CN101048058B - A component placement unit as well as a component placement device comprising such a component placement unit - Google Patents
A component placement unit as well as a component placement device comprising such a component placement unit Download PDFInfo
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- CN101048058B CN101048058B CN2007101035031A CN200710103503A CN101048058B CN 101048058 B CN101048058 B CN 101048058B CN 2007101035031 A CN2007101035031 A CN 2007101035031A CN 200710103503 A CN200710103503 A CN 200710103503A CN 101048058 B CN101048058 B CN 101048058B
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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
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
- H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
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- Microelectronics & Electronic Packaging (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a component placement unit for placing a component on a substrate, which component placement unit comprises at least one nozzle which is rotatable about a central axis, by means of which a component can be picked up and placed on the substrate. The component placement unit further comprises at least one sensor for determining the orientation of the component relative to the nozzle. At least one optical element is disposed between said sensor and said nozzle. A first focus plane of the optical element at least substantially coincides with the central axis of the nozzle, whilst a second focus plane substantially coincides with the sensor, wherein an image produced by means of the sensor is a contour image of the component.
Description
Technical field
The present invention relates to a kind of for parts being placed on suprabasil parts placement unit, wherein, this parts placement unit comprises the nozzle that at least one can rotate around central axis, utilize this nozzle can pick-up part and place it in the substrate, this parts placement unit comprises that further at least one is used for determining that these parts are with respect to the transducer in the orientation of nozzle, and at least one is arranged in the optical element between described transducer and the described nozzle, wherein, the first focal plane of this optical element overlaps at least basically with the central axis of nozzle, simultaneously, the second focal plane overlaps basically with this transducer, and the image that is wherein produced by transducer is the contour images of these parts.
The invention still further relates to a kind of component placement device, it comprises that at least one substrate sends to/carrying device, at least one parts feeder and at least one parts placement unit.
Background technology
This parts placement unit can know from US-A-5559727 that it is used for component placement device, in this component placement device, utilizes this nozzle to come pick-up part, and then these parts is moved to suprabasil desired locations.When parts are moved, determine that by transducer these parts are with respect to the orientation of nozzle.Then, parts are positioned in suprabasil desired locations.Owing to when parts placement unit during from the process of the basad movement of parts feeder, determined the orientation of parts with respect to nozzle, only need to spend the minimum time pick up and place these parts.
The shortcoming of this known elements placement unit is, must use separator, to obtain to be placed on about parts the information of exact position in the substrate.
Summary of the invention
Purpose of the present invention just provides a kind of parts placement unit, by this parts placement unit can be accurately and fast, reliably determining means with respect to the orientation of nozzle and parts at suprabasil desired locations.
This purpose parts placement unit according to the present invention is realized, be also can produce by transducer the image of at least a portion of substrate, some of the first focal planes overlap at least basically with the central axis of this nozzle, and the first focal plane of part overlaps at least basically with substrate.
Like this, by the image of transducer production part, with the orientation of determining means with respect to nozzle, also can produce the image of at least a portion of substrate.Preferably, described part is the part of placing component in substrate.By producing the image of substrate, can determine that nozzle is with respect to the orientation of substrate with a kind of simple mode.Determining means is commonly referred to " component calibration " (component alignment, CA) with respect to the position of nozzle, determines that simultaneously nozzle is also referred to as " plate calibration " (board alignment, BA) with respect to the position of substrate.
Because can utilize transducer to realize component calibration and plate calibration, so do not need to use independent transducer for the plate calibration.This not only can save the expense of additional sensors, and extraly, uses single-sensor to be used for component calibration and plate calibration, owing to do not need the mutual calibration to two transducers, so that the result is more accurate.
Because central axis and the substrate of nozzle all are positioned on the first focal plane, can obtain the more clearly image of parts and substrate on transducer.Deflecting element is arranged between optical element and the central axis, illustrates, and this optical axis extends transverse to substrate.Image of production part and substrate does not become possibility so that do not use moving-member for this.
It should be noted, known parts placement unit from UK Patent Application No.2183820, the parts that picked up by nozzle rotate around central axis, and light beam is transmitted on the parts by a plurality of light sources simultaneously.The light beam that is sent by light source is detected the device reception.Described light beam is cut off by parts, so that parts project shade at detector.From these shadow images be stored in computer the position of rotation relevant with nozzle, can come determining means with respect to the orientation of nozzle with a kind of original known way.
The shortcoming of this known elements placement unit is: for the hard shadow of production part on detector as much as possible, light source has been proposed relatively high requirement.The parts placement unit is relatively responsive to ambient light, because this light also can cause shadow effect.And, to compare with other materials on the parts, transducer is relatively more responsive to dust granule.In addition, utilize transducer only can determine the external dimensions in this cross section of parts.
Because according to parts placement unit of the present invention, the profile direct imaging of parts is on transducer, and parts can be directly with respect to the position of nozzle obtain from synthetic image.Owing to do not use shade, parts placement unit according to the present invention is not too responsive to ambient light.In addition, transducer is also not too responsive to the dust on parts and/or the optical element.
An embodiment according to parts placement unit of the present invention, it is characterized in that, the central axis that the optical axis of optical element is parallel to nozzle extends, one deflection component is arranged between optical element and the central axis, utilize this deflection component, at least one profile of the parts that picked up by nozzle can be imaged on the transducer.
Transverse to the size on the optical axis direction, the interval between two focal planes is relatively large, by allowing this central axis and this optical axis extend parallel to each other, can obtain compact parts placement unit than this optical element and transducer.
Another embodiment according to parts placement unit of the present invention is characterized in that, optical element is the heart far away.
Because this optical element is the heart far away, the light that only is parallel to optical axis is used for synthetic image, and the possibility that perspective effect therefore occurs is minimum.The result is, when parts were not on the focal plane of optical element, especially the outline position on the transducer was unaffected.
Also embodiment according to parts placement unit of the present invention is characterized in that optical element has heart magnifying optics far away.
Use this heart magnifying optics far away so that may produce relatively little parts and the image of relative large parts.In the process of this parts placement unit design, the magnification ratio of magnifying optics can be suitable for the size of the maximum part placed by this parts placement unit.
Also embodiment according to parts placement unit of the present invention is characterized in that heart magnifying optics far away comprises cylindrical lens and/or spherical lens.
This cylindrical lens and spherical lens can relatively easily be made with glass or plastic material.Use the advantage of spherical lens to be, it is easier under than the situation of using cylindrical lens to focus on these parts at the both direction of each other horizontal expansion, for example also allows to measure these parts or nozzle and do not need the movement of z direction in the z direction
The advantage of cylindrical lens is that position of related features is inaccuracy relatively, but can produce the image of high-quality simultaneously.In addition, this cylindrical lens is made relatively easily, so that this cylindrical lens is relatively cheap.
Also embodiment according to parts placement unit of the present invention is characterized in that, utilizes transducer to produce the two dimensional image of these parts.
Utilize this transducer, can obtain the image of the overall profile of parts, so that determining means is with respect to the position of nozzle more accurately.If meanwhile also produce the image of substrate, the time that produces image is shortened, thereby measuring speed is accelerated.In addition, can also carry out the measurement of different cross section height.When using single-sensor, this can improve durability.
Also embodiment according to parts placement unit of the present invention is characterized in that, this parts placement unit comprises the light source away from a side of transducer that is positioned at this focal plane.
In fact, this light source can be any light source, its parts photograph enough bright, and illuminate in essentially identical mode at each viewing position, to obtain the picture rich in detail at the profile of transducer upper-part.In order to obtain the Uniform Illumination to these parts, light source can have scattering object, and this scattering object is to from carrying out scattering in sensor orientation in the mode of transmission or reflection to the light that sends from light source.
Also embodiment according to parts placement unit of the present invention is characterized in that optical axis and central axis intersect.
The parts that picked up by nozzle like this extend with essentially identical distance at the either side of optical axis basically.The difference of optical axis either side has determined that the center of parts is with respect to the deviation of nozzle centre axis.This optical axis especially is suitable for less parts with respect to the orientation of central axis, and wherein the whole profile of parts can utilize optical element to be imaged on the transducer.
If determine the profile of relatively large parts, need optical axis and central axis to intersect.The image of profile that so only is positioned at the parts of central axis one side can be generated by transducer.But, can be by rotating these parts around central axis and generate a plurality of images, thus obtain the image of the whole profile of parts.
Description of drawings
Below with reference to accompanying drawing the present invention is made a more detailed description, wherein:
Fig. 1 is the perspective view according to the part of component placement device of the present invention;
Fig. 2 is the end view according to the parts placement unit of the component placement device for Fig. 1 of the present invention;
Fig. 3 is the expansion plane graph of parts placement unit light path shown in Figure 2;
Fig. 4 is the expansion plane graph according to an alternate embodiment light path of parts placement unit of the present invention;
Fig. 5 is the expansion plane graph according to another alternate embodiment light path of parts placement unit of the present invention;
Fig. 6 is the also expansion plane graph of an alternate embodiment light path according to parts placement unit of the present invention;
Fig. 7 is according to the also end view of a substitutions of elements placement unit of the present invention;
Fig. 8 is the end view according to another embodiment of parts placement unit of the present invention, and it can be used in the component placement device shown in Figure 1;
Fig. 9 is the expansion plane graph of parts placement unit light path shown in Figure 8;
Figure 10 is the perspective view that is used in another embodiment according to the heart magnifying optics far away in the parts placement unit of the present invention shown in Figure 8;
Figure 11 is the end view according to another embodiment of parts placement unit of the present invention;
Figure 12 is the plane graph according to another embodiment of parts placement unit of the present invention.
Identical identical parts of numeral among the figure.
Embodiment
Fig. 1 shows the part perspective view according to component placement device 1 of the present invention, and it comprises that substrate sends to/carrying device 2 and three parts placement units 3.Each parts placement unit 3 comprises: long U-shaped framework 4; The first sliding part 5, it can move along double-head arrow Y indicated direction with respect to framework 4; And second sliding part 6, it can move along double-head arrow X indicated direction with respect to the first sliding part 5.The second sliding part 6 has nozzle 7, and it can be with respect to the second sliding part 6 along double-head arrow Z indication to moving.Be shown clearly in such as Fig. 2, nozzle 7 is along double-head arrow
Indicated direction is around central axis 8 rotations, and this central axis is parallel to the Z direction and extends.Other the second sliding part 6 has imaging device 9, and its optical axis 10 is parallel to central axis 8 and extends.Deflecting mirror 14 and light source 15 that imaging device 9 comprises transducer 11, is arranged in the lens 12 and 13 of its front, arranges in part, lens 13 fronts.10 one-tenth miter angles of deflecting mirror 14 and optical axis.Lens 12 and 13 consist of the telecentric optics element, and its first focal plane 16 overlaps with the central axis 8 of nozzle 7.The first focal plane 16 also with by substrate sends to/and substrate 17 that carrying device 2 supports overlaps.The second focal plane 18 of the optical element that is made of lens 12 and 13 overlaps with transducer 11.
These parts 19 provide position 20 to pick up by nozzle 7 from parts.For this reason, nozzle 7 moves at arrow X and Y indicated direction in known manner.
When parts 19 being provided position 20 move desired locations 21 at the end 17 from parts, be attached with the nozzle 7 of parts 19 according to double-head arrow
Indicated direction is rotated around central axis 8.In described rotary course, at known in advance a plurality of position of rotation place, be created in the image of the profile of the parts 19 in the focal plane 16 by transducer 11.According to described contour images, parts 19 can be determined by arithmetic element with respect to position and the orientation of nozzle 7.In addition, one of the position in substrate 17 21 and 11 generations of a plurality of imagery exploitation transducer.(these images are to produce in the position of sliding part 6 with respect to framework 4 according to described image, this position is stored in the arithmetic element), can determine this position 21 with respect to the position of nozzle 7, and determine that therefore these parts 19 are with respect to the position of position 21.Subsequently, parts 19 can accurately be placed on desired locations 21 places.
Because lens 12 and 13 are positioned at the next door of central axis 8, each parts that so needn't mobile imaging device 9 just can be placed on parts 19 in the substrate 17.Like this, can guarantee to keep each other correct location between the different elements of this parts placement unit.
Because the profile of parts 19 is detected by transducer 11, parts 19 just can be determined with a kind of relative simple mode with the orientation with respect to the position of nozzle 7.Because this optical element is the heart far away, can obtain the picture rich in detail of these parts 19.
In situation shown in Figure 3, central axis 8 intersects with optical axis 10.The position of this central axis 8 is particularly useful for relatively little parts 19, and its whole profile can be imaged on the transducer 11.In the situation of large parts 19, suggestion central axis 8 away from optical axis 10 certain distances, and central axis 8 still is arranged in focal plane 16.In such position, only have a side of the parts 19 of close optical axis 10 to be imaged on the transducer 11.Yet, by so that this parts 19 around central axis 8 rotations, after these parts fully rotate, and after a plurality of images of the profile of production part 19, still can determining means 19 with respect to the position of central axis 8.
Sliding part 6 can also have 9, one images for generation of parts 19 of two imaging devices; Another is for generation of the image of substrate 21.This alternate embodiment has been shown among Fig. 4-8.
Fig. 4 has represented a kind of light path of alternate embodiment, and wherein central axis 8 and optical axis 10 intersect and spacing distance d.The position of this central axis is particularly useful for relatively large 19, by according to arrow
Indicated direction rotating parts 19, its whole profile can be imaged on the transducer 11.
Fig. 5 has represented an alternate embodiment, itself and difference embodiment illustrated in fig. 3 are, two component prisms 22 and 23 be arranged in lens 12,13 and central axis 8 between, the result is this optical axis with central axial line 8 is not crossing (intersect) but intersect (cross).Like this, also may be only a side of parts 19 be imaged on the transducer 11, simultaneously, by according to arrow
Indicated direction can obtain the information of the whole profile of relevant parts 19 around central axis 8 rotating partss 19.
What Fig. 6 represented is another alternate embodiment, and itself and difference embodiment illustrated in fig. 5 are, only use single prism 22.In this embodiment, focal plane 16 is not to extend transverse to the optical axis between transducer 11 and the lens 13, but becomes an obtuse angle with this optical axis.In this embodiment, this optical axis also intersects with central axis 8, and the image of possibility production part 19 1 sides.
What Fig. 7 represented is an alternate embodiment that comprises the component placement device of sliding part 26.Sliding part 26 is that with the difference of sliding part 6 shown in Figure 2 light beam shifter 27 is arranged between deflecting mirror 14 and the nozzle 7.This light beam shifter 27 comprises prism shown in Figure 5 22 and 23, for example or comprise prism shown in Figure 6 22.
If determine the profile of relatively little parts 19, by nozzle 7 parts 19 are positioned on the light path 28, and only deflecting mirror 14 are arranged between parts 19 and the lens 13.If place relatively large parts 19, utilize nozzle 7 at the Z direction described parts 19 that move up, and parts 19 are positioned on the light path 29.In this case, not only deflecting mirror 14 but also light beam shifter 27 are disposed between parts 19 and the lens 13.Like this, according to the size of the parts 19 that will place, might be with the profile direct imaging of the whole profile of parts or parts 19 1 sides on transducer 11.Can also obtain information about whole parts by rotating these parts and producing a plurality of images in addition.
Fig. 8 has represented the also embodiment according to the component placement device that comprises sliding part 46 of the present invention.Sliding part 46 is that with the difference of the described sliding part 6 of Fig. 2 optical element 47 also comprises heart magnifying optics 48 far away except comprising lens 12,13.Illustrate as Fig. 2-8 is clear in addition, plate washer 49 is arranged between lens 12 and 13, and wherein this plate washer has relatively little path 50.
As clearlying show that among Fig. 9, this heart magnifying optics 48 far away comprises two spherical lenses 51 and 52.Deflecting mirror 14 is arranged between lens 51 and 52.This heart magnifying optics 48 far away is so that utilize nozzle 7 can pick up relatively large parts 19, and at least one side of these parts 19 can imaging on transducer 11.In this embodiment, parts 19 are such as large many of embodiment shown in Figure 4.If utilize nozzle 7 to pick up the parts 19 of less, utilize the embodiment shown in Fig. 8 and 9 whole parts 19 can be imaged on the transducer 11.
What Figure 10 represented is the alternate embodiment of heart magnifying optics 58 far away, and it comprises two cylindrical lenses 59 and 60.The mill angle at 45 °, bottom side of cylindrical lens 59 has obtained the plane 61 as deflecting mirror thus.The advantage of this deflecting mirror is that this heart magnifying optics 58 far away is not too responsive for dust, because the exposure of the optical surface of this system is less.
When use heart magnifying optics 48 far away, 58 the time, an important factor is that central axis 8 is positioned at 16 places, the first focal plane, wherein parts 19 are according to arrow
Rotate around central axis 8 on the indicated direction.Preferably, such central axis does not overlap with optical axial 10, thereby may can detect relatively little parts 19 and relatively large parts 19 by transducer 11.In order to obtain the complete image of parts 19, widget 19 only needs Rotate 180 °.Preferably, in order to detect all sides of relatively large parts 19, these relatively large parts 19 must rotating 360 degrees.
In the embodiment shown in fig. 8, need not to be the heart far away for detection of the optical system of this desired locations 21.Yet, in order fully to detect these parts 19, need to place the plate washer 49 with less path 50, and must be undertaken by center device far away the imaging of parts 19.
According to another kind of possibility, this heart magnifying optics far away can comprise speculum rather than lens.
Preferably, all component integrations on the sliding part 46 are integrated, thereby can obtain to have the sliding part 46 of the less of accurate manufacturing tolerance.In addition, also may be in connection integrated be used to controlling various parts electronic component and for the treatment of the electronic component of the information that obtains from transducer 11.Like this, further reduced cost.
Figure 11 represents is end view according to parts placement unit 71 of the present invention, itself and parts placement unit difference shown in Figure 8 are, comprise the nozzle 7 ', 7 that is positioned at optical axis 10 both sides ", and at double-head arrow 4 ', 4 " indicated direction is around being parallel to z ', z " central axis 8 ', 8 that extends of direction " rotation.This parts placement unit 71 further comprises two light sources 15 ', 15 ", each light source is used for illumination by nozzle 7 ', 7 " parts 19 ', 19 that pick up ".Parts placement unit 71 comprises transducer 11, is arranged in the lens 12 and 13 of transducer front, is arranged in the plate washer 49 between transducer 11 and the lens 12,13 and is arranged in lens 13 and respective sources 15 ', 15 " between heart magnifying optics 48 ' far away, 48 "., this far away heart magnifying optics 48 ', 48 similar with heart magnifying optics far away 48 " have lens 51 ', 52 ', 51 ", 52 " and be arranged in deflecting mirror 14 ', 14 between these lens ".Can simultaneously or in a sequence pick up and place two parts by this parts placement unit 71, simultaneously, parts 19 ', 19 " can be detected by transducer 11 simultaneously.The image of the position 21 of substrate 17 can be to parts 19 ', 19 " produce simultaneously when carrying out described detection.Optical axis 10 ', 10 " can with central axis 8 ', 8 " intersect or intersect.
Figure 12 is the plane graph of parts placement unit 81, and the difference of itself and parts placement unit 71 is, comprises four rather than two nozzles 7, also comprises relevant light source 15 and heart magnifying optics 48 far away.In Figure 12, all parts of four unit is used respectively ', ", " ' and " " expression.Parts placement unit 81 is so that may generate simultaneously the image of four parts 19 and the image of the position 21 in the substrate 17.In the parts placement unit 81 shown in Figure 12, optical axis 10 ', 10 ", 10 " ', 10 " " with central axis 8 ', 8 ", 8 " ', 8 " " intersect.
Certainly optical axis 10 also can intersect with central axis 8 as among the embodiment of Fig. 8.Can certainly be in four positions one or more in save heart magnifying optics 48 far away, for example in the situation of the parts that obtain less with special nozzle 7.
Claims (8)
1. a parts placement unit (1) is used for parts (19) are placed on substrate (17), and described parts placement unit (1) comprising:
At least one is used for picking up described parts (19) and placing it in described substrate (17) around the nozzle (7) of central axis (8) rotation;
The transducer (11) that at least one is in a fixed position with respect to described central axis (8) is for generation of the contour images of described parts (19), to determine that described parts (19) are with respect to the orientation of described nozzle (7); And
At least one is arranged in the optical element between described transducer (11) and the described nozzle (7);
It is characterized in that,
The image of at least a portion of described substrate (17) also can utilize described transducer (11) to produce, and
The optical axis of described optical element (10) is parallel to described central axis (8) and extends, described substrate (17) is extended transverse to described central axis (8), one deflection component is arranged between described optical element and the described central axis (8), so that first focal plane (16) of the part of described optical element overlaps basically with the central axis (8) of described nozzle (7), and first focal plane (16) of another part overlaps basically with described substrate (17), second focal plane (18) of described optical element overlaps basically with transducer (11), thus, described optical element be arranged in from the fixed range place of described central axis so that in use described optical element can not hinder described parts (19) are placed in the described substrate (17).
2. according to claim 1 parts placement unit (1) is characterized in that described optical element is the heart far away.
3. according to claim 2 parts placement unit (1) is characterized in that this optical element has heart magnifying optics far away.
4. according to claim 3 parts placement unit (1) is characterized in that this heart magnifying optics far away comprises cylindrical lens and/or spherical lens (12,13).
5. according to claim 1 parts placement unit (1), it is characterized in that, this parts placement unit (1) comprises light source (15), and this light source (15) is arranged in the side away from transducer (11) of this first focal plane (16).
6. according to claim 1 parts placement unit (1) is characterized in that, the optical axis of described optical element (10) intersects with described central axis (8) after described deflection component deflection.
7. according to claim 1 parts placement unit (1) is characterized in that the optical axis of described optical element (10) intersects and spacing distance (d) with described central axis (8) after described deflection component deflection.
8. component placement device comprises: at least one substrate (17) sends to/and carrying device, at least one parts feeder and at least one is such as the described parts placement unit of any one in the above-mentioned claim (1).
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL1031471A NL1031471C2 (en) | 2006-03-30 | 2006-03-30 | Electronic component placement machine, includes optical element with two focal planes coincidental with nozzle central axis and component orientation sensor |
| NL1031471 | 2006-03-30 | ||
| NL1033000A NL1033000C2 (en) | 2006-03-30 | 2006-12-05 | Component placement unit as well as component placement device which is provided with such a component placement unit. |
| NL1033000 | 2006-12-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101048058A CN101048058A (en) | 2007-10-03 |
| CN101048058B true CN101048058B (en) | 2013-04-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101035031A Active CN101048058B (en) | 2006-03-30 | 2007-03-29 | A component placement unit as well as a component placement device comprising such a component placement unit |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101048058B (en) |
| NL (1) | NL1031471C2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1036507C2 (en) * | 2009-02-03 | 2010-08-04 | Assembleon Bv | DEVICE SUITABLE FOR MANUFACTURING AN SENSOR OF AN IMAGE, AND THE COMPONENT POSITIONING UNIT PROVIDED FOR SUCH A DEVICE. |
| NL1034086C2 (en) | 2007-07-03 | 2009-01-06 | Assembleon Bv | Method for placing at least one component provided with connection points on a substrate and such a device. |
| US8275192B2 (en) * | 2008-12-23 | 2012-09-25 | Caterpillar Inc. | Coupling alignment apparatus and method |
| US10517199B2 (en) * | 2015-12-17 | 2019-12-24 | Assembléon B.V. | Methods of positioning a component in a desired position on a board, pick and place machines, and sensors for such pick and place machines |
| CN116766183B (en) * | 2023-06-15 | 2023-12-26 | 山东中清智能科技股份有限公司 | Mechanical arm control method and device based on visual image |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4608494A (en) * | 1983-11-11 | 1986-08-26 | Hitachi, Ltd. | Component alignment apparatus |
| US5559727A (en) * | 1994-02-24 | 1996-09-24 | Quad Systems Corporation | Apparatus and method for determining the position of a component prior to placement |
| US5701661A (en) * | 1993-04-14 | 1997-12-30 | Van Den Brink; Hans Gerard | Optical system for mutually positioning a pad carrying member and a multileaded component |
| US5897611A (en) * | 1994-08-11 | 1999-04-27 | Cyberoptics Corporation | High precision semiconductor component alignment systems |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6150002A (en) * | 1984-08-20 | 1986-03-12 | Matsushita Electric Ind Co Ltd | Relative position detector |
| KR100287787B1 (en) * | 1998-09-24 | 2001-04-16 | 이중구 | Apparatus and method for determining the positon of a component |
| EP1588597A1 (en) * | 2003-01-14 | 2005-10-26 | Koninklijke Philips Electronics N.V. | Machine suitable for placing a component on a substrate, as well as a method therefor |
-
2006
- 2006-03-30 NL NL1031471A patent/NL1031471C2/en not_active IP Right Cessation
-
2007
- 2007-03-29 CN CN2007101035031A patent/CN101048058B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4608494A (en) * | 1983-11-11 | 1986-08-26 | Hitachi, Ltd. | Component alignment apparatus |
| US5701661A (en) * | 1993-04-14 | 1997-12-30 | Van Den Brink; Hans Gerard | Optical system for mutually positioning a pad carrying member and a multileaded component |
| US5559727A (en) * | 1994-02-24 | 1996-09-24 | Quad Systems Corporation | Apparatus and method for determining the position of a component prior to placement |
| US5897611A (en) * | 1994-08-11 | 1999-04-27 | Cyberoptics Corporation | High precision semiconductor component alignment systems |
Also Published As
| Publication number | Publication date |
|---|---|
| NL1031471C2 (en) | 2007-03-16 |
| CN101048058A (en) | 2007-10-03 |
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