Pose Alignment for Electronic Component Insertion Using Rotational Stereo Vision

Existing auto-inserting machines usually use a bottom camera for vision positioning, but some leads may be difficult to be distinguished from the component's body using bottom images. This paper proposes a novel position correction method for the electronic components' auto-insertion based on rotational stereo vision. Firstly, a four-degree-of-freedom auto-insertion system based on rotational stereo vision is set up. The pose of the electronic component is detected by the rotational stereo vision system. Then a novel pose correction method is derived by reconstructing the leads position from the rotational stereo vision. Finally, the relationship between the motion system and the vision system is calibrated. Experimental results show that the proposed correction method can position the leads accurately and correct the electronic component's pose. It can meet the efficiency requirement of auto-inserting machines.