CN107969102A - Erecting device and installation method - Google Patents
Erecting device and installation method Download PDFInfo
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- CN107969102A CN107969102A CN201710985351.6A CN201710985351A CN107969102A CN 107969102 A CN107969102 A CN 107969102A CN 201710985351 A CN201710985351 A CN 201710985351A CN 107969102 A CN107969102 A CN 107969102A
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- component
- vertical multi
- joint robot
- substrate
- erecting device
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
-
- 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
- H05K13/043—Feeding one by one by other means than belts
-
- 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
- H05K13/0495—Mounting of components, e.g. of leadless components having a plurality of work-stations
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Operations Research (AREA)
- Manipulator (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Automatic Assembly (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
The present invention can improve productive temp by simple and small-sized apparatus structure, and accurately be installed diversified component by vertical multi-joint robot.Component is configured to have to the erecting device that substrate is installed：Vertical multi-joint robot (20), component is delivered to the installation site of substrate by it from feedway (15)；Recognition unit (30), it is identified the shape of component during being conveyed by vertical multi-joint robot；1st calculating part (41), it calculates the holding position of vertical multi-joint robot relative to the departure of component according to component shape；And the 1st correction unit (42), its departure based on holding position, to being corrected relative to the installation action of component for vertical multi-joint robot.
Description
Technical field
The present invention relates to the erecting device and installation method to substrate installation portion part.
Background technology
In the past, as erecting device, it is known that have the conveyer for the planer-type for making mounting head be moved in X-direction and Y-direction
The erecting device of structure.In this kind of erecting device, the top of substrate is moved to from feeder pick-up part by suction nozzle, is passed through
Suction nozzle is dropped into the carrying point of substrate and component is installed.In erecting device as described above, draw for such as band
Special component as the component of line, it is difficult to installed to substrate, usually manually operation is installed on substrate.Therefore,
Cause to occur the polarity of component, direction the setup error such as are mistaken, and with actor strength difference and the activity duration
It is different.
Be also contemplated for substitution manual working and articulated robot be assembled in erecting device, but in articulated robot by
Then the revolution of arm is combined and component is installed, therefore, it is difficult to obtain sufficient precision.As solving as above institute
The erecting device for the problem of stating, it is proposed that following erecting devices, i.e. placed component temporarily by the 1st articulated robot
After placing workpiece and the posture to component temporarily and correcting, by the 2nd articulated robot by component to formal workpiece
Installed (for example, referring to patent document 1).According to the structure, the species regardless of component, can pass through multi-joint machine
Device people is installed component to formal workpiece with sufficient precision.
Patent document 1：International Publication No. 2015/029142
But can be by articulated robot by diversified component in the erecting device that patent document 1 is recorded
Automatically installed to substrate, but need to set the production line of interim placement in addition to the production line except installation, because
This apparatus structure becomes complicated, and larger-scale unit.Therefore, it is necessary to fully wide installation space, cause erecting device
Setting place is limited.Further, since in the interim placement action realized by the 1st articulated robot and pass through the 2nd multi-joint
Robot realize this 2 stage of installation action acted, therefore there are productive temp delay, production line cost to become higher so
The problem of.
The content of the invention
The present invention in view of the problem and propose, can pass through simple and small-sized dress its purpose is to provide a kind of
Put structure and improve productive temp, and the installation for accurately being installed diversified component by vertical multi-joint robot fills
Put and installation method.
The erecting device of the present invention is installed the component supplied from feedway to substrate, the feature of the erecting device
It is have：Vertical multi-joint robot, component is delivered to the installation site of substrate by it from the feedway；Identification is single
Member, it is identified the shape of component during being conveyed by the vertical multi-joint robot；1st calculates
Portion, it calculates the holding position of the vertical multi-joint robot relative to the departure of component according to component shape；
And the 1st correction unit, its departure based on holding position, to the installation action of the component of the vertical multi-joint robot into
Row correction.
The installation method of the present invention, the component supplied from feedway is installed to substrate, the spy of the installation method
Sign is there is following step：Component is delivered to the installation of substrate by vertical multi-joint robot from the feedway
Position；During being conveyed by the vertical multi-joint robot, the shape of component is carried out by recognition unit
Identification；The holding position of the vertical multi-joint robot is calculated relative to the departure of component according to component shape；
And the departure based on holding position, the installation action of the component of the vertical multi-joint robot is corrected.
According to these structures, the component that manually operation is installed in the past can be passed through vertical multi-joint robot
Installed to the installation site of substrate.In addition, based on the component shape identified in the course of conveying of component, to vertical more
The deviation of the holding position relative to component of articulated robot is corrected.Without component is temporarily placed temporarily, and energy
Installation accuracy is enough improved, therefore can accurately be installed component by this easy structure with recognition unit.
Further, since being installed by 1 production line to component, therefore larger-scale unit can will not be realized space saving
In above-mentioned erecting device, the vertical multi-joint robot is by robots arm and the hand linked with robots arm
Portion is formed, also, the hand has：Suction nozzle is adsorbed, it adsorbs component；And drive motor, it makes the absorption
Suction nozzle rotates.According to the structure, a part (section upper) for component is being adsorbed by adsorbing suction nozzle, even therefore
Also easily component can be installed the narrow position on substrate that may be interfered with miscellaneous part.
In above-mentioned erecting device, the recognition unit has：Illuminating part, it shines towards component；And light accepting part,
It is opposite with the illuminating part across component, by making between the illuminating part and the light accepting part by vertical more passes
The component that section robot is kept is rotated, so that component shape be identified according to the shading width of component.According to the knot
Structure, can determine member profile according to the change of shading width when rotating component, can be according to member profile and easy
Ground calculates the departure of the holding position relative to component.
In above-mentioned erecting device, have：Filming apparatus, its reference mark to substrate are shot；2nd calculates
Portion, its installation site to the vertical multi-joint robot is relative to the inclined of the target location on the basis of the reference mark
Residual quantity is calculated；And the 2nd correction unit, its departure based on installation site, to the phase of the vertical multi-joint robot
It is corrected for the installation action of component., can be by easy structure and to vertical multi-joint robot according to the structure
The deviation of the installation site relative to substrate be corrected.
In above-mentioned erecting device, multiple supplies that the vertical multi-joint robot from multilayer configures component fill
Put the installation site for being delivered to substrate.By the way that multiple feedways to be configured to narrow space, so as to realize installation dress
The space saving put.
The effect of invention
According to the present invention, during by vertical multi-joint robot transfer unit by recognition unit to component shape
Shape is identified, and thus, it is possible to improve productive temp by simple and small-sized apparatus structure, and passes through vertical multi-joint machine
People accurately installs diversified component.
Brief description of the drawings
Fig. 1 is the oblique view of the erecting device entirety of present embodiment.
Fig. 2 is the oblique view of the mounting head of present embodiment.
Fig. 3 is the control block diagram of the erecting device of present embodiment.
The explanatory drawin of correction process when Fig. 4 is the actual carrying of the component of present embodiment.
Fig. 5 is the explanatory drawin of the device of present embodiment adjustment processing when assembled.
Fig. 6 is the transition diagram for the installation action realized by the erecting device of present embodiment.
Fig. 7 is the flow chart that the installation realized by the erecting device of present embodiment controls.
The explanation of label
1 erecting device
15A-15C feeders (feedway)
20 vertical multi-joint robots
22 robots arms
24 hands
26 absorption suction nozzles
29 filming apparatus
30 recognition units
31 illuminating parts
32 light accepting parts
34 drive motors
41 the 1st calculating parts
42 the 1st correction units
43 the 2nd calculating parts
44 the 2nd correction units
50 components
M reference marks
W substrates
W1 tool substrates
Embodiment
In the following, referring to the drawings, the erecting device of present embodiment is illustrated.Fig. 1 is the installation dress of present embodiment
Put overall oblique view.Fig. 2 is the oblique view of the mounting head of the erecting device of present embodiment.In addition, the peace of present embodiment
An assembling device only example, can suitably change.
As shown in Figure 1, erecting device 1 is configured to, the component that will be supplied from various feeders (feedway) 15A-15C
Carried by the mounting surface of from vertical multi-joint robot 20 to substrate W.Conveying is configured with the base station 10 of erecting device 1
Portion 11, the operating area in the delivery section 11 towards the front of vertical multi-joint robot 20 convey substrate W.Delivery section 11
Transport path is formed by a pair of guide rails 12 and a pair of of conveyer belt (not shown), which draws
Lead, which sends out substrate W along a pair of guide rails 12.In addition, on base station 10, in vertical multi-joint robot 20
Rear is configured with radial direction feeder 15A, rod-type feeder 15B, bowl formula feeder 15C.
Radial direction feeder 15A be provided with by multiple radial components link for one row material containing band, by band conveying will
Radial component is sent to the take-off location of vertical multi-joint robot 20.Obliquely it is provided with to multiple in rod-type feeder 15B
The storehouse bar that chip part is housed, for the chip part skidded off from storehouse bar, is sent out chip part by band conveying
To the take-off location of vertical multi-joint robot 20.In bowl formula feeder 15C, multiple loose pieces are contained in bowl, are passed through
Vibrating transportation and the take-off location that loose piece is sent to vertical multi-joint robot 20.
Vertical multi-joint robot 20 is configured to, the 21 linking machine robot arm 22 of turntable on base station 10, in robot
Toggle (wrist) portion 23 of the front end of arm 22 is installed by hand 24.Turntable 21 can be rotatably provided with around vertical axis in base station 10,
Robots arm 22 is linked with turntable 21.Robots arm 22, which has, constructs multiple arms multi-joint connected to each other, in machine
The front end of device robot arm 22 is linked with hand 24 via elbow section 23.The rotation in each joint of vertical multi-joint robot 20 be by
What servomotor etc. was controlled, hand 24 is thus adjusted to desired position and posture.
As shown in Fig. 2, in hand 24, suction nozzle 26 is adsorbed in the installation of hand main body 25 linked with elbow section 23 (with reference to Fig. 1)
And form.Absorption suction nozzle 26 is supported in hand main body 25 via rotation axis 27, by rotation axis 27 in absorption suction nozzle 26
The θ directions of heart line are rotated.Rotation axis 27 links via transmission belt 33 with drive motor 34.Pass through drive motor 34
Driving and rotate absorption suction nozzle 26.In addition, attraction source (not shown) is connected with absorption suction nozzle 26, by coming self-gravitation source
Attraction and absorption holding is carried out to component.Bracket 28 is provided with filming apparatus 29 in hand main body 25, based on by clapping
Take the photograph the shooting images of reference mark such as the BOC marks that device 29 photographs and set coordinate system in substrate W.
Fig. 1 is back to, in vertical multi-joint robot 20, the component supplied from various feeder 15A-15C is by adsorbing
Suction nozzle 26 (with reference to Fig. 2) absorption is kept, from various feeder 15A-15C to the installation site transfer unit of substrate W.Hang down at this
The midway of the transport path of straight articulated robot 20 is provided with component shape is identified in the course of conveying of component
Recognition unit 30.Recognition unit 30 makes illuminating part 31 (with reference to Fig. 4 A) and light accepting part 32 (with reference to Fig. 4 A) opposite in the horizontal direction,
By light accepting part 32 to the luminous carry out light from illuminating part 31 towards component.At this time, according to illuminating part 31 and light accepting part 32 it
Between by vertical multi-joint robot 20 carry out rotating component shading width change and component shape is identified.
Central controlled control unit 40 is carried out to each portion of device in addition, being provided with erecting device 1.Control unit 40 by
Perform the composition such as processor, memory of various processing.Memory is according to purposes by ROM (Read Only Memory), RAM
The one or more such as (Random Access Memory) storage mediums are formed, control program to erecting device 1, for making peace
Assembling device 1 performs program of installation method etc. and is stored.In the erecting device 1 formed as described above, for such as band
The component of the lead component that so manually installation procedure is installed in the past, can also pass through vertical multi-joint robot 20
Installed to substrate W.
Further, since the amount of movement of short transverse is limited in the orthogonal robot of planer-type, therefore on passing through in the past
The special component that manual installation procedure is installed, carries out being mounted for mainstream by special machine.Since portion must be directed to
Each height, each classification of part and prepare special machine, therefore exist and need wide installation space and cost increase is so
The problem of.Therefore, in the erecting device 1 of present embodiment, by using vertical multi-joint robot 20, so as to height side
To stress is improved, and can be tackled by 1 erecting device 1 from common component to manually erector in the past
Large-scale component untill the special component that sequence is installed.
But revolution combination of actions of the vertical multi-joint robot 20 due to making turntable 21, robots arm 22, hand 24
And acted, therefore easily produce error compared with the linear action of orthogonal robot.Therefore, in this embodiment party
In the erecting device 1 of formula, in the actual carrying of component according to the component shape identified by recognition unit 30 and to vertical more
The absorption position of articulated robot 20 is corrected relative to the deviation of component.In addition, according to being photographed by filming apparatus 29
The reference mark of substrate W and the installation site of vertical multi-joint robot 20 is corrected.Thereby, it is possible to improve by vertical
The installation accuracy that articulated robot 20 is realized, diversified component is accurately installed to substrate W.
Also, the amount of movement increase of the short transverse due to vertical multi-joint robot 20, can pass through 1 installation
Device 1 tackles the feeder 15A-15C of highly different multiple species.In addition, on the base station 10 of erecting device 1, narrow
Space in multilayer be configured with radial direction feeder 15A and rod-type feeder 15B.Thus, by by multiple radial direction feeder 15A
And multiple rod-type feeder 15B are configured at the narrow space on base station 10, so as to realize the save space of erecting device 1
Change, the component that the taking-up multiple types of vertical multi-joint robot 20 can be passed through from the feeder 15A-15C of multiple types.
With reference to Fig. 3 to Fig. 5, the correction process to erecting device illustrates.Fig. 3 is the erecting device of present embodiment
Control block diagram.The explanatory drawin of correction process when Fig. 4 is the actual carrying of the component of present embodiment.Fig. 5 is present embodiment
Device it is when assembled adjustment processing explanatory drawin.
As shown in figure 3, being connected with vertical multi-joint robot 20 via robot controller 46 in control unit 40, pass through
Absorption suction nozzle 26 is connected with by θ axis motor 47.In addition, control unit 40 be connected with recognition unit 30, filming apparatus 29,
The various I/O 48 such as sensor, valve.Also, it is provided with control unit 40：1st calculating part 41, it is to vertical multi-joint machine
The departure during absorption of people 20 is calculated；1st correction unit 42, it is corrected the departure；2nd calculating part 43, its
According to the departure of device vertical multi-joint robot 20 when assembled and the reference mark of substrate W to vertical multi-joint machine
The installation site of people 20 is calculated；And the 2nd correction unit 44, it is corrected the departure.
It is if identifying component shape by recognition unit 30, the recognition result of component shape is defeated in erecting device 1
Go out to the 1st calculating part 41.In the 1st calculating part 41, the absorption position phase according to component shape to vertical multi-joint robot 20
Calculated for the departure of component, the departure of absorption position is exported to the 1st correction unit 42.In the 1st correction unit 42,
The controlled quentity controlled variable of robot controller 46 is corrected based on the departure of holding position, it is right via robot controller 46
The installation action of vertical multi-joint robot 20 is corrected.As described above, to being realized by vertical multi-joint robot 20
Absorption position is corrected relative to the position deviation of component.
In addition, the reference mark of substrate is shot in filming apparatus 29, by the coordinate on the basis of reference mark
System is exported to the 2nd calculating part 43.In the 2nd calculating part 43, to the installation site of vertical multi-joint robot 20 relative to base
The departure that fiducial mark is denoted as the target location of benchmark is calculated, and the departure of installation site is exported to the 2nd correction unit 44.
In 2nd correction unit 44, the controlled quentity controlled variable of robot controller 46 is corrected based on the departure of installation site, via robot
Controller 46 and the installation action of vertical multi-joint robot 20 is corrected.As described above, to passing through vertical multi-joint machine
The installation site that device people 20 realizes is corrected relative to the position deviation of substrate.
With the installation action of above-mentioned vertical multi-joint robot 20, via θ axis motor 47 to adsorbing suction nozzle 26
Direction be adjusted, and make to be opened and closed to the connected air pressure valve of absorption suction nozzle 26 by I/O 48.In addition, hanging down
In straight articulated robot 20, it can also make the direction of absorption suction nozzle 26 variable beyond vertical direction, therefore from control unit
40 to robot controller 46 beyond position coordinates (X, Y, Z), also to represent absorption suction nozzle 26 relative to the position coordinates
The angle (A, B, C) of direction indicated.Thereby, it is possible to the component to not arranged as such as loose piece into
Row picks up, or the tilted direction beyond vertical direction is installed component to substrate W.
As shown in Figure 4 A, in the correction process in actual boarded parts, by vertical multi-joint robot 20 (with reference to figure
1) component 50 is positioned between the illuminating part 31 and light accepting part 32 of recognition unit 30.By by illuminating part 31 towards component
50 shine, so that the component shape from a side direction during component 50 is projected as image to light accepting part 32.Pass through
Component 50 is rotated using suction nozzle 26 (with reference to Fig. 3) is adsorbed centered on absorption position P2, so as to project to the portion of light accepting part 32
The shading width of part 50 changes.Moreover, with being projected with the rotation angle of component 50 and each rotation angle to light accepting part 32
Shading width accordingly, obtains the component shape of component 50, and obtains the center P1 of component 50.
In more detail, as shown in Figure 4 B, the shading width projected according to each rotation angle with component 50
Both ends, are obtaining the set of the tangent line of outer surface relative to component, that is, are getting lines crossed.In this case, by just as recognition unit 30
Rotating image is carried out around component 50 and is depicted and is got lines crossed.As shown in Figure 4 C, component shape is obtained according to getting lines crossed, to from rotation
Center P1, angle, the width for the component shape that center (absorption position P2) is observed are calculated.Moreover, obtain component
50 relative to absorption position P2 center P1, obtain the absorption position P2 phases of vertical multi-joint robot 20 (with reference to Fig. 1)
For the departure Δ L1 of component 50.
Thus, by the departure Δ L1 of absorption position P2 to vertical multi-joint robot 20 (with reference to Fig. 1) relative to
The installation site of substrate is corrected, and eliminates the position deviation during absorption caused by vertical multi-joint robot 20.Specifically
Say, from the position coordinates for the installation site specified from control unit 40 (with reference to Fig. 3) to robot controller 46 (with reference to Fig. 3)
(X, Y, Z) is risen with the departure Δ L1 (Δ L1x, Δ L1y, Δ L1z) of holding position into line displacement.In addition, recognition unit 30 can
To be configured to send LED light by light accepting part 32 to LED light progress light from illuminating part 31, can also be configured to from illuminating part 31
Send laser and light is carried out to laser by light accepting part 32.
As shown in figure 5, in device adjustment processing when assembled, by vertical multi-joint robot 20 in tool substrate W1
The surface of reference mark M filming apparatus 29 is positioned.Reference mark M is clapped by using filming apparatus 29
Take the photograph, so that coordinate system of the setting on the basis of reference mark M on tool substrate W1.Moreover, obtain in tool substrate W1 institutes
Departure when making the vertical multi-joint robot 20 be moved to installation site in the coordinate system of setting, i.e., by tool substrate W1
Installation site when being set to target location P3, the installation site P4 of vertical multi-joint robot 20 is relative to the inclined of target location P3
Residual quantity Δ L2.
Thus, school is carried out to the installation site of vertical multi-joint robot 20 by the departure Δ L2 of installation site P4
Just, the position deviation during installation caused by vertical multi-joint robot 20 is eliminated.Specifically, from by (the ginseng of control unit 40
According to Fig. 3) position coordinates (X, Y, Z) of installation site specified to robot controller 46 (with reference to Fig. 3) risen with installation site
Departure (Δ L2x, Δ L2y, Δ L2z) is into line displacement.In addition, in the present embodiment, it is configured to by using filming apparatus
The reference mark M of 29 couples of tool substrate W1 is shot, so as to be closed to the position of reference mark M and vertical multi-joint robot 20
System is measured, but can also be configured to be measured position relationship using 3-dimensional analyzer.
For example, being set to that practically installing component passes through 3-dimensional on the tool substrate W1 by vertical multi-joint robot 20
Analyzer is measured component.By being measured to the position deviation amount of the component on tool substrate W1, so as to right
The position deviation of the installation site of vertical multi-joint robot 20 is corrected.In addition, at the correction relative to installation site
In reason, tool substrate W1 can be divided into multiple (for example, 10 × 10) regions, position departure is counted for each region
Calculate.As described above, on the basis of the offset of departure Δ L1 in the actual carrying obtained by laser identification part 30, tool
There is the offset of the device departure Δ L2 when assembled obtained by filming apparatus 29,3-dimensional analyzer, which thereby enhance vertical
The precision of the installation action of articulated robot 20.
Next, with reference to Fig. 6, the installation action realized by erecting device is illustrated.Fig. 6 is present embodiment
The transition diagram of installation action.In addition, in figure 6, be set in advance adjust device departure when assembled, explanation will be from
The situation that the component of radial direction feeder supply is installed by erecting device.
As shown in Figure 6A, in a manner of misaligned by the supply position of multiple radial direction feeder 15A, the multilayer on base station 10
It is configured with multiple radial direction feeder 15A.If by the radial direction feeder 15A of the top to supply position submitting component 50,
Each arm of vertical multi-joint robot 20 turns round and absorption suction nozzle 26 is positioned in the surface of supply position.By adsorbing
The front end of suction nozzle 26 and the upper surface of component 50, absorption holding is carried out by adsorbing suction nozzle 26 to component 50.If pass through
Absorption suction nozzle 26 adsorbs component 50, then is lifted component 50 by vertical multi-joint robot 20, by vertical more
Articulated robot 20 is conveyed component 50 towards substrate W.
As shown in Figure 6B, if by vertical multi-joint robot 20 start component 50 conveying, absorption suction nozzle 26 to
Moved in the recognition unit 30 that conveying midway is set.Between the illuminating part 31 and light accepting part 32 of recognition unit 30 to component 50 into
Row positioning, illuminating part 31 shine towards component 50 and are identified by shading width of the light accepting part 32 to component 50.At this time, pass through
Absorption suction nozzle 26 pivots about component 50 with absorption position, is projected according to each rotation angle to light accepting part 32
Shading width and component shape is identified.Moreover, absorption position is carried out relative to the departure at the center of component 50
Calculate, conveyed the installation site of component 50 towards substrate W by vertical multi-joint robot 20.
As shown in Figure 6 C, if absorption suction nozzle 26 is moved to the top of substrate W, the position deviation amount based on absorption position
The shift position of vertical multi-joint robot 20 is corrected.Thereby, it is possible to that will be returned due to vertical multi-joint robot 20
Turn combination of actions acted caused by position deviation be corrected, can be in the surface of the installation site of substrate W to portion
Part 50 is accurately positioned.Then, absorption suction nozzle 26 declines and component 50 is pacified to the installation site on substrate W
Dress.At this time, a part (section upper) for component 50 is being adsorbed by adsorbing suction nozzle 26, even therefore may be with it
The narrow position on substrate W that his component interferes easily can also install component 50.
Next, with reference to Fig. 7, installation control is illustrated.Fig. 7 is realized by the erecting device of present embodiment
The flow chart of control is installed.In addition, in the figure 7, be set in advance adjust device departure when assembled, it is single in control
Installation site after member setting correction.In addition, for convenience of description, it is appropriate to use the label of Fig. 3 and Fig. 6 and illustrate.
As shown in fig. 7, the mobile destination for adsorbing suction nozzle 26 is appointed as to the supply of feeder 15 by control unit 40
The assigned position (PICK_X, PICK_Y, Z0) (step S01) of the top of position.At this time, the direction for adsorbing suction nozzle 26 is designated
To be appointed as absorption angle, θ towards the rotation angle of the direction of underface (A0, B0, C0), absorption suction nozzle 26.If next,
Absorption suction nozzle 26 is moved to the top of the supply position of feeder 15, then adsorbs suction nozzle 26 and drop to what is specified by control unit 40
Absorption height (PICK_X, PICK_Y, PICK_Z1), adsorbs front end and the component contact (step S02) of suction nozzle 26.
Next, absorption suction nozzle 26 drop to specified by control unit 40 press-in height (PICK_X, PICK_Y,
PICK_Z2), absorption holding (step S03) is carried out to component by absorption suction nozzle 26.Next, component is carried by absorption suction nozzle 26
Rise to the top of the supply position of feeder 15, absorption suction nozzle 26 and be moved to the knowledge for the recognition unit 30 specified by control unit 40
The assigned position (LAS_X, LAS_Y, Z0) (step S04) of the top of other position.Next, absorption suction nozzle 26 is dropped to by controlling
Identification that unit 40 processed is specified height (LAS_X, LAS_Y, LAS_Z) and component shape is identified (step S05).
Next, the center of component is obtained based on component shape, the centre bit to absorption position relative to component
The departure Δ L1 (Δ L1x, Δ L1y, Δ L1z) put is calculated (step S06).Next, it is based on by control unit 40 inclined
Residual quantity Δ L1 and installation site is corrected, absorption suction nozzle 26 be moved to correction after installation site top assigned position
(PLACE_X, PLACE_Y, Z0) (step S07).At this time, by control unit 40 in a manner of adsorbing suction nozzle 26 towards underface
The direction (A0, B0, C0) for adsorbing suction nozzle 26 is adjusted, the rotation angle of absorption suction nozzle 26 is adjusted to setting angle θ.
Next, if absorption suction nozzle 26 is moved to the top of the installation site of feeder 15, by under absorption suction nozzle 26
It is down to the setting height(from bottom) (PLACE_X, PLACE_Y, PLACE_Z1) specified by control unit 40, the lower surface of component and base
The upper surface (step S08) of plate W.Next, absorption suction nozzle 26 drops to the press-in height specified by control unit 40
(PLACE_X, PLACE_Y, PLACE_Z2), (step is installed from absorption suction nozzle 26 by the installation site of from component to substrate W
Rapid S09).Then, absorption suction nozzle 26 is moved to the top of feeder 15, repeats the processing from step S01 to step S09.
As previously discussed, the erecting device 1 of present embodiment can will be such as conventional by vertical multi-joint robot 20
Installed from the installation site of from the component that manual working is installed to substrate W.In addition, based in the course of conveying of component
The component shape identified, is corrected the deviation of the holding position relative to component of vertical multi-joint robot 20.Energy
Installation accuracy is enough improved without component is temporarily placed temporarily, therefore can be by this simple with recognition unit 30
Structure component is accurately installed.Further, since being installed by 1 production line to component, therefore will can not fill
Put maximization and realize space saving.
In addition, in the present embodiment, radial component that component is not limited to be supplied by radial direction feeder, supplied by rod-type
The chip part supplied to device and bowl formula feeder.Component can be other electronic units such as axial members, as long as can be to base
Plate is installed, then is not particularly limited to electronic unit etc..
In addition, in the present embodiment, as feedway, it is illustrated radial direction feeder, rod-type feeder, bowl formula and supplies
To device but it is also possible to be other feeders such as belt-type feeder, bulk cargo feeders.In addition, feeder is not limited to, can also
It is the supply by realizations such as pallets.That is, feedway is the concept for not only including pallet etc. comprising feeder, also.
In addition, in the present embodiment, as long as substrate can carry the structure of various parts, it is not limited to print
Brush substrate or the flexible base board loaded on carried base board.
In addition, in the present embodiment, as long as recognition unit can conveyed by vertical multi-joint robot
During component shape is identified, for example, can be according to the shooting shot by filming apparatus to component
Component shape is identified in image.It is arranged in addition, being configured to recognition unit on base station, but is not limited to the structure.
Recognition unit can be arranged to the front end of vertical multi-joint robot, improve productive temp.
In addition, in the present embodiment, it is configured to by the 1st calculating part to the holding position of vertical multi-joint robot
Departure is calculated, and the departure of the installation site of vertical multi-joint robot is calculated by the 2nd calculating part, but simultaneously
It is not limited to the structure.Can also be the departure and peace by single calculating part to the holding position of vertical multi-joint robot
The departure of holding position is calculated.
In addition, in the present embodiment, it is configured to by the 1st correction unit to the holding position of vertical multi-joint robot
Deviation is corrected, and the deviation of the installation site of vertical multi-joint robot is corrected by the 2nd correction unit, but and unlimited
Due to the structure.Can also be by single correction unit to the deviation of the holding position of vertical multi-joint robot and installation site
Deviation is corrected.
In addition, in the present embodiment, it is configured to the deviation to the holding position of vertical multi-joint robot and installation position
The deviation put is corrected, but only any one can also be corrected.
In addition, in the present embodiment, radial direction feeder and part feeder configure with distinguishing multilayer, but are not limited to
The structure.Radial direction feeder and part feeder configure in which may not be multilayer.
In addition, in the present embodiment, being configured to vertical multi-joint robot has absorption suction nozzle, but is not limited to this
Structure.Vertical multi-joint robot is as long as there is the maintaining part that can be kept to component, for example, it is also possible to folder
Hold suction nozzle.
In addition, embodiments of the present invention and variation are illustrated, but as the other embodiment of the present invention,
The above embodiment and variation can also globally or locally be combined.
In addition, embodiments of the present invention are not limited to above-mentioned embodiment and variation, this can not departed from
Make various changes, replace, deform in the main scope of the technological thought of invention.And, if it is possible to pass through the progress of technology
Or derivative other technologies and otherwise realize the technological thought of the present invention, then can also use this method and implement this
Invention.Therefore, claims cover the whole embodiments that can be included in the range of the technological thought of the present invention.
In addition, in the present embodiment, the structure for applying the present invention to erecting device is illustrated, but also can
Applied to productive temp can be improved by simple and small-sized apparatus structure, and will be varied by vertical multi-joint robot
Other devices for accurately installing of component.
Also, in the above-described embodiment, erecting device is installed the component supplied from feeder to substrate, the peace
Assembling device is characterized in that having：Vertical multi-joint robot, component is delivered to the installation site of substrate by it from feeder；
Recognition unit, it is identified the shape of component during being conveyed by vertical multi-joint robot；1st calculates
Portion, it calculates the holding position of vertical multi-joint robot relative to the departure of component according to component shape；And
1st correction unit, its departure based on holding position, carries out the installation action relative to component of vertical multi-joint robot
Correction.According to the structure, can by manually operation is installed in the past component by vertical multi-joint robot to base
The installation site of plate is installed.In addition, based on the component shape identified in the course of conveying of component, to vertical multi-joint
The deviation of the holding position relative to component of robot is corrected.Without component is temporarily placed temporarily, it becomes possible to carry
High installation accuracy, therefore can be by accurately installing component with this easy structure of recognition unit.Further, since
Component is installed by 1 production line, therefore larger-scale unit can not realized into space saving.
Industrial applicibility
As described above, the present invention has following effects, i.e. can be improved by simple and small-sized apparatus structure
Productive temp, and accurately being installed diversified component by vertical multi-joint robot, especially, suitable for by band
The erecting device and installation method that radial component of lead etc. is installed to substrate.
Claims (6)
1. a kind of erecting device, it is installed the component supplied from feedway to substrate,
The erecting device is characterized in that having：
Vertical multi-joint robot, component is delivered to the installation site of substrate by it from the feedway；
Recognition unit, it knows the shape of component during being conveyed by the vertical multi-joint robot
Not；
1st calculating part, its deviation according to component shape to the holding position of the vertical multi-joint robot relative to component
Amount is calculated；And
1st correction unit, its departure based on holding position, to the installation action of the component of the vertical multi-joint robot into
Row correction.
2. erecting device according to claim 1, it is characterised in that
The vertical multi-joint robot is made of robots arm and the hand linked with robots arm, also,
The hand has：Suction nozzle is adsorbed, it adsorbs component；And drive motor, it rotates the absorption suction nozzle.
3. erecting device according to claim 1, it is characterised in that
The recognition unit has：Illuminating part, it shines towards component；And light accepting part, it shines across component with described
Portion is opposite, is carried out by the component for making to be kept by the vertical multi-joint robot between the illuminating part and the light accepting part
Rotation, is identified component shape according to the shading width of component.
4. erecting device according to any one of claim 1 to 3, it is characterised in that
Have：
Filming apparatus, its reference mark to substrate are shot；
2nd calculating part, its installation site to the vertical multi-joint robot is relative on the basis of the reference mark
The departure of target location is calculated；And
2nd correction unit, its departure based on installation site, the installation relative to component to the vertical multi-joint robot
Action is corrected.
5. erecting device according to any one of claim 1 to 3, it is characterised in that
Multiple feedways that the vertical multi-joint robot from multilayer configures component are delivered to the installation site of substrate.
6. a kind of installation method, it is installed the component supplied from feedway to substrate,
The installation method is characterized in that thering is following step：
Component is delivered to the installation site of substrate by vertical multi-joint robot from the feedway；
During being conveyed by the vertical multi-joint robot, the shape of component is known by recognition unit
Not；
The holding position of the vertical multi-joint robot is calculated relative to the departure of component according to component shape；With
And
Departure based on holding position, is corrected the installation action of the component of the vertical multi-joint robot.
Applications Claiming Priority (2)
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|---|---|---|---|
| JP2016-206019 | 2016-10-20 | ||
| JP2016206019A JP2018067658A (en) | 2016-10-20 | 2016-10-20 | Mounting device and mounting method |
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| Publication Number | Publication Date |
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| CN107969102A true CN107969102A (en) | 2018-04-27 |
| CN107969102B CN107969102B (en) | 2021-07-30 |
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| CN (1) | CN107969102B (en) |
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| CN110573001A (en) * | 2018-06-05 | 2019-12-13 | Juki株式会社 | Substrate assembling device |
| CN110708946A (en) * | 2018-07-09 | 2020-01-17 | Juki株式会社 | Mounting device and mounting method |
| WO2020186406A1 (en) * | 2019-03-15 | 2020-09-24 | 深圳市大疆创新科技有限公司 | Self-correcting method for mounting angle of sensor, sensor, and mobile device |
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| WO2018163323A1 (en) * | 2017-03-08 | 2018-09-13 | 株式会社Ｆｕｊｉ | Three-dimensional mounting-related device |
| CN116494254B (en) * | 2023-06-28 | 2023-08-25 | 佛山隆深机器人有限公司 | Industrial robot position correction method and industrial robot |
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Also Published As
| Publication number | Publication date |
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| CN107969102B (en) | 2021-07-30 |
| JP2018067658A (en) | 2018-04-26 |
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