CN107734956A - Method and device for assembling components taking into account relative spatial position information - Google Patents
Method and device for assembling components taking into account relative spatial position information Download PDFInfo
- Publication number
- CN107734956A CN107734956A CN201710660437.1A CN201710660437A CN107734956A CN 107734956 A CN107734956 A CN 107734956A CN 201710660437 A CN201710660437 A CN 201710660437A CN 107734956 A CN107734956 A CN 107734956A
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- China
- Prior art keywords
- clamping device
- mark
- camera
- component
- image
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/0409—Sucking devices
-
- 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
-
- 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
- H05K13/0813—Controlling of single components prior to mounting, e.g. orientation, component geometry
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Operations Research (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to a method for mounting components on a component carrier by means of an automatic mounting machine, comprising: i) removing a component from at least one component feeder by means of a component gripper, the component being connected at least temporarily to the component gripper connection; ii) transferring said at least one removed component into a mounting area of said pick-and-place machine; iii) optically detecting, by means of a camera, an image of a marking provided on the component-holding device and an image of the component temporarily connected to the component-holding device; iv) evaluating the detected image by means of a data processing unit connected downstream of the camera to obtain information about the relative spatial position between the component and the component-holding device; and v) fitting the component onto a component carrier taking into account information about the relative spatial position between the component and the component-holding device.
Description
Technical field
The present invention relates to electronic building brick to manufacture this technical field.The invention particularly relates to a kind of method and a kind of element-
Clamping device, for considering the information about the relative tertiary location between the element and the element-clamping device
In the case of, give component carrier assembling element by automatic assembling machine.Moreover, it relates to a kind of be used for component carrier certainly
The automatic assembling machine of dynamic assembling element, and it is related to a kind of computer program.
Background technology
Electronic building brick and circuit generally with electronic component are arranged on one or more component carriers（Such as printed circuit
Plate（PCB）On.The manufacturing process of electronic building brick, which generally comprises, gives component carrier assembling element.Element is arranged on component carrier
On surface, it is referred to as " surface mounting technology "（SMT）.SMT techniques are performed by assembly head, and it is the important composition of automatic assembling machine
Part.Assembly head removes element from element-feeding mechanism, and by the assembly section of this element transmission to automatic assembling machine
Domain, and this element is placed on component carrier in this place.Therefore, at least one element-clamping device can be placed in assembling
On head, element can be fixed by this assembly head.Element-clamping device is typically configured to suction pipe, and it holds element.Certainly should
Element-clamping device also can be realized otherwise, such as be configured to mechanical clamp.Element be picked after with element-folder
Device connection is held, and can be transmitted by assembly head to component carrier, and is placed in default element-installation site
On component carrier.
However, in assembly technology, element can not be picked up to ideal symmetrical by element-clamping device under normal circumstances.
In lateral attitude and angle position, element can not possibly be picked up symmetrically by element-clamping device.In other words, element may
Picked up in the position for offseting or reversing by element-clamping device.But the locus of element is come for accurate assembly technology
Say it is very important.For this reason, if element is picked up by element-clamping device, the element can be clapped by camera
Take the photograph, so as to understand the position of the element on element-clamping device.Correctly it can assemble member to component carrier by this way
Part.
But the problem of existing is, this image taking is time-consuming, it is necessary to which the stand-by period is included to the plan of assembly technology
In.Such as occur mechanical oscillation between camera and element, it is necessary to wait the position between camera and the driver of assembly head
Put synchronization or position correction.The vibration mentioned must fail, and before it can shoot reliable graph picture, it is necessary to wait or perform
So-called position is synchronous.In modern automatic assembling machine, such as 100000 elements are assembled per hour.In order to further improve effect
Can, the time of each installation step should be as short as possible.Here, the decay for waiting vibration is worst.Ultimately, it is desired to reach
Target is, in the case of without waiting for the time and under so-called not stopped status（I.e. when crossing）Shooting image.
Therefore need to accelerate optical element measurement by camera, without influenceing precision during optical measurement.
The content of the invention
By being used for the method for component carrier assembling element, for holding element according to independent claims
Device, for the automatic assembling machine to component carrier assembling element and computer program realize this purpose.The present invention's has
The improvement project of profit describes by dependent claims.
By the first angle of the present invention, describe a kind of by method of the automatic assembling machine to component carrier assembling element.
Methods described has：i）Element is removed from element-feeding mechanism by element-clamping device, the element is at least temporary transient
Ground is connected with the attachment structure of the element-clamping device,（ii）By at least one element transmission removed to it is described from
In the assembly area of dynamic assembly machine；Light is carried out by the image of mark of the camera to being arranged on the element-clamping device
Detection is learned, and optical detection is carried out to the temporary transient element being connected with the element-clamping device；iv）By being connected on
The data processing unit for stating camera downstream is assessed the image detected, wherein obtaining about the element and the member
The information of relative tertiary location between part-clamping device；And v）Considering about the element and the element-clamping dress
In the case of the information of relative tertiary location between putting, the element is assembled on component carrier.
The ideal basis of methods described is to pass through snoop tag optically（The mark is arranged on element-clamping dress
Put）With the element（Now the element is temporarily attached on element-clamping device）Image, relevant institute can be obtained
State the information of the relative tertiary location between element and the element-clamping device.Image shown in this can be by data processing
Unit evaluation, therefore when to the component carrier assembling element, described information can be applied.The camera so positions,
Make it possible to while detect mark and element optically.Here, a unique image need only be shot, it had both shown described
Mark（I.e. described benchmark）, display that the element.From described image, the element can be read relative to the mark
Locus.
By being rigidly connected between the element-clamping device and the element being temporarily picked, the element phase
Optical detection and the vibration nothing of the assembly head, element-clamping device for the relative position of the element-clamping device
Close, or it is unrelated with the driver of the element-clamping device, especially rotating driver.I.e. methods described the advantages of be energy
Enough quickly information of the acquisition about the relative tertiary location between the element and the element-clamping device, and
It can reduce or be completely eliminated the stand-by period.That is, it is not necessary to gradually stopping for assembly head or element-clamping device is waited again,
Or it need not perform again into the synchronization between camera and the position of assembly head.In other words, in principle when passing through or only with non-
The often short stand-by period can be achieved with the optical detection.In addition, total system is structural less demanding, such as the system is not
Very high rigidity is needed again.In measurement position and angle, the motion of assembly head or element-clamping device and camera or illumination
Synchronousness between the triggering of device is possible and inaccurate.Essence can be improved by methods described in the inside of assembly technology
Degree, and reduce the duration of image taking.
Moreover, it is not necessary to arduously change existing automatic assembling machine to perform methods described.Camera and data processing
Unit is present in automatic assembling machine, and need only corresponding regulating element-clamping device, to show above-mentioned mark.Its
Advantage is can inexpensively to perform methods described in reliable system.
By another angle of the present invention, there is provided for element-clamping device of holding element, the element, which is set, to be used for
It is assembled on component carrier.Element-the clamping device has attachment structure, and it is arranged to for being temporarily connected with element.This
Outside, the element-clamping device has mark, if the element is temporarily connected in attachment structure, together with image mode
Optical detection is carried out with the element to the mark by camera.Here, by the number for being connected on the camera downstream
When being assessed according to processing unit the image detected, obtain about between the element and the element-clamping device
Relative tertiary location information.
Described device is able to carry out the above method.The ideal basis of this device is consistent with methods described, and can have
The advantages of with as method.
By another angle of the present invention, there is provided a kind of automatic assembling machine, for giving component carrier assembling element.It is described from
Dynamic assembly machine has assembly head, and above-mentioned element-clamping device can be placed on the assembly head.In addition, automatic assembling machine
With the camera and the data processing unit.
The automatic assembling machine is able to carry out the above method.The ideal basis of this automatic assembling machine is consistent with methods described,
And there can be the advantages of as method.
By another angle of the present invention, there is provided a kind of computer program being used for component carrier assembling element, if
The computer program must be used for performing the above method by a processor or multiple computing devices, the then Computer Design.
The computer program is able to carry out the above method.The ideal basis and methods described one of this dress computer program
Cause, and there can be the advantages of as method.
Within this document, " element " this concept especially has the load for the characteristic that can be realized in a manner of physical electronic
Body.The element can have at least one interface, and the element can be connected on component carrier by the interface.It is described
Element can be formed by different assembling parts.The element can be, for example, resistance, electric capacity, coil, diode, transistor, collection
Into circuit or microprocessor, it is not exhaustive that wherein this, which is enumerated,.In principle, various assembling targets are understood that within this document
Into element, it is mountable on component carrier and enables in particular to realize electrical contact.
Within this document, " component carrier " this concept especially supporting construction, one or more members can be received thereon
Part.Here, both providing mechanical support, electrical connection is also provided.Component carrier can have conductive layer and electric insulation layer.The conductive layer
Can be, for example, copper, electric insulation layer can have such as resin, especially epoxy resin and/or material FR4.Here, the member
Part carrier can be configured to the lamination of the layer.The component carrier can be printed circuit board (PCB)（printed circuit
Board, PCB）.
Within this document, " element-clamping device " this concept is especially adapted to hold the various devices of said elements.For
This, such as using so-called suction pipe.Suction pipe can have slightly wide connection section first, and it can be arranged on assembly head,
Middle cavity is provided with this assembly head.In addition, suction pipe can also have slightly narrow tip section, it has along tip section
The passage that longitudinal direction is formed.Here, the tip section is connected with the connection section, therefore the passage and described hollow
Chamber is in fluid communication state.Negative pressure of vacuum, therefore the element energy can be produced in the tip section by this way
It is enough to be held by the suction pipe.Here, the end face of the tip section is it will be appreciated that into " attachment structure ", the element can be temporary transient
It is connected in attachment structure.But part-holding meanss this concepts is not limited to suction pipe.Element-the clamping device is for example
Also grabbing device can be configured to.This device may can catch the element for example with two gripping arms by gripping arm.This
A little gripping arms can for example contact the side wall of the element respectively.Here, the gripping arm is it will be appreciated that into " attachment structure ", the member
Part can be temporarily connected in attachment structure.
Within this document, " mark " this concept enables in particular to refer to optics and/or space structure, and it can be by camera
Detect optically.In the simplest embodiments, the mark can be such as point-like or any form of optics mark
Note.This optical markings can be signed in for example or spraying plating is on the element-clamping device.
In another embodiment, the mark can for example be configured at space structure, such as bending.In addition,
The notable structure of the element-clamping device can also be configured to mark.For example, the Spring Clip of the element-clamping device
Or the buffer structure of elasticity can play mark, it can be detected optically.By the theory of the present invention, described
The mark is provided with element-clamping device, therefore the mark can be as the locus of the element-clamping device
Benchmark use.
Within this document, " image " this concept especially represents target with figure.Image can be for example by photograph
Machine is shot or generation.Image can be shown by pixel digitally.The image of capturing element is enabled in particular to, the element is temporarily
It is connected on element-clamping device.Additionally being capable of such shooting image so that it can also be seen that being arranged on member in this image
Mark on part-clamping device.
" camera " this concept enables in particular to refer to the optical instrument for shooting image.It can be shot by camera scattered
The light penetrated and/or reflected, to obtain image, it is based especially on the image of pixel.The camera especially can be can be with
The various Optical devices of optical mode detecting element.The camera can be, for example, conventional CCD or CMOS camera.It is described
Camera can have one or more sensors.
" information about relative tertiary location " this concept especially such information within this document, i.e., it is if described
Element is temporarily connected with element-clamping device, then described information refers to that a part has the situation of off position, and element is relative to member
Part-clamping device is located on this position." information about orientation " this concept also refers to such orientation, i.e., if the element
Temporarily it is connected with element-clamping device, then the element is located in this orientation relative to the element-clamping device.It is described
Information can for example refer to transverse direction-information and/or angle-information, and it shows, the element through connection is relative to the element-clamping
Device is located in which position and/or which orientation.In other words, the situation that the part that described information represents understands, i.e., through even
The element connect is offset and/or reversed with which kind of degree relative to reference position.
Illustrated below is methods described and the embodiment of described device.
By an embodiment, the optical detection is performed during the transmission.Its advantage is, can quickly or
Give component carrier assembling element no time lost, especially reduce even completely eliminating the stand-by period.
If the element that will be removed（It is temporarily connected with the element-clamping device）Transmit to the assembling of automatic assembling machine
Region, then it can significantly reduce the stand-by period.Such as in order to wait gradually stopping for the driver of assembly head, the stand-by period is probably must
Want.By the present invention, the optical detection of element can be realized when crossing, the element is temporarily connected with element-clamping device.
But no longer forcibly wait the position gradually stopped or performed between camera and target to be captured synchronous." crossing " this concept
Do not shut down referred to as.It herein means, assembly technology is substantially without interruption, especially need not substantially interrupt the biography of the element through removing
It is defeated.
By another embodiment, methods described also has：i）Another element is removed from the element-feeding mechanism；With
And ii）The other element is assembled on the component carrier；Wherein when removing the other element or filling
During with the other element, the optical detection is performed.Its advantage is to realize that the optics is visited within the shorter period
Survey, the element does not move within the time period.It should be achieved in the following ways " static " period, i.e., it is automatic
The related assembly head of assembly machine will not move in the extraction of other element and assembling process at least parallel to fitting plane, its
In the fitting plane refer to plane parallel to component carrier.
The assembly head of automatic assembling machine can have multiple element-stop device.Element-the stop device can for example in
Circularly it is arranged on around the rotation axis of assembly head.The assembly head is for example configured to so-called automatic turret, plurality of
Element-stop device is radially or inclination is highlightedly rotatable in rotation axis together.Here, the assembly head can for example with
12 element-stop devices.
The element can be picked up and be firstly connected on the first element-clamping device by the first element-clamping device,
Element-the clamping device is located in the first position of assembly head.Present assembly head（Such as automatic turret）It can rotate, therefore
First element-clamping device moves on to the second place from first position, and the element is kept herein on the first element-clamping device.
The second element being similarly disposed on assembly head-clamping device rotates with together with the first element-clamping device online, therefore second
Element-clamping device is located in first position and can pick up another element.Second element-clamping device can be with this side
Formula keeps the other element, and the element is also connected on the first element-clamping device.So pick up it is described in addition
Element when, enable in particular to by relative to the static or movable camera of automatic assembling machine（It is preferably with respect to assembly head
It is static）, optical detection is carried out to the element kept by the first element-clamping device.Therefore, it is possible to not extra etc.
Treat the time and without active transmission in the case of, detect the element on the first element-clamping device optically.
Additionally it is possible to which the other element is assembled on component carrier, the other element is connected to second
On element-clamping device.When so assembling the other element, enable in particular to by static relative to automatic assembling machine
Or the camera of activity（It is static preferably with respect to assembly head）, the element kept by the first element-clamping device is entered
Row optical detection.Thus, it is also possible in the case of the not extra stand-by period and without active transmission, visit optically
The element surveyed on the first element-clamping device.
By another embodiment, the described information about relative tertiary location refers to the relevant element in the element-folder
Transverse direction-information of the lateral attitude on device is held, and/or refers to the angle about the element on the element-clamping device
Angle-information of position.Its advantage is can to obtain the important information about position of components with flexible and effective manner.
The lateral attitude herein means the symmetric position or benchmark of optimization of the element through connection relative to the element through connection
The lateral shift of position.Therefore, the element through connection can in different direction in spaces in two dimensional area relative to through even
The symmetric position of the optimization of the element connect or reference position movement.
The angle position herein means the symmetric position or benchmark of optimization of the element through connection relative to the element through connection
The torsion skew of position.Therefore, the element through connection can be in different direction in spaces relative to the excellent of the element through connection
The symmetric position of change or reference position are reversed.
By another embodiment, the element-clamping device also has：i）Section is connected, middle cavity is arranged on this connecting portion
In part, wherein the connecting portion section can be arranged on assembly head, especially on the hollow pole of assembly head, and ii）Tip section, its
Passage with the longitudinal direction composition along the element-clamping device.Here, tip section can be with being connected section
It is connected, therefore the passage and the middle cavity are in fluid communication state.In addition, the connection section also has the first circle
Week, and the tip section has the second circumference, wherein the first circumference is more than the second circumference.Its advantage is, can be effectively
Element-the clamping device and/or methods described are realized in reliable system.
Described element-clamping device has connection section and tip section, and can be suction pipe.Can be at this
Negative pressure of vacuum is produced on cavity, it is then existed in the passage of tip section, because at the middle cavity and the passage
In fluid communication state.Element can be picked up by the negative pressure of vacuum in passage by suction pipe.Tip section can have end face, its
It is understood to attachment structure.The element is picked up by suction pipe so that the element can be temporarily connected to the connection knot
On structure.
By another embodiment, the mark is arranged in the connection section.Its advantage is, can with effectively and through
Mode determines the mark optically.
As having described above, connection section can have excircle, and it is more than the cylindrical of the tip section
Week.In other words, the connection section can be configured to more wider than the tip section.Camera can carry out optical detection
It is arranged on that time below element-clamping device.Here, the sight of camera is arranged essentially parallel to gravity direction and and gravity
In the opposite direction.Now it can be seen that being temporarily connected in the attachment structure of element-clamping device from the direction of visual lines of camera
Element.In addition, connection section is can also see that from the direction of visual lines of camera.At this in embodiment, narrow tip section
It can be covered by the element through connection.Connection section is only see from the sight of camera now, it is wider than tip section.
Element-the clamping device, which can have, is used for lateral attitude（Its excircle especially along connection section）Mark
Note, can also have the mark for angle position, especially at least a cutting.
By another embodiment, connection section has Spring Clip, and wherein the Spring Clip is at least partially configured to mark.
Its advantage is, in order to implement the present invention, reliable structure can be applied in the case of without ancillary cost and cost.
In intermediate location between tip section and connection section, significant collar knot can be set in connection section
Structure.In addition, the Spring Clip is can also see that from the direction of visual lines of camera.The Spring Clip being capable of at least office by this way
Used as mark to portion.Therefore obtain it is appropriate and through benchmark, without putting into extra cost for the mark.
By another embodiment, the flexible buffer element of section is connected, the wherein buffer element is at least partially configured to
Mark.Its advantage is equally, can be in the case of without ancillary cost and cost using reliable knot in order to implement the present invention
Structure.
The buffer structure can refer to the various elastic constructions that can make element-clamping device buffering.The buffer structure for example can
Enough it is configured to spring-like or arciform.The buffer structure can equally constitute herein for connection section on notable structure, therefore from
This structure can be just detected in the sight of camera well.The buffer structure being capable of at least partially conduct by this way
Mark uses.Therefore obtain it is appropriate and through benchmark, without putting into extra cost for the mark.
By another embodiment, it is configured to optical markings by mark, it is especially placed in connection section.Its advantage is energy
It is enough that effective and durable mark is provided with less expense.
The optical markings can by it is each it is shown in a manner of formed.In the simplest embodiments, the optical markings being capable of structure
, can be by this point of optical detection from the sight of camera as point.In another embodiment, the optical markings for example can
Enough it is configured to ring, it surrounds the connection section on the longitudinal direction perpendicular to connection section.Optical markings herein can
Element-clamping device is arranged in a different manner, is especially connected in section.The optical markings can be for example drawn in, spraying plating
Or it is coated on element-clamping device.It is not exhaustive that this, which is enumerated, and optical markings are arranged on device because professional is known
A variety of feasible programs.In addition, the optical markings can be color mark.Advantageously, the color mark optically with element-
The background of clamping device is compared and loomed large.So if element-clamping device has dead color, then can be that optical markings select
Very bright color.Equally, can be that optical markings select very dark face if element-clamping device has light tone
Color.
By another embodiment, the mark is configured to space structure, the space knot being especially configured in the connection section
Structure.Its same advantage is, can be to be particularly effective and through detecting the mark optically in a manner of.
The space structure for example can be projection.It can be configured to multiple different geometries.In element-clamping dress
During the manufacturing process put, the space structure can be formed.The space structure can also be arranged on element-clamping device afterwards
On.
By another embodiment, the mark is configured to recess, the recess being especially configured in the connection section.It is same its
Advantage is, can be to be particularly effective and through determining the mark optically in a manner of.
The mark can be configured to recess or recess in the connection section.The mark for example can be depressed part
Hole in section.The recess for example can be marked extraly with color, effectively to be detected optically by camera.
By another embodiment, the mark is formed along excircle, and its circumferencial direction is perpendicular to the longitudinal direction of element-clamping device
Direction.Its advantage is can particularly effectively to obtain transverse direction-information of the lateral attitude about the element through connection.
From the direction of visual lines of camera, the mark, which can have, surrounds the round-shaped of the element, described
Element is connected on the element-clamping device.In the case where the element-clamping device does not have circular cross section, institute
Stating mark can be formed with other arbitrary geometries, and can be in this way around the element from camera
See in sight.The lateral attitude of the element through connection can be particularly effectively detected by this way, because the mark
Surround the element on the image through shooting.Therefore there is the benchmark for skew on each direction in space.
By another embodiment, the mark is in the form of at least one cutting, especially relative with least two and quarter for putting
The form of groove is formed.Its advantage is can particularly effectively to obtain angle-letter of the angle position about the element through connection
Breath.
As having described above, the mark can be configured to recess, wherein the recess is especially preferred
There is the form of cutting in embodiment.By cutting also there is benchmark, it can be inferred that the angle side of the element through connection
Position or the windup-degree relative to angle reference.Additionally it is possible to cutting that is two or more relative and putting is set.
The automatic assembling machine as described in another embodiment has frame, wherein the camera sets relative to the frame
It is static.Its advantage is that described element-clamping device can be directly integrated in the automatic assembling work of the automatic assembling machine
In skill.
Such as known visible cameras can be applied, as camera.This camera is typically statically arranged on institute
State the inside of automatic assembling machine.Therefore hardware change need not be carried out.
By another embodiment, the automatic assembling machine also has frame, wherein the camera sets relative to described
Frame is mobilizable.Its advantage is that described element-clamping device can be directly integrated in the automatic of the automatic assembling machine
In assembly technology.
Mobilizable camera securely or still can be arranged on assembly head.Therefore obtain with reference to institute
The advantages of method of stating describes, the optical detection is performed when removing or assembling other element in this method.
By another embodiment, camera is set, therefore at the time of detection image optically, the sight base of camera
Parallel to the longitudinal direction of element-clamping device in sheet.Its same advantage is that the side can be performed in reliable system
Method.
By this way can be particularly effectively to the image progress light for the mark being arranged on the element-clamping device
Detection is learned, and optical detection is carried out to the temporary transient element being connected with the element-clamping device.In addition, the structure is outstanding
When it is adapted to passing through when transmitting the element through connection（It is so-called not shut down）Perform optical measurement.
It is noted that embodiments of the invention are described with reference to the different content of the invention.It particularly depict the present invention's
Several embodiments with device claim, and describe the other embodiments with claim to a method of the present invention.
It can be appreciated immediately that for professional when reading this application, if without other detailed description, except these
Belong to beyond the combinations of features of this kind of content of the invention, it is also possible to realize any combination of these features, these arbitrary feature groups
Conjunction belongs to the other types of content of the invention.
Brief description of the drawings
The other advantages and features of the present invention are drawn from the following exemplary description of presently preferred embodiment.
Fig. 1 is shown for the automatic assembling machine to component carrier assembling element in the perspective.
Fig. 2 a show element-clamping device by embodiment in longitudinal sectional view.
Fig. 2 b show element-clamping device by another embodiment in longitudinal sectional view.
Fig. 2 c show element-clamping device by another embodiment in longitudinal sectional view.
Fig. 2 d show element-clamping device by another embodiment in longitudinal sectional view.
Fig. 3 a show element-clamping device by embodiment in transverse sectional view.
Fig. 3 b show element-clamping device by another embodiment in transverse sectional view.
List of numerals
100 automatic assembling machines
101 processors
102 frames
103 guiding devices
104 laterally disposed load bearing arms
105 guiding devices
106 load-carrying units
107 assembly heads
110 elements-feeding mechanism
112 extraction positions
120 elements-clamping device
130 component carriers
131 conveyer belts
132 component carriers-mark
140 circuit boards-camera
150 cameras
151 data processing units
220a-d elements-clamping device
221 connection sections
221a Spring Clips
Cavity in 222
223 Longitudinal extending directions
225a-d is marked
227 tip sections
228 passages
229 end faces, attachment structure
320b, c element-clamping device
335a, b element.
Embodiment
Same or analogous part is denoted by the same reference numerals in the figures.
According to embodiment, element is referred to as not shut down in automatic assembling machine（on-the-fly）Measurement when,
It need to overcome following restrictive condition in application methods described：i）Physical effect of the measurement accuracy between by camera and element is such as shaken
Dynamic influence；ii）The driver and display system of assembly head（Namely camera）Between position synchronism.In principle,
This method can also optimize pickup of today and placement process in time.Because directly pass through element-clamping device（Especially
Suction pipe）Position and angle-benchmark are obtained, it is all to wait run down time again.
By another embodiment in element-clamping device（Especially suction pipe）On be provided with suitable mark.They being capable of example
Circular circle is such as designed to, to form side benchmark.One mark is circumferentially set（An especially cutting）, or set
Two relative and the mark put（Especially cutting）, to form angle reference.
Be generally placed upon by another embodiment, the advantages of reference measurement, total system it is structural less demanding, such as this is
System no longer needs common rigidity.In measurement position and angle, between transmitter and display trigger or the triggering of illumination
Synchronousness also can be inaccurate, or can reduce or completely eliminate（For what is gradually stopped）Stand-by period.
By another embodiment, on the one hand layout of these marks on element-clamping device is between benchmark and element
Most close connection.On the other hand, advantage is that element and benchmark can be obtained by identical image acquiring device, and right
In line scan camera（Zeilenkameras）For or shoot simultaneously.Therefore, the number of image taking is reduced, and
Precision can be improved.
Fig. 1 shows automatic assembling machine 100, and it has frame 102, and the guiding device 103 of two parallel orientations is arranged on this
In frame.The two guiding devices 103 carry laterally disposed load bearing arm 104.The laterally disposed load bearing arm 104 has guiding
Device 105, load-carrying unit 106 are movably supported on the guiding device.The two guiding devices 103 extend along y- directions, guiding
Device 105 extends along x- directions.It is provided with assembly head 107 on load-carrying unit 106 to set, the assembly head has at least one member
Part-clamping device 120, the element-stopping element can be along perpendicular to the z- sides in x and y- directions by unshowned driver
To passage.
Automatic assembling machine 100 also has element-feeding mechanism 112, can be supplied to the unshowned elements of Fig. 1 by it
Assembly technology.In addition, automatic assembling machine 100 also includes conveyer belt 131, can be by component carrier 130 to be assembled by it（Example
Such as circuit board）Take in the assembly area of automatic assembling machine 100.Element-the clamping device 120 can pass through assembly head 107
Corresponding sports are positioned in the x-y- planes in whole assembly area.
In addition, automatic assembling machine 100 also has processor or central control unit 101.Managing in this place can be real on device 101
The computer program of automatic assembling machine 100 is applied to, to give the assembling element of component carrier 130, therefore automatic assembling machine 100
All elements can work in a synchronous manner, so as to contribute to inerrancy and successfully to the assembling element of component carrier 130.
In addition, so-called circuit board-camera 140 is fixed on load-carrying unit 106, the camera is used for detecting being arranged on
On circuit board 130-mark 132.By this way can be by measuring the component carrier-mark 130 in circuit board-camera
Position in the range of 140 picture, to determine to take to the accurate location of the circuit board 130 in assembly area.
In order to measuring cell position and in order to control the element of pickup, be provided with camera 150, it is still set
In the frame 102 of automatic assembling machine 100.It is preferred that directly after element is removed from element-feeding mechanism 110, pass through dress
Corresponding positioning with first 107 above camera 150, optical detection is carried out by camera 150.If in addition, the element is temporary
When be connected on element-clamping device 120, then when by the element transmission removed into the assembly area of automatic assembling machine 100,
It is preferred that carry out optical detection.Camera 150 is especially set herein, therefore at the time of detection image optically, camera
150 sight is arranged essentially parallel to the longitudinal direction of element-clamping device 120.
The image detected optically is assessed by the data processing unit 151 for being connected on the downstream of camera 150,
Wherein obtain the information about the relative tertiary location between the element and the element-clamping device 120.In addition, examining
In the case of considering the information about the relative tertiary location between the element and the element-clamping device 120, by automatic
The element is assembled on component carrier 130 by assembly machine 100.
Additionally, it is noted that the present invention is absolutely not the application for limiting to automatic assembling machine 100 described herein.The present invention is for example
It can also be realized by camera, it, which moves and set together with assembly head, must be used for being transported to assembling position from take-off location
The element of the pickup is measured during putting.
Equally, the present invention can also be used together with reference to so-called more body assembly heads, its have multiple holding meanss and because
This being capable of simultaneous transmission multiple element.Here, these holding meanss can be in row shape or rectangular setting.But same, these guarantors
Hold device can also be arranged to around rotation axis it is radially projecting, therefore can be continuously by the rotation of holding meanss
Pick up and also put down multiple element again.Certainly, the present invention can also be real by the monomer of any kind or more body assembly heads
It is existing.
Fig. 2 a are shown for holding element（It is not shown）Element-clamping device 220a longitudinal sectional view, the element
Setting must be used for being assembled on component carrier 130.The element-clamping device 220a has attachment structure 229, its be arranged to for
Temporarily it is connected with element.In addition, the element-clamping device 220a has mark 225, if element is temporarily connected to attachment structure
On 229, then optical detection is carried out to the mark and the element with image mode together by camera 150.Here, by connecing
When data processing unit 151 in the downstream of camera 150 is assessed the image detected, the relevant member is obtained
The information of relative tertiary location between part and the element-clamping device 220a.
The element-clamping device 220a has connection section 221, and middle cavity 222 is set in this connecting portion section.Connecting portion
Section 221 can be arranged on assembly head 107（It is not shown）Hollow pole on.Element-clamping device 220a also has tip section
227, it has the passage 228 that the longitudinal direction 223 along element-clamping device 220a is formed.Here, the energy of tip section 227
It is enough to be connected with being connected section 221, therefore passage 228 and middle cavity 222 are in fluid communication state.In addition, connection section 221 is also
With the first circumference, and tip section 227 has the second circumference, wherein the first circumference is more than the second circumference.As shown in Figure 2 a,
It is substantially more wider than tip section 227 to connect section 221.
Mark 225a is configured to space structure, and it is arranged in connection section 221.The space structure is especially relative with two
And the projection 225a put form is formed.The information of relative tertiary location about element refers to about the element through connection herein
Angle-information of angle position on element-clamping device 220a.
Fig. 2 b show the element by Fig. 2 a-clamping device 220b, but the mark 225 is otherwise formed.By Fig. 2 b
Mark 225 be configured to optical markings, its be especially placed at connection section 221 on.In addition, mark 225b is along excircle structure
Into longitudinal direction 223 of its circumferencial direction perpendicular to element-clamping device 220b.Mark 225b is especially configured to round shape
Formula, it is along the circumferential direction enclosed around connection section one.The information of relative tertiary location about element refers to relevant through even herein
Transverse direction-information of lateral attitude of the element connect on element-clamping device 220b.
Fig. 2 c show the element by Fig. 2 a-clamping device 220c, but the mark 225 is otherwise formed.By Fig. 2 c
Mark 225 as recess 225c be arranged on connection section 221 in.In addition, mark 225c is relative with two and the cutting put
225c form is formed.The information of relative tertiary location about element refers to about the element through connection in element-folder herein
Hold angle-information of the angle position on device 220c.
Fig. 2 d show the element by Fig. 2 a-clamping device 220d, but are provided with extra Spring Clip 221a herein.It is right
For element-clamping device 220d, connection section 221 has Spring Clip 221a, wherein Spring Clip 221a at least offices
Portion it is configured to mark 225d.Significantly existing structure forms mark 225d by this way, without setting other marks.It is relevant
The information of the relative tertiary location of element refers to the horizontal position on element-clamping device 220d about the element through connection herein
Transverse direction-the information put.
Fig. 3 a show element-clamping device 320b in transverse sectional view, and it is equivalent to element-clamping shown in Fig. 2 b
Device 220b.It is configured to optical markings 225b by Fig. 3 a mark 225, it is arranged in connection section 221.In addition, the mark
225b is formed along excircle, longitudinal direction 223 of its circumferencial direction perpendicular to element-clamping device 320b.From camera
The mark 225b in connection section 221 can be detected in sight, can also detect element 335, the sight is parallel and against weight
Force direction orients.Tip section 228 and attachment structure 229 are can't see in this perspective view, because they are by temporarily with being connected knot
The element 335 that structure 229 connects covers.In order to realize succinct description, element 350 have in fig. 3 a dark position 335a and
335b。
In addition it can also be seen that the element 350 is not symmetrical and is not in the connection of the center of attachment structure 229.In other words,
It can be seen that skew transverse direction-skew.If element 335 is temporarily attached on element-clamping device 320b, mark is being shown
Remember on the image of 225b and element 335 it can be seen that the skew transverse direction-skew.
Fig. 3 b show element-clamping device 320c in transverse sectional view, and it is equivalent to element-clamping shown in Fig. 2 c
Device 220c.It is configured to connect the recess 225c in section 221 by Fig. 3 b mark 225.In addition, mark 225c is with two phases
Pair and the cutting 225c form put is formed.
In addition it can also be seen that the element 350 is not symmetrical and is not in the connection of the center of attachment structure 229.In other words,
It can be seen that skew transverse direction-skew and angle-skew.If element 335 is temporarily attached on element-clamping device 320c,
Then especially it can be seen that angle-the skew on the image for showing mark 225c and element 335.
It should be noted that concept " having " is not precluded from other element or steps, and article one " application be not precluded from
It is multiple.Equally, with reference to the element that different embodiments describe, she can be mutually combined.It is also to be noted that in claim
Reference marker should not limit the scope of these claims.
Claims (19)
1. one kind is by automatic assembling machine（100）To component carrier（130）Assembling element（335）Method, methods described includes：
By element-clamping device（120）By element（335）From at least one element-feeding mechanism（110）On remove, it is described
Element（335）Temporarily, at least with the element-clamping device（120）Attachment structure（229）Connection；
By at least one element removed（335）It is transferred to the automatic assembling machine（100）Assembly area in；
By camera（150）To being arranged on the element-clamping device（120）On mark（225）Image carry out optics
Detection, and to the temporary transient and element-clamping device（120）The element of connection（335）Image carry out optical detection；
By being connected on the camera（150）The data processing unit in downstream（151）The image detected is assessed, obtained
The relevant element（335）With the element-clamping device（120）Between relative tertiary location information；And
Considering the relevant element（335）With the element-clamping device（120）Between relative tertiary location information
In the case of, by the element（335）It is assembled to component carrier（150）On.
2. the method as described in claim 1, it is characterised in that：The optical detection is performed during the transmission.
3. the method as described in claim 1, it is characterised in that also include：
By another element from the element-feeding mechanism（110）On remove,
The other element is assembled to the component carrier（130）On；
When removing the other element or when assembling the other element, the optical detection is performed.
4. the method as described in any one of claims 1 to 3 claim, it is characterised in that：The relevant space position
The information put refers to the relevant element herein（335）In the element-clamping device（120）On lateral attitude transverse direction-
Information, and/or refer to the relevant element（335）In the element-clamping device（120）On angle position angle-information.
5. one kind is used for holding element（335）Element-clamping device（120）, the element is set must be described for being assembled to
Component carrier（130）On, the element-clamping device（120）Have：
Attachment structure（229）, its be arranged to for the element（335）Temporarily connection；
Mark（225）If the element（335）It is temporarily connected to the attachment structure（229）On, then with image mode by
Camera（150）Together to the mark and the element（335）Carry out optical detection,
By being connected on the camera（150）The data processing unit in downstream（151）When assessing the image detected, obtain
Obtain the relevant element（335）With the element-clamping device（120）Between relative tertiary location information.
6. element-clamping device as claimed in claim 5（120）, it is characterised in that also have：
Connect section（221）, cavity in being provided with the connection section（222）, wherein the connecting portion section（221）Can
It is arranged on assembly head（107）, especially assembly head（107）Hollow pole on；And
Tip section（227）, it has passage（228）, the passage is along the element-clamping device（120）It is described vertical
To direction（223）Form,
The tip section（227）Can be with the connection section（221）Connection,
Therefore the passage（228）With the middle cavity（222）In be in fluid communication state,
The connection section（221）With the first circumference, and the tip section（227）With the second circumference, wherein described
First circumference is more than second circumference.
7. element-clamping device as claimed in claim 6（120）, it is characterised in that：The mark（225）It is arranged on described
Connect section（227）On.
8. element-clamping device as claimed in claims 6 or 7（120）, it is characterised in that：The connection section（227）Have
Spring Clip（221a）, wherein the Spring Clip（221a）At least partially it is configured to the mark（225）.
9. element-clamping device as claimed in claims 6 or 7（120）, it is characterised in that：The connection section（221）Have
The buffer structure of elasticity, wherein the buffer structure is at least partially configured to the mark（225）.
10. element-clamping device as described in any one of claim 6 to 9 claim（120）, it is characterised in that：It is described
Mark（225）It is configured to optical markings（225b）, it is especially placed at the connection section（221）On.
11. element-clamping device as described in any one of claim 6 to 9 claim（120）, it is characterised in that：It is described
Mark（225a）It is configured to space structure, is especially configured to the connection section（221）On space structure.
12. element-clamping device as described in any one of claim 6 to 9 claim（120）, it is characterised in that：It is described
Mark（225）It is configured to recess（225c）, especially it is configured to the connection section（221）In recess（225c）.
13. element-clamping device as described in any one of claim 5 to 12 claim（120）, it is characterised in that：Institute
State mark（225b）Formed along excircle, its circumferencial direction is perpendicular to the element-clamping device（120）The longitudinal direction side
To（223）.
14. element-clamping device as described in any one of claim 5 to 12 claim（120）, it is characterised in that：Institute
State mark（225）With at least one cutting（225c）Form, especially relative with least two and cutting put（225c）Shape
Formula is formed.
15. one kind is used for automatically giving component carrier（130）Assembling element（335）Automatic assembling machine（100）, the automatic dress
Have with machine：
Assembly head（107）, at least one element-clamping device according to any one of claim 5 to 14（120）Can
It is arranged on the assembly head；
Camera（150）, for being arranged on the element-clamping device（120）On mark（225）Image carry out optics
Detection, and to the temporary transient and element-clamping device（120）The element of connection（335）Image carry out optical detection；
And
Data processing unit（151）, it is connected on the camera（150）Downstream and for assessing the image that detects, is had
Close the element（335）With the element-clamping device（120）Between relative tertiary location information.
16. automatic assembling machine as claimed in claim 15（100）, it is characterised in that also with frame（102）, wherein described
Camera（150）Set relative to the frame（102）It is static.
17. automatic assembling machine as claimed in claim 15（100）, it is characterised in that also with frame（102）, wherein described
Camera（150）Set relative to described frame（102）It is mobilizable.
18. the automatic assembling machine as described in claim 16 or 17（100）, it is characterised in that camera is especially set（150）,
Therefore at the time of detection image optically, the camera（150）Sight be arranged essentially parallel to the element-clamping
Device（120）The longitudinal direction（223）.
19. one kind is used for component carrier（130）Assembling element（335）Computer program, the computer program is by one
Manage device（101）Or multiple processors（101）Perform, the computer program design must be used for performing according to the claims 1
To the method any one of 4.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016114842.3 | 2016-08-10 | ||
| DE102016114842.3A DE102016114842B4 (en) | 2016-08-10 | 2016-08-10 | Component holding device, method and computer program for loading a component carrier, placement machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107734956A true CN107734956A (en) | 2018-02-23 |
| CN107734956B CN107734956B (en) | 2020-02-07 |
Family
ID=61018805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710660437.1A Active CN107734956B (en) | 2016-08-10 | 2017-08-04 | Method and device for assembling components taking into account relative spatial position information |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107734956B (en) |
| DE (1) | DE102016114842B4 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263753A (en) * | 2018-10-15 | 2019-01-25 | 上海交大智邦科技有限公司 | Using AGV as the fixture method for automatically exchanging of delivery vehicle |
| CN113670193A (en) * | 2020-05-13 | 2021-11-19 | 先进装配系统有限责任两合公司 | Determining the accuracy of a placement machine by multiple use of test elements |
| CN113811178A (en) * | 2020-06-12 | 2021-12-17 | 先进装配系统有限责任两合公司 | Recalibrating a pick-and-place machine in an actual pick-and-place operation |
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| DE10235471A1 (en) * | 2002-08-02 | 2004-02-19 | Siemens Ag | Printed circuit board assembly method has position of each component detected via camera for accurate positioning relative to printed circuit board |
| CN102883593A (en) * | 2011-07-15 | 2013-01-16 | 富士机械制造株式会社 | Electronic element mounting device |
| CN103037677A (en) * | 2011-10-04 | 2013-04-10 | 先进装配系统有限责任两合公司 | Element stop device with mark on inner wall |
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2016
- 2016-08-10 DE DE102016114842.3A patent/DE102016114842B4/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10235471A1 (en) * | 2002-08-02 | 2004-02-19 | Siemens Ag | Printed circuit board assembly method has position of each component detected via camera for accurate positioning relative to printed circuit board |
| CN102883593A (en) * | 2011-07-15 | 2013-01-16 | 富士机械制造株式会社 | Electronic element mounting device |
| CN103037677A (en) * | 2011-10-04 | 2013-04-10 | 先进装配系统有限责任两合公司 | Element stop device with mark on inner wall |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263753A (en) * | 2018-10-15 | 2019-01-25 | 上海交大智邦科技有限公司 | Using AGV as the fixture method for automatically exchanging of delivery vehicle |
| CN113670193A (en) * | 2020-05-13 | 2021-11-19 | 先进装配系统有限责任两合公司 | Determining the accuracy of a placement machine by multiple use of test elements |
| CN113670193B (en) * | 2020-05-13 | 2024-05-28 | 先进装配系统有限责任两合公司 | Determining precision of assembly machine by using test element multiple times |
| CN113811178A (en) * | 2020-06-12 | 2021-12-17 | 先进装配系统有限责任两合公司 | Recalibrating a pick-and-place machine in an actual pick-and-place operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107734956B (en) | 2020-02-07 |
| DE102016114842A1 (en) | 2018-02-15 |
| DE102016114842B4 (en) | 2019-07-04 |
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