Component conveying device having a regulating unit and method for regulating a component conveying device

Abstract

The present invention relates to a component conveying device having a first and a second conveying device for conveying components. The first conveying device is configured to convey the component to the second conveying device at a transfer position. The component conveying device also includes an adjustment unit and an imaging unit, wherein the adjustment unit is used to adjust one of the two conveying devices along or around at least one adjustment axis, and the adjustment is performed relative to the other conveying device. The imaging unit captures at least one image of the transfer position, the image showing an end area of ​​the first conveying device in a first part of the image and an end area of ​​the second conveying device in a second part of the image. The component conveying device also includes an analysis unit connected to the adjustment unit for analyzing the image, the analysis unit being configured to determine a degree of asymmetry between an end area of ​​the first conveying device and an end area of ​​the second conveying device in response to the at least one image, wherein the adjustment unit is configured to adjust at least one of the two conveying devices along or around the at least one adjustment axis relative to the corresponding other conveying device according to the determined degree of asymmetry.

Description

Technical Field

[0001] The present invention describes a component conveying device having a first conveying device and a second conveying device for conveying components. The components are in particular electronic semiconductor components, such as chips. Here, the first conveying device is configured to convey the components to the second conveying device at a transfer position. In addition, a method for adjusting the component conveying device is described. Background Art

[0002] DE 10 2015 013 495 A1 discloses a component transport device for transporting chips. The device comprises a first star-shaped steering device rotatable about a first horizontal axis, which has a plurality of transport devices along the periphery in the form of pickers with suction contact points for picking up chips. The first steering device can be used to receive chips from a wafer and to steer the chips by rotating the first steering device by 180°. In addition, the device comprises a second star-shaped steering device with corresponding pickers and rotatable about a second horizontal axis perpendicular to the first horizontal axis.

[0003] The chip to be transported is picked up from the wafer by a picker of the first steering device in the pick-up position. The first steering device is then turned 180° so that the picker is moved from the pick-up position to the transfer position. Here, the chip is transferred from the picker of the first steering device in the transfer position to the picker of the second steering device in the transfer position. The second steering device is then rotated so that the picker of the second steering device moves from the transfer position to another position. The control device is used to drive the steering device. In addition, the device includes a position sensor for detecting position data of the steering device that can be used to control the system.

[0004] In order to reliably transfer the chip at the transfer position, the two pickers, each in its transfer position, must be precisely aligned with each other. This precise adjustment of the relative alignment is laboriously performed by manually adjusting the two steering devices.

[0005] A device for conveying electronic components is known from US10,056,278B2. The device includes a handling device rotatable around a horizontal axis, which has a circularly arranged picker for picking up chips from a wafer. By rotating the handling device, the picked-up chip is turned 180°. In addition, the device includes a conveying device rotatable around a vertical axis, which has a circularly arranged picker, which receives the chip separated from the handling device at the transfer position. Then the chip is further conveyed by rotating the conveying device around the vertical axis. When conveying the chip, the relevant picker of the handling device is in the transfer position accordingly, and the relevant picker of the conveying device is also in the transfer position. In order to accurately align the two pickers at the transfer position, the device includes a first downward pointing camera for shooting the image of the picker of the handling device and a second upward pointing camera for shooting the image of the picker of the conveying device. Using the images shot by these cameras, the deviation between the two pickers located in their preset transfer positions is calculated. Use this distance to accurately set the pickers to each other or adjust them at the transfer position.

[0006] This distance is calculated using a vector, which describes the position of the contact point of the picker intended for connection with the chip. As a result, these calculations require a relatively high computational effort. In addition, the downward pointing camera is arranged between the two pickers of the conveying device. This is associated with corresponding space requirements, which limit the design freedom of the conveying device. In addition, the upward pointing camera is arranged away from the transfer position. Therefore, when the relevant picker of the conveying device is in its transfer position, the camera cannot be used to capture an image of this picker. Instead, after the image has been captured, the conveying device must be further rotated until the relevant picker is in its transfer position. But in this state, it is no longer possible to check the mutual alignment of the pickers with the help of the upward pointing camera. This fundamentally limits the achievable accuracy. Summary of the invention

[0007] Problem to be solved

[0008] The purpose of a correspondingly improved component conveying device is to cause and simultaneously effectively adjust the two conveying devices into their intended position for transfer.

[0009] This program

[0010] This task is solved by a component conveying device having a first conveying device for conveying components and a second conveying device for conveying components, wherein the first conveying device is configured to convey the components to the second conveying device at a transfer position. In this respect, the first conveying device in particular has a main axis, along which at least one part of the intended transfer path extends. In addition, the component conveying device comprises an adjustment unit and an imaging unit, the adjustment unit being used to adjust one of the two conveying devices along at least one adjustment axis or around at least one adjustment axis, the adjustment being performed relative to the other conveying device, the imaging unit being configured to capture at least one image of the transfer position, the at least one image showing at least one end region of the first conveying device in a first part of the at least one image and at least one end region of the second conveying device in a second part of the at least one image. In addition, the component conveying device comprises an analysis unit connected to the adjustment unit for analyzing the at least one image, the analysis unit being configured to determine the degree of asymmetry between the end region of the first conveying device and the end region of the second conveying device for the at least one image, wherein the adjustment unit is configured to adjust at least one of the two conveying devices along the at least one adjustment axis or around the at least one adjustment axis relative to the corresponding other conveying device according to the determined degree of asymmetry.

[0011] By using only one view of the end regions of the two respective conveyor devices, a suitable degree of asymmetry of the relative arrangement of the two end regions can be obtained by simple calculation operations with the aid of a relatively simple analysis based on simple symmetry and with a relatively short calculation time. In this way, a simple design of the analysis unit can be achieved. The short calculation time allows the control process of the two conveyor devices performed by the control unit to require a particularly short time in total.

[0012] In one variant, the end region of the first conveyor device has a contact point provided for the component to be conveyed, which contact point is formed substantially symmetrically with respect to the shape of the end region of the first conveyor device (axially), and the end region of the second conveyor device has a contact point provided for the component to be conveyed, which contact point is formed substantially symmetrically with respect to the shape of the end region of the second conveyor device (axially). The first or second conveyor device can be, for example, a straw, whose end region has a truncated cone shape in a preliminary approximation, wherein the provided contact points are formed symmetrically around the central longitudinal axis or symmetry axis of the truncated cone shape. This enables a particularly simple and precise determination of the orientation of the two end regions aligned with each other. In this way, the mutual registration alignment of the two end regions can be determined particularly simply and at the same time precisely.

[0013] In one variant, the analysis unit is configured to determine the degree of asymmetry between the end region of the first conveyor device and the end region of the second conveyor device using a mirror axis which is either oriented perpendicular to the conveying path or coincides with the conveying path. This allows a particularly simple analysis of the image to determine the degree of asymmetry

[0014] In a variant, the mirror axis is chosen to be oriented perpendicular to the conveying path, through the center of the conveying path. In other words, in this case, the contact point of the end region of the first conveyor device intended for contact with the component is at the same distance from the mirror plane as the contact point of the end region of the second conveyor device intended for contact with the component. In this way, the determination of the degree of asymmetry is appropriately related to the two contact points.

[0015] In one variant, the analyzing unit is configured to determine the degree of asymmetry by:

[0016] (a) Detect the grayscale value for each pixel on one side of the mirror axis,

[0017] (b) determining in each case the mirror pixel of the pixel under consideration about the mirror axis and detecting its grayscale value,

[0018] (c) determining in each case a difference value, which expresses the degree of difference between the gray value of the pixel and the gray value of the mirrored pixel, and

[0019] (d) adding together all the differences determined in this way,

[0020] The sum formed in step (d) determines the degree of asymmetry of the corresponding image. In one variant, the sum is used directly as the degree of asymmetry. In an alternative variant, the sum is normalized using other image information, and the normalized value is used as the degree of asymmetry.

[0021] This is a particularly simple and efficient calculation rule for determining the degree of asymmetry.

[0022] For example, the square of the difference between the gray values ​​may be used as the difference value. According to an alternative, the amount of the difference between the gray values ​​may be used as the difference value.

[0023] In an alternative variant, the analysis unit is configured to determine the degree of asymmetry of the respective image by:

[0024] (a) creating a mirror image formed by reflection about a mirror axis at least approximately parallel to the transport path (W),

[0025] (b) Obtain the grayscale value of each pixel of the image and the corresponding pixel of the mirror image,

[0026] (c) determining in each case a difference value which represents the degree of difference between the grey value of the pixel and the grey value of the corresponding pixel of the mirror image,

[0027] (d) adding together all the differences determined in this way,

[0028] (e) generating at least one further mirror image by moving the mirror image generated in step (a) in a direction perpendicular to the mirror axis, and

[0029] (f) repeating steps (a) to (d) using the at least one further mirror image,

[0030] The individual sums generated in step (d) are compared and the minimum of the individual sums determines the degree of asymmetry of the respective image. This also enables a particularly simple and efficient determination of the degree of asymmetry.

[0031] In a variant, a plurality of further mirror images are generated in step (e), each of which is generated by a simple movement perpendicular to the side edge of the mirror image generated in step (a). This requires less computational effort. The desired accuracy can be achieved simply by choosing the distance between the plurality of mirror images to be larger or smaller.

[0032] In a variant, the imaging unit is configured so that a side edge of the at least one image is oriented at least approximately parallel to the intended transport path. To create the mirror image in step (a), the side edge is then used as the mirror axis. This has the advantage that the mirror axis does not need to be determined by image analysis. In a variant, the side edge is at an angle to the transport path that can be derived from the image, which angle is less than a predetermined limit angle. The limit angle can be, for example, about 3° to about 10°.

[0033] In one variant, the component conveying device is configured to perform the following steps in the order given:

[0034] (i) capturing a first image using an imaging unit;

[0035] (ii) determining, by an analysis unit, a degree of asymmetry of the first image;

[0036] (iii) adjusting one of the two conveying devices along a first direction by an adjusting unit, wherein the adjustment is performed relative to the other conveying device;

[0037] (iv) capturing a second image with the imaging unit;

[0038] (v) determining, by the analysis unit, a degree of asymmetry of the second image;

[0039] (vi) comparing, by an analysis unit, the degree of asymmetry of the second image with the degree of asymmetry of the first image;

[0040] (vii) if the asymmetry of the second image is less than that of the first image: further adjusting the one conveying device along the first direction relative to the corresponding other conveying device by the adjusting unit; and

[0041] If the asymmetry degree of the second image is greater than or equal to the asymmetry degree of the first image: the one conveying device is moved relative to the corresponding other conveying device in a second direction opposite to the first direction by the adjusting unit.

[0042] In this way, a particularly efficient and at the same time simple adjustment of the two conveyor devices in alignment with one another can be achieved.

[0043] Furthermore, in one variant, the component conveying device is configured to subsequently perform the following further steps in the order given:

[0044] (viii) capturing a third image with the imaging unit;

[0045] (ix) determining, by the analysis unit, a degree of asymmetry of the third image;

[0046] (x) comparing the degree of asymmetry of the third image with the degree of asymmetry of the second image by an analysis unit;

[0047] (xi) if the asymmetry of the third image is less than that of the second image: further moving the one conveying device relative to the corresponding other conveying device in the direction of the last movement by the adjustment unit; and

[0048] If the degree of asymmetry of the third image is equal to or greater than the degree of asymmetry of the second image: the one conveyor device is moved relative to the corresponding other conveyor device in a direction opposite to the direction of the last movement by the adjusting unit.

[0049] In one variant, it is provided that further images are subsequently taken and processing is continued in a similar manner until the value of the degree of asymmetry has passed a minimum. After the minimum has been passed, one of the conveying devices is then moved in a direction opposite to the last direction, for example until the minimum is reached again. The two end regions, as seen from the viewing direction of the imaging unit, are then aligned with one another with the desired accuracy.

[0050] The accuracy can be set to the desired degree by selecting a longer or shorter path length when adjusting one of the conveying devices. The smaller the path length selected for adjustment, the greater the achievable accuracy.

[0051] In a variant, the first conveying device and / or the second conveying device is formed by a straw or an ejector or a pick-up with a suction contact point. These types of conveying devices usually have an end region which is simple in shape and symmetrically formed around the provided contact point. Therefore, the analysis unit described here is particularly suitable for this case.

[0052] In one variant, the first conveyor device and / or the second conveyor device is part of a conveying device which is mounted so as to be linearly movable along an axis and / or rotatable about an axis of rotation, wherein by a preset movement of the conveyor device along the axis or about the axis of rotation the respective conveyor device can be moved to an intended delivery position intended for conveying the component along the conveying path, and wherein the adjustment unit is configured to adjust the delivery position of the respective conveyor device, to move the respective conveyor device along the axis and / or to rotate the respective conveyor device about the axis of rotation. Thus, the drive unit of the component conveying device for driving the conveyor device is functionally advantageously used for moving the conveyor device when conveying the component and for setting or adjusting the delivery position of the respective conveyor device.

[0053] In a variant, the transport device is a steering device (or steering device) or a linear axis.

[0054] In one variant, the first conveying device is part of a first diverting device and the second conveying device is part of a second diverting device.

[0055] In a variant, the adjustment axis is at an angle with the main axis of the first conveying device, which angle is between 70° and 110°. It is assumed that the first conveying device is in the conveying position. This angle can be 90°, for example. In this way, an adjustment can be made without actually changing the length of the conveying path.

[0056] In one variant, the direction from the imaging unit to the transfer position is at an angle with the main axis of the first conveyor device, which angle is between 70° and 110°. It is assumed that the first conveyor device is in the transfer position. In this way, the end regions of the two conveyor devices can be imaged by the imaging unit with almost no perspective distortion.

[0057] In one variant, the component conveying device also has a further imaging unit, which is configured to record at least one further image of the transfer position, which image shows at least one end region of the first conveyor device in a first part of the at least one further image and at least one end region of the second conveyor device in a second part of the at least one further image, the direction from the further imaging unit to the transfer position being different from the direction from the first-mentioned imaging unit to the transfer position. Thus, using the further imaging unit, the two conveyor devices can be adjusted or fine-tuned relative to each other in another plane.

[0058] In one variant, the two directions differ by more than 70°. This means that the two imaging units can be used to evaluate the end region from significantly different viewing directions. This allows a further increase in accuracy

[0059] The two conveying devices can be aligned precisely with each other particularly easily if the two directions in which the two imaging units point towards the transfer position differ by approximately 90°. Therefore, in a variant, the direction in which the first-mentioned imaging unit points towards the transfer position differs from the direction in which the other imaging unit points towards the transfer position by an angle of between 70° and 110°, preferably between 80° and 100°.

[0060] In one embodiment, the analysis unit is further configured to analyze the at least one other image and determine another degree of asymmetry between an end region of the first conveying device and an end region of the second conveying device, and the adjustment unit is configured to adjust at least one of the two conveying devices relative to the corresponding other conveying device along or around another adjustment axis based on the determined another degree of asymmetry.

[0061] A method for adjusting a component conveying device having a first conveying device for conveying components and a second conveying device for conveying the components, wherein the first conveying device is configured to convey the components to the second conveying device at a transfer position along a desired transfer path, the method comprising the following steps:

[0062] (i) capturing a first image of the transfer location with an imaging unit;

[0063] (ii) determining, by an analysis unit, a degree of asymmetry of the first image;

[0064] (iii) adjusting one of the two conveying devices in a first direction by means of an adjusting unit, wherein the adjustment is performed relative to the other conveying device;

[0065] (iv) capturing a second image of the transfer location with an imaging unit;

[0066] (v) determining, by the analysis unit, a degree of asymmetry of the second image;

[0067] (vi) comparing the degree of asymmetry of the second image with the degree of asymmetry of the first image by an analysis unit;

[0068] (vii) if the asymmetry of the second image is less than that of the first image: further adjusting the one conveying device along the first direction relative to the corresponding other conveying device by the adjusting unit; and

[0069] If the asymmetry degree of the second image is greater than or equal to the asymmetry degree of the first image: the one conveying device is adjusted relative to the other conveying device along a second direction opposite to the first direction by the adjusting unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Further features, characteristics, advantages and possible variations will become clear to a person skilled in the art from the following description with reference to the accompanying drawings. In this respect, the drawings schematically show various variants of the component conveying device, without limiting the described device variants to the latter.

[0071] Figure 1a A perspective view of a component conveying device with a transfer position between a first conveyor device and a second conveyor device is shown.

[0072] Figure 1b Shows Figure 1a Detailed view around the transfer location.

[0073] Figures 2a to 2k An image of a transfer position recorded by an imaging unit of a component conveyor is schematically shown, wherein the second conveyor device is adjusted differently to the first conveyor device.

[0074] Figure 2l Shown Figures 2a to 2k A graph showing the degree of asymmetry of the images shown.

[0075] Figure 3 A schematic diagram showing an image of a transfer location captured by an imaging unit.

[0076] Figures 4a to 4c Schematic images showing exemplary transfer positions for conveyor devices of different shapes are shown.

[0077] Figure 5a and 5b A flow chart of a control method for a component conveying device is shown. DETAILED DESCRIPTION

[0078] Figure 1a A perspective view of a component conveying device 100 is shown. The component conveying device 100 comprises a first conveying device 101 with a first conveying apparatus F1 for conveying electronic components and a second conveying device 102 with a second conveying apparatus F2 for conveying the components. In the example shown, the two conveying devices F1, F2 are so-called pickers. Figure 1b The area around the two conveyor devices F1 , F2 is shown in more detail.

[0079] The first conveying device F1 is configured to transfer The components are conveyed to the second conveyor device F2 along the intended conveying path W. In this case, the first conveyor device F1 has a main axis H0 along which at least a portion of the intended conveying path W extends.

[0080] The first conveying device 101 is a steering device, which is installed to be able to Figure 1a The housing (not shown) moves so that the steering device can move linearly along an axis and can rotate around a rotation axis. Figure 1a In the illustration of , the y-axis of the Cartesian coordinate system is selected as the axis and the rotation axis. The linear motion option is indicated by the first arrow P1, the rotational motion option is indicated by the curved second arrow P2. The control system (not shown in the figure) of the component conveyor 100 is used to move the first conveyor 101.

[0081] The first conveying device 101 further comprises a further conveying apparatus arranged opposite the first conveying apparatus F1 with respect to the y-axis. In a variant not shown, the first conveying device 101 comprises more than two conveying apparatuses evenly arranged around the y-axis, for example four or eight respective conveying apparatuses.

[0082] By rotating the first conveying device 101 about the y-axis, the first conveying device F1 is rotated about the y-axis so that it can be brought to a different position. Figure 1a The transfer position shown is at the transfer position The components are transferred from the first conveyor device F1 to the second conveyor device F2. A pick-up position of the first conveyor device F1 is arranged to pick up components from a supply 103 of structured components such as wafers, the pick-up position being opposite to the transfer position, for example with respect to the y-axis.

[0083] The second conveyor device 102 is a linear axis which is mounted to move relative to the housing so that it can be moved by the controller along the y-axis and along the x-axis. By moving the second conveyor device 102 along the x-axis and / or along the y-axis, the second conveyor device F2 is brought to different locations. Figure 1a The transfer position shown is at the transfer position The components are transferred from the first conveyor device F1 to the second conveyor device F2. The second conveyor device 102 can place the components in or on a receiving device (not shown) at the placement position. Such a receiving device can be, for example, a (wafer) table that provides a receiving substrate or a component conveyor belt with a receiving bag for the components.

[0084] In order to reliably transfer the components from the first conveyor device F1 to the second conveyor device F2, precise alignment of the first conveyor device F1 with the second conveyor device F2 is required. Otherwise, there is a risk that the components will fall during the transfer process.

[0085] For this purpose, the component conveying device 100 further comprises an adjustment unit, with which one of the two conveyor devices F1, F2 can be adjusted along or about at least one adjustment axis, the adjustment being carried out relative to the respective other conveyor device. For the adjustment, the two conveyor devices F1, F2 are first brought to their respective transfer positions by presetting. Subsequently, the mutual alignment of the two conveyor devices F1, F2 is finely adjusted or adjusted with the help of the adjustment unit.

[0086] In other words, the adjustment unit is used to adjust at least one of the two transfer positions so that the two conveying devices F1, F2 are thus precisely aligned with each other. In the example shown, the adjustment unit can be used to adjust or set the transfer position of the first conveying device F1 by moving the first conveying device 101 along the y-axis or by rotating the first conveying device 101 around the y-axis. The adjustment unit can be used to adjust the transfer position of the second conveying device F2 by moving the second conveying device 102 along the x-axis and / or by moving the second conveying device 102 along the y-axis.

[0087] In addition, the second conveying device 102 may also be moved along the z-axis by the controller.

[0088] In a variant not shown, the second conveying device is designed as a further steering device corresponding in structure to the first mentioned steering device, but the rotation axis of the further steering device encloses an angle greater than 0° with the rotation axis of the first mentioned steering device (i.e. the y-axis). In a variant, the rotation axis of the further steering device is the x-axis. In another variant not shown, the rotation axis of the first steering device and the second steering device is the y-axis.

[0089] Furthermore, the component transport device 100 has an imaging unit K1 which is configured to record, for example, Figure 3 The transfer location shown in At least one image of the invention, which shows at least one end region E1 of a first conveyor device F1 in a first part H1 of the image and at least one end region E2 of a second conveyor device F1 in a second part H2 of the image. Figure 3 In FIG. 1 , a main axis of the first conveyor device F1 is shown, along which at least a part of the aforementioned transport path W extends.

[0090] Furthermore, the component conveying device 100 has an analysis unit connected to the adjustment unit for analyzing the at least one image, the analysis unit being configured to determine, for the at least one image, a degree of asymmetry between the end region E1 of the first conveying device F1 and the end region E2 of the second conveying device F2, referred to as the degree of asymmetry. The adjustment unit is configured to adjust the first conveying device F1 relative to the second conveying device F2 along an adjustment axis (in this case, the y-axis) according to the determined degree of asymmetry.

[0091] The steps for setting or adjusting the mutual alignment of the two conveyor devices F1 , F2 are described below.

[0092] After the two conveying devices F1 , F2 have been brought to their respective transfer positions by correspondingly moving the two conveying means 101 , 102 , the following steps are performed in the order given:

[0093] (i) capturing a first image using the imaging unit K1;

[0094] (ii) determining, by an analysis unit, a degree of asymmetry of the first image;

[0095] (iii) adjusting one of the two conveying devices, for example the second conveying device F2, along a first direction (for example, the y direction) by means of an adjusting unit, the adjustment being performed relative to the corresponding other conveying device F1;

[0096] (iv) capturing a second image using the imaging unit K1;

[0097] (v) determining, by the analysis unit, a degree of asymmetry of the second image;

[0098] (vi) comparing, by an analysis unit, the degree of asymmetry of the second image with the degree of asymmetry of the first image;

[0099] (vii) if the asymmetry of the second image is less than that of the first image: further adjusting the second conveying device F2 relative to the first conveying device F1 along the y direction by the adjusting unit; and

[0100] If the asymmetry of the second image is greater than or equal to that of the first image: the second conveying device F2 is adjusted relative to the first conveying device F1 along a second direction opposite to the y direction (ie, along the "-y" direction) by the adjustment unit.

[0101] In this way, the second conveyor device F2 is brought closer to the desired alignment orientation.

[0102] This step is then repeated using further images until the desired accuracy of the mutual alignment of the two conveyor devices F1 , F2 is achieved.

[0103] If the first conveyor device F1 is adjusted relative to the second conveyor device F2, the result is completely similar.

[0104] exist Figures 2a to 2k In the example, based on the transport position imaged by the imaging unit K1 The corresponding images B1 , B2 , B3 . . . B11 of , show an exemplary and greatly simplified situation in which several adjustments of the second conveyor device F2 are appropriately made.

[0105] exist Figure 2a , a first image B1 is shown. The black markings on the white background show the end region E1 of the first conveyor device F1, also referred to here as a "suction straw", and the corresponding end region E2 of the second conveyor device F2 and the mirror axis SA. In addition, the main axis H0 of the first conveyor device F1 is shown.

[0106] After acquiring the first image B1 in the aforementioned step (i), the associated asymmetry degree of the first image B1 is determined in step (ii), which is referred to herein as the first asymmetry degree A1. The manner of determining the asymmetry degree of an image is described in more detail below.

[0107] In step (iii), from Figure 2a Starting from the starting situation shown, the second conveying device F2 is adjusted by a small adjustment amount in a first direction (here, for example, to the right). Then, in step (iv), the Figure 2b The second image B2 is shown. In the example shown, Figure 2b In the upper left corner of the "1 pixel -->" indicates that the adjustment to the right is performed by the width of one pixel. Generally speaking, this small adjustment amount is, for example, a part of a millimeter and can be freely selected basically according to the desired accuracy of the adjustment.

[0108] Then, in step (v), a second degree of asymmetry A2 is determined in a corresponding manner for the second image B2.

[0109] In step (vi), the first asymmetry degree A1 is compared with the second asymmetry degree A2. In the example shown, as will be explained in more detail below, the second asymmetry degree A2 and the first asymmetry degree A1 are of the same magnitude.

[0110] In step (vii), two situations are distinguished. If the second asymmetry degree A2 is greater than or equal to the first asymmetry degree A1, ie if, as here, the situation A2 ≥ A1 holds, then in the next step the second conveying device F2 is adjusted in the opposite direction. Thus, Figure 2c This continues - as shown in reference Figure 2i and 2jThe asymmetry shown schematically becomes larger again. Thus, if the asymmetry becomes larger again after the adjustment, an adjustment of the second conveyor device F2 takes place in the opposite direction. In this way, a relative adjustment can be found in which the asymmetry of the two conveyor devices F1, F2 has a minimum value.

[0111] Figure 5a and 5b A corresponding flow chart is shown: In step S01, the two conveying devices 101, 102 are moved by presetting so that the two conveying devices F1, F2 are in their respective conveying positions. In step S02, a first image is acquired and the corresponding degree of asymmetry is determined. In step S03, one of the two conveying devices is adjusted in a first direction. In step S04, other images are acquired and the associated degree of asymmetry is determined. In step S05, it is determined whether the most recently determined degree of asymmetry has been reduced compared to the degree of asymmetry determined immediately before. In other words, in step S05, it is inquired whether the symmetry has been improved by the last adjustment. If this is not the case, an adjustment is performed in the opposite direction in step S06, and in the subsequent step S04, other images are acquired again and the associated degree of asymmetry is determined.

[0112] However, if it is determined in step S05 that the symmetry has improved, another adjustment is performed in the same direction in step S07. After step S07 has been performed, an image is acquired again in step S08 and the corresponding degree of asymmetry is determined. Then, in step S09, it is determined again whether the most recently determined degree of asymmetry has decreased compared to the degree of asymmetry determined immediately before. In other words, in step S09, it is inquired whether the symmetry has been improved by the last adjustment. If the symmetry has improved, it is returned to step S07 and another adjustment is performed in the same direction again. If it is determined in step S09 that the symmetry has not improved yet, an adjustment is performed in the opposite direction using a now smaller adjustment amount in step S10.

[0113] In step S11, an image is acquired again and the associated degree of asymmetry is determined. In step S12, it is determined again whether the last determined degree of asymmetry has been reduced compared to the immediately previously determined degree of asymmetry. If so, the process returns to step S10 and another adjustment is performed. If not, the setting for using the imaging unit K1 is completed in step S13. The determined adjustment value is stored in a memory connected to the control unit. In the subsequent use of the component conveying device 100, the control device and the adjustment unit can use this adjustment value when the two conveying devices F1, F2 are moved to their transfer positions by appropriately moving the conveying devices 101, 102.

[0114] The following describes how the analyzing unit determines the degree of asymmetry of an image according to a first example.

[0115] The analysis unit is configured to determine the degree of asymmetry using the mirror axis SA, which is Figure 3 and Figure 2a The - shown is oriented perpendicularly to the intended conveying path W. The mirror axis SA preferably intersects the conveying path W at its geometric center M.

[0116] Reference now Figure 2a , illustrating the steps performed by the analysis unit to determine the degree of asymmetry A1 of the first image B1. The image B1 has a first part H1, in which the end region E1 of the first conveyor device F1 is shown, and a second part H2, in which the end region E2 of the second conveyor device F2 is shown. Here, the first part H1 extends below the mirror axis SA, and the second part H2 extends above the mirror axis SA.

[0117] The first image B1 is composed of a plurality of pixels B1, B2, B3, ..., each pixel having a certain gray value. Figure 2a In FIG. 1 , the second part H2 of the image B1 comprises a total of 160 pixels arranged in ten rows and sixteen columns, wherein a gray value "1" is selected for black and a gray value "0" is selected for white.

[0118] In step (a), for each pixel B1, B2, B3 ... B above the mirror axis SA 160 , detect the corresponding gray value.

[0119] In step (b), for these pixels B1, B2, B3...B 160 Each of the mirror pixels B1′, B2′, B3′, ... B is determined using the mirror axis SA. 160 ' and detect its grayscale value. Mirror pixels B1', B2', B3'...B 160 ' is accordingly located below the mirror axis SA.

[0120] In step (c), for pixels B1, B2, B3, ... 160 Each of the pixels B is formed by i The gray value of the corresponding mirror pixel B i ′ and then square the difference to determine the difference values ​​Δ1, Δ2, Δ3, Δ 160 The difference Δ i exist Figure 2a The right side of is represented in the corresponding grid.

[0121] In step (d), all the differences Δ1, Δ2, Δ3, ... Δ 160 Add. Figure 2a In the example shown, Figure 2aAs shown on the right side of i Resulting in the value "72".

[0122] Here, the sum ∑Δ formed in step (d) is i is chosen to be the degree of asymmetry of the corresponding image. Thus, Figure 2a The degree of asymmetry A1 of the illustrated first image B1 has a value of 72 .

[0123] exist Figure 2f In the sixth image B6 shown, the asymmetry A6 has a value of 44. Intuitively and simplistically, "folding" the first conveyor device F1 around the mirror axis SA results in an overlapping area with the second conveyor device F2, in which the difference is zero. The larger this overlapping area, the better the symmetry and thus the better the alignment. In this way, as this overlapping area increases, the asymmetry decreases.

[0124] exist Figure 2l In the diagram, Figures 2a to 2k 1 and 2 , respectively, show the asymmetry degrees A1 to A11 of the eleven images B1 to B11 .

[0125] According to a second example, the degree of asymmetry can be determined using a mirror axis which coincides with the intended transport path W, ie with the main axis H0 of the first conveyor device F1 .

[0126] From based on Figure 3 It can be seen from the plausibility considerations that the fact that the mirror axis coincides with the main axis H0 here means that the first conveyor device F1 or its end region E1 is perfectly aligned symmetrically to the mirror axis. If the second conveyor device F2 is offset relative to the mirror axis, the mirrored second conveyor device F2 will not lead to an overlapping area in the above sense, or will only lead to a very small overlapping area, thus leading to a larger value of the degree of asymmetry. But if the second conveyor device F2 is perfectly aligned, this leads to a maximum overlapping area and thus a minimum value of the degree of asymmetry.

[0127] Therefore, the above-mentioned calculation steps can also be performed in a similar manner in this case.

[0128] According to a third example, the degree of asymmetry is determined by the following steps:

[0129] (a) creating a mirror image for the corresponding image, the mirror image being generated by reflection about a mirror axis parallel to the transport path W,

[0130] (b) For each pixel of the image and the corresponding pixel of the mirror image, record the grayscale value,

[0131] (c) then determining in each case a difference value which indicates how much the gray value of the pixel differs from the gray value of the corresponding pixel of the mirror image,

[0132] (d) adding together all the differences determined in this way,

[0133] (e) subsequently, starting from this image, generating at least one other mirror image using at least one other mirror axis, which is offset perpendicularly to the first mentioned mirror axis,

[0134] (f) repeating steps (a) to (d) using the at least one other mirror image.

[0135] Then, the sums obtained in step (d) are compared, and the minimum value of the sums is used as the degree of asymmetry of the corresponding image.

[0136] Generally speaking, the more mirror images are used, the greater the accuracy that can be achieved.

[0137] The advantages of the method described in this paper are that Figures 4a to 4c As shown by way of example, adjustment by the adjustment unit is also possible in the case of conveying devices of different shapes.

[0138] The variants of the device described above and their functional and operational aspects are intended only to provide a better understanding of the structure, operation and characteristics; they do not limit the disclosure of the variants. The drawings are partially schematic, and the essential features and effects are sometimes shown in a significantly enlarged form to clarify the functions, operating principles, technical variants and features. In this regard, any operating mode, principle, technical variant and feature disclosed in the drawings or in the text can be freely and arbitrarily combined with any claim, features in the text and other figures, other operating modes, principles, technical variants and features contained in the disclosure or resulting therefrom, so that all conceivable combinations are attributed to the described operating method. Combinations between all individual variants in the text, i.e. in each part of the specification, in the claims, and combinations between different variants in the text, the claims and the drawings are also included. In addition, the claims are not limited to the disclosure and are therefore not limited to the combination of all disclosed features with each other. All disclosed features are explicitly disclosed herein individually and in combination with all other features.

Claims

1. A component conveying device (100), comprising: - a first conveying device (F1) for conveying components; - a second conveying device (F2) for conveying said components; The first conveying device (F1) is configured to transfer transferring the component to the second conveying device (F2); an adjustment unit for adjusting one of the two conveying devices (F1, F2) along or about at least one adjustment axis, the adjustment being performed relative to the other conveying device (F2, F1); - an imaging unit (K1) configured to record the transfer position at least one image (B1, B2, B3, ... B11) of the transport device (F1), the image (B1, B2, B3, ... B11) showing in a first part (H1) at least one end region (E1) of the first transport device (F1) and in a second part (H2) at least one end region (E2) of the second transport device (F2); an analysis unit connected to the adjustment unit for analyzing the at least one image (B1, B2, B3, ... B11), the analysis unit being configured to determine a degree of asymmetry (A1, A2, A3, ... A11) between the end region (E1) of the first conveying device (F1) and the end region (E2) of the second conveying device (F2) based on the at least one image (B1, B2, B3, ... B11); The adjustment unit is configured to adjust at least one of the two conveying devices (F1, F2) relative to the other conveying device (F2, F1) along or around the at least one adjustment axis depending on the determined degree of asymmetry (A1, A2, A3, ... A11).

2. A component conveying device (100) according to claim 1, wherein the analysis unit is configured to determine the degree of asymmetry (A1, A2, A3, ... A11) between the end area (E1) of the first conveying device (F1) and the end area (E2) of the second conveying device (F2) using a mirror axis (SA), wherein the mirror axis is oriented perpendicular to the conveying path (W) of the component or coincides with the conveying path (W).

3. The component conveying device (100) according to claim 2, wherein the analysis unit is configured to, in order to determine the degree of asymmetry (A1, A2, A3, ... A11), (a) detecting a grayscale value for each pixel (B1, B2, B3, ...) on one side of the mirror axis (SA), (b) determining in each case the mirror pixel (B1′, B2′, B3′, ...) of the pixel under consideration (B1, B2, B3, ...) with respect to the mirror axis (SA) and detecting its grayscale value, (c) determining in each case a difference value (Δ1, Δ2, Δ3, ...) which expresses the degree of difference between the gray value of the pixel (B1, B2, B3, ...) and the gray value of the mirrored pixel (B1′, B2′, B3′, ...), and (d) adding together all the differences (Δ1, Δ2, Δ3, ...) determined in this way, Wherein the sum (∑Δ i ) determines the degree of asymmetry (A1, A2, A3, ...A11) of the corresponding image (B1, B2, B3, ...B11).

4. The component conveying device (100) according to claim 1, wherein: The analyzing unit is configured to determine the degree of asymmetry of the corresponding image by: (a) creating a mirror image, the mirror image being formed by reflection about a mirror axis at least approximately parallel to the transport path (W), (b) obtaining the grayscale value of each pixel of the image and the corresponding pixel of the mirror image, (c) determining in each case a difference value, said difference value representing the degree of difference between the grey value of said pixel and the grey value of said corresponding pixel of said mirror image, (d) adding together all the differences determined in this way, (e) generating at least one further mirror image by moving the mirror image generated in step (a) in a direction perpendicular to the mirror axis, and (f) repeating steps (b) to (d) using the at least one further mirror image, The sums generated in step (d) are compared, and the minimum value of the sums determines the degree of asymmetry of the corresponding images.

5. The component conveying device (100) according to any one of the preceding claims, which is configured to perform the following steps in the order given: (i) capturing a first image (B1) using the imaging unit (K1); (ii) determining, by the analysis unit, a degree of asymmetry (A1) of the first image (B1); (iii) adjusting one of the two conveying devices (F1, F2) along a first direction by means of the adjusting unit, wherein the adjustment is performed relative to the other conveying device (F2, F1); (iv) capturing a second image (B2) using the imaging unit (K1); (v) determining, by the analysis unit, a degree of asymmetry (A2) of the second image (B2); (vi) comparing, by the analysis unit, the degree of asymmetry (A2) of the second image (B2) with the degree of asymmetry (A1) of the first image (B1); (vii) if the asymmetry degree (A2) of the second image (B2) is less than the asymmetry degree (A1) of the first image (B1): further adjusting the one conveying device (F1, F2) along the first direction relative to the corresponding other conveying device (F2, F1) by the adjusting unit; and If the asymmetry degree (A2) of the second image (B2) is greater than or equal to the asymmetry degree (A1) of the first image (B1): the one conveying device (F1, F2) is moved relative to the corresponding other conveying device (F2, F1) in a second direction opposite to the first direction by the adjustment unit.

6. The component conveying device according to claim 5, which is configured to subsequently perform the following further steps in the order given: (viii) capturing a third image (B3) using the imaging unit (K1); (ix) determining, by the analysis unit, a degree of asymmetry (A3) of the third image (B3); (x) comparing, by the analysis unit, the degree of asymmetry (A3) of the third image (B3) with the degree of asymmetry (A2) of the second image (B2); (xi) if the degree of asymmetry (A3) of the third image (B3) is less than the degree of asymmetry (A2) of the second image (B2): further moving the one conveying device (F1, F2) relative to the corresponding other conveying device (F2, F1) in the direction of the last movement by the adjustment unit; and If the degree of asymmetry (A3) of the third image (B3) is greater than or equal to the degree of asymmetry (A2) of the second image (B2): the one conveying device (F1, F2) is moved relative to the other conveying device (F2, F1) in a direction opposite to the direction of the last movement by the adjustment unit.

7. The component conveying device (100) according to claim 1, wherein the first conveying device (F1) and / or the second conveying device (F2) is formed by a suction tube or an ejector or a pick-up having a suction contact point.

8. The component conveying device (100) according to claim 2, wherein the first conveying device (F1) and / or the second conveying device (F2) is part of a conveying device (101, 102) which is mounted to be linearly movable along an axis and / or rotatable around an axis of rotation, wherein by a preset movement of the conveying device (101, 102) along the axis or around the axis of rotation, the respective conveying device (F1, F2) can be moved to a conveying position provided for conveying the component (B) along the conveying path (W); The adjustment unit is configured to move the corresponding conveying device (101, 102) along the axis and / or around the rotation axis to adjust the transfer position of the corresponding conveying device (F1, F2).

9. The component conveying device according to claim 7, wherein the conveying device (101, 102) is a steering device (101) which is mounted to be rotatable about a rotation axis or mounted to be linearly movable along an axis. 10 . The component conveying device ( 100 ) according to claim 1 , wherein the adjustment axis forms an angle of between 70° and 110° with the main axis ( H0 ) of the first conveying apparatus ( F1 ).

11. The component conveying device (100) according to claim 10, wherein from the imaging unit (K1) to the transfer position The direction (R1) forms an angle between 70° and 110° with the main axis (H0) of the first conveying device (F1).

12. The component conveying device (100) according to claim 1, further comprising another imaging unit (K2) configured to photograph the transfer position at least one further image of the transport device (F1) in a first part of the at least one further image and at least one end region (E1) of the second transport device (F2) in a second part of the at least one further image, wherein the transport device (F1) is imaged from the further imaging unit (K2) to the transport position The direction (R2) is different from the direction from the first mentioned imaging unit (K1) to the transfer position direction (R1).

13. The component conveying device (100) according to claim 12, wherein the analysis unit is further configured to analyze the at least one other image and determine a further degree of asymmetry between the end region (E1) of the first conveying device (F1) and the end region (E2) of the second conveying device (F2); The adjustment unit is configured to adjust at least one of the two conveyor devices (F1, F2) relative to the respective other conveyor device (F2, F1) along or about a further adjustment axis depending on the determined further degree of asymmetry.

14. A method for adjusting a component conveying device (100), the component conveying device having a first conveying device (F1) for conveying components and a second conveying device (F2) for conveying the components, wherein the first conveying device (F1) is configured to The component is transferred to the second conveying device (F2), and the method comprises the following steps: (ii) photographing the transfer position using the imaging unit (K1) The first image (B1); (iii) determining the degree of asymmetry (A1) of the first image (B1) by an analysis unit; (iv) adjusting one of the two conveying devices (F1, F2) in a first direction by means of an adjusting unit, the adjustment being performed relative to the other conveying device (F2, F1); (v) photographing the transfer position using the imaging unit (K1) a second image (B2); (vi) determining, by the analysis unit, a degree of asymmetry (A2) of the second image (B2); (vii) comparing the asymmetry degree (A2) of the second image (B2) with the asymmetry degree (A1) of the first image (B1) by the analysis unit; (viii) if the asymmetry degree (A2) of the second image (B2) is less than the asymmetry degree (A1) of the first image (B1): further adjusting the one conveying device (F1, F2) along the first direction relative to the corresponding other conveying device (F2, F1) by the adjusting unit; and (ix) If the asymmetry degree (A2) of the second image (B2) is greater than or equal to the asymmetry degree (A1) of the first image (B1): (x) adjusting the one conveying device (F1, F2) relative to the other conveying device (F2, F1) in a second direction opposite to the first direction by the adjusting unit.

Images