WO2004091274A1 - Machine de montage de composant - Google Patents

Machine de montage de composant Download PDF

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Publication number
WO2004091274A1
WO2004091274A1 PCT/JP2004/004117 JP2004004117W WO2004091274A1 WO 2004091274 A1 WO2004091274 A1 WO 2004091274A1 JP 2004004117 W JP2004004117 W JP 2004004117W WO 2004091274 A1 WO2004091274 A1 WO 2004091274A1
Authority
WO
WIPO (PCT)
Prior art keywords
component
suction
offset
camera
sucked
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2004/004117
Other languages
English (en)
Japanese (ja)
Inventor
Hiroaki Muratsuchi
Masayuki Tashiro
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Machine Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Machine Manufacturing Co Ltd filed Critical Fuji Machine Manufacturing Co Ltd
Priority to CN2004800090623A priority Critical patent/CN1768563B/zh
Publication of WO2004091274A1 publication Critical patent/WO2004091274A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • H05K13/0408—Incorporating a pick-up tool
    • H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
    • 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
    • H05K13/085—Production planning, e.g. of allocation of products to machines, of mounting sequences at machine or facility level
    • H05K13/0853—Determination of transport trajectories inside mounting machines

Definitions

  • the present invention relates to a component mounter having a function of offset-correcting a suction position of a component sucked by a suction nozzle.
  • a component mounter provided with a so-called revolper type nozzle head
  • a component mounter described in, for example, Japanese Patent Laid-Open Publication No. P2000-294900A is known.
  • a plurality of suction nozzles 1 to 12 arranged at predetermined intervals in the circumferential direction (rotational direction) with respect to a revolver type nozzle head 13 (rotating body) face downward as shown in Fig. 1.
  • components such as electronic components are sucked by the suction nozzles 1 to 12 and mounted on a circuit board (not shown).
  • all parts sucked by the plurality of suction nozzles 1 to 12 are imaged within the field of view of a camera (not shown), and the suction attitude of each part is determined by image processing technology. Deficiencies are detected.
  • a first object of the present invention is to prevent interference of a suction component
  • a second object of the present invention is to prevent a part of the suction component from protruding from the camera's field of view. It is to be.
  • a plurality of suction nozzles arranged at predetermined intervals in a circumferential direction with respect to a rotating body are assembled downward, and a component is sucked to each suction nozzle to attach to a substrate.
  • a component mounter mounts components on two or more suction nozzles in order, it determines whether the component to be picked up interferes with other components by an interference determination means.
  • the suction position correction means performs offset correction of the suction position of the component to be suctioned in a direction to avoid component interference.
  • the mounting position of the component can be accurately controlled in consideration of the offset correction amount of the suction position, and the component can be accurately mounted at a target position on the circuit board. Defects can be prevented.
  • the present invention provides a method for determining whether or not a component to be sucked is within a field of view of a camera when the component is sucked by a suction nozzle by an imaging state determining unit. If it is determined that the component does not fall within the field of view of the camera, the suction position correction means offset-corrects the suction position of the component in a direction that falls within the field of view of the camera. In this way, it is possible to prevent a part of the suction component from protruding from the field of view of the camera, and it is possible to capture all the suction components completely within the field of view of the camera and to take an image.
  • the rotation angle of the rotating body that holds the suction nozzle may be corrected to offset-correct the suction position of the component. Compensation in the X or Y direction It is preferable to offset-correct the position. In this way, the offset correction amount of the suction position can be easily understood, and there is an advantage that the amount of movement of the rotating body in the X and Y directions when mounting the suction component on the board can be easily controlled accurately.
  • the offset position of the interfering component when the offset position of the interfering component is offset-corrected, the offset position of one of the two interfering components may be offset-corrected, or the two interfering components may be offset-corrected. Both suction positions may be offset-corrected. In addition, whether the suction position of one of the two interfering parts is offset-corrected or the position of the two interfering parts is both offset-corrected is determined in relation to the camera's field of view. May be.
  • FIG. 1 is a bottom view of a nozzle head showing one embodiment of the present invention.
  • FIG. 2 is a bottom view of the nozzle head showing a state where a component is sucked by the suction nozzle.
  • Figure 3 is a bottom view (Case 1) of the nozzle head showing the state in which components sucked by the suction nozzle interfere with each other.
  • Fig. 4 is a bottom view (Case 2) of the nozzle head showing a state in which components sucked by the suction nozzle interfere with each other.
  • Fig. 5 shows how a part of the component sucked by the suction nozzle protrudes from the field of view of the force sensor. It is a bottom view of the nozzle head shown.
  • FIG. 6 is a flowchart showing the flow of the processing of the one-side offset correction program.
  • FIG. 7 is a diagram illustrating the coordinates of the corners of the component to be sucked by each suction nozzle.
  • FIG. 8 is a diagram illustrating how to obtain XY coordinates.
  • FIG. 9 is a flowchart showing a processing flow of the both-side offset correction program.
  • FIG. 10 is a flowchart showing the flow of processing of the automatic visual field correction program.
  • a plurality of suction nozzles 1 to 12 arranged at predetermined intervals in the circumferential direction (rotation direction) are assembled downward with respect to the revolver-type nozzle head 13 (rotating body). Components such as electronic components are sucked by the suction nozzles 1 to 12 and mounted on a circuit board (not shown).
  • the maximum of 12 components can be suctioned at the same time (see FIG. 2).
  • the diameters of the suction nozzles 1 to 12 may all be the same, but suction nozzles having a plurality of types of nozzle diameters may be used according to the size of the component to be suctioned.
  • suction nozzles 1 to 12 having three kinds of nozzle diameters of a large diameter, a medium diameter, and a small diameter are used, and the first suction nozzle 1 is located at a position 180 ° opposite to the first suction nozzle 7.
  • the second suction nozzle 7 uses a suction nozzle with an intermediate nozzle diameter so that medium-sized components (for example, components up to 10 mm x 10 mm) can be suctioned.
  • medium-sized components for example, components up to 10 mm x 10 mm
  • the remaining eight suction nozzles 2, 3, 5, 6, 8, 9, 9, 11, and 12 are small parts (For example, parts up to 5 mm X 4 mm) use a small-diameter suction nozzle.
  • the suction position of components (A to F) is shifted from the initial suction position and the mounting position on the circuit board is shifted (shift from the initial suction position). Since the amount is unknown), problems such as easy mounting failure occur. Also, in the case of Fig. 5 (protruding parts from the camera's field of view), the captured image of the entire suction component (G) cannot be captured, so that it is not possible to accurately determine the suction posture, loss, etc. of the component (G). Problems occur.
  • the suction position of the part to be sucked is set in a direction to avoid the part interference within the range where the part is within the field of view of the force (in this embodiment, the nozzle head 13) (Outer diameter direction).
  • the suction position of the nozzle is offset-corrected in a direction within the field of view of the camera (in the present embodiment, in the direction of the rotation center of the nozzle head 13) within a range in which no component interference occurs.
  • the field of view of the camera is a rectangle that is long in the X direction, and the positions of the suction nozzles 1 to 12 are the positions shown in Figs.
  • the image is taken. Comparing the distance from the center of each of the suction nozzles 1, 4, 7, 10 to the field of view of the camera at the time of imaging, the suction nozzles 4, 10 for large parts are larger than those for medium-sized parts. The interval to the field limit is wider than 7. Therefore, as shown in Fig.
  • the size of the two parts (E, F) sucked by the suction nozzles 4 and 10 for large parts is large, and the two parts (E, F) interfere with each other.
  • the distance between the suction parts (E, F) and the field of view of the camera is narrow.
  • component interference is avoided by offset correction of the suction position of only one component. If this is attempted, some of the parts may be out of the camera's field of view. Therefore, in this case, the offset correction of the suction position per component can be halved by offset-correcting both the suction positions of the two interfering parts (E, F).
  • the offset of the suction position can be corrected within the field of view of the camera. Also, as shown in Fig.
  • the one-sided offset correction program shown in Fig. 6 is started before the suction operation of each of the suction nozzles 1 to 12 starts, and as shown in Fig. 3, the components to be suctioned to the suction nozzles 4 and 10 for large components
  • (B, D) interferes with the components (A, C) sucked by the suction nozzles 1, 7 for medium-sized components
  • This program corrects the suction position by a predetermined amount (for example, l mm) toward the outer diameter of the nozzle head 13 (Y direction during suction operation) to avoid component interference.
  • This program plays a role as interference determination means and suction position correction means in the claims.
  • step 101 it is determined whether or not the automatic interference prevention operation mode is selected. If the manual setting mode in which the offset correction amount of the suction position is manually set is selected, “No” is determined in step 101, and the automatic offset correction of the suction position is not performed. 1 0 9), Terminate this program.
  • step 101 determines whether the current suction nozzle is the suction nozzle 4 or 10 for a large component. Determine whether or not.
  • the program is terminated without performing automatic offset correction of the suction position (step 109). I do.
  • step 102 If it is determined in step 102 that the current suction nozzle is the suction nozzle 4 for a large component, the process proceeds to step 103, and the component to be suctioned to the suction nozzle 4 for a large component is changed to the suction nozzle 1 for a medium component. It is determined whether or not it interferes with the picked-up part based on whether both of the following conditions (a-1) and (a-2) are satisfied.
  • the corners Pl and P2 of the parts sucked by suction nozzle 1 (the parts suctioned by suction nozzles 4 and 10 for large parts)
  • the coordinates of the closest corner are PI (MaxXl, MinYl) and P2 (MinXI, Minnl), and the corner P3 (for medium-sized parts)
  • the coordinates of the corner that is closest to the part to be picked up by the suction nozzle 7) is P 3 (MaxX4, MinY4), and the corner of the part that is sucked by the suction nozzle 7 for medium-sized parts ⁇ 4 (for large parts)
  • the coordinates of the corner closest to the component to be suctioned by the suction nozzle 10) are set to ⁇ 4 (MinX7, Mi ⁇ 7).
  • the coordinates of the initial positions of the corners P5 and P6 of the part to be picked up this time are P5 (MaxX, MinY) and P6 (MinX, MinY).
  • the coordinates of the initial position of P7 are set to P7 (NextMinX, NextMinY).
  • the origin of the XY coordinates is made coincident with the rotation center of the nozzle head 13, and the positions of the suction nozzles 1 to 12 at the time of imaging are adjusted to the centers of the suction nozzles 4 and 10 for large parts.
  • the line passing through is the X axis, and the line passing through the center of the suction nozzles 1 and 7 for medium-sized components is the Y axis.
  • the size (coordinates of the corners) of each component is set to a size that includes the margin due to the misalignment.
  • step 103 If it is determined in step 103 that the component sucked by the suction nozzle 4 for the large component interferes with the component sucked by the suction nozzle 1 for the medium-sized component, the process proceeds to step 106 and the suction is performed by the suction nozzle 4 for the large component. Offset correction of the suction position of the component to be performed by a predetermined amount (for example, 1 mm) in the outer diameter direction of the nozzle head 13 (Y direction during suction operation) to avoid component interference.
  • a predetermined amount for example, 1 mm
  • step 103 if it is determined in step 103 that the component sucked by the suction nozzle 4 for the large component does not interfere with the component sucked by the suction nozzle 1, the process proceeds to step 104 and the next component is replaced with the medium-sized component. It is determined whether or not the suction can be performed by the suction nozzle 7 for suction. If the suction cannot be performed, the suction position of the component to be suctioned by the suction nozzle 4 for the large component is not offset-corrected (step 109). To end.
  • step 104 If it is determined in step 104 that the next component can be sucked by the suction nozzle 7 for the medium-sized component, the process proceeds to step 105 and the component to be sucked by the suction nozzle 4 for the large component is replaced by the next suction nozzle. It is determined whether or not it interferes with the component to be picked up in 7 based on whether both of the following conditions (b-1) and (b-2) are satisfied.
  • the process proceeds to step 106, and the component adsorbed on the suction nozzle 4 for the large component is determined.
  • the suction position of the nozzle is offset by a predetermined amount (for example, lmm) in the outer diameter direction of the nozzle head 13 (Y direction during suction operation) to avoid component interference.
  • step 102 If it is determined in step 102 that the current suction nozzle is the suction nozzle 10 for a large component, the process proceeds to step 107, and the component to be suctioned to the suction nozzle 10 for the large component is suctioned for a medium component. Whether or not it interferes with the component adsorbed to the nozzle 7 is determined by whether both of the following conditions (C-1) and (C-2) are satisfied. (c-1) Ma xX7 + M i nY ⁇ 0
  • step 106 the suction is performed by the suction nozzle 10 for the large component. Correct the offset in the outer diameter direction of the nozzle head 13 (Y direction at the time of suction operation) by a predetermined amount (for example, lmm) of the suction position of the component to avoid component interference.
  • step 107 If it is determined in step 107 that the component sucked by the suction nozzle 10 for the large component does not interfere with the component sucked by the suction nozzle 7 for the medium-sized component, the process proceeds to step 108 and the suction nozzle for the large component is determined. It is determined whether or not the component adsorbed on 10 interferes with the component adsorbed on the suction nozzle 1 for medium-sized components by determining whether both of the following conditions (d-1) and (d-2) are satisfied .
  • step 106 the suction is performed by the suction nozzle 10 for the large component. Correct the offset in the outer diameter direction of the nozzle head 13 (Y direction at the time of suction operation) by a predetermined amount (for example, lmm) of the suction position of the component to avoid component interference.
  • the two-sided offset correction program shown in FIG. 9 is started before the suction operation of each of the suction nozzles 1 to 12 is started, and as shown in FIG. If it is determined that the parts (E, F) interfere, the suction positions of the two parts (E, F) are both shifted by a predetermined amount (for example, 0.5 mm) in the outer diameter direction of the nozzle head 13 (during the suction operation). Offset compensation in the Y direction) to avoid component interference It is a program. This program plays a role as an interference determination unit and an adsorption position correction unit in the claims.
  • step 201 it is determined whether or not the automatic interference prevention operation mode is selected. If the manual setting mode in which the offset correction amount of the suction position is manually set is selected, “No” is determined in step 201, and the automatic offset correction of the suction position is not performed. 205) Terminate this program.
  • step 201 the suction nozzle of this time is used as the suction nozzle for large components. Is determined. As a result, if it is determined that the current suction nozzle is not the suction nozzle 10 for a large component, the program is terminated without performing automatic offset correction of the suction position (step 205).
  • step 202 If it is determined in step 202 that the current suction nozzle is the suction nozzle 10 for a large component, the process proceeds to step 203 and the component to be suctioned to one of the suction nozzles 10 for a large component It is determined whether or not interferes with the component sucked by the other large component suction nozzle 4 based on whether the following condition is satisfied.
  • the process proceeds to step 204 and the two large components are sucked.
  • the suction position of both the suction nozzles 4 and 10 for the parts is offset by a certain amount (for example, 0.5 mm) in the outer diameter direction of the nozzle head 13 (Y direction at the time of suction operation). Avoid interference.
  • the program ends without performing automatic offset correction of the suction position (step 205). .
  • the automatic visual field correction program shown in Fig. 10 is started before the suction operation of each of the suction nozzles 1 to 12 starts, and as shown in Fig. 5, the components to be suctioned by the suction nozzles 4 and 10 for large components If a part of (G) is out of the field of view of the camera, the part (G) This is a program that offset-corrects the suction position of the part in the direction of the camera view (the direction of the rotation center of the nozzle head 13) and fits the entire part (G) in the view of the camera. This program plays a role as an imaging state determination unit and a suction position correction unit described in the claims.
  • step 301 it is determined whether or not automatic visual field correction is permitted. Here, if: (1) the part is too large to fit within the field of view of the camera even if offset correction is performed, or (2) the manual setting mode for manually setting the offset correction amount of the suction position is selected. In step 301, it is determined to be “No”, and the program is terminated without performing the visual field offset correction of the suction position (step 305).
  • step 301 it is determined that the automatic visual field correction is permitted, and the process proceeds to step 302, in which the current suction nozzle is used for a large part. It is determined whether or not the suction nozzle 4 or 10 is used. As a result, if it is determined that the current suction nozzle is a suction nozzle other than the suction nozzles 4 and 10 for large components, the visual field offset correction of the suction position is not performed (step 3005). Exit the program.
  • step 302 If it is determined in step 302 that the current suction nozzle is the suction nozzle 4 or 10 for a large component, the process proceeds to step 303 to determine whether the component to be suctioned by the current suction nozzle 4 or 10 is to be used. It is determined whether or not a part is out of the field of view of the camera based on whether or not the following conditions are satisfied.
  • Max Y is the Y coordinate point of the corner in the Y direction (toward the outer diameter of the nozzle head 13) of the component during the suction operation
  • the component size is the suction deviation.
  • the size is set to include the margins. In this case, the origin of the XY coordinates is aligned with the rotation center of the nozzle head 13.
  • the determination value is set to a value corresponding to the distance from the rotation center of the nozzle head 13 (the origin of the XY coordinates) to the limit of the visual field of the camera. Therefore, if Max Y ⁇ judgment value, it is determined that part of the component sucked by the current suction nozzle 4 or 10 protrudes from the field of view of the camera, and the process proceeds to step 304 to The suction position of the part to be sucked by the suction nozzles 4 and 10 for the product is offset by a predetermined amount (for example, l mm) in the direction (the direction of the rotation center of the nozzle head 13) within the field of view of the camera. Put the whole part in the field of view of the camera.
  • a predetermined amount for example, l mm
  • the suction position of the component to be suctioned is offset-corrected in a direction to avoid component interference (in the present embodiment, in the outer diameter direction of the nozzle head 13), so that the interference of the suction component is reliably performed. Can be prevented.
  • the offset correction amount of the suction position (the amount of deviation from the initial suction position) can be accurately determined, and therefore, mounting of the component in consideration of the offset correction amount of the suction position. The position can be controlled accurately, and the component can be accurately mounted at the target position on the circuit board, thereby preventing mounting defects.
  • the suction position of the component is offset-corrected in the direction that fits within the field of view of the camera (in this embodiment, the rotation center direction of the nozzle head 13). Part of the component can be prevented from protruding from the camera's field of view, and all of the suction components can be completely captured within the camera's field of view and imaged. it can.
  • the presence or absence of component interference between the suction nozzles 4 and 10 for large components and the suction nozzles 1 and 7 for medium components is determined.
  • the presence / absence of component interference between the suction nozzles for large and medium-sized components and the suction nozzle for small components is determined, and if component interference occurs, one or both of the two components that interfere with each other are determined.
  • the suction position may be offset-corrected in a direction to avoid component interference.
  • the picking position of the component is offset in a direction to avoid the component interference.
  • the suction position of the component was offset-corrected in the outer diameter direction of nozzle head 13 (Y direction during suction operation), but offset correction was performed in the X direction during suction operation.
  • the offset position of the component suction position may be corrected.
  • the suction position of the component may be offset-corrected in a direction within the field of view of the camera within a range where no component interference occurs.
  • the component pickup position is offset and captured in a direction that falls within the field of view of the camera, it is determined whether or not the component after the offset correction interferes with another component, and if component interference occurs.
  • the two components that interfere with each other may be offset-corrected in a direction that avoids component interference within a range that falls within the field of view of the camera.
  • the offset correction amount is fixed to a preset constant value.
  • the offset correction amount may be changed according to the interference amount of the component or the protrusion amount of the component from the field of view of the camera.
  • the present invention changes the origin of the XY coordinates, uses other coordinate systems such as polar coordinates to determine component interference or protrusion of the component from the force field, changes the number of suction nozzles, and the like. Needless to say, various changes can be made, such as changing the arrangement order of the suction nozzles having different nozzle diameters.
  • the present invention is directed to a component mounting machine in which a plurality of suction nozzles arranged at predetermined intervals in a circumferential direction with respect to a rotating body are assembled downward, and components are sucked by each suction nozzle and mounted on a substrate.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

L'invention concerne une machine de montage de composant qui détermine si un composant à aspirer interfère ou pas avec d'autres composants lorsque, par exemple, des composants (A-D) sont aspirés de manière séquentielle par au moins deux buses d'aspiration parmi douze buses d'aspiration (1-12). En cas d'interférence entre les composants, la position d'aspiration du composant à aspirer est corrigée et décalée, dans la plage couverte par le champ de visualisation d'une caméra, vers la direction dans laquelle l'interférence est évitée (direction du diamètre extérieur d'une tête de buse (13)). En outre, la machine détermine si le composant à aspirer se trouve ou pas dans le champ de visualisation de la caméra, et lorsqu'il a été déterminé que le composant n'est pas dans le champ de visualisation de la caméra, la position d'aspiration du composant est corrigée et décalée, dans la plage dans laquelle l'interférence est évitée, vers la direction dans laquelle le composant se trouve dans le champ de visualisation de la caméra (direction du centre de rotation de la tête de buse (13)).
PCT/JP2004/004117 2003-04-01 2004-03-24 Machine de montage de composant Ceased WO2004091274A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2004800090623A CN1768563B (zh) 2003-04-01 2004-03-24 零件安装机

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003-098065 2003-04-01
JP2003098065A JP4342199B2 (ja) 2003-04-01 2003-04-01 部品実装機における部品吸着位置補正装置

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WO2004091274A1 true WO2004091274A1 (fr) 2004-10-21

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PCT/JP2004/004117 Ceased WO2004091274A1 (fr) 2003-04-01 2004-03-24 Machine de montage de composant

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JP (1) JP4342199B2 (fr)
CN (1) CN1768563B (fr)
WO (1) WO2004091274A1 (fr)

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CN108886888A (zh) * 2016-03-29 2018-11-23 株式会社富士 电子元件安装机的动作确认装置

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KR101113838B1 (ko) 2004-11-30 2012-02-29 삼성테크윈 주식회사 전자부품 실장 방법 및 이를 채택한 부품 실장기
KR101185883B1 (ko) 2005-08-05 2012-09-27 삼성테크윈 주식회사 부품 실장기용 헤드 모듈과 이를 구비한 부품 실장기
JP4817446B2 (ja) * 2006-09-14 2011-11-16 富士機械製造株式会社 電子部品装着機の吸着部品干渉判定方法及び吸着部品干渉判定装置
JP5095378B2 (ja) * 2007-12-17 2012-12-12 Ｊｕｋｉ株式会社 部品実装方法及び装置
JP5570050B2 (ja) * 2009-12-08 2014-08-13 富士機械製造株式会社 部品実装機
JP5791408B2 (ja) * 2011-07-15 2015-10-07 富士機械製造株式会社 電子部品実装装置
JP6059475B2 (ja) * 2012-09-18 2017-01-11 ヤマハ発動機株式会社 電子部品装着装置及び電子部品装着方法
WO2015004735A1 (fr) * 2013-07-09 2015-01-15 富士機械製造株式会社 Procédé permettant d'allouer des composants électroniques et système de montage de composants électroniques
EP3021653B1 (fr) * 2013-07-12 2019-09-11 FUJI Corporation Dispositif de montage de composant
US10617051B2 (en) * 2015-02-24 2020-04-07 Fuji Corporation Component mounter and component mounting method
EP3554206B1 (fr) 2016-12-06 2022-09-21 Fuji Corporation Procédé de montage de composant
JP6920548B2 (ja) * 2018-04-18 2021-08-18 ヤマハ発動機株式会社 部品認識装置、部品実装機および部品認識方法
JP7784361B2 (ja) * 2022-08-10 2025-12-11 ヤマハ発動機株式会社 部品実装装置及び部品の吸着状態検査方法

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JPH1075095A (ja) * 1996-08-29 1998-03-17 Sanyo Electric Co Ltd 電子部品自動装着装置及び電子部品の吸着方法
JP2002329999A (ja) * 2001-05-02 2002-11-15 Matsushita Electric Ind Co Ltd 電子部品装着装置及び方法、並びに電子部品装着用プログラム

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108886888A (zh) * 2016-03-29 2018-11-23 株式会社富士 电子元件安装机的动作确认装置
EP3439449A4 (fr) * 2016-03-29 2019-03-20 Fuji Corporation Dispositif de vérification du fonctionnement d'une machine à monter un composant électronique
CN108886888B (zh) * 2016-03-29 2020-06-05 株式会社富士 电子元件安装机的动作确认装置

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