CN103313591B - Part identification system and part identification method - Google Patents
Part identification system and part identification method Download PDFInfo
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- CN103313591B CN103313591B CN201210189507.7A CN201210189507A CN103313591B CN 103313591 B CN103313591 B CN 103313591B CN 201210189507 A CN201210189507 A CN 201210189507A CN 103313591 B CN103313591 B CN 103313591B
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Abstract
The invention relates to a part identification system, which is used for driving an automatic device to pick up a part and adjust a pin of the part to a preset position. The part comprises a top part, a bottom part and at least one group of pins, wherein the pins are arranged at the bottom part, and the top part at least comprises a positioning feature. The part identification system comprises a feeding device, an optical sensor and a data processing device. The feeding device adjusts the parts to a preset placing state for the automatic device to pick up. The optical sensor is arranged on one side of the feeding device and captures sampling data from the top of the part in a preset placing state. The data processing device is electrically connected with the optical sensor and the automation device. The data processing device receives the sampling data, generates an instruction according to the positioning characteristics in the sampling data, and transmits the instruction to the automation device so as to drive the automation device to pick up the part and then rotate the part according to the instruction.
Description
【Technical field】
The present invention relates to a kind of automatic assembling of part, more particularly to a kind of part identification system and part identification side
Method.
【Background technology】
In a circuit board is made, such as during a computer main frame panel, many electronic components must one by one be positioned over printing Electricity
On base board (PCB), and welded.Foregoing electronic component comprises at least two pins.For example, except columned body
Outward, electric capacity also includes two pins, and two pins have the difference of positive pole and negative pole.PCB substrate includes the jack for pre-setting, right respectively
Should be in two pins.Two pins must insert correct jack according to positive pole and the difference of negative pole, can just carry out welding job.
Aforementioned electronic part is positioned on substrate and the operation of correct jack is inserted the prongs within, is currently to be with manpower
It is main.Although rapidly can be positioned over part on circuit board by automation equipment, automation equipment plays plug-in unit part pickup
After coming, and the difference of the relative position of pin and the relative position of jack cannot be judged.Therefore, it is to be inserted with manpower arrangement in practice
Part part, adjusts the relative position of pin in advance so that automation equipment only needs to translate plug-in unit part, so that it may so that pin
Insert correct jack.Plug-in unit part is arranged with manpower so that the making of the circuit board product such as motherboard turns into manpower demand high
Operation, cause human cost to be difficult to decline.
【The content of the invention】
In background technology, after automation equipment gets up plug-in unit part pickup, and cannot judge the relative position of pin with
The difference of the relative position of jack.Therefore need to arrange plug-in unit part with a large amount of manpowers in advance, and adjust the relative position of pin
Put.Therefore, the operation of the making as manpower demand high of the circuit board product such as motherboard.
In view of this, the present invention provides a kind of part identification system and part discrimination method, it is possible to provide the anglec of rotation is to certainly
Dynamic makeup is put, and makes the pin position of automation equipment adjust automatically part to correct relative position.
Part identification system of the invention, is used to produce an instruction, to drive an automation equipment in picking up a part, and
The pin of part is adjusted to a predeterminated position.Part includes a top, a bottom and one group of pin, and pin is arranged at bottom.
Top comprises at least a location feature.Part identification system includes a feed device, an optical sensor and data processing equipment.
Feed device adjusts part to a predetermined laying state and is picked up for automation equipment.Optical sensor is filled located at feeding
The side put, and capture a sampled data from the top of the part for being located at predetermined laying state.Data processing equipment is electrically connected with
Optical sensor and automation equipment.Data processing equipment receives sampled data, and is produced according to the location feature in sampled data
It is raw to instruct, transmit to automation equipment instruction, after driving automation equipment to pick up part, according to instruction rotating part.
Part identification system of the present invention, wherein predetermined laying state is to adjust to being adapted for insertion into a printing pin
Place in the direction of circuit board jack.
Part identification system of the present invention, wherein feed device are comprising a vibrations sorting machine and are fed track one by one,
Vibrations sorting machine adjusts part to predetermined laying state, and feed track receives part from shaking sorting machine, part be transported to
Expect that the end of track is picked up for automation equipment.
Part identification system of the present invention, wherein vibrations sorting machine includes a pallet and a shaking device, pallet holds
An at least part, and feed track connecting trays are put, shaking device is connected to pallet, shaken along center to the circumferencial direction of pallet
Pallet.
Part identification system of the present invention, wherein optical sensor are a pick-up lens, its top for capturing part
Image, with produce sampled data.
Part identification system of the present invention, wherein stores a predeterminated position data in data processing equipment, it is fixed to represent
Position feature needs corresponding position in top, and data processing equipment receives sampled data, the position of analyzing and positioning feature, and compares
Position and predeterminated position data, so that the anglec of rotation instruction corresponding with generation required for judging part.
Part identification system of the present invention, wherein optical sensor is arranged at automation equipment.
Part identification system of the present invention, wherein further including a specified wavelength light source, is used to project specified wavelength light
To the predeterminated position of location feature, and optical sensor obtains the reflected intensity of specified wavelength light as sampled data, at data
Whether reason device judges part in the correct state of pin relative position according to reflected intensity, and produces instruction with rotating part
To being suitable to the angle of plug-in unit.
The present invention simultaneously discloses a kind of part discrimination method, is used to drive an automation equipment after a part is picked up, and rotates
Part simultaneously adjusts the pin of part a to predeterminated position.Part includes a top, a bottom and at least one set of pin, and pin sets
Bottom is placed in, and top comprises at least a location feature.
Part discrimination method is comprised the steps of：
With a feed device conveying parts to the front end of a feed track, and adjust part to a predetermined laying state；
One sampled data is captured from the top of part with an optical sensor；
A predeterminated position a to data processing equipment is loaded, represent location feature needs corresponding position in top；
Sampled data is received with data processing equipment, analyzing and positioning feature is in the position at top；
Position and predeterminated position data of the location feature in top are compared with data processing equipment；
Based on predeterminated position and location feature in the position at top, place's material processing device judges part according to its long axis direction
The required anglec of rotation；And
The anglec of rotation to automation equipment is transmitted with data processing equipment.
Part discrimination method of the present invention, wherein predetermined laying state is to adjust to being adapted for insertion into a printing pin
Place in the direction of circuit board jack.
Effect of the invention is that automation equipment further rotates part so that the pin of part after part is picked up
The jack of mainboard can be coordinated.Therefore, part is not required to be arranged by manpower, the demand of manpower is eliminated, while also lifting part
The efficiency of installation exercise.
【Brief description of the drawings】
The present invention is further detailed explanation with implementation method below in conjunction with the accompanying drawings.
Fig. 1 is the schematic perspective view of first embodiment of the invention.
Fig. 2 is the part of first embodiment of the invention and the schematic perspective view of printed circuit board (PCB).
Fig. 3 is the schematic perspective view of the feed device of first embodiment of the invention.
Fig. 4 is the part of first embodiment of the invention and the schematic perspective view of printed circuit board (PCB).
Fig. 5 is the schematic diagram of the part identification system of first embodiment of the invention.
Fig. 6 is the automation equipment of second embodiment of the invention and the schematic perspective view of optical sensor.
Fig. 7 is the schematic diagram of the part identification system of third embodiment of the invention.
The step of Fig. 8 is the part discrimination method of one embodiment of the invention flow chart.
Primary clustering symbol description：
100 feed device 110 shakes sorting machine
The shaking device of 111 pallet 112
The 120 feed optical sensors of track 200
The conveying equipment of 300 data processing equipment 600
The jack of 700 printed circuit board (PCB) 710
The top of 800 part 810
The bottom of 811 location feature 820
The automation equipment of 830 pin 900
910 pickup units
【Specific embodiment】
Refer to shown in Fig. 1, be the part identification system disclosed by first embodiment of the invention, be used to produce an instruction,
To drive an automation equipment 900 in pickup（Pick-up）One part 800（insertion-part）Afterwards, part 800 is adjusted
The predeterminated position of pin 830 to, and part 800 is positioned on a printed circuit board (PCB) 700.
Refering to shown in Fig. 2, part 800 includes 810, one bottom 820 of top and be arranged on bottom 820 at least one
Group pin 830.The top 810 of part 800 comprises at least a location feature 811.Printed circuit board (PCB) 700 includes jack 710, respectively
Inserted for corresponding pin 830.Automation equipment 900 picks up part 800, and the installation of part 800 is put into printed circuit board (PCB) 700,
Each pin 830 is set to insert corresponding jack 710 respectively.
Automation equipment 900 as shown in Figure 1 includes a pickup unit 910, is used to pick up part 800.Pickup unit 910
Comprising but be not limited to vacuum slot, fixture.Automation equipment 900 and to pickup unit 910 provide four axial directions start, with move
Dynamic part 800.
Four axially include three linear axials and an axial rotary.Three linear axials are contained on printed circuit board (PCB) 700
Translation first axially and second axially, and vertical proximity to or away from the surface of printed circuit board (PCB) 700 the 3rd axially.Rotary shaft
To parallel to the 3rd axial direction, so that part 800 is rotated.
As shown in figure 1, part identification system includes a feed device 100, an optical sensor 200 and a data processing dress
Put 300.
As shown in figure 1, feed device 100 is arranged at by a conveying equipment 600, conveying equipment 600 is used to convey printing electricity
The precalculated position of road plate 700 to.Feed device 100 is used to provide part 800, adjusts the predetermined laying state of part 800 to.In advance
It is to adjust to the direction for being adapted for insertion into the jack 710 of printed circuit board (PCB) 700 pin 830 to place to determine laying state, for automation
Device 900 picks up part 800, and part 800 is positioned on printed circuit board (PCB) 700.
As shown in Figures 1 and 3, feed device 100 is used to feeding parts 800, and adjusts the predetermined placement shape of part 800 to
State, such as all downward state of pin 830 so that the sequential of multiple parts 800, and predetermined laying state is all presented.
As shown in figure 3, feed device 100 includes a vibrations feed track 120 of sorting machine 110 and.Vibrations sorting machine 110
It is used to adjust part 800 to predetermined laying state.Vibrations sorting machine 110 includes a pallet 111 and a shaking device 112.
As shown in figure 4, pallet 111 is used to an accommodating at least part 800.Shaking device 112 is connected to pallet 111, to hold in the palm
The center of disk 111 and along the circumferential direction shake pallet 111, use so that part 800 is towards holding the movement of pallet 111a edges, and according to
Along the circumferential direction moved by the edge of pallet 111, and its state is gradually changed into predetermined laying state, such as pin 830
Downward state.
As shown in figure 3, feed track 120 is connected to pallet 111, to receive zero from the pallet 111 of vibrations sorting machine 110
Part 800, and these parts 800 are adjusted to predetermined laying state, and the end of feed track 120 is transported to for automation
Device 900 is picked up.Part 800 in feed track 120 is not upright and seriatim arranges.The bottom 820 of each part 800
And pin 830 be located at feed track 120 on, and the top 810 of each part 800 towards feed track 120 outside.
As shown in Figures 2 and 4, part 800 is located at when on feed device 100, and the relative position of pin 830 is not necessarily right
Should be in after the relative position of jack 710 on printed circuit board (PCB) 700, therefore the pickup part 800 of automation equipment 900, it is necessary to along
The central point rotating part 800 of bottom 820 so that pin 830 is moved to correct allocation position, with corresponding to printed circuit board (PCB)
700 jack 710.Consequently, it is possible to automation equipment 900 translationally on moving parts 800 to printed circuit board (PCB) 700 after,
Pin 830 could be inserted in correct jack 710.
As shown in Figures 2 and 4, in first embodiment, if part 800 is electric capacity, and it is fed the bottom 820 of track 120
Setting is when being only available for the slit that single pin 830 slides through, then the laying state of part 800 be the relative position of pin 830 just
True state, or the state that two pins 830 are inverted each other.Therefore part 800 is according to the anglec of rotation required for its long axis direction
It is zero degree or 180 degree.Now, in sampled data, location feature 811 is likely located at predeterminated position, therefore part 800 needs
The angle for being rotated is zero degree；Location feature 811 may completely offset from predeterminated position, therefore part 800 needs angle to be rotated
It is 180 degree to spend.
As shown in Figures 2 and 4, it is the implementation aspect of electric capacity in part 800, part 800 includes two pins 830.Two pins
830 positive poles and negative pole for corresponding respectively to electric capacity.And common situation is moved to feed for part 800 by vibrations sorting machine 110
After track 120, the positive pole and negative pole of electric capacity are inverted；Directly translating this part 800 will be so that two inserts to printed circuit board (PCB) 700
The jack 710 of the inserting error of pin 830.
As shown in Figures 2 and 4, the location feature 811 of part 800 can be the mark for specially adding, such as part 800
Top 810 is circle, and circular half applies paint, and forms a semicircular location feature 811, and location feature 811 pairs
Should be in the pin 830 of the positive pole of part 800.In other specific embodiments, top 810 can include the breach or evagination of indent
Part, as location feature 811.
As shown in Figures 1 and 5, optical sensor 200 is installed in the side of feed device 100, to be put from positioned at predetermined
The top 810 of the part 800 of configuration state captures one and samples data.The part 800 being sampled is zero foremost of feed track 120
Part 800, this part 800 be also will be automated device 900 pickup object.In concrete application example, optical sensor
Device 200 is a pick-up lens, and such as Charged Coupled Device (CCD) or CMOS component (CMOS) correspond to
Feed track 120 is set, and is used to capture the image at the top 810 of part 800, and produces a sampled data.
Data processing equipment 300 is electrically connected with optical sensor 200 and automation equipment 900, and data processing equipment 300
One predeterminated position data of middle storage, represent location feature 811 needs corresponding position in the top 810 of part 800.Data processing is filled
300 reception sampled datas are put, analyzing and positioning feature 811 compares position with default position in the position at the top 810 of part 800
Data are put, so that part 800 is judged according to the anglec of rotation required for its long axis direction, with special according to the positioning in sampled data
The corresponding instruction of generation is levied, and transmits instruction to automation equipment 900, to drive automation equipment 900.
After automation equipment 900 receives this instruction by data processing equipment 300, picked up except being extremely fed on track 120
（Pick-Up）Outside part 800, and according further to the anglec of rotation, rotational parts 800.For example revolved along the long axis direction of part 800
Turnback so that the pin 830 of part 800 can coordinate the jack 710 of mainboard.Then automation equipment 900 translates part
The position of the top of 800 to printed circuit board (PCB) 700 correspondence jack 710, and part 800 is placed downwards on printed circuit board (PCB) 700.From
Dynamic makeup is put 900 and adjusts part 800 according to the anglec of rotation so that it is right that each pin 830 of part 800 can be correctly inserted into
In the jack 710 answered.
Refer to shown in Fig. 6, be the part identification system disclosed by second embodiment of the invention.In second embodiment,
Optical sensor 200 is disposed on automation equipment 900, substantially arranged side by side with pickup unit 910.When the folder of automation equipment 900
When tool is moved to 800 top of part to be picked up, optical sensor 200 is moved to the top of part 800 in the lump, and captures top
810 image is as sampled data.
Refer to shown in Fig. 7, be the part identification system disclosed by third embodiment of the invention.In 3rd embodiment,
Part identification system includes an optical sensor 200, a specified wavelength light source 210 and a data processing equipment 300.Such as preceding institute
State, for the parts such as electric capacity 800, part 800 is anti-each other comprising the correct state of relative position of pin 830, and two pins 830
The state put.In this embodiment, during the correct state of the relative position of pin 830, specified wavelength light source 210 is directly projection
Specified wavelength light for example projects a red laser (laser) to location feature to the predeterminated position of location feature 811 with optical fiber
811.And location feature 811 is for can be for the reflectivity of specified wavelength light, different from the reflectivity of the other parts of top 810.
During the state that two pins 830 are inverted each other, the other parts at the top 810 of specified wavelength light projection to part 800,
So that the reflected intensity of its specified wavelength light is different from the reflected intensity of location feature 811；Such as location feature 811 can be absorption
The mark that the coating of specified wavelength light is formed, therefore reflected intensity produced by the other parts at top 810 will be far above fixed
The reflected intensity of position feature 811.
By optical sensor 200 obtain specified wavelength light reflected intensity be used as sampled data, with specified wavelength light in
After reflected intensity is compared on location feature 811, whether data processing equipment 300 can determine whether part 800 in the phase of pin 830
To the correct state in position, and produce instruction with rotating part 800 to being suitable to the angle of plug-in unit.In 3rd embodiment, optics
Inductor 200 need not be the CCD or CMOS of fechtable complete image, and can add specific filter for optoelectronic switch, make light
Electric switch is only capable of receiving specified wavelength light, and is triggered after reflected intensity is more than a special value.
As shown in figure 8, being based on above-mentioned part identification system, the present invention more proposes a kind of part discrimination method, is used to produce
One anglec of rotation, to drive an automation equipment 900 in pickup（Pick-up）One part 800（insertion-part）Afterwards, certainly
Dynamic rotating part 800, to adjust the pin 830 of part 800 to a predeterminated position.
It is first to provide an at least part 800 with feed device 100, as shown in Step 110 according to this method.Part
800 include 810, one bottom 820 of top and at least one set of pin 830, and pin 830 is arranged at bottom 820, corresponding to a printing
Multiple jacks 710 of circuit board 700, and the top 810 of part 800 sets an at least location feature 811.
Then, the front end of track 120 is fed with the conveying plug-in unit 800 to of feed device 100, and adjusts part 800 to
The bottom 820 of predetermined laying state, such as part 800 and pin 830 are located on feed track 120 and downward state, and each
The top 810 of part 800 is directed towards outside feed track 120, and causes multiple sequentials of part 800, such as the institutes of Step 120
Show.
Automation equipment 900 is used to pick up part 800 from front end, and the installation of part 800 is put into printed circuit board (PCB) 700, makes
Each pin 830 inserts corresponding jack 710 respectively.The bottom 820 of part 800 and pin 830 are located on feed track 120,
And the top 810 of part 800 is directed towards outside feed track 120, that is, bottom 820 and pin 830 are downwards, and top 810 is upward
State.Conveying parts 800 to the concrete application example of feed track 120 transmits multiple zero comprising a vibrations sorting machine 110 is passed through
Part 800 is to feed track 120 so that part 800 is individually upright and is seriatim arranged on feed track 120.
Then, the top 810 of the part 800 with an optical sensor 200 from feed track 120 foremost captures one and samples
Data, as shown in Step 130.
A predeterminated position data a to data processing equipment 300 are loaded, location feature 811 is represented in the top of part 800
810 need corresponding position, as shown in Step 140.
Then, data processing equipment 300 receives sampled data, and analyzing and positioning feature 811 is in the top 810 of part 800
Position, data processing equipment 300 simultaneously compares position and predeterminated position data, such as Step 152 of the location feature 811 in top 810
And shown in Step 154.
Finally, based on predeterminated position data and location feature 811 in the position at top 810, data processing equipment 300 judges
Part 800 transmits the relevant information of the anglec of rotation to automation equipment according to the anglec of rotation required for its long axis direction
900, as shown in Step 160 and Step 170.
Before carrying out the installation exercise of part 800 of new specification, data processing equipment 300 first carries out a learning process,
To set up the reference image data at the top 810 of this part 800, and set predeterminated position data.In learning process, data
Processing unit 300 first obtains the image at the top 810 of part 800, and part 800 manually to adjust to correctly putting
Configuration state so that the relative position of pin 830 matches the relative position of jack 710.That is, automation equipment 900 only needs to put down
Move part 800 just correctly can insert corresponding jack 710 by each pin 830.Then, data processing equipment 300 drives
Optical sensor 200 captures one and samples data, and frame selects the location feature 811 in sampled data, to determine location feature 811
Required predeterminated position.
It is special by the image of top 810 and positioning that various parts 800 after study, can be stored in data processing equipment 300
Levy the predeterminated position required for 811.When automation equipment 900 receives new instruction to install different parts 800 each time,
Data processing equipment 300 by judging the species of part 800 in instruction, or can judge the species of part 800 by the image of top 810,
And then the predeterminated position required for loading location feature 811.
After automation equipment 900 receives the anglec of rotation, picked up except being extremely fed on track 120（Pick-Up）Part 800
Afterwards, according further to anglec of rotation rotating part 800 so that the pin 830 of part 800 can coordinate the jack 710 of mainboard.Cause
This, part 800 can be by shaking sorting machine 110 supplied to feed track 120, it is not necessary to considers whether pin 830 is located at just
True relative position.Therefore, part 800 is not required to be arranged in feed track 120 by manpower, eliminates the demand of manpower, while
Also the efficiency of the installation exercise of part 800 is lifted.
Although embodiments of the invention are disclosed above described, the present invention is so not limited to, it is any to be familiar with related art techniques
Person, without departing from the spirit and scope of the present invention, such as according to the shape described in the present patent application scope, construction, feature and number
Amount is worked as can do a little change, therefore scope of patent protection of the invention must regard claim institute circle appended by this specification
The person of determining is defined.
Claims (10)
1. a kind of part identification system, is used to drive an automation equipment to pick up a part and adjust the part to a default position
Put, wherein the part includes a top, a bottom and at least one set of pin, at least one set of pin is arranged at the bottom
Portion, and the top includes a location feature, it is characterised in that the part identification system is included：One feed device, adjustment
The part to a predetermined laying state is picked up for the automation equipment, and the pin corresponds respectively to the positive pole of the part
And negative pole；One optical sensor, is installed in the side of the feed device, and from positioned at described the zero of the predetermined laying state
The top of part captures a sampled data；And a data processing equipment, be electrically connected with the optical sensor with it is described from
Dynamic makeup is put；Wherein, the data processing equipment receives the sampled data, special according to the positioning in the sampled data
Levy the instruction of generation one, transmit to the automation equipment instruction, to drive the automation equipment to pick up the part
Afterwards, the part is rotated according to the instruction.
2. part identification system according to claim 1, it is characterised in that the predetermined laying state is by the pin
Adjust to the direction for being adapted for insertion into a printed circuit board (PCB) jack and place.
3. part identification system according to claim 1, it is characterised in that the feed device is included：One vibrations sorting
Machine, adjusts the part to the predetermined laying state；And a feed track, the part is received from the vibrations sorting machine,
Picked up for the automation equipment end that the part is transported to the feed track.
4. part identification system according to claim 3, it is characterised in that the vibrations sorting machine is included：One pallet, holds
An at least part is put, and the feed track connects the pallet；And a shaking device, the pallet is connected to, along the support
The center of disk to circumferencial direction shakes the pallet.
5. part identification system according to claim 1, it is characterised in that the optical sensor is a pick-up lens,
The image at its top for capturing the part, with the generation sampled data.
6. part identification system according to claim 5, it is characterised in that is stored in the data processing equipment and is preset
Position data, represent the location feature needs corresponding position in the top, and is taken described in data processing equipment reception
Sample data, analyze the position of the location feature, and compare the position and the predeterminated position data, so as to judge described zero
An anglec of rotation instruction corresponding with generation required for part.
7. part identification system according to claim 1, it is characterised in that the optical sensor is arranged at described automatic
Makeup is put.
8. part identification system according to claim 1, it is characterised in that further include a specified wavelength light source, be used to throw
The predeterminated position of the specified wavelength light to the location feature is penetrated, and the optical sensor obtains the specified wavelength
Used as sampled data, the data processing equipment judges whether the part is in the reflected intensity of light according to the reflected intensity
The correct state of pin relative position, and produce the instruction to rotate the part to being suitable to the angle of plug-in unit.
9. a kind of part discrimination method, is used to drive an automation equipment to pick up a part, rotates the part and adjusts described
The pin of part is to a predeterminated position, wherein the part includes a top, a bottom and at least one set of pin, it is described at least
One group of pin is arranged at bottom, and the top comprises at least a location feature, it is characterised in that the part discrimination method bag
Include following steps：The part to the front end of a feed track is conveyed with a feed device, and adjusts the part to one predetermined
Laying state；One sampled data is captured from the top of the part with an optical sensor；Load a predeterminated position data to
Data processing equipment, the predeterminated position data represent the location feature and need corresponding position in the top；With the number
The sampled data is received according to processing unit, and analyzes the location feature in the position at the top；With the data processing
Device compares position and the predeterminated position data of the location feature in the top；Based on the predeterminated position data with
In the position at the top, the data processing equipment judges the part according to required for its long axis direction to the location feature
The anglec of rotation, the pin corresponds respectively to the positive pole and negative pole of the part；And transmitted with the data processing equipment
The relevant information of the anglec of rotation is to the automation equipment.
10. part discrimination method according to claim 9, it is characterised in that the predetermined laying state is described to insert
Pin is adjusted to the direction for being adapted for insertion into a printed circuit board (PCB) jack and placed.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101108750 | 2012-03-14 | ||
| TW101108750A TWI459165B (en) | 2012-03-14 | 2012-03-14 | Insertion part recognition system and insertion part recognition method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103313591A CN103313591A (en) | 2013-09-18 |
| CN103313591B true CN103313591B (en) | 2017-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210189507.7A Active CN103313591B (en) | 2012-03-14 | 2012-06-08 | Part identification system and part identification method |
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| Country | Link |
|---|---|
| CN (1) | CN103313591B (en) |
| TW (1) | TWI459165B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9555549B2 (en) | 2013-10-31 | 2017-01-31 | Seiko Epson Corporation | Control device, robot, robot system, and control method |
| WO2019192402A1 (en) * | 2018-04-02 | 2019-10-10 | 鲁班嫡系机器人（深圳）有限公司 | Plug-in method and plug-in device |
| TWI692730B (en) * | 2019-04-17 | 2020-05-01 | 台達電子工業股份有限公司 | System and method for detecting electronic components |
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| CN1325612A (en) * | 1998-10-27 | 2001-12-05 | 松下电器产业株式会社 | Component mounting method and apparatus |
| CN1374831A (en) * | 2001-02-27 | 2002-10-16 | 芝浦机械电子装置股份有限公司 | Parts fixed head, parts installing apparatus and installing method using with the same fixed head |
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| CN1325612A (en) * | 1998-10-27 | 2001-12-05 | 松下电器产业株式会社 | Component mounting method and apparatus |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201337486A (en) | 2013-09-16 |
| CN103313591A (en) | 2013-09-18 |
| TWI459165B (en) | 2014-11-01 |
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