WO2001095370A3 - Calibration methods for placement machines incorporating on-head linescan sensing - Google Patents

Calibration methods for placement machines incorporating on-head linescan sensing Download PDF

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Publication number
WO2001095370A3
WO2001095370A3 PCT/US2001/011629 US0111629W WO0195370A3 WO 2001095370 A3 WO2001095370 A3 WO 2001095370A3 US 0111629 W US0111629 W US 0111629W WO 0195370 A3 WO0195370 A3 WO 0195370A3
Authority
WO
WIPO (PCT)
Prior art keywords
sensing
measured
calibration methods
component
scale factor
Prior art date
Application number
PCT/US2001/011629
Other languages
French (fr)
Other versions
WO2001095370A2 (en
Inventor
Timothy A Skunes
Eric P Rudd
David W Duquette
Original Assignee
Cyberoptics Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cyberoptics Corp filed Critical Cyberoptics Corp
Priority to KR1020027001654A priority Critical patent/KR20020021174A/en
Priority to DE10192328T priority patent/DE10192328T1/en
Priority to GB0202156A priority patent/GB2368393B/en
Priority to JP2002502813A priority patent/JP2003536252A/en
Publication of WO2001095370A2 publication Critical patent/WO2001095370A2/en
Publication of WO2001095370A3 publication Critical patent/WO2001095370A3/en

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • H05K13/0015—Orientation; Alignment; Positioning
    • 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
    • H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
    • 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
    • H05K13/0818—Setup of monitoring devices prior to starting mounting operations; Teaching of monitoring devices for specific products; Compensation of drifts during operation, e.g. due to temperature shifts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40623—Track position of end effector by laser beam
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50028—Beam detects x, y deviation on surface, compensates beam of position scanner

Abstract

A method of calibrating a pick and place machine (31) having an on-head linescan sensor (64) is disclosed. The calibration includes obtaining z-axis height information of one or more nozzle tips via focus metric methods, including a Fourier transform method and a normalized correlation method. Additionally, other physical characteristics such as linear detector tilt, horizontal scale factor, and vertical scale factor are measured and compensated for in the process of placing the component. Nozzle runout, another physical characteristic, is also measured by a sinusoidal curve fit method, and the resulting Z-height calibration data is used to later place the component.
PCT/US2001/011629 2000-06-07 2001-04-10 Calibration methods for placement machines incorporating on-head linescan sensing WO2001095370A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020027001654A KR20020021174A (en) 2000-06-07 2001-04-10 Calibration methods for placement machines incorporating on-head linescan sensing
DE10192328T DE10192328T1 (en) 2000-06-07 2001-04-10 Calibration procedure for placement machines with on-head linescan detection
GB0202156A GB2368393B (en) 2000-06-07 2001-04-10 Calibration methods for placement machines incorporating on-head linescan sensing
JP2002502813A JP2003536252A (en) 2000-06-07 2001-04-10 Calibration method for placement machines with on-head line scan sensing

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/589,020 US6535291B1 (en) 2000-06-07 2000-06-07 Calibration methods for placement machines incorporating on-head linescan sensing
US09/589,020 2000-06-07

Publications (2)

Publication Number Publication Date
WO2001095370A2 WO2001095370A2 (en) 2001-12-13
WO2001095370A3 true WO2001095370A3 (en) 2002-03-21

Family

ID=24356258

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2001/011629 WO2001095370A2 (en) 2000-06-07 2001-04-10 Calibration methods for placement machines incorporating on-head linescan sensing

Country Status (6)

Country Link
US (2) US6535291B1 (en)
JP (1) JP2003536252A (en)
KR (1) KR20020021174A (en)
DE (1) DE10192328T1 (en)
GB (1) GB2368393B (en)
WO (1) WO2001095370A2 (en)

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US7813559B2 (en) * 2001-11-13 2010-10-12 Cyberoptics Corporation Image analysis for pick and place machines with in situ component placement inspection
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US6535291B1 (en) 2003-03-18
JP2003536252A (en) 2003-12-02
US20030156297A1 (en) 2003-08-21
WO2001095370A2 (en) 2001-12-13
KR20020021174A (en) 2002-03-18
DE10192328T1 (en) 2002-11-21

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