CN1592574A - Adsorption position corrector of electronic device in electronic device mounting machine - Google Patents
Adsorption position corrector of electronic device in electronic device mounting machine Download PDFInfo
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- CN1592574A CN1592574A CN 200410074179 CN200410074179A CN1592574A CN 1592574 A CN1592574 A CN 1592574A CN 200410074179 CN200410074179 CN 200410074179 CN 200410074179 A CN200410074179 A CN 200410074179A CN 1592574 A CN1592574 A CN 1592574A
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Abstract
To provide an apparatus for correcting an electronic component suction position in an electronic component mounting machine for sucking an electronic component at a suitable position that is sequentially fed out by a tape feeder or the like. The apparatus includes a tape feeder for pitch-feeding an electronic component housed in a component housing hole of a tape, a camera provided on a mount head for identifying the component housing hole of the tape, a CPU for calculating the displacement between the prerecorded central standard position and the central position calculated by the identified image of the camera of the component housing hole of the tape, and a display for displaying the central reference position and the image of the component housing hole. The correction of the electronic component suction position is made possible, based on the central reference position in the display and the displayed result of the central position of the component housing hole.
Description
Technical field
The electronic device that the present invention relates to be used for sending in proper order by pushing belt device etc. is adsorbed on the adsorption position corrector of the electronic device of appropriate locational electronic device fitting machine.
Background technology
Apparatus for mounting electronic component as conventional art, disclose a kind of will being adsorbed on the suction nozzle that is set on the installation head by the electronic device of supplying with as the pushing belt device of device supply unit, and it is moved in the electronic device fitting machine of installing on the substrate, the carrier band of identification in the pushing belt device taken in the electronic device in the cave, at the center of gravity place of electronic device with its apparatus for mounting electronic component that adsorbs.
[patent documentation 1] spy opens flat 1-155698 communique
But under the situation of above-mentioned patent documentation 1, owing to the identification of the center that will carry out electronic device and the correction of absorption position, so must take and revise whole electronic devices, it be long therefore to exist the set-up time, the problem that yields poorly.
Summary of the invention
The objective of the invention is, a kind of adsorption position corrector of electronic device is provided, take in the deviation of the absorption position of the unequal electronic device that causes of the distance between the cave even it exists at the interval inequality between the formed conveying cave, conveying cave and device on the carrier band that is installed on the pushing belt device, also can stably adsorb the electronics device at the center that device is taken in the cave.
Other purpose of the present invention is, providing a kind of compares with the electronic device adsorbent equipment of above-mentioned conventional art, do not need all electronic devices are taken correction, can efficiently the absorption position of electronic device be adapted to the adsorption position corrector of the electronic device of appropriate position at short notice.
In order to solve the above problems, the adsorption position corrector of the electronic device in one of the present invention's the electronic device fitting machine has: pushing belt device, the electronic device that the device that is incorporated in carrier band is taken in the cave is carried; Adsorption head has the described electronic device of absorption, and attaches it to a plurality of suction nozzles on the substrate; The identification camera is arranged on the adsorption head, and the device that is used to discern on the described carrier band is taken in the cave; Control part, obtain the center that device is taken in the cave according to the detected image of taking in the cave by the device of described camera, and calculate the position deviation that described device is taken in the center reference position and the center that device is taken in the cave in cave, change the absorption position coordinate of suction nozzle according to the result of calculation of this position deviation; Storage device with the memory location departure.
The present invention's two is adsorption position correctors of the electronic device in the electronic device fitting machine one of according to the present invention, it has: display unit, the device of the carrier band that demonstration is stored are in advance taken in the center reference position in cave and are taken in the detected image in cave by the device of described camera; And switching device, the input change is by the instruction of the absorption position coordinate of the suction nozzle of described control part control.
The present invention's three is adsorption position correctors of the electronic device in the electronic device fitting machine one of according to the present invention, and the rim detection of taking in the cave according to device goes out the center that device is taken in the cave.
The present invention's four is adsorption position correctors of the electronic device in the electronic device fitting machine one of according to the present invention, by carrying out the figure contrast according to shot image data in advance, detects the center that device is taken in the cave.
According to the present invention five, the correction of absorption position is carried out in the correction of the absorption position by replacing suction nozzle and the carrier band of pushing belt device is moved correction.
One of according to the present invention to four, when the replacing of carrier band device, in the electronic device fitting machine, take in the center in cave by the device of camera identification carrier band, the deviation of the center reference position by calculating itself and carrier band, even there is deviation in the stop position of each carrier band, also can be at short notice and the device that expeditiously electronic device remained on carrier band take in the center in cave.
Description of drawings
Fig. 1 is the approximate three-dimensional map of electronic device fitting machine that expression possesses the electronic device adsorption position corrector of embodiments of the present invention.
Fig. 2 is that the expression electronic device is incorporated in the stereogram on the carrier band.
Fig. 3 is the flow chart of the absorption position modification method of expression embodiments of the present invention.
Fig. 4 is that the expression electronic device is incorporated in the vertical view on the carrier band.
Fig. 5 is the controlling party block diagram of one embodiment of the invention.
Fig. 6 is the stereogram of major part of the pushing belt device of other embodiment of the present invention.
Fig. 7 is the flow chart of the absorption position correction of other embodiment of the present invention.
Fig. 8 is the controlling party block diagram of other embodiment of the present invention.
Among the figure: 10: pushing belt device; 10A: carrier band; 11: device is taken in the cave; 11C: electronic device; 11A (43C): device is taken in the center reference position in cave; 11B (42D): device is taken in the center in cave; 6: adsorption head; 8: the identification camera; 12: display unit; 13: switching device; 19: control part; 29: storage device 36: send band quadrature motor; 39: send the band motor at interval; 45: the control signal terminal.
Embodiment
Below, referring to figs. 1 through Fig. 5 embodiments of the present invention are described.
Fig. 1 is the skeleton diagram with electronic device fitting machine of adsorption position corrector of the present invention, electronic device fitting machine 1 have central portion to the left and right the direction substrate transferring road 3 of extending, be configured in electronic device fitting machine 1 the front portion device supply unit 2 and in electronic device fitting machine 1, cross over substrate transferring road 3 and the XY delivery section 5 that is provided with.
Be equipped with on this XY delivery section 5 and be used for electronic device C absorption and be installed in adsorption head 6 on the substrate P, adsorption head 6 is provided with a plurality of suction nozzles 7 that direction up and down moves and can rotate on direction of principal axis.
And, on this adsorption head 6, be provided with and be used for from top identification by the identification camera 8 of base plate mark (not shown) set on the substrate P that moves on substrate transferring road 3.
In addition, on the position of the sidepiece of device supply unit 2, be provided with the device identification camera 9 that is used for from below identification electronic device C.And the periphery below electronic device fitting machine 1 is provided with control part 19.
This electronic device fitting machine 1 moves adsorption head 6 by XY delivery section 5 on the X-Y direction, make the desirable electronic device 11C of absorption the housing electronic part cave 11 of carrier band 10A (with reference to Fig. 2) of a plurality of pushing belt devices 10 of adsorption head 6 on being installed in device supply unit 2.
Then, electronic device 11C is transplanted on the position of device identification camera 9, carry out location recognition, again adsorption head 6 is transplanted on the position of the regulation of substrate P, discern by the base plate mark (not shown) that 8 pairs in camera of identification is arranged on the substrate P, after obtaining substrate position, electronic device is installed on the substrate P.
Below, the adsorption position corrector of electronic device of the present invention is described.
The adsorption position corrector of electronic device of the present invention is made of following each several part: described pushing belt device 10, and the electronic device 11C that the device that is incorporated in described carrier band 10A is taken in the cave 11 carries at interval; Adsorption head 6 has a plurality of substrate P that are used for electronic device 11C being adsorbed and being installed to; Identification camera 8 is arranged on the adsorption head 6, and the device that is used to discern described carrier band 10A is taken in cave 11; Control part 19 (with reference to Fig. 5), mark shows the center reference position 11A in the housing electronic part cave 11 of the carrier band 10A of storage in advance in the display unit 12 that is made of CRT etc., and the image that shows the housing electronic part cave of taking by described identification camera 8 11, and, calculate the position deviation between the center 11B in the center reference position 11A (with reference to Fig. 4) in housing electronic part cave 11 of carrier band 10A stored in advance and the housing electronic part cave 11 obtained according to the detected image of taking by described identification camera 8, and, the instruction of the coordinate of the center 11A in the described housing electronic part of output change correction cave 11; Store the switching device 13 of the instruction of the storage device 29 (with reference to Fig. 5) of this position deviation amount and the absorption position that the suction nozzle of being controlled by described control part 19 is changed in input.
In addition, though be to use the camera of substrate identification usefulness, also can on adsorption head 6, be provided with and be specifically designed to the shooting device and take in the identification camera in cave about identification camera 8.
In addition, as switching device 13, also can replace special-purpose key swich and make keyboard 20 have both this function.
In addition, also can replace alteration command, and automatic output alteration command under the situation of position deviation arranged, upgrade automatically according to the program of control part 19 by switching device input absorption position coordinate.
Below, with reference to the flow chart of Fig. 3 effect is described.
In order to change the carrier band device, pushing belt device 10 (step 1) are installed on device supply unit 2.After having changed carrier band 10A, pushing belt device 10 as shown in Figure 4, the center reference position 11A that takes in cave 11 at the device of carrier band 10A of storage in advance and the device of reality are taken between the center 11B in cave 11 position deviation can occur.
Therefore, at first, the device stored in advance that makes the identification camera 8 that is arranged on the adsorption head 6 move to carrier band 10A is taken on the center reference position in cave 11 (step 2).Then, be arranged on the lighting device of identification on the camera 8 and light that (step 3) is taken in cave 11 to device and taken (step 4).The illumination of this moment is to take in the light illumination mode of the edge part in cave 11 and throw light on the device of emphasizing most that is different from predefined optimal illumination pattern (not shown).Then, take in cave 11 by identification camera 8 pairs of devices and take, on the CRT picture, show that simultaneously this shooting picture and the device of storing in advance take in the center reference position 11A (step 5) in cave 11.
At this, the operator is by visual, judge the expression device take in cave 11 center reference position 11A mark whether take in device on the shooting picture in cave 11 with device to take in the center 11B in cave 11 consistent.If be consistent, then do not need to carry out the correction of absorption position, at this moment, the center reference position 11A of storage in advance is considered as absorption position 11B, transfer to common absorption operation program ("No" in the step 6).
If be inconsistent, then need to carry out the correction of absorption position, at this moment, the operator presses switching device 13 ("Yes" in the step 6).
The detected image that CPU takes in cave 11 according to this device calculates the center 11B that device is taken in cave 11, this center is appended be presented at upward (step 7) of CRT.
Take in the detection of the center 11B in cave 11 about this device, be based on that following detection method carries out, promptly, the light and shade of taking in each limit in cave 11 according to device detects the edge, marginal position according to each limit, adopt least squares method to obtain straight line, calculate 4 intersection points, according to 4 on average obtain the center 11B that device is taken in cave 11.In addition, also can replace this detection method and adopt following detection method, promptly, by obtaining the detection method that device is taken in the center in cave according to the marginal date and the center of gravity computing of taking in the area in cave 11 according to device, or knowing that in advance device takes under the situation of size in cave 11, the login device is taken in the graph data in cave 11, contrasts and obtains the detection method that device is taken in the center 11B in cave 11 by carrying out figure.
Then, control part 19 calculates described device stored in advance position 11A of reference center that takes in cave 11 and the detected image of taking in cave 11 according to the device of taking by identification camera 8 and detects the position deviation that device is taken in the center 11B in cave 11.
Then, when carrying out the action command of fitting machine, control part 19 is according to the coordinate of conduct based on the position 11A of reference center of the absorption position correction coordinate of the position deviation that calculates before this, control adsorption head 7 is configured to the top that the device of carrier band is taken in the position 11A of reference center in cave 11 to suction nozzle 6, by Z axle motor 21 this suction nozzle 7 is descended then, absorption device C rises then, electronic device is taken in the cave 11 from device taken out.
Under this state, by discerning the location recognition (utilizing known method to carry out) that camera 9 carries out device C, be transplanted on the substrate that will install, carry out the installation action of electronic device.
Below, the present invention's five described embodiment are described.
The present invention's five is, replace device described stored in advance that one of the present invention use to four invention calculates by control part and take in the reference center position in cave and carry out the mobile correction of suction nozzle, and be to use this position deviation amount to carry out near the mobile correction of the carrier band the adsorption section in the pushing belt device with the position deviation amount that the detected device of detected image of taking in the cave according to the device of being taken by identification camera 8 is taken in the center in cave.
Therefore, the present invention's five mechanism and one of the present invention compare to four mechanism, and be different on the structure of the part of corresponding pushing belt device and described position deviation amount control suction nozzle, because other structure is identical, so omit the explanation to other parts.
Fig. 6 is the partial perspective view of fore-end of the pushing belt device of the expression embodiment of the invention.
In Fig. 6, the 34th, the base station of the fore-end of pushing belt device, 35 are arranged on the carrier band guide groove on the base station 34, its be supported on the base station 34 (being configured in the side of front portion of the electronic device fitting machine 1 of Fig. 1) can with the direction of sending band direction quadrature on move.
This base station 34 is provided with and send band quadrature motor 36, and this send band quadrature motor 36 to be provided with screw rod 37.
This screw rod 37 and nut 38 tablings, nut 38 be fixed on described carrier band guide groove 35 below.
The 39th, send at interval the band motor, its be set at carrier band guide groove 35 below.This send band motor 39 to be provided with sprocket wheel 40 at interval, constitutes its part is exposed on the guide groove face of carrier band guide groove 35.
The 41st, be formed with the electronic device carrier band that the device of taking in electronic device is taken in cave 42, be formed with hole 44 with the conveying pins engages of sprocket wheel 40 in the side.
The 45th, receive the control signal terminal of control signal from the control part of erecting device side.
Fig. 8 is that band motor 39 and the control signal controlling party block diagram of terminal 45 is sent at additional band quadrature motor 36, the interval sent in Fig. 5 " the controlling party block diagram of the embodiment of the invention ".
Below, the present invention's five effect is described.
The present invention's five effect is described in conjunction with " flow chart of the absorption position correction of other embodiment of the present invention " of Fig. 7.
In order to carry out the replacing of carrier band device, pushing belt device (step 11) is installed on the device supply unit.
In pushing belt device, the center reference position of taking in cave 42 at the device of carrier band of storage in advance and the device of reality are taken between the center in cave 42 and are existed position deviation sometimes.
Therefore, the device stored in advance that at first makes the identification camera 8 that is arranged on the suction nozzle 6 move to carrier band 41 is taken in (step 12) on the center reference position in cave 42.Then, (step 13) is taken in cave 42 irradiations to device to light the illuminating lamp that is set on the identification camera 8.The illumination of this moment is taken in the light illumination mode of the edge part in cave 42 and is thrown light on to emphasize most device by preestablishing the illumination combination.Then, by the identification camera device is taken in cave 42 and take (step 14), this photographic images is presented on the CRT display screen, and the center reference position 42C (position that is equivalent to 11A among Fig. 4) that its device with storage is in advance taken in cave 42 is synthetic, and shows.
The detected image that control part is taken in cave 42 according to this device calculates device and takes in the center 42D in cave 42 (position that is equivalent to the 11B among Fig. 4), and this center is presented at (step 15) in the display frame of CRT12.
Here, judge center reference position 42C whether with center 42D consistent (step 16).If be consistent ("No" of step 16), then do not revise absorption position, finish then.If inconsistent, then think to calculate the correction ("Yes" of step 16) that need carry out absorption position the coordinate of center reference position D then, and be stored in the storage device 29, then it is presented at CRT12 and goes up (step 17).The light and shade that utilization is taken in each limit in cave 42 according to device detects the edge, obtain the straight line on each limit according to the marginal position utilization least squares method on each limit, calculate 4 intersection points, obtain device according to the mean value of 4 points and take in the detection method of the center in cave 22 and carry out the detection that this device is taken in the center in cave 42.In addition, also can replace this detection method, obtain the detection method that device is taken in the center in cave 42 and use by calculate the center of gravity of taking in the area in cave 42 according to marginal date based on device.Perhaps, also can login the graph data that device is taken in cave 42, contrast by figure and obtain the detection method that device is taken in the center in cave 42 knowing that in advance device takes under the situation of size in cave 42.
Next, judgement is carried out the correction of pushing belt device side or is carried out the correction (step 18) of adsorption head, under the situation of carrying out the correction by adsorption head (denying), finishes this program, forwards the subprogram of the correction of adsorption head then to.Under the situation of carrying out the correction by the pushing belt device side, control part 19 calculates the device that is stored in advance in the storage device 29 and takes in the position 42C of reference center in cave 42 and take in position deviation amount between the center 42D in cave 42 according to the detected device of detected image that the device of being taken by identification camera 8 is taken in cave 42, and it is stored in the storage device 29.Then, control device 19 changes are as the coordinate (step 19) of the reference center position of absorption position coordinate.That is, the Coordinate Conversion of center 42D is become the coordinate of the position 42C of reference center.
Then, control part 19 to the control signal of pushing belt device with terminal 45 inputs according to as based on the absorption position coordinate of the position deviation amount that calculates in front, the corrected signal that the coordinate change of reference center position is revised, according to corrected signal, drive and send band quadrature motor 36 and send band motor 39 at interval.Under the driving of sending band quadrature motor 36, screw rod 37 rotations, nut 38 is carried to the correction of carrying out a position deviation amount with the direction of sending band direction quadrature, and like this, carrier band guide groove 35 and carrier band 41 are together by to carrying a position deviation amount with the direction of sending band direction quadrature.In addition, carrying under the driving of motor 39 at interval, sprocket wheel 40 rotations are carried out the correction of a position deviation amount and are carried at interval on carrier band guide groove 35 by 40 pairs of carrier bands 41 of sprocket wheel.
According to present embodiment, owing to can take in the center attract electrons device in cave 422 at the device of carrier band, so can adsorb the electronics device in stable position.
In addition, owing to when the replacing of pushing belt device, the device of a plurality of carrier bands is taken in cave 422 and carries out this correction, so with all to compare the device that the position of centre of gravity of electronic device is discerned, revised at every turn, shortened the set-up time of electronic device, improved production efficiency.
As mentioned above, one of according to the present invention to four, even owing to there is the deviation in the housing electronic part cave of the carrier band that the error because of the conveying cave of the position error of carrier band or carrier band causes, also can detect the deviation in housing electronic part cave, suction nozzle is found reliably in the center in housing electronic part cave, so can be able to stably keep the effect of electronic device.In addition, according to the present invention five owing to be that the position in housing electronic part cave is revised,, therefore have the effect that can not cause adsorption efficiency to descend so do not destroy absorption simultaneously.
Claims (5)
1. the adsorption position corrector of the electronic device in the electronic device fitting machine is characterized in that having:
Pushing belt device is carried the electronic device that the device that is incorporated in carrier band is taken in the cave;
Adsorption head has the described electronic device of absorption, and attaches it to a plurality of suction nozzles on the substrate;
Camera is arranged on the adsorption head, and the device that is used to discern on the described carrier band is taken in the cave;
Control part, obtain the center that device is taken in the cave according to the detected image of taking in the cave by the device of described camera, and calculate the position deviation that described device is taken in the center reference position and the center that device is taken in the cave in cave, change the absorption position coordinate of suction nozzle according to the result of calculation of this position deviation; With
The storage device of memory location departure.
2. the adsorption position corrector of the electronic device in the electronic device fitting machine according to claim 1 is characterized in that having:
Display unit, the device of the carrier band that demonstration is stored are in advance taken in the center reference position in cave and are taken in the detected image in cave by the device of described camera; With
Switching device, the input change is by the instruction of the absorption position coordinate of the suction nozzle of described control part control.
3. the adsorption position corrector of the electronic device in the electronic device fitting machine according to claim 1 and 2 is characterized in that, the rim detection of taking in the cave according to device goes out the center that device is taken in the cave.
4. the adsorption position corrector of the electronic device in the electronic device fitting machine according to claim 1 and 2 is characterized in that, by carry out the figure contrast according to shot image data in advance, detects the center that device is taken in the cave.
5. the adsorption position corrector of the electronic device in the electronic device fitting machine is characterized in that, comprising:
Pushing belt device has the carrier band guide groove, and this carrier band guide groove is in that carrier band gets that device takes in electronic device in the cave send near the band motor device absorption position carrier band to moving with the direction of sending band direction quadrature to sending the band direction to carry at interval to be incorporated in;
Adsorption head has and is set at being used on the substrate and adsorbs a plurality of suction nozzles of described electronic device;
Camera is arranged on the adsorption head, and the device that is used to discern described carrier band is taken in the cave;
Control part, take in the center reference position in cave and obtain the center that device is taken in the cave according to the device of carrier band of storage in advance by the detected image that the device of described camera is taken in the cave, calculate described device simultaneously and take in the position deviation of the center reference position and the center that device is taken in the cave in cave, drive the interval conveying motor and the carrier band guide groove of pushing belt device according to the result of calculation of this position deviation; With
The memory of memory location departure.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003-308167 | 2003-09-01 | ||
| JP2003308167 | 2003-09-01 | ||
| JP2003308167 | 2003-09-01 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1592574A true CN1592574A (en) | 2005-03-09 |
| CN1592574B CN1592574B (en) | 2010-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410074179 Expired - Fee Related CN1592574B (en) | 2003-09-01 | 2004-09-01 | Adsorption position corrector of electronic device in electronic device mounting machine |
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| CN (1) | CN1592574B (en) |
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| CN109691256B (en) * | 2016-09-13 | 2022-03-04 | 环球仪器公司 | Feeder system, pick and place machine and method |
| CN112166662A (en) * | 2018-06-01 | 2021-01-01 | 株式会社富士 | Component mounting machine |
| CN112166662B (en) * | 2018-06-01 | 2022-04-29 | 株式会社富士 | Component mounting machine |
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| CN1592574B (en) | 2010-06-09 |
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