Mounting apparatus, mounting method, and computer-readable recording medium
AssigneeKabushiki Kaisha Shinkawa
InventorKohei Seyama
Life of this patent
Estimating the term…
Abstract
Provided is a mounting apparatus including a mounting controller, which adjusts a position of a mounting tool such that a mounted surface of a mounting body is at a same height as an index surface of a calibration index, which is arranged to be imageable by an bottom-up imaging unit and an overhead imaging unit that adopts a Scheimpflug optical system, recognizes a reference position of the mounting body based on a bottom-up image output by causing the bottom-up imaging unit to image the mounting surface, adjusts a position of a stage such that a mounting surface of a planned placement region is at the same height as the index surface, and mounts the mounting surface on the mounted surface based on the recognized reference position.
Claims17
A mounting apparatus, comprising:
- a mounting tool that picks up and holds a mounting body having a mounting surface, and mounts the mounting surface to a substrate placed on a stage or to a planned placement region set with respect to another mounting body already mounted on the substrate;
- an overhead imaging unit having an optical system and an imaging element arranged to satisfy a Scheimpflug condition such that a plane parallel to a stage surface of the stage becomes a focal plane, for imaging the planned placement region from above from a same side as the mounting tool with respect to the stage surface;
- a bottom-up imaging unit for imaging the mounting body held by the mounting tool from below from an opposite side of the overhead imaging unit with respect to the stage surface;
- a calibration index arranged to be imageable by the overhead imaging unit and the bottom-up imaging unit;
- and
- a mounting controller that adjusts a position of the mounting tool such that the mounting surface is at a same height as an index surface of the calibration index, recognizes a reference position of the mounting body based on a bottom-up image output by causing the bottom-up imaging unit to image the mounting surface, adjusts a position of the stage such that a mounted surface of the planned placement region is at the same height as the index surface, and causes mounting to the mounted surface based on the reference position.
A mounting method for mounting a mounting body using a mounting apparatus, the mounting apparatus comprising:
- a mounting tool that picks up and holds a mounting body having a mounting surface, and mounts the mounting surface to a substrate placed on a stage or to a planned placement region set with respect to another mounting body already mounted on the substrate;
- an overhead imaging unit having an optical system and an imaging element arranged to satisfy a Scheimpflug condition such that a plane parallel to a stage surface of the stage becomes a focal plane, for imaging the planned placement region from above from a same side as the mounting tool with respect to the stage surface;
- a bottom-up imaging unit for imaging the mounting body held by the mounting tool from below from an opposite side of the overhead imaging unit with respect to the stage surface;
- and a calibration index arranged to be imageable by the overhead imaging unit and the bottom-up imaging unit, and the method comprising:
- a mounting control step of adjusting a position of the mounting tool such that the mounting surface is at a same height as an index surface of the calibration index, recognizing a reference position of the mounting body based on a bottom-up image output by causing the bottom-up imaging unit to image the mounting surface, adjusting a position of the stage such that a mounted surface of the planned placement region is at the same height as the index surface, and causing mounting to the mounted surface based on the reference position.
A computer-readable recording medium recording a mounting control program for controlling a mounting apparatus, the mounting apparatus comprising:
- a mounting tool that picks up and holds a mounting body having a mounting surface, and mounts the mounting surface to a substrate placed on a stage or to a planned placement region set with respect to another mounting body already mounted on the substrate;
- an overhead imaging unit having an optical system and an imaging element arranged to satisfy a Scheimpflug condition such that a plane parallel to a stage surface of the stage becomes a focal plane, for imaging the planned placement region from above from a same side as the mounting tool with respect to the stage surface;
- a bottom-up imaging unit for imaging the mounting body held by the mounting tool from below from an opposite side of the overhead imaging unit with respect to the stage surface;
- and a calibration index arranged to be imageable by the overhead imaging unit and the bottom-up imaging unit, the program computer-readable recording medium causing a computer to execute:
- a mounting control step of adjusting a position of the mounting tool such that the mounting surface is at a same height as an index surface of the calibration index, recognizing a reference position of the mounting body based on a bottom-up image output by causing the bottom-up imaging unit to image the mounting surface, adjusting a position of the stage such that a mounted surface of the planned placement region is at the same height as the index surface, and causing mounting to the mounted surface based on the reference position.
Dependencies are inferred from the claim text.