WO2015056785A1 - 部品実装装置 - Google Patents
部品実装装置 Download PDFInfo
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- WO2015056785A1 WO2015056785A1 PCT/JP2014/077709 JP2014077709W WO2015056785A1 WO 2015056785 A1 WO2015056785 A1 WO 2015056785A1 JP 2014077709 W JP2014077709 W JP 2014077709W WO 2015056785 A1 WO2015056785 A1 WO 2015056785A1
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- WIPO (PCT)
- Prior art keywords
- nozzle
- substrate
- component
- distance
- component mounting
- Prior art date
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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
- H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
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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
- H05K13/08—Monitoring manufacture of assemblages
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- 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
Definitions
- the present invention relates to a component mounting apparatus.
- the present invention relates to a component mounting apparatus that sucks an electronic component and mounts the electronic component on a substrate.
- Patent document 1 is mentioned as a prior art which prevents the damage of an electronic component.
- Patent Document 1 discloses that component destruction can be prevented by detecting a warp of a substrate, which is a main cause of damage to an electronic component, before a production operation.
- One approach to realizing high-speed and high-precision mounting is to increase the productivity by operating the operating axis at high speed.
- the operating axis is operated at high speed along with the miniaturization of the electronic component, the electronic component may be damaged by the pressure when the electronic component is mounted on the substrate.
- the main cause of damage to electronic components is board warpage. If a component is mounted without considering the amount of warping of the board, an excessive pressure is applied to the electronic component, and as a result, the electronic component may be damaged.
- Patent Document 1 discloses that the height of the entire board is measured for each board before the production operation (part mounting) for mounting the parts on the board. However, since each substrate is inspected, an inspection time is required in addition to the production time, so that productivity is lowered.
- the present invention has a distance detector for optically obtaining the distance between the held component and the substrate, and performs at least one of the following operations (1) and (2). To do. (1) At least one of nozzle acceleration and speed is determined. (2) The position of the head actuator (in other words, the nozzle holding the component) is changed.
- the present invention has at least one of the following effects. (1) Breakage of parts can be prevented. (2) Productivity is not reduced. (3) Even when the board is warped, component mounting with high positional accuracy can be performed.
- FIG. 1 is a top view of an entire component mounting apparatus according to a first embodiment.
- the front view of the component mounting apparatus of FIG. FIG. 4 is an explanatory diagram showing a positional relationship between a head actuator 113 and a substrate 123.
- substrate which has the downward curvature of a Z direction, and a head actuator.
- Explanatory drawing of a head actuator 801 equipped with a distance detection sensor Explanatory drawing of the nozzle selection operation
- FIG. Explanatory drawing of nozzle rotation operation
- FIG. FIG. 4 is a bottom view of the head actuator 801. The board height detection explanatory drawing by a distance detection sensor. The figure explaining the change of the nozzle position using the detection result of a distance detection sensor.
- FIG. 1 is a top view of the entire component mounting apparatus according to the first embodiment.
- the substrate 123 is transported to the electronic component mounting position by the substrate guide 191 from the left side of the drawing.
- a first Y beam 101, a second Y beam 102, and a Y beam guide 180 are arranged in a direction orthogonal to the substrate transport direction.
- X beams 103, 104, 105, and 106 are disposed on the first Y beam 101, the second Y beam 102, and the Y beam guide 180, respectively.
- the X beams 103, 104, 105 and 106 are orthogonal to the substrate transport direction along the rails 181 and 182 by an actuator 107 such as a linear motor disposed on the Y beams 101 and 102 and the Y beam guide 180, respectively. Move to.
- an actuator 107 such as a linear motor disposed on the Y beams 101 and 102 and the Y beam guide 180, respectively. Move to.
- Actuators 109, 110, 111, 112 such as linear motors are arranged on the X beams 103, 104, 105, 106, respectively.
- the actuators 109, 110, 111, and 112 are provided with head actuators 113, 114, 115, and 116 for mounting electronic components on the substrate 123, respectively.
- the actuators 109, 110, 111, and 112 can be configured to be inexpensive and light if a mechanism such as a ball screw is used instead of a linear motor.
- the head actuators 113, 114, 115, 116 are driven in the direction orthogonal to the Y beams 101, 102 (horizontal with respect to the substrate transport direction) by the actuators 109, 110, 111, 112, respectively.
- Component supply devices 151, 152, 153, and 154 that supply electronic components to the head actuators 113, 114, 115, and 116 are disposed at both ends of the first Y beam 101 and the second Y beam 102.
- the X beams 103, 104, 105, 106 are moved to the front (or above) the component supply devices 151, 152, 153, 154 by the actuators 107, 108.
- the actuators 109, 110, 111, and 112 cause the head actuators 113, 114, 115, and 116 to move in arbitrary directions and replenish electronic components.
- cameras 117, 118, 119, and 120 for confirming the posture of the electronic component are disposed between the first Y beam 101 and the second Y beam 102, and the replenished electrons The postures of the parts are confirmed by the cameras 117, 118, 119, and 120, respectively.
- the head actuators 113, 114, 115, 116 adjust the tilt of the electronic component.
- the moving distance of the head actuators 113, 114, 115, 116 is the shortest.
- control unit 124 performs processing and control of various operations described above, and processing and control of various operations described later.
- Sensors 161, 162, 163, and 164 capable of measuring temperature are mounted on the Y beams 102 and 103. At this time, the places where the sensors 161, 162, 163, and 164 are mounted are not limited to both ends of the Y beam.
- sensors 171, 172, 173, and 174 capable of measuring temperature are mounted on the X beams 103, 104, 105, and 106. At this time, the mounting positions of the sensors 171, 172, 173, 174 are not limited to both ends of the X beam.
- FIG. 2 is an arrow view when the component mounting apparatus of FIG. 1 is observed from the arrow 130 of FIG.
- the first Y beam 101 is provided with an actuator 107, and the X beam 103 is connected to the actuator 107 so as to be movable in a direction orthogonal to the transport direction of the substrate 123 on the loading platform 201.
- An actuator 109 is disposed in the direction perpendicular to the paper surface of the X beam 103, and a head actuator 113 is connected to the actuator 109 so as to be movable in a direction parallel to the substrate transport direction.
- a component mounting apparatus that is faster than the conventional one is configured by adopting a configuration that can move independently in a direction orthogonal to and parallel to the substrate transport direction. be able to.
- FIG. 1 illustrates the case where there are four X beams, the number of X beams is not limited.
- the X beams 103, 104, 105, 106 may be removable. In that case, for example, different types of head actuators can be connected, and mounting of more various parts can be realized.
- each head actuator 113, 114, 115, 116 can be driven independently and freely.
- the substrate 123 is held by the substrate transport path 191 and is transported by the substrate transport path 191.
- a nozzle 302 for holding the electronic component 301 is mounted on the tip 390 of the head actuator.
- the head actuator 113 lowers the nozzle 302 to the substrate 123 to mount the electronic component 301 on the substrate 123 at the target mounting position 303.
- the substrate 123 is held in the substrate transport path 191, and the height of the substrate 123 is also determined by the substrate transport path 191.
- the amount of movement 304 of the nozzle 302 when the nozzle 302 descends to the substrate 123 is determined by the thickness of the held electronic component 301. That is, the moving amount 304 can be substantially regarded as the known amount obtained by subtracting the thickness of the electronic component 301 from the distance from the tip of the nozzle 302 to the substrate 123.
- the moving acceleration and speed of the nozzle 302 are controlled to stop near the upper surface of the substrate. Therefore, it is desirable to mount the electronic component 301 on the substrate 123 without applying excessive pressure to the substrate 123 and the electronic component 301.
- the substrate 123 is parallel to the substrate holding portion 401 of the substrate transport path 191, but there is also a substrate 402 having a warp upward in the Z direction.
- the nozzle 302 When mounting an electronic component on the substrate 402, the nozzle 302 needs to reach the substrate 402 with a movement amount 403 smaller than the movement amount 304 when mounting the electronic component on the substrate 123 without warping.
- the nozzle 302 Since the component mounting apparatus normally does not detect the height from the head actuator 113 to the substrate, the nozzle 302 reaches the substrate 501 without warpage even when the electronic component is mounted on the substrate 502 having warpage. The substrate moves to the substrate 501 as in the case.
- the amount of movement of the nozzle when moving to the substrate 501 without warping is 304. However, in the case of the substrate 502 having an upward warp in the Z direction, the amount of movement that the nozzle reaches the substrate 502 should be 403.
- the moving acceleration and speed of the nozzle 302 are controlled so that the electronic component stops near the upper surface of the substrate 501. Therefore, when the nozzle 302 mounts an electronic component on the substrate 502, the moving speed and acceleration of the nozzle 302 are higher than when the electronic component is mounted on the substrate 501. In this case, the electronic component held at the tip of the nozzle 302 is subjected to an excessive pressure, and the electronic component may be damaged as indicated by reference numeral 507.
- the mounting position 503 moves to a position 506 shifted by ⁇ X505 in the X direction because the board 502 has a warp of an angle 504.
- the position where the nozzle 302 mounts the electronic component is the mounting position 507. That is, an electronic component may be mounted at a position different from the target mounting position 503 when there is a warp.
- This description is about component breakage in the X direction and mounting accuracy error, but the same description can be applied to the Y direction.
- the substrate 123 is parallel to the substrate holder 401 of the substrate transport path 191, but there is also a substrate 601 having a downward warp in the Z direction.
- the nozzle 302 When the electronic component is mounted on the substrate 601, the nozzle 302 reaches the substrate 601 with a movement amount 602 that is larger than the movement amount 304 when the component is mounted on the substrate 123.
- the nozzle 302 may reach the substrate 501 without warping even when the component is mounted on the substrate 610 having warpage. Move in the same way.
- the amount of movement of the nozzle when moving to the substrate 501 without warping is 304.
- the amount of movement that the nozzle reaches the substrate 602 should be 602.
- the movement acceleration and speed of the nozzle 302 are controlled to stop near the upper surface of the substrate 501. Therefore, even when the nozzle 302 mounts a component on the substrate 601, the nozzle 302 is controlled to stop on the substrate 501, so the nozzle 302 does not reach the substrate 601 and is held at the tip of the nozzle 302.
- the component may not be mounted with the required pressure.
- the target mounting position is the mounting position 605
- the mounting position 605 moves to a position shifted by ⁇ X604 in the X direction because the substrate 601 has a warp of an angle 603.
- the position where the nozzle 302 mounts the electronic component is the mounting position 610. That is, the electronic component may be mounted at a position different from the target mounting position when there is a warp. This description is about component breakage in the X direction and mounting accuracy error, but the same description can be applied to the Y direction.
- FIG. 8 is a diagram illustrating the head actuator 801 according to the present embodiment.
- the head actuator 801 mainly includes a nozzle rotation mechanism, a nozzle up / down mechanism, and a nozzle selection mechanism.
- the head actuator 801 is connected to the X beam 103 in FIG.
- a ball screw 803 is connected to the nozzle up / down motor 802. Further, the end of the ball screw 803 is supported by a guide 804.
- the arm 805 is connected to the ball screw 803.
- the distal end of the arm 805 is connected to a nozzle moving unit 806, and a nozzle shaft 807 having a hollow structure is connected to the nozzle moving unit 806. Further, the nozzle shaft 807 is connected to the rotor 808.
- the nozzle 302 for adsorbing an electronic component having an opening is detachably connected to the tip of the nozzle shaft 807.
- the nozzle rotation motor 830 has a function of rotating the nozzle 302 with the center of the head actuator 801 as the rotation axis.
- the configuration of the head actuator 801 will be described in more detail with respect to the nozzle selection operation, vertical movement, and rotation operation.
- 9A and 9B are diagrams for explaining in detail the nozzle selection operation of the head actuator 801 and the operation of the distance detection sensor.
- the nozzle selection operation will be described.
- the center spline 901 when the nozzle selection belt 902 is rotated by the nozzle selection motor 810, the center spline 901 is also rotated, and the nozzle moving unit 806 connected to the center spline 901 and the nozzle pedestal 903 are also synchronized in the same angle. Rotate. As the nozzle base 903 rotates, the notch 904 also rotates. Thereby, an arbitrary nozzle on the nozzle base can be selected.
- the rotating body 905 such as a roller connected to the nozzle shaft 807 is in contact with the nozzle base 903, the influence of friction when the nozzle base 903 rotates can be reduced.
- the distance detection sensor 850 is a sensor that detects the height from the head actuator 801 to the substrate to be mounted.
- the distance detection sensor 850 is moved to the vicinity of the selected nozzle by rotating by substantially the same angle as the nozzle moving unit 806 by the operation of the nozzle selection motor 810.
- the nozzle moving unit 806 is connected to the center spline 901.
- the center spline 901 serves as a guide for defining the moving direction of the nozzle moving unit 806.
- the tip 1001 of the nozzle moving unit 806 is disposed inside the notch 904 of the nozzle base 903 described with reference to FIG.
- each nozzle shaft 807 is arranged on the nozzle base 903 via the rotating body 905.
- the rotating body 905 on the tip 1001 of the nozzle moving unit 806 connected thereto and the nozzle shaft 807 connected to the rotating body 905 move up and down.
- the nozzle rotation motor 1101 rotates the rotor 808 to rotate the nozzle shaft 807 attached to the rotor 808 with the center of the rotor 808 as the rotation axis.
- the rotating body 905 such as a roller attached to the nozzle shaft 807 rotates on the nozzle base 904.
- an arbitrary nozzle shaft 807 can be moved to an arbitrary angle, and can be moved to the nozzle moving unit 806.
- FIG. 12 shows an explanatory view of the rotor 808 as viewed from the bottom.
- the nozzle 302 is concentrically arranged on the rotor 808 at a distance 1201 from the center of the rotor 808. At this time, the distance may not be concentric.
- An electronic component 1202 is held in the nozzle 302 by vacuum.
- the nozzle rotation motor 1101 and the rotor 808 the nozzle 302 moves in the rotation direction 1205.
- the movement of the nozzle 302 may be performed to change the angle to an appropriate angle when the electronic component 1202 is mounted on the substrate, or to measure the angle of the electronic component 1202.
- the height detection method near the nozzle by the distance detection sensor 850 will be described with reference to FIG.
- the distance detection sensor 850 moves to the vicinity of the selected nozzle by the operation of the nozzle selection motor.
- the distance detection sensor 850 measures the optical distance between the held component and the substrate 1301 and includes, for example, a laser length measuring device.
- the optical axis 1302 of the light from the distance detection sensor 850 is outside the rotor 808.
- the illumination area formed on the board 1301 by the distance detection sensor 850 is formed in the vicinity of a point where a nozzle approaching the board 1301 is projected on the board 1301 for component mounting.
- the distance between the illumination region formed on the substrate 1301 by the distance detection sensor 850 and the point at which the nozzle approaching the substrate 1301 for component mounting is projected on the substrate 1301 is the illumination region. Any other nozzle can be expressed as a position that is shorter than the distance from the point projected on the substrate 1301.
- the distance detection sensor 850 first measures the distance D 0 from the distance detection sensor 850 to the substrate 1301.
- a distance D 2 is obtained by subtracting a known distance D 1 from the distance detection sensor 850 to the electronic component from D 0 .
- the distance D 2 can be substantially equated with the distance 1303 from the substrate 1301 to the electronic component in FIG. In this way, the distance detection sensor 850 obtains the distance 1303 between the substrate 1301 and the electronic component.
- the distance 1303 is not the distance from the position where the nozzle descends on the substrate 1301 to the component, but as described above, the illumination area formed on the substrate 1301 by the distance detection sensor 850 approaches the substrate 1301 for component mounting. Since the nozzle to be formed is formed in the vicinity of the point projected onto the substrate 1301, the distance 1301 can be handled substantially equivalent to the distance from the position where the nozzle descends on the substrate 1303 to the component.
- the control unit 124 in FIG. 1 determines at least one (preferably both) of acceleration and speed for the nozzle holding the electronic component to approach the substrate 1301 from the obtained distance 1303. More specifically, the control unit 124 controls at least one of the acceleration and the velocity so that at least one (preferably both) of the acceleration and the velocity of the nozzle on the substrate 1301 is substantially zero. Preferably both). Determination of at least one of acceleration and velocity (preferably both) after acquisition of the distance 1303 is performed by the head actuator 801 supplying a component from one of the component supply devices 151, 152, 153, 154, This is performed within the time until the nozzle holding the component starts to descend toward the substrate 1301. That is, in this embodiment, it is not necessary to provide a special time for measuring the entire substrate or obtaining the distance 1303 as in the prior art.
- the distance x 0 from the end portion of the substrate 502 shown in FIG. 14 to the target mounting position 503 when there is no warpage can be obtained.
- the distance 304 (y 0 ) from the held electronic component to the substrate 501 without warping is known because it can be obtained from the original design value.
- the distance 404 (y 1 ) from the held component to the warped substrate 502 can be obtained from the distance detection sensor 850.
- ⁇ x the distance from the end of the substrate 502 to the target mounting position 505 on the substrate 502 can be substantially equated with the distance x 0 from the end of the substrate 502 to the target mounting position 503 when there is no warp.
- the distance detection sensor 850 can be expressed as a height detection sensor because the height y 2 of the target mounting position 505 can be obtained from the detection result.
- the head actuator 801 is moved by ⁇ x by any one of the actuators 109, 110, 111, and 112, and component mounting is performed.
- This description can also be applied to the Y direction. According to the present embodiment, even when the target mounting position changes, it is possible to perform component mounting with high accuracy.
- the head actuator in the present embodiment may be applied to other component mounting apparatuses other than the first embodiment.
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Abstract
Description
方)を決定する。より具体的には、制御部124は、基板1301上でノズルの加速度、及び速度のうち少なくとも1つ(望ましくは両方)が実質的にゼロとなるよう、加速度、及び速度のうち少なくとも1つ(望ましくは両方)を決定する。この距離1303の取得後の、加速度、及び速度のうちの少なくとも1つ(望ましくは両方)の決定は、ヘッドアクチュエータ801が部品供給装置151、152、153、154のいずれかから部品を供給し、部品を保持したノズルが基板1301に向かって下降を開始するまでの時間内に行われる。つまり、本実施例では、従来技術のように、基板全体を計測することや距離1303を得るために特別な時間を設ける必要は無いということである。
102…第2のYビーム
103、104、105、106…第1のXビーム
107、108、109、110、111、112…アクチュエータ
113、114、115、116…ヘッドアクチュエータ
117、118、119、120…カメラ
121、122…部品供給装置
123…基板
124…制御部
802…ノズル上下モータ
803…ボールネジ
806…アーム
807…ノズルシャフト
809…ノズル
810…ノズル選択モータ
830…ノズル回転モータ
850…距離検知センサ
901…センタースプライン
902…ノズル選択用ベルト
904…切り欠き部
905…回転体
Claims (8)
- 実装用ノズル、及び前記実装用ノズルが保持した部品と基板との間の距離を光学的に得るための距離検知部を含む部品実装部を有し、
前記距離検知部によって形成される照明領域は前記実装用ノズルを前記基板に投影した部分の近傍に形成される部品実装装置。 - 請求項1に記載の部品実装装置において、
前記実装用ノズルが前記基板に接近する時の加速度、及び速度のうち少なくとも1つは前記距離検知部の検知結果を使用することで決定される部品実装装置。 - 請求項2に記載の部品実装装置において、
前記実装用ノズルの位置は、前記距離検知部の検知結果に応じて変更される部品実装装置。 - 請求項3に記載の部品実装装置において、
前記部品実装部は、複数のノズルと、前記複数のノズルから前記実装用ノズルを選択するためのノズル選択部と、を有し、
前記距離検知部は選択された前記実装用ノズルに応じて、位置を変更する部品実装装置。 - 請求項4に記載の部品実装装置において、
前記近傍とは、前記照明領域と前記実装用ノズルを前記基板上に投影した部分との距離が、前記照明領域と前記実装用ノズル以外の前記複数のノズルのいずれを前記基板上に投影した部分との距離よりも短い関係にある位置である部品実装装置。 - 請求項1に記載の部品実装装置において、
前記実装用ノズルの位置は、前記距離検知部の検知結果に応じて変更される部品実装装置。 - 請求項1に記載の部品実装装置において、
前記部品実装部は、複数のノズルと、前記複数のノズルから前記実装用ノズルを選択するためのノズル選択部と、を有し、
前記距離検知部は選択された前記実装用ノズルに応じて、位置を変更する部品実装装置。 - 請求項7に記載の部品実装装置において、
前記近傍とは、前記照明領域と前記実装用ノズルを前記基板上に投影した部分との距離が、前記照明領域と前記実装用ノズル以外の前記複数のノズルのいずれを前記基板上に投影した部分との距離よりも短い関係にある位置である部品実装装置。
Priority Applications (5)
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US15/027,972 US10201120B2 (en) | 2013-10-17 | 2014-10-17 | Component mounting apparatus |
JP2015542905A JP6280925B2 (ja) | 2013-10-17 | 2014-10-17 | 部品実装装置 |
KR1020167007610A KR101981516B1 (ko) | 2013-10-17 | 2014-10-17 | 부품 실장 장치 |
EP14853541.2A EP3035783B1 (en) | 2013-10-17 | 2014-10-17 | Component mounting device |
CN201480050757.XA CN105532084B (zh) | 2013-10-17 | 2014-10-17 | 元件安装装置 |
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JP2018032674A (ja) * | 2016-08-23 | 2018-03-01 | パナソニックIpマネジメント株式会社 | 部品実装装置および部品実装方法 |
WO2020105138A1 (ja) * | 2018-11-21 | 2020-05-28 | 株式会社Fuji | 部品実装装置 |
JP2021158220A (ja) * | 2020-03-27 | 2021-10-07 | ヤマハ発動機株式会社 | 部品実装ライン |
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WO2019171481A1 (ja) * | 2018-03-07 | 2019-09-12 | 株式会社Fuji | 部品実装システム |
CN114472185B (zh) * | 2022-01-12 | 2024-06-04 | 杭州长川科技股份有限公司 | 电子元件取放装置及分选机 |
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JPWO2020105138A1 (ja) * | 2018-11-21 | 2021-09-27 | 株式会社Fuji | 部品実装装置 |
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JP7332515B2 (ja) | 2020-03-27 | 2023-08-23 | ヤマハ発動機株式会社 | 部品実装ライン |
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US10201120B2 (en) | 2019-02-05 |
CN105532084B (zh) | 2018-12-28 |
EP3035783A1 (en) | 2016-06-22 |
KR20160045873A (ko) | 2016-04-27 |
EP3035783B1 (en) | 2019-12-04 |
JP6280925B2 (ja) | 2018-02-14 |
EP3035783A4 (en) | 2016-09-21 |
KR101981516B1 (ko) | 2019-05-23 |
CN105532084A (zh) | 2016-04-27 |
JPWO2015056785A1 (ja) | 2017-03-09 |
US20160255754A1 (en) | 2016-09-01 |
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