CN101048058A - A component placement unit as well as a component placement device comprising such a component placement unit - Google Patents
A component placement unit as well as a component placement device comprising such a component placement unit Download PDFInfo
- Publication number
- CN101048058A CN101048058A CNA2007101035031A CN200710103503A CN101048058A CN 101048058 A CN101048058 A CN 101048058A CN A2007101035031 A CNA2007101035031 A CN A2007101035031A CN 200710103503 A CN200710103503 A CN 200710103503A CN 101048058 A CN101048058 A CN 101048058A
- Authority
- CN
- China
- Prior art keywords
- parts
- placement unit
- nozzle
- transducer
- central axis
- 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
- 230000003287 optical effect Effects 0.000 claims abstract description 54
- 239000000758 substrate Substances 0.000 claims abstract description 31
- 238000003384 imaging method Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 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
- H05K13/08—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
Landscapes
- Engineering & Computer Science (AREA)
- Operations Research (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a component placement unit for placing a component on a substrate, which component placement unit comprises at least one nozzle which is rotatable about a central axis, by means of which a component can be picked up and placed on the substrate. The component placement unit further comprises at least one sensor for determining the orientation of the component relative to the nozzle. At least one optical element is disposed between said sensor and said nozzle. A first focus plane of the optical element at least substantially coincides with the central axis of the nozzle, whilst a second focus plane substantially coincides with the sensor, wherein an image produced by means of the sensor is a contour image of the component.
Description
Technical field
The present invention relates to a kind of being used for is placed on suprabasil parts placement unit with parts, wherein, this parts placement unit comprises the nozzle that at least one can rotate around central axis, utilize this nozzle can pick-up part and place it in the substrate, this parts placement unit comprises that further at least one is used for determining the transducer of these parts with respect to the orientation of nozzle, and at least one is arranged in the optical element between described transducer and the described nozzle, wherein, first focal plane of this optical element overlaps at least basically with the central axis of nozzle, simultaneously, second focal plane overlaps basically with this transducer, and the image that is wherein produced by transducer is the contour images of these parts.
The invention still further relates to a kind of component placement device, it comprises that at least one substrate sends to/carrying device, at least one parts feeder and at least one parts placement unit.
Background technology
This parts placement unit can know from US-A-5559727 that it is used for component placement device, in this component placement device, utilizes this nozzle to come pick-up part, and then these parts is moved to suprabasil desired locations.When parts are moved, determine the orientation of these parts with respect to nozzle by transducer.Then, parts are positioned in suprabasil desired locations.Owing to, determined the orientation of parts, only need to spend the minimum time pick up and place these parts with respect to nozzle when parts placement unit during from the basad mobile process of parts feeder.
The shortcoming of this known elements placement unit is, must use separator, to obtain to be placed on about parts the information of exact position in the substrate.
Summary of the invention
Purpose of the present invention just provides a kind of parts placement unit, by this parts placement unit can be accurately and fast, reliably determine parts with respect to the orientation of nozzle and parts at suprabasil desired locations.
This purpose parts placement unit according to the present invention is realized, be also can produce the image of at least a portion of substrate by transducer, some of first focal planes overlap at least basically with the central axis of this nozzle, and first focal plane of part overlaps at least basically with substrate.
Like this, by the image of transducer production part,, also can produce the image of at least a portion of substrate to determine the orientation of parts with respect to nozzle.Preferably, described part is the part of placing component in substrate.By producing the image of substrate, can determine the orientation of nozzle with a kind of simple mode with respect to substrate.Determine parts with respect to the position of nozzle be commonly referred to " parts calibration " (component alignment, CA), determine simultaneously nozzle with respect to the position of substrate be also referred to as " plate calibration " (board alignment, BA).
Because can utilize transducer to realize parts calibration and plate calibration, so do not need to use independent transducer for the plate calibration.This not only can save the expense of additional sensors, and extraly, uses single-sensor to be used for parts calibration and plate calibration, owing to do not need the mutual calibration to two transducers, makes the result more accurate.
Because the central axis and the substrate of nozzle all are positioned on first focal plane, can obtain the more distinct image of parts and substrate on transducer.Deflecting element is arranged between optical element and the central axis, illustrates, and this optical axis is transverse to base extension.This makes and not to use moving-member and the image of production part and substrate becomes possibility.
It should be noted, known parts placement unit from UK Patent Application No.2183820, the parts that picked up by nozzle rotate around central axis, simultaneously light beam by a plurality of light emitted to parts.The light beam that is sent by light source is detected the device reception.Described light beam is cut off by parts, so that parts project shade on detector.From these shadow images be stored in computer the position of rotation relevant with nozzle, can determine the orientation of parts with a kind of original known way with respect to nozzle.
The shortcoming of this known elements placement unit is: for the hard shadow of production part on detector as much as possible, light source has been proposed relative higher requirement.The parts placement unit is relatively responsive to ambient light, because this light also can cause shadow effect.And, to compare with other materials on the parts, transducer is relatively more responsive to dust granule.In addition, utilize transducer only can determine the external dimensions in this cross section of parts.
Because according to parts placement unit of the present invention, the profile direct imaging of parts is on transducer, parts can directly obtain from generating image with respect to the position of nozzle.Owing to do not use shade, parts placement unit according to the present invention is not too responsive to ambient light.In addition, transducer is also not too responsive to the dust on parts and/or the optical element.
An embodiment according to parts placement unit of the present invention, it is characterized in that, the optical axis of optical element is parallel to the extension of central axis of nozzle, one deflection component is arranged between optical element and the central axis, utilize this deflection component, at least one profile of the parts that picked up by nozzle can be imaged on the transducer.
Transverse to the size on the optical axis direction, the interval between two focal planes is relatively large, by allowing this central axis and this optical axis extend parallel to each other, can obtain compact parts placement unit than this optical element and transducer.
Another embodiment according to parts placement unit of the present invention is characterized in that, optical element is the heart far away.
Because this optical element is the heart far away, the light that only is parallel to optical axis is used to generate image, the possibility minimum of perspective effect therefore occurs.The result is, when parts were not on the focal plane of optical element, especially the outline position on the transducer was unaffected.
Also embodiment according to parts placement unit of the present invention is characterized in that optical element has heart magnifying optics far away.
Use this heart magnifying optics far away to make to produce the image of relatively little parts and relative big parts.In the process of this parts placement unit design, the magnification ratio of magnifying optics can be suitable for the size of the maximum part placed by this parts placement unit.
Also embodiment according to parts placement unit of the present invention is characterized in that heart magnifying optics far away comprises cylindrical lens and/or spherical lens.
This cylindrical lens and spherical lens can relatively easily be made with glass or plastic material.Use the advantage of spherical lens to be, in that to focus on these parts on the both direction of horizontal expansion each other easier under than the situation of using cylindrical lens, for example also allow on the z direction, to measure these parts or nozzle and do not need moving of z direction
The advantage of cylindrical lens is that position of related features is inaccuracy relatively, but can produce the image of high-quality simultaneously.In addition, this cylindrical lens is made relatively easily, so that this cylindrical lens is relatively cheap.
Also embodiment according to parts placement unit of the present invention is characterized in that, utilizes transducer to produce the two dimensional image of these parts.
Utilize this transducer, can obtain the image of the overall profile of parts, so that can determine the position of parts more accurately with respect to nozzle.If meanwhile also produce the image of substrate, the time that produces image is shortened, thereby measuring speed is accelerated.In addition, can also carry out the measurement of different cross section height.When using single-sensor, this can improve durability.
Also embodiment according to parts placement unit of the present invention is characterized in that, this parts placement unit comprises the light source away from a side of transducer that is positioned at this focal plane.
In fact, this light source can be any light source, its parts photograph enough bright, and illuminate in essentially identical mode at each viewing position, to obtain picture rich in detail at the profile of transducer upper-part.In order to obtain the even illumination to these parts, light source can have scattering object, and this scattering object is to from carrying out scattering in sensor orientation with transmission or reflection way to the light that sends from light source.
Also embodiment according to parts placement unit of the present invention is characterized in that optical axis and central axis intersect.
The parts that picked up by nozzle extend with essentially identical distance at the either side of optical axis basically like this.The difference of optical axis either side has determined the deviation of the center of parts with respect to nozzle centre axis.This optical axis especially is suitable for less parts with respect to the orientation of central axis, and wherein the whole profile of parts can utilize optical element to be imaged on the transducer.
If determine the profile of relatively large parts, need optical axis and central axis to intersect.The image of profile that so only is positioned at the parts of central axis one side can be generated by transducer.But, can be by rotating these parts around central axis and generate a plurality of images, thus obtain the image of the whole profile of parts.
Description of drawings
Below with reference to accompanying drawing the present invention is made a more detailed description, wherein:
Fig. 1 is the perspective view according to the part of component placement device of the present invention;
Fig. 2 is the end view according to the parts placement unit of the component placement device of the Fig. 1 of being used for of the present invention;
Fig. 3 is the expansion plane graph of parts placement unit light path shown in Figure 2;
Fig. 4 is the expansion plane graph according to an alternate embodiment light path of parts placement unit of the present invention;
Fig. 5 is the expansion plane graph according to another alternate embodiment light path of parts placement unit of the present invention;
Fig. 6 is the also expansion plane graph of an alternate embodiment light path according to parts placement unit of the present invention;
Fig. 7 is according to the also end view of a substitutions of elements placement unit of the present invention;
Fig. 8 is the end view according to another embodiment of parts placement unit of the present invention, and it can be used in the component placement device shown in Figure 1;
Fig. 9 is the expansion plane graph of parts placement unit light path shown in Figure 8;
Figure 10 is the perspective view that is used in another embodiment according to the heart magnifying optics far away in the parts placement unit of the present invention shown in Figure 8;
Figure 11 is the end view according to another embodiment of parts placement unit of the present invention;
Figure 12 is the plane graph according to another embodiment of parts placement unit of the present invention.
Identical identical parts of numeral among the figure.
Embodiment
Fig. 1 shows the part perspective view according to component placement device 1 of the present invention, and it comprises that substrate sends to/carrying device 2 and three parts placement units 3.Each parts placement unit 3 comprises: long U-shaped framework 4; First sliding part 5, it can move along double-head arrow Y indicated direction with respect to framework 4; And second sliding part 6, it can move along double-head arrow X indicated direction with respect to first sliding part 5.Second sliding part 6 has nozzle 7, and it can move along double-head arrow Z indicated direction with respect to second sliding part 6.Be shown clearly in as Fig. 2, around central axis 8 rotations, this central axis is parallel to the Z direction and extends nozzle 7 along double-head arrow indicated direction.Other second sliding part 6 has imaging device 9, and its optical axis 10 is parallel to central axis 8 and extends.Deflecting mirror 14 and light source 15 that imaging device 9 comprises transducer 11, is arranged in the lens 12 and 13 of its front, arranges in part, lens 13 fronts.10 one-tenth miter angles of deflecting mirror 14 and optical axis.Lens 12 and 13 constitute the telecentric optics element, and its first focal plane 16 overlaps with the central axis 8 of nozzle 7.First focal plane 16 also with by substrate sends to/and substrate 17 that carrying device 2 supports overlaps.Second focal plane 18 of the optical element that is made of lens 12 and 13 overlaps with transducer 11.
These parts 19 provide position 20 to pick up by nozzle 7 from parts.For this reason, nozzle 7 moves on arrow X and Y indicated direction in known manner.
When parts 19 being provided position 20 move to desired locations 21 in the substrate 17 from parts, the nozzle 7 that is attached with parts 19 is rotated around central axis 8 according to double-head arrow indicated direction.In described rotary course,, be created in the image of the profile of the parts 19 in the focal plane 16 by transducer 11 at known in advance a plurality of position of rotation place.According to described contour images, parts 19 can be determined by arithmetic element with respect to the position and the orientation of nozzle 7.In addition, one of the position in substrate 17 21 and 11 generations of a plurality of imagery exploitation transducer.(these images are to produce in the position of sliding part 6 with respect to framework 4 according to described image, this location storage is in arithmetic element), can determine the position of this position 21, and therefore determine the position of these parts 19 with respect to position 21 with respect to nozzle 7.Subsequently, parts 19 can accurately be placed on desired locations 21 places.
Because lens 12 and 13 are positioned at the next door of central axis 8, each parts that so needn't mobile imaging device 9 just can be placed on parts 19 in the substrate 17.Like this, can guarantee to keep correct positioning each other between the different elements of this parts placement unit.
Because the profile of parts 19 is detected by transducer 11, parts 19 just can be determined with a kind of relative simple mode with the orientation with respect to the position of nozzle 7.Because this optical element is the heart far away, can obtain the picture rich in detail of these parts 19.
In situation shown in Figure 3, central axis 8 intersects with optical axis 10.The position of this central axis 8 is particularly useful for relatively little parts 19, and its whole profile can be imaged on the transducer 11.Under the situation of big parts 19, suggestion central axis 8 away from optical axis 10 certain distances, and central axis 8 still is arranged in focal plane 16.In such position, have only a side of the parts 19 of close optical axis 10 to be imaged on the transducer 11.Yet,, after these parts fully rotate, and after a plurality of images of the profile of production part 19, still can determine the position of parts 19 with respect to central axis 8 by making this parts 19 around central axis 8 rotations.
Sliding part 6 can also have 9, one images that are used for production part 19 of two imaging devices; Another is used to produce the image of substrate 21.This alternate embodiment has been shown among Fig. 4-8.
Fig. 4 has represented a kind of light path of alternate embodiment, and wherein central axis 8 and optical axis 10 intersect and spacing distance d.The position of this central axis is particularly useful for relatively large parts 19, and by according to arrow indicated direction rotating parts 19, its whole profile can be imaged on the transducer 11.
Fig. 5 has represented an alternate embodiment, itself and difference embodiment illustrated in fig. 3 are, two component prisms 22 and 23 are arranged between lens 12,13 and the central axis 8, and the result is this optical axis and central axial line 8 is not crossing (intersect) but intersect (cross).Like this, also may a side be imaged on the transducer 11 parts 19, simultaneously, by can obtain the information of the whole profile of relevant parts 19 around central axis 8 rotating partss 19 according to arrow indicated direction.
What Fig. 6 represented is another alternate embodiment, and itself and difference embodiment illustrated in fig. 5 are, only use single prism 22.In this embodiment, focal plane 16 is not transverse to the optical axis extending between transducer 11 and the lens 13, but becomes an obtuse angle with this optical axis.In this embodiment, this optical axis also intersects with central axis 8, and the image of possibility production part 19 1 sides.
What Fig. 7 represented is an alternate embodiment that comprises the component placement device of sliding part 26.Sliding part 26 is that with the difference of sliding part 6 shown in Figure 2 light beam shifter 27 is arranged between deflecting mirror 14 and the nozzle 7.This light beam shifter 27 comprises prism shown in Figure 5 22 and 23, for example or comprise prism shown in Figure 6 22.
If determine the profile of relatively little parts 19, by nozzle 7 parts 19 are positioned on the light path 28, and only deflecting mirror 14 are arranged between parts 19 and the lens 13.If place big relatively parts 19, utilize nozzle 7 at the Z direction described parts 19 that move up, and parts 19 are positioned on the light path 29.In this case, not only deflecting mirror 14 but also light beam shifter 27 are disposed between parts 19 and the lens 13.Like this, according to the size of the parts 19 that will place, might be on transducer 11 with the profile direct imaging of the whole profile of parts or parts 19 1 sides.Can also obtain information by rotating these parts and producing a plurality of images in addition about whole parts.
Fig. 8 has represented the also embodiment according to the component placement device that comprises sliding part 46 of the present invention.Sliding part 46 is that with the difference of the described sliding part 6 of Fig. 2 optical element 47 also comprises heart magnifying optics 48 far away except comprising lens 12,13.Illustrate as Fig. 2-8 is clear in addition, plate washer 49 is arranged between lens 12 and 13, and wherein this plate washer has relatively little path 50.
As clearlying show that among Fig. 9, this heart magnifying optics 48 far away comprises two spherical lenses 51 and 52.Deflecting mirror 14 is arranged between lens 51 and 52.This heart magnifying optics 48 far away makes utilizes nozzle 7 can pick up big relatively parts 19, and at least one side of these parts 19 can imaging on transducer 11.In this embodiment, parts 19 are such as big many of embodiment shown in Figure 4.If utilize nozzle 7 to pick up less relatively parts 19, utilize the embodiment shown in Fig. 8 and 9 whole parts 19 can be imaged on the transducer 11.
What Figure 10 represented is the alternate embodiment of heart magnifying optics 58 far away, and it comprises two cylindrical lenses 59 and 60.The mill angle at 45, bottom side of cylindrical lens 59 has obtained the plane 61 as deflecting mirror thus.The advantage of this deflecting mirror is that this heart magnifying optics 58 far away is not too responsive for dust, because the exposure of the optical surface of this system is less.
The advantage of spherical lens 51,52 is that the image of parts 19 can focus on the both direction of horizontal expansion each other, so that might measure parts 19 or nozzle 7 on the z direction, and needn't move these parts 19 on the z direction.
The amplification factor of the heart magnifying optics far away 48,58 between lens 13 and the focal plane 16 can be determined that it depends on the maximum part 19 that is picked up and placed by the parts pickup unit by the designer in simple mode.
When using heart magnifying optics far away 48,58, an important factor is that central axis 8 is positioned at 16 places, first focal plane, wherein parts 19 according on the arrow indicated direction around central axis 8 rotations.Preferably, such central axis does not overlap with optical axial 10, thereby may can detect relatively little parts 19 and big relatively parts 19 by transducer 11.In order to obtain the complete image of parts 19, widget 19 only needs Rotate 180 °.Preferably, in order to detect all sides of relatively large parts 19, these relatively large parts 19 must rotate 360 °.
In the embodiment shown in fig. 8, the optical system that is used to detect this desired locations 21 needs not to be the heart far away.Yet,, need placement to have relative plate washer 49, and must be undertaken by center device far away the imaging of parts 19 than cat walk 50 in order fully to detect these parts 19.
According to another kind of possibility, this heart magnifying optics far away can comprise speculum rather than lens.
Preferably, all parts on the sliding part 46 become one, thereby can obtain to have the less relatively sliding part 46 of accurate manufacturing tolerance.In addition, also may be in circuit the connects integrated electronic component that is used to control the electronic component of various parts and is used to handle the information that obtains from transducer 11.Like this, further reduced cost.
Figure 11 represents is end view according to parts placement unit 71 of the present invention, itself and parts placement unit difference shown in Figure 8 are, comprise the nozzle 7 ', 7 that is positioned at optical axis 10 both sides ", and at double-head arrow 4 ', 4 " on the indicated direction around being parallel to z ', z " central axis 8 ', 8 that extends of direction " rotation.This parts placement unit 71 further comprises two light sources 15 ', 15 ", each light source is used for illumination by nozzle 7 ', 7 " parts 19 ', 19 that pick up ".Parts placement unit 71 comprises transducer 11, is arranged in the lens 12 and 13 of transducer front, is arranged in the plate washer 49 between transducer 11 and the lens 12,13 and is arranged in lens 13 and respective sources 15 ', 15 " between heart magnifying optics far away 48 ', 48 "., this far away heart magnifying optics 48 ', 48 similar with heart magnifying optics far away 48 " have lens 51 ', 52 ', 51 ", 52 " and be arranged in deflecting mirror 14 ', 14 between these lens ".Can simultaneously or in a sequence pick up and place two parts by this parts placement unit 71, simultaneously, parts 19 ', 19 " can be detected by transducer 11 simultaneously.The image of the position 21 of substrate 17 can be to parts 19 ', 19 " produce simultaneously when carrying out described detection.Optical axis 10 ', 10 " can with central axis 8 ', 8 " intersect or intersect.
Figure 12 is the plane graph of parts placement unit 81, and the difference of itself and parts placement unit 71 is, comprises four rather than two nozzles 7, also comprises relevant light source 15 and heart magnifying optics 48 far away.In Figure 12, each parts of four unit are used respectively ', ", and " " expression.Parts placement unit 81 makes and may generate the image of four parts 19 and the image of the position 21 in the substrate 17 simultaneously.In the parts placement unit 81 shown in Figure 12, optical axis 10 ', 10 ", 10 , 10 " " with central axis 8 ', 8 ", 8 , 8 " " intersect.
Certainly optical axis 10 also can intersect with central axis 8 as among the embodiment of Fig. 8.Can certainly be in four positions one or more in save heart magnifying optics 48 far away, for example obtaining under the situation of less relatively parts with special nozzle 7.
Claims (10)
1. a parts placement unit (1), be used for parts (19) are placed on substrate (17), this parts placement unit (1) comprises at least one nozzle (7) around central axis (8) rotation, utilize this nozzle to come pick-up part (19) and place it in the substrate (17), this parts placement unit (1) comprises that further at least one is used for determining the transducer (11) of these parts (19) with respect to the orientation of this nozzle (7), and at least one is arranged in the optical element between described transducer (11) and the described nozzle (7), wherein, first focal plane (16) of this optical element overlaps at least basically with the central axis (8) of nozzle (7), second focal plane (18) overlap basically with transducer (11) simultaneously, and wherein, the image that utilizes transducer (11) to produce is the contour images of these parts (19), it is characterized in that, the image of at least a portion of this substrate (17) also can utilize transducer (11) to produce, wherein, first focal plane of part overlaps at least basically with the central axis (8) of nozzle (7), and the part first focal plane overlap at least basically with substrate (17), this substrate (17) is extended transverse to this central axis (8).
2. according to the parts placement unit (1) of claim 1, it is characterized in that, the central axis (8) that the optical axis of this optical element (10) is parallel to nozzle (7) extends, one deflection component is arranged between this optical element and the central axis (8), utilize this deflection component, at least one profile of these parts (19) that picked up by nozzle (7) can be imaged on the transducer (11).
3. according to the parts placement unit (1) of claim 1 or 2, it is characterized in that this optical element is the heart far away.
4. according to the parts placement unit (1) of claim 3, it is characterized in that this optical element has heart magnifying optics far away.
5. according to the parts placement unit (1) of claim 4, it is characterized in that this heart magnifying optics far away comprises cylindrical lens and/or spherical lens (12,13).
6. according to the parts placement unit (1) of above-mentioned arbitrary claim, it is characterized in that, utilize transducer (11) can generate the two dimensional image of these parts (19).
7. according to the parts placement unit (1) of above-mentioned arbitrary claim, it is characterized in that this parts placement unit (1) comprises light source (15), this light source (15) is arranged in the side away from transducer (11) of this focal plane.
8. according to the parts placement unit (1) of above-mentioned arbitrary claim, it is characterized in that this optical axis (10) and central axis (8) intersect.
9. require any one parts placement unit (1) among the 1-7 according to aforesaid right, it is characterized in that, this optical axis (10) and central axis (8) intersect.
10. component placement device comprises: at least one substrate (17) sends to/and carrying device, at least one parts feeder and at least one is as any described parts placement unit (1) in the above-mentioned claim.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL1031471 | 2006-03-30 | ||
| NL1031471A NL1031471C2 (en) | 2006-03-30 | 2006-03-30 | Electronic component placement machine, includes optical element with two focal planes coincidental with nozzle central axis and component orientation sensor |
| NL1033000A NL1033000C2 (en) | 2006-03-30 | 2006-12-05 | Component placement unit as well as component placement device which is provided with such a component placement unit. |
| NL1033000 | 2006-12-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101048058A true CN101048058A (en) | 2007-10-03 |
| CN101048058B CN101048058B (en) | 2013-04-17 |
Family
ID=37492225
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101035031A Active CN101048058B (en) | 2006-03-30 | 2007-03-29 | A component placement unit as well as a component placement device comprising such a component placement unit |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101048058B (en) |
| NL (1) | NL1031471C2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102326050A (en) * | 2008-12-23 | 2012-01-18 | 卡特彼勒公司 | Coupling alignment apparatus and method |
| CN101820494B (en) * | 2009-02-03 | 2015-04-15 | 阿森姆布里昂有限公司 | Device for producing an image by means of a sensor, as well as a component placement unit comprising such device |
| CN107030689A (en) * | 2015-12-17 | 2017-08-11 | 安必昂公司 | By the method for positioning parts onboard desired locations, pick-and-place machine and the sensor for this pick-and-place machine |
| CN116766183A (en) * | 2023-06-15 | 2023-09-19 | 山东中清智能科技股份有限公司 | Mechanical arm control method and device based on visual image |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1034086C2 (en) * | 2007-07-03 | 2009-01-06 | Assembleon Bv | Method for placing at least one component provided with connection points on a substrate and such a device. |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60103700A (en) * | 1983-11-11 | 1985-06-07 | 株式会社日立製作所 | Parts positioning device |
| JPS6150002A (en) * | 1984-08-20 | 1986-03-12 | Matsushita Electric Ind Co Ltd | Relative position detector |
| NL9300631A (en) * | 1993-04-14 | 1994-11-01 | Hans Gerard Van Den Brink | Optical system for mutually positioning a track carrier and component with connecting feet. |
| US5559727A (en) * | 1994-02-24 | 1996-09-24 | Quad Systems Corporation | Apparatus and method for determining the position of a component prior to placement |
| KR100367272B1 (en) * | 1994-08-11 | 2003-03-15 | 사이버옵틱스 코포레이션 | High precision semiconductor component alignment systems |
| KR100287787B1 (en) * | 1998-09-24 | 2001-04-16 | 이중구 | Apparatus and method for determining the positon of a component |
| US20060059502A1 (en) * | 2003-01-14 | 2006-03-16 | Vroomen Hubert Gerard Jean J A | Machine suitable for placing a component on a substrate, as well as a method therefor |
-
2006
- 2006-03-30 NL NL1031471A patent/NL1031471C2/en not_active IP Right Cessation
-
2007
- 2007-03-29 CN CN2007101035031A patent/CN101048058B/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102326050A (en) * | 2008-12-23 | 2012-01-18 | 卡特彼勒公司 | Coupling alignment apparatus and method |
| CN102326050B (en) * | 2008-12-23 | 2013-03-06 | 卡特彼勒公司 | Coupling alignment apparatus and method |
| CN101820494B (en) * | 2009-02-03 | 2015-04-15 | 阿森姆布里昂有限公司 | Device for producing an image by means of a sensor, as well as a component placement unit comprising such device |
| CN107030689A (en) * | 2015-12-17 | 2017-08-11 | 安必昂公司 | By the method for positioning parts onboard desired locations, pick-and-place machine and the sensor for this pick-and-place machine |
| CN107030689B (en) * | 2015-12-17 | 2021-06-08 | 安必昂公司 | Method for positioning a component in a desired orientation and position on a board, pick and place machine and sensor |
| CN116766183A (en) * | 2023-06-15 | 2023-09-19 | 山东中清智能科技股份有限公司 | Mechanical arm control method and device based on visual image |
| CN116766183B (en) * | 2023-06-15 | 2023-12-26 | 山东中清智能科技股份有限公司 | Mechanical arm control method and device based on visual image |
Also Published As
| Publication number | Publication date |
|---|---|
| NL1031471C2 (en) | 2007-03-16 |
| CN101048058B (en) | 2013-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10816648B2 (en) | Methods and systems for LIDAR optics alignment | |
| CN1497264A (en) | position measuring device | |
| CN1545610A (en) | Position detection device | |
| CN100343623C (en) | Surveying instrument | |
| EP2101144B1 (en) | Concave-convex surface inspection apparatus | |
| US20140010438A1 (en) | Three dimensional shape measurement apparatus and method | |
| CN1931110A (en) | Method of determining the shape of a dental technology object and apparatus for per-forming the method | |
| CN1704837A (en) | Projector with a device for measuring angle of inclination | |
| CN106055172A (en) | Optical navigation chip, optical navigation module and optical encoder | |
| CN1499170A (en) | measuring machine | |
| CN105891837A (en) | Surveying Instrument And Three-Dimensional Camera | |
| CN1712892A (en) | Three-dimensional measuring device and electronic storage medium | |
| CN1808059A (en) | Scanning instrument and method for operating scanning instrument | |
| CN1701214A (en) | Three-dimensional measuring device and electronic storage medium | |
| CN101251709A (en) | Illumination device and vision measuring instrument | |
| KR101307768B1 (en) | A component placement unit as well as a component placement device comprising such a component placement unit | |
| JP4315536B2 (en) | Electronic component mounting method and apparatus | |
| TWI662637B (en) | Confocal imaging of an object utilising a pinhole array | |
| CN101048058A (en) | A component placement unit as well as a component placement device comprising such a component placement unit | |
| JP4234402B2 (en) | Electronic circuit component image acquisition device | |
| CN1789913A (en) | Method for preparing a stereo image and three-dimensional data preparation system | |
| US20220116585A1 (en) | Apparatus for testing camera module | |
| CN1364279A (en) | Image reader | |
| CN1615426A (en) | Optical apparatus for measuring the two and three-dimensional shape of an object | |
| CN1940469A (en) | Dislocation measurement device and shape test gear using same |
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 |