JPS6257281A - Part position recognition equipment for part mounting machine - Google Patents
Part position recognition equipment for part mounting machineInfo
- Publication number
- JPS6257281A JPS6257281A JP60198018A JP19801885A JPS6257281A JP S6257281 A JPS6257281 A JP S6257281A JP 60198018 A JP60198018 A JP 60198018A JP 19801885 A JP19801885 A JP 19801885A JP S6257281 A JPS6257281 A JP S6257281A
- Authority
- JP
- Japan
- Prior art keywords
- component
- suction nozzle
- image
- diffused reflection
- input device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Automatic Assembly (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
産業上の利用分野
本発明はチップ型抵抗、チップ型積層コンデンサなどの
電子部品を、電子回路を構成する基板上に自動装着する
部品装着機においで、装着へラドにピックアップされて
いる電子部品の位置認識を画像入力装置によって行う部
品位置認識装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is a component mounting machine that automatically mounts electronic components such as chip resistors and chip multilayer capacitors onto a substrate constituting an electronic circuit. The present invention relates to a component position recognition device that recognizes the position of a picked-up electronic component using an image input device.
従来の技術
部品装着機において従来用いられている部品位置認識装
置として第７図に示すものがある。この従来例は、装着
ヘッドの吸着７ズルａに光ファイバーを備えたリング型
照明具すが取付けられ、このリング型照明具すから照射
される光線によって得られる部品Ｃの影像がテレビカメ
ラなどの画像入力装置ｄに入力されるようになっている
。There is a device shown in FIG. 7 as a component position recognition device conventionally used in a conventional component placement machine. In this conventional example, a ring-shaped lighting fixture equipped with an optical fiber is attached to the suction 7z (a) of the mounting head, and the image of the component C obtained by the light rays emitted from this ring-shaped lighting fixture is used as an image on a television camera, etc. The information is input to input device d.
また、本出願人は先に吸着ノズルに反射鏡を取付け、こ
れに照明共から光線を照射してその反射光によって得ら
れる前記部品の影像を画像入力装置に入力するようにし
たもの、さらに吸着ノズルに乱反射照明体を取付け、こ
れに照明共から光線を照射してその散乱光によって得ら
れる前記部品の影像を画像入力装置に入力するようにし
たものも提案している。In addition, the present applicant has proposed a device in which a reflecting mirror is first attached to the suction nozzle, a light beam is irradiated from a lighting device to this mirror, and an image of the part obtained by the reflected light is inputted to an image input device. It has also been proposed that a diffused reflection illumination body is attached to the nozzle, a light beam is irradiated from both the illumination source to the nozzle, and an image of the component obtained by the scattered light is inputted to an image input device.
発明が解決しようとする間８１１゜
しかしながら、リング型照明具ｌ〕を吸着ノズルａに取
付けたものはその重量分吸着ノズルａが重くなり、装着
ヘッドの高速化を困難にするという問題があった。811゜However, when the ring-shaped lighting fixture l] was attached to the suction nozzle a, the suction nozzle a became heavier by its weight, making it difficult to increase the speed of the mounting head. .
また反射鏡を取付けたものは、比較的軽量であるため重
量上の問題は軽減されるが、照明具からの全反射光を用
いるので部品に対する照射光に場所によって明暗ムラを
生じ、良い画像が得られないという問題があり、特に、
例えば−辺が４０ ＋ｎ＋＋＋程度もある大型の部品に
適用できるようにした場合は反射鏡の重量が問題になる
とともに明暗ムラがさらに大きくなって認識率が悪くな
るという問題がある。In addition, products with a reflector attached are relatively lightweight, which alleviates the weight problem, but since they use total internal reflection from the lighting equipment, the light irradiated onto the parts may have uneven brightness and darkness depending on the location, resulting in poor images. There is a problem that it is not possible to obtain
For example, if the method is to be applied to a large component with a negative side of about 40 +n+++, the weight of the reflecting mirror becomes a problem, and the unevenness in brightness becomes even larger, resulting in a poor recognition rate.
さらに乱反射照明体を取付けたものは散乱光で部品を照
明するので明暗ムラは解消されるが、大型部品に適用し
うるような大型の乱反射照明体を設けると重量が大きく
なって高速化が困難になるという問題がある。また、装
着ヘッドに複数の吸着ノズルを備えている部品装着機に
おいては、乱反射照明体を大型化すると、吸着ノズル間
のピッチを大きくせざるを得ず、それだけ装着ヘッドが
大きくなるという問題も生ずることになる。Furthermore, when a diffused reflection illuminator is attached, parts are illuminated with scattered light, which eliminates uneven brightness, but if a large diffused reflection illuminator that can be applied to large parts is installed, the weight increases, making it difficult to increase speed. There is a problem with becoming. In addition, in a component placement machine where the placement head is equipped with multiple suction nozzles, if the diffused reflection illumination body is made larger, the pitch between the suction nozzles must be increased, which causes the problem that the placement head becomes larger accordingly. It turns out.
本発明は上記問題点を解消することを目的とするもので
ある。The present invention aims to solve the above problems.
問題点を解決するための手段
本発明は上記目的を達成するため、装着ヘッドの吸着ノ
ズルにピックアップされている部品の位置認識を画像入
力装置によって行う部品装着機における部品位置認識装
置においで、吸Ｎ／ズルにピックアップされている部品
に散乱光を照射して部品の影像を画像入力装置に投影す
る乱反射照明体を、吸着ノズルとは別体に構成するとと
もに複数に分割して吸着ノズル周囲の影像の投射に適し
た位置と吸着ノズルから離間して退避した位置との間で
移動可能としたことを特徴とする。Means for Solving the Problems In order to achieve the above object, the present invention provides a component position recognition device in a component placement machine that uses an image input device to recognize the position of a component picked up by a suction nozzle of a placement head. The diffused reflection illumination body that irradiates scattered light onto the component being picked up by the nozzle and projects an image of the component onto the image input device is constructed separately from the suction nozzle and is divided into multiple pieces to illuminate the area around the suction nozzle. It is characterized by being movable between a position suitable for projecting an image and a retracted position away from the suction nozzle.
作用
本発明は上記した構成を有するので、乱反射照明体が別
体となっていることにより吸着ノズルを軽量化でき、か
つ部品の位置認識を行うときには乱反射照明体を吸着ノ
ズル周囲の影像の投射に適した位置に位置させることに
よりムラのない散乱光による部品の影像を画像入力装置
に入力させることができ、位置認識が終了すると乱反射
照明体を吸着ノズルから退避した位置に移動させること
によって装着ヘッドを高速で移動させて能率的に部品装
着が可能となる。Function Since the present invention has the above-described configuration, the suction nozzle can be made lighter because the diffused reflection illumination body is a separate body, and when recognizing the position of a component, the diffused reflection illumination body can be used to project an image around the suction nozzle. By positioning it at an appropriate position, an image of the component created by even scattered light can be input to the image input device, and once position recognition is completed, the diffused reflection illuminator is moved to a position away from the suction nozzle, and the mounting head is can be moved at high speed and parts can be mounted efficiently.
実施例
以下、本発明の実施例について、第１図〜第６図を参照
しながら説明する。EXAMPLES Hereinafter, examples of the present invention will be described with reference to FIGS. 1 to 6.
第３図及び第４図に電子部品装着機の全体構成を示して
いる。１は部品供給部で、多数の部品供給カセット２が
並列配置されるとともにその並列方向に全体が移動可能
に構成されている。各部品供給カセット２は、−列状に
多数個の電子部品を収容したテープ状電子部品集合体を
保持しでおり、部品取出位置にある電子部品を装着ヘッ
ド３の吸着ノズル４で吸着して取り出す毎に電子部品を
間欠的に送り出すように構成されている。3 and 4 show the overall configuration of the electronic component mounting machine. Reference numeral 1 denotes a component supply section, in which a large number of component supply cassettes 2 are arranged in parallel, and the whole is configured to be movable in the direction of the parallel arrangement. Each component supply cassette 2 holds a tape-shaped electronic component assembly containing a large number of electronic components in a row, and the electronic components at the component extraction position are sucked by the suction nozzle 4 of the mounting head 3. It is configured to intermittently send out electronic components each time they are taken out.
前記装着へラド３には、電子部品の大３さや形状等に対
応できるように複数の吸着ノズル４が昇降可能に設置さ
れ、かつ装着ヘッド３を回転させることによって所望の
吸着ノズル４を動作位置に位置させ得るように構成され
ている。A plurality of suction nozzles 4 are installed in the mounting head 3 so as to be movable up and down in order to accommodate the size and shape of electronic components, and by rotating the mounting head 3, the desired suction nozzles 4 can be moved to the operating position. It is configured so that it can be located at
このような構成の装着ヘッド３が回転テーブル５の外周
部に周方向に等間隔おきに複数配設され、その配置間隔
毎に回転テーブルが間欠回転するように構成されでおり
、装着ヘッド３が回転テーブル５の間欠回転に伴って部
品取出位置Ａ、部品規制位ＮＢ、部品認識位置Ｃ１部品
姿勢調整位置Ｄ、部品装着位置Ｅ、吸着ノズル選択位置
Ｆ等の各位置を経て循環するようになされている。こう
して、前記部品取出位置Ａで吸着ノズル４を下降させて
部品供給カセット２から部品を取り出し、部品規制位置
Ｂで吸着した部品の位置を規制し、部品認識付１ｃで部
品位置認識装置６にて部品の位置を検出し、部品姿勢調
整位置りで回転装置７にて吸着ノズル４を回転させて部
品の姿勢を調整し、部品装着位置Ｅで水平方向の二方向
に移動可能に構成された移動テーブル８上に設置された
基板９の上に吸着ノズル４を下降させて部品を装着し、
吸着ノズル選択位置Ｆで駆動装置１０にて装着ヘッド３
を回転させて所望の吸着ノズル４が動作位置となるよう
に吸着ノズルの切り替えが行なわれるのである。A plurality of mounting heads 3 having such a configuration are arranged on the outer periphery of the rotary table 5 at equal intervals in the circumferential direction, and the rotary table is configured to rotate intermittently at each arrangement interval. As the rotary table 5 rotates intermittently, it circulates through various positions such as a component extraction position A, a component regulation position NB, a component recognition position C1, a component attitude adjustment position D, a component mounting position E, and a suction nozzle selection position F. ing. In this way, the suction nozzle 4 is lowered at the component extraction position A to take out the component from the component supply cassette 2, the position of the suctioned component is regulated at the component regulation position B, and the component position recognition device 6 is operated by the component recognition device 1c. The position of the component is detected, the rotation device 7 rotates the suction nozzle 4 at the component orientation adjustment position to adjust the orientation of the component, and the component mounting position E is configured to be movable in two horizontal directions. The suction nozzle 4 is lowered onto the board 9 placed on the table 8 to mount the component.
The mounting head 3 is moved by the drive device 10 at the suction nozzle selection position F.
The suction nozzles are switched by rotating the suction nozzle 4 so that the desired suction nozzle 4 is in the operating position.
次に、上記部品認識位置Ｃにおける部品位置認識装置６
の構成を第１図及び第２図により説明する。前記吸着ノ
ズル４の下端部の周囲に、内部で乱反射して散乱光を生
ずるポリアセクール樹脂（デュポン社商標「ジュラコン
」）などの材料からなる内外周面が円錐面からなる円錐
板状の乱反射照明体１１が配設されている。この乱反射
照明体１１は、その軸心を通る平面で二分割され、第１
図に矢印で示すようにそれぞれ斜め上方に退避移動可能
に構成されて、吸着７ズル４の周囲に外ノ茨しで影像の
投射に適した位置と吸着ノズル４から離間して退避した
位１６との間で移動し得るようにされている。また、こ
の乱反射照明体１１の外周面は粗面にされ、乱反射面に
形成されている。この乱反射照明体１１の周囲には、こ
の乱反射照明体に向かって光線を照射する光ファイバー
等を用いた照明具１２が複数個、適当間隔置きに配設さ
れ、照明具１２から照射された光線が乱反射照明体１１
の外周面及び内部で乱反射して生じた散乱光が吸着７ズ
ル４に吸着された部品１３に照射され、その影像が画像
入力装置１４に入力するように配置されている。また、
前記照明具１２はその直接光及びその部品１３による反
射光が画像入力装置１４に入力しないように配置されて
いる。画像入力装置１４はテレビジョンカメラを利用し
て、入力された前記部品１３の影像の水平面上における
位置を正確に認識できるように構成されている。Next, the component position recognition device 6 at the component recognition position C
The configuration will be explained with reference to FIGS. 1 and 2. Around the lower end of the suction nozzle 4, there is a conical plate-shaped diffused reflection illumination body whose inner and outer circumferential surfaces are conical surfaces and is made of a material such as polyacecool resin (Duracon, a trademark of DuPont), which diffusely reflects internally to produce scattered light. 11 are arranged. This diffusely reflecting illumination body 11 is divided into two by a plane passing through its axis, and a first
As shown by the arrows in the figure, each is configured to be retractable diagonally upward, and has outer thorns around the suction nozzle 4 to a position suitable for projecting an image and a position 16 that is retracted away from the suction nozzle 4. It is possible to move between. Further, the outer circumferential surface of the diffusely reflecting illumination body 11 is made rough and formed into a diffusely reflecting surface. A plurality of illumination devices 12 using optical fibers or the like are arranged around the diffused reflection illumination object 11 and are spaced at appropriate intervals to emit light rays toward the diffused reflection illumination object. Diffuse reflection illumination body 11
Scattered light generated by diffuse reflection on the outer peripheral surface and inside of the suction device 7 is irradiated onto the component 13 adsorbed by the suction nozzle 4, and the image is inputted to the image input device 14. Also,
The lighting device 12 is arranged so that its direct light and the light reflected by the component 13 are not input to the image input device 14. The image input device 14 is configured to use a television camera to accurately recognize the position of the inputted image of the component 13 on a horizontal plane.
さらにこの画像入力装置１４は、その認識領域より大き
い部品１３の位置も認識できるように、第１図に矢印で
示す如く水平方向の互いに直交する二方向（Ｘ方向及び
Ｙ方向）に移動可能に構成されている。Furthermore, this image input device 14 is movable in two horizontal directions (X direction and Y direction) that are orthogonal to each other, as shown by arrows in FIG. It is configured.
以上の構成によると、照明具１２から照射された光線が
乱反射照明体１１内に入射して乱反射し、また一部の光
線は乱反射照明体１１の表面で乱反射し、それらの散乱
光によって生じた部品１３の影像が画像入力装置１４に
入力され、コントラストのある良好な影像により部品１
３の位置が確実に認識される。部品１３の位置認識が終
わると、乱反射照明体１１はその退避位置に移動し、回
転テーブル５が間欠回転する。次の部品１３が吸着ノズ
ル４に吸着されて部品認識位置に米ると、乱反射照明体
１１が照射に適した位置に復帰し、以下上記動作が繰り
返される。このように、吸着ノズル４とは別体に、分割
されて退避移動可能な乱反射照明体１１を設けることに
より、大きな部品１３に対応できるように大型の乱反射
照明体１１を用いた場合にも吸着ノズル４の重量が大き
くなることはなく、部品装着の高速化が可能となる。According to the above configuration, the light rays emitted from the lighting fixture 12 enter the diffusely reflecting illuminating body 11 and are diffusely reflected, and some of the light rays are diffusely reflected on the surface of the diffusely reflecting illuminating body 11, and the light generated by these scattered lights. The image of the part 13 is input to the image input device 14, and the image with good contrast allows the part 1 to be
3 position is reliably recognized. When the recognition of the position of the component 13 is completed, the diffused reflection illumination body 11 moves to its retracted position, and the rotary table 5 rotates intermittently. When the next component 13 is suctioned by the suction nozzle 4 and placed at the component recognition position, the diffuse reflection illumination body 11 returns to a position suitable for irradiation, and the above operation is repeated thereafter. In this way, by providing the diffused reflection illumination body 11 that can be divided and moved away separately from the suction nozzle 4, the suction can be performed even when a large diffused reflection illumination body 11 is used so that it can handle large parts 13. The weight of the nozzle 4 does not increase, and parts can be mounted at high speed.
また、画像入力装置１４を移動可能にすることによって
小さな認識領域を持った安価な装置で、大きな部品の位
置を認識することが可能である。Furthermore, by making the image input device 14 movable, it is possible to recognize the position of a large component with an inexpensive device having a small recognition area.
前記乱反射照明体１１としては、上記ポリアセタール樹
脂やポリアミド樹脂（「ナイロン」）、ポリプロピレン
樹脂などのように散乱光を生ずる樹脂や、透明樹脂やガ
ラスなどの透明体に充填材を混合して散乱光を生ずるよ
うにしたもの等を用いることができる他、反射面に梨地
処理を施して乱反射面を形成した反射鏡なども用いるこ
とができる。The diffused reflection illumination body 11 may be made of a resin that generates scattered light such as the polyacetal resin, polyamide resin ("nylon"), or polypropylene resin, or a transparent material such as transparent resin or glass mixed with a filler to produce scattered light. In addition to using a reflector that produces a diffused reflection surface, it is also possible to use a reflector whose reflective surface is subjected to a satin finish to form a diffused reflection surface.
また、上記実施例では吸着ノズル４とは別体に、分割し
て移動可能に構成した乱反射照明体１１のみを配設した
ものを例示したが、第５図及び第６図に示すように、吸
着ノズル４の下端部に小さな乱反射照明体１５を取付け
ておいでもよい。このように構成すると、第５図に示す
ように大きな部品１３の位置を認識する場合は上記と同
様に乱反射照明体１１から照射される散乱光を利用し、
一方第６図に示すように部品が小さい場合には、乱反射
照明体１１の内周部からの光線が部品１３に的確に照射
されない虞れがあるため、乱反射照明体１１は退避移動
させておいて、吸着ノズル４に取付けられた小さな乱反
射照明体１５から散乱光を照射することによって適正な
影像を形成することが可能となる。Further, in the above embodiment, only the diffuse reflection illumination body 11, which is divided and movable, is provided separately from the suction nozzle 4, but as shown in FIGS. 5 and 6, A small diffused reflection illuminator 15 may be attached to the lower end of the suction nozzle 4. With this configuration, when recognizing the position of a large component 13 as shown in FIG.
On the other hand, if the component is small as shown in FIG. 6, there is a risk that the light rays from the inner circumference of the diffused reflection illuminator 11 may not be accurately irradiated onto the component 13, so the diffused reflection illuminator 11 should be moved away. Then, by emitting scattered light from a small diffused reflection illumination body 15 attached to the suction nozzle 4, it becomes possible to form an appropriate image.
さらに上記実施例では部品装着機として間欠回転する回
転テーブルに複数の装着ヘッドを設けたものを例示した
が、部品装着機として部品供給部と部品を装着すべき基
板との間の直線経路−！二を装着ヘッドが往復移動する
ように構成したものにも適用可能である。また、上記実
施例では装着へラド３に複数の吸着ノズル４を備えたも
のを例示したが、単一の吸着ノズルを設けたものにも当
然適用可能である。Furthermore, in the above embodiment, a component mounting machine in which a plurality of mounting heads are provided on a rotary table that rotates intermittently is exemplified. It is also applicable to a configuration in which the mounting head moves back and forth. Further, in the above embodiment, the mounting rod 3 is provided with a plurality of suction nozzles 4, but it is naturally applicable to a case in which a single suction nozzle is provided.
発明の効果
本発明の部品装着機における部品位置認識装置によれば
、以上のように吸着ノズルにピックアップされている部
品に散乱光を照射して部品の影像を画像入力装置に投影
する乱反射照明体を、吸着ノズルとは別体に構成すると
ともに複数に分割して吸着ノズル周囲の影像の投射に適
した位置と吸着ノズルから離間して退避した位置との間
で移動可能としているので、大きな部品を照射できるよ
うな大きな乱反射照明体を用いる場合にも吸着ノズルと
別体となっていることにより吸着ノズルを軽量化でき、
かつ部品の位置認識を行うときには乱反射照明体を吸着
ノズル周囲の影像の投射に適した位置に位置させること
に上りムラのない散乱光による部品の影像を画像入力装
置に入力さぜることができ、大きな部品の位置認識を適
正に行うことができるとともに装着ヘッドを高速で移ｍ
ｈさせて能率的に部品を装着することができる。Effects of the Invention According to the component position recognition device in the component mounting machine of the present invention, as described above, the diffused reflection illumination body irradiates the component picked up by the suction nozzle with scattered light and projects an image of the component onto the image input device. is constructed separately from the suction nozzle and can be divided into multiple parts so that it can be moved between a position suitable for projecting an image around the suction nozzle and a retracted position away from the suction nozzle. Even when using a large diffused reflection illumination object that can irradiate light, the weight of the suction nozzle can be reduced by separating it from the suction nozzle.
In addition, when recognizing the position of a component, it is possible to position the diffused reflection illumination body at a position suitable for projecting an image around the suction nozzle, and to input the image of the component using even scattered light into the image input device. , it is possible to properly recognize the position of large parts and move the placement head at high speed.
parts can be mounted efficiently.
第１図は本発明の一実施例の要部の部分断面正面図、第
２図は同要部の斜視図、第３図は部品装着機の全体概略
構成を示す斜視図、第４図は同部分縦断面図、第５図は
他の実施例の要部の部分断面正面図、第６図は同地の作
動状態における要部の断面正面図、第７図は従来例の要
部の部分断面正面図である。
３・・・・・・装着ヘッド
４・・・・・・吸着ノズル
６・・・・・・部品位置認識装置
１１・・・・・・乱反射照明体
１２・・・・・・照明共
１３・・・・・・部品
１４・・・・・・画像入力装置
１５・・・・・・乱反射照明体。
代理人 弁理士 中尾敏男 はか１名第１図
第５図 第６図
第４図
団ニ］
第７図FIG. 1 is a partially sectional front view of a main part of an embodiment of the present invention, FIG. 2 is a perspective view of the main part, FIG. 3 is a perspective view showing the overall schematic configuration of a component mounting machine, and FIG. 5 is a partial sectional front view of the main part of another embodiment, FIG. 6 is a sectional front view of the main part in the same operating state, and FIG. 7 is a front view of the main part of the conventional example. FIG. 3 is a partially sectional front view. 3...Mounting head 4...Suction nozzle 6...Component position recognition device 11...Diffuse reflection illumination body 12...Lighting 13. . . . Part 14 . . . Image input device 15 . . . Diffuse reflection illumination body. Agent: Patent Attorney Toshio Nakao (1 person) Figure 1 Figure 5 Figure 6 Figure 4 Group 2] Figure 7
Claims (1)
の位置認識を画像入力装置によって行う部品装着機にお
ける部品位置認識装置において、吸着ノズルにピックア
ップされている部品に散乱光を照射して部品の影像を画
像入力装置に投影する乱反射照明体を、吸着ノズルとは
別体に構成するとともに複数に分割し、かつ吸着ノズル
周囲の影像の投射に適した位置と吸着ノズルから離間し
て退避した位置との間で移動可能としたことを特徴とす
る部品装着機における部品位置認識装置。In a component position recognition device in a component placement machine that uses an image input device to recognize the position of a component being picked up by a suction nozzle of a placement head, scattered light is irradiated onto the component being picked up by a suction nozzle to create an image of the component. The diffused reflection illumination body projected onto the input device is constructed separately from the suction nozzle and divided into a plurality of parts, and between a position suitable for projecting an image around the suction nozzle and a position separated from the suction nozzle and evacuated. A component position recognition device for a component placement machine, characterized in that the component position recognition device is movable in a component placement machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60198018A JPH0691354B2 (en) | 1985-09-06 | 1985-09-06 | Component position recognition device in component mounting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60198018A JPH0691354B2 (en) | 1985-09-06 | 1985-09-06 | Component position recognition device in component mounting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6257281A true JPS6257281A (en) | 1987-03-12 |
| JPH0691354B2 JPH0691354B2 (en) | 1994-11-14 |
Family
ID=16384145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60198018A Expired - Fee Related JPH0691354B2 (en) | 1985-09-06 | 1985-09-06 | Component position recognition device in component mounting machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0691354B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS64797A (en) * | 1987-06-23 | 1989-01-05 | Tenryu Seiki Kk | Automatic feeder of taped axial lead type electronic component |
| JPH03155699A (en) * | 1989-08-22 | 1991-07-03 | Sanyo Electric Co Ltd | Automatic mounting device for electronic component |
| US8094187B2 (en) | 2002-05-22 | 2012-01-10 | Assembleon N.V. | Method of placing a component by means of a placement device at a desired position on a substrate holder, and device suitable for performing such a method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6028298A (en) * | 1983-07-27 | 1985-02-13 | 株式会社日立製作所 | Electronic part carrying device |
-
1985
- 1985-09-06 JP JP60198018A patent/JPH0691354B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6028298A (en) * | 1983-07-27 | 1985-02-13 | 株式会社日立製作所 | Electronic part carrying device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS64797A (en) * | 1987-06-23 | 1989-01-05 | Tenryu Seiki Kk | Automatic feeder of taped axial lead type electronic component |
| JPH03155699A (en) * | 1989-08-22 | 1991-07-03 | Sanyo Electric Co Ltd | Automatic mounting device for electronic component |
| US8094187B2 (en) | 2002-05-22 | 2012-01-10 | Assembleon N.V. | Method of placing a component by means of a placement device at a desired position on a substrate holder, and device suitable for performing such a method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0691354B2 (en) | 1994-11-14 |
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