CN1768563A - Component-mounting machine - Google Patents
Component-mounting machine Download PDFInfo
- Publication number
- CN1768563A CN1768563A CNA2004800090623A CN200480009062A CN1768563A CN 1768563 A CN1768563 A CN 1768563A CN A2004800090623 A CNA2004800090623 A CN A2004800090623A CN 200480009062 A CN200480009062 A CN 200480009062A CN 1768563 A CN1768563 A CN 1768563A
- Authority
- CN
- China
- Prior art keywords
- aforementioned
- absorption position
- parts
- offset correction
- adsorption nozzle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001179 sorption measurement Methods 0.000 claims description 161
- 238000010521 absorption reaction Methods 0.000 claims description 122
- 230000000007 visual effect Effects 0.000 claims description 61
- 239000003463 adsorbent Substances 0.000 claims description 44
- 230000007246 mechanism Effects 0.000 claims description 24
- 230000002452 interceptive effect Effects 0.000 claims description 19
- 239000000758 substrate Substances 0.000 claims description 11
- 230000009471 action Effects 0.000 description 16
- 238000000034 method Methods 0.000 description 12
- 230000002146 bilateral effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
- H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/085—Production planning, e.g. of allocation of products to machines, of mounting sequences at machine or facility level
- H05K13/0853—Determination of transport trajectories inside mounting machines
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Operations Research (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
A component-mounting machine determines whether or not a component to be sucked interferes with other components when, for example, components (A-D) are sequentially sucked by two or more sucking nozzles out of twelve sucking nozzles (1-12). When there is interference between the components, the position of sucking the component to be sucked is corrected and offset, within the range covered by the viewing field of a camera, to the direction where the component interference is avoided (direction to the outer diameter of a nozzle head (13)). Further, the machine determines whether or not the component to be sucked is within the camera's viewing field, and when it is determined that the component is not within the camera's viewing field, the sucking position of the component is corrected and offset, within the range where the interference is avoided, to the direction where the component is within the camera's viewing field (direction to the rotational center of the nozzle head (13)).
Description
Technical field
The present invention relates to have the component-mounting machine that can carry out the function of offset correction to the absorption position that is adsorbed onto the part on the adsorption nozzle.
Background technology
As component-mounting machine with so-called circulator formula nozzle head, the known component-mounting machine that the structure that the open communique P2000-294990A of Japan special permission put down in writing is for example arranged.This component-mounting machine as shown in Figure 1, on circulator formula nozzle head 13 (rotary body), be assembled with along the circumferential direction a plurality of adsorption nozzles 1～12 that (direction of rotation) arranges with predetermined distance down, and, install them on the circuit substrate (not shown) as shown in Figure 2 with parts such as each adsorption nozzle 1～12 attract electrons parts.In addition, make a video recording in the visual field of all parts income video cameras (not shown) that can a plurality of adsorption nozzle 1～12 is adsorbed, utilize image processing technique to judge the absorption posture of each part and whether detect part damaged etc.
If as shown in Figure 2, adjacent part did not interfere each other when each adsorption nozzle 1～12 was adsorbed with part, and all adsorbent parts can be taken in the camera coverage fully and be made a video recording, any problem can not take place then, but owing to reasons such as the big or small of adsorbent parts or absorption angles, sometimes shown in the example of Fig. 3 and Fig. 4, adjacent adsorbent parts (A～F) interfere, perhaps shown in the example of Fig. 5, too big thereby part adsorbent parts (G) of adsorbent parts (G) exceeds the visual field of video camera, can't absorb the whole image of adsorbent parts (G).
In the example (adsorbent parts interferes) of Fig. 3 and Fig. 4, (absorption position of A～F) can thereby cause from originally absorption position skew being offset (because amount that unclear absorption position from originally is offset) to the position that circuit substrate is installed part, therefore, can produce the problem that causes installing bad grade easily.And in the example (part exceeds the visual field of video camera) of Fig. 5, owing to can't absorb the whole image of adsorbent parts (G), therefore, can produce the problem that accurately to judge the absorption posture of this part (G) and whether damaged etc.
Summary of the invention
For this reason, the 1st purpose of the present invention is to prevent that adsorbent parts from interfering, and the 2nd purpose is to prevent that the part of adsorbent parts from exceeding the visual field of video camera.
For realizing above-mentioned the 1st purpose, the present invention is a kind of component-mounting machine, a plurality of adsorption nozzles of along the circumferential direction arranging with predetermined distance are installed on rotary body down, with each adsorption nozzle adsorbent parts and attach it on the substrate, wherein, when plural adsorption nozzle adsorbent parts successively, judge to interfere decision mechanism whether the part that will be adsorbed can interfere with other part, when judging that part can interfere, by the absorption position correction mechanism, the absorption position of the part that be adsorbed is carried out offset correction to the direction of avoiding part to interfere.Like this, can prevent reliably that adsorbent parts from interfering, and, even the absorption position to part has carried out offset correction, also can accurately know the offset correction (from the amount of originally absorption position skew) of absorption position, therefore, can control exactly the installation site of this part according to the offset correction of absorption position, this part can be installed on the target location of circuit substrate with good precision, prevent to install the generation of bad phenomenon.
In addition, for realizing above-mentioned the 2nd purpose, as the present invention, when the adsorption nozzle adsorbent parts, judge with shooting condition judgement mechanism whether the part that will be adsorbed can be taken in the visual field of video camera, when judging that this part can not taken in the camera coverage,, the direction of absorption position in the income camera coverage of this part carried out offset correction by the absorption position correction mechanism.Like this, can prevent that the part of adsorbent parts from exceeding the visual field of video camera, all adsorbent parts can be taken in the camera coverage fully and be made a video recording.
In this case, when the absorption position to part carries out offset correction, though also can revise and the absorption position of part is carried out offset correction to the anglec of rotation of the rotary body that keeps adsorption nozzle, but preferably, the position of rotary body is revised to directions X or Y direction and the absorption position of part is carried out offset correction.The advantage of doing like this is, is convenient to understand the offset correction of absorption position, is convenient to when being installed to adsorbent parts on the substrate amount of movement of the directions X Y direction of rotary body is controlled exactly.
In addition, when the absorption position to the part that interferes carries out offset correction, both can carry out offset correction, also can all carry out offset correction the absorption position of two parts interfering to the absorption position of the some parts among two parts that interfere.In addition, also can decide according to the relation with camera coverage is that absorption position to the some parts among two parts that interfere carries out offset correction, and still the absorption position to two parts interfering all carries out offset correction.
That is, when the space between the border, the visual field of two parts that interfere and video camera is big, only the absorption position of a part is carried out offset correction and interfere, also can not cause the part of this part to exceed the visual field of video camera to avoid part.Therefore, in this case, employing is only carried out the method for offset correction to avoid part to interfere to the absorption position of a part, can reduce the number of times that absorption position is revised, and control is got up more or less freely.
Relative with it, space between the border, the visual field of two parts that interfere and video camera hour, avoid part to interfere if only the absorption position of a part is carried out offset correction, then might cause the part of this part to exceed the visual field of video camera.Therefore, in this case, employing is all carried out the method for offset correction to the absorption position of two parts interfering, can make the offset correction of the absorption position of each part respectively account for half, can carry out the offset correction of absorption position in the visual field of video camera.
Description of drawings
Fig. 1 is the upward view of nozzle head that an embodiment of the present invention is showed.
Fig. 2 is the upward view that adsorption nozzle is adsorbed with the nozzle head that the state of part shows.
Fig. 3 is the upward view (example 1) of nozzle head that the situation that the adsorbed part of adsorption nozzle interferes is showed.
Fig. 4 is the upward view (example 2) of nozzle head that the situation that the adsorbed part of adsorption nozzle interferes is showed.
Fig. 5 is the upward view that the part to the adsorbed part of adsorption nozzle exceeds the nozzle head that the situation in the visual field of video camera shows.
Fig. 6 is the flow chart that the handling process of one-sided offset correction program is showed.
Fig. 7 is the figure that the coordinate to the bight that is adsorbed on the part on each adsorption nozzle describes.
Fig. 8 is the figure that the choosing method to the XY coordinate describes.
Fig. 9 is the flow chart that the handling process of bilateral offset correction program is showed.
Figure 10 is the flow chart of showing from the handling process of dynamic visual field revision program.
Embodiment
Below, to an embodiment of the invention in conjunction with the accompanying drawings.In the present embodiment, use is that for example Japan speciallys permit the component-mounting machine that open communique P2000-294990A is put down in writing.The mechanical structure of this component-mounting machine can with above-mentioned communique put down in writing identical, therefore, its explanation is omitted, only major part is described.
As shown in Figure 1, a plurality of adsorption nozzles 1～12 that (direction of rotation) arranges with predetermined distance are installed along the circumferential direction on circulator formula nozzle head 13 (rotary body) down, with parts such as each adsorption nozzle 1～12 attract electrons parts, install them on the circuit substrate (not shown).
In the present embodiment, because adsorption nozzle 1～12 has 12, thereby can adsorb 12 parts (with reference to Fig. 2) simultaneously at most.The bore of adsorption nozzle 1～12 both can be identical, also can use the adsorption nozzle of multiple nozzle diameter according to the size that is adsorbed part.In the present embodiment, what for example use is heavy caliber, medium caliber, the adsorption nozzle 1～12 of 3 kinds of nozzle diameters such as small-bore grade, No. 1 adsorption nozzle 1 and be positioned at No. 7 adsorption nozzles 7 of the opposition side that differs 180 ° with it, what use is adsorbable medium-sized part (for example maximum part to 10mm * 10mm), adsorption nozzle with medium nozzle diameter, with No. 1 adsorption nozzle 1 stagger 90 ° No. 4 adsorption nozzles 4 and be positioned at No. 10 adsorption nozzles 10 that differ 180 ° opposition side with these No. 4 nozzles, what use is the bigbore adsorption nozzle of adsorbable heavy parts (for example maximum part to 20mm * 20mm), 8 remaining adsorption nozzles 2,3,5,6,8,9,11,12 what use is to adsorb miniature parts (for example maximum small-bore adsorption nozzle to 5mm * 4mm).
As shown in Figure 2, all parts as if absorption on 12 adsorption nozzles 1～12 all are less parts, then all adsorption nozzle 1～12 can adsorb 12 parts at most, but as Fig. 3～shown in Figure 5, if 4,7 absorption of heavy caliber adsorption nozzle is heavy parts, then this heavy parts might form obstruction, makes that adjacent small- bore adsorption nozzle 2,3,5,6,8,9,11,12 can't adsorbent parts.
In addition, during at every turn with each adsorption nozzle 1～12 adsorbent parts, nozzle head 13 will be rotated, and makes next adsorption nozzle rotation move on the position (adsorption potential) of No. 1 adsorption nozzle 1 shown in Figure 1, carries out the absorption of part all the time in identical position.After a circulation is finished in this part absorption action, with each adsorption nozzle 1～12 adsorbed the visual field of all parts income video cameras (not shown) in make a video recording, utilize image processing technique to judge the absorption posture of each part and whether detect each part damaged etc.
If as shown in Figure 2, adjacent part did not interfere each other when each adsorption nozzle 1～12 was adsorbed with part, and all adsorbent parts can be taken in the camera coverage fully and be made a video recording, any problem can not take place then, but owing to reasons such as the big or small of adsorbent parts or absorption angles, showing shown in the side as Fig. 3 and Fig. 4 sometimes, adjacent adsorbent parts (A～F) interfere, or shown in the example of Fig. 5, too big thereby part adsorbent parts (G) of adsorbent parts (G) exceeds the visual field of video camera, can't absorb the whole image of adsorbent parts (G).In the example (adsorbent parts interferes) of Fig. 3 and Fig. 4, (absorption position of A～F) can be from originally absorption position skew thereby the offset that causes installing to circuit substrate (because amount of unclear absorption position skew from originally) for part, therefore, can produce the problem that causes installing bad grade easily.And in the example (part exceeds the visual field of video camera) of Fig. 5, owing to can't absorb the whole image of adsorbent parts (G), therefore, can produce the problem that accurately to judge the absorption posture of this part (G) and whether damaged etc.
For this reason, in the present embodiment, when plural adsorption nozzle adsorbent parts successively, whether the part that judgement will be adsorbed can interfere with other part, when judging that part can interfere, in the scope in this part income camera coverage, the absorption position of the part that be adsorbed is carried out offset correction to the direction of avoiding interfering with part (being the radial outside of nozzle head 13 in the present embodiment).
In addition, on adsorption nozzle during adsorbent parts, whether the part that judgement will be adsorbed can be taken in the visual field of video camera, when judging that this part can not taken in the visual field of video camera, in the scope that does not interfere with part, the direction (in the present embodiment be the pivot direction of nozzle head 13) of absorption position in the income camera coverage of this part carried out offset correction.
Below, be specifically described with regard to the offset correction method of the part absorption position of present embodiment.Here, understand for the ease of the offset correction method to absorption position, just Fig. 3～example that amounts to 4 following parts of absorption on 4 adsorption nozzles 1,4,7,10 with 90 ° of arranged spaced shown in Figure 5 describes.
In this example, the visual field of video camera is a rectangle long on the directions X, with video camera adsorbent parts is made a video recording when each adsorption nozzle 1～12 is positioned at Fig. 3～position shown in Figure 5 (position after the circulation is finished in the absorption action).If to when shooting the interval from the center of each adsorption nozzle 1,4,7,10 to the border, the visual field of video camera compare, then the adsorption nozzle 4,10 used of heavy parts is bigger to the interval on border, the visual field than medium-sized part usefulness adsorption nozzle 1,7 to the interval on border, the visual field.
Therefore, when as shown in Figure 3, heavy parts with adsorption nozzle 4,10 adsorbed the size of part (B, D) when not too big, heavy parts with adsorption nozzle 4,10 adsorbed part (B, D) and the interval between the border, the visual field of video camera bigger.Therefore, in this case, if the part that heavy parts will adsorb with adsorption nozzle 4,10 (B, D) to medium-sized part with adsorption nozzle 1,7 adsorbed part (A, C) form and interfere, even only the absorption position of the part that will adsorb with adsorption nozzle 4,10 heavy parts (B, D) carries out offset correction and interferes to avoid part, can not make the part of this part (B, D) exceed the visual field of video camera yet.Therefore, in this case, only take absorption position to a part (B, D) to carry out offset correction and the method for avoiding part to interfere, can reduce the correction number of times of absorption position.
On the other hand, when as shown in Figure 4, the size of two parts (E, F) that the adsorption nozzle 4,10 that heavy parts is used will adsorb is bigger, and these two parts (E, F) are in the time of can interfering, and the interval between the border, the visual field of this adsorbent parts (E, F) and video camera is narrower.In this case, interfere to avoid part if only the absorption position of a part is carried out offset correction, a part that then exists this part exceeds the possibility in the visual field of video camera.Therefore, in this case, take the absorption position of two parts (E, F) of interfering is all carried out the method for offset correction, can make the offset correction of the absorption position of each part respectively account for half, can in the visual field of video camera, carry out the offset correction of absorption position.
In addition, when as shown in Figure 5, during the part (G) that heavy parts will adsorb with adsorption nozzle 4,10 oversize, a part that exists this part (G) exceeds the possibility of camera coverage.Therefore, in this case, carry out offset correction to the direction (the pivot direction of nozzle head 13) of absorption position in the income camera coverage of this part (G).And the part below the adsorption nozzle of the medium size will adsorb with to(for) medium-sized miniature parts, even if how much existing the absorption skew also can be in the visual field of video camera, therefore, the part that will adsorb with adsorption nozzle for medium-sized miniature parts, needn't whether take in the judgement in the camera coverage, and the judgement whether heavy parts that the adsorption nozzle of only heavy parts being used 4,10 will adsorb is taken in the camera coverage gets final product.
More than the offset correction of Shuo Ming part absorption position is implemented by each program of Fig. 6, Fig. 9 and Figure 10.Below, the contents processing of these programs is described.
[one-sided offset correction]
One-sided offset correction program shown in Figure 6 is a kind of like this program, promptly, before beginning to adsorb action, starts each adsorption nozzle 1～12, when as shown in Figure 3, the adsorption nozzle 4 that heavy parts is used, 10 part (the B that will adsorb, D) understand the adsorption nozzle 1 that medium-sized part is used, 7 adsorbed part (A, when C) form interfering, the adsorption nozzle 4 that heavy parts is used, 10 part (the B that will adsorb, D) absorption position interferes to avoid part to the offset correction that the radial outside of nozzle head 13 (the Y direction when adsorbing action) carries out ormal weight (for example 1mm).The interference decision mechanism described in this program performance claims and the effect of absorption position correction mechanism.
Behind this programming start, at first in step 101, judge whether selected the anti-automatically mode of operation of interfering.If selected is the manual setting pattern that the offset correction of absorption position is manually set, then be judged to be "No" in above-mentioned steps 101, do not carry out the automatic deviation correction (step 109) of absorption position and finish this program.
On the other hand,, then in above-mentioned steps 101, be judged to be "Yes", enter step 102, judge whether this adsorption nozzle is heavy parts adsorption nozzle 4,10 if selection is the anti-automatically mode of operation of interfering.Its result is the adsorption nozzle outside the adsorption nozzle 4,10 used of heavy parts if judge this adsorption nozzle, does not then carry out the automatic deviation correction (step 109) of absorption position and finishes this program.
If judge that in above-mentioned steps 102 this adsorption nozzle is the adsorption nozzle 4 that heavy parts is used, then enter step 103, according to following two conditions (a-1) and (a-2) whether all be met judge part that heavy parts will adsorb with adsorption nozzle 4 whether can to medium-sized part with adsorption nozzle 1 adsorbed part form and interfere.
(a-1)：MinX1+MinY≤0
(a-2)：MinY1-MaxX≤0
Shown in Fig. 7 (the XY coordinate when each adsorption nozzle adsorbs action), adsorption nozzle 1 adsorbed the bight P1 of part, P2 (apart from heavy parts with adsorption nozzle 4, the nearest bight of part of 10 absorption) coordinate is made as P1 (MaxX1, MinY1), P2 (MinX1, MinY1), heavy parts with adsorption nozzle 4 adsorbed the coordinate of bight P3 (apart from the nearest bight of part of adsorbing with adsorption nozzle 7) of part with medium-sized part be made as P3 (MaxX4, MinY4), medium-sized part with adsorption nozzle 7 adsorbed the coordinate of bight P4 (apart from the nearest bight of part of adsorbing with adsorption nozzle 10) of part with heavy parts be made as P4 (MinX7, MinY7).The coordinate of the initial position of bight P5, the P6 of the part of this less important absorption be made as P5 (MaxX, MinY), P6 (MinX, MinY), the coordinate of the initial position of the bight P7 of the part of following less important absorption be made as P7 (NextMinX, NextMinY).
In this case, as shown in Figure 8, make the XY origin consistent with the pivot of nozzle head 13, the line that will pass through with the center of adsorption nozzle 4,10 from the heavy parts the position of each adsorption nozzle 1～12 of when shooting is made as X-axis, and the line that passes through with the center of adsorption nozzle 1,7 from medium-sized part is made as Y-axis.The size of each part (coordinate in bight) is set the size that comprises the allowance that produces because of the absorption skew for.
If in above-mentioned steps 103, judge part that heavy parts will adsorb with adsorption nozzle 4 can to medium-sized part with adsorption nozzle 1 adsorbed part form interference, then enter step 106, the absorption position of the part that will adsorb with adsorption nozzle 4 heavy parts carries out the offset correction of ormal weight (for example 1mm) to the radial outside (the Y direction when adsorbing action) of nozzle head 13, interferes to avoid part.
Relative with it, if in above-mentioned steps 103, judge part that heavy parts will adsorb with adsorption nozzle 4 not can to adsorption nozzle 1 adsorbed part form interference, then enter step 104, judge whether next part can be adsorbed with adsorption nozzle 7 by medium-sized part, if can not adsorb, then the absorption position of the part that will not adsorb with adsorption nozzle 4 heavy parts carries out offset correction (step 109) and finishes this program.
If judge that in above-mentioned steps 104 next part can be adsorbed with adsorption nozzle 7 by medium-sized part, then enter step 105, according to following two conditions (b-1) and (b-2) whether all be met and judge whether part that heavy parts will adsorb with adsorption nozzle 4 can form the part that the next one will be adsorbed nozzle 7 absorption and interfere.
(b-1)：MinX+NextMinY≤0
(b-2)：MinY-NextMaxX≤0
Its result, can to be adsorbed the part formation interference that nozzle 7 adsorbs if be judged to be heavy parts to the next one with the part that adsorption nozzle 4 will adsorb, then enter step 106, the absorption position of the part that will adsorb with adsorption nozzle 4 heavy parts carries out the offset correction of ormal weight (for example 1mm) to the radial outside (the Y direction when adsorbing action) of nozzle head 13, interferes to avoid part.
Relative with it, can not form the part that the next one will not be adsorbed nozzle 7 absorption and interfere if be judged to be part that heavy parts will adsorb with adsorption nozzle 4, then the absorption position of the part that will not adsorb with adsorption nozzle 4 heavy parts carries out offset correction (step 109) and finishes this program.
In addition, if being judged to be this adsorption nozzle in above-mentioned steps 102 is heavy parts adsorption nozzle 10, then enter step 107, according to following two conditions (c-1) and (c-2) whether all be met judge part that heavy parts will adsorb with adsorption nozzle 10 whether can to medium-sized part with adsorption nozzle 7 adsorbed part form and interfere.
(c-1)：MaxX7+MinY≤0
(c-2)：MinY7-MinX≤0
Its result, if be judged to be part that heavy parts will adsorb with adsorption nozzle 10 can to medium-sized part with adsorption nozzle 7 adsorbed part form and interfere, then enter step 106, the absorption position of the part that will adsorb with adsorption nozzle 10 heavy parts carries out the offset correction of ormal weight (for example 1mm) to the radial outside (the Y direction when adsorbing action) of nozzle head 13, interferes to avoid part.
If above-mentioned steps 107 be judged to be part that heavy parts will adsorb with adsorption nozzle 10 not can to medium-sized part with adsorption nozzle 7 adsorbed part form and interfere, then enter step 108, according to following two conditions (d-1) and (d-2) whether all be met judge part that heavy parts will adsorb with adsorption nozzle 10 whether can to medium-sized part with adsorption nozzle 1 adsorbed part form and interfere.
(d-1)：MaxX+MinY1≤0
(d-2)：MinY-MinX1≤0
Its result, if be judged to be part that heavy parts will adsorb with adsorption nozzle 10 can to medium-sized part with adsorption nozzle 1 adsorbed part form and interfere, then enter step 106, the absorption position of the part that will adsorb with adsorption nozzle 10 heavy parts carries out the offset correction of ormal weight (for example 1mm) to the radial outside (the Y direction when adsorbing action) of nozzle head 13, interferes to avoid part.
Relative with it, if be judged to be part that heavy parts will adsorb with adsorption nozzle 10 not can to medium-sized part with adsorption nozzle 1 adsorbed part form and interfere, then the absorption position of the part that will not adsorb with adsorption nozzle 10 heavy parts carries out offset correction (step 109) and finishes this program.
[bilateral offset correction]
Bilateral offset correction program shown in Figure 9 is a kind of like this program, promptly, before beginning to adsorb action, starts each adsorption nozzle 1～12, when as shown in Figure 4, judge that adsorption nozzle 4,10 adsorbed two parts (E, F) that heavy parts is used can form when interfering, the absorption position of two parts (E, F) is all carried out the offset correction of ormal weight (for example 0.5mm) to the radial outside (the Y direction when adsorbing action) of nozzle head 13, interfere to avoid part.The interference decision mechanism described in this program performance claims and the effect of absorption position correction mechanism.
Behind this programming start, at first judge whether selected the anti-automatically mode of operation of interfering in step 201.If selected is the manual setting pattern that the offset correction of absorption position is manually set, then in above-mentioned steps 201, be judged to be "No", do not carry out the automatic deviation correction (step 205) of absorption position and finish this program.
And if selected the automatically anti-mode of operation of interfering, then in above-mentioned steps 201, be judged to be "Yes", enter step 202, judge whether this adsorption nozzle is the adsorption nozzle 10 that heavy parts is used.Its result is not the adsorption nozzle 10 that heavy parts is used if be judged to be this adsorption nozzle, does not then carry out the automatic deviation correction (step 205) of absorption position and finishes this program.
If be judged to be this adsorption nozzle in above-mentioned steps 202 is heavy parts adsorption nozzle 10, then enter step 203, according to following conditions whether be met judge part that a heavy parts will adsorb with adsorption nozzle 10 whether can to another heavy parts with adsorption nozzle 4 adsorbed part form and interfere.
MinY4+MinY≤0
Its result, if be judged to be part that a heavy parts will adsorb with adsorption nozzle 10 can to another heavy parts with adsorption nozzle 4 adsorbed part form and interfere, then enter step 204, two heavy partss are all carried out the offset correction of ormal weight (for example 0.5mm) with the absorption position of the part of adsorption nozzle 4,10 to the radial outside (the Y direction when adsorbing action) of nozzle head 13, interfere to avoid part.
Relative with it, can not interfere with the part of adsorption nozzle 4,10 if be judged to be two heavy partss, then do not carry out the automatic deviation correction (step 205) of absorption position and finish this program.
[from the dynamic visual field correction]
Figure 10's is a kind of like this program from the dynamic visual field revision program, promptly, before beginning to adsorb action, starts each adsorption nozzle 1～12, when as shown in Figure 5, when the part of the part (G) that heavy parts will adsorb with adsorption nozzle 4,10 can exceed the visual field of video camera, the absorption position of this part (G) direction (the pivot direction of nozzle head 13) in the income camera coverage is carried out offset correction, thereby make in the whole visual field that is in video camera of this part (G).The shooting condition judgement mechanism described in this program performance claims and the effect of absorption position correction mechanism.
Behind this programming start, at first in step 301, judge and whether permit from the dynamic visual field correction.Here, even at 1. part excessive thereby carry out offset correction also can't make under the situation in the part income camera coverage or the situation of the manual setting pattern 2. having selected the offset correction of absorption position is manually set under, be judged to be "No" in step 301, do not carry out the visual field offset correction (step 305) of absorption position and finish this program.
On the other hand, 1., under any one the situation among 2., be judged to be permission from the dynamic visual field correction in step 301 enter step 302 not belonging to above-mentioned, whether the adsorption nozzle of judging this is heavy parts with adsorption nozzle 4 or 10.Its result if to be judged to be this adsorption nozzle be heavy parts with the adsorption nozzle outside the adsorption nozzle 4,10, then do not carry out the visual field offset correction (step 305) of absorption position and finishes this program.
If be judged to be this adsorption nozzle in above-mentioned steps 302 is heavy parts adsorption nozzle 4 or 10, then enter step 303, whether a part that whether is met the adsorption nozzle 4 of judging this or 10 parts that will adsorb according to following conditions can exceed the visual field of video camera.
MaxY 〉=decision content
Wherein, MaxY is the Y coordinate points in bight of Y direction (radial outside of nozzle head 13) of adsorbing the part in when action, and the size of part (coordinate in bight) is set the size that comprises the allowance that produces because of the absorption skew for.At this moment, the XY origin is consistent with the pivot of nozzle head 13.
In addition, as shown in Figure 5, decision content is set for and the suitable value of distance from the pivot (XY origin) of nozzle head 13 to the border, the visual field of video camera.Therefore, if MaxY 〉=decision content, then be judged to be this adsorption nozzle 4 or the part of 10 adsorbent parts of the wanting visual field that can exceed video camera, enter step 304, the direction (the pivot direction of nozzle head 13) of absorption position in the visual field of income video camera of the part that will adsorb with adsorption nozzle 4,10 heavy parts carried out the offset correction of ormal weight (for example 1mm), makes in the visual field of integral body income video camera of this part.
And if MaxY＜decision content then is judged to be the part integral body that this adsorption nozzle 4 or 10 will adsorb and can be received in the visual field of video camera, do not carry out the visual field offset correction (step 305) of absorption position and finish this program.
Execution mode according to above explanation, when plural adsorption nozzle adsorbent parts successively, whether the part that judgement will be adsorbed can interfere with other part, when judging that part can interfere, absorption position to the part that will be adsorbed carries out offset correction to the direction of avoiding interfering with part (being the radial outside of nozzle head 13 in the present embodiment), therefore, can prevent reliably that adsorbent parts from interfering.And, even after the absorption position of part carried out offset correction, still can accurately understand the offset correction (from the amount of originally absorption position skew) of absorption position, therefore, can control exactly the installation site of this part with reference to the offset correction of absorption position, this part can be installed in good precision on the target location of circuit substrate, can prevent to install the generation of bad phenomenon.
Have again, in the present embodiment, at heavy parts adsorption nozzle 4, during 10 adsorbent parts, whether the part that judgement will be adsorbed can be received in the visual field of video camera, when judging that this part can not be received in the camera coverage, the direction (in the present embodiment be the pivot direction of nozzle head 13) of absorption position in the visual field of income video camera to this part carried out offset correction, therefore, can prevent that the part of adsorbent parts from exceeding the visual field of video camera, all adsorbent parts can be taken in the camera coverage fully and be made a video recording, can and whether damaged etc. accurately judge the absorption posture of part.
In addition, in the present embodiment, when judging whether part can interfere, be to heavy parts with adsorption nozzle 4,10 and medium-sized part with whether existing the interference of part to judge between the adsorption nozzle 1,7, but also can be designed to large-scale medium-sized part with adsorption nozzle and miniature parts with whether existing the interference of part to judge between the adsorption nozzle, if have the interference of part, then the absorption positions some or two among two parts that interfere carried out offset correction to the direction of avoiding part to interfere.
In addition, in the present embodiment, to the absorption position of part when the direction of avoiding part to interfere is carried out offset correction, be that the absorption position of part is carried out offset correction to the radial outside (the Y direction when adsorbing action) of nozzle head 13, but also can be designed to carry out offset correction, perhaps the anglec of rotation of nozzle head 13 be revised and the absorption position of part is carried out offset correction to the directions X that adsorbs when action.
In addition, also can be designed to, to the absorption position of part after the direction of avoiding part to interfere is carried out offset correction, judge whether the part after the offset correction is received in the visual field of video camera, when judging that this part is not received in the visual field of video camera, in the scope that part does not interfere, the direction of absorption position in the visual field of income video camera of this part carried out offset correction.
Equally, also can be designed to, after the direction of absorption position in the visual field of income video camera of part carried out offset correction, judge whether the part after the offset correction can interfere with other part, if there is the interference of part, then carry out offset correction to the direction of avoiding part to interfere in the scope of absorption position in the visual field of its income video camera to some among two parts that interfere or two.
In addition, in the present embodiment, be that offset correction is fixed as certain value of setting in advance, but also can be designed to that the amount that exceeds camera coverage according to the amount of interference or the part of part changes offset correction.
In addition, undoubtedly, can also carry out various changes to the present invention is also implemented, for example, can change the XY origin, perhaps adopt other coordinate systems such as polar coordinates to come situation that interference and part to part exceed camera coverage etc. to judge, perhaps change the number of adsorption nozzle, perhaps change putting in order of the different adsorption nozzle of nozzle diameter or the like.
Industrial applicibility
As can be known as described above, on rotary body, be equipped with down in the circumferential direction of the circle with predetermined distance A plurality of adsorption nozzles of arranging, with each adsorption nozzle adsorbent parts and install them on the substrate Component-mounting machine in, the present invention can be used as so a kind of technology and is used, and namely is used for two Individual above adsorption nozzle during adsorbent parts, prevents that adsorbent parts from interfering, and prevents successively The part of adsorbent parts exceeds the visual field of video camera.
Claims (8)
1. component-mounting machine, it is installed to part on the substrate, it is characterized in that, has:
A plurality of adsorption nozzles are used to adsorb aforementioned part;
Rotary body keeps making its predetermined distance spaced apart in the circumferential direction also down to aforementioned a plurality of adsorption nozzles;
Interfere decision mechanism, during adsorbent parts, whether the part that judgement will be adsorbed can interfere with other part the plural adsorption nozzle among aforementioned a plurality of adsorption nozzles successively;
The absorption position correction mechanism when being judged to be part by aforementioned interference decision mechanism can interfere the time, carries out offset correction to the absorption position of the part that will be adsorbed to the direction of avoiding part to interfere.
2. component-mounting machine as claimed in claim 1 is characterized in that, has: video camera, with aforementioned a plurality of adsorption nozzles adsorbed all parts income visuals field in make a video recording;
Shooting condition judgement mechanism, when aforementioned adsorption nozzle adsorbent parts, whether the part that judgement will be adsorbed can be taken in the visual field of aforementioned video camera;
Aforementioned absorption position correction mechanism, be judged to be aforementioned part by aforementioned shooting condition judgement mechanism can not take in the visual field of aforementioned video camera the time, in the scope that part can not interfere, the direction of absorption position in the visual field of the aforementioned video camera of income of this part carried out offset correction.
3. component-mounting machine as claimed in claim 1, it is characterized in that, aforementioned absorption position correction mechanism is revised to directions X or Y direction by the position to the aforementioned rotary body that keeps aforementioned a plurality of adsorption nozzles, comes the absorption position of aforementioned part is carried out offset correction.
4. component-mounting machine as claimed in claim 1 is characterized in that, aforementioned absorption position correction mechanism carries out offset correction to the absorption position of the some parts among two parts that interfere.
5. component-mounting machine as claimed in claim 1 is characterized in that, aforementioned absorption position correction mechanism all carries out offset correction to the absorption position of two parts interfering.
6. component-mounting machine as claimed in claim 1, it is characterized in that, aforementioned absorption position correction mechanism, according to and the visual field of video camera between relation, decision is that the absorption position to the some parts among two parts that interfere carries out offset correction, and still the absorption position to two parts interfering all carries out offset correction.
7. component-mounting machine, it is installed to part on the substrate, it is characterized in that, has:
A plurality of adsorption nozzles are used to adsorb aforementioned part;
Rotary body keeps aforementioned a plurality of adsorption nozzles, makes its predetermined distance spaced apart in the circumferential direction also down;
Video camera, with the plural adsorption nozzle among aforementioned a plurality of adsorption nozzles adsorbed all parts income visuals field in make a video recording;
Shooting condition judgement mechanism, when aforementioned adsorption nozzle adsorbent parts, whether the part that judgement will be adsorbed can be taken in the visual field of aforementioned video camera;
The absorption position correction mechanism being judged to be aforementioned part by aforementioned shooting condition judgement mechanism can not take in the visual field of aforementioned video camera the time, carries out offset correction to the direction of absorption position in the visual field of the aforementioned video camera of income of this part.
8. component-mounting machine as claimed in claim 7, it is characterized in that, aforementioned absorption position correction mechanism is revised to directions X or Y direction by the position to the aforementioned rotary body that keeps aforementioned a plurality of adsorption nozzles, comes the absorption position of aforementioned part is carried out offset correction.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003098065A JP4342199B2 (en) | 2003-04-01 | 2003-04-01 | Component adsorption position correction device for component mounting machine |
| JP098065/2003 | 2003-04-01 | ||
| PCT/JP2004/004117 WO2004091274A1 (en) | 2003-04-01 | 2004-03-24 | Component-mounting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1768563A true CN1768563A (en) | 2006-05-03 |
| CN1768563B CN1768563B (en) | 2010-05-05 |
Family
ID=33156662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2004800090623A Expired - Lifetime CN1768563B (en) | 2003-04-01 | 2004-03-24 | Component-mounting machine |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4342199B2 (en) |
| CN (1) | CN1768563B (en) |
| WO (1) | WO2004091274A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107251675A (en) * | 2015-02-24 | 2017-10-13 | 富士机械制造株式会社 | Component mounter and component mounting method |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101113838B1 (en) | 2004-11-30 | 2012-02-29 | 삼성테크윈 주식회사 | Method for mounting chip and chip mounter implementing the same |
| KR101185883B1 (en) | 2005-08-05 | 2012-09-27 | 삼성테크윈 주식회사 | Head module and chip mounter comprising the same |
| JP4817446B2 (en) * | 2006-09-14 | 2011-11-16 | 富士機械製造株式会社 | Adsorption component interference determination method and adsorption component interference determination apparatus for electronic component mounting machine |
| JP5095378B2 (en) * | 2007-12-17 | 2012-12-12 | Ｊｕｋｉ株式会社 | Component mounting method and apparatus |
| JP5570050B2 (en) * | 2009-12-08 | 2014-08-13 | 富士機械製造株式会社 | Component mounter |
| JP5791408B2 (en) * | 2011-07-15 | 2015-10-07 | 富士機械製造株式会社 | Electronic component mounting equipment |
| JP6059475B2 (en) * | 2012-09-18 | 2017-01-11 | ヤマハ発動機株式会社 | Electronic component mounting apparatus and electronic component mounting method |
| EP3021652B1 (en) * | 2013-07-09 | 2018-04-18 | Fuji Machine Mfg. Co., Ltd. | Method for allocating electronic components and electronic component mounting system |
| JP6181758B2 (en) * | 2013-07-12 | 2017-08-16 | 富士機械製造株式会社 | Component mounting equipment |
| US11058040B2 (en) * | 2016-03-29 | 2021-07-06 | Fuji Corporation | Operation checking device of electronic mounting machine |
| EP3554206B1 (en) | 2016-12-06 | 2022-09-21 | Fuji Corporation | Component mounting method |
| WO2019202678A1 (en) * | 2018-04-18 | 2019-10-24 | ヤマハ発動機株式会社 | Component recognizing device, component mounter, and component recognizing method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1075095A (en) * | 1996-08-29 | 1998-03-17 | Sanyo Electric Co Ltd | Electronic part automatic attaching device and method for sucking electronic part |
| JP2002329999A (en) * | 2001-05-02 | 2002-11-15 | Matsushita Electric Ind Co Ltd | Electronic part mounting device and method therefor, and program for mounting electronic part |
-
2003
- 2003-04-01 JP JP2003098065A patent/JP4342199B2/en not_active Expired - Lifetime
-
2004
- 2004-03-24 CN CN2004800090623A patent/CN1768563B/en not_active Expired - Lifetime
- 2004-03-24 WO PCT/JP2004/004117 patent/WO2004091274A1/en active Application Filing
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107251675A (en) * | 2015-02-24 | 2017-10-13 | 富士机械制造株式会社 | Component mounter and component mounting method |
| CN107251675B (en) * | 2015-02-24 | 2019-10-18 | 株式会社富士 | Component mounter and component mounting method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1768563B (en) | 2010-05-05 |
| JP4342199B2 (en) | 2009-10-14 |
| JP2004304120A (en) | 2004-10-28 |
| WO2004091274A1 (en) | 2004-10-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1768563A (en) | Component-mounting machine | |
| CN1784141A (en) | Method and apparatus for mounting electronic components | |
| CN1691887A (en) | Electronic component mounting method and electronic component mounting apparatus | |
| CN1818542A (en) | Inspection method and apparatus for mounted electronic components | |
| CN1124779C (en) | Electronic component mounting method and apparatus | |
| CN1691883A (en) | Lighting condition determination method, element recognition device, surface mounting machine and element test apparatus | |
| CN1647889A (en) | Inclining and rotating table apparatus | |
| CN1162720C (en) | Method and apparatus for producing multi-optical fibre optical fibre assembly to keep polarization | |
| CN1282408C (en) | Electronic return component supply device and electronic return component supply-taking out device | |
| CN1099226C (en) | Method and apparatus for mounting electronic components | |
| CN1196873A (en) | Electronic part mounting apparatus | |
| CN1711155A (en) | Device for correcting reference position for transfer mechanism, and correction method | |
| CN1262162C (en) | Electronic-component mounting apparatus | |
| CN1611427A (en) | Parts aligner | |
| CN1794031A (en) | Lens driving device | |
| CN1189071C (en) | Mounting machine and its part mounting method | |
| CN1120907C (en) | Device and sewing or embrodiery machines, for changing bobbin for gripper thread | |
| CN1976576A (en) | Surface mounting machine | |
| EP3264879B1 (en) | Component mounting machine and component mounting method | |
| CN1467793A (en) | Treating solution applying method | |
| JP4546935B2 (en) | Component mounting method, component mounting machine, and program | |
| CN101079538A (en) | Cable bushing | |
| CN1268855C (en) | Folding type hinge apparatus | |
| CN1864912A (en) | Jig for positioning spot-welding electrode and method thereof | |
| CN1845779A (en) | Oxygen enricher and rotary valve |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100505 |
|
| CX01 | Expiry of patent term |