公开(公告)号：US5220498A

公开(公告)日：1993-06-15

申请号：US632203

申请日：1990-12-21

申请人： Hidetaka Ohsawa ,  Shun Suzuki ,  Masahiro Inaniwa

发明人： Hidetaka Ohsawa ,  Shun Suzuki ,  Masahiro Inaniwa

IPC分类号： G05B19/18 ,  G05B19/39 ,  G05B19/404 ,  G05B19/408 ,  G05B19/4155 ,  G05D3/12 ,  G06T1/00

CPC分类号： G05B19/4083 ,  G05B19/39 ,  G05B2219/36417 ,  G05B2219/37572 ,  G05B2219/41104 ,  G05B2219/49113

摘要： A positioning data correction apparatus with image analyzing, for producing a corrective positioning command used in a positioning device for positioning a tool along an axis with respect to a target on a work in response to a command, comprises: a receiver for receiving the command and a mode signal; a camera connected to the tool for producing an image signal with respect to the axis in response to light from the work; an image analyzer responsive to a control signal and to the image signal for detecting a position of the target by analyzing a pattern along the axis and for producing corrected positioning data by obtaining deviation of the position along the axis from a given point within an angle of field of the camera; and a controller responsive to the mode signal, the received command, and the corrected positioning, the controller operating: sending the received command to the positioning device; and for producing the control signal to case the image analyzer to product the corrected positioning data and producing the corrective positioning command in accordance with the corrected data in the presence of the external control signal.

公开(公告)号：US4876656A

公开(公告)日：1989-10-24

申请号：US90997

申请日：1987-08-28

申请人： John L. Leicht ,  Jeffrey D. Leitheiser

发明人： John L. Leicht ,  Jeffrey D. Leitheiser

IPC分类号： G05B19/408 ,  H05K13/08

CPC分类号： G05B19/4083 ,  H05K13/08 ,  G05B2219/36417 ,  G05B2219/37572 ,  G05B2219/41104 ,  G05B2219/45035

摘要： Unique circuit location sensing apparatus for component placement robots (100) utilizes a high-resolution optical reflective sensor (110) for detecting the location of selected circuit runners (300, 301) on a printed circuit board (350). The sensor (110) is mounted to the robot arm (106) and coupled by A/D converting circuitry (104) to the robot computer (102). The robot computer (102) positions sensor (110) over a selected runner (300, 301) and steps sensor (110) across the selected runner (300, 301), storing the digitized sensor output for each step. The robot computer (102) processes the digitized sensor outputs to determine the actual location of the selected runner (300, 301) and then calculates location offsets for the component placement program to be subsequently run on the robot computer (102). As a result, variations in actual location of circuitry on different printed circuit boards (350) are automatically compensated for and components are more accurately placed thereon. The unique circuit location sensing apparatus of the present invention may be advantageously utilized in any component placement robot for accurately detecting the location of circuitry prior to placement of components on the printed circuit board.

摘要翻译： 用于元件放置机器人（100）的唯一电路位置检测装置利用高分辨率光学反射传感器（110）来检测在印刷电路板（350）上所选择的电路板（300,301）的位置。 传感器（110）安装到机器人手臂（106）上并由A / D转换电路（104）耦合到机器人计算机（102）。 机器人计算机（102）将传感器（110）定位在所选择的转轮（300,301）上方，并且跨越所选择的转轮（300,301）上的步进传感器（110），为每个步骤存储数字化的传感器输出。 机器人计算机（102）处理数字化传感器输出以确定所选择的跑步者（300,301）的实际位置，然后计算随后在机器人计算机（102）上运行的组件放置程序的位置偏移。 因此，不同印刷电路板（350）上的电路的实际位置的变化被自动补偿并且组件更准确地放置在其上。 本发明的独特的电路位置检测装置可以有利地用于任何部件放置机器人，用于在将部件放置在印刷电路板上之前准确地检测电路的位置。