WO2017033325A1 - 部品実装位置ずれ量測定ユニット及びその自動交換システム並びに部品実装機 - Google Patents
部品実装位置ずれ量測定ユニット及びその自動交換システム並びに部品実装機 Download PDFInfo
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- WO2017033325A1 WO2017033325A1 PCT/JP2015/074151 JP2015074151W WO2017033325A1 WO 2017033325 A1 WO2017033325 A1 WO 2017033325A1 JP 2015074151 W JP2015074151 W JP 2015074151W WO 2017033325 A1 WO2017033325 A1 WO 2017033325A1
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- component mounting
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- 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
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- 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
- H05K13/0409—Sucking devices
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- 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
- H05K13/0417—Feeding with belts or tapes
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- 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
- H05K13/089—Calibration, teaching or correction of mechanical systems, e.g. of the mounting head
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
Definitions
- the present invention relates to a component mounting position deviation amount measuring unit used for measuring a component mounting position deviation amount of a component mounting machine, an automatic replacement system thereof, and a component mounting machine.
- a component mounting position deviation amount measurement unit (accuracy) is provided in an empty space in the component mounting machine.
- the component mounting position deviation amount measurement unit of Patent Document 1 is for measurement provided with a measurement component placement portion on which a measurement component (inspection chip) is placed and a measurement reference mark (inspection reference mark).
- a mounting table (inspection table), and when measuring the component mounting position deviation amount of the component mounting machine, the measuring head on the measuring component mounting part is sucked with the suction nozzle of the mounting head. And mounting the measurement component and the measurement reference mark within the field of view of the camera of the component mounter, processing the captured image, and mounting the measurement component on the measurement reference mark Is measured as the component mounting position shift amount of the component mounting machine.
- the component mounting positional deviation amount measuring unit of the present invention includes a measuring nozzle mounting portion on which a measuring nozzle that is replaceably held by a mounting head of a component mounting machine, A measurement component mounting portion on which a component is mounted; and a measurement mounting base provided with a measurement reference mark. The measurement is performed on the mounting head when measuring a component mounting position deviation amount of the component mounting machine. Holding the measurement nozzle, sucking the measurement component with the measurement nozzle, and mounting the measurement component on the measurement mounting base, the amount of deviation of the mounting position of the measurement component with respect to the measurement reference mark is determined by the component mounting machine.
- a component mounting position deviation amount measurement unit used for measuring as a component mounting position deviation amount wherein the component mounting position deviation amount measurement unit is set in a feeder set portion of the component mounting machine so as to be replaceable with a feeder. And it is characterized in that it is configured to allow bets.
- the component mounting position deviation amount measuring unit of the present invention is set so as to be replaceable with a feeder in the feeder set portion of the component mounting machine, one component mounting position deviation amount is provided for a plurality of component mounting machines. It is possible to reuse the measurement unit, and it is not necessary to provide a component mounting position deviation amount measurement unit for each component mounting machine, and the manufacturing cost of the component mounting machine can be reduced.
- the component mounting position deviation amount measuring unit of the present invention may be any size as long as it can be set in the feeder set portion of the component mounting machine, and thus can be made larger than before, and the measurement nozzle is placed. It is also easy to add a new function such as a measurement nozzle mounting portion.
- the component mounting position deviation amount measurement unit of the present invention includes the measurement nozzle mounting portion, it is not necessary for the operator to set the measurement nozzle in the nozzle station for each component mounting machine. Workability can also be improved.
- the mounting structure of the component mounting position deviation measuring unit to the feeder set unit may be shared with the feeder mounting structure.
- the component mounting position deviation amount measuring unit can be attached and detached in the same procedure as the attachment and detachment of the feeder, and the component mounting position deviation amount measuring unit can be easily attached and detached.
- the mounting head of the component mounting machine has a mounting head that holds only one suction nozzle, but there is also a mounting head that holds a plurality of suction nozzles. In the latter case, it is necessary to replace all the plurality of suction nozzles held in the mounting head with measurement nozzles and measure the component mounting position deviation amount for each nozzle.
- the component mounting position deviation amount measurement unit of the present invention is configured so that at least the number of measurement nozzles that can be held by the mounting head can be mounted on the measurement nozzle mounting portion.
- the component mounting portion is configured so that at least the same number of measurement components as the number of measurement nozzles that can be held on the mounting head can be mounted, and the measurement mounting base is configured of at least a measurement nozzle that can be held on the mounting head. It is preferable to configure so that the same number of measurement parts can be mounted.
- the number of nozzles that can hold the mounting head for the nozzle replacement operation of the measurement nozzles, the suction / mounting operation of the measurement components, and the imaging operation are increased. It can be performed collectively, and the amount of component mounting position deviation for the number of nozzles can be measured efficiently.
- the number of measurement nozzles is smaller than the number of nozzles that can be held in the mounting head, after measuring the component mounting position deviation amount for the number of measurement nozzles, change the position of the measurement nozzles, The remaining component mounting position deviation amount may be measured.
- the component mounting position deviation amount measurement unit of the present invention has a measurement nozzle mounting portion for a plurality of types of measurement.
- the nozzle may be configured to be mounted, and the measurement component mounting section may be configured to be able to mount a plurality of types of measurement components that can be adsorbed by the plurality of types of measurement nozzles.
- the component mounting positions of a plurality of nozzle types can be replaced without replacing the component mounting position deviation measurement unit for each nozzle type. The amount of deviation can be measured for each nozzle type.
- the measurement component may be displaced on the measurement mount.
- a holding device for holding the measurement component mounted (mounted) on the measurement mounting base. If it does in this way, it can prevent by the holding
- an electrostatic chuck, a vacuum chuck, or the like may be used as the holding device.
- a measurement nozzle on the measurement nozzle mounting portion and a shutter mechanism for preventing the measurement component on the measurement component mounting portion from dropping off when the component mounting position deviation measuring unit is attached or detached or transferred. It is good to make it. In this way, the shutter mechanism can reliably prevent the measurement nozzle and the measurement component from dropping off when the component mounting position deviation amount measurement unit is attached or detached or transferred.
- the component mounting position deviation measuring unit is provided with a connector for supplying an operation power from the component mounter side to the drive source of the shutter mechanism and receiving a signal for controlling the opening / closing operation of the shutter mechanism.
- the connector may be configured to be connected to the connector on the component mounter side by setting the mounting position deviation amount measuring unit in the feeder set portion of the component mounter. In this way, by setting the component mounting position deviation amount measurement unit in the feeder set part of the component mounting machine, it is possible to simultaneously connect the component mounting position deviation amount measurement unit side connector to the component mounting machine side connector. This eliminates the need to connect the connector after setting the component mounting position deviation measuring unit.
- the replacement work of the component mounting position deviation measuring unit of the present invention may be performed manually by an operator or may be automated.
- the automatic replacement system for automating the replacement work includes a stock unit for storing a plurality of feeders to be set in a feeder set unit and a component mounting position deviation measuring unit, a feeder to be replaced from the feeder set unit, and the stock unit And a replacement robot that takes out a feeder designated by a production job from the stock unit and sets the feeder in the feeder set unit, and the replacement robot measures a component mounting position deviation amount of a component mounting machine.
- the component mounting position deviation amount measuring unit may be taken out from the stock portion and set in an empty slot of the feeder set portion. In this way, the component mounting position deviation measuring unit and feeder can be automatically replaced between the feeder set unit and the stock unit during operation of the component mounting machine, and the operator can replace the component mounting position deviation amount. There is no need to replace the measuring unit or feeder, saving labor.
- the replacement robot may measure the component mounting position deviation amount of the component mounting machine and then take out the component mounting position deviation amount measurement unit from the feeder set unit and collect it in the stock unit. In this way, it is also possible to automate the work of collecting the component mounting position deviation amount measuring unit in the stock unit.
- the replacement robot and the stock unit may be provided in each of a plurality of component mounters constituting the component mounting line.
- an exchange robot and a stock unit that are commonly used in a plurality of component mounters are provided. It is good also as a composition.
- the stock unit stores a plurality of feeders set in feeder set units of a plurality of component mounters and a component mounting position deviation amount measurement unit
- the replacement robot is a feeder set unit of the plurality of component mounters.
- the feeder to be replaced is taken out and collected in the stock unit, and the feeder designated by the production job is taken out from the stock unit and set in the feeder set unit of the plurality of component mounting machines.
- the replacement robot measures the component mounting position deviation amount of one of the component mounting machines, and then takes out the component mounting position deviation amount measurement unit from the feeder set unit of the component mounting machine and collects it in the stock unit. May be.
- the replacement robot measures the component mounting position deviation amounts of a plurality of component mounting machines in order
- the component mounting position from the feeder set unit of the component mounting machine that has finished measuring the component mounting position deviation amount first.
- the plurality of components are repeatedly operated by taking out the deviation amount measuring unit and setting it on the feeder set part of the component mounting machine in the next measurement order and measuring the component mounting position deviation amount of the component mounting machine in the next measurement order. You may make it measure the component mounting position shift amount of a mounting machine in order. In this way, it is possible to efficiently and efficiently measure the component mounting position deviation amounts of a plurality of component mounting machines in order.
- the component imaging camera and mark imaging camera equipped in the component mounting machine When measuring the component mounting position deviation amount of the component mounting machine, use the component imaging camera and mark imaging camera equipped in the component mounting machine, hold the measurement nozzle on the mounting head, and The measurement component is adsorbed on the surface, the measurement component is imaged from the lower surface side with the component imaging camera, the captured image is processed, and the displacement amount of the measurement component adsorption position with respect to the measurement nozzle Then, the measurement component is mounted on the measurement mount and the measurement component and the measurement reference mark are placed in the field of view of the mark imaging camera. It is only necessary to measure the displacement amount of the mounting position of the measurement component with respect to the measurement reference mark by processing the captured image and processing the captured image. In this way, the component mounting position deviation amount can be accurately measured using the component imaging camera and the mark imaging camera provided in the component mounting machine.
- the operation of measuring the deviation amount of the mounting position of the measurement component with respect to the measurement reference mark is repeated a predetermined number of times to calculate the average value of the deviation amount of the mounting position of the measurement component, and the average value is mounted on the component. It is preferable to set it as the mounting displacement correction amount for the operation. In this way, the mounting position deviation correction amount can be set with high accuracy, and the component mounting accuracy can be improved.
- FIG. 1 is a perspective view showing the entire configuration of a component mounting line according to an embodiment of the present invention.
- FIG. 2 is a perspective view schematically showing a configuration of a component mounter with an exchange robot.
- FIG. 3 is a block diagram schematically showing a configuration of a control system of a component mounting line with an automatic replacement system.
- FIG. 4 is a perspective view showing a cassette type feeder.
- FIG. 5 is a perspective view of the entire upper part of the component mounting position deviation measurement unit when the shutter is opened.
- FIG. 6 is a partially enlarged perspective view of the upper part of the component mounting position deviation measuring unit when the shutter is opened.
- FIG. 7 is a perspective view of the entire upper part of the component mounting position deviation measurement unit when the shutter is closed.
- FIG. 8 is a partially enlarged perspective view of the upper part of the component mounting position deviation measuring unit when the shutter is closed.
- FIG. 9 is a top view of a glass measuring component.
- FIG. 10 is a perspective view showing a state when a glass measurement component is mounted on a measurement mounting base.
- FIG. 11 is a flowchart (part 1) showing the flow of processing of the component mounting position deviation amount measurement program.
- FIG. 12 is a flowchart (part 2) showing the flow of processing of the component mounting position deviation amount measurement program.
- the component mounting line 10 is configured by arranging a plurality of component mounting machines 12 along the conveyance direction (X direction) of the circuit board 11. As shown in FIG. 2, each component mounting machine 12 has suction nozzles for sucking and mounting the components supplied from two conveyors 13 for conveying the circuit board 11 and cassette type feeders 14 onto the circuit board 11.
- a mounting head 15 that holds the head (not shown), a head moving device 16 that moves the mounting head 15 in the XY directions (left and right front and rear directions), and a component imaging unit that captures an image of the component adsorbed by the adsorption nozzle from its lower surface side.
- a camera 17 see FIG. 3) and the like are provided.
- a mark imaging camera 18 see FIG.
- the control device 20 of the component mounting machine 12 includes an input device 21 such as a keyboard, a mouse, and a touch panel, a hard disk, a RAM, a ROM, and the like for storing various control programs and various data.
- a storage device 22 storage means
- a display device 23 such as a liquid crystal display or a CRT.
- the control device 20 of each component mounting machine 12 is connected to a production management computer 70 that manages the production of the entire component mounting line 10 via a network, and the production management computer 70 manages the production of each component mounting machine 12.
- Each component mounting machine 12 of the component mounting line 10 conveys the circuit board 11 conveyed from the upstream component mounting machine 12 to a predetermined position by the conveyor 13 and uses the clamp mechanism (not shown) to move the circuit board 11.
- the reference mark of the circuit board 11 is imaged by the mark imaging camera 18 to recognize the position of the reference mark (reference position of the circuit board 11) and supplied from the cassette type feeder 14
- the component to be picked up is picked up by the pick-up nozzle of the mounting head 15, moved from the pick-up position to the image pick-up position, and picked up by the component image pick-up camera 17 from the lower face side to pick up the pick-up position shift amount of the component
- the component is mounted on the circuit board 11 on the conveyor 13 by correcting the amount of suction position deviation, and a component mounting board is produced.
- an automatic replacement system 26 that automatically replaces the cassette type feeder 14 and the component mounting position deviation amount measuring unit 25 set in the feeder setting unit 24 of each component mounting machine 12 is installed. ing.
- the cassette case 32 of the cassette-type feeder 14 is formed of a transparent or opaque plastic plate or metal plate or the like, and its side surface (cover) can be opened and closed.
- a tape loading unit 35 for loading a tape reel 34 around which the component supply tape 33 is wound so as to be detachable (replaceable) is provided in the cassette case 32.
- a reel holding shaft 36 that rotatably holds the tape reel 34 is provided at the center of the tape loading unit 35.
- a tape feed mechanism 38 for feeding the component supply tape 33 pulled out from the tape reel 34 to the component suction position, and a top film 40 (also called a cover tape) from the component supply tape 33 before the component suction position.
- a top film peeling mechanism 39 for peeling and exposing the components in the component supply tape 33 is provided.
- the tape feed mechanism 38 is composed of a sprocket 42 provided near the lower part of the component suction position, a motor 43 for rotating the sprocket 42, and the like, and is formed on one side edge of the component supply tape 33 at a predetermined pitch. By engaging the teeth of the sprocket 42 with the tape feed hole and rotating the sprocket 42, the component supply tape 33 is pitch-fed to the component suction position.
- the top film peeling mechanism 39 includes a tape press 45 for peeling the top film 40 from the upper surface of the component supply tape 33 by pressing the component supply tape 33 before the component suction position, and the top film peeled by the tape press 45
- a top film feed gear mechanism 47 that pulls 40 in a direction opposite to the tape feed direction and feeds it into a top film collection unit 46 provided at the top of the cassette case 32, a motor 48 that drives the top film feed gear mechanism 47, and the like It is composed of
- a waste tape 33a (only the carrier tape from which the top film 40 has been peeled off in this embodiment) from which the components have been taken out after passing through the component suction position is located below the edge of the cassette case 32 on the tape feed direction side.
- a waste tape discharge passage 50 is provided so as to extend downward, and an outlet 50a of the waste tape discharge passage 50 is provided at a position below the center of the end face of the cassette case 32 on the tape feed direction side. ing.
- a control device 52 for controlling the motor 43 of the tape feeding mechanism 38 and the motor 48 of the top film peeling mechanism 39 is provided.
- the cassette case 32 is provided with a communication / power connector connected to a communication / power connector on the component mounter 12 side.
- a feeder identification information recording unit (not shown) that records or stores a feeder ID (identification information of the feeder 14) is provided at a predetermined position of the cassette case 32.
- a feeder identification information recording unit for example, a code label in which the feeder ID is recorded with a barcode, a two-dimensional code, or the like may be used, or an electronic tag (RF tag, IC tag, radio wave tag) storing feeder ID data is used. , Also referred to as a wireless tag).
- the component mounting position deviation amount measuring unit 25 is configured to be set in the feeder set unit 24 of the component mounting machine 12 so as to be replaceable with the cassette type feeder 14.
- the height and depth dimensions (Y-direction dimensions) of the component mounting position deviation measuring unit 25 are substantially the same as the height and depth dimensions of the cassette type feeder 14, and the feeder set of the component mounting machine 12 is used.
- the mounting structure of the component mounting position deviation measuring unit 25 to the part 24 is shared with the mounting structure of the cassette type feeder 14.
- the width dimension (X-direction dimension) of the component mounting position deviation measurement unit 25 is not necessarily the same as the width dimension of the cassette-type feeder 14, and is a width dimension that spans a plurality of slots of the feeder set unit 24. In short, what is necessary is just a width dimension that can be set in the feeder set portion 24.
- the component mounting position deviation amount measuring unit 25 includes measurement nozzle mounting portions 56a to 56c for mounting the measurement nozzles 55a to 55c that are exchangeably held by the mounting head 15 of the component mounting machine 12, and measurement components ( 9 and 10 show a measurement component mounting portion 58a, 58b for mounting a glass measurement component 57) and a measurement mounting base 60 provided with a measurement reference mark 59. 61 is provided on the upper surface portion of 61.
- the component mounter 12 is configured to hold a plurality of types (for example, three types) of suction nozzles in the mounting head 15 in a replaceable manner.
- the component mounting position deviation amount measuring unit 25 is provided with a plurality of types (for example, three types) of measurement nozzle mounting portions 56a to 56c, and a plurality of types (for example, a large size, a medium size, and a small size). ) Measuring nozzles 55a to 55c are placed.
- a plurality of types (for example, two types) of measurement component mounting portions 58a and 58b are provided corresponding to the plurality of types of measurement nozzles 55a to 55c, and can be adsorbed by the plurality of types of measurement nozzles 55a to 55c.
- a plurality of types (for example, two types) of measurement parts are placed.
- a glass measurement component 57 (see FIGS. 9 and 10) that is adsorbed by large and medium measurement nozzles 55a and 55b is mounted, and the other measurement is performed.
- a small measurement component (square chip) that is attracted by a small measurement nozzle 55c is placed on the component mounting portion 58b.
- the mounting head 15 of the component mounting machine 12 includes a mounting head that holds only one suction nozzle, but there is also a mounting head that holds a plurality of suction nozzles. In the latter case, it is necessary to replace all of the plurality of suction nozzles held by the mounting head 15 with any of the measurement nozzles 55a to 55c and measure the component mounting position deviation amount for each nozzle.
- the component mounting positional deviation measuring unit 25 of this embodiment includes at least the number of measuring nozzles 55a to 55c that can be held by the mounting head 15 with respect to each of the measuring nozzle mounting portions 56a to 56c. It is configured so that it can be mounted, and each of the measurement component mounting portions 58a and 58b can mount at least the same number of measurement components 57 as the number of measurement nozzles 55a to 55c that can be held by the mounting head 15.
- the measurement mounting base 60 is configured so that at least the number of measurement parts 57 and the like as many as the number of nozzles that can be held by the mounting head 15 (the largest number among the measurement nozzles 55a to 55c) can be mounted. It is composed.
- the measurement nozzle mounting portion 56a for mounting the large measurement nozzle 55a is formed so that two large measurement nozzles 55a can be mounted, and the medium measurement nozzle 55b is mounted.
- the measurement nozzle placement part 56b to be placed is formed so that eight medium-sized measurement nozzles 55b can be placed, and the measurement nozzle placement part 56c to place the small measurement nozzle 55c is 20 pieces. It is formed so that a small measuring nozzle 55c can be placed.
- the large and medium-sized measurement nozzles 55a and 55b are configured to adsorb the glass measurement component 57 shown in FIGS.
- the measurement component placement portion 58a on which the glass measurement component 57 is placed is the same for eight glass measurement members as the larger one of the large and medium-sized measurement nozzles 55a and 55b.
- the measurement component mounting portion 58b which is formed so as to mount the component 57 and mounts a small measurement component (square chip), is the same as the number of small measurement nozzles 55c. It is formed to place a component (square chip).
- the measurement mounting base 60 has 20 small measurement components (square chips) that are the same as the number of nozzles that can be held by the mounting head 15 (the largest number of the measurement nozzles 55a to 55c). It is formed so that it can be mounted. In each component mounting area of the measurement mounting base 60, a predetermined number (for example, four) of measurement reference marks 59 are formed in a fixed positional relationship.
- an opaque graphic pattern 62 imitating the outer shape of the leaded IC chip is formed on the lower surface of the glass measurement component 57.
- a transparent window 63 that is slightly larger than the measurement reference mark 59 is formed at a position corresponding to the measurement reference mark 59 on the table 60, and the glass measurement component 57 is connected to the component mounting area of the measurement mounting table 60.
- the window 63 of the graphic pattern 62 of the measurement component 57 is overlapped with the measurement reference mark 59, and this is imaged by the mark imaging camera 18 from above and the image is processed.
- the amount of displacement of the mounting position of the measurement component 57 with respect to the measurement reference mark 59 (the amount of displacement of the graphic pattern 62 of the measurement component 57 with respect to the measurement reference mark 59) is mounted as a component. And it measures a component mounting position shift amount of 12.
- An arrow mark 64 indicating the direction of the measurement component 57 is formed on the graphic pattern 62 of the measurement component 57.
- a holding device (not shown) for holding the measurement component 57 and the like mounted (mounted) on the measurement mounting base 60 is provided.
- the holding device an electrostatic chuck, a vacuum chuck, or the like may be used.
- a shutter plate 65 is slidably provided on the upper surface of the component mounting position deviation amount measurement unit 25, and the shutter plate 65 is opened and closed inside the component mounting position deviation amount measurement unit 25.
- a motor is provided as a drive source (not shown) for driving.
- the drive source may be a cylinder or a solenoid.
- the drive source of the shutter mechanism is energized, and the shutter plate 65 is held slid to the open position shown in FIGS. 5 and 6 by the driving force of the drive source.
- the energization to the drive mechanism of the shutter mechanism is turned off, and the shutter plate 65 is automatically closed by the return spring (not shown) of the shutter mechanism as shown in FIGS.
- the measurement nozzles 55a to 55c, the measurement component 57, and the like are prevented from popping out.
- the component mounting position deviation measuring unit 25 is supplied with a connector (not shown) for supplying operation power from the component mounter 12 side to the shutter mechanism drive source and receiving a signal for controlling the opening / closing operation of the shutter mechanism. Z).
- a connector (not shown) for supplying operation power from the component mounter 12 side to the shutter mechanism drive source and receiving a signal for controlling the opening / closing operation of the shutter mechanism. Z).
- a unit identification information recording unit (not shown) that records or stores a unit ID (identification information of the component mounting position deviation measurement unit 25) is provided at a predetermined position of the component mounting position deviation measurement unit 25.
- a unit ID identification information of the component mounting position deviation measurement unit 25
- the unit ID the type of the component mounting position deviation measuring unit 25, the type and number of the mounted measurement nozzles 55a to 55c, the type and number of the mounted measurement components 57, etc.
- the number of components that can be mounted can be identified.
- the unit identification information recording unit for example, a code label in which a feeder ID is recorded with a barcode, a two-dimensional code, or the like may be used, or an electronic tag (RF tag, IC tag, radio wave tag) storing feeder ID data is used. , Also referred to as a wireless tag).
- the automatic replacement system 26 includes a plurality of cassette-type feeders 14 to be set in the feeder setting unit 24 of each component mounting machine 12, a stock unit 71 for storing at least one component mounting position deviation measuring unit 25, and a feeder setting unit. 24 and a stock robot 71.
- the replacement robot 72 replaces the cassette type feeder 14 and the component mounting position deviation measuring unit 25 between the stock unit 71 and the feeder identification information recording unit and the component mounting position deviation measuring unit 25 of the cassette type feeder 14.
- the unit identification information recording unit 73 (see FIG. 3) for reading the feeder ID and the unit ID from the unit identification information recording unit.
- the stock unit 71 is disposed below the feeder set unit 24 of the plurality of component mounters 12 and at least a plurality of cassette type feeders 14 set in the feeder set unit 24 of the plurality of component mounters 12.
- One component mounting position deviation measuring unit 25 is configured to be accommodated.
- the exchange robot 72 takes out the cassette-type feeder 14 to be exchanged from the feeder set unit 24 of the plurality of component mounting machines 12 and collects it in the stock unit 71, and also uses the cassette-type feeder designated by the production job from the stock unit 71. 14 is taken out and set in the feeder setting unit 24 of the plurality of component mounters 12, and when the component mounting position shift amount of any one of the plurality of component mounters 12 is measured.
- the component mounting position deviation measuring unit 24 is taken out from the stock unit 71 and set in an empty slot of the feeder setting unit 24 of the component mounting machine 12, and the component mounting position deviation amount of the component mounting machine 12 is measured and then the component The component mounting position deviation measuring unit 25 is taken out from the feeder set unit 24 of the mounting machine 12 and stored in the stock unit 71. To yield.
- the replacement robot 72 measures the component mounting position deviation amounts of the plurality of component mounting machines 12 in order
- the replacement robot 72 starts from the feeder set unit 24 of the component mounting machine 12 that has finished measuring the component mounting position deviation amounts.
- the component mounting position deviation amounts of the plurality of component mounting machines 12 are measured in order by repeating the above.
- An area in front of the feeder set unit 24 and the stock unit 71 of the plurality of component mounting machines 12 is for replacing the cassette-type feeder 14 and the component mounting position deviation amount measuring unit 25 between the feeder set unit 24 and the stock unit 71.
- the replacement robot 72 is arranged in this replacement area.
- an X-axis rail 74 for moving the replacement robot 72 in the left-right direction (X direction) along the arrangement of the component mounting machines 12 is provided on the front surface of the component mounting line 10 so as to extend in the X direction. It has been.
- the control device 75 of the automatic exchange system 26 is connected to the production management computer 70 of the component mounting line 10 via a network and is transmitted from the production management computer 70 of the component mounting line 10.
- the operation of the replacement robot 72 is controlled in accordance with production management information such as out-of-part information and component mounting position deviation amount measurement instructions, and a cassette type feeder between the feeder set unit 24 and the stock unit 71 of each component mounting machine 12 14 and the component mounting position deviation measurement unit 25 are replaced.
- the replacement robot 72 uses the component mounting position deviation measurement unit 24 from the stock unit 71. Is taken out and set in an empty slot of the feeder setting unit 24 of the component mounting machine 12, and all the nozzle holders of the mounting head 15 of the component mounting machine 12 are held with any of the measurement nozzles 55a to 55c for each measurement.
- the measurement component 57 or a small measurement component (square chip) is attracted to the nozzle for imaging, and each measurement component is imaged by the component imaging camera 17 of the component mounter 12 from the lower surface side, and the captured image After measuring the amount of displacement of the suction position in the XY direction and ⁇ direction (rotation direction) of the measurement component with respect to each measurement nozzle, the suction position in the XY direction and ⁇ direction is measured.
- the position shift amount is corrected, all the measurement components are mounted on the measurement mounting base 60, the measurement component and the measurement reference mark 59 are placed in the field of view of the mark imaging camera 18, and the image is captured.
- the captured image is processed to measure the amount of deviation of the mounting position of the measurement component in the XY direction and the ⁇ direction with respect to the measurement reference mark 59.
- the measurement of the component mounting position deviation amount of each component mounting machine 12 of the present embodiment described above is executed according to the component mounting position deviation amount measurement program of FIG. 11 and FIG.
- the processing of each step 101 to 117 of this program is executed by any one of the control device 20 of each component mounter 12, the control device 75 of the automatic exchange system 26, and the production management computer 70.
- step 101 it is determined whether or not a component mounting position deviation amount measurement execution condition is satisfied.
- the component mounting position deviation amount measurement execution condition for example, (1) a part mounting position deviation amount measurement instruction is issued, and (2) the component mounting position deviation amount is transmitted from the stock unit 71 by the replacement robot 72. That is, the operation of taking out the measurement unit 24 and setting it in the feeder setting unit 24 of the component mounting machine 12 has been completed, (3) not being in production (for example, before starting production), and the like. If there is a condition that does not satisfy any one of these conditions (1) ⁇ to (3), etc., the component mounting position deviation amount measurement execution condition is not satisfied, and the process stands by in step 101.
- the component mounting positional deviation amount measurement execution condition is established, and the process proceeds to step 102 to be used as a driving mechanism for the shutter mechanism of the component mounting positional deviation amount measurement unit 25.
- the shutter plate 65 When energized, the shutter plate 65 is opened by the driving force of the drive source, and the measurement nozzles 55a to 55c on the measurement nozzle placement parts 56a to 56c and the measurement parts placement parts 58a and 58b are used for measurement.
- the part 57 and the like are ready to be taken out.
- step 103 the measurement nozzles to be held by all the nozzle holders of the mounting head 15 of the component mounting machine 12 are selected from the measurement nozzles 55a to 55c on the measurement nozzle mounting portions 56a to 56c.
- the measurement nozzle is held by all the nozzle holders of the mounting head 15.
- step 104 the glass measurement parts 57 or small measurement parts (square chips) are adsorbed to all the measurement nozzles held by the mounting head 15.
- step 107 the measurement component adsorbed to each measurement nozzle is imaged from the lower surface side by the component imaging camera 17 of the component mounter 12, and the captured image is processed to obtain each measurement nozzle.
- the amount of displacement of the suction position in the XY direction and the ⁇ direction of the measurement component with respect to is measured.
- step 108 the measured displacement amounts of the suction positions in the XY direction and the ⁇ direction are corrected, and the measurement components sucked by all the measurement nozzles are sequentially mounted on the measurement mounting base 60. .
- step 109 in which the measurement component and the measurement reference mark 59 are placed in the field of view of the mark imaging camera 18, and the captured image is processed to measure the measurement component XY with respect to the measurement reference mark 59.
- the amount of displacement of the mounting position in the direction and ⁇ direction is measured. This measurement is sequentially performed on all measurement components mounted on the measurement mounting base 60.
- step 110 all the measurement components mounted on the measurement mounting base 60 are sucked to each measurement nozzle.
- step 111 it is determined whether or not the measurement number n counted by the measurement number counter has reached a predetermined number. If the predetermined number has not been reached, the processing of steps 106 to 111 described above is repeated, The operation of measuring the deviation of the mounting position of the measurement component is repeated.
- step 112 the process proceeds to step 112 in FIG.
- the drive source of the shutter mechanism of the mounting position deviation amount measurement unit 25 is energized, and the shutter plate 65 is opened by the drive force of the drive source. Thereafter, the process proceeds to step 113, where the measurement components adsorbed by the measurement nozzles are returned to the measurement component placement units 58a and 58b, and the measurement nozzles held by the mounting head 15 are then moved to the measurement nozzle placement units 56a to 56a. Return to 56c.
- step 114 the power supply to the drive mechanism of the shutter mechanism of the component mounting position deviation measuring unit 25 is turned off and the shutter plate 65 is closed.
- step 115 an average value of the deviation amounts of the mounting positions of the measurement components measured for a predetermined number of times is calculated for each nozzle, and the average value is set as a mounting position deviation correction amount of the component mounting operation.
- the mounting position deviation correction amount can be set with high accuracy, and the component mounting accuracy can be improved.
- step 116 it is determined whether or not there is a component mounter 12 (hereinafter referred to as “next component mounter 12”) that measures the component mounting position deviation amount, and the next component mounter 12 is determined. If there is, the process proceeds to step 117, where the component mounting position deviation measuring unit 25 is taken out from the feeder set unit 24 of the component mounter 12 that has been measured by the replacement robot 72, and the feeder set unit 24 of the next component mounter 12 is taken. Then, the processing of steps 101 to 115 described above is executed, and the component mounting position deviation amount of the next component mounting machine 12 is measured. Thereafter, when it is determined in step 116 that there is no next component mounter 12, this program is terminated.
- the component mounting position deviation amount measuring unit 25 is set in the feeder set unit 24 of the component mounting machine 12 so as to be exchangeable with the cassette type feeder 14.
- the component mounting position deviation amount measuring unit 25 of the present embodiment only needs to be of a size that can be set in the feeder setting unit 24 of the component mounting machine 12, and thus can be made larger than the conventional (Patent Document 1).
- it is easy to add new functions such as the measurement nozzle mounting portions 56a to 56c for mounting the measurement nozzles 55a to 55c.
- the component mounting position deviation measuring unit 25 of this embodiment includes the measurement nozzle mounting portions 56a to 56c, the operator installs the measurement nozzles 55a to 55c in the nozzle station for each component mounting machine 12. There is no need to perform the setting work and workability can be improved.
- the mounting structure of the component mounting position deviation measuring unit 25 to the feeder set unit 24 is shared with the mounting structure of the cassette type feeder 14, the mounting and dismounting of the component mounting position deviation measuring unit 25 can be performed in a cassette type. The procedure can be performed in the same manner as the attachment / detachment of the feeder 14, and the attachment / detachment of the component mounting position deviation measuring unit 25 is easy.
- the component mounting position deviation measuring unit 25 of this embodiment is configured so that the measurement nozzle mounting portions 56a to 56c can mount at least the number of measurement nozzles 55a to 55c that can be held by the mounting head 15.
- the measurement component mounting portions 58a and 58b are configured so that at least as many measurement components 57 as the number of measurement nozzles 55a to 55c that can be held by the mounting head 15 can be mounted, and the measurement mounting base. 60 is configured to be able to mount at least as many measuring parts 57 as the number of measuring nozzles 55a to 55c that can be held in the mounting head 15, and thus the mounting head 15 holds a plurality of suction nozzles.
- the nozzle replacement operation of the measurement nozzles 55a to 55c, the suction / mounting operation of the measurement component 57, and the imaging operation are as many as the number of nozzles that can be held in the mounting head 15. One together can be done, it can be efficiently performed to measure the component mounting position displacement amount of the nozzle number minute.
- the component mounting position deviation amount is measured for the number of measurement nozzles 55a to 55c, and then the measurement is performed.
- the positions of the nozzles 55a to 55c may be changed, and the remaining component mounting position deviation amount may be measured.
- the measurement nozzle mounting portions 56a to 56c are configured so that a plurality of types of measurement nozzles 55a to 55c can be mounted, and the measurement component mounting portion is mounted. Since the portions 58a and 58b are configured so that a plurality of types of measurement parts 57 that can be sucked by the plurality of types of measurement nozzles 55a to 55c can be placed, a plurality of types of suction nozzles are provided on the mounting head 15. With respect to the component mounting machine 12 that is held in a replaceable manner, the component mounting position deviation amounts of a plurality of nozzle types can be measured for each nozzle type without replacing the component mounting position deviation amount measuring unit 25 for each nozzle type.
- the measurement nozzles 55a to 55c and the measurement component placement parts 58a and 58b on the measurement nozzle placement parts 56a to 56c are attached when the component mounting position deviation amount measurement unit 25 is attached / detached or transferred. Since the shutter plate 65 for preventing the measurement component 57 and the like from falling off is provided, the measurement nozzles 55a to 55c, the measurement component 57, and the like are provided when the component mounting position deviation measurement unit 25 is attached or detached or transferred. It is possible to reliably prevent the shutter plate 65 from falling off.
- the component mounting position deviation measuring unit 25 is automatically replaced by using the automatic replacement system 26 that automatically replaces the cassette type feeder 14.
- the mounting position deviation amount measuring unit 25 and the cassette type feeder 14 can be automatically replaced, so that the operator does not need to replace the component mounting position deviation amount measuring unit 25 and the cassette type feeder 14, thereby saving labor. .
- the operator may perform replacement work of the component mounting position deviation measuring unit 25 and the feeder 14, and even in this case, the intended purpose of the present invention can be achieved.
- the feeder 14 is not limited to a cassette type feeder, and a general tape feeder that is not a cassette type may be used.
- the automatic replacement system 26 of the present embodiment is configured to include an exchange robot 72 and a stock unit 71 that are used in common by a plurality of component mounters 12 constituting the component mounting line 10, the component mounting line 10
- the component mounting position measurement unit 25 and the cassette-type feeder 14 can be replaced with a plurality of component mounting machines 12 constituting the component mounting machine 12 by a single replacement robot 72, thereby simplifying the configuration of the component mounting line 10.
- the equipment cost can be reduced.
- the present invention may be configured such that each of the plurality of component mounting machines 12 constituting the component mounting line 10 is provided with an exchange robot and a stock unit, and even in this case, the intended purpose of the present invention can be achieved.
- SYMBOLS 10 Component mounting line, 11 ... Circuit board, 12 ... Component mounting machine, 14 ... Cassette type feeder, 15 ... Mounting head, 16 ... Head moving device, 17 ... Component imaging camera, 18 ... Mark imaging camera, 20 DESCRIPTION OF SYMBOLS ... Control device of component mounting machine, 25 ... Component mounting position deviation measurement unit, 26 ... Automatic exchange system, 32 ... Cassette case, 33 ... Component supply tape, 55a-55c ... Measuring nozzle, 56a-56c ... Measuring nozzle Placement part, 57 ... glass measurement parts, 58a, 58b ... measurement part placement part, 59 ... measurement reference mark, 60 ... measurement mounting base, 61 ... unit case, 62 ... figure pattern, 65 ... Shutter plate, 70 ... production management computer, 71 ... stock unit, 72 ... replacement robot, 73 ... identification information reading unit
Abstract
Description
まず、図1乃至図3に基づいて部品実装ライン10の構成を説明する。
カセット式のフィーダ14のカセットケース32は、透明又は不透明のプラスチック板又は金属板等により形成され、その側面部(カバー)が開閉可能となっている。カセットケース32内には、部品供給テープ33が巻回されたテープリール34を着脱可能(交換可能)に装填するテープ装填部35が設けられている。テープ装填部35の中心には、テープリール34を回転可能に保持するリール保持軸36が設けられている。
部品実装位置ずれ量測定ユニット25は、部品実装機12のフィーダセット部24にカセット式のフィーダ14と交換可能にセットできるように構成されている。部品実装位置ずれ量測定ユニット25の高さ寸法と奥行き寸法(Y方向寸法)は、カセット式のフィーダ14の高さ寸法と奥行き寸法とほぼ同じ寸法となっており、部品実装機12のフィーダセット部24への部品実装位置ずれ量測定ユニット25の取付構造がカセット式のフィーダ14の取付構造と共通化されている。部品実装位置ずれ量測定ユニット25の幅寸法(X方向寸法)は、必ずしもカセット式のフィーダ14の幅寸法と同一である必要はなく、フィーダセット部24の複数のスロットに跨がる幅寸法であっても良く、要は、フィーダセット部24にセット可能な幅寸法であれば良い。
Claims (13)
- 部品実装機の実装ヘッドに交換可能に保持される測定用ノズルを載置する測定用ノズル載置部と、
測定用部品を載置する測定用部品載置部と、
測定用基準マークが設けられた測定用実装台とを備え、
前記部品実装機の部品実装位置ずれ量を測定する際に前記実装ヘッドに前記測定用ノズルを保持させて前記測定用ノズルで前記測定用部品を吸着して前記測定用実装台に実装して前記測定用基準マークに対する前記測定用部品の実装位置のずれ量を前記部品実装機の部品実装位置ずれ量として測定するのに使用される部品実装位置ずれ量測定ユニットであって、
前記部品実装位置ずれ量測定ユニットは、前記部品実装機のフィーダセット部にフィーダと交換可能にセットできるように構成されていることを特徴とする部品実装位置ずれ量測定ユニット。 - 前記フィーダセット部への前記部品実装位置ずれ量測定ユニットの取付構造は、前記フィーダの取付構造と共通化されていることを特徴とする請求項1に記載の部品実装位置ずれ量測定ユニット。
- 前記測定用ノズル載置部は、少なくとも前記実装ヘッドに保持可能な本数の測定用ノズルを載置できるように構成され、
前記測定用部品載置部は、少なくとも前記実装ヘッドに保持可能な測定用ノズルの本数と同数の測定用部品を載置できるように構成され、
前記測定用実装台は、少なくとも前記実装ヘッドに保持可能な測定用ノズルの本数と同数の測定用部品を実装できるように構成されていることを特徴とする請求項1又は2に記載の部品実装位置ずれ量測定ユニット。 - 前記測定用ノズル載置部は、複数種類の測定用ノズルを載置できるように構成され、
前記測定用部品載置部は、前記複数種類の測定用ノズルで吸着可能な複数種類の測定用部品を載置できるように構成されていることを特徴とする請求項1乃至3のいずれかに記載の部品実装位置ずれ量測定ユニット。 - 前記測定用実装台に実装した前記測定用部品を保持する保持装置が設けられていることを特徴とする請求項1乃至4のいずれかに記載の部品実装位置ずれ量測定ユニット。
- 前記部品実装位置ずれ量測定ユニットの着脱時や移送時に前記測定用ノズル載置部上の測定用ノズル及び前記測定用部品載置部上の測定用部品の脱落を防止するシャッタ機構が設けられていることを特徴とする請求項1乃至5のいずれかに記載の部品実装位置ずれ量測定ユニット。
- 前記部品実装機側から前記シャッタ機構の駆動源に動作電源を供給し且つ該シャッタ機構の開閉動作を制御する信号を受信するためのコネクタを備え、
前記部品実装位置ずれ量測定ユニットを前記部品実装機のフィーダセット部にセットすることで前記コネクタが前記部品実装機側のコネクタに接続されるように構成されていることを特徴とする請求項6に記載の部品実装位置ずれ量測定ユニット。 - 請求項1乃至7のいずれかに記載の部品実装位置ずれ量測定ユニットを前記部品実装機のフィーダセット部にセットする部品実装位置ずれ量測定ユニットの自動交換システムであって、
前記フィーダセット部にセットする複数のフィーダと前記部品実装位置ずれ量測定ユニットを収納するストック部と、
前記フィーダセット部から交換対象のフィーダを取り出して前記ストック部に回収すると共に前記ストック部から生産ジョブで指定されたフィーダを取り出して前記フィーダセット部にセットする交換ロボットとを備え、
前記交換ロボットは、前記部品実装機の部品実装位置ずれ量を測定する場合に前記ストック部から前記部品実装位置ずれ量測定ユニットを取り出して前記フィーダセット部の空きスロットにセットすることを特徴とする部品実装位置ずれ量測定ユニットの自動交換システム。 - 前記交換ロボットは、前記部品実装機の部品実装位置ずれ量を測定した後に前記フィーダセット部から前記部品実装位置ずれ量測定ユニットを取り出して前記ストック部に回収することを特徴とする請求項8に記載の部品実装位置ずれ量測定ユニットの自動交換システム。
- 前記ストック部は、複数の部品実装機のフィーダセット部にセットする複数のフィーダと前記部品実装位置ずれ量測定ユニットを収納し、
前記交換ロボットは、前記複数の部品実装機のフィーダセット部から交換対象のフィーダを取り出して前記ストック部に回収すると共に前記ストック部から生産ジョブで指定されたフィーダを取り出して前記複数の部品実装機のフィーダセット部にセットし、更に、前記複数の部品実装機のうちのいずれかの部品実装機の部品実装位置ずれ量を測定する場合に、前記ストック部から前記部品実装位置ずれ量測定ユニットを取り出して当該部品実装機のフィーダセット部の空きスロットにセットすることを特徴とする請求項8又は9に記載の部品実装位置ずれ量測定ユニットの自動交換システム。 - 前記交換ロボットは、複数の部品実装機の部品実装位置ずれ量を順番に測定する場合に、先に部品実装位置ずれ量の測定を終了した部品実装機のフィーダセット部から前記部品実装位置ずれ量測定ユニットを取り出して次の測定順序の部品実装機のフィーダセット部にセットして当該次の測定順序の部品実装機の部品実装位置ずれ量を測定するという動作を繰り返して前記複数の部品実装機の部品実装位置ずれ量を順番に測定することを特徴とする請求項10に記載の部品実装位置ずれ量測定ユニットの自動交換システム。
- 請求項1乃至7のいずれかに記載の部品実装位置ずれ量測定ユニットをフィーダセット部にフィーダと交換可能にセットした部品実装機において、
前記実装ヘッドに交換可能に保持した吸着ノズルに吸着した部品をその下面側から撮像する部品撮像用カメラと、
前記部品を実装する回路基板の基準マークを上方から撮像するマーク撮像用カメラとを備え、
前記部品実装機の動作を制御する制御装置は、前記部品実装機の部品実装位置ずれ量を測定する際に、前記実装ヘッドに前記測定用ノズルを保持させて前記測定用ノズルに前記測定用部品を吸着して、前記測定用部品をその下面側から前記部品撮像用カメラで撮像して、その撮像画像を処理して前記測定用ノズルに対する前記測定用部品の吸着位置のずれ量を測定した後、前記吸着位置のずれ量を補正して前記測定用部品を前記測定用実装台に実装して、前記マーク撮像用カメラの視野内に前記測定用部品と前記測定用基準マークを収めて撮像し、その撮像画像を処理して前記測定用基準マークに対する前記測定用部品の実装位置のずれ量を測定することを特徴とする部品実装機。 - 前記制御装置は、前記測定用基準マークに対する前記測定用部品の実装位置のずれ量を測定する動作を所定回数繰り返して、前記測定用部品の実装位置のずれ量の平均値を算出し、その平均値を部品実装動作の実装位置ずれ補正量として設定することを特徴とする請求項12に記載の部品実装機。
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US15/752,602 US10945360B2 (en) | 2015-08-27 | 2015-08-27 | Component mounting positional deviation amount measurement unit |
CN201580082663.5A CN107926145B (zh) | 2015-08-27 | 2015-08-27 | 元件安装位置偏差量测定单元及自动更换系统、元件安装机 |
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Cited By (8)
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WO2018229910A1 (ja) * | 2017-06-14 | 2018-12-20 | 株式会社Fuji | ノズル清掃ユニット自動交換システム |
JPWO2018229910A1 (ja) * | 2017-06-14 | 2020-04-09 | 株式会社Fuji | ノズル清掃ユニット自動交換システム |
JP2019050335A (ja) * | 2017-09-12 | 2019-03-28 | 株式会社Fuji | 部品実装機の部品実装精度測定システム及び部品実装精度測定方法 |
EP3755135A4 (en) * | 2018-02-12 | 2021-02-17 | FUJI Corporation | FITTING PRECISION MEASURING CHIP AND FITTING PRECISION MEASURING KIT |
WO2020090006A1 (ja) * | 2018-10-30 | 2020-05-07 | 株式会社Fuji | フィーダ状態表示システム |
JPWO2020090006A1 (ja) * | 2018-10-30 | 2021-04-30 | 株式会社Fuji | フィーダ状態表示システム |
JP7155285B2 (ja) | 2018-10-30 | 2022-10-18 | 株式会社Fuji | フィーダ状態表示システム |
CN109561652A (zh) * | 2018-12-30 | 2019-04-02 | 深圳捷创电子科技有限公司 | 一种smt贴片作业系统信息共享方法及其系统 |
Also Published As
Publication number | Publication date |
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CN107926145A (zh) | 2018-04-17 |
EP3344030A1 (en) | 2018-07-04 |
CN107926145B (zh) | 2019-10-18 |
US20180242486A1 (en) | 2018-08-23 |
US10945360B2 (en) | 2021-03-09 |
JP6562426B2 (ja) | 2019-08-21 |
EP3344030B1 (en) | 2021-05-05 |
EP3344030A4 (en) | 2018-08-08 |
JPWO2017033325A1 (ja) | 2018-06-14 |
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