CN104663016B - The identification device of substrate operation machine - Google Patents
The identification device of substrate operation machine Download PDFInfo
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- CN104663016B CN104663016B CN201280075981.5A CN201280075981A CN104663016B CN 104663016 B CN104663016 B CN 104663016B CN 201280075981 A CN201280075981 A CN 201280075981A CN 104663016 B CN104663016 B CN 104663016B
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- mark
- request signal
- threshold value
- rate
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- 239000000758 substrate Substances 0.000 title claims abstract description 66
- 238000012423 maintenance Methods 0.000 claims abstract description 63
- 238000003860 storage Methods 0.000 claims abstract description 7
- 238000005286 illumination Methods 0.000 claims description 28
- 230000008859 change Effects 0.000 claims description 15
- 238000007726 management method Methods 0.000 claims description 14
- 238000012937 correction Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000032683 aging Effects 0.000 description 16
- 238000010521 absorption reaction Methods 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 14
- 230000004044 response Effects 0.000 description 13
- 238000012545 processing Methods 0.000 description 10
- 238000012546 transfer Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000007639 printing Methods 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 238000005375 photometry Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910000679 solder Inorganic materials 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000005055 memory storage Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001364 causal effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013075 data extraction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002203 pretreatment Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
Classifications
-
- 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
- H05K13/0895—Maintenance systems or processes, e.g. indicating need for maintenance
Abstract
The identification device of substrate operation machine possesses：Reading device, reading object；Characteristic parameter generating means, characteristic parameter is generated according to the above-mentioned object read；First memory, the storage canonical parameter related to features described above parameter；And signal output apparatus, maintenance request signal is exported based on the accuracy rate for representing features described above parameter and the correlation of above-mentioned standard parameter.The stage of error thresholds is not up in above-mentioned accuracy rate, when above-mentioned rate of accuracy reached is to the maintenance threshold value different from above-mentioned error thresholds, above-mentioned signal output apparatus exports above-mentioned maintenance request signal.
Description
Technical field
Technology disclosed in this manual is related to the identification device of substrate operation machine.In knowledge disclosed in this specification
Other device is in addition to being directly arranged at substrate operation machine, in addition to is arranged at equipment that is related to substrate operation machine and using.
Substrate operation machine described herein is the equipment that predetermined operation is carried out to circuit substrate, such as including to circuit substrate Printing Paste
Solder printing machine, electronic component is installed on to the fitting machine (also referred to as surface mounting apparatus or chip mounter) of circuit substrate, to peace
Board inspecting machine that circuit substrate equipped with electronic component is checked etc..
Background technology
In order to improve homework precision, substrate operation machine is known in the case of various in flow chart to identification object
Not, using the recognition result, feedback control is carried out.For example, on the fitting machine as one of substrate operation machine, in order to improve
The carrying homework precision of electronic component, it is provided with the identification device with mark camera or part camera.Camera is marked to being located at
Mark on each composed component and the mark being located in the circuit substrate carried and are identified, and carry out the confirmation of position.Zero
Part camera carries out the identification of electronic component and adsorbs the confirmation of posture to being identified by the electronic component of suction.Day
One of these technologies is disclosed in this JP 2005-116869 publications and Japanese Unexamined Patent Publication 2010-199630 publications.
The content of the invention
For example, when due to being stained, the mark that breakage etc. causes to be located on composed component aging occurs when, identification can not be passed through
Device identifies mark, can produce identification mistake.In addition, when the stream time of substrate operation machine is elongated, due to various
Factor and cause absorption posture of the suction nozzle to electronic component to be deteriorated, None- identified goes out electronic component, produces identification mistake.Existing
Substrate operation machine in, when produce it is this identification it is wrong when, forcibly stop operation, operator ties up to cause portion
Shield.So, can not be by the method for the maintenance for carrying out cause portion after mistake is identified caused by producing identification device
Frequently occur according to the situation for being scheduled for the production schedule.In this manual, and it is an object of the present invention to provide a kind of identification device, can keep away
Unfavorable condition caused by exempting from this identification mistake.
One embodiment of the identification device of substrate operation machine disclosed in this specification possesses：Reading device, read
Take object；Characteristic parameter generating means, characteristic parameter is generated according to the object read；First memory, storage are joined with feature
The related canonical parameter of number；And signal output apparatus, based on the accuracy rate for representing characteristic parameter and the correlation of canonical parameter come
Export maintenance request signal.The stage of error thresholds is not up in accuracy rate, when rate of accuracy reached to the dimension different from error thresholds
When protecting threshold value, signal output apparatus output maintenance request signal.
The signal output apparatus of above-mentioned identification device is configured to, and exports and safeguards before the identification mistake of identification object is produced
Request signal.If thus, for example after maintenance request signal is output, according to during the inoperative of substrate operation machine to knowing
Other object is repaired, then can avoid producing the identification mistake of identification object, substrate operation machine can be avoided forcibly to be stopped
Only the problem of.
Brief description of the drawings
Fig. 1 represents the stereogram of fitting machine.
Fig. 2 schematically shows the structure of loader.
Fig. 3 schematically shows the top view of carrier band.
Fig. 4 schematically shows the top view near the element absorption position of loader.
Fig. 5 schematically shows the sectional view of part camera device.
Fig. 6 schematically shows the top view of suction nozzle box.
Fig. 7 schematically shows the stereogram of a part for substrate transfer apparatus.
Fig. 8 schematically shows boarded head and marks the summary of camera device.
Fig. 9 A schematically show the stereogram of one of boarded head.
Fig. 9 B schematically show the stereogram of another of boarded head.
Figure 10 schematically shows the top view of the ledge near the front end of suction nozzle.
Figure 11 represents the system architecture of fitting machine.
Figure 12 represents to have used the explanation figure for the image procossing for searching line.
Figure 13 represents to have used the explanation figure (situation of a part of defect of reference mark) for the image procossing for searching line.
Figure 14 represents one of the situation of change for the accuracy rate passed through along with the time.
Figure 15 represents another example of the situation of change for the accuracy rate passed through along with the time.
Figure 16 represents the another example of the situation of change for the accuracy rate passed through along with the time.
Figure 17 represents the flow of reference mark recognizer.
Figure 18 represents the another example of the situation of change for the accuracy rate passed through along with the time.
Figure 19 represents to determine the flow of the program for the reason for accuracy rate in reference mark recognizer reduces.
Embodiment
Hereinafter, the technical characteristic disclosed in this specification is arranged.In addition, item as described below is technically divided
Not there is individually serviceability.
One embodiment of identification device disclosed in this manual possesses reading device, characteristic parameter generation dress
Put, first memory, signal output apparatus.Reading device is read out to reading object, for typical case or to mark
And/or the device that electronic component is read out.Pattern of the mark including the specific trait with image recognition, bar code, two
Tie up code, magnetic code or IC tag etc..These marks can also be located in substrate operation machine or be located at related to substrate operation machine and make
In the inscape of equipment.In the case where mark is the pattern of the specific trait with image recognition, reading device
It is preferred that the camera device using still image sensors such as camera, scanner, laser scanner or CCD.Characteristic parameter generates
Device generates characteristic parameter according to the object read.It is the figure of the given shape with image recognition in the object read
In the case of case, for typical case, the characteristic parameter related to the edge of the pattern with the given shape can also be generated.First
The memory storage canonical parameter related to characteristic parameter.For example, in the case where a variety of reading objects be present, first memory
The canonical parameter related to the characteristic parameter of each reading object can also be stored.Thereby, it is possible to know from a variety of reading objects
Do not go out specific reading object.Accuracy rate (hit of the signal output apparatus based on the correlation for representing characteristic parameter and canonical parameter
Rate) maintenance request signal is exported.Here, accuracy rate can be characteristic parameter and canonical parameter similar degree it is more high then accurate
The higher index of rate, on the contrary, accuracy rate can also be the more high then accuracy rate of non-similar degree of characteristic parameter and canonical parameter more
High index.In any case, accuracy rate is all the index for the correlation for representing characteristic parameter and canonical parameter.Known
In image processing techniques, can accuracy rate calculate as the index that reading object is identified for judgement.It is not up in accuracy rate
In the stage of error thresholds, when rate of accuracy reached is to the maintenance threshold value different from error thresholds, signal output apparatus output is safeguarded please
Seek signal.Here, maintenance request signal can also include various information.Read for example, maintenance request signal is not limited only to request
The situation of the maintenance of object, the maintenance to reading object can also be included and ask the inscape related with reading object in the lump
The situation of maintenance, only situation of the request different from the maintenance of other inscapes of reading object.
In identification device disclosed in this specification, can also possess the second storage of the time series data of storage accuracy rate
Device.Thus, by using the time series data of accuracy rate, various useful processing can be carried out.For example, being configured to, pass through
Utilize the time series data of accuracy rate, when the rate of change of accuracy rate is more than exceptional value, signal output apparatus output maintenance request letter
Number.The possibility that the drastically change of the rate of change of accuracy rate produces abnormal situation is high.Therefore, above-mentioned signal output apparatus is for this
The early detection of kind abnormal situation is useful.Furthermore it is possible to it is configured to, by using the time series data of accuracy rate, at one
For the rate of accuracy reached of object to when safeguarding threshold value, signal output apparatus exports maintenance request letter with reference to the accuracy rate of other objects
Number.So, by referring to the time series data of other accuracys rate, the reason for can carrying out accuracy rate deterioration, is analyzed.Above-mentioned letter
Number output device is it is determined that be useful during the reason for accuracy rate is deteriorated.
In identification device disclosed in this manual, reading device can also be camera device.In addition, camera device
Can have irradiation object light source and measure be irradiated to object illumination measure device.In this case or,
In rate of accuracy reached to when safeguarding threshold value and illumination reaches illumination threshold, signal output apparatus output includes light source maintenance request signal
Maintenance request signal inside.The reason for accuracy rate is deteriorated is varied, but in the case where reading device is camera device, has
When light source illumination problem be present.In the above-described embodiment, the illumination of the light source determined and illumination threshold are compared
Compared with whether the reason for being deteriorated so as to judging nicety rate is the illumination of light source.
Identification device disclosed in this manual can also be arranged at the peace being installed to electronic component in circuit substrate
Installation.Fitting machine has the camera device used as reading device.Camera device can also have to being located at composition fitting machine
Composed component on first mark and be located in the circuit substrate that electronic component is installed second mark shot
Mark camera.In this case, safeguard that threshold value can also include the first of the first mark and safeguard that threshold value and the second mark are used
Second safeguard threshold value.When the rate of accuracy reached of the first mark safeguards threshold value to first, signal output apparatus output includes first
Maintenance request signal including request signal.And then when the rate of accuracy reached of the second mark safeguards threshold value to second, signal output
Device output includes the maintenance request signal including the second request signal.In the above-described embodiment, mark camera is configured to
Enough not isolabelings to the first mark located at composed component and the second mark located at circuit substrate are shot.In above-mentioned reality
Apply in mode, it is accurate that the maintenance request signal and second that the first rate of accuracy reached marked to first exports when safeguarding threshold value mark
Rate, which reaches second, to be safeguarded that the maintenance request signal exported during threshold value is distinguished and comes, therefore it is defeated to which mark that can distinguish
Go out maintenance request signal.In addition, in the above-described embodiment, the first mark can also be located at multiple composed components.In addition, at this
In the case of, the species of the first mark can also be different according to the species of multiple composed components.And then or, multiple structures
Be divided into element it is multigroup, on being located at a composed component first mark rate of accuracy reached safeguard threshold value to first when, letter
Maintenance request signal including information of number generating means output comprising other composed components for belonging to same group.For example, will mark
Homophylic composed component packetizing be present in the aging speed of note, so as to the mark according to a composed component aging come
Speculate the aging for other composed components for belonging to same group.
Identification device disclosed in this manual can also be arranged at the peace being installed to electronic component in circuit substrate
Installation.Fitting machine has the camera device used as reading device.Camera device, which can also have, to be clapped electronic component
The part camera taken the photograph.Or, part camera is taken the photograph when can also be present in shooting electronic component to being located in this case
As the first mark on the composed component in the visual field is shot.Safeguard that threshold value can also include the third dimension shield of electronic component
The first of threshold value and the first mark safeguards threshold value.Can also be, when the rate of accuracy reached of electronic component protects threshold value to the third dimension,
Signal output apparatus output includes the maintenance request signal including the 3rd request signal.And then in the rate of accuracy reached of the first mark
When safeguarding threshold value to first, signal output apparatus output includes the maintenance request signal including the first request signal.In above-mentioned reality
Apply in mode, part camera is configured to shoot the first mark and electronic component located at composed component.Above-mentioned
In embodiment, maintenance request signal and the standard of electronic component that the first rate of accuracy reached marked to first exports when safeguarding threshold value
True rate, which reaches the maintenance request signal exported during third dimension shield threshold value and is distinguished, to come, and it is to the first mark and electronics that can distinguish
Which output maintenance request signal of element.In addition, in the above-described embodiment, it is also equipped with correction request signal output dress
Put, above-mentioned correction request signal output apparatus exports the correction of the canonical parameter of electronic component based on the accuracy rate of electronic component
Request signal.The canonical parameter of electronic component predefines according to the species of electronic component.But such as utilize phase when desired
With canonical parameter identification manufacture batch different electronic component when, exist the accuracy rate of electronic component according to manufacture batch without
Same situation.In this case, by calibration standard parameter, the accuracy of identification that can suppress electronic component is deteriorated.
According to technology disclosed in this manual, a kind of management system with the 3rd memory can be built, it is above-mentioned
3rd memory stores to the time series data obtained in above-mentioned identification device.For example, the 3rd memory can also to from
The identification dress being arranged at least two in substrate operation machine, suction nozzle washer, suction nozzle check machine and loader maintenance unit
The time series data for putting the accuracy rate being collected into is stored.When using this management system, spy can be gathered from multiple equipment
The time series data of the accuracy rate of fixed identification object, therefore the time series data of accuracy rate will not interrupt and continuous, can carry out more
Effective management.
Above-mentioned management system can also possess prediction meanss, and above-mentioned prediction meanss are based on being stored in the accurate of the 3rd memory
The time series data of rate carrys out predictablity rate and reaches the above-mentioned time for safeguarding at least one party in threshold value and error thresholds.In the management
In system, the tendency of the variation speed of accuracy rate will appreciate that, using the teaching of the invention it is possible to provide useful information during the generation production schedule.For example,
Above-mentioned management system can also possess the 4th memory, during the work that above-mentioned 4th memory storage describes substrate operation machine and
Production schedule data during inoperative.In this case, plan making device can also be also equipped with, above-mentioned plan making device is based on by pre-
Survey the predicted time that predicts of device and be stored in the production schedule data of the 4th memory to generate Maintenance Planning Data.Plan
Device can also be configured to when during predicted time being contained in work plan making device by the implementation period planning of maintenance to the work
During inoperative before during work.
Embodiment
The fitting machine used when forming integrated circuit in circuit substrate is illustrated referring to the drawings.Circuit substrate
On integrated circuit be handled upside down and formed according to the order of solder printing machine, fitting machine and reflow ovens.Solder printing machine is in electricity
Printing Paste on the loading position of electronic component on base board.Carrying position of the fitting machine on the circuit substrate of soldering paste is printed with
Put carrying electronic component.Electronic component is welded in circuit substrate by reflow ovens by implementing heat treatment to circuit substrate.
As shown in figure 1, fitting machine 1 possesses the multiple modules 2 being adjacent on workbench 3.Modules 2 possess jointly
Structure, possess multiple devices in the framework 4 to be played a role as framework.Fig. 1 represents the adjacent example of two modules 2, with
The state for having passed through the exterior plate of a module 2 in two modules 2 is indicated.Module 2 possesses：Component supplying apparatus 10,
Part camera device 20, suction nozzle box 30, substrate transfer apparatus 40, component moving and loading device 50, boarded head 60 with part camera
And the mark camera device 70 with mark camera.It is configured in addition, modules 2 possess on the surface of exterior plate with after
The input/output unit 6 that the control device stated is communicated.Input/output unit 6 is configured to receive from the defeated of operator
Enter, and be capable of the status information of display module 2 and the various instructions to operator described later.
(composition of component supplying apparatus 10)
As shown in figure 1, component supplying apparatus 10 is that a variety of electronic components for being equipped on circuit substrate 5 are supplied into element to inhale
The device of attached position, the loader 11 of multiple boxlikes is arranged side by side and formed.The loader main body 12 of loader 11 is configured to
It can be loaded and unloaded relative to framework 4.As shown in Fig. 2 loader 11 possesses：Be wound with carrier band 14 tep reel 13, will be from tep reel
13 pull out carrier bands 14 to element absorption position guide with guiding piece 15, will carry 14 to element absorption position spacing feeding
The motor (omitting diagram) that sprocket 16 and driving sprocket 16 rotate.And then it is provided with the front end face of loader 11：
The communications connector 17 being connected with the connector (omit and illustrate) of the main body located at fitting machine 1 and decision are relative to fitting machine 1
Main body installation site alignment pin 18,19.
As shown in figure 3, on carrier band 14, with cavity 14a of certain spacing interval formed with housing electronic components P.Chamber
Body 14a upper opening is covered by cover tape 14b, and band envelope is carried out to electronic component P by carrying 14 and cover tape 14b.Upper envelope
Peeled off with 14b at the nearby place of element absorption position from carrier band 14.Engaging has band tooth to roll up in the guide hole 14c for being formed at carrier band 14
Disk 16.Thus, carrier band 14 is sent every preset space length, and the electronic component P being accommodated in cavity 14a is supplied into element successively
Absorption position.As shown in figure 4, on the top of loader main body 12, formed with opening on position corresponding with element absorption position
Oral area 12a.The electronic component P of element absorption position is fed into by being inserted in opening portion 12a suction, and from cavity
It is removed in 14a.In the upper surface of loader main body 12, reference mark M1 is provided near element absorption position.Fiducial mark
Remember M1 by mark camera shooting described later.Fitting machine 1 using the reference mark M1 photographed by mark camera view data come
Criterion of identification marks M1, and obtains its positional information.Fitting machine 1 is calculated away from element using reference mark M1 positional information
The position deviation of the ideal position of absorption position, move suction nozzle based on the position deviation, stick electronic components P.
(structure of part camera device 20)
As shown in figure 1, part camera device 20 is fixed on framework 4, component supplying apparatus 10 and board carrying dress are configured at
Put between 40.As shown in figure 5, part camera device 20 has：Part camera 21, supporting table 22, connecting member 23, upper part
24th, light source 25 and cloche 26 are penetrated in side.Part camera 21 is fixed on framework 4 via supporting table 22.Part camera 21 for example using
CCD camera.Supporting table 22 and upper part 24 are fixed via connecting member 23.Upper part 24 has upper surface and bottom surface
The form of opening and lateral curvature.Penetrate light source 25 provided with multiple sides in the internal face of upper part 24, upper part 24 it is upper
Portion's opening is covered by cloche 26.Light source 25 is penetrated for example using LED in side.
Electronic component P be adsorbed on the element absorption position of loader 11 after, be positioned at board carrying being equipped on
Before in the circuit substrate 5 of device 40, configure in the top of part camera device 20, shot by part camera 21.Installation
Machine 1 is identified electronic component P and is confirmed electronics using the electronic component P photographed by part camera device 20 view data
Element P absorption posture.It is by the way that electronic component P view data is compared into judgement with the part data obtained in advance
No is required electronic component P, so as to carry out electronic component P identification.Using electronic component P view data, electronics is detected
The position deviation of central shafts of the element P away from suction nozzle and electronic component P around the central shaft of suction nozzle angular deviation, so as to carry out electricity
The confirmation of subcomponent P absorption posture.Before electronic component P is equipped on circuit substrate 5, by making suction nozzle electric from correction is transferred
Subcomponent P absorption posture.
In addition, part camera device 20 can also be as needed, while take the photograph when being present in shooting electronic component P to being located at
As reference mark (such as the コ ー ナ ー De ッ グ (corner dock) on the composed component (such as boarded head 60) in the visual field：
Footmark) shot.Fitting machine 1 can also estimate stick electronic components P suction nozzle using the positional information of the reference mark
Central shaft position, detect central shafts of the electronic component P away from suction nozzle position deviation.In addition, part camera device 20 also may be used
To be shot before electronic component P is shot to specific reference mark.Fitting machine 1 can also utilize the position of the reference mark
Confidence ceases the position of the central shaft of suction nozzle when carrying out correcting captured electronic component P.
In addition, part camera device 20 possesses the illumination photometry device being measured to the illumination for being irradiated to shooting object
(omitting diagram).Illumination photometry device is for example configured to measure because output that light source 25 is penetrated in side reduces, cloche 26
The illumination for being stained and reducing.
(composition of suction nozzle box 30)
As shown in figure 1, suction nozzle box 30 is arranged near part camera device 20, a variety of suction nozzles (aftermentioned) are accommodated with.Such as Fig. 6
Shown, suction nozzle box 30 possesses multiple suction nozzle reception holes 31 for storing suction nozzle.For example, it is accommodated with and uses in suction nozzle box 30
In suction nozzle identical type certified products suction nozzle, when suction nozzle in use turns into defective work, suction nozzle box 30 will be accommodated in
Certified products suction nozzle is interchangeable with defective work suction nozzle.Or a variety of suction nozzles are accommodated with suction nozzle box 30, corresponding to being mounted in
The species of electronic component in circuit substrate 5 selects predetermined suction nozzle.
As shown in fig. 6, reference mark M2 and Quick Response Code C1 is provided with the upper surface of suction nozzle box 30.Stored in Quick Response Code C2
The species and suction nozzle reception hole 31 of the suction nozzle stored establish the information of corresponding relation.Reference mark M2 and Quick Response Code C1 by
Mark camera shooting described later.Fitting machine 1 identifies mark using the reference mark M2 photographed by mark camera view data
Fiducial mark remembers M2, and obtains its positional information.Fitting machine 1 is calculated away from suction nozzle box 30 using reference mark M2 positional information
The position deviation of the ideal position of suction nozzle reception hole 31, suction nozzle is taken out and to suction from suction nozzle reception hole 31 based on the position deviation
Mouth is stored.Fitting machine 1 is using the information recorded in the Quick Response Code C2 that is photographed by mark camera, from being accommodated in the more of suction nozzle box 30
Required suction nozzle is selected in individual suction nozzle.
(structure of substrate transfer apparatus 40)
As shown in figure 1, substrate transfer apparatus 40 is fixed on framework 4, circuit substrate is carried along direction (X-direction) is carried
5, and circuit substrate 5 is positioned in predetermined operation position.Substrate transfer apparatus 40 is by the first handling device 41 and
Two handling devices 41 are set up in parallel the Dual-conveying tall type of two row.First handling device 41, which has a pair abreast configured in opposite directions, to be removed
Transport guide rail 41a, 41b.Second handling device 42, which similarly has a pair abreast configured in opposite directions, carries guide rail 42a, 42b.
As shown in fig. 7, it is respectively formed with its upper end court on a pair of carrying guide rails 41a, 41b of the first handling device 41
Pressing plate portion 43a, the 43b protruded inwardly.In addition, carry the respective internal face of guide rail 41a, 41b on be provided with conveyer belt 44a,
44b.Circuit substrate 5 is carried on a pair of conveyer belts 44a, 44b along carrying direction, is stopped on predetermined operation position.
In addition, clamping device (omitting diagram) is provided with the first handling device 41.Clamping device has：Supporting plate, it is configured to
Lifted by lowering or hoisting gear；And supporting pin, the precalculated position being arranged in a manner of it can change in the supporting plate.Clamp dress
Put by making supporting plate rise rise circuit substrate 5 via supporting pin.Circuit substrate 5 is clamped in supporting pin and pressing plate portion
Between 43a, 44b back side, it is positioned on predetermined operation position.
A pair of first handling device 41 opposite distance D1 for carrying guide rail 41a, 41b are configured to according to being carried
The width of circuit substrate 5 and change.In this example embodiment, it is illustrated that the carrying guide rail 41a in left side is fixed guide rail, it is illustrated that is removed on right side
It is movable guiding rail to transport guide rail 41b.Movable guiding rail 41b is connected with drive device (omit and illustrate), is configured to movable guiding rail 41b and is consolidated
The opposite distance D1 determined between guide rail 41a can be changed.Reference mark M3 is provided with movable guiding rail 41b upper surface.Fiducial mark
Remember M3 by mark camera shooting described later.Fitting machine 1 using the reference mark M3 photographed by mark camera view data come
Criterion of identification marks M3, and obtains its positional information.Fitting machine 1 is detected and movably led using reference mark M3 positional information
Rail 41b is relative to the position for fixing guide rail 41a.In addition, the structure of above-mentioned first handling device 41 is in the second handling device 42
And same.
As shown in fig. 7, reference mark M4 is provided with each diagonal position on the surface of circuit substrate 5.The reference mark
M4 is by mark camera shooting described later.Fitting machine 1 is known using the reference mark M4 photographed by mark camera view data
Other standard marks M4, and obtains its positional information.Fitting machine 1 utilizes reference mark M4 positional information, counting circuit substrate 5
Surface electronic component P1 position deviation of the loading position away from ideal position, move suction nozzle based on the position deviation, take
Carry electronic component P.
(component moving and loading device 50, boarded head 60, the composition for marking camera device 70)
As shown in figure 1, component moving and loading device 50 is fixed on framework 4, it is that XY machineries are human-like.Component moving and loading device 50 possesses Y
Axle sliding equipment and X-axis sliding equipment.Y-axis moving mechanism is configured to make the edge of Y-axis sliding part 52 using Y-axis servo motor 51
Y direction movement.
Fig. 8 represents X-axis sliding equipment, boarded head 60 and the outline for marking camera device 70.X-axis sliding equipment is configured to set
Y-axis sliding part 52 is placed in, X-axis servo motor (omitting diagram) can be utilized X-axis sliding part 53 is moved along X-direction.Take
Carrier head 60 and mark camera device 70 are fixed on X-axis sliding part 53, can be in XY using Y-axis sliding equipment and X-axis sliding equipment
Moved in plane in the top of component supplying apparatus 10, part camera device 20, suction nozzle box 30 and substrate transfer apparatus 40.Mark
Camera device 70 has mark camera 71 and light source (omitting diagram).Camera 71 is marked for example using CCD camera.Light source for example makes
Use LED.(saved in addition, mark camera device 70 possesses the illumination photometry device being measured to the illumination for being irradiated to shooting object
Sketch map shows).Illumination photometry device be for example configured to measure due to the output of light source reduces, being stained for cover of light source and reduce
Illumination.
Boarded head 60 is configured to be loaded and unloaded relative to X-axis sliding part 53.In fitting machine 1, from a variety of boarded heads
The required boarded head 60 of 60 selections simultaneously uses.Example has two kinds of boarded heads 60a, 60b in Fig. 9 A and Fig. 9 B.
Boarded head 60a shown in Fig. 9 A is more types, has multiple suction nozzle seats 61.Kept respectively on each suction nozzle seat 61
There are identical type or different types of suction nozzle 62.Multiple suction nozzle seats 61 configure at certain intervals around central shaft, are configured to point
Degree rotation.And then each suction nozzle seat 61 is configured to rotation, and can be lifted on an indexing position.Thus, form
For the suction nozzle 62 that is kept by suction nozzle seat 61 also can rotation, and can be lifted on an indexing position.More type boarded heads
60a is for example for keeping suction nozzle 62 corresponding with small-sized electronic component.Diametrically prominent protrusion is provided with suction nozzle 62
Part 62a, Quick Response Code C2 (reference picture 10) is provided with ledge 62a upper surface.Record has suction in Quick Response Code C2
The species of mouth 62.When selecting required suction nozzle 62 from the multiple suction nozzles 62 for being accommodated in suction nozzle box 30, by marking camera pair
Quick Response Code C2 is imaged.Fitting machine 1 carries out the solid identification of suction nozzle 62 using Quick Response Code C2 information.
Boarded head 60b shown in Fig. 9 B is single seat type, has a suction nozzle seat 63.Suction nozzle seat 63 is configured to rotation,
Thus the suction nozzle 64 kept by suction nozzle seat 63 also being capable of rotation.The ledge diametrically protruded also is provided with suction nozzle 64
64a, Quick Response Code (omitting diagram) is provided with ledge 64a upper surface.Record has the kind of suction nozzle 64 in Quick Response Code
Class.When selecting required suction nozzle 64 from the multiple suction nozzles 64 for being accommodated in suction nozzle box 30, by marking camera to the Quick Response Code
Imaged.Fitting machine 1 carries out the solid identification of suction nozzle 64 using the information of Quick Response Code.
(composition of image processing part)
Hereinafter, image processing part is illustrated in case of identifying said reference mark M1-M4.It is here, above-mentioned
Reference mark M1-M4 is different according to the species of the composed component of setting.In addition, confirming Quick Response Code C1-C2, electronic component P
Absorption posture in the case of, can also be applied and following identical technologies.
As shown in figure 11, the modules 2 (reference picture 1) of fitting machine 1 possess image processing part 100.In addition, image procossing
Portion 100 can be arranged at the main frame for the management system being managed in the lump to multiple modules 2, or can also be arranged at comprising it
The main frame of management system including his substrate operation machine, suction nozzle washer, suction nozzle check machine and loader maintenance unit.
Image processing part 100 possesses control device 110 and the memory 120 of storage image processing data.In addition, including
Image processing part 100, part camera device 20 and mark camera device 70 referred to as identification device inside.Control device 110 has
Have：Characteristic parameter generating means 111, accuracy rate computing device 112, judgment means 113 and signal output apparatus 114.Feature is joined
Number generating means 111 generate characteristic parameter according to the reference mark M1-M4 photographed by mark camera device 70.Generate herein
Characteristic parameter according to reference mark M1-M4 pattern but it is various, known image recognition technology can be utilized to give birth to
Into.For example, characteristic parameter includes the edge of the pattern by reference mark M1-M4 image data extraction.
Here, it is stored with the first memory 121 of memory 120 each mark for reference mark M1-M4
Canonical parameter, reference mark M1-M4 and canonical parameter are established into corresponding relation.Accuracy rate computing device 112, which calculates, to be represented to be clapped
The reference mark M1-M4 taken the photograph characteristic parameter and the accuracy rate of the correlation of corresponding canonical parameter.Accuracy rate represents characteristic parameter
With the similar degree of canonical parameter, similar degree is higher, then the value of accuracy rate is higher.In addition, calculated by accuracy rate computing device 112
Accuracy rate be stored in second memory 122.In second memory 122, whenever calculating base by accuracy rate computing device 112
Fiducial mark just stores when remembering M1-M4 accuracy rate to the accuracy rate, so as to be stored with each reference mark M1-M4 accuracy rate
Time series data.
Here, illustrate used the image procossing for searching line one.It is to utilize figure using the image procossing for searching line
As the brightness data that includes image the edge extracting of object in data.It is only sharp in the image procossing of line is searched in utilization
Edge extracting is carried out with the brightness data on line is searched, therefore high speed processing is excellent.In addition, utilize the image procossing for searching line
Simultaneously disclosed Japanese Unexamined Patent Publication 8-180191 publications, Japanese Unexamined Patent Publication 2004- can have been applied for using applicant
Technology disclosed in No. 279304 publications and Japanese Unexamined Patent Publication 2006-114821 publications.
As shown in figure 12, in the case where reference mark M1-M4 is circular pattern, should exist in reference mark M1-M4
Position nearby preset multiple lookups line SL, calculated according to each brightness data for searching multiple datum marks on line SL bright
Datum mark section jumpy is spent, carries out reference mark M1-M4 edge extracting.In this example embodiment, 8 lookup lines are illustrated
SL, but it is not limited to the example.Multiple line SL that search can be accurate as template in advance corresponding to reference mark M1-M4 species
It is standby, in other words as canonical parameter.
Accuracy rate is influenceed by the aging as caused by being stained of reference mark M1-M4, breakage etc..For example, such as Figure 13 institutes
Show, when reference mark M1-M4 part shortcoming, on lookup line SL corresponding with the shortcoming position (being represented by hacures)
Edge extracting can not be carried out.In Figure 13 example, edge extracting can not be carried out by being searched at one on line SL, therefore accuracy rate is made
Calculated for 7/8=87.5%.So, when aging aggravates as caused by being stained of reference mark M1-M4, breakage etc.,
Reference mark M1-M4 edge (also referred to as characteristic parameter) and the similar degree reduction for searching line SL (also referred to as canonical parameter), it is accurate
True rate reduces.
As shown in figure 14, generally, reference mark M1-M4 aging process over time and aggravate, accuracy rate also reduces.
As shown in Figure 15 and Figure 16, the reduction of accuracy rate is not limited to process over time and linearity reduces, and there is also with curve
The situation that mode reduces.In addition, the total time that the elapsed time herein is fitting machine 1 when working, when being worked comprising fitting machine 1 with
And when not working including total time or aging for other reference marks M1-M4 causal total time be present.
As shown in Figure 14~Figure 16, when accuracy rate is less than error thresholds (identification critical value), judgment means 113 are judged as
Reference mark M1-M4 can not be identified.When accuracy rate is less than error thresholds due to reference mark M1-M4 aging, control dress
Put 110 operations for forcibly stopping fitting machine 1.
Whether judgment means 113 are necessary based on the accuracy rate calculated, judgment standard mark M1-M4 maintenance.Such as Figure 14
Shown in~Figure 16, whether the judging nicety rate of judgment means 113, which is less than, is safeguarded threshold value.Safeguard that threshold value is set to than that can not identify benchmark
Mark the big value of the error thresholds of M1-M4 accuracy rate.That is, in the range of it can identify reference mark M1-M4, in base
In the case of fiducial mark note M1-M4 aging aggravation, judgment means 113 are also judged as needing the maintenance for carrying out reference mark M1-M4.
When judgment means 113 are judged as needing carrying out reference mark M1-M4 maintenance, control device 110 make maintenance request signal from
Signal output apparatus 114 is exported, and the dimension for needing to carry out reference mark M1-M4 is informed in input/output unit 6 (reference picture 1)
Shield.In addition, it is which reference mark M1-M4 needs to correct that the content shown in input/output unit 6, which can determine,.Separately
Outside, as described below, reference mark M1-M4 accuracy rate reduce the reason for be not reference mark M1-M4 aging but its
In the case of the aging of his inscape, control device 110 informs that this composition key element needs to be tieed up in input/output unit 6
Shield.
Then, reference picture 17 illustrates the flow chart of reference mark M1-M4 recognizer.Hereinafter, to be documented in base
Illustrated exemplified by the reference mark M3 (reference picture 7) of the movable guiding rail 41b of plate handling device 40 upper surface.
In step sl, mark camera 71 is shot to the reference mark M3 for being documented in movable guiding rail 41b upper surface.
The reference mark M3 photographed view data is sent to control device 110, is removed the pre-treatments such as noise as needed.
In step s 2, characteristic parameter generating means 111 extract the edge of read reference mark M3 view data,
Generate characteristic parameter.
In step s3, characteristic parameter and its canonical parameter are matched, to calculate accuracy rate.It is here, upper utilizing
State in the image procossing for searching line, step S2 and step S3 are carried out simultaneously.That is, control device 110 reads and deposited with being stored in first
Multiple lookup lines (canonical parameter) corresponding to the reference mark M3 of reservoir 121, extraction reference mark M3 edge (characteristic parameter),
And also calculate accuracy rate.
In step s 4, in judgment means 113, whether the accuracy rate for judging to calculate is higher than error thresholds (reference picture 4
~Figure 16).If accuracy rate is higher than error thresholds, it is judged as the identification success of mark, proceeds to step S5.Now accurate
Rate is shown in input/output unit 6, and is stored in second memory 122.The situation of error thresholds is not higher than in accuracy rate
Under, it is judged as that reference mark M3 aging has reached the scope of None- identified or other reasonses be present.Control device 110 will pacify
Installation 1 forcibly stops.
In step s 5, in judgment means 113, whether the accuracy rate for the mark M3 for judging to identify, which is less than, is safeguarded threshold value
(14~Figure 16 of reference picture).If accuracy rate is judged as that reference mark M3 aging is not reaching to needs less than threshold value is safeguarded
There are other reasonses in the scope of maintenance, proceed to step S6.In accuracy rate not less than in the case of safeguarding threshold value, proceed to
Step S7.
In step s 6, in judgment means 113, the time series data for the accuracy rate for being stored in second memory 122 is read,
Rate of change is calculated according to the time series data of accuracy rate, judges whether the variable quantity is higher than exceptional value.Here, rate of change is as accurate
Value that rate reduces in the given time calculates.For example, it is the feelings that t2, accuracy rate are h2 in the current time as shown in figure 18
Under condition, past time t1 accuracy rate h1 is read, judges the reduction amount (h1 of accuracy rate (between t1 and t2) in the given time
And h2 difference) whether exceed exceptional value.In the case where the rate of change of accuracy rate exceedes exceptional value, thus it is speculated that go out to generate different from just
The phenomenon of reason condition.Therefore, judgment means 113 proceed to step S7, analyze its reason.Accuracy rate variable quantity not less than different
In the case of constant value, terminate reference mark M3 recognizer, the operation of fitting machine 1 continues.
In the step s 7, in judgment means 113, the reason for accuracy rate reduces is analyzed, determines the reason for accuracy rate reduces.
When determine accuracy rate reduce the reason for when, signal output apparatus 114 export maintenance request signal, with can be determined as needing into
The mode of the maintenance of the row reason is informed in input/output unit 6.
Here, reference picture 19, says to one of the program of the reduction reason for analyzing accuracy rate in the step s 7
It is bright.In this embodiment, the reason for illumination with the presence or absence of light source is discussed.
In step s 11, the illumination of light source is determined.In step s 12, judge whether the illumination of light source is less than illumination threshold
Value.If the illumination of light source is less than illumination threshold, it is the reduction of the illumination of light source to be judged as the reason for accuracy rate reduces.Control
Device 110 makes light source maintenance request signal be exported from signal output apparatus 114, is informed in input/output unit 6 (reference picture 1)
Need to safeguard the illumination of light source.If the illumination of light source is not less than illumination threshold, it is judged as reference mark M3 being present
The reason for, proceed to step S13.
In step s 13, in judgment means 113, judge whether and be judged as needing to carry out reference mark M3's
The movable guiding rail 41b of maintenance belongs to same group other composed components.Here, multiple composed components are according to reference mark M1-M4
Aging speed and be divided into multiple groups.For example, it is also possible to the element for making frequency of use be same degree belongs to same group.Installing
In machine 1, substrate transfer apparatus 40 is the doubly-fed machine that the first handling device 41 and the second handling device 41 are set up in parallel to two row
Type.Therefore, the first handling device 41 and the second handling device 42 belong to same group, in the reference mark M3 of the handling device of a side
When needing to be serviced, the reference mark of the handling device of the opposing party is also required to be safeguarded.So, dress is carried first
In the example for putting 41 movable guiding rail 41b reference mark M3, in step S14, extraction belongs to same group of the second carrying dress
The information of 42 movable guiding rail is put, and shows that in input/output unit 6 reference mark of the handling device of two sides is required for
This case that safeguarded.In addition, in the absence of the inscape category for belonging to and be judged as needing to carry out the correction of reference mark
In the case of same group other composed components, only display is judged as needing to carry out fiducial mark in input/output unit 6
The information of the inscape of the correction of note.
According to the recognizer of above-mentioned mark, reference mark M1-M4 reach error thresholds and the being forced property of fitting machine 1
Before stopping, the reference mark M1-M4 of aging maintenance instruction is informed in input/output unit 6.Therefore, in fitting machine 1
, can be to being displayed for safeguarding that the reference mark M1-M4 of instruction is safeguarded when during inoperative.So, can not know
Reference mark M1-M4 is safeguarded before other reference mark M1-M4, can so as to avoid fitting machine 1 from being forcibly stopped
Swimmingly produced according to the production schedule.
In addition, control device 110 can also based on accuracy rate time series data calculate accuracy rate less than safeguard threshold value and/or
The predicted time of error thresholds, the predicted time is shown in input/output unit 6.This predicted time is rational for formulating
The production schedule is useful.And then control device 110 can also be by during work of this predicted time with describing fitting machine 1
It is compared with the production schedule data during inoperative, when during predicted time being contained in work, during by the implementation of maintenance
Between plan arrive the work during before inoperative during, shown in input/output unit 6.For formulating more reasonably
The production schedule is useful.
In addition, as shown in Figure 15 and Figure 16, in the case where accuracy rate is reduced in a manner of describing curve, judgment means
113 can also according to the rate of change of accuracy rate indirectly judging nicety rate whether less than safeguarding threshold value.
The concrete example of this technology is illustrated in detail above, and these are only example, do not limit claims.Right
Technology described in claim includes carries out various modifications, the technology of change by the concrete example of above example.This specification or accompanying drawing
The technology essential factor of explanation is not limited to claim during application individually or by various combination performance technology serviceabilities
Combination described in book.In addition, this specification or the technology exemplified by accompanying drawing can reach multiple purposes simultaneously, reach one of them
Purpose also has technology serviceability in itself.
Description of reference numerals
10：Component supplying apparatus
20：Part camera device
30：Suction nozzle box
40：Substrate transfer apparatus
50：Component moving and loading device
70：Mark camera device
100：Image processing part
110：Control device
111：Characteristic parameter generating means
112：Accuracy rate computing device
113：Judgment means
114：Signal output apparatus
120：Memory
121：First memory
122：Second memory
Claims (19)
1. a kind of identification device, it is the identification device of substrate operation machine,
The identification device possesses：
Reading device, reading object；
Characteristic parameter generating means, characteristic parameter is generated according to the object read；
First memory, the storage canonical parameter related to the characteristic parameter；And
Signal output apparatus, maintenance is exported based on the accuracy rate for representing the characteristic parameter and the correlation of the canonical parameter
Request signal,
It is higher than the stage of error thresholds in the accuracy rate, when the accuracy rate is less than the maintenance threshold different from the error thresholds
During value, the signal output apparatus exports the maintenance request signal.
2. identification device according to claim 1, wherein,
The identification device is also equipped with second memory, and the second memory stores the time series data of the accuracy rate.
3. identification device according to claim 2, wherein,
When the rate of change of the accuracy rate is more than exceptional value, the signal output apparatus also exports the maintenance request signal.
4. identification device according to claim 2, wherein,
An object the rate of accuracy reached to it is described safeguard threshold value when, the signal output apparatus is with reference to described in other
The accuracy rate of object exports the maintenance request signal.
5. identification device according to claim 3, wherein,
An object the rate of accuracy reached to it is described safeguard threshold value when, the signal output apparatus is with reference to described in other
The accuracy rate of object exports the maintenance request signal.
6. according to identification device according to any one of claims 1 to 5, wherein,
The reading device is camera device.
7. identification device according to claim 6, wherein,
The camera device has：Irradiate the light source of the object；And measure is irradiated to the measure device of the illumination of the object,
Threshold value is safeguarded to described and when the illumination reaches illumination threshold, the signal output apparatus output in the rate of accuracy reached
Include the maintenance request signal including light source maintenance request signal.
8. identification device according to claim 6, wherein,
The substrate operation machine is the fitting machine being installed to electronic component in circuit substrate,
The camera device has mark camera, and the mark camera forms the on the composed component of the fitting machine to being located at
One mark and the second mark being located in the circuit substrate that electronic component is installed are shot,
It is described to safeguard that threshold value includes the first of first mark and safeguards that the second of threshold value and second mark safeguards threshold
Value,
When the rate of accuracy reached of the described first mark safeguards threshold value to described first, the signal output apparatus output includes
The maintenance request signal including first request signal,
When the rate of accuracy reached of the described second mark safeguards threshold value to described second, the signal output apparatus output includes
The maintenance request signal including second request signal.
9. identification device according to claim 7, wherein,
The substrate operation machine is the fitting machine being installed to electronic component in circuit substrate,
The camera device has mark camera, and the mark camera forms the on the composed component of the fitting machine to being located at
One mark and the second mark being located in the circuit substrate that electronic component is installed are shot,
It is described to safeguard that threshold value includes the first of first mark and safeguards that the second of threshold value and second mark safeguards threshold
Value,
When the rate of accuracy reached of the described first mark safeguards threshold value to described first, the signal output apparatus output includes
The maintenance request signal including first request signal,
When the rate of accuracy reached of the described second mark safeguards threshold value to described second, the signal output apparatus output includes
The maintenance request signal including second request signal.
10. identification device according to claim 8 or claim 9, wherein,
First mark is located on multiple composed components,
The multiple composed component be divided into it is multigroup,
When the rate of accuracy reached of first mark on being located at a composed component safeguards threshold value to described first,
The maintenance request including the information of the signal output apparatus output comprising other composed components for belonging to same group
Signal.
11. identification device according to claim 6, wherein,
The substrate operation machine is the fitting machine being installed to electronic component in circuit substrate,
The camera device has the part camera shot to the electronic component.
12. identification device according to claim 7, wherein,
The substrate operation machine is the fitting machine being installed to electronic component in circuit substrate,
The camera device has the part camera shot to the electronic component.
13. the identification device according to claim 11 or 12, wherein,
The part camera is also to being located at be present on the composed component in shooting visual field when shooting the electronic component the
One mark is shot,
The third dimension for safeguarding that threshold value includes the electronic component protects threshold value and the first of first mark and safeguards threshold
Value,
When the rate of accuracy reached of the electronic component protects threshold value to the third dimension, the signal output apparatus output includes
The maintenance request signal including 3rd request signal,
When the rate of accuracy reached of the described first mark safeguards threshold value to described first, the signal output apparatus output includes
The maintenance request signal including first request signal.
14. the identification device according to claim 11 or 12, wherein,
The identification device is also equipped with correction request signal output apparatus, and the correction request signal output apparatus is based on the electricity
The accuracy rate of subcomponent exports the correction request signal of the canonical parameter of the electronic component.
15. identification device according to claim 13, wherein,
The identification device is also equipped with correction request signal output apparatus, and the correction request signal output apparatus is based on the electricity
The accuracy rate of subcomponent exports the correction request signal of the canonical parameter of the electronic component.
16. a kind of management system, possesses：
Identification device described at least one claim 1；And
3rd memory, the time series data of the accuracy rate to being obtained at least one identification device store.
17. management system according to claim 16, wherein,
3rd memory is to from being arranged at substrate operation machine, suction nozzle washer, suction nozzle check machine and loader maintenance unit
In at least two on the time series data of accuracy rate that is collected into of the identification device stored.
18. the management system according to claim 16 or 17, wherein,
The management system possesses prediction meanss, and the prediction meanss are based on the accuracy rate for being stored in the 3rd memory
Time series data predict the rate of accuracy reached to the time for safeguarding at least one party in threshold value and the error thresholds.
19. management system according to claim 18, wherein,
The management system is also equipped with：
4th memory, the production schedule data during the work of the storage description substrate operation machine and during inoperative, and
Plan making device, based on the predicted time predicted by the prediction meanss and the production schedule number for being stored in the 4th memory
According to, Maintenance Planning Data is generated,
When during the predicted time being contained in the work, the plan making device is by the implementation period planning of maintenance to the work
During inoperative before during work.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2012/074846 WO2014049766A1 (en) | 2012-09-27 | 2012-09-27 | Recognition device for substrate processing machine |
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| CN104663016B true CN104663016B (en) | 2017-12-26 |
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| JP6491673B2 (en) * | 2014-11-25 | 2019-03-27 | 株式会社Ｆｕｊｉ | Order processing apparatus and order processing method |
| JP2017005068A (en) * | 2015-06-09 | 2017-01-05 | 富士機械製造株式会社 | Component mounting machine |
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| JP6586634B2 (en) * | 2015-10-05 | 2019-10-09 | パナソニックＩｐマネジメント株式会社 | Maintenance support system and maintenance support method for electronic component mounting system |
| JP6828223B2 (en) * | 2016-02-04 | 2021-02-10 | 株式会社Ｆｕｊｉ | Mounting device |
| WO2017149597A1 (en) * | 2016-02-29 | 2017-09-08 | 三菱電機株式会社 | Apparatus classification device |
| JP6843481B2 (en) * | 2016-05-23 | 2021-03-17 | 株式会社Ｆｕｊｉ | Order processing device, identification information plate and order processing method |
| CN109932855B (en) * | 2016-05-27 | 2021-09-03 | 深圳市大疆创新科技有限公司 | Optics dustcoat and use shooting device and unmanned aerial vehicle of this optics dustcoat |
| JP7179211B2 (en) * | 2017-01-10 | 2022-11-28 | 株式会社Fuji | Implementation system and error handling method |
| JP6706695B2 (en) * | 2017-01-31 | 2020-06-10 | 株式会社Ｆｕｊｉ | Coordinate data generation device and coordinate data generation method |
| WO2018163284A1 (en) * | 2017-03-07 | 2018-09-13 | ヤマハ発動機株式会社 | Component mounting device and method for holding substrate |
| JP6840226B2 (en) * | 2017-03-30 | 2021-03-10 | 株式会社Ｆｕｊｉ | Maintenance management device |
| JP2019003460A (en) | 2017-06-16 | 2019-01-10 | パナソニックＩｐマネジメント株式会社 | Facility element maintenance management system and facility element maintenance management method |
| JP7008173B2 (en) * | 2017-07-18 | 2022-01-25 | パナソニックＩｐマネジメント株式会社 | Equipment element maintenance analysis system and equipment element maintenance analysis method |
| CN107658835B (en) * | 2017-09-26 | 2023-10-27 | 深圳供电局有限公司 | Protective pressing plate and misoperation prevention method and system thereof |
| US11307567B2 (en) | 2018-02-27 | 2022-04-19 | Panasonic Intellectual Property Management Co., Ltd. | Component mounting device, method, and system that controls head based on degree of malfunction |
| JP7303150B2 (en) | 2020-04-14 | 2023-07-04 | ヤマハ発動機株式会社 | Maintenance notification device and maintenance notification method for component mounting machine |
| CN112720384B (en) * | 2020-12-21 | 2022-08-26 | 苏州科韵激光科技有限公司 | Display panel alignment apparatus and display panel alignment method |
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| WO2014049766A1 (en) | 2014-04-03 |
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