Automatic assembly system of camera holder and substrate

Abstract

The present invention relates to a system for assembling a holder of a camera module and a substrate with very high precision and without misalignment, and, more specifically, to an automatic assembly system of a camera holder and a substrate, in which a holder measurement module measures a misaligned angle of the holder, a substrate measurement module measures a misaligned angle of the substrate, and then a correction module corrects the angle of the substrate, and thus the holder and the substrate can be assembled so as not to be misaligned.

Description

Automatic assembly system for camera holders and substrates

[0001] The present invention relates to a system for assembling a camera module holder and a substrate with very high precision without misalignment. More specifically, it relates to an automatic assembly system for a camera holder and a substrate that measures the misaligned angle of the holder in a holder measurement module, measures the misaligned angle of the substrate in a substrate measurement module, and corrects the angle of the substrate in a correction module so that the holder and the substrate are assembled without misalignment.

[0002] ADAS (Advanced Driving Assistance System) is an advanced driver assistance system designed to assist the driver in driving, and consists of sensing the situation ahead, determining the situation based on the sensed results, and controlling the vehicle's behavior based on the situation determination.

[0003] For example, ADAS sensor devices detect vehicles ahead and recognize lanes. Subsequently, once a target lane, target speed, or target ahead is determined, the vehicle's ESC (Electrical Stability Control), EMS (Engine Management System), MDPS (Motor Driven Power Steering), etc., are controlled. Typically, ADAS can be implemented as automatic parking systems, low-speed city driving assistance systems, and blind spot warning systems.

[0004] Furthermore, for autonomous driving, the device that perceives the vehicle's surroundings must possess strict precision and accuracy, through which road conditions are recognized and the vehicle's behavior is controlled accordingly.

[0005] Devices used to implement ADAS and autonomous driving include GPS sensors, laser scanners, front radar, and Lidar, with the most representative device being a camera used to capture images of the front of the vehicle.

[0006] Cameras help ensure safe driving by recognizing roads, lanes, traffic lights, vehicles, and pedestrians. Since cameras must perceive the surrounding environment in real time to rapidly control vehicle behavior, the precision of the data provided by the cameras is critical.

[0007] Due to this importance, the precision of the combination between the camera lens and the image sensor is critical; if this precision is not met, situational awareness and judgment become inaccurate, leading to problems such as unstable vehicle behavior control.

[0008] Cameras used for vehicle motion control hold a different significance compared to cameras embedded in mobile devices. Since captured images are utilized as critical data to protect drivers and pedestrians, stricter quality control must be implemented during the manufacturing process.

[0009] If misalignment occurs between the substrate equipped with the image sensor and the holder equipped with a bracket that secures the lens and the camera module, the quality of the captured image through the image sensor is degraded, and there is a risk of distorted perception of the road and surrounding vehicle conditions.

[0010] Therefore, in the manufacturing process of cameras mounted on vehicles, the substrate equipped with the image sensor and the holder securing the camera module must be assembled with extremely precise precision, and the development of a system capable of such precise assembly is necessary.

[0011] [Prior Art Literature]

[0012] [Patent Literature]

[0013] (Patent Document 1) KR 10-2024-0134081 (A) 2024.09.06.

[0014] (Patent Document 2) KR 10-2498435 (B1) 2023.02.07.

[0015] To solve the above-mentioned problems, the objective of the present invention is to provide an automatic assembly system for a camera holder and a substrate that measures the misaligned angle of the holder in a holder measurement module, measures the misaligned angle of the substrate in a substrate measurement module, and then adjusts the angle of the substrate in a correction module so that the angle between the holder and the substrate is corrected to 0°, thereby ensuring that the angle between the holder and the substrate is corrected so that the angle between them is 0°, and can acquire an undistorted image from an image sensor.

[0016] Another objective of the present invention is to provide an automatic assembly system for a camera holder and a substrate that prevents the camera holder from moving and becoming misaligned during the alignment and assembly process by applying pressure to the camera holder placed on the holder jig through the extension of a pusher cylinder.

[0017] Another objective of the present invention is to provide an automatic assembly system for a camera holder and a substrate that can simply and accurately calculate the misaligned angle of a camera holder by irradiating a laser toward each of the fastening wings extending to both sides of the camera holder from a holder measurement module and measuring the distance.

[0018] Another objective of the present invention is to provide an automatic assembly system for a camera holder and a substrate, wherein a PCB is mounted in a substrate mounting groove of a rotating plate, a dummy lens is mounted on an image sensor of the PCB, a socket is placed over the PCB to apply power to the PCB, and a target chart is positioned below the PCB is photographed, and the angle of misalignment of the PCB can be measured through the arrangement of the light source part of the target chart using the acquired photographic image.

[0019] Another objective of the present invention is to provide an automatic assembly system for a camera holder and a substrate that aligns the tilt axis of a PCB and a camera holder by converting the extension and retraction movement of a correction cylinder, which operates precisely by electronic control, into the rotational movement of a turntable, thereby precisely rotating the turntable by the angle difference between the PCB and the camera holder.

[0020] Another objective of the present invention is to provide an automatic assembly system for a camera holder and a substrate that can manufacture a high-quality camera module by assembling the PCB and the camera holder through a nut runner module, transferring them to a bolt measuring module, and measuring the height of the fastened bolt through a contact probe to determine whether the fastening is normal.

[0021] To achieve the above-mentioned purpose, the present invention relates to a system for automatically aligning and assembling a PCB (10) to which an image sensor (13) is attached and a camera holder (20) disposed below the image sensor (13), comprising: a holder measurement module (400) that measures the distances of each by irradiating a laser toward fastening wings (22) extending to each side of the camera holder (20) and calculates the angle of deviation of the camera holder (20); a substrate measurement module (500) that calculates the angle of deviation of the PCB (10) from an image of a target chart (520) disposed spaced below the PCB (10) by applying power to the PCB (10) and capturing the image through the image sensor (13); and a control unit that receives the angle of deviation of the camera holder (20) from the holder measurement module (400) and the angle of deviation of the PCB (10) from the substrate measurement module (500) and calculates the correction angle of the PCB (10). It includes: a correction module (200) that receives a correction angle of the PCB (10) from the above control unit and rotates the PCB (10) by the correction angle; a nut runner module (800) that bolts the camera holder (20) and the PCB (10); and a bolt measuring module (900) that measures the height of the bolt protruding from the PCB (10) by the nut runner module.

[0022] The present invention further comprises: a holder jig (300) having a measuring hole (320) open at the top and bottom and on which a camera holder (20) is seated; and a pusher cylinder (310) that fixes the camera holder (20) seated on the holder jig (300) by pressing it with a pusher block (311).

[0023] In addition, the substrate measurement module (500) of the present invention includes: a socket (510) connected to the substrate terminal (12) of the PCB (10) to supply power; a light source unit (521) arranged in rows and columns on the target chart to emit light; and a dummy lens (530) that collects the light from the light source unit (521) and receives it through the image sensor (13).

[0024] In addition, the present invention further includes a holder jig (300) in which a camera holder (20) is seated, and a measuring hole (320) is formed that is open at the top and bottom; and the camera holder (20) is inserted into the central hole (23) which is the center between the fastening wings (22) while the dummy lens (530) is inserted into the measuring hole (320).

[0025] Additionally, the correction module (200) of the present invention comprises: a rotating plate (220) which is positioned on the upper part of a holder jig (300) on which a camera holder (20) is seated, and in which a substrate mounting groove (223) for seating a PCB (10) communicates with the measurement hole (320), and in which a conversion block (221) having a cam follower (222) on one side protrudes outwardly; a correction cylinder (230) which extends and retracts a rod according to a control signal of the control unit; and a rod block (231) which is coupled to the rod of the correction cylinder (230) and has a fitting groove (232) formed to accommodate the cam follower (222); wherein the rotating plate (220) rotates as the rod of the correction cylinder (230) extends and retracts.

[0026] In addition, the correction angle of the present invention is the difference between the angle of deviation of the PCB (10) and the angle of deviation of the camera holder (20); and the first fastening hole (11) of the PCB (10) rotated by the correction angle is connected to the second fastening hole (21) of the camera holder (20).

[0027] In addition, the bolt measuring module (900) of the present invention comprises: a measuring mounting base (911) on which a PCB (10) and a camera holder (20) bolted by the nut runner module (800) are mounted, such that the PCB (10) is positioned on the upper side and the camera holder (20) is positioned on the lower side, and which is equipped with a gripper (912) that grips the PCB (10) and the camera holder (20) by extending and retracting movement; a contact type probe (920) that measures the height of a bolt by contacting the bolt that fixes the PCB (10) and the camera holder (20) while the PCB (10) and the camera holder (20) are gripped by the gripper (912); and a reversing drive unit (910) that rotates and reverses the measuring mounting base (911). It includes an inversion mounting base (930) on which a PCB (10) and a camera holder (20) are mounted from a measurement mounting base (911) inverted by the inversion driving unit (910), such that the camera holder (20) is positioned on the upper side and the PCB (10) is positioned on the lower side.

[0028] The automatic assembly system for a camera holder and a substrate according to the present invention measures the misaligned angle of the holder in a holder measurement module and measures the misaligned angle of the substrate in a substrate measurement module, and then adjusts the angle of the substrate in a correction module so that the angle between the holder and the substrate does not become misaligned, thereby making the angle between the holder and the substrate 0° and enabling the acquisition of an undistorted image from an image sensor.

[0029] In addition, the present invention has the effect of preventing the camera holder from moving and becoming twisted during the alignment and assembly process by pressing the camera holder placed on the holder jig with the extension of the pusher cylinder.

[0030] In addition, the present invention has the effect of simply and accurately calculating the misaligned angle of a camera holder by irradiating a laser toward each of the fastening wings extending to both sides of the camera holder from the holder measurement module and measuring the distance.

[0031] In addition, the present invention has the effect of mounting a PCB in the substrate mounting groove of a rotating plate, mounting a dummy lens on the image sensor of the PCB, covering the PCB with a socket and applying power to the PCB to photograph a target chart in which the PCB is placed below, and measuring the angle of misalignment of the PCB through the arrangement of the light source part of the target chart using the acquired photographic image.

[0032] In addition, the present invention converts the extension and retraction movement of a correction cylinder, which operates precisely by self-control, into the rotational movement of a turntable, thereby precisely rotating the turntable by the difference in angle between the PCB and the camera holder, and thus has the effect of aligning the tilt axis of the PCB and the camera holder.

[0033] In addition, the present invention has the advantage of enabling the manufacture of a high-quality camera module by assembling the PCB and camera holder through a nut runner module, transferring them to a bolt measuring module, and measuring the height of the fastened bolt through a contact probe to determine whether the fastening is normal.

[0034] FIG. 1 is a perspective view of an automatic assembly system of a camera holder and a substrate according to the present invention.

[0035] FIG. 2 is a perspective view showing a module placed on a base plate in an automatic assembly system of a camera holder and substrate according to the present invention.

[0036] FIG. 3 shows the assembly target of the automatic assembly system of a camera holder and a substrate according to the present invention, where (a) is a perspective view showing a PCB and (b) is a perspective view showing a camera holder.

[0037] FIG. 4 is a perspective view showing a holder jig and a pusher cylinder in an automatic assembly system of a camera holder and a substrate according to the present invention.

[0038] Fig. 5 is an exploded view of Fig. 4.

[0039] FIG. 6 is a perspective view showing a correction module in the automatic assembly system of a camera holder and substrate of the present invention.

[0040] Fig. 7 is an exploded view of Fig. 6.

[0041] FIG. 8 is a plan view showing the state in which a rotating plate is rotated by a correction module in an automatic assembly system of a camera holder and a substrate according to the present invention.

[0042] FIG. 9 is an exploded perspective view showing the state in which a holder measurement module measures the misaligned angle of a camera holder in an automatic assembly system of a camera holder and a substrate according to the present invention.

[0043] FIG. 10 is an exploded perspective view showing a substrate measurement module in an automatic assembly system of a camera holder and a substrate according to the present invention.

[0044] FIG. 11 is a perspective view showing a pre-alignment module in an automatic assembly system of a camera holder and substrate according to the present invention.

[0045] FIG. 12 illustrates the alignment of a PCB and a camera holder in an automatic assembly system of a camera holder and a substrate according to the present invention, wherein (a) is a schematic diagram showing the state before the PCB and the camera holder are aligned, and (b) is a schematic diagram showing the state after the PCB and the camera holder are aligned.

[0046] FIG. 13 is a perspective view showing a nut runner module that bolts a PCB and a camera holder in an automatic assembly system of a camera holder and a substrate according to the present invention.

[0047] FIG. 14 is a perspective view showing a bolt measuring module in the automatic assembly system of a camera holder and substrate of the present invention.

[0048] FIG. 15 illustrates the operation of an inversion drive unit in an automatic assembly system of a camera holder and a substrate according to the present invention, wherein (a) is a front view of the camera module before inversion and (b) is a front view of the camera module after inversion.

[0049] Hereinafter, preferred embodiments of the present invention are described with reference to the accompanying drawings so that those skilled in the art can easily implement them.

[0050] The automatic assembly system for a camera holder and a substrate according to the present invention relates to an assembly system that aligns the tilt axis of the camera holder (20) and the PCB (10) parallel and then assembles them.

[0051] In a system for assembling a PCB (10) to which an image sensor (13) is attached and a camera holder (20) positioned below the image sensor (13),

[0052] A holder measuring module (400) that measures the distances of each by irradiating a laser toward the fastening wings (22) extending to each side of the camera holder (20) and calculates the angle of deviation of the camera holder (20);

[0053] A substrate measurement module (500) that applies power to the PCB (10) and calculates the angle of deviation of the PCB (10) from an image of a target chart (520) spaced apart from the PCB (10) through an image sensor (13);

[0054] A control unit that receives the misaligned angle of the camera holder (20) from the holder measurement module (400) and the misaligned angle of the PCB (10) from the substrate measurement module (500) and calculates the correction angle of the PCB (10);

[0055] A correction module (200) that receives a correction angle of the PCB (10) from the above control unit and rotates the PCB (10) by the correction angle;

[0056] A nut runner module (800) that bolts together a camera holder (20) and a PCB (10);

[0057] It includes a bolt measuring module (900) for measuring the height of the bolt protruding from the PCB (10) by the nut runner module.

[0058] The system of the present invention is a system that aligns and assembles a PCB (10) (Printed Circuit Board) with an image sensor (13) embedded therein and a camera holder (20) that has a lens mounted inside and is coupled to a fixed structure.

[0059] The above PCB (10) is a substrate in which an image sensor (13) is embedded to capture and process video images, and the above camera holder (20) is provided with a fastening wing (22) having a bracket structure formed to fix a lens positioned to overlap with the image sensor (13) and to fix the camera module that is finally manufactured. A hole through which a bolt passes is formed in the fastening wing (22) so that the camera module is bolted. In the present invention, the term "camera module" refers to a finished product comprising the PCB (10) and the camera holder (20).

[0060] The PCB (10) and the camera module are assembled by connecting the first fastening hole (11) formed in the PCB (10) and the second fastening hole (21) formed in the camera holder (20) with a bolt. At this time, during the process of inserting and fastening the bolt into the first fastening hole (11) and the second fastening hole (21), a problem occurs where the alignment of the camera module and the PCB (10) is misaligned, and when the camera module is fixed to the vehicle, the image sensor (13) is not positioned horizontally and is crooked, causing the captured image to be distorted and making it difficult to perform accurate data analysis.

[0061] Accordingly, the present invention performs the process of assembling the PCB (10) and the camera module after aligning the tilt axis of the PCB (10) and the tilt axis of the camera holder (20) so that they are parallel to each other.

[0062] First, in order to measure the angle of inversion of the camera holder (20), a laser is irradiated from the holder measuring module (400) toward each fastening wing (22) of the camera holder (20) and the distance is measured, and the angle of inversion of the camera holder (20) is calculated through the distance of each fastening wing (22).

[0063] Then, to measure the angle of misalignment of the PCB (10), power is applied to the PCB (10) to photograph a target chart placed below the PCB (10) through an image sensor (13), and the angle of misalignment of the PCB (10) is calculated through the arrangement of a plurality of light source units (521) provided on the target chart (520) in the photographed image.

[0064] Subsequently, the control unit calculates a correction angle based on the angles of the PCB (10) and the camera holder (20). The correction angle refers to the angle between the tilt axis of the PCB (10) and the tilt axis of the camera holder (20). Then, the PCB (10) is rotated by the correction angle through the correction module (200) to correct the angle between the tilt axis of the PCB (10) and the tilt axis of the camera holder (20) to 0°, and in this state, the PCB (10) and the camera holder (20) are assembled by inserting and fastening the bolt into the first fastening hole (11) and the second fastening hole (21). The bolt connecting the PCB (10) and the camera holder (20) is fastened in the nut runner module (800), and the bolt is fastened as the nut runner (810) rotates pneumatically.

[0065] FIG. 1 is a perspective view of an automatic assembly system for a camera holder and a substrate according to the present invention. As shown in FIG. 1, a target chart (520) for measuring the angle of deviation of a PCB (10) is placed at the bottom, and a frame (100) is provided above the target chart (520).

[0066] The above frame (100) is composed of a base plate (110) and a support (120), wherein the support (120) is provided so that the base plate (110) and the target chart (520) are spaced apart. That is, the lower end of the support (120) is connected to the target chart (520), and the upper end of the support (120) is connected to the base plate (110).

[0067] The XY plane of the target chart (520) and the XY plane of the base plate (110) are set to be parallel to each other. This is so that the image sensor (13) of the PCB (10) can capture an image of the target chart (520) and accurately calculate the angle of deviation of the PCB (10).

[0068] In the above target chart (520), a plurality of light source units (521) are arranged at regular intervals along rows and columns. The light source units (521) provide reference points for measuring the angle of misalignment of the PCB (10) in the captured image of the image sensor (13). By connecting any two light source units (521) among the plurality of light source units (521) appearing in the captured image with a straight line and measuring the slope of the straight line, the degree of misalignment of the PCB (10) can be calculated. Therefore, to calculate the accurate angle of misalignment of the PCB (10), a plurality of light source units (521) are aligned neatly along rows and columns.

[0069] The base plate (110) is positioned so as to be spaced above the target chart (520) via a support (120). It is preferable that the distance between the base plate (110) and the target chart (520) is about 1m.

[0070] FIG. 2 is a perspective view illustrating a module placed on a base plate (110) of the present invention. As shown in FIG. 2, a module for aligning a PCB (10) and a camera holder (20) is placed on the base plate (110).

[0071] A holder measuring module (400) for measuring the angle of inversion of a camera holder (20) is provided on one side of the base plate (110). The holder measuring module (400) measures the distance by irradiating a laser toward each of the fastening wings (22) of the camera holder (20) placed at the center of the base plate (110), and calculates the angle of inversion of the camera holder (20) through this.

[0072] Additionally, a pusher cylinder (310) is placed on the base plate (110) to apply pressure and fix the camera holder (20) so that it does not move. By applying pressure from the pusher cylinder (310), the camera holder (20) is fixed so that it does not move, and the misalignment angle is calculated through the holder measurement module (400), and the PCB (10) is assembled with the position and angle fixed. The pressure strength of the pusher cylinder (310) is such that it firmly fixes the camera holder (20) without deforming or damaging the camera holder (20).

[0073] Additionally, a correction cylinder (230) that rotates a rotating plate (220) spaced apart from the base plate (110) is disposed on one side of the pusher cylinder (310). As the rod of the correction cylinder (230) moves in an extendable direction, the rotating plate (220) rotates in response.

[0074] An opening / closing module (600) for opening and closing a socket (510) placed on the rotating plate (220) is disposed on the base plate (110). The present invention automatically performs the alignment and assembly of the PCB (10) and the camera holder (20). The socket (510), which will be described later, is opened to place the PCB (10) in the substrate mounting groove (223) of the rotating plate (220), and the socket (510) is closed to apply power to the PCB (10). The opening and closing operation of the socket (510) is made to be performed automatically through the opening / closing module (600).

[0075] The above opening / closing module (600) includes an LM guide and a guide block, and operates to open and close the socket (510) by causing the guide block to reciprocate along the direction of the LM guide through pneumatic pressure.

[0076] A pre-alignment module (700) for aligning a PCB (10) is provided on one side of the base plate (110). The pre-alignment module (700) is a module that pre-aligns the position and orientation arrangement so that the robot arm can grip the PCB (10) more stably and firmly before placing the PCB (10), which is gripped and moved by the robot arm, into the substrate mounting groove (223) of the rotating plate (220).

[0077] FIG. 3 is a perspective view showing a PCB (10) and a camera holder (20) that are objects of assembly according to the present invention. As shown in FIG. 3(a), the PCB (10) is a thin plate-shaped board equipped with electronic components that constitute a printed circuit, and an image sensor (13) is placed on the bottom surface. The electronic components of the PCB (10) perform computational processing to process an image captured by the image sensor (13).

[0078] In the PCB (10) of the present invention, an image sensor (13) that receives light to allow a camera module to capture an image is disposed on the bottom surface. Accordingly, the image sensor (13) receives light coming up from below to acquire an image.

[0079] Since a target chart (520) used to measure the angle of misalignment of the PCB (10) for aligning the PCB (10) is placed on the lower part of the base plate (110), the image sensor (13) of the PCB (10) is positioned so as to face downward, and the image sensor (13) can photograph the target chart (520) to calculate the angle of misalignment of the PCB (10).

[0080] On one side of the PCB (10), a board terminal (12) is formed to apply power to the PCB (10) in order to operate the image sensor (13). Since the process of operating the image sensor (13) is required to measure the angle of misalignment of the PCB (10) of the present invention, power must be applied.

[0081] Accordingly, power is applied to the PCB (10) before the PCB (10) is fully assembled with the camera holder (20), and by closing the socket (510), the socket (510), to which power and electrical signals are connected from the outside, is connected to the board terminal (12) provided on one side of the PCB (10). The board terminal (12) can be supplied with external power for the operation of the finally manufactured camera module as well as for the test process to measure the angle of deviation of the PCB (10).

[0082] A first fastening hole (11) is formed in the PCB (10) through which a bolt passes to be bolted to a camera holder (20). The first fastening hole (11) is formed in multiple numbers and is formed at positions spaced apart from each other so that the position does not change when the PCB (10) and the camera holder (20) are fastened together.

[0083] The XY plane of the PCB (10) mounted in the substrate mounting groove (223) is set to be parallel to the XY plane of the target chart (520).

[0084] As illustrated in FIG. 3(b), the camera holder (20) has a central hole (23) formed inside to accommodate a lens, and a fastening wing (22) of a bracket structure for fixing the camera module extends in both directions. The camera holder (20) is positioned so that the lens placed in the central hole (23) overlaps with the image sensor (13), allowing light to pass through the lens and be received by the image sensor (13). Additionally, a hole is formed in the fastening wing (22) so that when fixing the camera module, a bolt, screw, etc. can pass through the fastening wing (22) of the camera holder (20).

[0085] A second fastening hole (21) for fastening with the PCB (10) is formed on the upper part of the camera holder (20). The second fastening hole (21) is formed at a position corresponding to the first fastening hole (11) of the PCB (10), and a bolt passes through the first fastening hole (11) and the second fastening hole (21) simultaneously to complete the assembly of the PCB (10) and the camera holder (20).

[0086] As shown in FIG. 9, the YZ plane of the camera holder (20) seated on the holder jig (300) is set to be parallel to the YZ plane, which is the plane where the laser is irradiated from the holder measurement module (400).

[0087] When the PCB (10) and the camera holder (20) are assembled in a misaligned state, the camera module is mounted to the vehicle via the mounting wing (22), and the image sensor (13) is not positioned in an aligned position but is tilted. Consequently, the captured image obtained through the image sensor (13) is distorted, and there is a risk that data collection for controlling the vehicle's movement will be incomplete.

[0088] Accordingly, the present invention measures the misaligned angle of the camera holder (20) through the holder measurement module (400) and the misaligned angle of the PCB (10) through the substrate measurement module (500), and then assembles the PCB (10) after rotating it to correct the angle between the camera holder (20) and the PCB (10) to 0°.

[0089] In the present invention, the angle of inversion of the PCB (10) and the camera holder (20) refers to the angle at which the PCB (10) and the camera holder (20) are rotated with the central axis in the Z-axis direction as the axis of rotation, as shown by the dotted line in FIG. 3. When the PCB (10) and the camera holder (20) are inversions relative to the central axis in the Z-axis direction, the inclination axis lines of the PCB (10) and the camera holder (20), as shown by the dotted line in FIG. 13, do not become parallel to each other but form an angle between them. The PCB (10) is rotated so that the inclination axis line of the PCB (10) becomes parallel to the inclination axis line of the camera holder (20), and the rotating plate (220) is rotated. The inclination axis line refers to an imaginary straight line on the XY plane that passes straight through the centers of the PCB (10) and the camera holder (20), respectively, as shown by the dotted line in FIG. 13.

[0090] FIG. 4 is a perspective view showing a holder jig (300) and a pusher cylinder (310) disposed on a base plate (110) of the present invention, and FIG. 5 is an exploded perspective view of FIG. 4. As shown in FIG. 4 and FIG. 5, a holder jig (300) is disposed on the base plate (110). The holder jig (300) has a measuring hole (320) formed inside with an upper and lower end open, and a camera holder (20) is mounted in the measuring hole (320).

[0091] The holder jig (300) is fixedly coupled to the base plate (110) on one side, and the portion of the base plate (110) located below the measurement hole (320) is an open surface rather than a sealed surface, so that it is open to the target chart (520) placed below the base plate (110) through the measurement hole (320).

[0092] Since the camera holder (20) is attached to the image sensor (13) portion of the PCB (10), light emitted from the light source portion (521) of the target chart (520) passes through the measurement hole (320), passes through the interior of the camera holder (20), and is received by the image sensor (13).

[0093] A pusher cylinder (310) is provided to firmly secure the camera holder (20) after it is mounted on the holder jig (300). The pusher cylinder (310) is equipped with a pusher block (311) at the end of a rod, and as the rod extends, the pusher block (311) presses the camera holder (20) seated on the holder jig (300) to secure it so that it does not move from the holder jig (300). Therefore, the PCB (10) and the camera holder (20) are aligned, and the corrected alignment is not disrupted during assembly.

[0094] A dummy lens (530) is inserted into the measuring hole (320) of the holder jig (300). The dummy lens (530) has a different configuration from the lens of the finished product camera module and is used to measure the misaligned angle of the PCB (10). It is always inserted into the measuring hole (320), and when the aligned camera holder (20) is withdrawn, the dummy lens (530) is left as is and replaced with a new camera holder (20).

[0095] Before inserting the camera holder (20) into the holder jig (300), the dummy lens (530) is mounted in the measuring hole (320), and when the camera holder (20) is inserted into the holder jig (300), the dummy lens (530) is accommodated inside the center hole (23).

[0096] Afterward, when the camera holder (20) is aligned and combined with the PCB (10), the dummy lens (530) is mounted in the measurement hole (320) and the combined assembly of the PCB (10) and the camera holder (20) is withdrawn, and the camera holder (20) is inserted into the holder jig (300) so that the dummy lens (530) is received in the center hole (23) of the camera holder (20).

[0097] FIG. 6 is a perspective view showing the correction module (200) of the present invention, and FIG. 7 is a perspective view showing the correction module (200) separated from the base plate (110). The correction module (200) is a module for correcting the misaligned angle of the PCB (10), and as shown in FIG. 6 and FIG. 7, it includes a rotating plate (220) for mounting the PCB (10) and a correction cylinder (230) for rotating the rotating plate (220).

[0098] The above-mentioned rotating plate (220) is a plate body formed in a circular shape, and a substrate mounting groove (223) for mounting a PCB (10) is formed inside. The substrate mounting groove (223) is open at the top and bottom of the rotating plate (220), and the PCB (10) is mounted into the substrate mounting groove (223) from the top and is mounted by gripping the edge of the PCB (10).

[0099] The above-mentioned rotating plate (220) is placed on top of the holder jig (300), and a support roller (210) protruding upward from the base plate (110) holds the edge of the rotating plate (220). Thus, the rotating plate (220) is spaced apart from the base plate (110) to form a space below for placing the holder jig (300).

[0100] The rotating plate (220), which is held by the support roller (210), is rotatably positioned. As the rotating plate (220) rotates, the misaligned angle of the PCB (10) is corrected, and then assembled with the camera holder (20) to manufacture a camera module.

[0101] The above-mentioned rotating plate (220) rotates by the extension and retraction movement of the correction cylinder (230). The correction cylinder (230) is fixedly coupled to the base plate (110) on one side of the pusher cylinder (310), and a load block (231) is mounted on the rod of the correction cylinder (230), and the load block (231) forms a fitting groove (232).

[0102] And a conversion block (221) is coupled to one side of the above-mentioned rotating plate (220), and the conversion block (221) is equipped with a rotating cam follower (222), and the cam follower (222) is received in the fitting groove (232) of the load block (231).

[0103] FIG. 8 is a plan view showing the operation of the rotating plate (220) rotating by the extensional movement of the correction cylinder (230). As shown in FIG. 8, the rod block (231) moves back and forth according to the extensional movement of the rod of the correction cylinder (230), and the cam follower (222) fitted into the fitting groove (232) of the rod block (231) also moves back and forth and rotates in accordance with the movement of the rod block (231), and the conversion block (221) is converted into the rotational movement of the rotating plate (220) through the cam follower (222), so that the rotating plate (220) rotates.

[0104] In the present invention, the correction angle of the PCB (10) can be up to 2.5°, and since the misaligned angle of the PCB (10) must be corrected by very precise movement, the extension and retraction movement of the correction cylinder (230) has a very small stroke range. However, FIG. 8 shows the rotation angle of the rotating plate (220) in an exaggerated manner to make it easier to understand.

[0105] The above correction cylinder (230) is preferably a servo motor that operates by electronic control for precise operation.

[0106] When the PCB (10) substrate is placed in the substrate mounting groove (223) of the above-mentioned rotating plate (220), the image sensor (13) of the PCB (10) is positioned to overlap with the dummy lens (530) placed in the measurement hole (320). Light passing through the dummy lens (530) is projected onto the image sensor (13) to acquire an image.

[0107] A camera holder (20) that accommodates a dummy lens (530) in an internal center hole (23) is seated on a holder jig (300), and a rotating plate (220) on which a PCB (10) is seated must be placed on top of the holder jig (300). The rotating plate (220) is rotatably supported by a support roller (210) that protrudes upward from a base plate (110), and the holder jig (300) and camera holder (20) are accommodated underneath.

[0108] Since a rotating plate (220) is placed on top of the holder jig (300), the measuring hole (320) of the holder jig (300) is connected to the substrate mounting groove (223) of the rotating plate (220). Therefore, when inserting the camera holder (20), the socket (510) is opened and the board is inserted into the holder jig (300) through the substrate mounting groove (223). Afterward, the PCB (10) is inserted into the substrate mounting groove (223), and when the edge of the PCB (10) is mounted on the substrate mounting groove (223), the image sensor (13) of the PCB (10) overlaps with the dummy lens (530) housed in the center hole (23) of the camera holder (20), making it possible to take a picture.

[0109] FIG. 9 is an exploded perspective view showing the measurement of the misaligned angle of a camera holder (20) through the holder measurement module (400) of the present invention. As shown in FIG. 9, the holder measurement module (400) irradiates a laser onto the fastening wing (22) of the camera holder (20) to calculate the misaligned angle of the camera holder (20). As shown in FIG. 9, it is assumed that the camera holder (20) is misaligned by rotating around an imaginary line in the Z-axis direction passing through the center of gravity as the axis of rotation.

[0110] Since the fastening wing (22) of the camera holder (20) is extended in two parts, the distance between each fastening wing (22) is measured by irradiating a laser from the holder measuring module (400). When the camera holder (20) is in a twisted state, a difference occurs in the distance between each fastening wing (22), and through this, the angle of twisting of the camera holder (20) is calculated. At this time, since the camera holder (20) is firmly fixed by the pusher block (311) of the pusher cylinder (310), it does not become misaligned during measurement and assembly.

[0111] FIG. 10 is an exploded perspective view showing the substrate measurement module (500) of the present invention measuring the angle of deviation of a PCB (10). The substrate measurement module (500) includes a socket (510) for applying power to the PCB (10), a target chart in which a plurality of light source units (521) are arranged in rows and columns, and a dummy lens (530) that is placed overlapping with an image sensor (13).

[0112] As illustrated in FIG. 10, the socket (510) is rotatably coupled to the rotating plate (220) and covers or opens the substrate mounting groove (223) of the rotating plate (220). The socket (510) is opened to open the substrate mounting groove (223) and the PCB (10) is inserted so that the edge of the PCB (10) is mounted in the substrate mounting groove (223).

[0113] Afterward, when the socket (510) is covered, the socket (510) is connected to the board terminal (12) of the PCB (10), power is applied to the PCB (10), and a captured image is acquired through the image sensor (13).

[0114] The image sensor (13) is positioned so as to overlap with the dummy lens (530) from below. The dummy lens (530) is received in the center hole (23) of the camera holder (20), and the camera holder (20) is received in the holder jig (300) and is fixed without moving by the pressure of the pusher cylinder (310), so the position of the dummy lens (530) is also fixed.

[0115] In the above target chart, light-emitting light source units (521) are arranged neatly in rows and columns, and the arrangement direction is set parallel to the X-axis and Y-axis. However, if the PCB (10) is rotated and twisted in the Z-axis direction, the arrangement of light source units (521) in the captured image of the target chart becomes crooked.

[0116] As an example, to measure the angle of misalignment of the PCB (10), any two or more light source units (521) among the plurality of light source units (521) obtained through the image sensor (13) are connected by a straight line, and the slope of the straight line is measured. When the PCB (10) is placed in an accurate position without misalignment, the straight line connecting two or more light source units (521) among the plurality of light source units (521) is placed parallel to the X-axis or Y-axis direction.

[0117] Meanwhile, when the PCB (10) is in a distorted state, the straight line connecting two or more of the light source parts (521) among the plurality of light source parts (521) is not parallel to the X-axis or Y-axis direction and forms an angle.

[0118] Through this, it is possible to calculate how much the image sensor (13) and the PCB (10) have rotated with the Z-axis passing through the center as the axis of rotation.

[0119] FIG. 11 is a perspective view showing a pre-alignment module (700) of the present invention. The pre-alignment module (700) shown in FIG. 11 is a module that adjusts the position and orientation of a PCB (10) before placing it in a substrate mounting groove (223) of a rotating plate (220), and includes a pre-alignment jig (710) on which the PCB (10) is placed and an alignment cylinder (720) that presses the PCB (10).

[0120] In the present invention, the PCB (10) is grasped and transported by a robot arm controlled by an electronic signal, and its position and orientation are adjusted in the pre-alignment module (700) to be placed in the substrate mounting groove (223) of the rotating plate (220). The position and orientation are adjusted by the PCB (10) placed on the pre-alignment jig (710) being pressed against the frame of the pre-alignment jig (710) by the extension of the alignment cylinder (720).

[0121] In addition, by recognizing a mark indicating a serial number, such as a barcode or QR code displayed on the PCB (10), with the recognition unit (730), the manufacturing process can be monitored and inventory management can be performed efficiently.

[0122] FIG. 12 is a schematic diagram showing the process of calibrating the PCB (10) and the camera holder (20). In FIG. 12(a) and FIG. 12(b), the PCB (10) and the camera holder (20) are shown arranged in an up-and-down direction, but this is for convenience of explanation, and in reality, the PCB (10) is placed on top of the camera holder (20) in the Z-axis direction.

[0123] FIG. 12(a) shows the state before the PCB (10) and camera holder (20) are aligned, and FIG. 12(b) shows the aligned state. As shown in FIG. 12(a), the PCB (10) is rotated counterclockwise with the Z-axis as the axis of rotation, and the camera holder (20) is rotated clockwise. The angle α shown in FIG. 12(a) can have a maximum of 2.5° and is exaggerated in the drawing.

[0124] The control unit receives the angle of inversion of the camera holder (20) through the holder measurement module (400) and receives the angle of inversion of the PCB (10) through the substrate measurement module (500). Through this, the control unit calculates a correction angle, which is the difference between the angle of inversion of the PCB (10) and the angle of inversion of the camera holder (20). At this time, the inversion of the PCB (10) and the camera holder (20) is indicated by the slope axis line shown as a dotted line in FIG. 12.

[0125] For example, if it is measured that the camera holder (20) is tilted by +1° and the PCB (10) is tilted by -1°, the PCB (10) is rotated 2° in the + direction to align the tilt axis of the PCB (10) and the camera holder (20) parallel.

[0126] To this end, the control unit extends and retracts the correction cylinder (230) so that the rotating plate (220) rotates by the calculated correction angle, and the correction cylinder (230) extends and retracts by the control signal of the control unit, and the rotating plate (220) rotates through a conversion block (221) equipped with a cam follower (222) and a load block (231) that accommodates the cam follower (222).

[0127] As shown in FIG. 12(b), the inclination axis of the PCB (10) and the camera holder (20) are aligned parallel, and in this state, bolts are fastened to the first fastening hole (11) and the second fastening hole (21) through the nut runner (810) to complete the assembly.

[0128] As illustrated in FIG. 13, the nut runner module (800) for bolting the aligned PCB (10) and camera holder (20) is a module that fastens bolts to the first fastening hole (11) and the second fastening hole (21) by rotating with a desired torque through pneumatic pressure supplied to the nut runner (810) that fastens the bolts, and includes an LM guide and a guide block to allow the nut runner (810) to move along the X, Y, and Z axes. By inserting bolts into the first fastening hole (11) and the second fastening hole (21) of the aligned PCB (10) and camera holder (20) and rotating the nut runner (810), the camera module is automatically assembled and manufactured. Since the above nut runner (810) moves in three axes, it inserts a bolt between the first fastening hole (11) and the second fastening hole (21) and moves to another position to insert a bolt into the hole between the first fastening hole (11) and the second fastening hole (21).

[0129] The camera module, which has been assembled through the nut runner module (800), is grasped by a robot arm controlled by an electronic signal and transferred to the bolt measuring module (900). FIGS. 14 and 15 illustrate the bolt measuring module (900) of the present invention. The bolt measuring module (900) according to the present invention is a module that measures the height of a bolt fastened through the nut runner module (800) to determine whether it is fastened properly.

[0130] Referring to FIGS. 14 and 15, a contact probe (920) is provided to measure the height of a bolt by contacting the head of the bolt to measure the height at which the bolt head protrudes from the PCB (10). The contact probe (920) is equipped with an LM guide and a guide block, which move along three axes X, Y, and Z, move up and down to the position of the bolt, and come into contact with the head of the bolt.

[0131] With the camera holder (20) placed on the holder jig (300) and the PCB (10) seated in the substrate mounting groove (223) of the rotating plate (220), the camera module, which is bolted by the nut runner module (800), is seated on the measuring mounting base (911) of the bolt measuring module (900) by the robot arm. The camera module seated on the measuring mounting base (911) is positioned so that the camera holder (20) is placed on the bottom and the PCB (10) is placed on the top.

[0132] With the camera module placed on the measurement mounting base (911), the height of the bolt is measured by a contact probe (920), and if the height of the bolt measured by the contact probe (920) falls within the normal range, the camera module is transferred to a tray (940) using a robot arm.

[0133] The above-mentioned measuring mounting base (911) is connected to a reversing drive unit (910) that rotates the measuring mounting base (911) to invert it, and is equipped with a gripper (912) that holds and fixes a camera module mounted inside. The gripper (912) reciprocates in a direction that moves both sides closer to or further away from the camera module by means of a pneumatically operated rod, thereby gripping or releasing the camera module.

[0134] The camera module, bolted from the nut runner module (800), is transferred to the measuring mounting base (911) and then gripped by the gripper (912). In a fixed state as shown in FIG. 15(a), the height of the bolt is measured through the contact probe (920). Afterward, while the gripper (912) is fixed to the camera module, the inversion drive unit (910) is driven so that the measuring mounting base (911) rotates to a state as shown in FIG. 15(b), and the camera module is inverted. Afterward, the gripper (912) releases the camera module so that the camera module is mounted on the inversion mounting base (930). The above-mentioned inversion mounting base (930) is positioned to face the inversion driving unit (910) that has been inverted by the inversion driving unit (910) as shown in FIG. 15(b), and the camera module can be mounted on the inversion mounting base (930) by the action of the gripper (912) placing the camera module.

[0135] When the camera module is placed on the measuring mounting base (911), the PCB (10) is positioned on the top and the camera holder (20) is positioned on the bottom; however, when the camera module is placed on the inversion mounting base (930), it is inverted so that the PCB (10) is positioned on the bottom and the camera holder (20) is positioned on the top. In this state, the camera module is transported by a robot arm to be inserted into the mounting groove (941) of the tray (940). When the camera module is placed on the tray (940), the PCB (10) is positioned on the bottom and the camera holder (20) is positioned on the top, just as it is when placed on the inversion mounting base (930). The mounting groove (941) for inserting the camera module in the tray (940) has a flat bottom surface to allow the PCB (10) to be inserted, and a groove is carved to support the fastening wing (22) of the camera holder (20), thereby allowing the camera module to be stably fixed.

[0136] [Explanation of the symbol]

[0137] 10: PCB 11: First connection hole 12: Board terminal 13: Image sensor

[0138] 20: Camera holder 21: Second fastening hole 22: Fastening wing 23: Center hole

[0139] 100:Frame 110:Baseplate 120:Support

[0140] 200: Correction module 210: Support roller

[0141] 220: Rotating plate 221: Conversion block 222: Cam follower 223: Board mounting groove

[0142] 230: Correction cylinder 231: Load block 232: Insertion groove

[0143] 300: Holder Jig 310: Pusher Cylinder 311: Pusher Block 320: Measuring Hole

[0144] 400: Holder measurement module

[0145] 500: Board measurement module 510: Socket 520: Target chart 521: Light source 530: Dummy lens

[0146] 600: Opening / closing module

[0147] 700: Pre-Line Module 710: Pre-Line Jig 720: Align Cylinder 730: Recognition Unit

[0148] 800: Nut runner module 810: Nut runner

[0149] 900: Bolt measuring module 910: Reversing drive unit 911: Measuring mounting base 912: Gripper

[0150] 920: Contact probe 930: Inverted mounting bracket 940: Tray 941: Mounting groove

Claims

1. A system for automatically aligning and assembling a PCB (10) to which an image sensor (13) is attached and a camera holder (20) placed below the image sensor (13), A holder measuring module (400) that measures the distances of each by irradiating a laser toward the fastening wings (22) extending to each side of the camera holder (20) and calculates the angle of deviation of the camera holder (20); A substrate measurement module (500) that applies power to the PCB (10) and calculates the angle of deviation of the PCB (10) from an image of a target chart (520) spaced apart from the PCB (10) through an image sensor (13); A control unit that receives the misaligned angle of the camera holder (20) from the holder measurement module (400) and the misaligned angle of the PCB (10) from the substrate measurement module (500) and calculates the correction angle of the PCB (10); A correction module (200) that receives a correction angle of the PCB (10) from the above control unit and rotates the PCB (10) by the correction angle; A nut runner module (800) that bolts together a camera holder (20) and a PCB (10); A bolt measuring module (900) for measuring the height of a bolt protruding from the PCB (10) by the nut runner module above. Automatic assembly system for camera holders and substrates.

2. In Paragraph 1, A holder jig (300) having a measuring hole (320) open at the top and bottom, on which a camera holder (20) is seated; A pusher cylinder (310) that fixes a camera holder (20) seated on the holder jig (300) by pressing it with a pusher block (311). Automatic assembly system for camera holders and substrates.

3. In Paragraph 1, The above substrate measurement module (500) is A socket (510) connected to the board terminal (12) of the PCB (10) to supply power; A light source unit (521) that emits light arranged in rows and columns in the above target chart; A dummy lens (530) that collects light from the light source unit (521) and receives it through the image sensor (13). Automatic assembly system for camera holders and substrates.

4. In Paragraph 3, It further includes a holder jig (300) on which a camera holder (20) is seated, with a measuring hole (320) formed open at the top and bottom. Inserting a camera holder (20) to accommodate the dummy lens (530) in the center hole (23), which is the center between the fastening wings (22), while the dummy lens (530) is inserted into the measuring hole (320); Automatic assembly system for camera holders and substrates.

5. In Paragraph 2, The above correction module (200) is A rotating plate (220) that is positioned on the upper part of a holder jig (300) on which a camera holder (20) is seated, and has a substrate mounting groove (223) for seating a PCB (10) in communication with the measurement hole (320), and has a conversion block (221) protruding outwardly with a cam follower (222) provided on one side; A correction cylinder (230) that extends and retracts the load according to the control signal of the above-mentioned control unit; It includes a rod block (231) which is coupled to the rod of the correction cylinder (230) and has a fitting groove (232) formed to accommodate the cam follower (222); As the rod of the correction cylinder (230) extends and retracts, the rotating plate (220) rotates; Automatic assembly system for camera holders and substrates.

6. In Paragraph 5, The above correction angle is the difference between the angle of inversion of the PCB (10) and the angle of inversion of the camera holder (20); The first fastening hole (11) of the PCB (10) rotated by the correction angle is connected to the second fastening hole (21) of the camera holder (20); Automatic assembly system for camera holders and substrates.

7. In Paragraph 1, The above bolt measuring module (900) is A measuring mounting stand (911) on which a PCB (10) and a camera holder (20) bolted by the above nut runner module (800) are mounted, arranged so that the PCB (10) is positioned on the upper side and the camera holder (20) is positioned on the lower side, and which is equipped with a gripper (912) that grips the PCB (10) and the camera holder (20) by extending and retracting movement; A contact probe (920) that measures the height of a bolt by contacting the bolt that fixes the PCB (10) and the camera holder (20) while the PCB (10) and the camera holder (20) are gripped by the gripper (912); A reversing drive unit (910) that rotates and reverses the above-mentioned measuring mounting base (911); A reverse mounting stand (930) in which a PCB (10) and a camera holder (20) are mounted from a measuring mounting stand (911) reversed by the reverse driving unit (910), such that the camera holder (20) is positioned on the upper side and the PCB (10) is positioned on the lower side. Automatic assembly system for camera holders and substrates.

Images