JP2698595B2 - Component positioning device and component assembly device - Google Patents

Description

The present invention relates to a component positioning device and a component assembling device for positioning two components with high accuracy.

(Prior Art) For example, in an automatic parts assembling apparatus (parts assembling apparatus) for assembling one part with the other part, the relative positioning of these two parts is an important operation that affects the assembly accuracy.

2. Description of the Related Art As a positioning device for positioning two components, a device disclosed in Japanese Patent Application Laid-Open No. 61-198739 has been proposed. According to this prior art, an optical path having an optical axis parallel to a moving stage surface on which a component is mounted, and an image of an opposing component arranged on the optical axis by rotating the position by 180 degrees on the same optical axis. An optical device having an optical component that selectively guides the optical path to the optical path, an electronic device that stores an image of one connection component guided to the optical path, and an electronic device that stores the image of the other connection component guided to the optical path. A display device for displaying an actual image, reading an image of one of the components stored in the electronic device, and superimposing the stored image on the actual image for display.

By the way, according to such a structure, in order to selectively guide the image of the opposing component to the optical path, the lens barrel holding the optical component must be rotated by 180 degrees on the optical axis of the optical path. However, it is very difficult to precisely control the positioning of the lens barrel at a rotation angle of 180 degrees. Even if the rotation angle of the lens barrel is slightly deviated, an error occurs in the facing state between the optical component held by the lens barrel and the connection part, and the image of the connection part stored in the electronic device or displayed on the display device is displayed. There is a problem that distortion occurs in the actual image to be obtained, and the positioning accuracy of these components is reduced.

(Problems to be Solved by the Invention) As described above, in the conventional component positioning apparatus, the image of the two components is guided to the electronic device by rotating the optical component by 180 degrees by the lens barrel. for that reason,
In some cases, the positioning of the optical component in the rotational direction cannot be performed with high accuracy, which may reduce the positioning accuracy of the two components.

The present invention has been made based on the above circumstances, and its purpose is to improve the positioning accuracy of optical components.
An object of the present invention is to provide a component positioning device in which the positioning accuracy of one component is not affected.

[Structure of the Invention] (Means and Actions for Solving the Problems) In order to solve the above problems, the present invention is directed to the first aspect.
A first reflecting means disposed between the first component and the second component, wherein the first reflecting surface is opposed to one of the first component or the second component at a predetermined inclination angle; An optical device in which a second reflecting means in which a second reflecting surface is opposed to the other component at a predetermined inclination angle is arranged side by side in a direction intersecting a direction in which the first and second components face each other; The first reflection means and the second reflection means of the optical device are driven in a direction in which the first reflection means and the second reflection means are arranged side by side, and the respective reflection surfaces are respectively moved to the first component and the second component.
Driving means for positioning at a position facing the first component, imaging means for capturing images from the first reflection means and second reflection means, and a pair of components which receive image signals from the imaging means and face each other. A component positioning device, further comprising: a component positioning device as described above; a first component holding mechanism for holding the first component; and a second component. A second component holding mechanism for holding the first component and the second component holding mechanism based on a signal from the image processing means to drive the first component holding mechanism and the second component holding mechanism. And a component assembling apparatus characterized by assembling the component with the component (1), wherein the positioning of the two components can be performed with high accuracy.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The component positioning device shown in FIG. This main body 1 is provided on a first XY table 2,
This makes it possible to move on a plane in the XY direction.

On the upper surface of the main body 1, an image pickup device 3 as an image pickup means is arranged with its optical axis horizontal. A light source 4 is disposed in front of the imaging device 3, and illumination light output from the light source 4 is reflected by a half mirror 5 and guided to an optical device 6 disposed in front of the imaging device 3. The optical device 6 is provided on a tongue-shaped extending portion 7 extending from one side of the main body 1 in the forward direction of the imaging device 3.

The optical device 6 has a rectangular base plate 8 fixed to the extension 7. As shown in FIGS. 1 and 2, a guide rail 9 is horizontally protruded from one side of the base plate 8 facing the image pickup device 3 over its entire length in the width direction. The guide rail 9 has a slider
Reference numeral 11 is provided such that a guide groove 12 formed on one side thereof is slidably engaged. Therefore, the slider 11 is movable in a horizontal direction orthogonal to the traveling direction of the light reflected by the half mirror 5, and is driven by a driving device (not shown) such as an air cylinder.

On the other side of the slider 11, a first reflecting mirror 13 and a second reflecting mirror 14 as reflecting means are provided in parallel along the sliding direction of the slider 11. That is, the first and second reflecting mirrors 13 and 14 each have a first angle of 45 degrees.
The side surface shape having the reflection surface 13a and the second reflection surface 14a is a right triangle. The first reflecting mirror 13 has one end face fixed to the slider 11 so that the reflecting mirror 13a faces obliquely upward, and the second reflecting mirror 14 has one end face such that the reflecting surface 14a faces obliquely downward. It is provided fixed to the slider 11. Therefore, the first reflection surface 13a and the second reflection surface 14a are inclined in the opposite direction by 45 degrees with respect to the perpendicular and are orthogonal to each other.

Above the vertical direction where the first reflection surface 13a faces,
A work holder 16 (first component holding mechanism) that holds the first component 15 by, for example, vacuum suction is provided. The work holder 16 can be positioned in a vertical direction and a rotational direction. A work sit 18 (second component holding mechanism) on which a second component 17 is placed is vertically moved by a second XY table 19 in the XY direction below the vertical direction in which the second reflection surface 14a faces. It is provided so that positioning is possible.

When the slider 11 is not slid with respect to the base plate 8 as shown in FIG. 1, the first component 15 is located above the first reflection surface 13a, and the output from the light source 4 The illumination light reflected by the half mirror 5 is reflected by the first reflection surface 13a to illuminate the first component 15. Therefore, the image of the first component 15 illuminated by the illumination light is the first reflection surface
The light is reflected at 13a, passes through the half mirror 5, and enters the imaging device 3.

When the slider 11 is slid as shown in FIG. 2, the second reflecting surface 14a is connected to the second component 17 through the through hole 21 formed in the extension 7 projecting from the main body 1. The illumination light output from the light source 4 and reflected by the half mirror 5 is reflected by the second reflection surface 14a to illuminate the second component 17 while being opposed. Therefore, the image of the second component 17 illuminated by the illumination light is the second reflection surface
The light is reflected at 14a, passes through the half mirror 5, and enters the image pickup device 3.

The image signals of the first and second components 15 and 17 that have entered the image pickup device 3 are input to an image processing device 22 as image processing means, and are processed there to thereby process the first component 15 and the second component 15. The relative positional relationship with the component 17 is detected. If there is a displacement in the X, Y and ず れ directions between the first component 15 and the second component 17 based on the detected value, a signal for correcting the displacement is sent from the image processing device 22 to the work holder 16.
Are output to a first driving device 23 for driving the rotation of the XY table 19 and a second driving device 24 for driving the second XY table 19.

The first XY table 2 is driven by a third driving device 25. The third driving device 25 is controlled by a signal from the image processing device 22.

Next, the operation of the positioning device will be described.
First, as shown in FIG. 1, when illumination light is output from the light source 4 in a state where the slider 11 of the optical device 6 is not driven, the illumination light is transmitted to the half mirror 5 and the first reflecting mirror 13.
The first part 15 held by the work holder 16 is illuminated by being reflected by the first reflecting surface 13a. Thereby the first part
The fifteen images are reflected by the first reflecting surface 13a, transmitted through the half mirror 5, and captured by the imaging device 3. The image signal of the first component 15 captured by the imaging device 3 is input to the image processing device 22, where its coordinates are calculated.

When the coordinates of the first component 15 are detected, the slider 11 of the optical device 6 is driven as shown in FIG.
The fourteen reflection surfaces 14 a are located on the optical path of the illumination light from the light source 4. Then, the illumination light from the light source 4 is transmitted to the second reflecting mirror 14.
When the second component 17 is illuminated by being reflected by the reflective surface 14a, the image is taken into the image pickup device 3 through an optical path opposite to the illumination light, and the coordinates are calculated by the image processing device 22.

Thus, when the coordinates of the first component 15 and the second component 17 are calculated, the relative positional relationship between these coordinates is calculated. When there is a relative displacement between these components 15 and 17, the driving of the first and second driving devices 23 and 24 is controlled by a signal corresponding to the displacement. For example, the first
If the component 15 and the second component 17 are displaced in the X and Y directions, a signal is output from the image processing device 22 to the second driving device 24, whereby the driving of the second XY table 19 is controlled. Thus, the displacement in the XY direction is removed. Also, first and second parts
If there is a shift in the Θ direction between 15 and 17, a signal is output from the image processing device 22 to the first driving device 23, whereby the work holder 16 is driven in the Θ direction and the shift is removed.

As described above, when the relative displacement between the first component 15 and the second component 17 is corrected, as soon as the first component 15 and the second component 17 are again displaced. After the confirmation, the main body 1 is driven by the third driving device 25, and the optical device 6 is retracted from between the first and second parts 15, 17 facing each other. Next, the work holder 16 is driven downward,
Will be assembled to the second component 17.

By the way, according to the positioning device, the first component 15
A first reflecting mirror 13 and a second reflecting mirror driven in a direction intersecting, for example, orthogonal to, the direction in which the pair of components 15 and 17 oppose each other to detect the relative displacement between the first and second components 17 and 17. 14 was used. Therefore, even if the positioning of the first reflecting mirror 13 and the second reflecting mirror 14, that is, the positioning of the slider 11 cannot be performed with high accuracy in the moving direction of the slider 11, the image is reflected and reflected by these reflecting mirrors 13 and 14. Coordinates (position) of the first and second parts 15 and 17 incident on the machine 3
Detection accuracy does not decrease. That is, the first and second
The detection accuracy of the coordinates of the parts 15 and 17 is the first and second reflecting mirror 1
It is affected by the inclination angles of the reflecting surfaces 13a and 14a of the third and the 14th, and is not affected by the horizontal position. And
Since the inclination angles of the reflection surfaces 13a and 14a are constant, the coordinate detection accuracy of the first and second components 15, 17 can be performed with high accuracy even if the positioning accuracy of the slider 11 is poor.

In the above-described embodiment, the first component is driven in the Θ direction and the second component is driven in the XY direction to align the two components. However, the driving direction of each component is not limited at all, and Only needs to be able to position the two parts in the X, Y and Θ directions.

Further, although the two components are illuminated by one light source, each component may be illuminated by a different light source, and the illumination need not be performed if the light amount is sufficient. In the above-described embodiment, the first and second parts are aligned once and then checked again. However, there is no problem if the checking operation is not performed.

In the embodiment, the slider provided with the first reflecting mirror and the second reflecting mirror is driven to detect the relative displacement between the pair of components.
The first reflecting mirror and the second reflecting mirror may be moved by driving the main body by the table.

[Effects of the Invention] A first reflecting means having a first reflecting surface and a second reflecting means having a second reflecting surface are arranged in parallel between a first component and a second component facing each other. An optical device is provided, and the optical device is driven in a direction intersecting the direction in which the first and second components are opposed to each other, that is, the direction in which the reflective surfaces are arranged side by side, so that each component is sequentially imaged. , These coordinates are detected.

Therefore, even if the positioning accuracy between the first reflecting means and the second reflecting means is poor, the coordinates of each component can be detected with high accuracy because the inclination angle of the reflecting surface of each reflecting means is constant. Therefore, the positioning and assembly of the pair of components can be performed with high accuracy.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a perspective view of an optical device in which a slider is not driven, FIG. 2 is a perspective view of a state in which a slider is driven, FIG. FIG. 4 is a schematic configuration diagram of a component assembling device including a positioning device, and FIG. 4 is an explanatory diagram illustrating a state in which images of first and second components are transmitted to an imaging device. 3 ... imager (means), 13 ... first reflector (first reflector), 13a ... first reflector, 14 ... second reflector (second reflector), 14a second reflection surface, 15 first component, 16 work holder (first component holding mechanism), 17 second component, 18 work stage (second
22) image processing means (means).

Claims (2)

(57) [Claims] 1. A first reflection surface is disposed between a first component and a second component facing each other, and a first reflection surface is attached to one of the first component and the second component at a predetermined inclination angle. First facing
And a second reflecting means having a second reflecting surface opposed to the other part at a predetermined inclination angle are arranged side by side in a direction intersecting the direction in which the first and second parts face each other. An optical device, and driving the first reflection means and the second reflection means of the optical device in a side-by-side direction so that each of the reflection surfaces is at a position facing the first component and the second component, respectively. Driving means for positioning; imaging means for capturing images from the first reflection means and the second reflection means; and image processing for detecting the position of a pair of parts facing each other by receiving an image signal from the imaging means Means for positioning a component. 2. A component positioning device according to claim 1, a first component holding mechanism for holding said first component, and a second component holding mechanism for holding said second component. Wherein the first component holding mechanism and the second component holding mechanism are drive-controlled based on a signal from the image processing means to assemble the first component and the second component. Component assembling device.