KR20230093451A - 솔더링 장치 및 솔더링 시스템, 그리고 가공 장치 - Google Patents

솔더링 장치 및 솔더링 시스템, 그리고 가공 장치 Download PDF

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Publication number
KR20230093451A
KR20230093451A KR1020237016417A KR20237016417A KR20230093451A KR 20230093451 A KR20230093451 A KR 20230093451A KR 1020237016417 A KR1020237016417 A KR 1020237016417A KR 20237016417 A KR20237016417 A KR 20237016417A KR 20230093451 A KR20230093451 A KR 20230093451A
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KR
South Korea
Prior art keywords
control device
image data
imaging
unit
solder
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.)
Pending
Application number
KR1020237016417A
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English (en)
Korean (ko)
Inventor
고지 호소미
신지 사토
도모키 미야카와
사토시 하세가와
고헤이 미무라
준야 히라타
하야테 시미즈
Original Assignee
가부시키가이샤 니콘
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Publication date
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Publication of KR20230093451A publication Critical patent/KR20230093451A/ko
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K1/00—Soldering, e.g. brazing, or unsoldering
    • B23K1/005—Soldering by means of radiant energy
    • B23K1/0056—Soldering by means of radiant energy soldering by means of beams, e.g. lasers, electron beams [EB]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K1/00—Soldering, e.g. brazing, or unsoldering
    • B23K1/0008—Soldering, e.g. brazing, or unsoldering specially adapted for particular articles or work
    • B23K1/0016—Soldering of electronic components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K1/00—Soldering, e.g. brazing, or unsoldering
    • B23K1/005—Soldering by means of radiant energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/36—Electric or electronic devices
    • B23K2101/42—Printed circuits
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37553—Two cameras one for coarse scanning, other for fine scanning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37567—3-D vision, stereo vision, with two cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40538—Barcode reader to detect position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40554—Object recognition to track object on conveyor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45235—Dispensing adhesive, solder paste, for pcb

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Plasma & Fusion (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
  • Laser Beam Processing (AREA)
KR1020237016417A 2020-10-29 2021-10-29 솔더링 장치 및 솔더링 시스템, 그리고 가공 장치 Pending KR20230093451A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
PCT/JP2020/040610 WO2022091290A1 (ja) 2020-10-29 2020-10-29 はんだ付け装置及びはんだ付けシステム、並びに、加工装置
JPPCT/JP2020/040610 2020-10-29
PCT/JP2021/040110 WO2022092285A1 (ja) 2020-10-29 2021-10-29 はんだ付け装置及びはんだ付けシステム、並びに、加工装置

Publications (1)

Publication Number Publication Date
KR20230093451A true KR20230093451A (ko) 2023-06-27

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Family Applications (1)

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KR1020237016417A Pending KR20230093451A (ko) 2020-10-29 2021-10-29 솔더링 장치 및 솔더링 시스템, 그리고 가공 장치

Country Status (7)

Country Link
US (1) US20230381877A1 (https=)
EP (1) EP4238718A4 (https=)
JP (3) JPWO2022091290A1 (https=)
KR (1) KR20230093451A (https=)
CN (1) CN116847959A (https=)
TW (1) TW202235234A (https=)
WO (2) WO2022091290A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7158081B2 (ja) * 2019-09-10 2022-10-21 白光株式会社 はんだ付け装置
TWI866486B (zh) * 2022-11-28 2024-12-11 精捷科技光學股份有限公司 以人工智慧驅動的雷射移除基板防焊層的智能除焊裝置
CN116550990B (zh) * 2023-04-28 2023-12-08 中国长江电力股份有限公司 一种大型水轮机顶盖移动式激光增材加工方法及装置
WO2025013305A1 (ja) * 2023-07-13 2025-01-16 株式会社Fuji 部品実装機及び部品実装方法
CN118752482B (zh) * 2024-07-05 2025-03-21 西南交通大学 一种双机械臂基坐标系标定及同轴定位方法
WO2026024311A1 (en) * 2024-07-24 2026-01-29 Oxipital Ai Inc. Training and applying a machine learning model for robotic picking

Citations (1)

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Publication number Priority date Publication date Assignee Title
KR20010054637A (ko) 1999-12-07 2001-07-02 류정열 자동차용 출몰식 벤틸레이터 그릴

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JP3720681B2 (ja) 2000-06-26 2005-11-30 株式会社ファインディバイス レーザー式はんだ付け方法及び装置
JP2011216503A (ja) * 2008-08-11 2011-10-27 Yamaha Motor Co Ltd はんだ付け方法、実装基板の生産方法、およびはんだ付け装置
WO2010018679A1 (ja) * 2008-08-11 2010-02-18 ヤマハ発動機株式会社 表面実装部品が実装されたプリント配線板の製造方法
JP5787537B2 (ja) * 2011-02-07 2015-09-30 キヤノン株式会社 把持装置とロボット装置
WO2012176262A1 (ja) * 2011-06-20 2012-12-27 株式会社安川電機 ３次元形状計測装置およびロボットシステム
US9279661B2 (en) * 2011-07-08 2016-03-08 Canon Kabushiki Kaisha Information processing apparatus and information processing method
JP2013101045A (ja) * 2011-11-08 2013-05-23 Fanuc Ltd 物品の３次元位置姿勢の認識装置及び認識方法
US9092698B2 (en) * 2012-06-21 2015-07-28 Rethink Robotics, Inc. Vision-guided robots and methods of training them
JP6228120B2 (ja) 2012-08-02 2017-11-08 富士機械製造株式会社 多関節型ロボットを備えた作業機および電気部品装着機
JP6124352B2 (ja) * 2014-01-14 2017-05-10 株式会社ジャパンユニックス レーザー式はんだ付け装置及びはんだ付け方法
JP6708142B2 (ja) * 2017-02-02 2020-06-10 トヨタ車体株式会社 ロボットの制御装置
JP2018176164A (ja) * 2017-04-03 2018-11-15 株式会社タマリ工業 レーザ溶接装置
JP6420404B1 (ja) * 2017-04-26 2018-11-07 ファナック株式会社 物体認識装置
JP2019161153A (ja) * 2018-03-16 2019-09-19 シャープ株式会社 半田付け方法及び半田付け装置
JP7135495B2 (ja) * 2018-06-26 2022-09-13 セイコーエプソン株式会社 三次元計測装置、制御装置およびロボットシステム
JP6965844B2 (ja) * 2018-08-08 2021-11-10 オムロン株式会社 制御システム、解析装置および制御方法
JP7219400B2 (ja) * 2019-02-19 2023-02-08 株式会社東京精密 ワーク検査方法及び装置並びにワーク加工方法
JP7275759B2 (ja) * 2019-03-28 2023-05-18 セイコーエプソン株式会社 物体検出方法、物体検出装置およびロボットシステム

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KR20010054637A (ko) 1999-12-07 2001-07-02 류정열 자동차용 출몰식 벤틸레이터 그릴

Also Published As

Publication number Publication date
WO2022092285A1 (ja) 2022-05-05
EP4238718A1 (en) 2023-09-06
EP4238718A4 (en) 2024-10-09
WO2022091290A1 (ja) 2022-05-05
JP2025072456A (ja) 2025-05-09
CN116847959A (zh) 2023-10-03
US20230381877A1 (en) 2023-11-30
JPWO2022091290A1 (https=) 2022-05-05
JPWO2022092285A1 (https=) 2022-05-05
TW202235234A (zh) 2022-09-16

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