TW202131004A - 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. The handler for electronic components of the present invention includes: a moving device which, after picking up an electronic component at an initial location, moves to a target location for release the pickup, thereby moving the electronic component from the initial location to the target location; a setting device for accurately setting the initial location for picking up the electronic component to be moved by the moving device or the target location for releasing the pickup of the electronic component; and a control device which controls the moving device and the setting device to move the electronic component from the initial location to the target location after the initial location and the target location are set by the setting device.

Description

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

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

After electronic components are produced, they go through a variety of processing procedures (testing procedures, sorting procedures, pallet reset procedures, etc.) before being shipped out as final products. In addition, a sorting machine for processing electronic components for processing electronic components is used in such various processing programs.

The sorting machine for electronic component processing is equipped with various moving devices for moving electronic components in order to process the program of an electronic component.

FIG. 1 shows an example of a sorting machine HR for processing electronic components used in a test program that is one of various processing programs for electronic components.

The sorting machine HR for electronic component processing in FIG. 1 requires a test tray TT that cyclically moves along a closed path C that passes through the loading position LP, the test position TP, and the unloading position UP and is reconnected to the loading position LP, and includes a loading device LA, Connect the device CA and uninstall the device UA. Among them, the test tray TT is a device element for supplying a plurality of electronic components to the tester (TESTER) at once.

The loading device LA may be a moving device for moving the electronic component to be tested located in the customer tray CT to the test tray TT located in the loading position LP, and can be used to increase the speed of the device as in Korean Laid-open Patent No. 10-2011-0108204 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 sorting machine HR.

The connecting device CA can electrically connect the electronic components loaded on the test tray TT located 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 electronic components loaded on the test tray TT at the unloading position UP and moves them to the customer tray CT after being classified according to the test level. Similarly, in order to increase the unloading processing speed, you can The test tray TT is divided into a moving device called a sorter and a device called a mover. The sorter may be a mobile device that unloads the electronic components located on the test tray TT and sorts them according to the test level to move them to the sorting table, and it may be equipped with multiple devices. In addition, the mover may be a moving device that moves the electronic components located at the sorting table to the customer tray CT, and may be equipped with a plurality of them according to 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 provided at required positions, so that the electronic parts can be moved from one side loading element (for example, customer tray, test tray, sorting table) to Load elements on the other side (for example, test tray, sorting table, customer tray). For reference, the loading elements provided in the sorting machine HR for processing electronic components may include, in addition to the elements mentioned above, a buffer area or other loading stations for temporarily loading electronic components.

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

Referring to FIG. 2, the mobile device 100 may be provided with 16 pickups P having an arrangement of 8×2 rows and columns that can pick up electronic components or can release the picking. That is, the mobile device 100 in FIG. 2 has eight pickups P in two rows that are modularized into a group. Therefore, the spacing between the columns of the pickup P can be adjusted, but the spacing between the rows of the pickup P cannot be adjusted.

In addition, in order to use the sorting machine HR for electronic parts processing, the picker P should accurately pick up the electronic parts at the starting point (the location of the electronic parts to be moved), and should be at the target point (where the electronic parts that have been moved are to be placed). Location) accurately release the pick-up of electronic parts. Recently, as the size of electronic components becomes smaller and the distance between terminals becomes finer, such a problem is becoming more and more important. Therefore, when the electronic component moves from the departure location to the target location, the picker should be accurately located at the pickup point (departure location) for picking up the electronic component or the release point (target location) for releasing the pickup of the electronic component. That is, the pick-up point or the release point of the pickup is called the teaching point. If the teaching point is set incorrectly, unexpected problems may occur.

If the teaching for the pick-up point of the electronic component is bad, the unintended pick-up may be cancelled during the movement due to poor pick-up or incomplete pick-up. Furthermore, in such a case, not only the loss of the electronic component may occur, but also the misoperation may occur due to the pickup of the released electronic component or the damaged electronic component mixing with other constituent components.

In addition, when the teaching for the release point is not good, the following situations may occur: the phenomenon that the electronic component cannot be placed in the correct position and detaches, the phenomenon of repeated loading at the same position, the electronic component is placed in a poor state Poor testing, misoperation, and malfunctions caused by contact with the testing machine.

Therefore, it is used to make the pickup P pick up the electronic component in a state where the center of the pad 1 that constitutes the lower end of the pickup P and is in contact with the electronic component exactly coincides with the starting point, or is used to make the pickup P pick up the electronic component at the center of the pad 1 and the target point (release Point) It is very important to accurately set the teaching point for picking up the electronic component to make the pickup P contact the electronic component in an accurate and consistent state.

Therefore, when the sorting machine needs to be started for the first time, or when the specifications of the electronic components need to be changed and the pickup block or device element needs to be replaced with other specifications, the operation of setting the teaching point must be carried out.

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

In the initial stage, the teaching point setting of the pickup P is implemented manually. An example of manual setting is the following method: separately install a teaching jig formed with a teaching hole, and insert a teaching pin coupled to a reference pickup (hereinafter referred to as "reference pickup") P into the teaching hole And capture the place where it entered smoothly. However, in the case of manually adjusting the teaching points like this, the task of manually setting a larger number of teaching points corresponding to a larger number of mobile devices takes more time. In addition, considering the trend of miniaturization of electronic components, the accuracy of setting teaching points is reduced due to the proficiency or viewing angle of the operator, making it more difficult to achieve more accurate teaching point setting based on operations that are recognized by the naked eye. That is, since whether or not the teaching pin is inserted into the teaching hole smoothly depends on the operator's field of vision and hand feel, the reference of each operator is different, and the time consumed varies according to the proficiency of the operator. In addition, the narrowness of the operating space leads to troublesome operations, and the operator has to extend his arms or the like into the electronic component processing sorting machine HR to perform the work, so he has to bear the accompanying risks. Therefore, for this reason, the setting operation takes about 5 hours on average. In addition, when the teaching point is set, due to the difference in rigidity between the components, the damage between the contacting structures is relatively large, which also causes waste of costs. In addition, after setting the teaching point, it is necessary to remove the teaching jig and install the loading element that matches the type of electronic component to operate the equipment. In this program, there is a difficulty in considering the setting tolerance.

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

Therefore, methods for automatically setting teaching points have been studied, and various techniques for setting teaching points using cameras have been developed.

If you use the camera to set the teaching point, you can set the teaching point more accurately, easily and quickly through an automated process. However, the accompanying work is still possible due to the setting or disassembly of various accessories and materials. Concomitantly, and due to the design or setting tolerances of various instruments (even the setting tolerance of the reference picker or the distortion of the reference point), the setting of the distorted teaching point may still occur. That is, the teaching point setting method using the camera proposed so far ignores the problem of the deviation of the reference point used as a reference in confirming various coordinates. [Prior Art Literature] [Patent Literature]

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

The present invention starts from the following motivation: to minimize the number of accessory materials, and through relative comparisons rather than absolute benchmarks, although there are various designs or setting tolerances, teaching points must be accurately set.

The sorting machine for processing electronic components according to the present invention for achieving the above-mentioned objects includes: a moving device that moves to the target location after picking up the electronic components at the departure location to contact and pick up the electronic components, thereby moving the electronic components from the departure location to the target location; A setting device for accurately setting the starting point for picking up the electronic component to be moved by the moving device or the target location for releasing the picking up of the electronic component; a control device that controls the moving device and the setting device , To move the electronic component from the departure location to the target location after setting the departure location and the target location by a setting device, wherein the moving device includes: at least one picker for picking up or unpickling the electronic component; A device for lifting the at least one picker in the vertical direction so that it is located at a height where the picker can pick up or unpick electronic components; and a horizontal mover to move the at least one picker in the horizontal direction, The setting device includes: a first camera for confirming the position of the reference pickup in the at least one pickup; a second camera for confirming at least one position of the departure place or the target place And a determiner that determines the position of the reference pickup based on the first image information from the first camera, and determines the departure location or the target location based on the second image information from the second camera.

It also includes a switch for switching in such a way 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 The information is based on the video information continuously shot by the first camera and the second camera.

It also includes an illumination device that irradiates 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 pasted 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 center is 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 that of the The distance between the first camera and the second camera is longer, so a confirmation jig for confirming the position between the first camera and the second camera is required. 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 place that is confirmed by a second camera that moves with the at least one pickup and is horizontally separated from the second confirmation place, 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.

In addition, the teaching point setting method of the sorting machine for electronic component processing according to the present invention for achieving the above object includes: a first confirmation step of confirming that the electronic component is picked up by the first camera in the upward direction. Or cancel the position of the picked reference container; the second confirmation step is to confirm the mutual position of the first camera and the second camera that moves together with the reference pickup in order to photograph the downward direction, thereby confirming the reference pickup and The distance of the second camera; the third confirmation step, using the second camera to confirm the reference teaching point (at least one of the starting point for picking up electronic parts or the target point for releasing the picking up of electronic parts ); and a setting step, 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 the pad constituting the lower end of the reference pickup with the first camera in a backlit state in a state where the reference pickup is positioned above the first camera (Pick up the part of the electronic components); the selection step, select any dark point from the image information shot in the shooting step; the first drawing step, select 3 of the arbitrary points selected in the selection step And draw a circle; the second drawing step, find the center of the circle drawn in the first drawing step, and draw a circle larger or smaller than the circle drawn in the first drawing step based on the center; memory Step, after confirming that there is an area with the most points between the circles drawn in the first drawing step and the second drawing step, remember the circle constituted by this area; repeat the steps to change the first The drawing step, the second drawing step, and the memory step are repeated a preset number of times for 3 arbitrary points that are otherwise selected; the selection step, after the repeating step is over, is changed from the repeated memory step Select a circle that includes at most arbitrary points among the memorized circles; a determining step, comparing the circle selected in the selecting step with the circle that the edge of the actual pad should have, so as to determine the circle most similar to the edge of the actual pad; In the identifying step, the center of the circle determined in the determining step is identified as the center of the pad.

In a state where a confirmation jig having a first confirmation location for confirmation using the first camera and a second confirmation location for confirmation using the second camera is provided, the second confirmation step includes: The first search step uses the first camera to find the first confirmation location; the second search step searches for the second confirmation location with the second camera located above the second confirmation location And the identification step, confirming the mutual position of the first camera and the second camera by the result objects obtained in the first search step and the second search step, and compare them in the first The position of the reference pickup obtained in the confirming step is used to identify the mutual position of the second camera and the reference pickup.

The third confirmation step includes: a first moving step, moving the second camera to the center position of the reference container of the loading element according to a design value; a photographing step, using the second camera to photograph the reference container; The second moving step is to calculate the degree of separation of the reference picker from the center of the image from the image acquired in the shooting step, and move the second camera equivalent to the calculated value, so that the reference container Located in the center of the image; and an identification step of performing the shooting step and the second moving step at least once, so that if the reference container is located in the center of the image, search for the mark located in the center of the reference container 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 and sets other teaching points.

The third confirmation step includes: a loading step, loading electronic components into a reference container located in a loading element; a first moving step, moving the second camera above the reference container according to a design value; a first photographing step , Using the second camera to photograph the reference container; the calculation step is to find a dark square ring located in the gap between the electronic component and the wall surface constituting the loading space from the image acquired in the first photographing step Calculate the center of the reference container; the removing step, remove the electronic components loaded in the loading step from the reference container; the second moving step, move the second camera to all calculated in the calculation step The center of the reference container; a second photographing step, using a second camera moved to the center of the reference container by the second moving step to photograph the reference container; and an identifying step, starting from the second photographing step Look for the mark located in the center of the reference container in the image taken in the, so as to recognize the position of the mark as the center of the container, wherein the setting step uses the center of the reference container identified in the recognizing step as the reference Teaching points and setting other teaching points.

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

First, since two cameras are used to obtain the relative position between the reference points and set the teaching point, even though there are design errors, the accuracy of the teaching point setting required for normal operation will be improved.

Second, by applying the switch to enable the determiner to selectively receive image information, although the number of cameras has increased, the number of determiners has not increased, so that the increase in the unit price of production can be suppressed.

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

Fourth, because the setting of the accessory material is minimized to one confirmation fixture, the complexity is greatly reduced, and the teaching point is set to reflect the setting status of the confirmation fixture, so that the accuracy of the setting is very high.

Hereinafter, the preferred embodiment according to the present invention as described above will be described. In order to simplify the description, the main components or repeated descriptions are omitted or condensed as much as possible.

＜Schematic explanation of the main structure of the sorting machine＞

As shown in the block diagram of FIG. 3, the sorting machine HR for electronic component processing according to an embodiment of the present invention includes a mobile device 100, a setting device 200, an illumination device 300 and a control device 400. Of course, the actual electronic component processing sorting machine HR may be equipped with a plurality of mobile devices 100, but for the convenience of description, only one mobile device 100 is extracted for description.

The mobile device 100 picks up the electronic component at the departure location and moves it to the target location and releases the pickup, thereby moving the electronic component from the departure location to the target location. To this end, 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.

The 16 pickups P are arranged in 2 rows according to 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 form of a ring. In this embodiment, in order to move 16 electronic components at a time, 16 pickups P are provided, but it is sufficient to provide at least one pickup P according to the embodiment. For reference, in FIG. 4, the symbol P ₀ is a pickup that has the same structure and function as the other pickups P, but is arbitrarily selected for setting the teaching point. Therefore, for convenience, it is called a reference pickup and used The symbol P _{0 is} marked. Therefore, in this description, the symbol P is used when all the pickups are involved, but the symbol P ₀ is used when the function as a reference pickup is specifically mentioned.

The lifter 110 lifts the picker P so that the picker P can be located at a height that can pick up or unpick electronic components or a height that can be moved.

The first horizontal mover 120 moves the pickup P in the left-right direction as the first direction, and the second horizontal mover 130 moves the pickup P in the front-rear direction as the second direction. Of course, according to the function of the mobile 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 the departure point of the electronic component to be moved by the moving device 100 or the target location of the electronic component that 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 switch 240.

The first camera 210 in order to confirm the reference position P ₀ of the pickup and equipped, in a manner and the photographing direction is set to be fixed to the base plate BP and the like.

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 loading element of the electronic component is mounted), and is installed to photograph the downward direction . As referred to in FIGS. 4 and 5, such a second camera 220 is installed in the mobile device 100 so as to be movable together with the pickup P. 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 equipped in the form of a web camera to generate video information through continuous shooting. In addition, the captured video is provided to the determiner 230 in real time. The reason why the cameras 210 and 220 are equipped in the form of a network in the above-mentioned manner is that it is difficult to match the shooting timing of each situation, and if a sensor that recognizes the situation is to be perfected, the cost will increase. Regarding the aforementioned first camera 210 and second camera 220, a separate catalog will be created 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 determiner 230 is equipped with a small computer equipped with arithmetic processing means.

In order to switch in such a way that the determiner 230 selectively receives any one of the first image information and the second image information, a switch 240 is provided. 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 may be equipped as hardware or as software installed in the determiner 230.

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

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

Furthermore, as shown in FIG. 6, it is also necessary to consider a situation in which one mobile device 100 is equipped with more than two second cameras 220. Generally, since the sorting machine HR for electronic component processing combines a plurality of components, there may be blind spots that cannot be confirmed by one second camera 220. For example, when the electronic component needs to be moved 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. The first loading element and the second loading element can be two locations on an integrated loading platform or a customer’s pallet, and they can also have different configurations depending on the situation (for example, an area of the loading platform and Part of the customer tray).

Although it is possible to design a second camera 220 to be located vertically above the teaching points on both sides, there are also obstacles H such as other structures or walls, which may cause a second camera 220 to be unable to reach the teaching point on one side. Situation. Therefore, in such a case, it is necessary to equip two second cameras 220. And, when the mobile device 100 needs to selectively move the electronic components from the first loading element (for example, the customer tray) to the second loading element (for example, the test tray) or the third loading element (for example, the buffer table), according to The situation can also fully consider the case where four or more second cameras 220 are equipped. In this 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 switch 240 connects the second camera 220 and the determiner 230 that capture the currently required image information. Way of operation. Furthermore, it is also possible that all the image information of the multiple second cameras 220 may not be used at the same time. Therefore, the switch 240 can also selectively connect only the specific second camera 220 that generates the image information of the required area. To the judger 230.

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 area lighting device 300 is not a reference pickup P ₀ toward the pad 1 is located downward from the irradiation light upward, downward but upward from the reference irradiation light pickup unit P _0, such that the pad 1 on the image photographed The bottom surface of is displayed darker than other parts, and the determiner 230 uses an algorithm to find the location of the darker pad 1. In this way, the bottom surface of the pad 1 is made darker, so that the pad 1 can be clearly separated from other equipment parts, so that the center of the pad 1 can be found more easily and accurately. Here, the upper direction should be interpreted as not only indicating the vertical upper direction of the pad 1, but also including the general meaning of the upper direction inclined at a certain angle with respect to the vertical line. That is, "above" means a position higher than the pad 1, and it is sufficient that the light source for irradiating light is located 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 in such a way that the electronic component can be moved from the departure place to the target place after the teaching point is set by the setting device 200.

<Specific instructions for the camera>

Cameras purchased on the market can adjust the focal length by rotating the lens.

However, the first camera 210 and the second camera 220 applicable to the sorting machine HR for electronic component processing according to the present embodiment are set in a fixed focal length state. That is, the lens of the purchased camera is bonded to prohibit rotation and then set. At this time, the focal length of the first camera 210 (hereinafter, the first focal length) is set to _{the distance of the pad 1 of the reference pickup P 0} , and the focal length of the second camera 220 (hereinafter, the second focal length) is set to the reference container (in the The distance to the bottom surface of the container that is arbitrarily selected among the container of the device element and becomes the reference for setting the teaching point, the same applies below). The reason is to clearly observe the pad 1 with the first camera 210, and to observe the bottom surface of the reference container with the second camera 220. The reason for fixing the focal lengths of the first camera 210 and the second camera 220 in this way is to eliminate the problem of the focal length being changed due to vibration or unintended interference during the setting work or when the sorting machine HR for electronic component processing is operated.

As a reference, the area entering the focal length will be seen very clearly, while the area beyond the focal length will be seen blurred, so there is only a slight distance difference from the focal length will also form a sharp contrast in the image, thus being divided Areas that are clear and areas that are not. Therefore, you can clearly see the part you want to see.

In addition, it is preferable that the pickups P are arranged to be separated by a minimum distance that can be moved on the bottom surface. This contributes to minimizing the size of the electronic component processing sorting machine HR, minimizing the lifting distance of the pickup P, reducing errors, and improving speed.

According to the present invention, although it will be described later, a procedure for confirming the relative position of the first camera 210 and the second camera 220 will be passed through. 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 know 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 of each other with the design value, and errors due to various tolerances may occur. Therefore, it is also necessary to confirm the relationship between the second camera 220 and the reference pickup P ₀ . The relative position between.

However, since the second camera 220 moves together with the pickup P, it needs to be installed higher than the pad 1 of the pickup P in order to eliminate conflict and interference with other equipment. Therefore, the second camera 220 cannot be located at the first focal length of the first camera 210. That is, since _{the height at which the reference pickup P 0} and the second camera 220 can be lowered for shooting has a limit, _{the second camera 220 that needs to be lowered together with the reference pickup P 0} cannot be lowered to be fixed to the pad 1 The distance between the first focal length. 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 will not be within the second focal length. The second focal length is set to the distance to the bottom surface of the reference container for the loading element provided at a higher position than the bottom plate. The second camera 220 is used to clearly recognize the first camera 210.

That is, because 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 on the same vertical line and the shooting center is 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 that of the first camera 210 And the distance between the two cameras 210 and 220 in a state where the second camera 220 is located at a position capable of capturing images is sufficient as long as the confirmation jig CJ' of a flat form is provided. Of course, the confirmation jig CJ' needs to have a separate confirmation location (hole or mark, etc.) 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. 8 can only be separated from the two cameras 210 and 220 in the vertical direction. The distance L is long. Therefore, the flat confirmation jig CJ' shown in FIG. 7 cannot be used, and it is necessary to replace the use of the confirmation jig CJ having a height difference between the _{first confirmation point CP 1} and the second confirmation point CP _2. Of course, as long as _{there is a structure with a height difference between the first confirmation point CP 1} and the second confirmation point CP ₂ , it is sufficient, so the form does not need to 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 place CP _{1 that needs to be confirmed by the first camera 210 and a second confirmation place CP 2} that needs to be confirmed by the second camera 220, the first confirmation place CP ₁ and the second confirmation place CP ₂ has a height difference. That is, a first CP _{1 2} confirm location at a higher position than the second location confirmation CP. 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 the} same as the second confirmation point CP ₂ They are separated from each other and located on the side of _{CP 2 of the second confirmation point.} Of course, the distance in the horizontal direction between the first confirmation point CP ₁ and the second confirmation point CP ₂ and the distance in the horizontal direction between the second confirmation point CP ₂ and the third confirmation point CP ₃ 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 setting position of the first camera 210, the pad 1 of the pickup P may not be separated by the first focal length F1 of the first camera 210. In this case, the macro lens can be applied to the first camera 210 to adjust the first focal length F1 to a certain extent. However, the refractive index of the macro lens is slightly different for each macro lens, so the accuracy will be reduced. When the macro lens is attached, it is slightly different depending on the operator, so there is a problem that the accurate first focal length F1 cannot be presented. Therefore, as shown in FIG. 10, the first camera 210 is set to face the horizontal direction instead of facing upwards, and instead constitutes a mirror M, which can be implemented such 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 of the teaching point setting method>

Next, an observation will be made on the teaching point setting method implemented in the electronic component processing sorting machine HR having the above-mentioned configuration.

FIG. 11 is a basic flowchart of a teaching point setting method, which is constructed in the order of the first confirmation (S10), the second confirmation (S20), the third confirmation (S30), and the setting (S40). Of course, before performing 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 picker P 0} and the second camera 220, the position of the reference container, etc. are required. The information of is input to the determiner 230 through the control device 400 in advance. 1. The first confirmation (S10)

In step S10, the position of the _{reference pickup P 0} is confirmed by the first camera 210. Since the image information of the first camera 210 is used in this step S10, the switch 240 connects the first camera 210 and the determiner 230.

At this time, the edge of the ideal pad 1 is round, but in fact, after injection molding, it may become a shape close to a circle but not a round shape due to distortion, etc. Therefore, the ideal center of the pad 1 needs to go through a variety of detailed procedures. And looking. Therefore, as shown in Figure 12, the first confirmation step can be divided into detailed procedures. (1) Shooting (S11)

Photographing control unit 400 of the pad 210 reference pickup P 1 ₀ of the bottom surface of a first camera by the reference P ₀ state pickup camera 210 is located above the first lower. At this time, the control device 400 operates the lighting device 300 to turn on the lighting, so as to realize the photographing of the pad 1 in the backlit lighting state. (2) Selection (S12)

The determiner 230 selects a darker arbitrary point from the image information shot in step S11. At this time, the degree of darkness can be realized by setting an arbitrary reference brightness to recognize the brightness below it as a dark spot. Here, any point may be equivalent to one pixel. (3) The first drawing (S13)

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

The center of the circle drawn in step S13 is found, and as referred to in FIG. 14, the center is used as a reference to draw a circle larger or smaller than the circle drawn in step S13. The number of circles drawn varies depending on the setting. In this embodiment, about 100 circles are drawn according to an example. (5) Memory (S15)

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

The above-mentioned steps S12 to S15 are repeated a predetermined number of times (several times to several tens of times) for 3 arbitrary points that are additionally selected. (7) Selection (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) Confirmation (S18)

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

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

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

The first camera 210 is used to find the first confirmation point CP1. Therefore, it is possible to know how far apart the first confirmation point CP1 is from the center of the image, and so on. In this procedure, the first image information is also used, so that the switch 240 connects the first camera 210 with the determiner 230. (2) Second search (S22)

The control device 400 starts the mobile device 100, so that the second camera 220 in a state located substantially above the second location confirmation CP ₂ to find place a second acknowledgment CP _2. Here, since the second camera 220 can move, the second confirmation point CP ₂ can be accurately located in the center of the image. In addition, the second image information is used in this procedure, so that the switch 240 is converted to connect the second camera 220 and the determiner 230.

In addition, in step S22, the third confirmation point CP ₃ is simultaneously searched, and the positional relationship between the second confirmation point CP ₂ and the third confirmation point CP ₃ is confirmed, thereby confirming the installation state of the clamp CJ (the state of being installed slightly inclined, etc. ). Of course, the information on the setting state of the confirmation jig CJ confirmed in this way is taken into consideration for the calculation of confirming the relative positions of the 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 P ₀ obtained in step S10 is compared and calculated, thereby identifying the second The relative position of the camera 220 and the reference pickup P _0. 3. Third confirmation (S30)

The control device 400 activates the mobile device 100 to place the second camera 220 approximately behind the reference container GP, and confirms the reference teaching point by the second camera 220. Here, the reference teaching point means the teaching point for the reference container. Of course, as mentioned above, when there are multiple loading elements, there may be multiple reference teaching points, so such step S30 can be repeated multiple times.

For reference, step S30 may be performed by finding the confirmation hole CH in 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 it is located in 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.

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

The control device 400 activates the moving device 100 according to the design value, thereby moving 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) The 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 moved 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, the confirmation hole CH at the center of the reference container GP is searched for and the position of the confirmation hole CH is recognized as the center of the reference container GP. Among them, 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. Therefore, it is preferable that at least the bottom surface of the reference container GP is subjected to matting treatment. In addition, the inner wall surface constituting the confirmation hole CH also has the thickness of its height, and it is preferable that such an inner wall surface is also subjected to 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 the diffuse reflection of the 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 can be better considered that the colors of the bottom surface and the inner wall surface are different. 4. Setting (S40)

The center of the reference container GP confirmed in step S30 is set as the reference teaching point, and the remaining teaching points are set by calculation based on the design value. 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 and can be calculated, 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>

Due to the small size of the confirmation hole CH, if the second camera 220 photographs the reference container GP in a state where it is slightly detached from the vertical upper side, the confirmation hole CH may not be accurately sensed in the image due to the wall surface constituting the confirmation hole CH arrive. Therefore, in such a case, it is also possible to fully consider a program that uses electronic components to undergo a transformation as shown in FIG. 18. (1) Loading (S31’)

The electronic components are loaded into the reference container GP of the loading element. In this case, no matter how delicate the reference container GP is designed, a gap still occurs between the electronic component and the wall surface of the device space constituting the reference container GP, and the gap appears darker in the image. (2) The first move (S32’)

When the electronic components are loaded, the control device 400 activates the mobile device 100 and moves the second camera 220 above the reference container GP according to the design value. (3) The first shooting (S33’)

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

The dark square ring in the gap between the electronic component and the wall surface constituting the loading space is found from the image acquired in step S33', and the center of the reference container GP is calculated. The center of the reference container GP will be the point where the two straight lines connecting the diagonal corners of the square ring intersect. For reference, in this embodiment, the preset is a quadrilateral electronic component, so as to find a darker square ring, but if it is a circular electronic component, a darker ring should be found. (5) Remove (S34’)

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

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

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

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

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

In addition, if the teaching point is set as described above, the actual electronic parts are provided to confirm the teaching state, and if it is confirmed that the teaching point is set correctly, the sorting machine HR for electronic parts processing 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 pickup P 0} , 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 relative positions of each other. The teaching point, therefore, when the sorting machine HR for actual electronic component processing is operated, the mobile device 100 can accurately move the electronic components by controlling the device 400.

In addition, the present invention includes a recording medium on which a program capable of executing the teaching point setting method described above with reference to FIGS. 11 to 18 is recorded 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 the preferred embodiments of the present invention, so it should not be understood that the present invention is limited to the above-mentioned embodiments. The scope of rights should be understood as the scope of the patent application and its equivalent scope.

1: pad 100: moving device 110: lifter 120: first horizontal mover 130: second horizontal mover 200: setting device 210: first camera 220: second camera 230: determiner 240: switcher 300: lighting Device 400: Control Device BP: Board C: Path CA: Connection Device CH: Confirmation Hole CJ: Confirmation Fixture CJ': Confirmation Fixture CP: Confirmation Point CP ₁ : First Confirmation Point CP ₂ : Second Confirmation Point CP ₃ : No. Three confirmation locations CT: customer tray F1: first focal length F2: second focal length GP: reference container H: obstacle HR: sorting machine for electronic parts processing L: distance LA: loading device LP: loading position M: mirror P : Pickup P ₀ : Symbol P (P ₀ ): Reference Pick 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: Identify S34': Calculate S35': Remove S36': Second move S37': Second shooting S38': Identify S40: Set TP: Test position TT: Test tray UA: Unloading device UP: Unloading position

FIG. 1 is a schematic plan view of a sorting machine for electronic component processing suitable for testing of electronic components.

Fig. 2 is a schematic diagram of a mobile device applicable to the sorting machine for electronic component processing in Fig. 1.

Fig. 3 is a block diagram of a sorting machine for electronic component processing according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a mobile device applied to the sorting machine for electronic component processing of Fig. 3.

Fig. 5 is a schematic diagram of a setting device applied to the sorting machine for electronic component processing in Fig. 3.

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

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

11 to 18 are reference diagrams for explaining the teaching point setting method of the sorting machine for processing electronic components according to the present invention.

Domestic deposit information (please note in the order of deposit institution, date and number) without Foreign hosting information (please note in the order of hosting country, institution, date, and number) without

1: pad

100: mobile device

200: Setting device

210: The first camera

220: second camera

230: determiner

240: switcher

300: lighting device

BP: substrate

P ₀ : Symbol

Claims (11)

A sorting machine for electronic component processing, including: The mobile device, after picking up the electronic component at the departure location, moves to the target location to contact and pick up, thereby moving the electronic component from the departure location to the target location; A setting device for accurately setting the starting point for picking up the electronic component to be moved by the moving device or the target location for releasing the picking up of the electronic component; The control device controls the mobile device and the setting device to move the electronic component from the departure location to the target location after the departure location and the target location are set by the setting device, The mobile device includes: At least one picker, used to pick up or unpick electronic components; A lifter for lifting the at least one picker in a vertical direction so that it is located at a height where the picker can pick up or unpick electronic components; and A horizontal mover to move the at least one picker in a horizontal direction, The setting device includes: The first camera is used to confirm the position of the reference pickup in the at least one pickup; The second camera is used to confirm at least one of the departure location or the target location; and The determiner determines the position of the reference pickup based on the first image information from the first camera, and determines the departure location or the target location based on the second image information from the second camera. For example, the sorting machine for electronic component processing in claim 1, which also includes: A switch to switch in such a way that the determiner selectively receives any one of the first image information and the second image information, The first image information and the second image information are video information based on continuous shooting of the first camera and the second camera. For example, the sorting machine for electronic component processing in claim 1, which also includes: The lighting device irradiates light downward when photographing the reference pickup located above with the first camera. Such as the sorting machine for electronic parts processing in claim 1, where The lenses of the first camera and the second camera are pasted to fix the focal length. Such as the sorting machine for electronic parts processing in claim 4, where When the first camera and the second camera are located on the same vertical line or at least the shooting center is 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 that of 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, The confirmation jig has a structure in which there is a height difference between a first confirmation point confirmed by the first camera and a second confirmation point confirmed by the second camera. Such as the sorting machine for electronic parts processing in claim 5, where The confirmation jig further includes a third confirmation place that is confirmed by a second camera that moves with the at least one pickup and is horizontally separated from the second confirmation place, The determiner compares the mutual positions of the second confirmation point and the third confirmation point to confirm the installation state of the confirmation jig. A method for setting teaching points of a sorting machine for processing electronic components, including: The first confirmation step is to confirm the position of the reference container for picking up or un-picking the electronic component by shooting the first camera in the upward direction; A second confirming step of confirming the mutual position of the first camera and the second camera that moves together with the reference pickup in order to photograph the downward direction, thereby confirming the distance between the reference pickup and the second camera; The third confirmation step is to confirm the reference teaching point by the second camera, wherein the reference teaching point is at least one of a starting point for picking up electronic parts or a target point for releasing the picking up of electronic parts ;and In the setting step, another teaching point is set based on the reference teaching point confirmed in the third confirmation step. Such as claim 7 in the teaching point setting method of the sorting machine for electronic parts processing, where The first confirmation step includes: In the photographing step, in a state where the reference pickup is positioned above the first camera, the first camera is used to photograph a pad constituting the lower end of the reference pickup in a backlit state, wherein the pad is Pick up parts of electronic components; A selection step, selecting any dark point from the image information shot in the shooting step; In the first drawing step, three of the arbitrary points selected in the selection step are selected to draw a circle; The second drawing step is to find the center of the circle drawn in the first drawing step, and draw a circle larger or smaller than the circle drawn in the first drawing step based on the center; A memory step, after confirming that there is an area with the most arbitrary points between the circles drawn in the first drawing step and the second drawing step, remember the circle formed by the area; Repeating steps, repeating the first drawing step, the second drawing step, and the memory step for 3 arbitrary points that are otherwise selected for a preset number of times; A selecting step, after the repeating step ends, selecting a circle including at most arbitrary points from the circles memorized by repeating the memorizing step; A determining step, comparing the circle selected in the selecting step with the circle that the edge of the actual pad should have, so as to determine the circle most similar to the edge of the actual pad; In the identifying step, the center of the circle determined in the determining step is identified as the center of the pad. Such as claim 7 in the teaching point setting method of the sorting machine for electronic parts processing, where 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: In the first search step, the first camera is used to find the first confirmed location; The second search step is to search for the second confirmed place in a state where the second camera is located above the second confirmed place; and In the identification step, the mutual positions of the first camera and the second camera are confirmed by the result objects obtained in the first search step and the second search step, and compared in the first confirmation step The position of the reference pick-up obtained in, the mutual position of the second camera and the reference pick-up can be identified. Such as claim 7 in the teaching point setting method of the sorting machine for electronic parts processing, where The third confirmation step includes: The first moving step is to move the second camera to the center position of the reference container of the loading element according to the design value; In the photographing step, photographing the reference container with the second camera; The second moving step is to calculate the degree of separation of the reference pickup from the center of the image from the image acquired in the shooting step, and to move the second camera equivalent to the calculated value, thereby making the reference The container is located in the center of the image; and In the identification step, the photographing step and the second moving step are performed at least once, so that if the reference container is located in the center of the image, a logo located in the center of the reference container is searched for and the location of the logo is recognized as the location of the reference container. The center of the reference container, In the setting step, the center of the reference container recognized in the recognition step is used as a reference teaching point and other teaching points are set. Such as claim 7 in the teaching point setting method of the sorting machine for electronic parts processing, where The third confirmation step includes: In the loading step, the electronic components are loaded into the reference container located in the loading element; The first moving step is to move the second camera above the reference container according to a design value; In the first photographing step, photographing the reference container with the second camera; A calculating step, searching for a dark square ring located in the gap between the electronic component and the wall surface constituting the loading space from the image obtained in the first shooting step, and calculating the center of the reference container; A removing step, removing the electronic components loaded in the loading step from the reference container; A second moving step, moving the second camera to the center of the reference container calculated in the calculating step; A second photographing step, using a second camera moved to the center of the reference container by the second moving step to photograph the reference container; and The identification step is to find the mark located at the center of the reference container from the image taken in the second shooting step, so as to identify the position of the mark as the center of the container, In the setting step, the center of the reference container recognized in the recognition step is used as a reference teaching point, and other teaching points are set.

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