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1. 发明申请

US20090165580A1 GANTRY POSITION TRACKING USING REDUNDANT POSITION SENSORS 有权
标题翻译：使用冗余位置传感器的GANTRY位置跟踪
公开(公告)号：US20090165580A1
公开(公告)日：2009-07-02
申请号：US12345967
申请日：2008-12-30
申请人： Lance K. Fisher , Namir Sayegh , John D. Gaida
发明人： Lance K. Fisher , Namir Sayegh , John D. Gaida
IPC分类号： F16H25/18
CPC分类号： B25J9/1615 , G05B19/404 , G05B2219/37304 , G05B2219/40293 , Y10T74/18568
摘要： An x-y robotic motion control system includes a controller, a first rail and a second rail spaced from the first rail wherein the first and second rails are substantially parallel to one another. A gantry has a first end movable along the first rail and a second end movable along the second rail. A payload is movable along the gantry and a position sensor is movable along the gantry with the payload. A first encoder is configured to detect the first end of the gantry with respect to the first rail, and a second encoder is configured to detect the second end of the gantry with respect to the second rail. The position sensor and the first and second encoders are coupled to the controller, which calculates a position of the payload as a function of signals from the position sensor and the first and second encoders.
摘要翻译： x-y机器人运动控制系统包括控制器，第一轨道和与第一轨道间隔开的第二轨道，其中第一轨道和第二轨道基本上彼此平行。台架具有沿着第一轨道移动的第一端和沿着第二轨移动的第二端。有效载荷可沿着机架移动，并且位置传感器可以沿着具有有效载荷的机架移动。第一编码器被配置为相对于第一轨道检测台架的第一端，并且第二编码器被配置为相对于第二轨道检测台架的第二端。位置传感器和第一和第二编码器耦合到控制器，控制器根据来自位置传感器和第一和第二编码器的信号来计算有效载荷的位置。

2. 发明授权

US08116909B2 Gantry position tracking using redundant position sensors 有权
标题翻译：使用冗余位置传感器的龙门架位置跟踪
公开(公告)号：US08116909B2
公开(公告)日：2012-02-14
申请号：US12345967
申请日：2008-12-30
申请人： Lance K. Fisher , Namir Sayegh , John D. Gaida
发明人： Lance K. Fisher , Namir Sayegh , John D. Gaida
IPC分类号： G06F19/00
CPC分类号： B25J9/1615 , G05B19/404 , G05B2219/37304 , G05B2219/40293 , Y10T74/18568
摘要： An x-y robotic motion control system includes a controller, a first rail and a second rail spaced from the first rail wherein the first and second rails are substantially parallel to one another. A gantry has a first end movable along the first rail and a second end movable along the second rail. A payload is movable along the gantry and a position sensor is movable along the gantry with the payload. A first encoder is configured to detect the first end of the gantry with respect to the first rail, and a second encoder is configured to detect the second end of the gantry with respect to the second rail. The position sensor and the first and second encoders are coupled to the controller, which calculates a position of the payload as a function of signals from the position sensor and the first and second encoders.
摘要翻译： x-y机器人运动控制系统包括控制器，第一轨道和与第一轨道间隔开的第二轨道，其中第一轨道和第二轨道基本上彼此平行。台架具有沿着第一轨道移动的第一端和沿着第二轨移动的第二端。有效载荷可沿着机架移动，并且位置传感器可以沿着具有有效载荷的机架移动。第一编码器被配置为相对于第一轨道检测台架的第一端，并且第二编码器被配置为相对于第二轨道检测台架的第二端。位置传感器和第一和第二编码器耦合到控制器，控制器根据来自位置传感器和第一和第二编码器的信号来计算有效载荷的位置。

3. 发明授权

US06954681B2 Board align image acquisition device with improved interface 失效
标题翻译：板对准图像采集设备，改进了界面
公开(公告)号：US06954681B2
公开(公告)日：2005-10-11
申请号：US10745860
申请日：2003-12-24
申请人： Lance K. Fisher , John D. Gaida , Joseph L. Horijon , Todd D. Liberty
发明人： Lance K. Fisher , John D. Gaida , Joseph L. Horijon , Todd D. Liberty
IPC分类号： G06T1/00 , H05K13/04 , H05K13/08 , G05B15/00 , G05B19/00
CPC分类号： H05K13/0812
摘要： An electronics assembly system includes an image acquisition system that is coupled to a controller through an improved interface. The coupling facilitates advanced monitoring and control of the image acquisition system. Multiple image acquisition systems can be coupled to the controller over the same interface.
摘要翻译：电子组装系统包括通过改进的接口耦合到控制器的图像采集系统。耦合有助于图像采集系统的高级监控和控制。多个图像采集系统可以通过相同的接口耦合到控制器。

4. 发明授权

US07706595B2 Pick and place machine with workpiece motion inspection 失效
标题翻译：采用放置机器进行工件运动检查
公开(公告)号：US07706595B2
公开(公告)日：2010-04-27
申请号：US10978687
申请日：2004-11-01
申请人： Thomas W. Bushman , David D. Madsen , Paul R. Haugen , Steven K. Case , John D. Gaida , M. Hope Madsen
发明人： Thomas W. Bushman , David D. Madsen , Paul R. Haugen , Steven K. Case , John D. Gaida , M. Hope Madsen
IPC分类号： G06K9/00
CPC分类号： H05K13/0812
摘要： Embodiments include measuring motion characteristics of the workpiece through the placement process. Since the component is placed on the workpiece with some force to ensure proper adhesion to the workpiece, some deflection of the workpiece is expected during the placement cycle. The placement force is adjusted to ensure that the component is safely placed into the solder paste or adhesive. Placement force is adjusted through a number of characteristics including: choice of spring tension in the nozzle; the length of the nozzle and the amount of over-travel into the board; the rigidity of the board and design; and the placement of the board support mechanisms. With proper adjustment of these characteristics and parameters, high quality placements onto the workpiece can be ensured.
摘要翻译：实施例包括通过放置过程测量工件的运动特性。由于组件以一定的力放置在工件上，以确保与工件的适当粘合，所以在放置循环期间可以预期工件的一些挠曲。调整放置力以确保组件安全地放入焊膏或粘合剂中。放置力通过多种特性进行调整，包括：选择喷嘴中的弹簧张力; 喷嘴的长度和过度进入板的量; 板的刚性和设计; 以及电路板支撑机构的放置。通过适当调整这些特性和参数，可以确保高品质的放置在工件上。

5. 发明授权

US08068664B2 Component sensor for pick and place machine using improved shadow imaging 失效
标题翻译：拾音机组件传感器使用改进的阴影成像
公开(公告)号：US08068664B2
公开(公告)日：2011-11-29
申请号：US12133457
申请日：2008-06-05
申请人： Eric P. Rudd , John P. Konicek , John D. Gaida
发明人： Eric P. Rudd , John P. Konicek , John D. Gaida
IPC分类号： G06K9/00
CPC分类号： H05K13/0812
摘要： A method of sensing a component held by a nozzle of a pick and place machine is provided. The method includes engaging a source of illumination and recording a reference background image when no component is held by the nozzle. Then, a component is adhered to the nozzle. A shadow image of the component is detected while the component is held by the nozzle. The detected shadow image of the component is adjusted based upon the recorded reference background image. Positional information relative to the component held on the nozzle is computed using the adjusted shadow image. The component is then mounted upon a workpiece using the positional information.
摘要翻译：提供了一种感测由拾取和放置机器的喷嘴保持的部件的方法。该方法包括当没有组件被喷嘴保持时，接合照明源并记录参考背景图像。然后，将部件粘附到喷嘴。当部件被喷嘴保持时，检测到部件的阴影图像。基于记录的参考背景图像来调整检测到的成分的阴影图像。使用调整后的阴影图像计算相对于保持在喷嘴上的部件的位置信息。然后使用位置信息将部件安装在工件上。

6. 发明授权

US07559134B2 Pick and place machine with improved component placement inspection 失效
标题翻译：拾取和放置机器，改进了元件放置检查
公开(公告)号：US07559134B2
公开(公告)日：2009-07-14
申请号：US10970355
申请日：2004-10-21
申请人： John D. Gaida
发明人： John D. Gaida
IPC分类号： B23P21/00
CPC分类号： H05K13/0815 , Y10T29/4913 , Y10T29/53087 , Y10T29/53091 , Y10T29/53178
摘要： Embodiments of the present invention improve upon component level inspection performed by pick and place machines. Such improvements include using a position sensitive device that measures the position of the placement head relative to the workpiece as the placement head travels towards and away from the workpiece during a placement cycle. The output of this sensor is used to selectably trigger the acquisition of the images used to measure a placement characteristic of the component placement machine.
摘要翻译：本发明的实施例改进了拾取和放置机器执行的部件级检查。这样的改进包括使用位置敏感装置，其在放置周期期间当放置头朝向和远离工件行进时测量放置头相对于工件的位置。该传感器的输出用于可选择地触发用于测量元件贴装机的放置特性的图像的采集。

7. 发明申请

US20090003683A1 COMPONENT SENSOR FOR PICK AND PLACE MACHINE USING IMPROVED SHADOW IMAGING 失效
标题翻译：使用改进的阴影成像的拾取和放置机器的组件传感器
公开(公告)号：US20090003683A1
公开(公告)日：2009-01-01
申请号：US12133457
申请日：2008-06-05
申请人： Eric P. Rudd , John P. Konicek , John D. Gaida
发明人： Eric P. Rudd , John P. Konicek , John D. Gaida
IPC分类号： G06K9/00
CPC分类号： H05K13/0812
摘要： A method of sensing a component held by a nozzle of a pick and place machine is provided. The method includes engaging a source of illumination and recording a reference background image when no component is held by the nozzle. Then, a component is adhered to the nozzle. A shadow image of the component is detected while the component is held by the nozzle. The detected shadow image of the component is adjusted based upon the recorded reference background image. Positional information relative to the component held on the nozzle is computed using the adjusted shadow image. The component is then mounted upon a workpiece using the positional information.
摘要翻译：提供了一种感测由拾取和放置机器的喷嘴保持的部件的方法。该方法包括当没有组件被喷嘴保持时，接合照明源并记录参考背景图像。然后，将部件粘附到喷嘴。当部件被喷嘴保持时，检测到部件的阴影图像。基于记录的参考背景图像来调整检测到的成分的阴影图像。使用调整后的阴影图像计算相对于保持在喷嘴上的部件的位置信息。然后使用位置信息将部件安装在工件上。

8. 发明授权

US07239399B2 Pick and place machine with component placement inspection 失效
公开(公告)号：US07239399B2
公开(公告)日：2007-07-03
申请号：US10291074
申请日：2002-11-08
申请人： David W. Duquette , Paul R. Haugen , David Fishbaine , John D. Gaida , David D. Madsen , Theodore Paul Dale , Todd D. Liberty , Brant O. Buchika , Scott D. Roth , Thomas W. Bushman
发明人： David W. Duquette , Paul R. Haugen , David Fishbaine , John D. Gaida , David D. Madsen , Theodore Paul Dale , Todd D. Liberty , Brant O. Buchika , Scott D. Roth , Thomas W. Bushman
IPC分类号： G01B11/14
CPC分类号： H04N13/239 , H04N13/194 , H04N13/207 , H04N13/218 , H04N13/254 , H04N2013/0081 , H05K13/0812 , H05K13/0818 , Y10T29/49778 , Y10T29/53087 , Y10T29/53191
摘要： Improved component placement inspection and verification is performed by a pick and place machine. Improvements include stereovision imaging of the intended placement location; enhanced illumination to facilitate the provision of relatively high-power illumination in the restricted space near the placement nozzle(s); optics to allow image acquisition device to view the placement location from an angle relative to a plane of the placement location, thereby reducing the possibility of such images being obstructed by the component; techniques for rapidly acquiring images with commercially available CCD arrays such that acquisition of before and after images does not substantially impact system throughput; and image processing techniques to provide component inspection and verification information.

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