CN1189071C - Mounting machine and its part mounting method - Google Patents
Mounting machine and its part mounting method Download PDFInfo
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- CN1189071C CN1189071C CNB021075336A CN02107533A CN1189071C CN 1189071 C CN1189071 C CN 1189071C CN B021075336 A CNB021075336 A CN B021075336A CN 02107533 A CN02107533 A CN 02107533A CN 1189071 C CN1189071 C CN 1189071C
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0486—Replacement and removal of components
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
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Abstract
Mounting machine and its part mounting method, in the mounting machine provided with a multi-head having a plurality of heads at prescribed pitches and for sucking a plurality of components from the feed position to mount them on mount positions, the components are arranged so that the line of the components is almost parallel to a head pitch by a pre-center at the feed position, the components are simultaneously sucked by the multi-head, and an image of each component is picked up to detect the positional deviation of each component. The positional deviation of each component is compared with an allowed value, and if the positional deviations of all the components sucked by the multi-head are within the allowed value, the components are collectively mounted on the mounting positions. If the positional deviation of any component sucked by the multi-head is out of the allowed value, the components having positional deviations within the allowed value are collectively mounted on the mounting positions, and the component having the positional deviation out of the allowed value is independently corrected to be mounted on the mounting position. In this way, the mounting machine and a component mounting method are capable of performing high-speed mounting as a whole by reducing the mounting time for each head.
Description
Technical field
The present invention relates to a kind of install machinery and part mounting method thereof, particularly relate to and to realize the install machinery of installation at a high speed.
Background technology
In the past, the situation of the install machinery of the X-Y machinery hand-type of selling on the market, it is component delivery portion 11 the ground adsorbent parts that has lower positional precision by embossing conveyer belt or embossing pallet etc., after the position of detecting part by image recognition, attitude, on one side according to detected correction to X, Y, θ axle feedback correction value, Yi Bian be installed on the printed circuit board (PCB) etc., and be installed to after carrying out position correction in the method (mode one by one) of installation site from supplying with 11 ground, position adsorbent parts like this, the traveling time of device is long and installation effectiveness is poor.
On the other hand, also motion has a plurality of adsorption heads of employing vacuum suction part to be set to the bull form with prescribed distance, adsorbs the install machinery that a plurality of parts are installed to the bull type of installation site from supplying with the position.
Represented to have the action of install machinery of the bull type of 4 adsorption heads among Fig. 1.
Absorption at first simultaneously is arranged in 4 parts (step S1) of supplying with the position, makes bull keep the state of absorption to move (step S2) to the camera head direction.Take the image of part here, carry out image recognition (step S3).By image recognition, calculate X, the Y of each part, the position correction amount of θ axle.Then, make bull move (step S4) to the installation site direction, part (step S5) is installed to the installation site in position while the X that revises the 1st stature, Y, θ axle, then, while the position order that the 2nd～the 4th stature is also revised its X, Y, θ axle is installed part (step S6～S8) to the installation site.Then, bull is moved to supplying with the position, carry out same action repeatedly.
Under the situation of above-mentioned bull type install machinery, compare with the install machinery of mode one by one, can shorten traveling time, but because per 1 delivery head in the bull is all installed while the correction of carrying out X, Y, θ axle, so the set-up time, with the proportional increase of a number, installation effectiveness did not have big improvement substantially.
, on printed circuit board (PCB) etc., install under the situation of part,, and can guarantee the precision stipulated, then can allow a little offset sometimes if the common divisor of the installing space of a side for a spacing is installed.But because in the mounting means of former bull type, 11 position of revising part normally is so can not shorten the set-up time.
The object of the present invention is to provide a kind of set-up time that shortens each delivery head, can carry out whole install machinery and the part mounting method of installing at a high speed thereof.
Summary of the invention
Above-mentioned purpose can realize by the install machinery and the part mounting method thereof of the 1st kind of execution mode of the present invention and the 5th kind of execution mode of the present invention.
The install machinery of the 1st kind of execution mode of the present invention, it is characterized in that, dispose the spacing setting of a plurality of delivery heads to stipulate with conveying parts, have and make each delivery head bull of the Z axle actuating mechanism of oscilaltion respectively, and bull is being supplied with between position and the installation site at least along X, the actuating mechanism of Y direction action, with device to utilizing bull to take from a plurality of parts of supplying with the position conveying, with the image of each part of the described shooting of identification and detect each part offset device and with the offset of each part and feasible value comparison, if the offset of all parts is in the feasible value scope then part is installed to the installation site in batch, if arbitrarily the offset of part is outside the feasible value scope then the part in the feasible value scope is installed to the installation site in batch, simultaneously the position of the part outside the feasible value scope is revised the device of the control bull that is installed to the part installation site then individually.
The part mounting method of the install machinery of the 5th kind of execution mode of the present invention, this install machinery disposes the bull that a plurality of delivery heads of conveying parts are provided with prescribed distance, this part mounting method may further comprise the steps: utilize bull to carry the step of a plurality of parts simultaneously in the supply position, with the image of identification by each part of bull conveying, detect the step of the offset of each part, with offset and feasible value step relatively with each part, if if be installed to the step of installation site with the offset of all parts of carrying by bull in batch in the feasible value scope then with part and the offset of any part of carrying by bull outside the feasible value scope then the part in the feasible value scope is installed to the installation site in batch, simultaneously the position of the part outside the feasible value scope is revised and is installed to the step of installation site individually.
Part mounting method based on install machinery of the present invention is as follows.
At first, bull is moved to supplying with the position, will supply with locational a plurality of part and carry simultaneously.Carry the bull of a plurality of parts to pass through, discern the image of each part and the offset of calculating each part here from the front of camera heads such as video camera.As offset, for example can try to achieve from the difference of the center of the position of centre of gravity of each part and each delivery head or the position of centre of gravity of each part and the difference of its mean value.
As feedway, for example can be the anchor clamps of accommodating part of accommodating part with the spacing of regulation that have as delivery tray, perhaps also can be device with detent mechanism.In a word, the spacing of the spacing of each part and bull being arranged roughly the samely gets final product.
Then, the offset and the feasible value of trying to achieve as described above compared.This feasible value according to the machine error that makes bull to the actuating mechanism of X, Y or the action of θ direction of principal axis, be in the decisions such as alignment error of the printed circuit board (PCB) etc. of installation site.If offset is in the feasible value scope, then a plurality of parts that bull is carried are installed on the installation site in batch.And it is the situation of the common divisor of a spacing that the present invention is limited to the installing space that a side is installed.
On the other hand, if the offset of any part that bull is carried is outside the feasible value scope, then will be installed in batch on the installation site, simultaneously, will revise individually and be installed on the installation site in the position of the part outside the feasible value scope at the part in the feasible value scope.
For this reason, because in the present invention, under the few situation of the offset of a plurality of parts that bull is carried, install in batch, so with in the past mounting means one by one or revise the mode of installing with bull type and 11 ground and compare, can shorten the set-up time, and can significantly improve installation effectiveness.
In addition, spacing at the part of supplying with the position has under the situation of skew, produce under the situation of skew during perhaps with the bull conveying parts, though the offset meeting of part exceeds the feasible value scope arbitrarily sometimes, even but in this case, owing to the part of offset in the feasible value scope can be installed in batch,, can be shortened the set-up time so compare with 11 mode of revising installation.
The 2nd kind of execution mode according to the present invention, so dispose supply with the position make a plurality of parts and described spacing substantially as one man the device of arrangement for well.
That is to say,, a plurality of parts and a spacing are as one man arranged substantially, can reduce the offset between each part, make to install in batch to become easy by before utilizing the bull installation.
According to the present invention the 3rd and the 6th kind of execution mode, as supplying with the device that as one man arrange a plurality of parts and a spacing substantially the position, can adopt and have two faces that intersect vertically, make two contacts side surfaces of these faces and a plurality of parts, the pre-centring means that with the aligning of a plurality of parts is the spacing identical with a spacing is for well.
That is to say,, the spacing of each part and the spacing of bull are arranged substantially in the same manner in advance though supplying with the position, but anchor clamps such as embossing conveyer belt or embossing pallet, its positional precision is bad, if carry like this, then offset is big sometimes, is difficult to install in batch.Thereby, pre-centring means is set supplying with the position, utilize the pre-centring means must be consistent with a spacing the aligning of a plurality of parts.This step is the step of the spacing between the rectification part, rather than the absolute position of correcting each part.Its reason is that the skew of part integral body can be eliminated in the position of revising bull in the installation site.Utilize pre-centring means to correct the intervals of part in advance as described above, then the offset between each part is little, installs in batch easily.
The 7th kind of execution mode according to the present invention, offset is tried to achieve to good by the difference of the position of centre of gravity of the mean value of the position of centre of gravity of each part and each part.
The detection method of offset can be considered various methods, but adopts gravity model appoach, then can utilize well-known software simply side-play amount to be carried out computing.And, if obtain side-play amount, so just can detect the relativity shift of each part from the difference of each position of centre of gravity and its mean value, if relativity shift is little, then the skew of mean value self promptly can be revised simply by revising bull, makes to revise to become simple.
According to the present invention the 4th and the 8th kind of execution mode, in the part of carrying with bull, under the situation of difference in the feasible value scope of the position of centre of gravity of the mean value of the position of centre of gravity of a plurality of parts and these parts, only the spacing of bull is revised and is installed in batch on the installation site to well with the mean value part of the position of centre of gravity of each part in the feasible value scope.
That is to say, in the part of carrying with bull, under the situation of the offset of a plurality of parts (mean value of position of centre of gravity and each position of centre of gravity poor) in the feasible value scope, though also these a plurality of parts can be installed in batch like this, if but the mean value of position of centre of gravity with depart from as the installation site of target, then all parts of installing together just all depart from so many from the target location.Thereby, if only partly revise the position of bull and install with the mean value of the position of centre of gravity of the part installed in batch, then can enough corrective actions with higher precision near installation site as target.
The method of the 6th kind of execution mode according to the present invention is implemented like that as the 4th kind of the present invention, carries out to good after the supply position is corrected spacing between part in advance again.That is to say,, just all parts can be installed to the target location accurately if after supplying with the position and eliminating spacing deviation between each part, eliminate whole position offset by the position correction of bull.
Description of drawings
Fig. 1 is the installation action flow chart of expression bull type in the past.
Fig. 2 is the overall perspective view of an example of install machinery of the present invention.
Fig. 3 is the action specification figure of pre-centring means.
Fig. 4 is the flow chart of an example of part mounting method of the present invention.
Among the figure: W-part, 1-bull, 1a～1d-delivery head, 2-X-Y manipulator, 5-control device, 7-pre-centering unit, 9-camera head, 10-erecting bed.
Embodiment
Fig. 2 is an example of install machinery of the present invention.
The install machinery of this embodiment is arranged to the device of bull 1 of row with 4 adsorption head 1a～1d with constant spacing Ph for disposing, and can 11 adsorbent parts of enough its front ends be connected with not shown vacuum suction device for making each adsorption head 1a～1d.In bull 1, in be equipped with and make 4 adsorption head 1a～1d respectively in the Z axle actuating mechanism (not shown) of above-below direction (Z-direction) lifting with make 4 adsorption head 1a～1d respectively in the θ axle actuating mechanism (not shown) of direction of rotation (θ direction of principal axis) rotation.
Bull 1 is carried on XY manipulator 2.Be that XY manipulator 2 is disposing Y-axis actuating mechanism 3 and X-axis actuating mechanism 4, bull 1 can be supported by Y-axis actuating mechanism 3 on Y direction movably, and Y-axis actuating mechanism 3 can be supported by X-axis actuating mechanism 4 on X-direction movably.Therefore, bull 1 can be moved to the optional position of X-Y direction.Above-mentioned Z axle actuating mechanism, θ axle actuating mechanism, Y-axis actuating mechanism 3 and X-axis actuating mechanism 4 are by 5 controls of computer equal controller.
6 are the embossing conveyer belt, can be along direction of arrow intermittent delivery.Part W is accommodated on 11 ground in the embossing part 6a of conveyer belt 6.And,, be not limited to conveyer belt 6 as the device of feeding parts.
7 is pre-centering unit, and 4 part W that draw from the embossing part 6a of conveyer belt 6 are moved to this on 7.On platform 7, as shown in Figure 3, be provided with by 4 recess 8a with being free to slide in the horizontal direction and using dull and stereotyped 8 with the location that constant spacing P1 forms.At the inner surface of recess 8a, be formed with 2 face 8a1,8a2 intersecting vertically with 2 contacts side surfaces of each part W.The spacing P1 of above-mentioned recess 8a equates with the spacing Ph of adsorption head 1a～1d.Fig. 3 (a) is illustrated on the platform 7 and has placed the state of part W in dull and stereotyped 8 recess 8a, and at this moment the spacing P2 of the Y direction between the part W is unfixing, also produces skew on X-direction.Here, if make dull and stereotyped 8 to slide to arrow K direction, 4 part W are contacted with rectangular 2 face 8a1, the 8a2 of the recess 8a of flat board 8, and then the spacing P1 of the Y direction of 4 part W equates with a spacing Ph as Fig. 3 (b), and has also eliminated the skew of X-direction.And eliminated the axial skew of θ simultaneously.Make dull and stereotyped 8 actuating mechanisms of sliding by control device 5 controls.
9 are part W1 1 camera head such as CCD camera that ground is taken to adsorption head 1a～1d absorption.The data of being taken by camera head 9 are sent to control device 5, make the position of centre of gravity (X, Y coordinate) of each part W of its computing.
10 is erecting bed, and printed circuit board (PCB) 11 is maintained on this erecting bed 10 with the fixed position.Be installed in the installing space Pm of the part W on the printed circuit board (PCB) 11, be set to the common divisor of the spacing Ph of bull 1.
Below, with regard to the action of the install machinery of above-mentioned structure, promptly take out part W, shooting behind pre-centering unit 7 aligned positions, be installed in the step on the printed circuit board (PCB) 11 from conveyer belt 6, describe with reference to Fig. 4.
At first, bull 1 is moved to conveyer belt 6 tops, from conveyer belt 6 absorption 4 part W (step S10).After the absorption, move on the pre-centering unit 7 (step S11).On pre-centering unit 7,4 part W are moved in the recess 8a of flat board 8.Here, make dull and stereotyped 8 as shown in Figure 3, carry out and 4 part W contraposition (step S12) to the tilted direction slip.That is to say, make the mutual spacing P1 of 4 part W consistent with a spacing Ph.And, can carry out with the vacuum suction that stops adsorption head 1a～1d, the state that part W is placed on the pre-centering unit 7 bit motion, also can keep the adsorbed state of part W to carry out.
In the above description, though draw 4 part W and be transported on the pre-centering unit 7 from conveyer belt 6, also can adopt the carrying means different with bull 1 with bull 1.
4 part W that mutual spacing is equated with a spacing Ph move (step S13) with bull 1 absorption and to the direction of camera head 9, and the image (step S14) of each part W is taken on 11 ground above camera head 9.Photographed data is sent to control device 5, tries to achieve the position of centre of gravity (X, Y coordinate position) (step S15) of 4 part W respectively.Obtain its mean value (step S16) from these position of centre of gravitys, obtain poor (side-play amount) (the step S17) of the position of centre of gravity of mean value and 4 parts.
For example, if the position of centre of gravity of 4 part W is respectively (X
1, Y
1), (X
2, Y
2), (X
3, Y
3), (X
4, Y
4), mean value (X then
0, Y
0) obtain by following formula.
Therefore, the side-play amount of each part is shown below.
(X
0-X
1、Y
0-Y
1)
(X
0-X
2、Y
0-Y
2)
(X
0-X
3、Y
0-Y
3)
(X
0-X
4、Y
0-Y
4)
Poor (side-play amount) and the feasible value of trying to achieve are as described above compared (step S18).This feasible value is according to the action error of Y-axis actuating mechanism 3, X-axis actuating mechanism 4, the scale error of a spacing Ph, the decisions such as admissible error of the printed circuit board (PCB) 11 of installation.
If the side-play amount of all 4 parts is all in the feasible value scope, then only with mean value (X
0, Y
0) and desired value (X
r, Y
r) the position of part correction bull 1 of difference, and 4 part W are installed in batch on the target location of printed circuit board (PCB) 11 (step S19).Because in step S12, guaranteed the horizontal accuracy of 4 part W relative positions to a certain extent, thus the positional precision that the position of bull 1 can ensure 4 part W only revised, and install in batch.
If arbitrarily the side-play amount of part W is outside the feasible value scope, then will deviation average (X
0, Y
0) part W except (step S20), obtain the mean value (step S21) of the position of centre of gravity of 3 remaining part W.Then, obtain poor (side-play amount) (the step S22) of the position of centre of gravity of mean value and 3 parts.Then, side-play amount and the feasible value of obtaining compared (step S23), if the side-play amount of 3 part W is in the feasible value scope, then only with its mean value and desired value (X
r, Y
r) the position of part correction bull 1 of difference, and 3 part W are installed in batch on the target location of printed circuit board (PCB) 11 (step S24).Then, the part W for except the quilt makes each stature of bull 1 move along X, Y direction, separately correction position and (step S25) is installed.
If in the judgement of step S23, the side-play amount of any part of 3 parts then carries out getting final product with the same processing of step S20～step S25 outside the feasible value scope.
As long as the contraposition (step S12) at pre-centering unit 7 places has the precision of defined, just almost there be not the situation of side-play amount outside the feasible value scope of any part W in the judgement of step S18, generally all 4 parts can be installed in batch.In other words, carrying out the later processing of step S20, is the inadequate situation of contraposition at pre-centering unit 7 places, perhaps causes producing in bull 1 moving process the situation of offset for a certain reason.
Therefore and former mounting means one by one or bull type and 11 mode of revising installation compare, can significantly improve operating efficiency.
Though in the foregoing description, before the step of a plurality of parts of absorption, utilize pre-centring means that component clearance is corrected and be the spacing identical with a spacing, if have the means of the anchor clamps (for example delivery tray) of the spacing precision of predesignating, so also can omit rectification (contraposition) operation that utilizes the component clearance that pre-centring means carries out as feeding parts but use.And, also can make delivery tray banded mobile, and on delivery tray, arrange in the part to transmit, a plurality of parts that utilize bull to arrange are carried to the direction of erecting bed.
In the foregoing description,, omitted its explanation for the position correction of the direction of rotation (θ axle) of each part W.This is because because the position of direction of rotation can be to a certain degree to guarantee its precision, even it is also passable not carry out the correction of θ axle on pre-centering unit 7.
But, owing to bull 1 vibration in moving process etc. produces part W under the situation of the skew of θ axle, also can utilize image recognition to detect, rotate the skew of revising the θ axle by making each stature 1a～1d.
Though in the foregoing description, use the delivery head of adsorption head, also can be the hand grappling fixture of catching part to carry as conveying parts.
Can see clearly by above-mentioned explanation, according to the present invention the 1st, the install machinery of 5 kind of execution mode, owing under the situation of offset in the feasible value scope of a plurality of parts that bull is carried, install in batch, so compare with in the past mounting means one by one or bull type and 11 mode of revising installation, can shorten the set-up time, and can significantly improve installation effectiveness.
And, even in the offset of any part of carrying by bull under the situation outside the feasible value scope, owing to the part of offset in the feasible value scope can be installed in batch, be compared with the mode that installation is revised on 11 ground and also can shorten the set-up time.
Claims (8)
1. an install machinery is characterized in that, disposes:
With a plurality of delivery heads of conveying parts with the spacing setting of regulation, have make each delivery head respectively along the bull of the Z axle actuating mechanism of oscilaltion and
Make bull at least supply with between position and the installation site along the actuating mechanism of X, Y direction action and
To utilize device that bull takes from a plurality of parts of supplying with the position and carrying and
Discern described shooting each part image and detect each part offset device and
The device of control bull, the device of described control bull compares the offset and the feasible value of each part, if the offset of all parts is then installed part to the installation site in the feasible value scope in batch; If the offset of part then will be installed to the installation site at the part in the feasible value scope outside the feasible value scope in batch arbitrarily, simultaneously the position of the part outside the feasible value scope is revised individually, install to the installation site then.
2. install machinery according to claim 1 is characterized in that, also has supplying with the collating unit that as one man arrange a plurality of parts and a spacing position.
3. install machinery according to claim 2, it is characterized in that, described collating unit makes two contacts side surfaces of these faces and a plurality of parts for having mutually perpendicular two faces, is the pre-centring means with spacing identical with a spacing with the aligning of a plurality of parts.
4. according to each the described install machinery in the claim 1～3, it is characterized in that, also has difference when the position of centre of gravity of the mean value of the position of centre of gravity of a plurality of parts and these parts in the feasible value scope time, only the amending unit of the spacing of bull being revised with the mean value part of the position of centre of gravity of each part in the feasible value scope.
5. the part mounting method of an install machinery, this install machinery dispose the bull that a plurality of delivery heads with conveying parts are provided with prescribed distance, and this part mounting method may further comprise the steps:
Supply with the position utilize bull carry simultaneously a plurality of parts step and
The image of each part that identification is carried by bull, detect each part offset step and
With the offset of each part and feasible value relatively step and
If the offset of all parts of carrying with bull is then installed the step of part in batch to the installation site in the feasible value scope; If the offset of any part of carrying with bull is outside the feasible value scope, the part in the installation site is installed the feasible value scope in batch then, simultaneously the position of the part outside the feasible value scope is revised individually, then the step of installing to the installation site.
6. the part mounting method of install machinery according to claim 5, it is characterized in that, before utilizing described bull to carry the step of a plurality of parts simultaneously, be provided with and supplying with two contacts side surfaces that the position makes mutually perpendicular two faces of pre-centring means and a plurality of parts, be step with spacing identical with a spacing with the aligning of a plurality of parts.
7. according to the part mounting method of claim 5 or 6 described install machineries, it is characterized in that described offset is tried to achieve from the difference of the position of centre of gravity of the mean value of the position of centre of gravity of each part and each part.
8. the part mounting method of install machinery according to claim 7, it is characterized in that, in the part of carrying by described bull, under the difference of the position of centre of gravity of the mean value of the position of centre of gravity of a plurality of parts and these parts is situation in the feasible value scope, only the spacing of bull is revised and installed in batch to the installation site with the mean value part of the position of centre of gravity of each part in the feasible value scope.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001072689A JP3709800B2 (en) | 2001-03-14 | 2001-03-14 | Mounting machine and component mounting method |
| JP072689/2001 | 2001-03-14 | ||
| JP2001-072689 | 2001-03-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1376026A CN1376026A (en) | 2002-10-23 |
| CN1189071C true CN1189071C (en) | 2005-02-09 |
Family
ID=18930236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021075336A Expired - Lifetime CN1189071C (en) | 2001-03-14 | 2002-03-14 | Mounting machine and its part mounting method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP3709800B2 (en) |
| KR (1) | KR100447310B1 (en) |
| CN (1) | CN1189071C (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4106301B2 (en) * | 2003-04-23 | 2008-06-25 | Ｊｕｋｉ株式会社 | Component recognition method and apparatus |
| JP2005101263A (en) * | 2003-09-25 | 2005-04-14 | Juki Corp | Electronic part packaging device |
| JP4664752B2 (en) * | 2005-06-30 | 2011-04-06 | Ｊｕｋｉ株式会社 | Component adsorption method and apparatus |
| JP5064758B2 (en) * | 2006-10-23 | 2012-10-31 | ヤマハ発動機株式会社 | Data creation device and surface mounter |
| JP5527179B2 (en) * | 2010-11-29 | 2014-06-18 | 株式会社デンソー | Orthogonal assembly equipment |
| US9693166B2 (en) * | 2014-06-24 | 2017-06-27 | The Boeing Company | Automated production of acoustic structures |
| JP6454730B2 (en) * | 2014-12-26 | 2019-01-16 | シャープ株式会社 | Cap mounting method and cap mounting apparatus for semiconductor device package |
| CN104858858A (en) * | 2015-04-13 | 2015-08-26 | 上海金东唐科技股份有限公司 | Automatic grabbing mechanism and automatic grabbing method |
| JP6913849B2 (en) * | 2017-01-12 | 2021-08-04 | パナソニックＩｐマネジメント株式会社 | Component mounting system, component mounting method, and correction value calculation device |
| CN108860717B (en) * | 2017-05-16 | 2021-08-31 | 太阳诱电株式会社 | Electronic component insertion device and method, electronic component storage tape manufacturing device and method |
| CN108007865A (en) * | 2018-01-09 | 2018-05-08 | 科为升视觉技术（苏州）有限公司 | PCB automatic Feeding Detecting Systems and method based on image recognition |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2620646B2 (en) * | 1989-06-07 | 1997-06-18 | 三洋電機株式会社 | Electronic component automatic mounting device |
| JPH07235800A (en) * | 1994-02-24 | 1995-09-05 | Citizen Watch Co Ltd | Part carrying device and part carrying method |
| JP2863731B2 (en) * | 1996-05-14 | 1999-03-03 | 株式会社テンリュウテクニックス | Electronic component mounting apparatus and method |
| JPH10224092A (en) * | 1997-02-12 | 1998-08-21 | Matsushita Electric Ind Co Ltd | Method and apparatus for mounting electronic component |
| KR100515446B1 (en) * | 1998-08-07 | 2005-11-28 | 삼성전자주식회사 | Electronic component mounting device and mounting control method |
| KR20000021713A (en) * | 1998-09-30 | 2000-04-25 | 윤종용 | Apparatus and method for mounting electronic parts |
-
2001
- 2001-03-14 JP JP2001072689A patent/JP3709800B2/en not_active Expired - Lifetime
-
2002
- 2002-03-12 KR KR10-2002-0013213A patent/KR100447310B1/en active IP Right Grant
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Also Published As
| Publication number | Publication date |
|---|---|
| KR20020073274A (en) | 2002-09-23 |
| JP3709800B2 (en) | 2005-10-26 |
| KR100447310B1 (en) | 2004-09-07 |
| CN1376026A (en) | 2002-10-23 |
| JP2002271098A (en) | 2002-09-20 |
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