CN1533233A - Part mounting method and device - Google Patents
Part mounting method and device Download PDFInfo
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- CN1533233A CN1533233A CNA2004100295184A CN200410029518A CN1533233A CN 1533233 A CN1533233 A CN 1533233A CN A2004100295184 A CNA2004100295184 A CN A2004100295184A CN 200410029518 A CN200410029518 A CN 200410029518A CN 1533233 A CN1533233 A CN 1533233A
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Abstract
Provided is a component mounting method and device in which the mounting performance to a substrate of electronic components can be raised and the components can be mounted by decreasing a component mounting error. The components are attracted by an attracting nozzle equipped so as to rotate and elevate, an attraction offset amount acquired from the attraction attitude is corrected, and the components are mounted at a specific position of the substrate. The attraction attitude of the component is recognized and a positional offset amount and an angle offset amount are acquired (step S6), and when the angle offset amount is not more than a specific value, only the positional offset amount is corrected (step S8) and the components are mounted. With such the arrangement, when the attraction angle offset amount is small, as the attracting nozzle is not rotated for correcting an angle, an eccentric error at a center position of a nozzle due to a nozzle rotation is not affected. Therefore, the component mounting accuracy can be enhanced.
Description
Technical field
The present invention relates to a kind of component mounting method and device, specifically is to say to relate to electronic units such as utilizing adsorption mouth absorption IC and be installed in component mounting method and device on the assigned position on the printed substrate.
Background technology
Known in the past install machinery (apparatus for mounting component), have mutually orthogonal X-axis, Y-axis, the X-axis component parts is placed on the Y-axis that is made of guide rail etc. freely along y-axis shift is moving, installation head with adsorption mouth parts is moved freely on this X-axis component parts along X-axis, thereby installation head is moved on the XY plane.
In this device, the adsorption mouth parts have the adsorption mouth that the attract electrons parts are used, and adsorption mouth parts integral body be can be rotatably set on the installation head, make the adsorption mouth can be along the rotating shaft lifting of adsorption mouth parts freely simultaneously.
When carrying out the installation of electronic units such as IC on the assigned position that utilizes this install machinery on substrate, installation head is moved on the parts feed unit, adsorption mouth is descended herein and adsorb required electronic unit.Then, adsorption mouth is risen, by the top that electronic unit is moved to the component identification video camera of moving of installation head, discern electronic unit by the component identification video camera herein simultaneously.Herein, according to the image of taking in by the component identification video camera, obtain the absorption side-play amount (position offset of parts center and adsorption site and absorption angular deflection amount) of the rotating shaft of the relative adsorption mouth parts of electronic unit, installation targets position, the position of installation head and the anglec of rotation of adsorption mouth parts when setting installation according to this side-play amount are obtained simultaneously from this target location the correcting value (patent documentation 1) of each driver element relatively.
After obtaining correcting value as described above, with correcting value drive installation head and the adsorption mouth parts after this correction, when the adsorption mouth parts arrived above-mentioned target location, adsorption mouth descended, and electronic unit is installed on the substrate.
; in above-mentioned install machinery; usually the central shaft of adsorption mouth and the rotating shaft of adsorption mouth parts should be consistent; but because of parts precision or assembly precision etc.; shown in Fig. 8 (a), the rotating shaft P of the adsorption mouth parts 50 of the relative vertical direction of central shaft S of adsorption mouth 51 presents the state of inclination a little.During this situation, leading section 51a in adsorption mouth 51, because the rotating shaft P of the relative adsorption mouth parts 50 of central shaft S of adsorption mouth 51 and off-centre, so when rotation adsorption mouth parts 50, it is the swing shown in the track Sa among this figure at center that the leading section 51a of adsorption mouth 51 then forms with rotating shaft P.
And, the distance of the central shaft S of the leading section 51a of adsorption mouth 51 and the rotating shaft P of adsorption mouth parts 50, so-called amount of space increases along with the decline of adsorption mouth 51, and therefore when making 50 rotations of adsorption mouth parts, the swing of adsorption mouth 51 also presents expansion trend shown in the track Sa of Fig. 8 (b).Under the state that adsorption mouth 51 is risen, even its leading section 51a consistent with the rotating shaft P of adsorption mouth parts 50 (not eccentric), the central shaft S of adsorption mouth 51 is in above-mentioned heeling condition, even do not make under the situation of adsorption mouth parts 50 rotations, the front position of adsorption mouth 51 also departs from rotating shaft P along with the decline of adsorption mouth 51.
In addition, the off-centre of above-mentioned adsorption mouth 51 has the situation of twisting key element that comprises.Promptly, the situation that central shaft S with adsorption mouth 51 tilts with the position relation of the rotating shaft P distortion of relative adsorption mouth parts 50, in this case, follow the decline of adsorption mouth 51, not only the offset at the leading section 51a of adsorption mouth 51 increases, and at the leading section 51a of the adsorption mouth 51 of the relative lifting position of leading section 51a of the adsorption mouth 51 of down position at circumferencial direction deviation angle θ.
Therefore, being in coaxial state with the rotating shaft of the central shaft of adsorption mouth and adsorption mouth parts is prerequisite, under the state that adsorption mouth rises, carry out the treatment for correcting that the side-play amount with electronic unit adapts or the existing installation method of offset correction, if the rotating shaft eccentric of the relative adsorption mouth parts in front end center of adsorption mouth or adsorption mouth tilt, the electronic unit actual installation to substrate the time, rotation or decline along with adsorption mouth, produce skew in the adsorption mouth front position, cause electronic unit can not be installed to unfavorable condition on the regulation installation site on the substrate.
So, in install machinery, shown in Fig. 8 (a) and (b), suppose because adsorption mouth central shaft relative adsorption mouth parts rotating shaft eccentric or inclination, the plan position approach skew of the adsorption mouth front end when perhaps also considering the adsorption mouth lifting needs to set the target location when installing, and is described by above-mentioned patent documentation 1 (the 0004th section), clamp member is installed on the fixture substrate, utilizes two-dimentional measuring device to obtain alignment error.The advantage of this method is to obtain the margin of error that also can obtain the relative target location of drive system to proofread and correct the integrated calibration data of using data.But this method has when product export and can accomplish, and the unusual shortcoming of difficulty when being provided with of the installation after purchase.
Summary of the invention
The present invention proposes in order to address the above problem, and its objective is that providing a kind of can improve the installation capability of electronic unit on substrate more, reduces the parts alignment error, parts is installed in the component mounting method and the device of tram.
In order to solve the above problems, the invention provides that a kind of utilization is installed in can be in the rotatable and liftable adsorption mouth on the installation head that moves on the horizontal plane, parts have been adsorbed, the absorption side-play amount of obtaining according to its absorption posture is proofreaied and correct, then these parts are installed in the component mounting method of the assigned position on the substrate, in the method, obtain position offset and angular deflection amount according to the absorption posture of described parts, in described angular deflection amount during smaller or equal to setting, the identical angle installing component of absorption angle with identification component the time.
In addition, the invention provides that a kind of utilization is installed in can be in the rotatable and liftable adsorption mouth on the installation head that moves on the horizontal plane, parts have been adsorbed, the absorption side-play amount of obtaining according to its absorption posture is proofreaied and correct, then these parts are installed in the apparatus for mounting component of the assigned position on the substrate, this device adopts following structure, has: the component identification video camera that described adsorption element is made a video recording; With the absorption posture that the image according to described parts comes identification component, the position offset in computing when absorption and the unit of angular deflection amount, in described angular deflection amount during smaller or equal to setting, the identical angle installing component of absorption angle with identification component the time.
In this structure, when absorption angular deflection amount hour, adsorption mouth is not rotated in order to carry out angle correct, so the error effect that the off-centre of the nozzle center position when rotate because of nozzle produces is eliminated, so can improve mounting accuracy of component.And, by the focus point of component identification video camera is set in the roughly the same plane of the substrate surface of installing component on, can absorb the horizontal plane variable quantity that causes because of the nozzle rise and fall, improve installation accuracy.
Description of drawings
Fig. 1 is the vertical view of the structure of expression apparatus for mounting component.
Fig. 2 is the front view of the structure of expression apparatus for mounting component.
Fig. 3 is the block diagram of structure of the control system of expression apparatus for mounting component.
Fig. 4 is the key diagram of the central shaft when all angles of central shaft S of adsorption mouth front end of adsorption mouth down position of representing the rotating shaft P of relative adsorption mouth parts in the plane.
Fig. 5 is the vertical view that markd fixture substrate is set with representing trellis.
Fig. 6 is the flow chart of expression parts installation procedure.
Fig. 7 (a) is the expression electronic unit key diagram in when absorption, and (b) the central shaft S of expression by front end makes electronic unit rotate the key diagram of each coordinate position when mobile, (c) is the skeleton diagram when electronic unit is moved to the final goal position.
Fig. 8 (a) be expression produce the adsorption mouth when eccentric rising the time the key diagram of state, (b) be the key diagram of the adsorption mouth of expression (a) state when descending.
Among the figure: the 3-substrate; 4-parts supply unit; The 5-mounting head unit; 9-Y axle servomotor; 15-X axle servomotor; 17-Z axle servomotor; 18-R axle servomotor; 19-substrate identification video camera; 25-component identification video camera; The 37-pattern recognition device.
Embodiment
Below, describe the present invention in detail with reference to execution mode shown in the drawings.
Fig. 1 represents electronic unit is installed in apparatus for mounting component 1 on the substrate, and Fig. 2 represents that with mounting head unit 5 be the part at center, and Fig. 3 represents the block diagram of control system structure.Apparatus for mounting component 1 is provided with X-axis servomotor 15 with position detector 16 and the Y-axis servomotor 9 with position detector 10.Indication according to the control device 60 that is made of CPU, RAM, ROM etc. drives X-axis servomotor 15, make lead screw shaft 13 rotations, the mounting head unit that supported by supporter 14 5 moves in X-direction, and drive Y-axis servomotor 9, make lead screw shaft 8 rotations, the supporter 14 of mounting head unit 5 moves along guide rail 7, and mounting head unit 5 is moved on the XY direction.
In addition, mounting head unit 5 also has 3 adsorption mouth parts.Adsorption mouth parts 20, the structure of other adsorption mouth parts also identical (Fig. 3 only illustrates adsorption mouth parts) below are described.Adsorption mouth parts 20 have adsorption mouth 21 and the nozzle holding member 20a around it that is positioned on its central shaft, the whole framework by R axle servomotor 18 relative mounting head unit 5 of adsorption mouth parts can rotate on every side along central shaft (R axle), can make adsorption mouth 21 relative to nozzle holding member 20a lifting (moving of Z-direction) by Z axle servomotor 17 simultaneously.In this case, the Z axle of adsorption mouth 21, the shift position of R axle can be detected by the position detector 22,23 that is located on each servomotor 17,18, and the shift position of its X-axis, Y-axis can be detected by position detector 16,10.
In addition, apparatus for mounting component 1 also is provided with the parts feed unit 4 of the assembly supply device 4a of a plurality of conveyer mechanisms of accommodating electronic unit that are set up in parallel etc., mounting head unit 5 moves on the position of these assembly supply devices 4a, pick up electronic unit by adsorption mouth 21, and be installed on the substrate 3 that sends along conveyer belt 2.During this situation, existence is the mechanism error of cause with shifting axle etc., make may not be consistent with actual mobile in-position from the move value of exporting the control device 60 of move to each, there is the fixed position skew in each position on substrate, so in order to proofread and correct this fixed position skew, substrate identification video camera 19 is housed on the mounting head unit 5 of erecting device, is used for obtaining in advance the intrinsic side-play amount of each position on the substrate, as described below, carry out calibrating operation.19 pairs of base plate marks that are formed on the substrate 3 of this substrate identification video camera are made a video recording, by its image processing identification mark position, and the offset of correction substrate when electronic unit is installed.
On the other hand, between conveyer belt 2 (upside among Fig. 1) and parts feed unit 4, be provided with component identification component identification video camera 25, make a video recording by 25 pairs of electronic units of this component identification video camera, its image is handled at the pattern recognition device 37 (Fig. 3) that is made of CPU37a, memory 37b, A/D converter 37c etc., thereby can discern the position (absorption posture) of electronic unit 62.In this case, the focus point position 25a of component identification video camera 25 (Fig. 2) is set on the substrate installed surface.Particularly, utilize adsorption mouth 21 absorption behind the electronic unit of parts feed unit 4 supplies, when being risen, adsorption mouth 21 moves mounting head unit 5, make adsorbed electronic unit remain on the regulation focus point position 25a (correction position) of component identification video camera 25 tops, electronic unit is made a video recording as the image that focus matches by component identification video camera 25 thus.
Electronic unit image by 25 picked-ups of component identification video camera is carried out image processing at pattern recognition device 37, thereby obtain the absorption side-play amount (position offset and angular deflection amount) of the central shaft S of the relative adsorption mouth parts 20 of electronic unit, according to this absorption side-play amount, the shift position of the rotating shaft P of the adsorption mouth parts 20 when decision is installed, the i.e. target location of adsorption mouth parts 20.
In addition, as shown in Figure 3, be provided with input units such as the keyboard 31 that is used for input substrate data and parts data, mouse 32 in apparatus for mounting component, substrate data that is generated and parts data can be stored in the storage device 33 that is made of hard disk, flash memory etc.In addition, also be provided with monitor 34, can be in its screen displayed parts data, operational data with the image of substrate identification video camera 19,25 shootings of component identification video camera etc.
In addition, in the control device 60 of apparatus for mounting component, be provided with memory cell (RAM), be used to store nozzle center's position offset that the rotation posture because of adsorption mouth 21 causes, the nozzle center's position offset that causes because of the rotation posture (0,90,180,270 degree) of each adsorption mouth 21 is by datumization in advance and storage.Promptly, in the structure of above-mentioned apparatus for mounting component, the front end of adsorption mouth 21 is at focus point position 25a, component height when discerning with the surperficial roughly the same height and position of substrate 3, and when adsorption mouth parts 20 are positioned at benchmark angle (for example the anglec of rotation is 0 °), shown in the chain-dotted line of Fig. 4, though the central shaft S of adsorption mouth 21 and the pivot P of adsorption mouth parts 20 should be consistent, but because parts foozle and rigging error, when the central shaft S of adsorption mouth 21 is in the state that the rotating shaft P of relative adsorption mouth parts 20 tilts, shown in the solid line of this figure, the rotating shaft P that the central shaft S of adsorption mouth 21 is positioned at relative adsorption mouth parts 20 is eccentric distance Nax only, the position of Nay (the 4th quadrant).Therefore,, obtain the offset of described height and position in 360 degree in advance, it is stored in memory cell in order to proofread and correct the error that causes because of this off-centre.
In the present embodiment, as shown in Figure 5 when when starting device or maintenance, utilizing 19 pairs in video camera of substrate identification to have the calibration that is configured to a plurality of trellis makes a video recording with the fixture substrate 41 of measurement point (mark) 42 with calibration, position and cad data appointed positions data by detected each measurement point 42 of this shooting are compared, obtain the fixed position skew of each installation site, be stored in the memory cell (RAM) of control device 60.About the location recognition method of measurement point, be the method for using in the known technology that utilizes in the past.
As mentioned above, absorption side-play amount according to the central shaft S of the relative adsorption mouth parts 20 of electronic unit, the target location of the rotating shaft P of the adsorption mouth parts 20 when decision is installed, control device 60 is according to the final goal position that is determined, calculate the fixed position side-play amount of each servomotor 9,15,17,18 relatively, add the offset of correction substrate, the correcting value of absorption skew simultaneously, each servomotor 9,15,17,18 of drive controlling is installed in electronic unit 62 on the substrate position of regulation.
Below, the position correction during with reference to Fig. 7 and according to the absorption of the electronic unit of the above-mentioned install machinery of flowchart text of Fig. 6, installation action and installation electronic unit.
At first, beginning installation action, control device 60 are read predefined data (step S1) such as the kind that electronic unit for example should be installed that adapts with substrate or installation site from storage device 33, the installation action that beginning and this substrate adapt.At this moment, when control device 60 will be installed electronic unit at every turn by the counter reset of accumulated counts (step S2), begin to drive the conveyer belt 2 that is used to transmit substrate simultaneously, thus, be mounted substrate 3 and moved into and be positioned at the job position of regulation, mounting head unit 5 is moved on the XY direction, substrate identification video camera 19 is positioned on the base plate mark of regulation, carry out mark position identification and substrate position identification (step S3).
Then, mounting head unit 5 is moved in the XY direction, the desired electronic unit that simultaneously adsorption mouth 21 is positioned at parts feed unit 4 is supplied with the position, afterwards, adsorption mouth 21 is descended, from parts feed unit 4 attract electrons parts 62 (step S4, S5).Then, adsorption mouth 21 rises under the state that has adsorbed electronic unit, mounting head unit 5 moves above component identification video camera 25, electronic unit 62 is configured in recognizing site (focus point position) 25a of component identification video camera 25, electronic unit remains on the posture when installing on the substrate, and is made a video recording by component identification video camera 25 in the focus point position.The image of the electronic unit of being made a video recording is implemented image processing at pattern recognition device 37, obtains the absorption side-play amount, that is, and and the angular deflection amount (step S6) of the position offset of parts center and adsorption site and relative datum angle.
In addition, control device 60 is the installation site that benchmark is set the relative substrate 3 of electronic unit with the rotating shaft P of adsorption mouth parts 20.Promptly, when the attract electrons parts, be maintained at the benchmark angle with adsorption mouth parts 20, and be adsorbed as prerequisite under the rotating shaft P of adsorption mouth parts 20 state consistent with the center of central shaft S and electronic unit, the rotating shaft P and the anglec of rotation of the adsorption mouth parts 20 when installing are set the installation site.
Therefore, when the attract electrons parts, under and the situation with benchmark angle attract electrons parts consistent at the center Q of the central shaft S of the rotating shaft P of adsorption mouth parts 20 and nozzle 21 and electronic unit, the shift position of the adsorption mouth parts 20 of above-mentioned installation site when installing (comprising the shift position on the meaning of the anglec of rotation of adsorption mouth parts 20) reaches consistent.But, for example shown in Fig. 7 (a), center Q at the rotating shaft P of adsorption mouth parts 20 and axle S of nozzle center and electronic unit 62 is inconsistent, and under situation about being adsorbed under the state that direction of rotation tilts, in order to proofread and correct the angular deflection amount θ that obtains at step S6, making adsorption mouth is center rotation carrying out angle correct with rotating shaft P, because the rotating shaft P of adsorption mouth and the off-centre of central shaft S make that the position between pivot P and parts center Q produces skew with the result who obtains when step S6 discerns.
Promptly, under the component identification video camera initial point situation identical with adsorption site (S), if the vector of establishing from parts center (Q) to adsorption site (S) is A=(Ax, Ay), if the vector from pivot (P) to adsorption site (S) is B=(Bx, By), if the vector from pivot (P) to parts center (Q) is C=(Cx, Cy), because A is the component identification result, B is a known terms, so working as with pivot (P) is the center, make adsorption mouth rotation with proofread and correct the absorption angular deflection (θ) time, the vector from the pivot (P) after proofreading and correct to parts center (Q) is that C ' is:
C’＝[cos(-θ)·(Ax+Bx)-sin(-θ)·(Ay+By)、
sin(-θ)·(Ax+Bx)+cos(-θ)·(Ay+By)]
In addition, under the component identification video camera initial point situation identical with pivot (P), C is the component identification result, C=(Cx, Cy), then
C’＝[cos(-θ)·Cx-sin(-θ)·Cy、
sin(-θ)·Cx+cos(-θ)·Cy]
After proofreading and correct angle, make pivot P move to the position of biasing C '.
Can consider if adsorb the angular deflection amount for a short time, proofread and correct angle θ and be fully little value, then by proofreading and correct angle, the side-play amount of the relative pivot P of adsorption site S is fully little.Therefore, judge that at step S7 whether angular deflection amount θ is less than setting.Under situation smaller or equal to setting, for fear of the change of the position offset that causes because of above-mentioned angle correct, the angular deflection amount of obtaining at step S6 is not proofreaied and correct, only the correction position side-play amount is carried out final goal set positions (step S8).In this case, in order to proofread and correct angle, do not make the adsorption mouth rotation, so the parts absorption angle of parts during with component identification, promptly, the angle identical with the angle of inclination of relative datum angle is mounted, and can eliminate the influence of the error that the off-centre of the nozzle center position of causing because of the nozzle position of rotation produces.In addition, when identification component, the front end of adsorption mouth 21 is positioned at the focus point position 25a of component identification video camera 25, and component height is positioned at the surperficial roughly the same height and position with substrate 3, so also can absorb the horizontal plane variable quantity that causes because of the nozzle rise and fall.
On the other hand, under the situation of angular deflection amount, after proofreading and correct angle side-play amount θ, proofread and correct the position offset of above-mentioned C ', set final goal position (step S9) greater than setting.Thus, the final goal position of the rotating shaft P of decision adsorption mouth parts 20, the fixed position side-play amount (step S10) of correction drive system.Fig. 7 (b), (c) represent to proofread and correct each coordinate figure after the angle and the final goal coordinate (position) of pivot respectively, proofread and correct coordinates of targets, logical target coordinate after the fixed position skew.
If the target setting position drives each driver element by control device 60 like this, mounting head unit 5 moves in the XY direction, under the situation of carrying out angle correct, moves to the final goal position while adsorption mouth parts 20 rotate simultaneously.When arriving this final goal position, adsorption mouth 21 descends in this position, and electronic unit is installed on the substrate, and after electronic unit was installed, in the moment of regulation, the electronic component-use counter of control device was by accumulated counts (step S11, S12).
Install under the situation about all not finishing at parts, return step S4, carry out identical processing (step S13), on the other hand, after the whole installations of parts, drive conveyer belt 2, the substrate that is positioned in the regulation job position is taken out of, for example transport to back operation (step S14), process ends.
The invention effect
As mentioned above,,,, do not make the adsorption mouth rotation,, so can improve mounting accuracy of component so the influence of the error that the off-centre of the nozzle center position when rotate because of nozzle produces is eliminated in order to proofread and correct angle in absorption angular deflection amount hour according to the present invention.In addition, by the focus point of component identification video camera being set on the surface identical with the substrate surface of installing component, can absorbing the horizontal plane variable quantity that causes because of the nozzle rise and fall, improve installation accuracy.
Claims (4)
1. component mounting method, utilization is installed in can be in the rotatable and liftable adsorption mouth on the installation head that moves on the horizontal plane, parts have been adsorbed, the absorption side-play amount of obtaining according to its absorption posture is proofreaied and correct, then these parts are installed in assigned position on the substrate, it is characterized in that
Obtain position offset and angular deflection amount according to the absorption posture of described parts,
In described angular deflection amount during smaller or equal to setting, the identical angle installing component of absorption angle with identification component the time.
2. component mounting method according to claim 1 is characterized in that, the component height during the absorption posture of identification component is and the roughly the same height of substrate surface.
3. apparatus for mounting component, utilization is installed in can be in the rotatable and liftable adsorption mouth on the installation head that moves on the horizontal plane, parts have been adsorbed, the absorption side-play amount of obtaining according to its absorption posture is proofreaied and correct, then these parts are installed in assigned position on the substrate, it is characterized in that having:
The component identification video camera that described adsorption element is made a video recording; With
According to the absorption posture that the image of described parts comes identification component, the position offset during computing absorption and the unit of angular deflection amount,
In described angular deflection amount during smaller or equal to setting, the identical angle installing component of absorption angle with identification component the time.
4. apparatus for mounting component according to claim 2 is characterized in that, the component height during the absorption posture of identification component is and the roughly the same height of substrate surface.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003074786A JP2004281958A (en) | 2003-03-19 | 2003-03-19 | Component mounting method and device |
| JP74786/2003 | 2003-03-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1533233A true CN1533233A (en) | 2004-09-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2004100295184A Pending CN1533233A (en) | 2003-03-19 | 2004-03-18 | Part mounting method and device |
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| Country | Link |
|---|---|
| JP (1) | JP2004281958A (en) |
| CN (1) | CN1533233A (en) |
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| CN1960622B (en) * | 2005-10-31 | 2010-06-23 | 重机公司 | Correction method for head position of part installation device and nominal nozzle |
| CN1780551B (en) * | 2004-10-04 | 2010-07-28 | 雅马哈发动机株式会社 | Shifting device, surface installation apparatus, error list generating method |
| CN101600333B (en) * | 2008-06-02 | 2012-05-30 | 株式会社泰塞克 | Corrector, transporting unit and electronic component containing system |
| CN101934933B (en) * | 2009-06-30 | 2013-05-08 | 株式会社泰塞克 | Apparatus for conveying electronic element |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1780551B (en) * | 2004-10-04 | 2010-07-28 | 雅马哈发动机株式会社 | Shifting device, surface installation apparatus, error list generating method |
| CN1960622B (en) * | 2005-10-31 | 2010-06-23 | 重机公司 | Correction method for head position of part installation device and nominal nozzle |
| CN101600333B (en) * | 2008-06-02 | 2012-05-30 | 株式会社泰塞克 | Corrector, transporting unit and electronic component containing system |
| CN101934933B (en) * | 2009-06-30 | 2013-05-08 | 株式会社泰塞克 | Apparatus for conveying electronic element |
| CN103787071A (en) * | 2012-11-01 | 2014-05-14 | 凯吉凯精密电子技术开发（苏州）有限公司 | Automatic grabbing method and device for circuit board |
| CN104294575B (en) * | 2014-09-30 | 2017-12-05 | 长园和鹰智能科技有限公司 | The calibration method of automatic cutting machines and the automatic cutting machines with calibration function |
| CN104294575A (en) * | 2014-09-30 | 2015-01-21 | 上海和鹰机电科技股份有限公司 | Calibration method of automatic cutting machine and cutting machine with calibration function |
| CN109997426A (en) * | 2016-11-17 | 2019-07-09 | 株式会社富士 | Working rig |
| CN109997426B (en) * | 2016-11-17 | 2020-11-24 | 株式会社富士 | Working machine |
| CN111742625A (en) * | 2018-02-27 | 2020-10-02 | 雅马哈发动机株式会社 | Component transfer apparatus, component transfer method, and component mounting apparatus |
| CN111742625B (en) * | 2018-02-27 | 2021-06-18 | 雅马哈发动机株式会社 | Component transfer apparatus, component transfer method, and component mounting apparatus |
| CN109413986A (en) * | 2018-11-15 | 2019-03-01 | 联想(北京)有限公司 | A kind of patch device control method and device, storage medium |
| CN113455118A (en) * | 2019-01-17 | 2021-09-28 | 捷普有限公司 | Apparatus, system and method for providing radial slice identification for pick and place |
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| JP2004281958A (en) | 2004-10-07 |
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