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    Method and apparatus for evaluating a component pick action in an electronics assembly machine
    2.
    发明申请
    Method and apparatus for evaluating a component pick action in an electronics assembly machine 审中-公开
    用于评估电子组装机中的部件拾取动作的方法和装置

    公开(公告)号：US20070003126A1

    公开(公告)日：2007-01-04

    申请号：US11436389

    申请日：2006-05-18

    申请人： Steven Case ,  John Konicek ,  David Duquette ,  Eric Rudd ,  Swaminathan Manickam

    发明人： Steven Case ,  John Konicek ,  David Duquette ,  Eric Rudd ,  Swaminathan Manickam

    IPC分类号： G06K9/00 ,  G06F19/00

    CPC分类号： H05K13/0812 ,  Y10T29/53178 ,  Y10T29/53191

    摘要： An electronics assembly apparatus with improved pick evaluation is provided. The apparatus includes a placement head having at least one nozzle for releasably picking up and holding a component. A robotic system is provided for generating relative movement between the placement head and a workpiece, such as a circuit board. An image acquisition system is disposed to obtain at least one before-pick image of a component pick up location and at least one after-pick image of the component pick up location. The before-pick image contains a plurality of image portions, having each image portion view the pick-up location from a different point of view, while the after-pick image contains a plurality of image portions, having each image portion view the pick-up location from a different point of view.

    摘要翻译： 提供了具有改进的拾取评估的电子组装装置。 该装置包括具有至少一个用于可释放地拾取和保持部件的喷嘴的放置头。 提供了一种机器人系统，用于产生放置头和工件（例如电路板）之间的相对运动。 设置图像采集系统以获得组件拾取位置的至少一个预选图像和组件拾取位置的至少一个后拾取图像。 拾取后图像包含多个图像部分，每个图像部分从不同的观点看待拾取位置，而拾取后图像包含多个图像部分，每个图像部分都可以看到拾取位置， 从不同的角度看待位置。

    Image analysis for pick and place machines with in situ component placement inspection
    3.
    发明申请
    Image analysis for pick and place machines with in situ component placement inspection 有权
    具有原位部件放置检查的拾放机的图像分析

    公开(公告)号：US20050276464A1

    公开(公告)日：2005-12-15

    申请号：US11131926

    申请日：2005-05-18

    申请人： David Duquette ,  Eric Rudd ,  Thomas Bushman ,  Swaminathan Manickam ,  Timothy Skunes ,  Steven Case

    发明人： David Duquette ,  Eric Rudd ,  Thomas Bushman ,  Swaminathan Manickam ,  Timothy Skunes ,  Steven Case

    IPC分类号： G06K9/00 ,  G06T7/00

    CPC分类号： G06T7/0004 ,  G06K9/00 ,  G06T7/337 ,  G06T7/73 ,  H05K13/0818

    摘要： The present invention includes a method of determining a location of a component on a workpiece. A before-placement standard image is acquired of an intended placement location on a standard workpiece. Then, a standard component is placed upon the standard workpiece and the placement is verified. An after-placement standard image is acquired and a standard difference image is created from the before and after standard images. Then, a before-placement test image is acquired of an intended placement location on the workpiece. A component is then placed upon the workpiece, and after-placement test image is acquired. A test difference image is created from the before and after test images. A first offset is calculated between the before standard difference image and the before test image. Then, the test difference is transformed based on the first offset to generate a difference test image (DTR) that is registered to the standard difference image. The standard difference image is correlated to the registered difference test image (DTR) to generate a registration offset indicative of placement efficacy.

    摘要翻译： 本发明包括确定部件在工件上的位置的方法。 在标准工件上获取预定的放置位置的放置前标准图像。 然后，将标准部件放置在标准工件上并验证放置。 获取后置标准图像，并且从标准图像之前和之后创建标准差分图像。 然后，获取在工件上的预期放置位置的放置前测试图像。 然后将部件放置在工件上，并且获取放置后测试图像。 测试差异图像是从前后测试图像创建的。 在之前的标准差图像和之前的测试图像之间计算第一偏移。 然后，基于第一偏移来变换测试差，以产生被登记到标准差分图像的差分测试图像（DTR）。 标准差图像与登记的差异检验图像（DTR）相关，以产生指示放置效力的登记偏移。

    Pick and place machine with improved component pick image processing
    4.
    发明申请
    Pick and place machine with improved component pick image processing 有权
    拾取和放置机器，改进组件拾取图像处理

    公开(公告)号：US20070091323A1

    公开(公告)日：2007-04-26

    申请号：US11521066

    申请日：2006-09-14

    申请人： Swaminathan Manickam ,  John Konicek ,  David Duquette ,  Steven Case

    发明人： Swaminathan Manickam ,  John Konicek ,  David Duquette ,  Steven Case

    IPC分类号： G01B11/14

    CPC分类号： H05K13/0409 ,  H05K13/0812

    摘要： A pick and place machine includes a sensor disposed to acquire an image of a nozzle before a pick operation, and one or more images after the pick operation. Image analytics based upon these images reveal important characteristics that can be used to classify the pick operation. In some embodiments, a plurality of after-pick images are acquired at different poses (angular orientations).

    摘要翻译： 拾取和放置机器包括设置用于在拾取操作之前获取喷嘴的图像的传感器，以及拾取操作之后的一个或多个图像。 基于这些图像的图像分析揭示了可用于对拾取操作进行分类的重要特征。 在一些实施例中，以不同的姿势（角取向）获取多个后拾取图像。

    METHOD AND APPARATUS FOR EVALUATING A COMPONENT PICK ACTION IN AN ELECTRONICS ASSEMBLY MACHINE
    6.
    发明申请
    METHOD AND APPARATUS FOR EVALUATING A COMPONENT PICK ACTION IN AN ELECTRONICS ASSEMBLY MACHINE 审中-公开
    用于评估电子组装机中组分捕捉作用的方法和装置

    公开(公告)号：US20090133249A1

    公开(公告)日：2009-05-28

    申请号：US12364000

    申请日：2009-02-02

    申请人： Steven K. Case ,  John P. Konicek ,  David W. Duquette ,  Eric P. Rudd ,  Swaminathan Manickam

    发明人： Steven K. Case ,  John P. Konicek ,  David W. Duquette ,  Eric P. Rudd ,  Swaminathan Manickam

    IPC分类号： H05K13/04 ,  H04N7/18

    CPC分类号： H05K13/0812 ,  Y10T29/53178 ,  Y10T29/53191

    摘要： An electronics assembly apparatus with improved pick evaluation is provided. The apparatus includes a placement head having at least one nozzle for releasably picking up and holding a component. A robotic system is provided for generating relative movement between the placement head and a workpiece, such as a circuit board. An image acquisition system is disposed to obtain at least one before-pick image of a component pick up location and at least one after-pick image of the component pick up location. The before-pick image contains a plurality of image portions, having each image portion view the pick-up location from a different point of view, while the after-pick image contains a plurality of image portions, having each image portion view the pick-up location from a different point of view.

    摘要翻译： 提供了具有改进的拾取评估的电子组装装置。 该装置包括具有至少一个用于可释放地拾取和保持部件的喷嘴的放置头。 提供了一种机器人系统，用于产生放置头和工件（例如电路板）之间的相对运动。 设置图像采集系统以获得组件拾取位置的至少一个预选图像和组件拾取位置的至少一个后拾取图像。 拾取前图像包含多个图像部分，每个图像部分从不同的角度来观看拾取位置，而拾取后图像包含多个图像部分，每个图像部分观看拾取位置， 从不同的角度看待位置。

    Image analysis for pick and place machines with in situ component placement inspection
    10.
    发明授权
    Image analysis for pick and place machines with in situ component placement inspection 有权
    具有原位部件放置检查的拾放机的图像分析

    公开(公告)号：US07813559B2

    公开(公告)日：2010-10-12

    申请号：US11131926

    申请日：2005-05-18

    申请人： David W. Duquette ,  Eric P. Rudd ,  Thomas W. Bushman ,  Swaminathan Manickam ,  Timothy A. Skunes ,  Steven K. Case

    发明人： David W. Duquette ,  Eric P. Rudd ,  Thomas W. Bushman ,  Swaminathan Manickam ,  Timothy A. Skunes ,  Steven K. Case

    IPC分类号： G06K9/68

    CPC分类号： G06T7/0004 ,  G06K9/00 ,  G06T7/337 ,  G06T7/73 ,  H05K13/0818

    摘要： The present invention includes a method of determining a location of a component on a workpiece. A before-placement standard image is acquired of an intended placement location on a standard workpiece. Then, a standard component is placed upon the standard workpiece and the placement is verified. An after-placement standard image is acquired and a standard difference image is created from the before and after standard images. Then, a before-placement test image is acquired of an intended placement location on the workpiece. A component is then placed upon the workpiece, and after-placement test image is acquired. A test difference image is created from the before and after test images. A first offset is calculated between the before standard difference image and the before test image. Then, the test difference is transformed based on the first offset to generate a difference test image (DTR) that is registered to the standard difference image. The standard difference image is correlated to the registered difference test image (DTR) to generate a registration offset indicative of placement efficacy.

    摘要翻译： 本发明包括确定部件在工件上的位置的方法。 在标准工件上获取预定的放置位置的放置前标准图像。 然后，将标准部件放置在标准工件上并验证放置。 获取后置标准图像，并且从标准图像之前和之后创建标准差分图像。 然后，获取在工件上的预期放置位置的放置前测试图像。 然后将部件放置在工件上，并且获取放置后测试图像。 测试差异图像是从前后测试图像创建的。 在之前的标准差图像和之前的测试图像之间计算第一偏移。 然后，基于第一偏移来变换测试差，以生成被登记到标准差分图像的差分测试图像（DTR）。 标准差图像与登记的差异检验图像（DTR）相关，以产生指示放置效力的登记偏移。