US 5,751,917 AGranted

Method and apparatus for controlling movements of a chip mounting robot

AssigneeSamsung Electronics Co., Ltd.

InventorsYoung Hyeon Kim, Pil Young Seong

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Abstract

A robot for mounting a chip on a printed circuit board includes a body movable along a forward/backward axis, and a chip-carrying head unit movable longitudinally along the body transversely of the forward/backward axis. Due to manufacturing tolerances the longitudinal axis of the body is slightly inclined relative to a leftward/rightward axis oriented perpendicular to the forward/backward axis by an error angle which can be measured. The head unit is intended to be positioned at target coordinates on the forward/backward axis and the leftward/rightward axis, respectively. An operation unit determines, as a function of the error angle, a position of the head unit relative to the body, and a position of the body relative to the forward/backward axis, which would place the head unit at the target coordinates. A controller connected to the operation unit actuates a drive mechanism for moving the head unit and body to those respective positions.

Claims4

Dependent claims

A method of controlling a position of a chip-mounting robot, the robot comprising a body, and a head unit mounted on the body and including a chip-mounting nozzle;

the body being movable along a forward/backward axis;
the head unit being movable longitudinally along the body in a direction transversely of the forward/backward axis for positioning the head unit relative to a leftward/rightward axis oriented perpendicularly to the forward/backward axis;
the body being slightly inclined relative to the leftward/rightward axis by an error angle;
and a drive mechanism for driving the body along the forward/backward axis and for driving the head unit longitudinally along the body;
the method comprising the steps of:
A) determining target coordinates for the head unit on the forward/backward axis and the leftward/rightward axis;
B) determining, as a function of the error angle, a first position of the head unit relative to the body, and a second position of the body relative to the forward/backward axis, for placing the head unit at the target coordinates;
and
C) actuating the drive mechanism to move the head unit and body to the first and second positions, respectively.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 08/629,735Filed 9 Apr 1996
Priority: KR 95-6166428 Dec 1995
Granted: 12 May 1998
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

G05B 19/404
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
H05K 13/0406
Pick-and-place heads or apparatus, e.g. with jaws: drive mechanisms for pick-and-place heads, e.g. details relating to power transmission, motors…
H05K 13/089
Monitoring manufacture of assemblages: calibration, teaching or correction of mechanical systems, e.g. of the mounting head
G05B 2219/40293
Robotics, robotics mapping to robotics vision: gantry, portal