CN105144864A - Electronic component transport apparatus - Google Patents
Electronic component transport apparatus Download PDFInfo
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- CN105144864A CN105144864A CN201480023619.2A CN201480023619A CN105144864A CN 105144864 A CN105144864 A CN 105144864A CN 201480023619 A CN201480023619 A CN 201480023619A CN 105144864 A CN105144864 A CN 105144864A
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- electronic component
- posture
- microscope carrier
- pose information
- conveyance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2893—Handling, conveying or loading, e.g. belts, boats, vacuum fingers
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- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Image Processing (AREA)
Abstract
Provided is an electronic component transport apparatus which, without imposing a burden for orientation adjustment for a platform of a processing unit, allows mounting electronic components in orientations matching the platform. An electronic component transport apparatus (1) pre-stores orientation information indicating placement orientations for socket parts (41). An image capture unit (71), which captures an electronic component, and an XY[theta] platform (72), which corrects orientation of the electronic component, are placed upon a transport path (11), the electronic component is captured with the image capture unit (71), and at the XY[theta] platform (72), the orientation of the electronic component is corrected on the basis of the image capture result so as to match the placement orientation for the socket part (41) indicated by the orientation information.
Description
Technical field
The present invention relates to a kind of electronic component carrying device, this electronic component carrying device forms transport path to transport electronic component, and processes electronic component in conveyance way.
Background technology
Simultaneously electronic component carrying device arranges the multiple electronic component of conveyance along transport path, and process each electronic component in transport path.The process of electronic component is electrical characteristic inspection, laser marking (lasermarking) etc., in transport path, is configured with the various processing units such as electric test (test) unit (unit) and laser marking unit.Electronic component transports to these processing units by electronic component carrying device, and is placed in by electronic component on the microscope carrier (stage) of processing unit.In processing unit side, implement specific process to by the electronic component be placed on microscope carrier.
The microscope carrier of electric test unit is such as socket (socket).In socket, be configured with the terminal with the electrode contact of electronic component.In order to obtain the few good electrical characteristics test result of error, key is, the electrode of electronic component and the terminal of socket are with suitable contact area and do not cause loose contact etc.In the microscope carrier of laser marking unit, must by the appropriate position of laser alignment electronic component.
Therefore, in processing unit, importantly electronic component and microscope carrier keep appropriate posture and load.But, for electronic component, engrave when the supply supplied towards transport path sometimes and produce handing-over error (miss), thus fail to be transported with appropriate posture.And electronic component will repeatedly move and stop in transport path, and will repeatedly carry out the handing-over with various processing unit, is therefore easily subject to the external force such as inertia force or collision, produces posture sometimes depart from because of this external force.
Therefore, be leaning on conveyance direction upstream side configuration modifications unit than processing unit, this amending unit is made a video recording to electronic component in the past, and corrects the posture (such as with reference to patent documentation 1) of electronic component based on image pickup result.This amending unit is made a video recording to electronic component, and departs from according to the posture that view data carrys out analytical electron part.Further, amending unit has the device that XY θ microscope carrier etc. is corrected the posture of electronic component, makes these devices towards moving in two dimensional directions or changes direction, departing to eliminate posture.
Prior art document
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 2012-116529 publication
Summary of the invention
[inventing problem to be solved]
In electronic component carrying device, what can occur that posture departs from is not limited to electronic component.The configuration posture of processing unit also likely produces from appropriate posture and departs from.This is because processing unit can produce design error, the foozle of part, the rigging error of part, the assembly error etc. when assembling in device.
When the configuration posture of processing unit and appropriate posture there are differences, in any case electronic component is modified to appropriate posture, all the microscope carrier of electronic component and processing unit cannot be remained appropriate posture.Therefore, in the assembling work of electronic component carrying device, in order to realize the appropriate posture of the microscope carrier of processing unit, operator will adjust assembling position and the direction of processing unit.The careful property of this adjustment job requirements, therefore can cause huge labour's burden, become the cost reason of electronic component carrying device.
And, in electronic component carrying device, sometimes also to transport the electronic component of small lot (lot) multi items.That is, sometimes also to change with kind and change the kind of processing unit continually.If this replacing needs long-time, then the conveyance because changing the electronic component that operation causes stops extending, and correspondingly becomes the reason that production efficiency declines.
If neglected careful property in this adjustment operation or when changing operation, then processing unit can be caused to process the when the poorest.Such as, the sensing member in socket cannot touch electronic component rightly, thus causes mensuration bad.
And then, in transport path, configure inspection operation of the same race continuously sometimes.Such as, the socket of the multiple electric test unit of continuous arrangement, is placed in electronic component after in all sockets, carries out the inspection of electrical characteristic once.Now, there are the microscope carriers such as the socket by implementing inspection operation of the same race to be configured at the form in transport path separately or the microscope carriers such as socket are pre-configured in shared plate (plate) and go up and form plate is configured in transport path.
In the form that this common plate is set, though the stance adjustment of plate can be carried out, be difficult to the stance adjustment of each microscope carrier carried out on plate.Therefore, because microscope carrier is relative to the assembly error of plate, and cannot be appropriate posture by all microscope carrier unifications.So, do not carry out the leeway adjusting operation, thus produce the anxiety cannot carrying out processing in several microscope carriers.
The present invention proposes in order to the problem solving prior art as above, its object is to provide a kind of electronic component carrying device, this electronic component carrying device can not be increased one's load to the stance adjustment of the microscope carrier for processing unit, and can load electronic component with the posture consistent with microscope carrier.
[technological means of dealing with problems]
Electronic component carrying device of the present invention transports electronic component along transport path, and in described transport path, electronic component is processed, described electronic component carrying device comprises: conveyance member, keeps the conveyance posture of electronic component and makes it move along described transport path; Microscope carrier, is configured in described transport path, loads described electronic component to carry out described process; Memory unit, stores the pose information arranging posture representing described microscope carrier; Shooting part, is configured at and leans on transport path upstream side than described microscope carrier, make a video recording to the electronic component in described transport path; And posture correcting part, be configured in the described transport path between described microscope carrier and described shooting part, based on the image pickup result of described shooting part, make predetermined be placed in electronic component on described microscope carrier and the described microscope carrier represented by described pose information to arrange posture consistent.
Also can be, described conveyance member is before carrying out the conveyance for the process of electronic component, the illusory body making posture consistent with described microscope carrier in advance moves to described shooting part, described shooting part is before carrying out the conveyance for the process of electronic component, in advance described illusory body is made a video recording, the posture of the described illusory body of gained of being made a video recording by described shooting part is stored as described pose information by described memory unit, described posture correcting part is by as one man changing the posture of described electronic component with the posture of described illusory body, thus make electronic component consistent with the posture of described microscope carrier.
Also can be, described conveyance member, before the conveyance carrying out electronic component, makes described illusory body move to described microscope carrier, and described illusory body is to change its posture with reference to the posture of described microscope carrier.
Also can comprise: fixture, before the conveyance carrying out electronic component, be arranged at described microscope carrier, the illusory body being placed in described microscope carrier is guided, in the process of mounting, as one man make the postural change of described illusory body with described microscope carrier.
Described fixture also can be the mortar body of the taper inserted for the described illusory body declined towards described microscope carrier.
Also can be, before carrying out the conveyance for the process of electronic component, replace described illusory body and make that electronic component is consistent with the posture of described microscope carrier makes a video recording, and the posture of the electronic component of shooting gained is stored as described pose information.
Also can also comprise: the 2nd shooting part, when making described pose information be stored in described memory unit, be installed on directly over described microscope carrier, make a video recording to described microscope carrier, the posture of the described microscope carrier of gained of being made a video recording by described 2nd shooting part is stored as described pose information by described memory unit.
Also can be, multiple contents processing is provided to be described microscope carrier of the same race continuously along described transport path, after described conveyance member transports electronic component one to one on all described microscope carrier arranged continuously, the electronic component of correspondence is placed in each microscope carrier, described memory unit stores the described pose information of each described microscope carrier, described posture correcting part, based on the described pose information of the predetermined described microscope carrier of mounting electronic component, makes the posture of the electronic component of mounting consistent with described microscope carrier.
Also can be, described conveyance member is while stop at each stop position set in transport path, intermittently transport electronic component on one side, be in the scope that configures continuously of microscope carrier of the same race at described contents processing, the stop position being same quantity with described microscope carrier is continuous print, or comprises the stop position of the electronic component not configuring described microscope carrier.
Also can comprise: analysis component, the view data exported according to described shooting part carrys out the posture of analytical electron part, described posture correcting part only with the difference arranging the posture of posture and described electronic component of the described microscope carrier represented by described pose information, changes the posture of described electronic component.
Also can comprise: analysis component, the view data exported according to described shooting part carrys out the posture of analytical electron part, described posture correcting part is only with the difference arranging the posture of posture and described electronic component of the described microscope carrier represented by described pose information, change the posture of described electronic component, described analysis component analyzes the posture of described illusory body according to the view data that described shooting part exports, and is stored in described storage part as described pose information.
[effect of invention]
According to the present invention, owing to being the posture that the configuration posture of the microscope carrier had with processing unit as one man revises electronic component, therefore tight stance adjustment need not be carried out to processing unit, thus alleviate labour's burden, reduce costs, enhance productivity, and the reliability of the process of electronic component is improved.
Accompanying drawing explanation
Fig. 1 is the stereogram of the electronic component carrying device of present embodiment.
Fig. 2 is the plane graph of the electronic component carrying device of present embodiment.
Fig. 3 is the side view of the electronic component carrying device of present embodiment.
Fig. 4 is the schematic diagram of the substrate mounting situation of the electric test unit representing present embodiment.
Fig. 5 is the block diagram of the structure of the control part of the posture amending unit representing present embodiment.
Fig. 6 is the schematic diagram of imitation (copy) operation of the configuration posture representing the receptacle portion of being undertaken by illusory body.
Fig. 7 is the schematic diagram of the analysis of the configuration posture representing illusory body.
Fig. 8 is the schematic diagram of the storage form of the pose information representing each receptacle portion.
Fig. 9 is the schematic diagram of the posture analysis representing the 1st electronic component.
Figure 10 is the schematic diagram of the calculating form representing the configuration posture of receptacle portion of the inside and the difference of the posture of the 1st electronic component.
Figure 11 is the schematic diagram of the posture correction representing 1st electronic component consistent with the configuration posture of the receptacle portion of the inside.
Figure 12 represents the schematic diagram from the inside toward the calculating form of the configuration posture of receptacle portion of 1, front and the difference of the posture of the 2nd electronic component.
Figure 13 represents the schematic diagram being carried out Simultaneously test 4 electronic components by 4 receptacle portion.
Figure 14 is the schematic diagram arranging the variation of form representing receptacle portion.
Embodiment
(electronic component carrying device)
Below, the execution mode of electronic component carrying device of the present invention is described in detail with reference to accompanying drawing.Fig. 1 is the stereogram of the electronic component carrying device of present embodiment.Fig. 2 is the plane graph of the electronic component carrying device of present embodiment.Fig. 3 is the side view of the electronic component carrying device of present embodiment.
As shown in Figures 1 to 3, electronic component carrying device 1 arranges the transport path 11 of electronic component on stand 14, arranges the multiple electronic component of conveyance simultaneously, and process each electronic component in transport path 11 along transport path 11.Stand 14 is the platform of cuboid, contains control appliance, power supply, cable (cable) class, compressor (compressor) or the air hose such as computer (computer) or controller (controller) in inside.
Electronic component is used to the part of electric product.As electronic component, the resistance or capacitor (condenser) etc. beyond semiconductor element and semiconductor element can be enumerated.As semiconductor element, transistor (transistor), diode (diode), light-emitting diode (LightEmittingDiode can be enumerated, and discrete semiconductor, the integrated circuit (IntegratedCircuit such as thyristor (thyristor) LED), or the integrated circuit etc. such as large scale integrated circuit (LargeScaleIntegratedcircuit, LSI) IC).
Transport path 11 formed by the conveyance platform (table) 12 on stand 14.In the periphery of conveyance platform 12, suction nozzle 13 is installed.Suction nozzle 13 is the holding members keeping electronic component and electronic component is departed from.The rotational trajectory of suction nozzle 13 is transport path 11.And, form conveyance member by conveyance platform 12 with suction nozzle 13.
Conveyance platform 12 has the shape of the disk that radially launches centered by any or star etc.This conveyance platform 12 intermittently successively rotates predetermined angular in the circumferential direction.The power source of conveyance platform 12 is for directly to drive motor (directdrivemotor) 15.Conveyance platform 12 is arranged on stand 14 via directly driving motor 15.
Multiple suction nozzle 13, in the horizontal plate periphery of conveyance platform 12, is arranged on the coordinations such as circumference and puts and with the center of horizontal plate at a distance of same distance place.When conveyance platform 12 is star, be then arranged on the front end of arm (arm).The inside of suction nozzle 13 is hollow and one end open, and openend is arranged on horizontal plate facing downward.The pneumatics circuit communication of the inside of suction nozzle 13 and the negative pressure generating device such as vacuum pump (pump) or injector (ejector).By making pneumatics loop produce negative pressure, thus suction nozzle 13 utilizes openend to carry out attract electrons part, and by vacuum breaking or air release, electronic component is departed from.
Directly drive motor 15 with spacing (pitch) one by one the mode of intermittent rotary be controlled.This spacing is adjusted to equal with the configuration space of suction nozzle 13.That is, suction nozzle 13 follows common motion track with the intermittent rotary of conveyance platform 12, and stops in common rest position.By at this stop position set handling unit, thus the process such as inspection for electronic component can be carried out.
Be provided with each stop position of processing unit, directly over conveyance platform 12, be fixed with advance and retreat drive unit 8.Advance and retreat drive unit 8 is devices that suction nozzle 13 is declined towards the microscope carrier of processing unit.Such as, suction nozzle 13 via have along the vertical direction axis tubular bearing and be arranged at conveyance platform 12 thus liftable, and to be exerted a force upward all the time by Compress Spring.And advance and retreat drive unit 8 possesses: the bar (rod) that the head towards suction nozzle 13 extends, the turning motor this bar being given to the thrust of axis direction and cam (cam) mechanism.
Advance and retreat drive unit 8 produces thrust by turning motor, and converts this thrust the linear thrust of the axis along suction nozzle 13 to by cam mechanism and bar, by bar to overcome the mode of the applying power of Compress Spring to be pressed into suction nozzle 13.The electronic component that suction nozzle 13 keeps is placed in the microscope carrier of processing unit, to accept the process corresponding to this processing unit by the decline of suction nozzle 13.When bar release suction nozzle 13 time, suction nozzle 13 keeps electronic component, and by Compress Spring applying power and rise on home position.
As processing unit, at the initiating terminal of the transport path 11 of electronic component carrying device 1, possesses the feed unit 2 electronic component being supplied to transport path 11.At the end of transport path 11, possesses the accepting unit 3 of collecting electronic component.In transport path 11 between feed unit 2 and accepting unit 3, be disposed with posture amending unit 7, electric test unit 4, visual examination unit 5, taxon 6, other various processing units.Electronic component carrying device 1 utilizes conveyance platform 12 to be transported successively by the electronic component supplied from feed unit 2 and manages unit everywhither, manage throughout directly over unit, utilize advance and retreat drive unit 8 to be elevated to make suction nozzle 13, thus join electronic component between processing unit.
Visual examination unit 5 checks the outward appearance of electronic component by photography and image procossing, to check (check) electronic component whether no marking, dirty or damaged.Taxon 6 is according to the check result of electrical characteristic and outward appearance, and collecting is unworthy accommodating the electronic component to accepting unit 3.
Electric test unit 4 pairs of electronic components carry out voltage applying or pulse current injectingt, to check electrical characteristic.Electrical characteristic be with to electronic component Injection Current or apply the voltage of the corresponding electronic component of voltage, electric current, resistance or the output signal etc. corresponding with frequency, logic (logic) signal.This electric test unit 4 is the multiple microscope carrier of configuration continuously.Microscope carrier is such as receptacle portion 41, and electric test unit 4 is configured with receptacle portion 41 continuously.This electric test unit 4 checks multiple electronic component simultaneously.
Each receptacle portion 41 is equipped with terminal in inside, is equipped on by longitudinal on independently each substrate 42 of electric test unit 4 upper surface, and makes opening upward.Each substrate 42 comprises driver (driver) circuit, receives electric power and control signal from cell body 4a, generates electric current, voltage or logical signal and inputs to the terminal of receptacle portion 41, and test result is sent back to cell body 4a.Cell body 4a analytical test result to carry out the good no judgement of electronic component, and informs the control appliance of stand 14 inside.
In this electronic component carrying device 1, continue the intermittent rotary carrying out transporting platform 12, till the electronic component not carrying out electrical characteristic inspection is positioned in all receptacle portion 41.And, after all receptacle portion 41 gather the electronic component not carrying out electrical characteristic inspection, by each advance and retreat drive unit 8, each suction nozzle 13 is declined, so that each electronic component is delivered to each receptacle portion 41, in each receptacle portion 41, carry out the electrical characteristic inspection of each electronic component simultaneously.That is, in this electronic component carrying device 1, every the intermittent rotary number of times suitable with the quantity of receptacle portion 41,1 electrical characteristic inspection is implemented.
Each stop position of each receptacle portion 41 corresponding suction nozzle 13 one to one, and be configured at immediately below it.The configuration space of each receptacle portion 41 is equal with the configuration space of suction nozzle 13.And the arrangement of receptacle portion 41 bends along transport path 11.And then each receptacle portion 41 is towards the center of conveyance platform 12.
In other words, each substrate 42 is assembled in the following manner by operator, that is, so that relative to transport path 11, orthogonal mode is arranged in fan shape, its configuration space is equal with the configuration space of suction nozzle 13, and allocation position is in immediately below each stop position of suction nozzle 13.But, as shown in Figure 4, due to the foozle of the design error of substrate 42, part, rigging error, assemble on stand 14 time the assembly error of operator, the configuration posture of receptacle portion 41 likely produces and departs from relative to the intrinsic of appropriate posture.So-called posture is finger direction, position or comprise both concept.
Therefore, posture amending unit 7 is arranged on than electric test unit 4 by conveyance direction leading portion side, to depart from revise each receptacle portion 41 with the posture of the predetermined electronic component be placed in this receptacle portion 41.Be that independently in situation, the departure degree of the configuration posture of each receptacle portion 41 is likely different at substrate 42.
This posture amending unit 7 have detected the configuration posture of each receptacle portion 41 in advance, changes the posture of the electronic component of predetermined mounting in the mode of imitating this configuration posture.Electronic component departs from along with conveyance also likely produces posture.Therefore, the posture of posture amending unit 7 also detected electrons part self, calculates the difference of the configuration posture of receptacle portion 41 and the posture of electronic component, and the posture changing electronic component is to eliminate this difference.
This posture amending unit 7 possesses: catch the image pickup part 71 of the posture of illusory body and electronic component, change the control part 73 of the XY θ microscope carrier 72 of the posture of electronic component and control image pickup part 71 and XY θ microscope carrier 72.Illusory body is the emulation body of electronic component, adopts the posture of having imitated the configuration posture of each receptacle portion 41 in advance.
Image pickup part 71 is configured in than the rest position of electric test unit 4 by conveyance direction upstream.So-called conveyance direction upstream, refers to feed unit 2 side.This image pickup part 71 is made a video recording to illusory body and electronic component, and the view data of shooting gained is inputed to control part 73.This image pickup part 71 is such as comprise complementary metal oxide semiconductors (CMOS) (ComplementaryMetal-Oxide-Semiconductor, or charge coupled cell (ChargeCoupledDevice CMOS), the camera (camera) of imaging apparatus and lens (lens) such as CCD), immediately below the stop position being positioned at suction nozzle 13, and make optical axis towards directly over.
XY θ microscope carrier 72 is configured at the conveyance direction dead astern of image pickup part 71 in the rest position of suction nozzle 13.XY θ microscope carrier 72 possesses the motor of microscope carrier and three axles.Microscope carrier is such as chuck (collet), has the plane orthogonal with the axle of suction nozzle 13, to load the electronic component that suction nozzle 13 has departed from.The motor of three axles makes microscope carrier carry out according to the correction data inputted from control part 73, and X-direction moves, Y-direction moves and θ rotates.
That is, in XY θ microscope carrier 72, the motor of three axles is connected with microscope carrier via the ball-screw (ballscrew) of diaxon and the rotor (rotor) of an axle.X-direction refers to be provided with the tangential direction of the transport path 11 that the stopping position of XY θ microscope carrier 72 is point of contact, Y-direction refers to the normal direction of the transport path 11 at the stopping position by being provided with XY θ microscope carrier 72, and θ rotates the rotation of the normal axis referred to around XY plane.
Control part 73 is so-called computers, possesses central processing unit (CentralProcessingUnit, CPU), read-only memory (Read-OnlyMemory, ROM), the controller of random access memory (Random-AccessMemory, RAM) and image pickup part 71 and XY θ microscope carrier 72.As long as control part 73 application is housed in the computer of stand 14 inside.That is, this control part 73 controls electronic component carrying device 1 entirety, and controls the posture correction of electronic component.Overall control also comprises the mobile process of suction nozzle 13, and the mobile process of this suction nozzle 13 is for implementing 1 electrical characteristic inspection every the intermittent rotary number of times suitable with the quantity of receptacle portion 41.In addition, also can possess special-purpose computer in posture amending unit 7, using the control part 73 of this computer as posture correction.
As shown in Figure 5, control part 73 possesses graphical analysis portion 731, storage part 732, data selecting section 733, correction calculating part 734 and microscope carrier control part 735.The posture of illusory body and electronic component detects according to the view data inputted from image pickup part 71 in graphical analysis portion 731.The configuration posture of each receptacle portion 41 obtained from illusory body is stored as pose information by storage part 732.Data selecting section 733 selects pose information from storage part 732, and this pose information is relevant to the receptacle portion 41 making a reservation for load the electronic component becoming posture correction object.The correction that the posture that correction calculating part 734 calculates the configuration posture of receptacle portion 41 and electronic component is coincide.Microscope carrier control part 735 makes the microscope carrier being placed with electronic component move and rotate according to correction.
The action of this kind of electronic component carrying device 1 is described.The action of electronic component carrying device 1 is roughly divided into set model and part transports pattern.In set model, store the pose information of each receptacle portion 41.In set model, make with the magnitude setting of receptacle portion 41 accordingly continuous print suction nozzle 13 adsorb illusory body respectively.If be set up in parallel 4 receptacle portion 41, then 4 suction nozzles 13 are made to adsorb 4 illusory bodies.
Transport platform 12 and make to maintain the suction nozzle 13 of illusory body relative to each receptacle portion 41 one to one in opposite directions.Now, conveyance platform 12 also not can carry out intermittent rotary, but till making that suction nozzle 13 is disposable and moving to receptacle portion 41.
Next, the advance and retreat drive unit 8 be positioned at directly over each receptacle portion 41 makes the suction nozzle 13 of the illusory body of maintenance decline.When illusory body move to receptacle portion 41 nearby time, operator makes the posture of each illusory body consistent with relative receptacle portion 41 one to one.The operation of operator both can adopt manual working, also can utilize fixture.Between the operational period of operator, suction nozzle 13 maintains and attracts and continue to keep illusory body.By this operation, under the state kept by suction nozzle 13, corresponding illusory body can imitate the posture of each receptacle portion 41.
When making posture consistent by manual working, as shown in Figure 6, the direction of contrast receptacle portion 41 and illusory body D and position, while make the illusory body D attracted by suction nozzle 13 move with consistent with receptacle portion 41 for operator.Fixture is such as the mortar body with taper (taper) face narrowed the end of towards.The space surrounded by taper surface has trapezoidal shape, and the shape of bottom side and area and receptacle portion 41 are coincide.When making posture consistent, after making fixture cover receptacle portion 41, by advance and retreat drive unit 8, the suction nozzle 13 maintaining illusory body is declined.In decline process, the taper surface that illusory body is subject to fixture guides, along with decline by the posture of correcting as receptacle portion 41.
Making after the posture of illusory body and receptacle portion 41 coincide, advance and retreat drive unit 8 makes suction nozzle 13 rise.After suction nozzle 13 rises, conveyance platform 13 makes illusory body be positioned at directly over image pickup part 71.For the driving opportunity (timing) of advance and retreat drive unit 8 and conveyance platform 13, as long as be input as opportunity with the touch-screen possessed electronic component carrying device 1 (touchpanel) 9 input interface such as grade (interface).
Image pickup part 71 is made a video recording to each illusory body successively, and each view data of each illusory body is inputed to control part 73.The posture of each illusory body detects according to each view data in graphical analysis portion 731.In other words, the configuration posture of the receptacle portion 41 of being imitated by illusory body is detected.
Any on image shown in view data is prestored initial point information as initial point by this graphical analysis portion 731, using the benchmark as regulation.The center of gravity G of illusory body D as shown in Figure 7, detects in graphical analysis portion 731 according to view data Pd, calculate from position vector (vector) Vld initial point O to center of gravity G.And the specific of illusory body D is detected in graphical analysis portion 731, to detect the direction vector Vdd that this one side extends.Position vector Vld represents the position in the configuration posture of receptacle portion 41.Direction vector Vdd represents the direction in the configuration posture of receptacle portion 41.
Storage part 732 as shown in Figure 8, stores the pose information of the receptacle portion 41 of being imitated by each illusory body explicitly with position (position) identifying information.That is, position identification information is associated with the paired position vector calculated for 1 receptacle portion 41 and direction vector is stored.Position identification information is the information identifying receptacle portion 41.Such as, position identification information is the continuous only natural number of receptacle portion 41 quantity from first, as long as the receptacle portion 41 of conveyance direction most downstream is set to minimum numbering, the previous of this receptacle portion 41 is set to the second, and it is previously again set to the 3rd.
By above operation, in set model, utilize illusory body to imitate the configuration posture of each receptacle portion 41, read the configuration posture of each receptacle portion 41 from illusory body and be stored as pose information.Then, electronic component carrying device 1 changes part conveyance pattern into.
In part conveyance pattern, conveyance platform 12 intermittent rotary, makes suction nozzle 13 stop at feed unit 2 successively.Suction nozzle 13 accepts electronic component from feed unit 2, and moves in transport path 11 with the intermittent rotary of conveyance platform 12.The suction nozzle 13 of electronic component is kept approximately to stop at directly over image pickup part 71.Image pickup part 71 is made a video recording to the electronic component directly over stopping at successively, and view data is inputed to control part 73.
Conveyance platform 12 makes the electronic component of making a video recording through image pickup part 71 move to successively directly over XY θ microscope carrier 72.Suction nozzle 13 immediately below the advance and retreat drive unit 8 be positioned at directly over XY θ microscope carrier 72 makes declines towards XY θ microscope carrier 72.This suction nozzle 13 is destroyed by vacuum breaking or air and electronic component is placed in XY θ microscope carrier 72.The XY θ microscope carrier 72 being placed with electronic component carries out under the control of control part 73 that X-direction moves, Y-direction moves and θ axle rotates, and the receptacle portion 41 making the posture of electronic component and mounting predetermined is coincide.
As shown in Figure 9, be set to and be configured with 4 receptacle portion 41a ~ 41d continuously.From the 1st electronic component W1 the predetermined receptacle portion 41a being placed in the inside after image pickup part 71 is made a video recording till being placed in XY θ microscope carrier 72 during, control part 73 determines the correction of the 1st electronic component W1.That is, when input from image pickup part 71 carry out making a video recording the view data Pd of gained to the 1st electronic component W1 time, the posture of the 1st electronic component W1 detects according to this view data Pd in graphical analysis portion 731.Specifically, as shown in Figure 9, detect the center of gravity G of the 1st electronic component W1, calculate from the position vector Vlw initial point O to center of gravity G.And the specific direction vector Vdw that extend of graphical analysis portion 731 to the 1st electronic component W1 detects.
When the posture of acquisition the 1st electronic component W1, as shown in Figure 10, data selecting section 733 selects the pose information that is associated with first position identification information of the receptacle portion 41 representing the inside from storage part 732.Correction calculating part 734 according to the posture of the 1st electronic component W1 and with the 1st pose information that position identification information is associated, calculate the correction of the 1st electronic component W1.
That is, as shown in Figure 10, the position vector Vlw of the 1st electronic component W1 is deducted from the position vector Vld of first pose information.The scalar (scalar) of the X-direction of the result that this is subtracted each other and vectorial Vr as the correction X1 of X-direction, using the correction Y1 of the scalar of Y-direction as Y-direction.And, obtain the inner product of the direction vector Vdd of first pose information and the direction vector Vdw of the 1st electronic component W1, then divided by the result of the scalar multiplication by two direction vectors, calculate the anticosine of the result that this is divided by.Using the correction θ 1 that the result of calculation of this anticosine rotates as θ axle.
As shown in figure 11, when being placed on XY θ microscope carrier 72 by the 1st electronic component W1, microscope carrier control part 735 exports control signal to XY θ microscope carrier 72.Control signal the correction X1 of pixel basis (pixelbase), Y1, θ 1 is converted to the pulse (pulse) specified the drive volume of motor and the pulse signal obtained, and export each axle motor to.According to this control signal, XY θ microscope carrier 72 proportionally moves towards X-direction with the correction X1 of X-direction, proportionally moves towards Y-direction with the correction Y1 of Y-direction, and the correction θ 1 only rotated with θ axle carries out the rotation of θ axle.
Similarly, as shown in figure 12, from predetermined be placed in from the inside toward the 2nd electronic component W2 on the receptacle portion 41b of the 1st, front after image pickup part 71 shooting until toward during till being placed on XY θ microscope carrier 72, control part 73 determines correction X2, Y2, θ 2 of the 2nd electronic component.Wherein, data selecting section 733 selects the pose information that is associated with second position identification information.
Similarly, from predetermined be placed in from the inside toward the 2nd, front and in front of receptacle portion 41 on the 3rd electronic component and the 4th electronic component after image pickup part 71 shooting until toward during till being placed on XY θ microscope carrier 72, control part 73 determines the correction of the 3rd electronic component and the 4th electronic component.Wherein, for the 3rd electronic component, utilize and the 3rd pose information that position identification information is associated, for the 4th electronic component, utilize and the 4th pose information that position identification information is associated.For the 5th and electronic component arranged thereafter, be again set to the 1st electronic component, the 2nd electronic component ..., and use first position identification information, second position identification information successively accordingly ....
Further, as shown in (a) of Figure 13,4 electronic component W1 ~ W4 that the configuration posture of the receptacle portion 41 with predetermined mounting is coincide by conveyance platform 12 transport to directly over the receptacle portion 41a ~ 41d of each predetermined mounting.Advance and retreat drive unit 8, when all electronic component W1 ~ W4 gather directly over receptacle portion 41a ~ 41d, as shown in (b) of Figure 13, makes suction nozzle 13 decline, is placed on each receptacle portion 41a ~ 41d by each electronic component W1 ~ W4.In this mounting stage, even if the configuration posture of each receptacle portion 41a ~ 41d and appropriate posture exist the difference in respective degree, but corrected in consistent manner because the posture of each electronic component W1 ~ W4 has departed from it, therefore realized the mounting that precision is good.
When the electrical characteristic inspection of 4 electronic component W1 ~ W4 starts simultaneously, due to each electronic component W1 ~ W4 electrode precision well with termination contact, therefore this electrical characteristic check precision high.At the end of electrical characteristic checks, each electronic component W1 ~ W4 is successively through visual examination unit 5 and taxon 6, if be unworthy, collecting is to accepting unit 3, then accommodated in taxon 6.Remaining electronic component and then arrival accepting unit 3, and by collecting in accepting unit 3.
As mentioned above, this electronic component carrying device 1 is previously stored with the pose information arranging posture representing receptacle portion 41.Further, the electronic component in transport path 11 is made a video recording, and revises the posture of electronic component based on image pickup result, so as with the receptacle portion 41 represented by pose information to arrange posture consistent.
Thus, though receptacle portion 41 to arrange posture different from from appropriate posture assembly error etc., do not need the adjustment operation of correcting that departs to this receptacle portion 41 yet, just precision well electronic component can be placed in receptacle portion 41.Thus, in electrical characteristic checks, very easily can make the terminal of receptacle portion 41 and the electrode contact of electronic component, suppress the generation of loose contact etc., thus the electrical characteristic inspection of reliability can be realized.
And, the risk (risk) that the edge of receptacle portion 41 and electronic component collide can also be reduced.Therefore, it is possible to suppress electronic component because of receptacle portion 41 edge produce cut, or electronic component because of the collision with receptacle portion 41 edge from the anxiety of transport path 11 disengagings, raising electronic component yield.
Receptacle portion 41 is the examples loading the microscope carrier of described electronic component in order to process electronic component.In this electronic component carrying device 1, the pose information that posture is set representing all microscope carriers can be prestored, and come as one man to revise electronic component with the posture that arranges of microscope carrier based on this pose information.
As other examples of microscope carrier, the microscope carrier etc. of the microscope carrier can enumerating visual examination unit 5 or laser marking unit electronic component being carried out to laser marking.As long as arranging image pickup part 71 and XY θ microscope carrier 72 than the stop position being provided with visual examination unit 5 by conveyance direction upstream side, and, than the stop position being provided with laser marking unit, image pickup part 71 and XY θ microscope carrier 72 are being set by conveyance direction upstream side, and are using illusory body to implement set model.
As the storage means of pose information, in set model before electronic component conveyance, utilize the conveyance member comprising conveyance platform 12 and suction nozzle 13, the illusory body making posture consistent with receptacle portion 41 moves to image pickup part 71, utilize image pickup part 71 to make a video recording to illusory body, and the posture of the illusory body of gained of making a video recording through image pickup part 71 is stored as pose information.That is, posture amending unit 7 as one man changes the posture of electronic component by the posture with illusory body, thus makes electronic component consistent with the configuration posture of receptacle portion 41.
Like this, illusory body need only be utilized to imitate the configuration posture of receptacle portion 41, and this illusory body is photographed, the measuring instrument such as gauge (gauge) therefore need not be used to measure the configuration posture of receptacle portion 41, thus the electrical characteristic inspection of high reliability can be realized very simply.And, for the inspection beyond electrical characteristic inspection, also reliability can be improved equally simply.
But, as the storage means storing pose information in storage part 732, be not limited to this, the measuring instrument such as gauge also can be used to measure the configuration posture of receptacle portion 41, and use input interface such as touch-screen 9 grade to input this measurement result.And, in set model, also can replace the use to the illusory body that electronic component emulates, and be used in the electronic component transported in part conveyance pattern.The electronic component used in this set model also can transport in follow-up part conveyance pattern.
And, in this electronic component carrying device 1, possess multiple receptacle portion 41 continuously along transport path 11, after transporting electronic component one to one towards all receptacle portion 41 arranged continuously, the electronic component of correspondence is placed in each receptacle portion 41 to carry out electrical characteristic inspection.That is, in this electronic component carrying device 1,1 electrical characteristic inspection is implemented every the intermittent rotary number of times suitable with the quantity of receptacle portion 41.Further, storage part 732 stores the pose information of each receptacle portion 41, and posture amending unit 7, based on the pose information of the predetermined receptacle portion 41 of mounting electronic component, makes the posture of the electronic component of mounting consistent with this receptacle portion 41.
Thus, be configured with the microscope carrier carrying out same treatment continuously, thus when performing process once, also can save the configuration stance adjustment of each microscope carrier is time of appropriate posture, thus can shorten the adjustment operation of electronic component carrying device 1 tremendously.
The microscope carrier carrying out same treatment can without the mode of vacant stop position, and the interval of stop position as one man configures, if be not situated between every the microscope carrier carrying out other process, then also can there is vacant stop position.That is, in the scope that the microscope carrier carrying out same treatment arranges, also can rest position configure microscope carrier continuously being same quantity with microscope carrier, or comprise the stop position of the electronic component not configuring microscope carrier.Such as, 3 microscope carriers of the same race can be configured at continuous print 3 place stop position, also 3 microscope carriers can be configured at any place in continuous print 4 place stop position.
In addition, if the microscope carrier carrying out same treatment is individualism, then because pose information is one, therefore need not be associated with position identification information, thus data selecting section 733 can be removed.
And in present embodiment, the view data exported according to the shooting of image pickup part 71 analyzes the posture of illusory body or electronic component, the difference arranging the posture of posture and electronic component calculating the receptacle portion 41 represented by pose information is using as correction.But be not limited to this, for making arranging the consistent calculation process of posture and can using various known method of the posture of electronic component and receptacle portion 41.
Such as, when detecting the position vector of posture or direction vector that represent electronic component according to image, also as one man can change the coordinate system of this image in advance with pose information.That is, correspondingly make the initial point on image move with the position vector of illusory body, and correspondingly make orthogonal coordinate system rotate with direction vector.Now, if calculate the posture of electronic component, then this calculates result directly becomes correction, thus can simplified operation process.
(variation 1)
In advance and retreat drive unit 8, the bar that the head towards suction nozzle 13 extends can adopt the coil tube (coilbobbin) making voice coil motor (voicecoilmotor) to extend the person of forming.Under the non-generation state of the thrust of voice coil motor, bar is pushed by the reaction force be subject to from suction nozzle 13 and is retracted into voice coil motor inside.On the other hand, when voice coil motor produces the thrust larger than the antagonism thrust of opposing reaction force, bar is pressed into suction nozzle 13.Voice coil motor produce by the pressing force making electronic component be pressed into receptacle portion 41 with resist the total thrust be added from the deboost of the reaction force of suction nozzle 13.
Thus, after illusory body is inserted into receptacle portion 41, if suction nozzle 13 falls for entering a subordinate, then bar can sink to voice coil motor.Control part 73 detects sinking to of this bar, measures driving the total anglec of rotation till detection opportunity the turning motor from advance and retreat drive unit 8.Measurement value is reproduced in suction nozzle 13 with the control of the relative movement of receptacle portion 41.
Like this, as long as arrange the transducer detected to the contact of receptacle portion 41 the illusory body being held in suction nozzle 13, just can measure in advance severally suction nozzle 13 to each receptacle portion 41 close to amount.According to the assembly precision etc. of substrate 42, the height of each receptacle portion 41 sometimes also can produce and depart from.But, as long as the prior measurement result of feedback (feedback) illusory body also uses in part conveyance pattern, just can keep the contact of appropriate electrode in electrical characteristics test and terminal, nor superfluous load can be caused to electronic component.
(variation 2)
As the collocation method of each receptacle portion 41 of electric test unit 4, also the substrate 42 with this receptacle portion 41 can not be assembled severally, but as shown in figure 14, the plate shared being fixed with each substrate 42 is directly mounted to stand 14, or is indirectly mounted to stand 14 via support frame (frame) etc.Onboard, substrate 42 is arranged with in fan shape, its radius of curvature is equal with transport path 11, each substrate 42 is directed through the center of the circle of arranging line (line), the configuration space of each substrate 42 is equal with the configuration space of suction nozzle 13, and the allocation position of each substrate 42 is in immediately below each stop position of suction nozzle 13.
According to this plate, the anxiety that the configuration posture of each substrate 42 irregularly departs from reduces.But, the design error of substrate 42, the foozle of part, substrate still may produce toward the assembly error etc. on stand 14 during assembled plate relative to the assembly error of plate, operator, therefore following method is effectively adopted: the configuration posture of being imitated each receptacle portion 41 by illusory body, the configuration posture of each receptacle portion 41 is stored based on this illusory body, and with the posture of the mode correction electronic component consistent with the configuration posture of each receptacle portion 41.
(variation 3)
As the storage means storing pose information in storage part 732, be referred to measuring instrument such as using gauge to measure the configuration posture of receptacle portion 41, and use input interface such as touch-screen 9 grade to input the method for this measurement result, but measuring instrument comprises camera certainly, also comprise the mensuration measuring the configuration posture of carrying out by image.
When utilizing this image to measure, when the set model making pose information be stored in storage part 732, camera is temporarily arranged at stand 14 in the mode be in directly over receptacle portion 41.Camera is dismountable shooting part, and uses as fixture.Stand 14 and camera are that installation relation obtains precision guarantee and has reproducibility person.This camera to immediately below receptacle portion 41 make a video recording, and view data is inputed to graphical analysis portion 731.Graphical analysis portion 731 is according to view data, and what occur from reference position receptacle portion 41 departs from and measure from departing from of reference direction generation.This measurement result is stored as the pose information of receptacle portion 41 by storage part 732.After the pose information of receptacle portion 41 is stored to storage part 732, if from stand 14 dismantle camera and part conveyance pattern.Certainly, also can not from stand 14 dismantle camera and part conveyance pattern.
(other)
And, as holding member, lift suction nozzle 13 and be illustrated for example, but also can arrange the chuck mechanism of Electrostatic Absorption mode, bernoulli chuck (Bernoullichuck) mode or mechanically holding electronic part.And, immediately below conveyance platform 12, except electric test unit 4, also configurable various operation processing unit.As other operation processing units, mark unit, defective products discharger etc. can be enumerated.
As mentioned above, embodiments of the present invention are illustrated, but various omission, displacement, change can be carried out in the scope of purport not departing from invention.Further, this execution mode or its distortion are included in scope of invention or purport, and in the scope of the invention be included in described in claims and equalization thereof.
[explanation of symbol]
1: electronic component carrying device
11: transport path
12: conveyance platform
13: suction nozzle
14: stand
15: directly drive motor
2: feed unit
3: accepting unit
4: electric test unit
4a: cell body
41: receptacle portion
42: substrate
43: plate
5: visual examination unit
6: taxon
7: posture amending unit
71: image pickup part
72:XY θ microscope carrier
73: control part
731: graphical analysis portion
732: storage part
733: data selecting section
734: correction calculating part
735: microscope carrier control part
8: advance and retreat drive unit
9: touch-screen
Claims (11)
1. an electronic component carrying device, it transports electronic component along transport path, and processes electronic component in described transport path, and the feature of described electronic component carrying device is, comprising:
Conveyance member, keeps the conveyance posture of electronic component and makes it move along described transport path;
Microscope carrier, is configured in described transport path, loads described electronic component to carry out described process;
Memory unit, stores the pose information arranging posture representing described microscope carrier;
Shooting part, is configured at and leans on transport path upstream side than described microscope carrier, make a video recording to the electronic component in described transport path; And
Posture correcting part, be configured in the described transport path between described microscope carrier and described shooting part, based on the image pickup result of described shooting part, make predetermined be placed in electronic component on described microscope carrier and the described microscope carrier represented by described pose information to arrange posture consistent.
2. electronic component carrying device according to claim 1, is characterized in that,
Described conveyance member is before carrying out the conveyance for the process of electronic component, and the illusory body making posture consistent with described microscope carrier in advance moves to described shooting part,
Described shooting part, before carrying out the conveyance for the process of electronic component, is made a video recording to described illusory body in advance,
The posture of the described illusory body of gained of being made a video recording by described shooting part is stored as described pose information by described memory unit,
Described posture correcting part by as one man changing the posture of described electronic component with the posture of described illusory body, thus makes electronic component consistent with the posture of described microscope carrier.
3. electronic component carrying device according to claim 2, is characterized in that,
Described conveyance member, before the conveyance carrying out electronic component, makes described illusory body move to described microscope carrier,
Described illusory body is to change its posture with reference to the posture of described microscope carrier.
4. electronic component carrying device according to claim 2, is characterized in that comprising:
Fixture, is arranged at described microscope carrier before the conveyance carrying out electronic component, guides the illusory body being placed in described microscope carrier, in the process of mounting, as one man make the postural change of described illusory body with described microscope carrier.
5. electronic component carrying device according to claim 4, is characterized in that,
Described fixture is the mortar body of the taper for the described illusory body insertion declined towards described microscope carrier.
6. the electronic component carrying device according to any one of claim 2 to 5, is characterized in that,
Before carrying out the conveyance for the process of electronic component, replace described illusory body and make that electronic component is consistent with the posture of described microscope carrier makes a video recording, and the posture of the electronic component of shooting gained is stored as described pose information.
7. electronic component carrying device according to claim 1, characterized by further comprising:
2nd shooting part, when making described pose information be stored in described memory unit, being installed on directly over described microscope carrier, making a video recording to described microscope carrier,
The posture of the described microscope carrier of gained of being made a video recording by described 2nd shooting part is stored as described pose information by described memory unit.
8. electronic component carrying device according to any one of claim 1 to 7, is characterized in that,
Multiple contents processing is provided to be described microscope carrier of the same race continuously along described transport path,
The electronic component of correspondence is placed in each microscope carrier transport electronic component one to one on all described microscope carrier arranged continuously after by described conveyance member,
Described memory unit stores the described pose information of each described microscope carrier,
Described posture correcting part, based on the described pose information of the predetermined described microscope carrier of mounting electronic component, makes the posture of the electronic component of mounting consistent with described microscope carrier.
9. electronic component carrying device according to claim 8, is characterized in that,
Described conveyance member, while stop at each stop position set in transport path, intermittently transports electronic component,
Be that in the scope that configures continuously of microscope carrier of the same race, the stop position being same quantity with described microscope carrier is continuous print, or comprises the stop position of the electronic component not configuring described microscope carrier at described contents processing.
10. electronic component carrying device according to any one of claim 1 to 9, is characterized in that comprising:
Analysis component, the view data exported according to described shooting part carrys out the posture of analytical electron part,
Described posture correcting part only with the difference arranging the posture of posture and described electronic component of the described microscope carrier represented by described pose information, changes the posture of described electronic component.
11. electronic component carrying devices according to any one of claim 2 to 6, is characterized in that comprising:
Analysis component, the view data exported according to described shooting part carrys out the posture of analytical electron part,
Described posture correcting part only with the difference arranging the posture of posture and described electronic component of the described microscope carrier represented by described pose information, changes the posture of described electronic component,
Described analysis component analyzes the posture of described illusory body according to the view data that described shooting part exports, and is stored in described storage part as described pose information.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JPPCT/JP2013/082329 | 2013-12-02 | ||
| PCT/JP2013/082329 WO2015083211A1 (en) | 2013-12-02 | 2013-12-02 | Electronic component transport apparatus |
| PCT/JP2014/074524 WO2015083414A1 (en) | 2013-12-02 | 2014-09-17 | Electronic component transport apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105144864A true CN105144864A (en) | 2015-12-09 |
| CN105144864B CN105144864B (en) | 2016-11-30 |
Family
ID=53273009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480023619.2A Active CN105144864B (en) | 2013-12-02 | 2014-09-17 | Electronic component carrying device |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN105144864B (en) |
| HK (1) | HK1212541A1 (en) |
| MY (1) | MY160498A (en) |
| PH (1) | PH12015502478B1 (en) |
| WO (2) | WO2015083211A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108294414A (en) * | 2017-01-12 | 2018-07-20 | Ykk株式会社 | Pull head collating unit and its operating method |
| CN108620839A (en) * | 2017-03-20 | 2018-10-09 | Ykk株式会社 | The carrying device and its transport method of pull head |
| TWI642134B (en) * | 2017-04-27 | 2018-11-21 | 日商精工愛普生股份有限公司 | Electronic component conveying device and electronic component inspection device |
| CN111989577A (en) * | 2018-12-21 | 2020-11-24 | 株式会社Synax | Processor |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017008869B3 (en) | 2017-09-21 | 2018-10-25 | Mühlbauer Gmbh & Co. Kg | component centering |
| CN112205096B (en) * | 2018-05-30 | 2021-12-17 | 株式会社富士 | Component mounting system |
| DE102019125127A1 (en) * | 2019-09-18 | 2021-03-18 | Mühlbauer Gmbh & Co. Kg | Component handling, component inspection |
| DE102019125134A1 (en) | 2019-09-18 | 2021-03-18 | Mühlbauer Gmbh & Co. Kg | Component handling, component inspection |
| DE102021111953A1 (en) | 2021-05-07 | 2022-11-10 | Mühlbauer Gmbh & Co. Kg | Optical component inspection |
| JP7126285B1 (en) * | 2021-09-17 | 2022-08-26 | 上野精機株式会社 | electronic component processing equipment |
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| JP3861415B2 (en) * | 1997-11-11 | 2006-12-20 | ソニー株式会社 | Electronic component mounting equipment |
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| JP2003298291A (en) * | 2002-03-29 | 2003-10-17 | Fuji Mach Mfg Co Ltd | Method and system for mounting electronic component |
| JP2008010620A (en) * | 2006-06-29 | 2008-01-17 | Hitachi High-Tech Instruments Co Ltd | Device and method for moving in directions of x and y |
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2013
- 2013-12-02 WO PCT/JP2013/082329 patent/WO2015083211A1/en active Application Filing
-
2014
- 2014-09-17 WO PCT/JP2014/074524 patent/WO2015083414A1/en active Application Filing
- 2014-09-17 MY MYPI2015703852A patent/MY160498A/en unknown
- 2014-09-17 CN CN201480023619.2A patent/CN105144864B/en active Active
-
2015
- 2015-10-27 PH PH12015502478A patent/PH12015502478B1/en unknown
-
2016
- 2016-01-08 HK HK16100155.3A patent/HK1212541A1/en not_active IP Right Cessation
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08102599A (en) * | 1994-09-30 | 1996-04-16 | Sanyo Electric Co Ltd | Substrate position detecting device |
| JPH08195599A (en) * | 1995-01-13 | 1996-07-30 | Yamaha Motor Co Ltd | Method and apparatus for detecting component mounting state in mounting apparatus |
| JP2003347798A (en) * | 2002-05-30 | 2003-12-05 | Hitachi High-Tech Instruments Co Ltd | Electronic component attaching apparatus |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108294414A (en) * | 2017-01-12 | 2018-07-20 | Ykk株式会社 | Pull head collating unit and its operating method |
| CN108620839A (en) * | 2017-03-20 | 2018-10-09 | Ykk株式会社 | The carrying device and its transport method of pull head |
| TWI642134B (en) * | 2017-04-27 | 2018-11-21 | 日商精工愛普生股份有限公司 | Electronic component conveying device and electronic component inspection device |
| CN111989577A (en) * | 2018-12-21 | 2020-11-24 | 株式会社Synax | Processor |
| CN111989577B (en) * | 2018-12-21 | 2023-01-24 | 株式会社Synax | Processor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105144864B (en) | 2016-11-30 |
| PH12015502478B1 (en) | 2017-10-06 |
| PH12015502478A1 (en) | 2016-02-22 |
| MY160498A (en) | 2017-03-15 |
| HK1212541A1 (en) | 2016-06-10 |
| WO2015083414A1 (en) | 2015-06-11 |
| WO2015083211A1 (en) | 2015-06-11 |
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