state of fixed focus. That is, it is installed after the lens of the purchased camera is glued so that rotation is prohibited. At this time, the focal length of the first camera 210 (hereinafter, the first focal length) is set to the distance from the pad 1 of the reference pickup _P0 , and the focal length of the second camera 220 (hereinafter, the second focal length) is set to the reference container (at The distance from the bottom surface of the container that is arbitrarily selected as the reference for setting the teaching point among the containers of the device element, the same below). The reason for this is to clearly observe the mat 1 with the first camera 210 and to clearly observe the bottom surface of the reference container with the second camera 220 . The reason why the focal lengths of the first camera 210 and the second camera 220 are fixed in this way is to eliminate the problem of changing the focal length due to vibration or unintentional interference when performing installation work or operating the electronic component processing sorter HR.

As a point of reference, areas that are in focus will be seen very clearly, and areas that are out of focus will be seen blurry, so even a slight difference in distance from the focus will be contrasted in the image and thus be resolved. Areas that are clear and areas that are not. Therefore, the desired part can be seen clearly.

In addition, preferably, the pickers P are arranged to be separated by a minimum distance that can move on the bottom surface. This contributes to minimizing the size of the electronic component processing sorter HR, minimizing the lift distance of the picker P to reduce errors, and increasing the speed.

According to the present invention, although it will be described later, a procedure for confirming the relative positions of the first camera 210 and the second camera 220 will be passed. The purpose is to accurately confirm the position of the second camera 220 and at the same time confirm the position of the reference pickup P ₀ , so as to obtain the relative position (coordinates) between the second camera 220 and the reference pickup P ₀ . That is, the reference pickup P ₀ or the second camera 220 may not be able to accurately determine the relative position with the design value, and errors caused by various tolerances may occur. Therefore, it is also necessary to confirm the difference between the second camera 220 and the reference pickup P ₀ relative position between them.

However, since the second camera 220 moves together with the picker P, it needs to be installed higher than the pad 1 of the picker P in order to eliminate interference with other instruments. Therefore, the second camera 220 cannot be located at the first focal length of the first camera 210 . That is, since there is a limit to the height to which the reference pickup P ₀ and the second camera 220 can be lowered for shooting, the second camera 220 that needs to be lowered together with the reference pickup P ₀ cannot be lowered to be fixed between the pad 1 and the second camera 220. The distance between the first focal length up to. Therefore, the second camera 220 cannot be clearly recognized by the first camera 210 . In addition, since the first camera 210 is installed on the bottom plate, it may not be within the second focal length, which is set as the distance to the bottom surface of the reference container on which the elements are placed, which is provided at a position higher than the bottom plate. The first camera 210 is clearly identified by the second camera 220 .

That is, since the focal lengths of the first camera 210 and the second camera 220 are fixed, the first camera 210 cannot be used to accurately obtain the image of the second camera 220, and the second camera 220 cannot be used to accurately obtain the image of the first camera 210. image.

Therefore, it is additionally necessary to introduce a confirmation jig for confirming the position of the second camera 220 .

If, when the first camera 210 and the second camera 220 are located on the same vertical line so that the shooting centers are located on the same vertical line, as shown in FIG. 7 , if the sum of the first focal length F1 and the second focal length F2 is equal to As well as the distance between the two cameras 210 and 220 in the state where the second camera 220 is located at a position capable of photographing images, it is sufficient to provide a flat confirmation jig CJ′. Of course, the confirmation jig CJ' needs a separate confirmation point (hole or mark) CP for confirming the position. However, as mentioned above, since the lifting distance of the pickup P is minimized, the sum of the first focal length F1 and the second focal length F2 as shown in FIG. The distance L is long. Therefore, a flat confirmation jig CJ' as shown in FIG. 7 cannot be used, and a confirmation jig CJ having a height difference between the first confirmation point _CP1 and the second confirmation point _CP2 needs to be used instead. Of course, as long as there is a height difference between the first confirmation point _CP1 and the second confirmation point _CP2 , it is sufficient, so its form need not be limited to the form shown in FIG. 8 .

FIG. 9 is a schematic perspective view of the confirmation jig CJ in FIG. 8 .

The confirmation jig CJ has a first confirmation point CP _{1 to be confirmed by the first camera 210 and a second confirmation point CP 2 to be confirmed by the second camera 220, the first confirmation point CP 1 and the} second confirmation point CP ₂ has a height difference. That is, the first confirmation point _CP1 is located at a higher position than the second confirmation point _CP2 . Furthermore, the confirmation jig CJ has a third confirmation point CP ₃ for grasping the installation state of the confirmation jig CJ. The third confirmation point CP ₃ is located at the same height as the second confirmation point CP ₂ and is at the same height as the second confirmation point CP ₂ . It is separated and located on the side of the second confirmation point _CP2 . Of course, the distance in the horizontal direction between the first confirmation point _CP1 and the second confirmation point _CP2 and the distance in the horizontal direction between the second confirmation point _CP2 and the third confirmation point _CP3 are accurately set, Through this, the relative positions of the first camera 210 and the second camera 220 can be accurately known.

For reference, depending on the installation position of the first camera 210 , the pads 1 of the pickup P may not be separated by the first focal length F1 of the first camera 210 . In such a case, the first focal length F1 can be adjusted to a certain extent by applying a macro lens to the first camera 210. However, the refractive index of the macro lens is slightly different for each macro lens, so the precision will be reduced. When attaching the macro lens, there is a slight difference depending on the operator, so that there is a problem that the accurate first focal length F1 cannot be expressed. Therefore, as shown in FIG. 10 , the first camera 210 is arranged to face the horizontal direction instead of facing upward, and instead constitutes a mirror M, so that it can be realized that the pad 1 of the pickup P is located at a distance equivalent to that of the first camera 210. The position of the distance of the first focal length F1.

<Explanation on how to set the teaching point>

Next, the teaching point setting method implemented in the sorter HR for electronic component processing which has the said structure is observed.

FIG. 11 is a basic flow chart of the teaching point setting method, which is composed in the order of first confirmation ( S10 ), second confirmation ( S20 ), third confirmation ( S30 ), and setting ( S40 ). Of course, before executing such a teaching point setting method, the position according to the design value of the first camera 210, the relative position according to the design value between the reference pickup _P0 and the second camera 220, the position of the reference container, etc. The information of is input to the judging unit 230 through the control device 400 in advance. 1. The first confirmation (S10)

In step S10 , the position of the fiducial picker P ₀ is confirmed by the first camera 210 . Since such step S10 utilizes the image information of the first camera 210 , the switcher 240 connects the first camera 210 and the judger 230 .

At this time, the edge of the ideal pad 1 is round, but actually it may become a shape close to a circle but not a circle due to distortion or the like after injection molding, so the ideal center of the pad 1 needs to go through various detailed procedures. And look for. Therefore, as shown in FIG. 12, the first confirmation step can be divided into detailed procedures. (1) Shooting (S11)

The control device 400 uses the first camera 210 to photograph the pad 1 on the bottom surface of the reference pickup P ₀ in a state where the reference pickup P ₀ is positioned above the first camera 210 . At this time, the control device 400 operates the lighting device 300 to turn on the lighting, so that the pad 1 can be photographed in the backlighting state. (2) Select (S12)

The determiner 230 selects any point that is darker from the image information captured in step S11. In this case, the degree of darkness can be realized by setting an arbitrary reference luminance so that a luminance below that level can be recognized as a dark spot. Here, an arbitrary point may correspond to one pixel. (3) First drawing (S13)

The determiner 230 selects three from among the many arbitrary points selected in step S12 , and draws a circle passing through all the three points as referred to in FIG. 13 . (4) Second rendering (S14)

Find the center of the circle drawn in step S13, refer to FIG. 14, and draw a circle larger or smaller than the circle drawn in step S13 using the center as a reference. The number of drawn circles varies with settings, and in this embodiment, about 100 circles are drawn. (5) Memory (S15)

After confirming that there is an arbitrary area with the most points among the circles drawn in step S14, memorize the circle formed by this area. (6) Repeat (S16)

The above-mentioned steps S12 to S15 are repeated a predetermined number of times (several times to tens of times) for the three arbitrary points selected in addition. (7) Selected (S17)

After step S16 ends, a circle including as many arbitrary points as possible is selected from the circles memorized by repeating step S15. (8) OK (S18)

The circle selected in step S17 is compared with the ideal circle that the edge of the actual pad 1 should have, thereby determining the circle most similar to the edge of the actual pad 1 . (8) Identification (S18)

The center of the circle determined at step S18 is recognized as the center of the pad 1 . 2. The second confirmation (S20)

In step S20 , the relative positions of the first camera 210 and the second camera 220 are confirmed, so as to confirm the distance between the reference pickup P ₀ and the second camera 220 . Such step S20 can be realized using the confirmation jig CJ mentioned above, and, as shown in FIG. 15 , can be divided into more detailed procedures. (1) First search (S21)

Use the first camera 210 to find the first confirmation point CP1. Therefore, it is possible to know how far the first confirmation point CP1 is separated from the center of the image, and the like. In this process, the first image information is also used, so that the switcher 240 connects the first camera 210 and the judger 230 . (2) Second search (S22)

The control device 400 activates the mobile device 100 to search for the second confirmation point CP ₂ with the second camera 220 approximately positioned above the second confirmation point CP ₂ . Here, since the second camera 220 can move, the second confirmation point _CP2 can be accurately positioned at the center of the image. In addition, the second image information is used in this procedure, so that the switcher 240 is switched to connect the second camera 220 and the judger 230 .

And, in the step S22, the third confirmation point _CP3 is searched at the same time, and the positional relationship between the second confirmation point _CP2 and the third confirmation point _CP3 is confirmed, thereby confirming the installation state of the jig CJ (the state of being installed at a slight inclination, etc.) ). Of course, the information on the installation state of the confirmation jig CJ confirmed in this way is taken into consideration for the calculation of the relative positions of the confirmation first camera 210 and the second camera 220 . (3) Identification (S23)

The relative positions of the first camera 210 and the second camera 220 are confirmed by the results obtained in steps S21 and S22, and the position of the reference pickup _P0 obtained in step S10 is compared and calculated to identify the second camera 210 and the second camera 220. Relative position of camera 220 to fiducial picker _P0 . 3. The third confirmation (S30)

After the control device 400 activates the mobile device 100 so that the second camera 220 is approximately positioned above the reference container GP, the reference teaching point is confirmed by the second camera 220 . Here, the reference teaching point means the teaching point for the reference container. Of course, as mentioned above, in the case of multiple loading elements, there may be multiple reference teaching points, so such step S30 may be repeated multiple times.

For reference, step S30 may be performed by finding the confirmation hole CH at the center of the bottom surface of the reference container GP schematically illustrated in FIG. 16 . The confirmation hole CH is a hole formed to reduce air resistance or reduce its own weight when the original electronic component falls, and is located at the center of the reference container CP. However, in the present invention, such a confirmation hole CH is used as a mark for finding the center (reference teaching point) of the reference container GP.

Likewise, as shown in FIG. 17, step S30 can be divided into more detailed procedures. (1) First move (S31)

The control device 400 activates the moving device 100 according to the design value, so as to move the second camera 220 to the center position of the reference container GP. (2) Shooting (S32)

The reference container GP is photographed by the second camera 220 . (3) Second move (S33)

The distance between the center of the image and the center of the reference container GP is calculated from the image acquired in step S32, and the value calculated by the second camera 220 is shifted so that the center of the reference container GP is located at the center of the image. (4) Identification (S34)

If steps S32 and S33 are executed at least once so that the center of the reference container GP is located at the center of the image, then the confirmation hole CH at the center of the reference container GP is searched to recognize the position of the confirmation hole CH as the center of the reference container GP. In order to accurately confirm the confirmation hole CH in the image, the above confirmation may be disturbed by the diffuse reflection of the illumination, so it is preferable that at least the bottom surface of the reference container GP be matte-treated. In addition, the inner wall surface constituting the confirmation hole CH also has a thickness as high as it is, and it is preferable that such an inner wall surface is also subjected to a matte treatment. This is because when the inner wall surface and the edge of the confirmation hole CH cannot be distinguished from each other due to diffuse reflection by illumination, the edge of the confirmation hole CH becomes blurred, and it may be difficult to confirm the center of the reference container GP. Therefore, it may be preferable to make the bottom surface and the inner wall surface different in color. 4. Setting (S40)

The center of the reference container GP confirmed in step S30 is set as a reference teaching point, and the remaining teaching points are set by calculation based on design values. For example, there are multiple containers in the device element, and each of the multiple containers has a teaching point. However, since the distance between the containers is fixed, it can be calculated, so if the teaching point of the reference container GP is found, the remaining teaching points can also be calculated, and all the teaching points of the loading element can be set accordingly. In this way, the information used for the calculation of the remaining teaching points is called design information. The operator can either directly input the design information to the sorting machine HR, or the sorting machine HR can communicate from the upper end (for example, the upper server) to download design information. ＜Another example of the third confirmation＞

Since the confirmation hole CH is small in size, if the second camera 220 photographs the reference container GP in a state slightly detached from vertically above, the confirmation hole CH may not be accurately sensed in the image due to the wall surface constituting the confirmation hole CH arrive. Therefore, even in such a case, a program that undergoes deformation as shown in FIG. 18 using electronic components can be sufficiently considered. (1) Loading (S31')

Electronic components are loaded into the reference container GP of the loading element. In this case, no matter how delicately the reference container GP is designed, a gap occurs between the electronic component and the wall surface of the device space constituting the reference container GP, and the gap appears dark in the image. (2) First move (S32')

When the electronic components are loaded, the control device 400 activates the mobile device 100 and moves the second camera 220 to the top of the reference container GP according to the design value. (3) First shot (S33')

The second camera 220 photographs the reference container GP. (4) Calculation (S34')

The center of the reference container GP is calculated by looking for a darker square ring in the gap between the electronic component and the wall constituting the loading space from the image acquired in step S33'. Wherein the center of the datum container GP will be the point where 2 straight lines connecting the diagonal corners of the square ring intersect. For reference, in this embodiment, a quadrilateral electronic component is preset, so a darker square ring is searched for; however, if it is a circular electronic component, a darker circular ring should be searched for. (5) Removal (S34')

The electronic components loaded in step S31' are removed from the reference container GP. (6) Second move (S36')

The second camera 220 is moved to the center of the reference container GP calculated in step S34'. (7) Second shot (S37')

The reference container GP is photographed with the second camera 220 moved to the center of the reference container GP by step S36'. (8) Identification (S38')

From the image taken in step 37', find the confirmation hole CH (or other marks) located at the center of the reference container GP, so as to recognize this position as the center of the reference container GP.

For reference, the teaching point setting method explained in the above content is executed simultaneously by each mobile device 100, so that the setting of the teaching point can be performed very quickly and accurately.

In addition, if the teaching point is set in the above-mentioned method, the actual electronic component is provided to confirm the teaching state, and if it is confirmed that the teaching point is set correctly, the electronic component processing sorter HR is normally activated.

As mentioned above, according to the present invention, even if the center of the first camera 210, the second camera 220, the center of the reference picker _P0 , and the center of the reference container GP are not at the exact design value and have errors, the display is set by confirming the positions relative to each other. Therefore, when the sorter HR for actual electronic component processing is operated, the mobile device 100 can accurately move the electronic components through the control device 400 .

In addition, the present invention includes a recording medium recording a program capable of executing the teaching point setting method described above with reference to FIGS. 11 to 18 on a computer.

As above, the specific description of the present invention is carried out by referring to the embodiments of the drawings, but the above-mentioned embodiments are only preferred embodiments of the present invention, so it should not be understood that the present invention is limited to the above-mentioned embodiments, and the present invention The scope of rights should be understood as the scope of the patent application and its equivalent scope.

1: Pad 100: Moving device 110: Elevator 120: First horizontal shifter 130: Second horizontal shifter 200: Setting device 210: First camera 220: Second camera 230: Judger 240: Switcher 300: Lighting Device 400: control device BP: substrate C: path CA: connecting device CH: confirmation hole CJ: confirmation jig CJ': confirmation jig CP: confirmation site CP ₁ : first confirmation site CP ₂ : second confirmation site CP ₃ : second Three confirmation points CT: customer tray F1: first focal length F2: second focal length GP: reference container H: obstacle HR: sorter for electronic parts processing L: distance LA: loading device LP: loading position M: mirror P : Picker P ₀ : Symbol P(P ₀ ): Reference Picker S10: First Confirmation S11: Shooting S12: Selection S13: First Drawing S14: Second Drawing S15: Memory S16: Repeat S17: Select S18: Confirm S19 : Identification S20: Second Confirmation S21: First Search S22: Second Search S23: Identification S30: Third Confirmation S31: First Movement S31': Loading S32: Shooting S32': First Movement S33: Second Movement S33' : first shooting S34: identification S34': calculation S35': removal S36': second movement S37': second shooting S38': identification S40: setting TP: test position TT: test tray UA: unloading device UP: unloading position

FIG. 1 is a schematic plan view of a sorter for processing electronic components suitable for testing electronic components.

FIG. 2 is a schematic diagram of a moving device applied to the electronic component processing sorter of FIG. 1 .

FIG. 3 is a block diagram of a sorter for electronic component processing according to an embodiment of the present invention.

FIG. 4 is a schematic diagram of a moving device applied to the electronic component processing sorter of FIG. 3 .

FIG. 5 is a schematic view of a setting device applied to the electronic component processing sorter of FIG. 3 .

Fig. 6 is a reference diagram for explaining another embodiment of the present invention.

7 to 10 are reference diagrams for explaining a first camera and a second camera applicable to the setting device of FIG. 5 .

11 to 18 are reference diagrams for explaining a teaching point setting method of the electronic component processing sorter according to the present invention.

Domestic deposit information (please note in order of depositor, date, and number) none Overseas storage information (please note in order of storage country, institution, date, and number) none

1: Pad

100: mobile device

200: setting device

210: First camera

220: second camera

230:Judger

240:Switcher

300: Lighting device

BP: Substrate

P ₀ : sign

Claims (3)

A sorting machine for processing electronic components, comprising: A mobile device that picks up the electronic component at the starting point and then moves to the target point to touch the pickup, thereby moving the electronic component from the starting point to the target point; setting means for accurately setting the starting point for picking up the electronic part to be moved by the moving means or the target point for releasing the picking up of the electronic part; a control device for controlling the moving device and the setting device, so as to move the electronic components from the starting point to the target point after setting the starting point and the target point by the setting device, Wherein said mobile devices include: at least one picker for picking up or unpicking the electronic components; a lifter that lifts the at least one picker vertically so that it is located at a height where the picker can pick up or release the electronic component; and a horizontal mover for moving the at least one picker in the horizontal direction, Wherein said setting device comprises: a first camera for confirming the position of a fiducial picker in said at least one picker; a second camera for identifying at least one of the departure location or the destination location; and The judging unit judges the position of the reference pickup according to the first image information from the first camera, and judges the starting point or the target point according to the second image information from the second camera. The sorting machine for processing electronic components as claimed in claim 1, further comprising: a switcher for switching in such a manner that the determiner selectively receives any one of the first image information and the second image information, Wherein the first image information and the second image information are video information based on continuous shooting by the first camera and the second camera. The sorting machine for processing electronic components as claimed in claim 1, further comprising: The lighting device irradiates light downward when the reference pickup positioned above is photographed by the first camera.

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