WO2022185957A1 - 撮像装置および実装機 - Google Patents
撮像装置および実装機 Download PDFInfo
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- WO2022185957A1 WO2022185957A1 PCT/JP2022/006725 JP2022006725W WO2022185957A1 WO 2022185957 A1 WO2022185957 A1 WO 2022185957A1 JP 2022006725 W JP2022006725 W JP 2022006725W WO 2022185957 A1 WO2022185957 A1 WO 2022185957A1
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- Prior art keywords
- imaging device
- optical system
- image sensor
- holder
- sensor
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Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
- H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/021—Mountings, adjusting means, or light-tight connections, for optical elements for lenses for more than one lens
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N2213/00—Details of stereoscopic systems
- H04N2213/001—Constructional or mechanical details
Definitions
- the present disclosure relates to imaging devices and mounters.
- a head unit that includes a mounting head that mounts components on a board, a component supply unit that supplies components to the mounting head, and a component supply position provided in the head unit that can be imaged from multiple directions. and a control unit that acquires the horizontal position and the vertical height position of the component at the component supply position based on images of the component supply position captured from a plurality of directions by the imaging unit.
- a mounting apparatus is disclosed (see Patent Document 1).
- the present disclosure has been devised in view of the above-described conventional circumstances, and aims to provide an imaging device and a mounter that can further improve the accuracy of target position measurement.
- An imaging device is an imaging device that is attached to a moving object and captures an image of a subject, and includes a first lens barrel that houses a first optical system, a second optical system that houses the first a second lens barrel arranged so that the optical axis of one optical system is parallel to the optical axis of the second optical system; and a fixing covering the first lens barrel and the second lens barrel.
- a holder having a distal end on which light from the subject is incident and a proximal end opposite to the distal end; a flange projecting from an outer circumference of the proximal end and fixed to the moving body; An image sensor that forms an image of the light transmitted through the first optical system and the second optical system, and a sensor substrate on which the image sensor is mounted.
- the image sensor is fixed to the base end of the holder.
- a mounting machine includes the imaging device, a mounting head that is the moving body and that mounts components on a board, a head moving mechanism that moves the mounting head, and one end connected to the sensor board. and a flexible substrate having the other end connected to the mounting head.
- the imaging device images the component held by the mounting head and the mounting position of the component on the board.
- FIG. 1 is a perspective view of a main part of a component mounting apparatus equipped with an imaging device according to Embodiment 1;
- FIG. Enlarged view of the main part of the mounting head shown in FIG. 3 is a perspective view of the mounting head shown in FIG. 2 viewed from a different direction;
- FIG. 4 is a side view of the mounting head shown in FIG. 3;
- FIG. 5 is a perspective view of the imaging device shown in FIG. 4 AA sectional view of FIG. 6 is an exploded perspective view of the imaging device shown in FIG.
- FIG. 8 is a perspective view of the holder shown in FIG. 7 as seen from the sensor fixing portion side;
- the component mounting apparatus captures images of the mounting position of the component and the tip of the nozzle using an imaging unit, and based on each of the plurality of captured images. 3D (Dimensions) measurement of the component mounting position.
- an imaging unit is configured to include a plurality of cameras (for example, stereo cameras), and a component mounting position can be detected from a plurality of different imaging directions by each of the plurality of cameras. is imaged.
- a component mounting apparatus acquires a vertical height position of a component based on each of a plurality of captured images captured from a plurality of different imaging directions, and determines a component based on the vertical height position of the component. By correcting the horizontal position of , the horizontal position and vertical height position of the component mounting position are obtained.
- each of the plurality of cameras takes images while being mounted on a mounting head that is driven at high speed, there is a possibility that the distance between each of the plurality of cameras will fluctuate due to vibrations when the mounting head is driven.
- the component mounter has a lower accuracy in measuring the horizontal position and vertical height position (that is, 3D measurement) of the component mounting position, and it is possible that defects will occur in the mounting board on which the component is mounted. had a nature.
- FIG. 1 is a perspective view of a component mounting apparatus 13 having an imaging device 11 according to Embodiment 1.
- FIG. 1 the directions of XYZ follow the directions of the arrows.
- the X-axis indicates the horizontal direction
- the Y-axis indicates the front-rear direction
- the Z-axis indicates the vertical direction.
- a component mounting device 13 as an example of a mounting machine has a function of mounting components 15 supplied from each of a plurality of component supply devices (not shown) on component mounting positions on a substrate 17 .
- the component supply device includes a tape feeder that supplies a carrier tape, which is a tape member in which components 15 are enclosed, to the component 15 supply position, or a tray feeder that supplies a pallet holding the components 15 to the component 15 supply position.
- Examples of the component 15 include electronic components such as ICs (Integrated Circuits), transistors, capacitors, and resistors.
- the size of the component 15 is, for example, 400 ⁇ m ⁇ 200 ⁇ m.
- the component mounting device 13 has a stand (not shown).
- a pair of substrate transport conveyors 19 are arranged parallel to each other in the Y direction at the center of the pedestal.
- the substrate transport conveyor 19 transports the substrate 17 unloaded from the device installed upstream of the component mounting device 13 in the Y direction and positions it at a predetermined component mounting position.
- Each of the pair of substrate transport conveyors 19 includes a holding mechanism (not shown) that holds the substrate 17 being transported while it is stopped at the mounting position.
- each of the pair of substrate transport conveyors 19 is configured so that the distance in the X direction can be adjusted according to the dimensions of the substrate 17 .
- component supply units are arranged on both sides of the substrate transport conveyor 19, component supply units are arranged.
- a carriage (not shown) is set in the component supply unit so that each of the plurality of tape feeders can be collectively mounted on the component mounting device.
- a pair of parallel X-axis movement rails 21 are arranged along the X direction on the upper surface of the mount.
- a Y-axis moving beam 23 is mounted between the pair of X-axis moving rails 21 so as to be able to move in parallel in the X direction.
- a mounting head 25 as an example of a moving body is mounted on the Y-axis moving beam 23 so as to be movable in the Y direction.
- the X-axis moving rail 21 and the Y-axis moving beam 23 constitute a head moving mechanism 27 that moves the mounting head 25 .
- the mounting head 25 moves in the X direction and the Y direction by driving the head moving mechanism 27 .
- the mounting head 25 sucks and picks up the component 15 supplied from the tape feeder of the component supply unit by the nozzle 29 provided at the lower end of the mounting head 25 , and picks up the component 15 on the substrate 17 positioned on the substrate transport conveyor 19 . is mounted at a predetermined component mounting position.
- FIG. 2 is an enlarged view of the main part of the mounting head 25 shown in FIG.
- the mounting head 25 has an imaging device 11 that moves integrally on the lower surface side of the Y-axis moving beam 23 .
- the imaging device 11 is a so-called stereo camera, and includes two cameras.
- the imaging device 11 is moved above the substrate 17 by the mounting head 25 and images the upper surface of the component 15 and the substrate 17 sucked to the tip of the nozzle 29 .
- the camera in the imaging device 11 includes an optical system 65 (see FIG. 6) and an image sensor 63 (see FIG. 6).
- the image sensor 63 is a solid-state imaging device such as a CCD (Charged-Coupled Device) or a CMOS (Complementary Metal-Oxide-Semiconductor), converts an optical image formed on the imaging surface into an electrical signal, and converts the flexible substrate 39 into an electrical signal.
- the converted electric signal is output to the main board 49 via the main board 49 .
- the main board 49 generates a captured image based on the output electrical signal.
- the imaging device 11 images the component mounting position of the component 15 and the tip of the nozzle 29 with each of the two cameras.
- the component mounting apparatus 13 performs 3D measurement of the component mounting position of the component 15 based on the component mounting position of the component 15 imaged by the imaging device 11 and the tip of the nozzle 29 .
- the component mounting apparatus 13 calculates the movement amount (for example, distance, angle, etc.) of the mounting head 25 to the component mounting position of the component 15 based on the measurement result.
- the component mounting apparatus 13 drives the head moving mechanism 27 based on the calculated movement amount to move (convey) the component 15 sucked and held by the mounting head 25 to the component mounting position and mount it.
- FIG. 3 is a perspective view of the mounting head 25 shown in FIG. 2 viewed from a different direction.
- the imaging device 11 includes two lens barrels 31 (a first lens barrel and a second lens barrel), a holder 33, a flange portion 35, a sensor substrate 37, a flexible substrate 39, Consists of
- the mounting head 25 has a head main body portion 43 having one or more nozzle mounting portions 41 each.
- a camera fixing member 47 is fixed via a connecting member 45 (see FIG. 4) to one end side of the head body portion 43 in the direction along the Y-axis.
- a main substrate 49 for imaging is fixed to the side surface of the camera fixing member 47 with a plurality of substrate fixing bolts 51 .
- the camera fixing member 47 fixes the imaging device 11 between the connection member 45 and the main board 49 with one or more camera fixing bolts 53 .
- FIG. 4 is a side view of the mounting head 25 shown in FIG.
- the imaging device 11 is attached to the mounting head 25 by being fixed to the camera fixing member 47, and is arranged in the vicinity of the nozzle mounting portion 41 to which the nozzle 29 is mounted. As a result, the imaging device 11 can simultaneously image a position close to the nozzle mounting portion 41 , that is, the component mounting position of the component 15 on the substrate 17 and the component 15 sucked to the tip of the nozzle 29 . can be placed in any position.
- the imaging device 11 is arranged in the vicinity of the nozzle mounting portion 41 so that the component mounting position of the component 15 and the component 15 sucked to the tip of the nozzle 29 can be captured simultaneously in the respective imaging ranges 55 of the two cameras (that is, , angle of view).
- the imaging device 11 uses the parallax of the two interlocking cameras with the same specifications to capture the subject (specifically, the component mounting position of the component 15 on the substrate 17 and the component 15 sucked at the tip of the nozzle 29). Distances can be measured by 3D metrology (that is, triangulation).
- the parallax here means that the appearance of the subject in the imaging space, such as the position or angle, changes due to the deviation of the respective imaging positions (that is, observation positions) of the two cameras.
- Each of the two cameras is arranged such that the optical axis 57 (see FIG. 5) is parallel and separated by a predetermined distance.
- the image sensors (imaging surfaces) of the two cameras are arranged on the same plane.
- the shift (difference) in the coordinates of the subject appearing in each of the two captured images captured by the two cameras becomes parallax.
- specific mathematical formulas and the like for 3D measurement (triangulation) for calculating the distance to the subject based on parallax are well known, and therefore description thereof is omitted here.
- the component mounting apparatus 13 determines the component mounting position of the component 15 and the nozzle position based on the distance from the image sensor (imaging surface) to the object obtained using the parallax of each of the two cameras (stereo cameras). Measurement accuracy can be improved by 3D measurement of the position of the component 15 at the tip of 29 .
- FIG. 5 is a perspective view of the imaging device 11 shown in FIG.
- the imaging device 11 has a holder 33 .
- the holder 33 covers and fixes each of the plurality of lens barrels 31 .
- the imaging device 11 in Embodiment 1 is a stereo camera provided with each of a pair of lens barrels 31 as an example.
- the entire length of each of the pair of lens barrels 31 is covered with the holder 33 in the direction along the optical axis 57 of each optical system 65 .
- the entire length of each of the pair of lens barrels 31 is covered and fixed by the holder 33, thereby restricting changes in the relative positions of the two cameras.
- the holder 33 has a distal end portion 59 on the subject side in the direction along the optical axis 57 and a proximal end portion 61 on the opposite side.
- the lens barrel 31 receives light incident from the subject through the tip 59 of the holder 33 .
- the light incident on each lens barrel 31 passes through the optical system 65 and forms an image on the image sensor 63 (see FIG. 6) of the sensor substrate 37 attached to the holder 33 on the side opposite to the tip portion 59 .
- one image sensor 63 (first image sensor) of the two image sensors 63 forms an image of light transmitted through one optical system 65
- the other image sensor 63 (second image sensor) forms an image. forms an image of the light transmitted through the other optical system 65 .
- FIG. 6 is a cross-sectional view along line AA in FIG.
- the lens barrel 31 accommodates the optical system 65 .
- the optical axes 57 of the respective optical systems 65 accommodated in the pair of lens barrels 31 are parallel so that the light incident from the subject is directed in the same direction.
- the optical system 65 is composed of an objective-side lens unit LU1, an eyepiece-side lens unit LU2, an aperture 67, and the like.
- the objective-side lens unit has a first lens L1, a second lens L2, a third lens L3 and a fourth lens L4 from the object side.
- the eyepiece side lens unit has a fifth lens L5, a sixth lens L6 and a seventh lens L7 from the object side.
- the objective-side lens unit LU1 is accommodated in the inner cylinder 69, and is restricted from being detached in the -Z direction by the tip ring 71.
- the eyepiece-side lens unit LU2 is accommodated in the outer cylinder 73, and after the stop 67 is inserted from the object side, the inner cylinder 69 is coaxially screwed to be coaxially arranged with the objective-side lens unit LU1. become.
- the lens barrel 31 is composed of a tip ring 71 , an inner cylinder 69 and an outer cylinder 73 .
- the lens barrel 31 is fixed to the holder 33 by screwing a male threaded portion 75 formed on the outer circumference of the outer tube 73 on the opposite side of the tip ring 71 to a female threaded portion 77 of the holder 33 .
- Each of the pair of lens barrels 31 is integrally fixed to a holder 33 to hold the relative positions of the two cameras. Thereby, the 3D measurement accuracy of the component mounting position of the component 15 based on each of the two captured images captured by the imaging device 11 can be improved.
- the holder 33 is formed by molding and cutting an aluminum alloy, for example, so that the outer periphery of the base end portion 61 is thicker than the outer periphery of the tip end portion 59 .
- the holder 33 in Embodiment 1 is formed in a substantially truncated pyramid shape so that the first lens L1 arranged at the distal end portion 59 which is thinner than the proximal end portion 61 can take in the light incident from the subject ( See Figure 5).
- FIG. 7 is an exploded perspective view of the imaging device 11 shown in FIG.
- the holder 33 has an elliptical shape with four chamfered corners of a substantially rectangular surface on the side of the base end 61 that contacts the image sensor 63 . Further, the surface of the holder 33 on the side of the distal end portion 59 has a smaller area than the surface on the side of the base end portion 61, and has, for example, a similar oval shape.
- a pair of lens barrel insertion holes 79 into which the pair of lens barrels 31 can be inserted are arranged side by side in the direction along the X axis on the surface of the holder 33 on the side of the distal end portion 59 .
- a substantially triangular reinforcing rib 81 is formed along the Z-axis on the outer circumference of the holder 33 so as to gradually protrude from the distal end portion 59 side of the holder 33 toward the proximal end portion 61 side.
- the imaging device 11 according to Embodiment 1 as an example, an example in which a total of three reinforcing ribs 81 are provided on both sides of the holder 33 in the direction along the X axis and one side in the direction along the Y axis is shown. Needless to say, the shape, position and number of ribs 81 are not limited to this.
- the holder 33 has a flange portion 35.
- the flange portion 35 extends from the outer periphery of the base end portion 61 on the side opposite to the tip portion 59 of the holder 33 where the light from the object is incident to both sides of the base end portion 61 along the X axis and one side ( ⁇ A moving body fixing portion 83 projecting to the Y direction side) is formed.
- the flange portion 35 can move integrally with the mounting head 25 by fixing the moving body fixing portion 83 projecting in the -Y direction to the camera fixing member 47 .
- a plurality of (for example, two) fixing holes 85 are formed through the movable body fixing portion 83 in the thickness direction.
- a pair of semi-cylindrical positioning recesses 87 are formed on the end face of the movable body fixing portion 83 on the -Y direction side. Each of the pair of positioning recesses 87 is positioned with respect to the camera fixing member 47 by engaging with a positioning pin 89 hanging from the camera fixing member 47 shown in FIG.
- the imaging device 11 engages the pair of positioning recesses 87 of the flange portion 35 with the pair of positioning pins 89, respectively, and the camera fixing bolts 53 inserted through the pair of fixing holes 85, respectively. is screwed into the camera fixing member 47 so as to be positioned and fixed to the mounting head 25 at a predetermined relative position.
- the image pickup device 11 is formed so that the stress of the image pickup device 11 generated by vibration (external force) when the mounting head 25 is driven (moved) is projected from the holder 33 . It is absorbed by the flange portion 35 .
- the imaging device 11 according to Embodiment 1 can absorb stress on the base end portion 61 side where the flange portion 35 is formed. It is possible to make it difficult for the lens barrel 31 to deform. Therefore, the imaging device 11 further suppresses changes in the relative positions of the two cameras due to the driving (movement) of the mounting head 25 , thereby improving the measurement accuracy of the component mounting position of the component 15 . It can be mounted in a more precise position.
- the reinforcing rib 81 described above is connected to the flange portion 35 formed to protrude from the holder 33 .
- a flat, substantially rectangular parallelepiped sensor fixing portion 91 is formed on the surface of the flange portion 35 located on the opposite side of the surface on the side of the tip portion 59 (tip surface).
- the sensor fixing portion 91 may be formed as part of the holder 33 or may be formed as part of the flange portion 35 and is formed integrally with the flange portion 35 . That is, in the imaging device 11 according to Embodiment 1, the holder 33, the reinforcing rib 81, the flange portion 35, and the sensor fixing portion 91 are integrally formed by molding and cutting from the same material. It does not have to be.
- the flange portion 35 is formed with a pair of board fixing portions 93 projecting on both sides of the holder 33 along the X axis and -X axis.
- One or more fixing holes 85 are respectively formed in the board fixing portion 93 .
- a sensor fixing portion 91 formed in the holder 33 is attached to each of the sensor substrates 37 on which one image sensor 63 is mounted so that each image sensor 63 can receive light passing through each optical system 65 .
- the sensor substrate 37 is attached to the flange portion while the image sensor 63 is attached in contact with each of the plurality of projections 105 (see FIG. 9) provided on the sensor contact surface 95 (see FIG. 6) of the sensor fixing portion 91.
- a board fixing bolt inserted through a fixing hole 85 of a board fixing part 93 protruding from 35 passes through a bolt through hole 97 and is held by the sensor fixing part 91 . That is, the base end portion 61 of the holder 33 has a plurality of protrusions 105 , and the image sensor 63 is fixed to the base end portion 61 in contact with the plurality of protrusions 105 . As a result, the image sensor 63 is located on the opposite side of the tip portion 59 with the flange portion 35 interposed therebetween, is positioned according to each lens barrel 31, and is arranged so that the light from the optical system 65 forms an image.
- FIG. 8 is a front view of the imaging device 11 shown in FIG.
- the imaging device 11 can position and attach the image sensor 63 to each optical system 65 by contacting each of the plurality of projections 105 (see FIG. 9) formed on the sensor contact surface 95 and the image sensor 63. . Further, in the imaging device 11 , a gap 99 is formed between the sensor substrate 37 and the sensor fixing portion 91 of the holder 33 while the image sensor 63 is positioned by each of the plurality of projections 105 .
- the imaging device 11 since the imaging device 11 includes two sensor substrates 37 separately formed for each camera, even if the sensor substrate 37 has substrate warpage, the image sensor 63 can be detected by each of the plurality of protrusions 105 . , and the inclination of the light receiving surface of the image sensor 63 due to substrate warpage can be further suppressed. Also, as shown in FIG. 6, the two sensor substrates 37 (first sensor substrate, second sensor substrate) are arranged with a gap therebetween and are not directly connected. As a result, it is possible to make it difficult to transmit the influence of substrate warpage from one sensor substrate 37 to the other sensor substrate 37 .
- the imaging device 11 can absorb board warp and inclination of the sensor board 37 by the gap 99 formed between the sensor board 37 and the sensor fixing portion 91 of the holder 33 . Therefore, since the imaging device 11 can further suppress the positional deviation of the respective image sensors 63 of the two cameras, the component mounting position of the component 15 and the tip of the nozzle 29 based on the two captured images captured by these cameras. The position measurement accuracy of the position of the component 15 can be improved.
- FIG. 9 is a perspective view of the holder 33 shown in FIG. 7 viewed from the sensor fixing portion 91 side.
- the sensor fixing portion 91 is provided with a pair of light guiding portions 101 arranged side by side in the direction along the X-axis for passing the incident light incident from the subject to each lens barrel 31 .
- the light guide part 101 is formed in, for example, a substantially rectangular shape. In addition, the shape of the light guide part 101 is an example, and is not limited to this.
- a rectangular frame portion 103 with which the side surface of the image sensor 63 abuts is formed on the outer periphery of the light guide portion 101 .
- Each of the plurality of protrusions 105 is provided on the sensor contact surface 95 of the rectangular frame portion 103 .
- a total of four protrusions 105 are provided at four corners of one square frame portion 103 at approximately equal intervals.
- the non-effective surface 109 (see FIG. 10) of the image sensor 63 which is parallel to the light receiving surface 107 (see FIG. 10) and located outside the angle of view of the camera, abuts on each of the plurality of protrusions 105. Thereby, the relative position with the optical system 65 is determined.
- a board connector 111 is mounted on each sensor board 37 .
- One end of the flexible substrate 39 is connected to the substrate connector 111, as shown in FIG.
- the other end of the flexible board 39 is connected to the board connector 111 of the main board 49 fixed to the camera fixing member 47 of the mounting head 25 .
- the main board 49 is a control section configured using a CPU (Central Processing Unit) or an FPGA (Field Programmable Gate Array).
- the main board 49 generates two captured images based on the electrical signals output from the two image sensors 63, respectively.
- the main board 49 performs image processing for 3D measurement of the component mounting position of the component 15 and the position of the component 15 at the tip of the nozzle 29 based on the subject appearing in each of the two generated captured images.
- the component mounting apparatus 13 calculates the drive (movement) amount (distance, angle, etc.) of the mounting head 25 based on the measurement results obtained by measuring the component mounting position of the component 15 and the position of the component 15 at the tip of the nozzle 29. Then, the component 15 is mounted at a predetermined component mounting position.
- the sensor board 37 is connected to the main board 49 via the flexible board 39 so that data can be transmitted and received. That is, the sensor board 37 is not fixedly connected to the main board 49 provided on the mounting head 25 . As a result, the imaging device 11 can reduce vibration during driving of the mounting head 25 that is transmitted to the sensor substrate 37 and the image sensor 63 mounted on the sensor substrate 37 .
- connection member that connects the sensor substrate 37 and the main substrate 49 is not limited to the flexible substrate 39.
- it has flexibility and is transmitted to the sensor substrate 37 and the image sensor 63 mounted on the sensor substrate 37.
- the mounting head 25 is made of a material capable of reducing vibration when the mounting head 25 is driven.
- FIG. 10 is an enlarged view of the essential part of FIG.
- the imaging device 11 positions the image sensor 63 by each of the plurality of protrusions 105 so that the light receiving surface 107 of the image sensor 63 is at a predetermined angle (generally, approximately vertically). Further, even if the sensor substrate 37 is warped, the imaging device 11 can absorb the inclination of the substrate 17 by the gap 99 . As a result, the imaging device 11 has a simple structure even if the sensor substrate 37 is warped or the like, compared to a structure in which the sensor contact surface 95 and the light receiving surface 107 of the image sensor 63 are brought into surface contact for positioning. The positioning accuracy of the image sensor 63 with respect to the optical system 65 of each camera can be improved.
- each of the two image sensors 63 corresponding to the optical systems 65 provided in each camera and the two sensor substrates 37 has been described.
- the number of may not be limited to two. Imaging devices 11 having different numbers of image sensors 63 and sensor substrates 37 will be described below.
- the imaging device 11 may be configured to include one image sensor 63 and one sensor substrate 37 for the optical system 65 included in each camera.
- one image sensor 63 is mounted on one sensor substrate 37 and receives light transmitted through each optical system 65 .
- the holder 33 of such an imaging device 11 may have one sensor contact surface 95 and may be configured to position the image sensor 63 with at least four protrusions 105 formed on this sensor contact surface 95. .
- the imaging device 11 may be configured to include two image sensors 63 and one sensor substrate 37 for the optical system 65 included in each camera.
- two image sensors 63 are mounted on one sensor substrate 37 and receive light that has passed through each optical system 65 .
- the imaging device 11 according to Embodiment 1 is attached to the mounting head 25 (an example of a moving body), accommodates the optical system 65, and is incident from a subject (for example, a workpiece such as a component 15 or a substrate 17).
- a subject for example, a workpiece such as a component 15 or a substrate 17.
- the holder 33 that covers and fixes each of the plurality of lens barrels 31, and the base end portion 61 on the opposite side of the tip portion 59 of the holder 33 where the light is incident.
- a flange portion 35 that protrudes and is fixed to the mounting head 25 and an image sensor 63 that forms an image of light transmitted through an optical system 65 are mounted.
- a sensor substrate 37 positioned according to the position of each of the plurality of lens barrels 31 and fixed to the holder 33 .
- each of the plurality (for example, a pair) of lens barrels 31 is covered with the holder 33 and fixed integrally with the holder 33 .
- the holder 33 is made, for example, by molding and cutting an aluminum alloy or the like.
- the holder 33 has a brim-shaped flange portion 35 projecting from the outer circumference of the base end portion 61 . Only the flange portion 35 of the holder 33 is fixed to the moving body (for example, the mounting head 25). By connecting only the flange portion 35 to the moving body, the imaging device 11 can absorb the stress caused by the high-speed operation of the moving body with the flange portion 35 . In this way, the imaging apparatus 11 has the function of suppressing fluctuations in the distance between the plurality of lens barrels 31 by fixing each of the plurality of lens barrels 31 to the holder 33, and the action of fixing only the flange portion 35 to the moving body to reduce stress.
- the moving body is not limited to the mounting head 25, and may be, for example, a robot arm or the like.
- each of the plurality of lens barrels 31 in the imaging device 11 according to Embodiment 1 is covered with the holder 33 over the entire length along the optical axis 57 of the optical system 65 . Accordingly, in the imaging device 11 according to Embodiment 1, the entire length of each lens barrel 31 is covered with the holder 33 and fixed.
- the lens barrel 31 can be formed as a cylinder in which the optical axis 57 of the optical system 65 coincides with the axis. Therefore, both ends of the lens barrel 31 in the direction along the axis are accommodated and fixed in the holders 33, thereby suppressing deformation in the direction in which the axis bends due to high-speed operation. That is, the imaging device 11 can suppress the bending of the optical axis 57 in the optical system 65 and suppress the relative positional deviation of the images formed by the respective optical systems 65 . Thereby, the imaging device 11 can improve the 3D measurement accuracy.
- the base end portion 61 of the holder 33 in the imaging device 11 according to Embodiment 1 is thicker than the tip end portion 59 .
- the holder 33 in Embodiment 1 is formed so that the cross-sectional area perpendicular to the axis of the lens barrel 31 (which can also be called the optical axis 57) is small at the tip 59 along the axis and large at the base 61. be done.
- the proximal end portion 61 formed with the flange portion 35 in the holder 33 is formed thick, and the distal end portion 59 accommodating the optical system 65 is formed thin.
- the rigidity of the base end portion 61 can be made higher than the rigidity of 59 . Therefore, the center of gravity of the holder 33, which is made of a homogeneous material, is positioned closer to the proximal end portion 61 where the flange portion 35 is formed than the distal end portion 59 that accommodates and fixes each optical system 65 inside.
- the stress generated when the mounting head 25 is moved on the base end portion 61 side (that is, on the flange side) can be absorbed by being concentrated on the base end portion 61 side where the flange portion 35 is formed.
- the imaging device 11 can suppress positional changes of the two optical systems 65 housed in the distal end portion 59 and efficiently suppress positional deviations of the two cameras.
- the stress generated by the high-speed operation changes depending on the inertial force acting on the imaging device 11, the position of the fulcrum supporting the imaging device 11, the rigidity of the imaging device 11, and the position of the center of gravity of the imaging device 11.
- the inertia force can be considered to act on the center of gravity of the holder 33 .
- the holder 33 has a flange portion 35 formed at a base end portion 61 where the center of gravity is located, and the flange portion 35 is fixed to the moving body. That is, the flange portion 35 has a fulcrum.
- the holder 33 Since the holder 33 is made of a homogeneous material, the rigidity of the proximal end portion 61 with a large cross-sectional area is higher than that of the distal end portion 59 with a small cross-sectional area.
- the holder 33 is configured such that the center of gravity and the fulcrum are close to each other at the base end portion 61 with high rigidity, so that the stress caused by inertia is supported by the base end portion 61 with high rigidity, thereby absorbing the stress. be able to.
- the holder 33 has a structure in which the center of gravity is positioned at the distal end portion 59 covering the lens barrel 31 and the flange portion 35 of the base end portion 61 away from the center of gravity is supported by the movable body. Compared to the structure in which the portion 35 is formed at the distal end portion 59 covering the lens barrel 31 and the center of gravity is positioned at the base end portion 61 away from the flange portion 35, the change in relative position between the pair of lens barrels 31 can be effectively controlled. can be suppressed to
- the stress generated by the high-speed operation of the mounting head 25 concentrates on the connecting portion between the flange portion 35 and the base end portion 61, and the deformation of the holder 33 is less likely to occur. Changes in position are less likely to occur.
- the holder 33 in the imaging device 11 according to Embodiment 1 has a plurality of protrusions 105 on the sensor contact surface 95 (an example of the contact surface) with which the image sensor 63 contacts.
- the image sensor 63 according to the first embodiment comes into contact with each of the plurality of projections 105, so that the light receiving surface 107 is at a predetermined angle (generally perpendicular) to the optical axis 57 of the optical system 65.
- a predetermined angle generally perpendicular
- the sensor substrate 37 in the imaging device 11 according to Embodiment 1 is fixed to the flange portion 35 with the gap 99 therebetween.
- the sensor substrate 37 is fixed to the base end portion 61 with the gap 99 interposed therebetween.
- the imaging device 11 according to the first embodiment can improve the relative positional accuracy between the optical system 65 and the image sensor 63 without being affected by the distortion of the sensor substrate 37 (substrate warpage, unevenness, etc.).
- the sensor substrate 37 in the imaging device 11 according to Embodiment 1 has one image sensor 63 mounted thereon and is fixed according to the respective positions of the plurality of lens barrels 31 . Accordingly, in the imaging device 11 according to Embodiment 1, since each of the plurality of image sensors 63 is not mounted on one sensor substrate 37, even if the sensor substrate 37 is distorted (substrate warpage, unevenness, etc.), a plurality of image sensors 63 The image sensor 63 can be positioned and fixed corresponding to each position of the optical system 65 accommodated in each of the lens barrels 31 . Therefore, the imaging device 11 can efficiently suppress the positional deviation of the image sensor 63 , and can improve the relative position accuracy between each optical system 65 and the image sensor 63 more efficiently.
- the component mounting apparatus 13 includes the board transport conveyor 19 for positioning the board 17, the mounting head 25 for mounting the sucked component 15 on the board 17, and the head moving mechanism for moving the mounting head 25.
- 27, which includes a plurality of lens barrels 31 that house an optical system 65 so that light incident from a subject is directed in the same direction; a holder 33 that covers and fixes the plurality of lens barrels 31; A flange portion 35 that protrudes from the outer periphery of the base end portion 61 of the holder 33 opposite to the light incident tip portion 59 and is fixed to the mounting head 25 , and a flange portion 35 on the opposite side of the tip portion 59 with the flange portion 35 interposed therebetween.
- a sensor substrate 37 fixed to the flange portion 35 and having an image sensor 63 that is positioned according to the lens barrel 31 and that forms an image of light from the optical system 65; and a flexible substrate 39 connected to a main substrate 49 fixed to the .
- the component mounting apparatus 13 includes the mounting head 25 that mounts the component 15 on the substrate 17, the head moving mechanism 27 that moves the mounting head 25, and the component held by the mounting head 25. 15 and an imaging device 11 (an example of an imaging unit) that images the mounting position of the component 15 on the substrate 17 .
- the image capturing apparatus 11 includes a plurality of lens barrels 31 that accommodate an optical system 65 and receive light from a subject (for example, a workpiece such as a component 15 or a substrate 17) in the same direction, and cover each of the plurality of lens barrels 31.
- a holder 33 that is fixed by means of an optical system 65;
- a sensor mounted with an image sensor 63 for forming an image, and fixed to the holder 33 by being positioned according to the position of each of the plurality of lens barrels 31 at the base end portion 61 on the opposite side of the flange portion 35 from the tip portion 59 .
- It has a substrate 37 and a flexible substrate 39 having one end connected to the sensor substrate 37 and the other end connected to the mounting head 25 .
- each of the plurality (for example, a pair) of lens barrels 31 is covered with the holder 33 and fixed integrally with the holder 33 .
- the holder 33 is made, for example, by molding and cutting an aluminum alloy or the like.
- the holder 33 has a brim-shaped flange portion 35 projecting from the outer circumference of the base end portion 61 . Only the flange portion 35 of the holder 33 is fixed to the mounting head 25 . By connecting only the flange portion 35 to the mounting head 25 , the imaging device 11 can absorb the stress generated by the high-speed operation of the mounting head 25 with the flange portion 35 . In this way, the imaging apparatus 11 has the function of suppressing fluctuations in the distance between the plurality of lens barrels 31 by fixing each of the plurality of lens barrels 31 to the holder 33, and the effect of fixing only the flange portion 35 to the mounting head 25. The stress is absorbed by the flange portion 35 and the action of suppressing the displacement of the imaging device 11 with respect to the mounting head 25 is performed. Therefore, the imaging device 11 can improve the measurement accuracy by providing a configuration that achieves these functions.
- the moving body is the mounting head of the component mounting apparatus
- the moving body may also be a robot arm or the like.
- the imaging device is attached to the tip of the arm (for example, hand) of the robot. By detecting the distance to the subject (workpiece) based on the principle of triangulation using an imaging device, the robot can control the hand portion to hold the work piece.
- the present disclosure is useful as presentation of an imaging device and a mounter that can further improve the position measurement accuracy of an object.
- Imaging Device 13 Component Mounting Device 15
- Component 17 Board 19 Board Conveyor 25
- Mounting Head 27
- Head Moving Mechanism 31
- Lens Tube 33
- Holder 35
- Sensor Board 39
- Flexible Board 49
- Main Board 57
- Optical Axis 59
- Tip 61
- Base 63
- Image sensor 65
- Sensor fixing part 95
- Sensor contact surface 99 Gap 105 Protrusion
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- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
部品実装装置は、基板上へ実装される部品の実装位置の精度を向上させるために、撮像部により部品の実装位置とノズル先端とを撮像して、撮像された複数の撮像画像のそれぞれに基づいて、部品の実装位置を3D(Dimensions)計測する。特許文献1における部品実装装置(部品実装装置)は、撮像部が複数のカメラ(例えば、ステレオカメラ)のそれぞれを備えて構成され、複数のカメラのそれぞれによって異なる複数の撮像方向から部品の実装位置を撮像する。部品実装装置は、異なる複数の撮像方向から撮像された複数の撮像画像のそれぞれに基づいて、部品の鉛直方向の高さ位置を取得し、この部品の鉛直方向の高さ位置に基づいて、部品の水平方向の位置を補正することにより、部品の実装位置における水平方向の位置および鉛直方向の高さ位置を取得する。しかし、複数のカメラのそれぞれは、高速で駆動する実装ヘッドに設置された状態で撮像を行うため、実装ヘッドの駆動時の振動により複数のカメラのそれぞれの距離が変動する可能性があった。これにより、部品実装装置は、部品の実装位置における水平方向の位置および鉛直方向の高さ位置(つまり、3D計測)の計測精度が低下し、部品が実装された実装基板で不良が発生する可能性があった。
図1は、実施の形態1に係る撮像装置11を備えた部品実装装置13の要部斜視図である。なお、各図においてXYZの方向は矢印の向きにしたがう。また、X軸は左右方向、Y軸は前後方向、Z軸は上下方向を示す。
13 部品実装装置
15 部品
17 基板
19 基板搬送コンベア
25 実装ヘッド
27 ヘッド移動機構
31 鏡筒
33 ホルダ
35 フランジ部
37 センサ基板
39 フレキシブル基板
49 メイン基板
57 光軸
59 先端部
61 基端部
63 イメージセンサ
65 光学系
91 センサ固定部
95 センサ接触面
99 隙間
105 突起
Claims (12)
- 移動体に取り付けられ、被写体を撮像する撮像装置であって、
第1の光学系を収容する第1の鏡筒と、
第2の光学系を収容し、前記第1の光学系の光軸が前記第2の光学系の光軸と平行になるように配置された第2の鏡筒と、
前記第1の鏡筒および前記第2の鏡筒を覆って固定し、前記被写体からの光が入射する先端部と、前記先端部の反対側の基端部とを有するホルダと、
前記基端部の外周から張り出して前記移動体に固定されるフランジ部と、
前記第1の光学系および前記第2の光学系を透過した前記光を結像するイメージセンサと、
前記イメージセンサが搭載されたセンサ基板と、を備え、
前記イメージセンサは、前記ホルダの前記基端部に固定されている、
撮像装置。 - 前記第1の光学系の光軸に沿う方向の前記第1の鏡筒の全長および前記第2の光学系の光軸に沿う前記第2の鏡筒の全長が前記ホルダに覆われる、
請求項1に記載の撮像装置。 - 前記先端部より前記基端部が太い、
請求項1または2に記載の撮像装置。 - 前記ホルダの前記基端部は、複数の突起を有しており、
前記イメージセンサは、前記複数の突起に接触して前記基端部に固定されている、
請求項1に記載の撮像装置。 - 前記センサ基板は、隙間を介して前記基端部に固定される、
請求項4に記載の撮像装置。 - 前記イメージセンサは、1つのイメージセンサからなる、
請求項1に記載の撮像装置。 - 前記イメージセンサは、前記第1の光学系を透過した光を結像する第1のイメージセンサと、前記第2の光学系を透過した光を結像する第2のイメージセンサを含む、
請求項1に記載の撮像装置。 - 前記ホルダの前記基端部は、複数の第1の突起と、複数の第2の突起とを有しており、
前記第1のイメージセンサは、前記複数の第1の突起に接触して前記基端部に固定されており、
前記第2のイメージセンサは、前記複数の第2の突起に接触して前記基端部に固定されている、
請求項7に記載の撮像装置。 - 前記センサ基板は、前記第1のイメージセンサが搭載された第1のセンサ基板と、前記第2のイメージセンサが搭載された第2のセンサ基板とを有し、
前記第1のセンサ基板と前記第2のセンサ基板は、隙間を介して配置されている、
請求項8に記載の撮像装置。 - 前記第1の光学系は、複数のレンズを含み、
前記第2の光学系は、複数のレンズを含む、
請求項1に記載の撮像装置。 - 前記フランジ部は、前記フランジ部を前記移動体に固定するための複数の固定用穴を有する、
請求項1に記載の撮像装置。 - 請求項1から11のいずれかに記載の撮像装置と、
前記移動体であり、基板に部品を実装する実装ヘッドと、
前記実装ヘッドを移動させるヘッド移動機構と、
前記センサ基板に接続された一端と、前記実装ヘッドに接続された他端とを有するフレキシブル基板と、を備え、
前記撮像装置は、前記実装ヘッドにより保持された前記部品と前記基板上の前記部品の実装位置とを撮像する、
実装機。
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JP2023503712A JP7496490B2 (ja) | 2021-03-03 | 2022-02-18 | 撮像装置および実装機 |
CN202280017967.3A CN116918473A (zh) | 2021-03-03 | 2022-02-18 | 拍摄装置以及安装机 |
EP22763013.4A EP4304312A1 (en) | 2021-03-03 | 2022-02-18 | Imaging device and mounting apparatus |
US18/238,775 US20230403836A1 (en) | 2021-03-03 | 2023-08-28 | Imaging device and mounting apparatus |
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US18/238,775 Continuation US20230403836A1 (en) | 2021-03-03 | 2023-08-28 | Imaging device and mounting apparatus |
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Citations (5)
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JP2003307687A (ja) * | 2002-02-12 | 2003-10-31 | Pentax Corp | 撮影機能付双眼鏡の組付構造 |
JP2014207271A (ja) * | 2013-04-11 | 2014-10-30 | パナソニック株式会社 | 観察装置及び部品実装機 |
WO2018146732A1 (ja) | 2017-02-07 | 2018-08-16 | ヤマハ発動機株式会社 | 部品実装装置 |
WO2020144901A1 (ja) * | 2019-01-09 | 2020-07-16 | パナソニックi-PROセンシングソリューションズ株式会社 | 内視鏡 |
WO2020189108A1 (ja) * | 2019-03-15 | 2020-09-24 | パナソニックIpマネジメント株式会社 | 部品搭載装置および部品搭載方法、実装基板製造システムおよび実装基板製造方法、ならびに搭載済部品検査装置 |
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- 2022-02-18 EP EP22763013.4A patent/EP4304312A1/en active Pending
- 2022-02-18 CN CN202280017967.3A patent/CN116918473A/zh active Pending
- 2022-02-18 WO PCT/JP2022/006725 patent/WO2022185957A1/ja active Application Filing
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Patent Citations (5)
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JP2003307687A (ja) * | 2002-02-12 | 2003-10-31 | Pentax Corp | 撮影機能付双眼鏡の組付構造 |
JP2014207271A (ja) * | 2013-04-11 | 2014-10-30 | パナソニック株式会社 | 観察装置及び部品実装機 |
WO2018146732A1 (ja) | 2017-02-07 | 2018-08-16 | ヤマハ発動機株式会社 | 部品実装装置 |
WO2020144901A1 (ja) * | 2019-01-09 | 2020-07-16 | パナソニックi-PROセンシングソリューションズ株式会社 | 内視鏡 |
WO2020189108A1 (ja) * | 2019-03-15 | 2020-09-24 | パナソニックIpマネジメント株式会社 | 部品搭載装置および部品搭載方法、実装基板製造システムおよび実装基板製造方法、ならびに搭載済部品検査装置 |
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US20230403836A1 (en) | 2023-12-14 |
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