US 2023/0381877 A1 · SOLDERING APPARATUS AND SOLDERING SYSTEM, AND PROCESSING APPARATUS

Abstract

A soldering apparatus that applies a processing light for melting a solder disposed on a circuit board, includes: a light irradiation apparatus that includes a Galvano mirror and that applies the processing light through the Galvano mirror; a detection apparatus that detects a light from the circuit board and that generates at least one of image data and shape data; a robot arm that is provided with the light irradiation apparatus and the detection apparatus and that includes a driver that moves the light irradiation apparatus and the detection apparatus; and a control apparatus that controls a direction of the Galvano mirror such that the processing light from the light irradiation apparatus that is displaced with the detection apparatus is applied to a same position, on the basis of at least one of the data that are changed in accordance with a displacement of the detection apparatus.

Claims41

Dependent claims

A control apparatus that performs data processing for controlling a driver of a robot arm that is provided with an end effector that performs a process on a target object, an imaging apparatus, and a stereo camera, and that moves the end effector, the imaging apparatus, and the stereo camera, wherein

the control apparatus comprises a processor, and
the processor:
calculates a position and an attitude of the target object, on the basis of image data obtained by that the imaging apparatus images the target object with the stereo camera during such a relative movement of the robot arm and the target object that the imaging apparatus and the stereo camera are brought close to the target object, and shape data that are generated from image data obtained by imaging the target object with the stereo camera and that indicate a three-dimensional shape of the target object;
calculates a displacement of the target object between different time points, on the basis of two image data obtained by that the imaging apparatus images the target object at the different time points during the relative movement, and two shape data that are generated from image data obtained by that the stereo camera images the target object at the different time points and that indicate the three-dimensional shape of the target object at each of the different time points;
and
outputs information about the position and the attitude of the target object calculated by adding the calculated displacement of the target object to the calculated position and attitude of the target object.

3 more elements

A robot system that installs a first object on a second object that is spaced from the first object, the robot system comprising:

a holding apparatus that holds the first object;
an imager;
and
a robot arm that is provided with the holding apparatus and the imager and that moves the holding apparatus and the imager, wherein
the robot system calculates a position and an attitude of the second object, on the basis of image data obtained by that the imager images the second object, and controls the robot arm to install the first object on the second object on the basis of the calculated position and attitude of the second object, and
obtains image data about a status of installation of the first object on the second object by that the imager provided on the robot arm images the first object, after the first object is installed on the second object.

3 more elements

A control apparatus that performs data processing for controlling a driver of a robot arm that is provided with a holding apparatus that holds a first object and an imager, and that moves the holding apparatus and the imager, wherein

the control apparatus comprises a processor that calculates a position and an attitude of a second target object and outputs information about the calculated position and attitude of the second target object, on the basis of image data obtained by that the imager images the second target object during such a relative movement of the robot arm and the second target object that the first object is brought close to the second target object in order to install the first object on the second object that is spaced from the first object, and
an inspection of a status of installation of the first object on the second object is performed, on the basis of image data obtained by that the imager provided on the robot arm images the first object, after the first object is installed on the second object.

Dependencies are inferred from the claim text.

Soldering apparatus and soldering system, and processing apparatus

Life of this patent

Soldering apparatus and soldering system, and processing apparatus

Life of this patent

Abstract

Claims41