公开(公告)号：US4737845A

公开(公告)日：1988-04-12

申请号：US896864

申请日：1986-08-15

申请人： Kenji Susuki ,  Seiji Hata ,  Yoshien Nishida ,  Kyoichi Kawasaki ,  Kenjiro Fujii ,  Yasunori Shimura ,  Shigenori Takeyoshi

发明人： Kenji Susuki ,  Seiji Hata ,  Yoshien Nishida ,  Kyoichi Kawasaki ,  Kenjiro Fujii ,  Yasunori Shimura ,  Shigenori Takeyoshi

IPC分类号： H05K13/04 ,  H05K13/08 ,  H04N7/18

CPC分类号： H05K13/0413 ,  H05K13/08

摘要： A method and an apparatus for grasping surface mounted devices such as an IC or the like by the hand of the robot and automatically and accurately loading them onto the contact pattern of the printed board by use of an image processor are disclosed. According to this method, a measurement line is provided onto each image pattern of the pin array of the surface mounted device and the array of the contact pattern of the board, so that it may intersect at right angles with the direction of the pattern, and each position of the pin array and the array of the contact pattern is sought from the variation of the brightness on that line. In accordance with the result thus obtained, displacement of the position and that of the rotation over the entire surfaced part and the contact pattern are sought and the operation of the robot is controlled in accordance with that information.

摘要翻译： 公开了一种通过机器人的手来抓握诸如IC等的表面安装装置的方法和装置，并且通过使用图像处理器将它们自动且精确地加载到印刷板的接触图案上。 根据该方法，将测量线设置在表面安装器件的针阵列的每个图案图案和板的接触图案的阵列上，使得其可以与图案的方向成直角相交，并且 针阵列的每个位置和接触图案的阵列是从该线上的亮度的变化中寻求的。 根据这样获得的结果，寻求在整个表面部分和接触图案上的位置和旋转的位移，并且根据该信息来控制机器人的操作。

公开(公告)号：US5189707A

公开(公告)日：1993-02-23

申请号：US179983

申请日：1988-04-11

申请人： Kenji Suzuki ,  Seiji Hata ,  Yoshien Nishida ,  Kyoichi Kawasaki ,  Kenjiro Fujii ,  Yasunori Shimura ,  Shigenori Takeyoshi

发明人： Kenji Suzuki ,  Seiji Hata ,  Yoshien Nishida ,  Kyoichi Kawasaki ,  Kenjiro Fujii ,  Yasunori Shimura ,  Shigenori Takeyoshi

IPC分类号： H05K13/04 ,  H05K13/08

CPC分类号： H05K13/0413 ,  H05K13/08

摘要： A method and an apparatus for grasping surface mounted devices such as an IC or the like by the hand of the robot and automatically and accurately loading them onto the contact pattern of a printed circuit board by means of an image processor are disclosed. According to this method, a measurement line is provided onto each image pattern of the pin array of the surface mounted device and the array of the contact pattern of the board, so that it may intersect at right angles with the direction of the pattern, and each position of the pin array and the array of the contact pattern is sought from the variation of the brightness on that line. In accordance with the result thus obtained, displacement of the position and that of the rotation over the entire surfaced part and the contact pattern are sought and the operation of the robot is controlled in accordance with that information.

摘要翻译： 公开了一种通过机器人的手来抓握诸如IC等的表面安装的装置的方法和装置，并通过图像处理器将它们自动且精确地加载到印刷电路板的接触图案上。 根据该方法，将测量线设置在表面安装器件的针阵列的每个图案图案和板的接触图案的阵列上，使得其可以与图案的方向成直角相交，并且 针阵列的每个位置和接触图案的阵列是从该线上的亮度的变化中寻求的。 根据这样获得的结果，寻求在整个表面部分和接触图案上的位置和旋转的位移，并且根据该信息来控制机器人的操作。