CN1242664C - Parts installation device - Google Patents
Parts installation device Download PDFInfo
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- CN1242664C CN1242664C CN 02118368 CN02118368A CN1242664C CN 1242664 C CN1242664 C CN 1242664C CN 02118368 CN02118368 CN 02118368 CN 02118368 A CN02118368 A CN 02118368A CN 1242664 C CN1242664 C CN 1242664C
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- installation head
- mounting
- carrying device
- object thing
- head
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Abstract
The present invention provides a part installation device for installing a part on a head to the object on a erecting floor and a vidicon for shooting the parts on the head and the object on the erecting floor; amending the relative position of the part and the object according to the position information from the vidicon; shortening the time without complicating the drive structure. A part delivering apparatus delivers parts to the head and installs the parts on the head' route and a reflection component of the vidicon is installed on the part delivering apparatus.
Description
Technical field
The present invention relates to electronic components such as chip are installed to the device on the mounting object things such as printed circuit board (PCB) or plug-in unit, more particularly relate to electronic components such as chip are installed to device on the mounting object things such as the printed circuit board (PCB) of heating or plug-in unit.
Background technology
One example of this kind apparatus for mounting part before Figure 16 has shown.This apparatus for mounting part keeps the part 32 of component delivery portion 31 and the top that erecting bed 35 is arrived in conveyance with the adsorption mouth 34 of installation head 33, the camera head 38 that is made of reflection parts such as prism or half-mirror 36 and video camera 37 etc. is entered between installation head 33 and the erecting bed 35, take the part 32 remain on the installation head 33 and the position of the mounting object thing 39 on the erecting bed 35 respectively, obtain positional information separately, after camera head 38 being retreated move, according to the positional information correction part 32 that obtains and the offset of mounting object thing 39, installation head 33 is descended, part 32 is press fit on the mounting object thing 39 that is placed on the erecting bed 35.
And, an example of the above-mentioned part mounting method before Figure 18 has shown.As described in Figure 18, in the former installation method, one group of part is installed and is over, and then installation head 131 rises mobilely for the part of accepting to install later 132, and the mounting object thing 134 that erecting bed 133 will will be installed subsequently moves to below the installation head 131.In the meantime, part 132 is moved into the below of installation head 131 by part carrying device 135 from component delivery portion, and installation head 131 descends, and perhaps part carrying device 135 rises, and part 132 just is handed off to the adsorption mouth 136 of installation head 131.Then, keeping the installation head 131 of part 132 to rise once more, simultaneously, part carrying device 135 is made a concession from the lifting moving path of installation head 131, is keeping the installation head 131 of part 132 to descend then, and part 132 is installed on the mounting object thing 134.The part of finishing is so once installed, and carries out above-mentioned action then repeatedly.
And Figure 19 has shown another example of the former example of this apparatus for mounting part.The pallet 232 that this apparatus for mounting part is being accommodated a plurality of mounting object things 231 with placement is loaded on the erecting bed 234 that disposes heater 233, utilize the mounting object thing 231 on heater 233 heated tray 232, will be installed on the heated mounting object thing 231 by part 236 orders that installation head 235 conveyances come.And, carrying out between the part installation period, loading is being accommodated the back carrying out other pallet 232 of 231 groups of mounting object things that part installs and be equipped with on the preparation heating station 237 of heater 238 in being placed into, prepare heating.Then, part on the erecting bed 234 is installed and is over, then placement being accommodated the pallet 232 of the mounting object thing 231 of having finished the part installation takes out of from erecting bed 234, the pallet 232 that will prepare simultaneously on the heating station 237 is moved on the erecting bed 234, after this temperature of moving into the mounting object thing 231 that descends in the course of action is heated to the temperature of regulation once again, carries out part and install and handle.
But, in above-mentioned device before shown in Figure 16, because installation head is for not only moving up and down, and the also structure that moves horizontally for the conveyance part, so driving complex structure of installation head, with the massive installation head that disposing heating or pressing mechanism at high speed up and down and horizontal drive difficulty relatively, it is long therefore to be easy to generate pitch time, and problems such as driving vibration perhaps easily take place.And, in order to move the big installation head of quality that is disposing complex drive mechanism at a high speed and accurately, need high frame of rigidity and jumbo drive source, cause the maximization of equipment.
Thereby, also motion has as shown in Figure 17, be handed off on the installation head 33 by the positive and negative that utilizes part carrying device 40 upset parts 32, carry out obtaining of positional information and part installation, the structure that installation head is moved up and down equally with above-mentioned example then.
According to this structure, make about the installation head and the problem in the structure of the example of the front that moves horizontally though can relax, but the stand-by period that the interference that need avoid part carrying device and camera head is arranged, cause the delay of pitch time, need more drive source simultaneously, problems such as equipment cost height are arranged.
And, in above-mentioned method before shown in Figure 180,,, counteract improving the installation treatment effeciency so pitch time is long owing in 1 do action of installation head, comprising 2 times knee-action.
Thereby, according to so former part mounting method, though also make great efforts to improve the responsiveness of installation head in order to shorten pitch time, but under the situation of using the installation head that need heat or pressurize when installing, because installation head maximizes and weight increases, so inertia is bigger, so high speed is also limited to.
And, from the part carrying device to the handshaking of the part of installation head, when installation head drops to the part place of part carrying device, sometimes because the inertia force and the gravity of installation head causes very big impact to part.
And, though from the part carrying device to the operation of installation head handing-over part, make the part carrying device rise and accept the form of part towards installation head, compare with the above-mentioned form that makes installation head decline accept part, the impact that is applied on the part reduces, but make the time of part carrying device rising and the time that installation head descends with regard to needing respectively for accepting part like this, pitch time is just longer.
And, in above-mentioned device before shown in Figure 19, because with the morphosis of heating the mounting object thing 131 of back with 137 preparations of preparation heating station, so the temperature of pallet 132 mounting object thing 131 between erecting bed 134 commutation periods is reduced, therefore to the actual part that carries out is installed the time that need heat again till the processing on erecting bed 134, also need heating time again at pallet outside swap time, pitch time is elongated.
And, in above-mentioned device before shown in Figure 19, because the junction temperature of chip 136 and mounting object thing 131 is the situation of high temperature, the temperature of mounting object thing 131 sharply descends during exchange pallet 132 on the erecting bed 134, so it is just bigger that temperature reduces loss, therefore install till handling to the actual part that carries out that the time of heating just needs longer again on erecting bed 134.Therefore, the pallet 132 of preparation on the heating station 137 moved into the time of erecting bed 134 and be heated to time of above-mentioned junction temperature again, i.e. the time of institute's loss just needs about about 40 seconds, so pitch time is just longer, operating efficiency is very poor.
The present invention is conceived to these problems, and main purpose is to provide a kind of can not make Drive Structure complicated, and realizes the apparatus for mounting part of the shortening of pitch time.
And, the present invention also aims to, by reasonably carrying out replacing, realize the shortening of pitch time to the pallet of part installation region.
Summary of the invention
The present invention has following formation to achieve these goals.
Promptly, the apparatus for mounting part of the 1st invention of the present invention, be installed on the mounting object thing that is loaded on the erecting bed remaining on the part that conveyance on the installation head comes, and dispose the camera head that the reflection part that remained on the video camera of part on the installation head and the mounting object thing on the erecting bed and the light path of part and mounting object thing is bent by shooting constitutes; Relative position according to positional information correction part that obtains by shooting and mounting object thing; It is characterized in that, the part carrying device of on described installation head, supplying with the conveyance part be set to advance and retreat installation head mobile route (promptly, installation head can move forward and backward up and down relatively), and described reflection part is installed on the part carrying device, and on light path, make described video camera can photograph described part and mounting object thing described video camera fixed configurations by reflection part by described reflection part.
In this case, utilize the part carrying device to be delivered to part on the installation head after, the operation by the part carrying device is made a concession from installation head makes the shooting of the mounting object thing that carries out on part and the erecting bed become possibility.Lighter with respect to camera head overall reflective parts, so the increase of the weight of part carrying device is just little.In addition, owing to the light weight that moves by the part carrying device, thus can make the part carrying device with high-speed mobile, and the vibration the during location can decay rapidly.Therefore, the breath-group time in the time of can shortening the location.And, though when video camera was moved, the broken string of video camera distribution may take place, owing to fixed video camera, so such situation can not occur.Under the situation that the light path that makes part and mounting object thing by a plurality of reflection parts bends, as long as have at least 1 reflection part to be installed on the part carrying device, other reflection part also can be fixedly installed on the light path of part and mounting object thing.
In addition, under the situation of the 2nd invention of the present invention, preferably dispose described part carrying device with the part conveyance till the installation head, with the device of the hold mode of optical identification part.
In this case, since up to the part carrying device with the part conveyance till the installation head, can optical identification part hold mode, thus from the part carrying device to the part delivery process of installation head, can make the part holding position on installation head suitable.
In addition, under the situation of the 3rd invention of the present invention, preferably make described camera head, under the part and mounting object thing state in opposite directions that remain on the installation head, take part and mounting object thing simultaneously.
In this case, compare, can shorten camera time with the form of taking part and mounting object thing respectively.Because after shooting, there is no need to make installation head to move to the XY direction, so, the position error after the shooting can be controlled at Min..
In addition, under the situation of the 4th invention of the present invention, preferably has the device of the vibration amplitude that detects the above-below direction that is configured in the described reflection part on the described part carrying device.
In this case, because when not having skew or skew very little in the horizontal direction, simultaneously recognition site is made a video recording, can measure the vibration amplitude of above-below direction, and can be used in the information of the relative position skew of revising part and mounting object thing with part.
In addition, under the situation of the 5th invention of the present invention, preferably handle and the part recognition site of making a video recording simultaneously is arranged on the installation head.
In this case, even on when shooting reflection part vibration is arranged, skew that also can the perception reflex parts.That is to say, the vibration of the horizontal direction of the reflection part shown in Figure 13 (b), because the part of video camera picked-up is identical with offset delta with the offset direction of the picture of mounting object thing, so there is not the relative position skew of part and mounting object thing, but the vibration of the above-below direction shown in Figure 13 (a), though the part of video camera picked-up is identical with offset delta with the offset direction of the picture of mounting object thing, but because the direction of skew is opposite, so the skew of the relative position of part and mounting object thing is 2 δ.Therefore, the vibration amplitude δ of the above-below direction by the detection of reflected parts, the relative position that just can revise part and mounting object thing is offset the part of 2 δ.
In addition, under the situation of the 6th invention of the present invention, it is characterized in that, preferably have: can be toward or away from mobile described installation head with respect to the mounting object thing, with the part carrying device that can in the motion track of installation head, go out to move back and can on the moving direction of installation head, move, and in moving, installation head make both relative near the control device that at least one side's of part carrying device and installation head translational speed is controlled for making part carrying device limit move the limit to the moving direction of installation head.
In this case, for example after 1 installation action is intact, leave the mobile operation from the mounting object thing in installation head, by the part carrying device in the motion track that is in installation head is moved to the moving direction of installation head on one side, relative with installation head approaching on one side, can impact that tinily part is delivered on the installation head from the part carrying device.
The apparatus for mounting part of the 7th invention of the present invention, it is characterized in that, preferably have: move up-down drive device on the abutment portion that is fixedly mounted on apparatus for mounting part at the above-below direction corresponding with the moving direction of described installation head for making described part carrying device, with can be by this up-down drive device in the portion that slides up and down that above-below direction moves, with along with this portion of sliding up and down moves up and down, can be relative to the described portion of sliding up and down the 1st connecting portion that moves of direction to the left and right, with make described the 1st connecting portion left and right directions drive unit that moves of direction to the left and right for described part carrying device is moved up at the right and left corresponding with the direction that goes out to move back in the motion track of described installation head, with driving by this left and right directions drive unit, can and can on fore-and-aft direction, slide in the portion that horizontally slips that left and right directions moves with described the 1st connecting portion, and the 2nd connecting portion that can on above-below direction, slide with the described portion that horizontally slips; Simultaneously, described part carrying device is arranged on described the 2nd connecting portion.
In this case, a part carrying device and a part that is arranged on the inscape of the camera head on this part carrying device, direction, left and right directions and fore-and-aft direction move up and down, and, can shorten the mobile pitch time of the part carrying device in the part conveyance action owing to can do one's utmost to reduce the movable quality that it moves.
In addition, the apparatus for mounting part of the 8th invention of the present invention, preferably the mounting object thing is loaded on the erecting bed that disposes heater, will remains on the installation head and conveyance is installed on the heated mounting object thing group successively to the part of the top of mounting object thing; It is characterized in that, be equipped with a plurality of described erecting beds, and these erecting beds can be relatively moved in the horizontal direction with respect to installation head, make 1 platform in a plurality of erecting beds be positioned at the installation region of installation head.
In this case, only 1 erecting bed is positioned at the part installation region, here carries out between the part installation period, carries out the heating of mounting object thing on other erecting bed.Then, part on the erecting bed that is positioned at the part installation region is installed and is over, and then this erecting bed is taken out of from the part installation region, simultaneously, the erecting bed of other of heat treated standby is on one side on one side moved in the part installation region by exchange, directly begins part and installs.In addition, on the erecting bed of taking out of from the part installation region, the mounting object thing that part is installed is removed, and simultaneously, new mounting object thing is loaded into and accepts heat treated.And, being not limited to 1 mounting object thing of configuration on 1 erecting bed, also a plurality of mounting object things can be configured on 1 erecting bed.
In addition, under the situation of the 9th invention of the present invention, a plurality of described erecting beds can be moved horizontally respectively independently, and installation head only can be moved up and down.
In this case, be in the erecting bed of part installation region, can independently move with the contraposition of installation head for carrying out, other erecting bed can be fixed on the position of regulation in the heat-treatment process.
Description of drawings
Fig. 1 is the stereogram of the summary formation of expression apparatus for mounting part of the present invention.
Fig. 2 is the front view of the summary formation of expression apparatus for mounting part of the present invention.
The stereogram of Fig. 3 for seeing from the back side one side of pallet pressed component.
Fig. 4 is the front view of expression part installation procedure.
Fig. 5 is the front view of expression part installation procedure.
Fig. 6 is the front view of expression part installation procedure.
Fig. 7 is the front view of expression part installation procedure.
Fig. 8 is the front view of expression part installation procedure.
Fig. 9 is the front view of expression part installation procedure.
Figure 10 is the stereogram of the summary formation of expression other embodiments of the invention.
Figure 11 is the front view of the summary formation of expression other embodiments of the invention.
Figure 12 is the action specification figure of the whirling vibration of reflection part.
Figure 13 is to reflection part up and down and the action specification figure of horizontal vibration.
Figure 14 represents to drive the overall perspective view of the drive unit of part carrying device for summary.
Figure 15 is the stereogram of the general structure of the main portion of the drive unit of expression driving part carrying device.
Figure 16 is the front view of the summary formation of the example before the expression.
Figure 17 is other front view that constitutes with the summary of precedent of expression.
Figure 18 is the general principal view of the part installation procedure of the example before the expression.
Figure 19 is the front view of the summary formation of the example before the expression.
Among the figure: 2-mounting object thing, 3-erecting bed, 4-part, 6-part carrying device, 8-installation head, 9-camera head, the 16-reflection part, 19, the 20-video camera, the 24-recognition site, 27-Z axle workbench (up-down drive device), 28-frame (base station), 29-X axle workbench (left and right sides drive unit), the 41-portion that horizontally slips, 43-the 2nd connecting portion, 44-slides up and down portion, 46-the 1st connecting portion.
Embodiment
Below, embodiments of the invention are described with reference to the accompanying drawings.
Fig. 1 is the stereogram of the summary formation of expression apparatus for mounting part of the present invention, in addition, and the front view that Fig. 2 constitutes for the expression summary.On the device frame 1 of this apparatus for mounting part, be equipped with and load support (also comprising the situation that is in laying state) and as 2 erecting beds 3 about the plug-in unit 2 of an example of mounting object thing, and arrange the component delivery portion 5 deposit parts 4 such as chip, and above device frame 1, disposing part conveyance platform 6 as the part carrying device, with the component delivery unit 7 that will supply to from the part 4 that component delivery portion 5 takes out on the part conveyance platform 6, with the part of accepting to be fed on the part conveyance platform 64, and attach it to installation head 8 on the plug-in unit 2 on the erecting bed 3, with be used to obtain the part 4 before installing and the positional information (position of plug-in unit 2, posture, shape etc.) image mechanisms 9 etc., the detailed construction and the function of each one are described below.
On 2 erecting beds 3, releasably loading the pallet 10 of arranging filling plug-in unit 2 respectively, simultaneously, in this tray loading position, heater 11 is housed, suitably heat plug-in unit 2 by pallet 10.
And each erecting bed 3 is connected with not shown drive unit according to the instruction of control device 30 action, can be across the installation region of installation head 8 belows and the position of readiness move left and right that departs to the left and right from the installation region, and also can move by fore-and-aft direction.And, also can be set at the position of departing from forwards, backwards from the installation region of installation head 8 belows as position of readiness.
As shown in Figure 2, for making pallet 10, with suitable load erecting bed 3 is compressed by the pallet pressed component 12 that is equipped thereon face not owing to heating is out of shape.Pallet pressed component 12 is made of corrosion resistant plate, is formed with the opening 13 that plug-in unit 2 is exposed, and the appropriate location below pallet pressed component 12, is being provided with a plurality of protrudingly 14, compresses pallet 10 in a plurality of positions with a contact condition.By compressing pallet 10 with a contact condition like this, can suppress pallet pressed component 12 self waits and buckling deformation owing to heating, and pallet 10 all sidedly closely contact on erecting bed 3, be delivered to pallet 10 expeditiously from the heat of heater 11, each plug-in unit 2 is heated equably.And the present invention is not limited to carry out component delivery to the device of pallet 10 and plug-in unit 2 combinations, also printed circuit board (PCB) or aluminum oxide substrate etc. can be carried out component delivery as the mounting object thing.Under with situations such as printed circuit board (PCB)s as the mounting object thing, can be with the alignment mark of the conductor electrode on the plate when being used for shooting that part installs, and special-purpose alignment mark also can be set.
Above-mentioned installation head 4 is disposing the part maintaining parts 17 such as adsorption mouth of accepting to move into by part conveyance platform 6 part 4 that moves up and down in the track, move between the position of readiness that can be up and the installation site of below, and for changing the angle of the part 4 that keeps, part maintaining part 17 Be Controlled can be rotated around the longitudinal axis.
The video camera 20 that video camera 19 that image mechanism 9 is used by the part of taking part 4 on the part maintaining part 17 that remains on installation head 4 and the plug-in unit 2 on the pallet 10 by the reflection part 18 that is configured in reflection part 16 on the part conveyance platform 6 and fixed-site and plug-in unit are used constitutes.
The basic comprising that relates to apparatus for mounting part of the present invention as above.
Below, the drive unit A of part conveyance platform 6 is operated in explanation up and down movably forward and backward according to Figure 14, Figure 15.Figure 14 represents the stereogram of the integral body of drive unit A for summary, and Figure 15 is the stereogram of the general structure of the main portion among the expression drive unit A.
As Figure 14, shown in Figure 15, be set on the frame 28 (being fixed on the said apparatus frame 1) as abutment portion as the Y-axis workbench 26 of front and back drive unit and as the Z axle workbench 27 of up-down drive device, be arranged on as the X-axis workbench 29 of left and right sides drive unit on the sliding part (detailed structure is not shown) of Y-axis workbench 26.On X-axis workbench 29, Y-axis workbench 26 and Z axle workbench 27, disposing linear actuator element respectively as drive unit.
Because X-axis workbench 29 is gone up in Y direction (fore-and-aft direction) by Y-axis workbench 26 and is moved, so the line slideway 30 of X-axis workbench 29 can move on Y direction.
Therefore, by these line slideway 30 sliding guidances and by X-axis workbench 29 to the left and right the portion that horizontally slips 41 of direction move operation just can move to X-direction (left and right directions) and Y direction.
Be installed in the line slideway 42 in the portion of horizontally slipping 41, can go up sliding guidance the 2nd connecting portion 43 in Z-direction (above-below direction).
And, be provided with in the portion that slides up and down 44 by above-mentioned Z axle workbench 27 move operation on above-below direction, slide up and down in the portion 44 at this, be provided with the line slideway 45 that is used for sliding guidance the 1st connecting portion 46 on left and right directions.
Therefore, by the 1st connecting portion 46 of these line slideway 45 guiding, because line slideway 45 moves on Z-direction, so can on X-axis and Z-direction, move.
The 1st connecting portion 46 is in the same place with the combinations of states that slide relative guides on fore-and-aft direction mutually by line slideway 47 with above-mentioned the 2nd connecting portion 43.
Therefore, to the actuating force of the Z-direction of the 2nd connecting portion 43, transmit via the portion of sliding up and down 44, line slideway the 45, the 1st connecting portion 46, line slideway 47 from Z axle workbench 27.
And, the moving range of Y direction be limited at carry out that the Y-axis position adjusts among a small circle in, be set to littler than the moving range of X-direction or Z-direction.
Structure according to above-mentioned drive unit A, the reflection part 16 that is installed in the part placement section 6a on the part conveyance platform 6 and constitutes by prism, can on X-axis, Y-axis, Z-direction, move by X-axis workbench 29, Y-axis workbench 26, Z axle workbench 27, and can reduce movable quality, shorten pitch time.
Be that Z axle workbench 27 mainly is to be movable quality with the portion of sliding up and down 44, connecting portion the 47, the 2nd connecting portion 43, part conveyance platform 6, do not make it to move in X-axis workbench 29 or Y-axis workbench 26 not being also contained in to Z-direction.In addition, Y-axis workbench 26 mainly is to be movable quality with X-axis workbench 29, portion's the 41, the 2nd connecting portion 43 that horizontally slips, part conveyance platform 6, does not make it to move to Y direction in Z axle workbench 27 not being also contained in.In addition, X-axis workbench 29 mainly is to be movable quality with the portion's of horizontally slipping the 41, the 1st connecting portion the 46, the 2nd connecting portion 43, part conveyance platform 6, does not make it to move to X-direction in Z axle workbench 27 not being also contained in.
Therefore, can realize the miniaturization of the movable part separately of X-axis workbench 29, Y-axis workbench 26, Z axle workbench 27,, can make the 6 brisk and actions promptly of part carrying device, can shorten pitch time so just can drive the movable part of small-sized light weight.
According to process sequence its part installation action is described according to Fig. 4～Fig. 9 below.And,, being not limited to move part 4 to the moving of component delivery platform 6 from component delivery unit 7 with identical posture, move the back of also can overturning as shown in Figure 17.
(1) as shown in Figure 4, confirm part 4 after the installation of plug-in unit 2 is over, then shown in the imaginary line among this figure like that, installation head 8 begins to rise, simultaneously, part conveyance platform 6 enters towards the mobile route of installation head 8.In this case, part conveyance platform 6 move horizontally the path above, be equipped with and taking by the video camera 23 of the part 4 of conveyance the position alignment when the shooting information of picked-up is used to be delivered to part 4 on the installation head 8.This video camera 23 constitutes till part conveyance platform 6 arrives installation head 8 with part 4 conveyances, the device of optical identification part hold mode.According to this image pickup result, in the enterprising position correction of being about to the part 4 of part 4 before being delivered to installation head 8 of part conveyance platform 6.
(2) as shown in Figure 5, when installation head 8 rose, then erecting bed 3 just moved a pitch to horizontal direction, then the plug-in unit 2 of installation is positioned at installation head 8 under the position.
(3) rise to certain height when installation head 8, then keep part 4, and move in the horizontal direction the part conveyance platform 6 of coming just one side creep into the installation head 8 that rising under simultaneously carry out vertical motion.
(4) here, by making control device 30 actions, carry out the deceleration control of the rate of climb of installation head 8, perhaps in the speedup of the rate of climb of part conveyance platform 6 control at least any one, it is poor that order reduces the rate of climb of installation head 8 and part conveyance platform 6, by as shown in Figure 6, make part conveyance platform 6 in the vertical motion process of installation head 8, catch up with installation head 8, part 4 is delivered to the part maintaining part 17 of installation head 8.After carrying out this payment, part conveyance platform 6 begins to descend.
(5) as shown in Figure 7, when installation head 8 is carried out part payment, arrival top position of readiness, part conveyance platform 6 laterally moves while descending, part 4 that reflection part 16 is in remain on the installation head 8 and the position between the plug-in unit under it 2 utilize part to take part 4 and plug-in unit 2 with video camera 19 and plug-in unit respectively with video camera 20.
In this case, from reflection part 16 to part with the length of the light path of video camera 19 and the shooting carried out with the position of the equal in length of the light path of video camera 20 from reflection part 16 to plug-in unit, as shown in Figure 12, be to wish on the basis of the shooting error that the whirling vibration up and down that reduces reflection part 16 causes, to carry out.
And when entering this shooting operation, the transparent panel of then keep making a concession at ordinary times 21 just flatly moves into, and covers plug-in unit 4 from the top, suppresses because the shooting error that is caused by the fluctuation of the air of the heat heating of plug-in unit heating usefulness.And by drying above the transparent panel 21 that covers plug-in unit 2 from air-supply arrangement 22, the fluctuation of removing the air of transparent panel 21 tops can further reduce the shooting error.In this case, because the wind of air-supply arrangement 22 is blocked by transparent panel 21, directly do not blow on the plug-in unit 2, so the temperature of plug-in unit 2 can not reduce.
Then, by repeatedly carrying out above-mentioned shooting, its camera data is set in averaging of order specified processing in the control device 30 according to storage, can further improves the precision of positional information.
(6), draw the position offset of part 4 and plug-in unit 2 with the positional information operational analysis in control device 30 that obtains.According to this side-play amount, 2 dimensions of the rotation by the part maintaining part 17 on the installation head 8 and the horizontal direction of erecting bed 3 move revises this offset.
(7) position correction is over, and then as shown in Figure 8, part conveyance platform 6 levels are recovered to move to the position of readiness of accepting component delivery, and simultaneously, installation head 8 is carried out down maneuver, presses part 4 is installed on heated plug-in unit 2.
(8) finish 1 part with above-mentioned steps processing, the above-mentioned repeatedly action in back are installed.
(9) during carrying out part installation processing on the erecting bed 3 on one side, on the erecting bed 3 of another side, carry out the preparation heating of back plug-in unit 2 to be processed.
(10) then, at the part of erecting bed 3 on one side processing being installed is over, then as shown in Figure 9, this erecting bed 3 moves to the position of readiness that leaves with the installation region of installation head below, simultaneously, the erecting bed 3 that simultaneously prepares the another side of Overheating Treatment one side standby always enters and moves to the installation region, carries out the part of the plug-in unit group on the erecting bed 3 that is loaded in another side according to above-mentioned order processing is installed.
(11) then, moving on the erecting bed 3 of position of readiness making a concession, to finish the packing into of the pallet of taking out of and loading new plug-in unit 2 10 that part is installed the pallet of handling 10 from the installation region.
And, in the above-described embodiments, loading erecting bed the moving into to part installation region of taking out of and loading new mounting object thing of the erecting bed of the mounting object thing of having finished the part installation from the part installation region, can not have time difference or time difference and carry out tinily, and can not need the stand-by period of heating again and transit directly to part and install to handle.Its result can be controlled at the loss time in 1 second, so make the shortening of pitch time become possibility, can improve operating efficiency.
Other embodiment
In Figure 10 and Figure 11, shown other embodiment of the present invention.
Though basic comprising that should example is routine identical with the front, following different on some.Promptly, near the adsorption mouth 17 of installation head 8, disposing the recognition site 24 that to make a video recording simultaneously with part 4, shown in Figure 13 (a) like that, offset delta when being used to measure reflection part 16 and vibrating on above-below direction is revised the relative position side-play amount 2 δ parts of part 4 and mounting object thing 2.
And, acceleration transducer 25 as an example of the device of the vibration amplitude of the above-below direction of detection of reflected parts 16 is installed on part conveyance platform 6, can be by testing result being carried out integral operation, the side-play amount of the above-below direction of reflection part 16 when measuring photography.And,, also can utilize the displacement transducer of direct detection vibration amplitude as the device of the vibration amplitude of the above-below direction of detection of reflected parts.
And, the advance and retreat moving direction that moves up and down the path of the installation head 8 of part conveyance platform 6 is set at and is configured in the incident light of the reflection part 16 on this part conveyance platform 6 and the direction that catoptrical optical axis intersects vertically.
And the present invention also can following example implement.
Also a plurality of erecting beds 3 can be connected to become whole moving.
A plurality of erecting beds 3 are contained on the turntable,, can only make 1 erecting bed 3 be in the installation region processing is installed by making this turntable spinning movement and stopping.
Also a plurality of erecting beds 3 can be arranged the position that be provided in regulation,, carry out the part installation in each mobile installation head erecting bed 3 above.
And the present invention can following example implement.
Embodiments of the invention 1, be a kind of apparatus for mounting part, be installed on the mounting object thing that is loaded on the erecting bed remaining on the part that conveyance on the installation head comes, and dispose the camera head that the reflection part that remained on the video camera of part on the installation head and the mounting object thing on the erecting bed and the light path of part and mounting object thing is bent by shooting constitutes; Relative position according to positional information correction part that obtains by shooting and mounting object thing; It is characterized in that, the part carrying device of supplying with the conveyance part on described installation head is set to go out to move back the mobile route of installation head, and described reflection part is installed on the part carrying device, and described video camera fixed configurations is made on the light path of its crooked part and mounting object thing by described reflection part.
Embodiments of the invention 2 are according to described embodiment 1 described apparatus for mounting part, dispose described part carrying device with the part conveyance till the installation head, with the device of the hold mode of optical identification part.
Embodiments of the invention 3 are according to embodiment 1 of the present invention or 2 described apparatus for mounting part, make described camera head, under the part and mounting object thing state in opposite directions that remain on the installation head, take part and mounting object thing simultaneously.
Embodiments of the invention 4 are any described apparatus for mounting part according to described embodiment 1 to 3 of the present invention, have the device of the vibration amplitude that detects the above-below direction that is configured in the described reflection part on the described part carrying device.
Embodiments of the invention 5 are any described apparatus for mounting part according to embodiment 1 to 4 of the present invention, and the recognition site of making a video recording simultaneously with part is arranged on the installation head.
Embodiments of the invention 6, it is any described apparatus for mounting part according to described embodiments of the invention 1 to 4, have: can be toward or away from mobile described installation head with respect to the mounting object thing, with the part carrying device that can in the motion track of installation head, go out to move back and can on the moving direction of installation head, move, and in moving, installation head make both relative near the control device that at least one side's of part carrying device and installation head translational speed is controlled for making part carrying device limit move the limit to the moving direction of installation head.
Embodiments of the invention 7, be according to described embodiments of the invention 6 described apparatus for mounting part, it is characterized in that, have: move up-down drive device on the abutment portion that is fixedly mounted on apparatus for mounting part at the above-below direction corresponding with the moving direction of described installation head for making described part carrying device, with can be by this up-down drive device in the portion that slides up and down that above-below direction moves, with along with this portion of sliding up and down moves up and down, can be relative to the described portion of sliding up and down the 1st connecting portion that moves of direction to the left and right, with make described the 1st connecting portion left and right directions drive unit that moves of direction to the left and right for described part carrying device is moved up at the right and left corresponding with the direction that goes out to move back in the motion track of described installation head, with driving by this left and right directions drive unit, can and can slide at fore-and-aft direction in the portion that horizontally slips that left and right directions moves with described the 1st connecting portion, and the 2nd connecting portion that can slide at above-below direction with the described portion that horizontally slips; Simultaneously, described part carrying device is arranged on described the 2nd connecting portion.
Embodiments of the invention 8, be according to embodiment 1 to 7 described apparatus for mounting part of the present invention, it is characterized in that, the mounting object thing is loaded on the erecting bed that is disposing heater, conveyance is remained on the installation head and is installed on the heated mounting object thing to the part of the top of mounting object thing; Be equipped with a plurality of described erecting beds, and these erecting beds can be relatively moved in the horizontal direction with respect to installation head, make 1 platform in a plurality of erecting beds be positioned at the installation region of installation head.
The 9th embodiment of the present invention is according to embodiment 8 described apparatus for mounting part of the present invention, it is characterized in that, a plurality of described erecting beds can be moved horizontally respectively independently, and installation head only can be moved up and down.
The above-mentioned explanation of You can be clear that, can expect effect described below according to the present invention Really.
According to the apparatus for mounting part of the embodiment of the invention 1, by the inscape with camera head Few one one of Zhi be installed on the part carrying device, can Zai part be delivered to mounting head after the Zhi, One side is made a concession the part carrying device, and one side is taken part and mounting object thing, can shorten from part Be delivered to the required time till the shooting, but the You effect shortens pitch time. In addition, You Yu moves and takes the photograph Driving structure and part carrying device that the Zhi of picture Zhuan Zhi is few one one are general, so also can You effect ground The miniaturization of realization equipment and cost. And, although when video camera is moved, may The broken string of video camera distribution can take place, but You Yu is fixedly installed on video camera and passes through reflection part And make on the light path of its crooked part and mounting object thing, so, such situation can not appear. In addition, You Yu Zai camera head Zhong, reflection part is installed on the part carrying device, and is in addition solid Decide video camera, so the Zeng that can control part carrying device overall weight adds and maximizes.
According to the apparatus for mounting part of the embodiment of the invention 2, the part on the mounting head is kept Location-appropriate can be realized the raising of part installation accuracy.
According to the apparatus for mounting part of the embodiment of the invention 3, right with installation by taking simultaneously part Resemble thing, can further shorten pitch time. And, there is no need to make after the You Yu Zai shooting Mounting head is carried out the movement of XY direction, thus can irreducible minimum degree ground shooting mistake behind the control location Difference.
According to the apparatus for mounting part of the embodiment of the invention 4, You Yu can reduce You and be installed in part So the skew of the above-below direction of the reflection part on the carrying device and the shooting error that causes are can Improve installation accuracy.
According to the apparatus for mounting part of the embodiment of the invention 5, You Yu can reduce You and be installed in part So the skew of the above-below direction of the reflection part on the carrying device and the shooting error that causes are can Improve installation accuracy.
According to the apparatus for mounting part of the embodiment of the invention 6, You Yu Zai mounting head Yuan comes when mobile Between in carry out part and pay, so can shorten pitch time, You effect ground improves treatment effeciency. And And You Yu can Zai pays from the part carrying device to mounting head the operation of part, and one side is dwindled The relative moving speed of part carrying device and mounting head is simultaneously paid part, so can reduce zero The impact injury of part.
According to the apparatus for mounting part of the embodiment of the invention 7, part carrying device and be arranged on this The part of the inscape of the camera head on the part carrying device, up and down direction, Zuo You direction and fore-and-aft direction move, but and You Yu can reduce mobile kinoplaszm amount, institute as far as possible Mobile pitch time with the part carrying device that can shorten part conveyance action Zhong.
According to the apparatus for mounting part of the embodiment of the invention 8, can have no time the poor or time Difference is carried out rarely Zhuan and is carried the erecting bed of having finished the mounting object thing that part installs and install from part The zone take out of and erecting bed that Zhuan carries new mounting object thing to the moving into of part installation region, And can not need the stand-by period of Zai heating and Zhi switches through Zhi the part installation process, it is energy as a result Enough shorten pitch time, improve operating efficiency.
According to the apparatus for mounting part of the embodiment of the invention 9, can one side with limit heating edge standby The erecting bed position is fixed, and one side makes the erecting bed of part installation region move arbitrarily, carry out Yong Yu zero Part install to bit motion, Yu a plurality of erecting beds are connected, make it the Zheng body segment flap Zuo and aim at the position The situation of Zhi is compared, and the structure weigh light of action can high accuracy and promptly carry out the position Aim at.
Claims (7)
1. apparatus for mounting part, the part of conveyance is installed on the mounting object thing that is loaded on the erecting bed on the installation head with remaining on, and disposes the camera head that the reflection part that remained on the video camera of part on the installation head and the mounting object thing on the erecting bed and the light path of part and mounting object thing is bent by shooting constitutes; Relative position according to positional information correction part that obtains by shooting and mounting object thing; It is characterized in that,
The part carrying device of supplying with the conveyance part on described installation head is set to relative installation head and can moves forward and backward up and down, described reflection part is installed on the part carrying device, and on light path, make described video camera can photograph described part and mounting object thing described video camera fixed configurations by described reflection part by described reflection part.
2. apparatus for mounting part according to claim 1 is characterized in that, dispose described part carrying device with the part conveyance till the installation head, with the device of the hold mode of optical identification part.
3. apparatus for mounting part according to claim 1 and 2 is characterized in that, makes described camera head, under the part and mounting object thing state in opposite directions that remain on the installation head, takes part and mounting object thing simultaneously.
4. apparatus for mounting part according to claim 1 and 2 is characterized in that, has the device of the vibration amplitude that detects the above-below direction that is configured in the described reflection part on the described part carrying device.
5. apparatus for mounting part according to claim 1 and 2 is characterized in that, the recognition site of making a video recording simultaneously with part is arranged on the installation head.
6. apparatus for mounting part according to claim 1 and 2, it is characterized in that, have: can be toward or away from mobile described installation head with respect to the mounting object thing, with the part carrying device that can in the motion track of installation head, go out to move back and can on the moving direction of installation head, move, and in moving, installation head make both relative near the control device that at least one side's of part carrying device and installation head translational speed is controlled for making part carrying device limit move the limit to the moving direction of installation head.
7. apparatus for mounting part according to claim 6 is characterized in that having:
For make described part carrying device the above-below direction corresponding with the moving direction of described installation head move on the abutment portion that is fixedly mounted on apparatus for mounting part up-down drive device and
By this up-down drive device can the portion that slides up and down that above-below direction moves and
Along with this portion of sliding up and down move up and down, can relative to the described portion of sliding up and down to the left and right the 1st connecting portion that moves of direction and
For make described part carrying device the right and left corresponding with the direction that in the motion track of described installation head, goes out to move back move up make described the 1st connecting portion to the left and right the left and right directions drive unit that moves of direction and
Driving by this left and right directions drive unit, can the portion that horizontally slips that left and right directions moves and
Can with described the 1st connecting portion at the 2nd connecting portion that slides on the fore-and-aft direction and can on above-below direction, slide with the described portion that horizontally slips;
Simultaneously, described part carrying device is arranged on described the 2nd connecting portion.
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001132260 | 2001-04-27 | ||
| JP2001132260A JP3554788B2 (en) | 2001-04-27 | 2001-04-27 | Component mounting device |
| JP2001132258 | 2001-04-27 | ||
| JP2001132258 | 2001-04-27 | ||
| JP2001247726 | 2001-08-17 | ||
| JP2001247726 | 2001-08-17 | ||
| JP2002107830 | 2002-04-10 | ||
| JP2002107830A JP3738747B2 (en) | 2001-04-27 | 2002-04-10 | Component mounting device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410063345 Division CN1290397C (en) | 2001-04-27 | 2002-04-25 | Parts installation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1384704A CN1384704A (en) | 2002-12-11 |
| CN1242664C true CN1242664C (en) | 2006-02-15 |
Family
ID=27482246
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02118368 Expired - Lifetime CN1242664C (en) | 2001-04-27 | 2002-04-25 | Parts installation device |
| CN 200410063345 Expired - Lifetime CN1290397C (en) | 2001-04-27 | 2002-04-25 | Parts installation device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410063345 Expired - Lifetime CN1290397C (en) | 2001-04-27 | 2002-04-25 | Parts installation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN1242664C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI623250B (en) * | 2016-05-11 | 2018-05-01 | Panasonic Ip Man Co Ltd | Part mounting device |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8849620B2 (en) | 2011-11-18 | 2014-09-30 | Nike, Inc. | Automated 3-D modeling of shoe parts |
| US8755925B2 (en) | 2011-11-18 | 2014-06-17 | Nike, Inc. | Automated identification and assembly of shoe parts |
| US8958901B2 (en) | 2011-11-18 | 2015-02-17 | Nike, Inc. | Automated manufacturing of shoe parts |
| US10552551B2 (en) | 2011-11-18 | 2020-02-04 | Nike, Inc. | Generation of tool paths for shore assembly |
| US9451810B2 (en) | 2011-11-18 | 2016-09-27 | Nike, Inc. | Automated identification of shoe parts |
| US20170229417A1 (en) * | 2014-08-22 | 2017-08-10 | Sharp Kabushiki Kaisha | Mounting substrate manufacturing apparatus and method of manufacturing mounting substrate |
| TWI547223B (en) * | 2015-03-11 | 2016-08-21 | All Ring Tech Co Ltd | Pressure method and device |
| US10882298B2 (en) * | 2016-11-07 | 2021-01-05 | Asm Technology Singapore Pte Ltd | System for adjusting relative positions between components of a bonding apparatus |
| JP6547968B2 (en) * | 2016-11-08 | 2019-07-24 | パナソニックＩｐマネジメント株式会社 | Component mounting device |
-
2002
- 2002-04-25 CN CN 02118368 patent/CN1242664C/en not_active Expired - Lifetime
- 2002-04-25 CN CN 200410063345 patent/CN1290397C/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI623250B (en) * | 2016-05-11 | 2018-05-01 | Panasonic Ip Man Co Ltd | Part mounting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1290397C (en) | 2006-12-13 |
| CN1384704A (en) | 2002-12-11 |
| CN1575125A (en) | 2005-02-02 |
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