公开(公告)号：US5751917A

公开(公告)日：1998-05-12

申请号：US629735

申请日：1996-04-09

申请人： Young Hyeon Kim ,  Pil Young Seong

发明人： Young Hyeon Kim ,  Pil Young Seong

IPC分类号： B25J9/02 ,  G05B19/19 ,  G05B19/404 ,  H05K13/04 ,  G06F15/46

CPC分类号： H05K13/0404 ,  G05B19/404 ,  G05B2219/40293 ,  G05B2219/49193

摘要： A robot for mounting a chip on a printed circuit board includes a body movable along a forward/backward axis, and a chip-carrying head unit movable longitudinally along the body transversely of the forward/backward axis. Due to manufacturing tolerances the longitudinal axis of the body is slightly inclined relative to a leftward/rightward axis oriented perpendicular to the forward/backward axis by an error angle which can be measured. The head unit is intended to be positioned at target coordinates on the forward/backward axis and the leftward/rightward axis, respectively. An operation unit determines, as a function of the error angle, a position of the head unit relative to the body, and a position of the body relative to the forward/backward axis, which would place the head unit at the target coordinates. A controller connected to the operation unit actuates a drive mechanism for moving the head unit and body to those respective positions.

摘要翻译： 用于将芯片安装在印刷电路板上的机器人包括可沿前/后轴线移动的主体和沿主体横向于前/后轴线纵向移动的芯片承载头单元。 由于制造公差，主体的纵向轴线相对于垂直于前/后轴线定向的向左/向右轴线略微倾斜可以测量的误差角。 头单元分别位于前/后轴和左/右轴上的目标坐标上。 操作单元根据误差角度确定头单元相对于身体的位置以及身体相对于向前/向后轴线的位置，这将将头单元放置在目标坐标处。 连接到操作单元的控制器驱动用于将头单元和主体移动到这些相应位置的驱动机构。