KR101367537B1 - Apparatus for determining the position of work - Google Patents

Abstract

This invention provides the workpiece | work positioning apparatus which can be applied to the processing apparatus which forms a release-shaped hole and a pattern, and the inspection apparatus of the workpiece | work in which the release-shaped hole and a pattern were formed.
The camera 61 receives information (X, Y, θ) about the rotation angle θ around the axis perpendicular to the X-axis position X and Y-axis position Y and XY plane in the machining inspection area R. And the workpiece | work W on the process inspection area | region is image | photographed and calculated | required. The position adjusting device of the workpiece is controlled to drive the driving portions of the gripping portions 1 and 8 so that the (X, Y, θ) information of the tool and the (X, Y, θ) information of the workpiece coincide with each other. Adjust the position of. The grappling member of the gripping portion grasps the workpiece to the point with the base when rocked toward the base by the grappling drive.

Description

Workpiece positioning device {APPARATUS FOR DETERMINING THE POSITION OF WORK}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece positioning apparatus for positioning a sheet-like or film-like workpiece such as a printed board at a predetermined position such as a processing apparatus or an inspection apparatus. After loading on a surface, it relates to a workpiece positioning apparatus for detecting the position of the workpiece and stacking it again at a predetermined predetermined working position.

In the printed circuit board, a predetermined shape pattern is cut out in the punching device, and the conduction of the printed board is checked in the inspection device. At this time, the printed board located at the entrance of the apparatus is introduced into the punching area or the inspection area, and the position of the printed board in its two-dimensional direction (X direction and Y direction) and the rotation direction of the printed board around the axis perpendicular to the X direction and Y direction It is necessary to position the position of the in accordance with the punching unit or the inspection unit arranged in the punching area or the inspection area.

As the positioning device of such a conventional workpiece | work, there exist some which were disclosed by patent documents 1 -3. In the positioning device of the workpieces disclosed in these Patent Documents 1 to 3, when positioning the workpiece at an arbitrary position, the preset two or four positions of the workpiece are held in surface contact by the holding portion, The gripping portion is moved in the X, Y and rotation directions to adjust its position.

However, in the above-mentioned prior art, the position of the preset two or four points of the workpiece is gripped by surface contact by a gripper connected to the base, and the base portion including the gripper is in the X direction, the Y direction and the rotation. Since the position is adjusted by moving in the direction, the structure of the moving mechanism is complicated and enlarged. As a result, the device cost increases. In addition, when gripping workpieces of different sizes, it is necessary to change the order of the workpiece holding portions.

Moreover, in patent document 4, the X-Y-axis movement mechanism which moves a workpiece | work in the X-axis and Y-axis direction along a work table, the imaging part for mark centering of a workpiece | work, and the mark of a workpiece | work correspond to the centering position. Disclosed is a punching device including a control unit for correcting and moving an X and Y axis moving mechanism. Further, Patent Document 5 includes photographing means for photographing a pattern formed on a workpiece, display means for displaying a photographed image and displaying guide lines superimposed on the image, storage means for storing the displayed image, and stored A position of the workpiece having calculation means for calculating information necessary for positioning of the corresponding pattern on the workpiece from the image, and positioning means for positioning the corresponding pattern on the workpiece based on the stored image and the calculated information A determination device is disclosed. In Patent Document 6, in a punching device for drilling into a flexible material on a table, an optical mirror is located at a first position between the movable drill and the flexible material, and directly observes the exact drilling position on the surface of the flexible material. A puncturing apparatus is disclosed in which the optical mirror is led to a second position spaced apart from the path of the movable drill, and is repositioned to the first position after the drilling is completed.

[Patent Document 1] Japanese Patent No. 374125

[Patent Document 2] Japanese Patent Application Laid-Open No. 2006-281432

[Patent Document 3] Japanese Patent No. 3420039

[Patent Document 4] Japanese Patent No. 2851001

[Patent Document 5] Japanese Patent Application Publication No. 2003-14434

[Patent Document 6] Japanese Patent Application Laid-open No. Hei 7-148695

However, the conventional positioning device has a difficulty in that only the positions in the X direction and the Y direction of the workpiece can be aligned, so that the shape that can be processed is limited to a circle shape. In other words, the conventional positioning device can only be applied to a drill drilling or a circular punch drilling processing device, but not to a process for aligning and processing a hole or a pattern having a release shape.

The present invention has been made in view of these problems, and is applied to a processing apparatus or inspection apparatus for a workpiece such as a sheet form or a film form such as a printed board, and a processing apparatus for forming a hole and a pattern of a release shape, and a hole and a pattern of a release shape. An object of the present invention is to provide a workpiece positioning apparatus which may be applied to the inspection apparatus of the formed workpiece.

The workpiece positioning apparatus according to the present invention includes information (X, Y, θ) about the rotation angle θ around an axis perpendicular to the X-axis position X and Y-axis position Y and XY plane in the machining inspection area. Has a detection device for detecting them with respect to a tool and a workpiece on the work inspection area, and a position adjusting device for the workpiece, the position adjusting device having a pair of moving parts and an X direction and a Y perpendicular to the moving parts. A pair of driving units for driving in the direction, a holding unit provided at each of the moving units to hold the workpiece, (X, Y, θ) information of the tool and (X, Y, θ) information of the workpiece And a control unit for controlling driving of the drive unit to coincide.

In this case, the gripping portion has a base for contacting and supporting one side of the workpiece, a hook member installed on the other side of the workpiece and swingable through a horizontal axis, and a hook driving portion for swinging the hook member. It is preferable that the said claw member has a shape which grasps the said workpiece | work to a point between the said base and the said base when it rocked toward the said base by the said claw drive part.

In addition, the said detection apparatus is an imaging device, for example.

In addition, in this workpiece positioning apparatus, for example, the drive unit includes a pair of parallel Y guides extending in the Y direction, a Y pedestal movable along the Y guide, and a Y reciprocating drive the Y pedestal. A drive member, an X guide installed on the Y pedestal and extending in the X direction, an X pedestal movable along the X guide, and an X drive member provided on the Y pedestal and reciprocally driving the X pedestal; The moving part is constituted by the X pedestal.

The workpiece is, for example, a printed board.

According to the present invention, the work piece once loaded on the inspection machining area can be adjusted by the small and simple structure of the position adjustment device so that the X direction position, the Y direction position and the θ direction position of the workpiece on the inspection machining area can be adjusted. Of the workpiece on the inspection machining area by capturing the image with an imaging device and acquiring the (X, Y, θ) information, comparing this with the (X, Y, θ) information of the tool, and controlling the driving unit to coincide with each other. (X, Y, θ) and the position (X, Y, θ) of the tool can be matched with high precision. For this reason, high precision processing or inspection can be performed.

1 is a perspective view showing the whole of a workpiece positioning apparatus according to an embodiment of the present invention.
Fig. 2 is a perspective view showing the operation in the same way.
3 is a perspective view showing the operation in the same manner.
4 is a perspective view showing the operation in the same manner.
5 is a perspective view showing the operation in the same manner.
Fig. 6 is a plan view showing the whole of the workpiece holding position determining device according to the embodiment of the present invention.
7 is a front view thereof in the same manner.
8 is a perspective view showing a part thereof;
Fig. 9A is a front view showing the gripper, and Figs. 9B-9D are side views showing the operation of the gripper.

First, the outline | summary of this invention is demonstrated. In this invention, a pair of holding | gripping tools hold | grip a workpiece | work, such as a film form, at two points. In this case, the gripping portion grips the workpiece to a point between the base and the hook member in point contact with the workpiece, so that the driving portion drives the moving portion in the X and Y directions, thereby driving the workpiece in the X and Y directions. The workpiece can be rotated around an axis perpendicular to the plane, while positioning in the direction, and by varying the amount of movement in the Y direction, for example, in the pair of drive units. In this case, since the hook member grips the workpiece with a dot, when the workpiece is in the form of a film, wrinkles, distortion, etc. do not occur in the workpiece with the rotation of the workpiece. In addition, the driving unit is only required to move the moving unit in two directions of the X direction and the Y direction, and there is no need to rotate the drive unit, so that the driving unit can be simplified and downsized. Thus, in this invention, the position adjustment apparatus of a workpiece | work is a simple structure, and can adjust the position (X, Y, (theta)) of a workpiece | work.

In the present invention, the imaging device photographs a tool such as a machining tool or an inspection tool in the inspection processing region, acquires (X, Y, θ) information, and is loaded on the inspection processing region. Photograph water to obtain the (X, Y, θ) information, and the control unit controls the driving unit so that the (X, Y, θ) information of these tools and the (X, Y, θ) information of the workpiece coincide. . In this way, the position of the workpiece once loaded in the inspection machining area is finely adjusted, and can be finely adjusted in the θ direction (rotation direction) as well as not limited to the X direction and the Y direction. It is not limited to the processing apparatus of this, It can apply to the high precision positioning of a workpiece also to the processing apparatus and inspection apparatus which process a hole or pattern of a mold release shape.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described concretely with reference to attached drawing. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing the whole of a workpiece positioning apparatus according to an embodiment of the present invention, Figs. 2 to 5 are perspective views showing the same operation, Fig. 6 is a workpiece position according to an embodiment of the present invention. Fig. 7 is a front view showing the entire position adjusting device of the determination device, Fig. 8 is a perspective view showing a part thereof, and Fig. 9 (a) is a front view showing a gripping portion, Fig. 9 (b) to (d) are side views showing the operation of the gripping portion.

First, the position adjusting device will be described. As shown in FIG. 7, a pair of drive parts 101 and 102 are provided on the support part 100. As shown in FIG. The direction of introduction of the FPC substrate (Flexible Printed Circuit) (not shown) into the punching region or the inspection region as the film-like workpiece is the Y axis (see Fig. 1, etc.), and is perpendicular to this Y axis. Set the direction as the X axis. In each of the driving units 101 and 102, Y-axis ball screws 6 and 13 whose lengths are parallel to the Y-direction are rotated about the center axis on the bases 20 and 30 (FIG. 1). The Y-axis ball screws 6 and 13 are rotatably driven by the Y-axis drive motors 7A and 7B. Moreover, on the bases 20 and 30, the Y-axis guides 5 and 12 are provided so that the longitudinal direction may be parallel to a Y direction, and are guided by these Y-axis guides 5 and 12, and the Y pedestal 21, 31) is capable of reciprocating in the Y direction.

On the Y pedestals 21 and 31, the X-axis ball screws 3 and 10 are rotatably supported about the central axis with the longitudinal direction thereof parallel to the X direction, and this X-axis ball screw 3 And 10 are rotationally driven by the X-axis drive motors 4 and 11 (Fig. 6). Further, on the Y pedestals 21 and 31, the X axis guides 2 and 9 are provided with their longitudinal directions parallel to the X direction, guided by the X axis guides 2 and 9, and the X pedestal 22 , 32) is capable of reciprocating in the X direction.

These X pedestals 22 and 32 function as moving parts of the drive unit. Holding parts 1 and 8 are provided on the X pedestals 22 and 32, respectively. The holding parts 1, 8 have arms 40, 50 (Figs. 6, 8) projecting forward from the X pedestals 22, 32 in the Y direction, and at the front end portions of the arms 40, 50, The grappling members 41 and 51 (FIG. 8) are arrange | positioned. In Fig. 8, reference numeral 15 denotes a punch die, and reference numeral 17 denotes a die die.

As a representative of one hook member 41 is shown in Fig. 9, the lower surface of the arm 40 extends forward to form the base 49, and the arm 40 slightly rear of the base 49 is formed. ), A horizontal rotating shaft 42 is provided. The hook support part 48 is rotatably supported centering on this rotating shaft 42. The hook member 41 is fixed to the hook support part 48. Moreover, the connecting shaft 47 protrudes on the side surface of this claw support part 48 horizontally in the longitudinal direction. The piston 44 is provided with the longitudinal direction in the Y direction, and can move back and forth in the Y direction. A housing 45 is fixed to the tip of the piston 44, and an elongated hole 46 extending in the vertical direction is formed on the side surface of the housing 45. And the connecting shaft 47 is fitted in this long hole 46, When the piston 44 advances, the housing 45 will move forward, and the connecting shaft 47 will fit in the long hole 46. As shown in FIG. ), The hook support portion 48 of the hook member 41 rotates forward and downward as shown in Figs. 9B to 9C. On the contrary, when the piston 44 retreats, the hook support portion 48 of the hook member 41 rotates upward and backward.

The hook member 41 is formed in a conical shape, and the front end 43 has a small surface area so as to point-contact with the FPC substrate. The tip 43 has, for example, a hemispherical shape that is curved at a predetermined radius of curvature, and the contact area with the FPC substrate is large enough not to perforate the FPC substrate, and the base 49 is supported by the FPC substrate. It must be small enough to hold the FPC substrate between the base portion 49 and the size that can be reliably gripped with the base member 43, and the FPC substrate can rotate without causing wrinkles and distortions. Do. The other hook member 51 also has the same structure as the hook member 41.

Next, the process inspection tool and the imaging device will be described. As shown in FIG. 1, the machining inspection tool 60 is arrange | positioned in front of the Y direction of the base 20, 30 of a position adjustment apparatus, and the camera of an imaging device above this machining inspection tool 60 is carried out. 61 is arranged. In the process inspection tool 60, in the case of the apparatus which performs a punching process, the dice are provided in the upper surface, for example. In the imaging device, the drive part 64 is provided above the process inspection tool 60, and the X moving part 63 is provided in the lower surface of this drive part 64 so that a movement to an X-axis direction is possible. In other words, the X moving part 63 is vertically lowered from the driving part 64, and can move in the X axis direction by an appropriate driving member. And the lower surface of this X moving part 63 is provided with the Y moving part 62 so that a movement to a Y-axis direction is possible. That is, the Y moving part 62 is vertically descended from the X moving part 63, and can be moved to the Y-axis direction by the appropriate drive member. And the camera 61 is provided in the front-end | tip of this Y moving part 62 toward the imaging direction downward.

As shown in Fig. 2, the camera 61 is moved by the X moving part 63 in the X direction and the Y moving part 62 in the Y direction. It can move to arbitrary positions in the process inspection area | region R, and can image | photograph the tool shape, such as dice in the position.

A table (not shown) is provided between the position adjustment device and the processing inspection tool 60, for example, and the workpiece | work W of sheet form or film form, such as FPC, is conveyed on this table. . The holding parts 1 and 8 of the positioning device hold the end edge of the work W stacked on the table.

3 to 5, when the arm 40, 50 of the position adjustment device advances and moves the workpiece W held by the grip portions 1, 8 to the front, the workpiece ( W) is once loaded onto the machining inspection tool 60.

The control unit performs image processing based on the captured image of the camera 61 photographing the tool, acquires (X, Y, θ) information (position, inclination information) of the tool, and the camera 61 photographs the workpiece. Image processing is performed based on the captured image to obtain (X, Y, θ) information (position, inclination information) of the workpiece. Then, the controller controls the X-axis drive motors 4 and 11 and the Y-axis drive motors 7A, of the positioning device so that the (X, Y, θ) information of the tool and the (X, Y, θ) information of the workpiece coincide. Drive 7B).

In addition, as a workpiece | work, it is not limited to film-like workpieces, such as an FPC board | substrate, This invention is applicable to the workpiece | work of various shapes. In addition, the workpiece is not limited to a flexible material, and the present invention can also be applied to a rigid workpiece. In the case of a rigid body, problems such as wrinkles do not occur even when the gripping portion held by the same point as the present invention is used, but the present invention exhibits an effect that the driving portion for rotating the workpiece has a low cost.

Next, the operation of the workpiece positioning apparatus configured as described above will be described. First, as for the workpiece | work W (refer FIG. 2, FIG. 3), such as a flexible printed board conveyed on the table, as shown in FIG. 1, the edge part of the workpiece | work W is a grip part 1, It is supplied to be located on the base 49 of 8). As the piston 44 advances, the hook member 41 swings forward and downward, and the workpiece W is gripped between the tip 43 and the base 49 of the hook member 41. Subsequently, the Y-axis ball screws 6 and 13 are rotationally driven by the motors 7A and 7B to drive the Y pedestals 21 and 31 into the machining (punching) region or the inspection region (process inspection region R). It pulls in and is located in the predetermined position in the process inspection area | region R. As shown in FIG.

Before this workpiece | work W is supplied on the process inspection tool 60, for example, as shown in FIG. 2, when a process inspection apparatus is a punching apparatus, the camera 61 will be a process inspection tool ( One of the plurality of punching patterns (deformation shapes) provided in the dice | dies as 60) is imaged. The control unit acquires the information X, Y, θ of the position X, Y and the inclination θ of the punching pattern based on the captured image.

Subsequently, as shown in FIGS. 3 and 4, the grip parts 1 and 8 advance by the advance of the arms 40 and 50, and once the workpiece W is placed on the work inspection tool 60. When mounted, the camera 61 picks up the punching pattern of the workpiece | work W which exists in the position corresponding to the imaging punching pattern in the process inspection tool 60. By doing so, the control unit acquires the information X, Y, θ of the position X, Y and the inclination θ of the punching pattern of the workpiece W based on the captured image. The control unit compares the (X, Y, θ) information of the punching pattern of the tool with the (X, Y, θ) information of the punching pattern of the workpiece W, and compares the X of the position adjusting device so that the two coincide with each other. The axis drive motors 4 and 11 and the Y axis drive motors 7A and 7B are driven.

At this time, the X pedestal 22, 32 (moving part) is moved slightly in the X direction and the Y direction so that the (X, Y, θ) information of the tool and the workpiece coincide with each other, thereby adjusting the X direction position and the Y direction position. By varying the amount of movement in the X direction and the amount of movement in the Y direction, the workpiece is rotated around an axis perpendicular to the X direction and the Y direction (an axis perpendicular to the surface of the workpiece) to adjust the position of the rotation direction.

In this case, in the present embodiment, the gripping portion grips the workpiece to a point between the base and the hook member in point contact with the workpiece, so that the driving portion drives the moving portion in the X and Y directions, thereby The water can be positioned in the X direction and the Y direction, and the workpiece can be rotated around an axis perpendicular to the plane, for example, by varying the amount of movement in the Y direction on a pair of drive units. The drive unit is only required to move the moving unit in two directions of the X direction and the Y direction, and the drive unit does not need to be rotated, so the drive unit can be simplified and downsized. In addition, since the hook members 41 and 51 hold the workpiece as a dot, when the workpiece is in the form of a film, wrinkles, distortion, etc. do not occur in the workpiece with rotation of the workpiece.

Then, as shown in FIG. 5, the upper process inspection tool is superimposed on the lower process inspection tool 60, and the pattern of a predetermined shape is cut out by punching, or conduction test of FPC is performed. In this manner, according to the present embodiment, not only the work piece can be adjusted in the X and Y directions but also the work can be rotated in the θ direction, so that the punching pattern is a non-circular, non-circular shape, or U-shaped or the like. Even when it has a predetermined pattern shape, since the inclination of a workpiece | work can be changed and both patterns can be matched, even when processing (perforating) a shape of a mold shape or a pattern shape, the positioning apparatus of this embodiment Applicable

Industrial Applicability The present invention is useful for punching devices, inspection devices, and the like, which perform a punching or electrical inspection by placing a workpiece at a predetermined position by the workpiece positioning device.

1, 8: gripper
2, 9, 5, 12: guide
3, 10, 6, 13: ball screw
4, 11, 7A, 7B: motor
20, 30: base
21, 31: Y pedestal
22, 32: X pedestal
40, 50: arm
41, 51: no hook
42:
43: tip
44: piston
45: housing
46: long hole
47: connecting shaft
48, 100: support part
49: donation
60: machining inspection tool
61: camera
62: Y moving part
63: X moving part
64, 101, 102: drive unit

Claims (2)

X-axis position X and Y-axis position in the machining inspection area (X, Y, θ) about the rotation angle (θ) around the axis perpendicular to the Y and XY planes to the tool and the workpiece on the machining inspection area. It has a detection apparatus which detects these with respect to, and the position adjustment apparatus of the said workpiece | work,
The position adjusting device includes a pair of moving parts, a pair of driving parts for driving the moving parts in the X and Y directions orthogonal to each other, a holding part provided on each of the moving parts to grip a workpiece, and the tool. Has a control unit for driving control of the driving unit so that the (X, Y, θ) information of
A workpiece positioning apparatus characterized by rotating a workpiece by varying each movement amount of the pair of moving portions in the pair of driving portions. X-axis position X and Y-axis position in the machining inspection area (X, Y, θ) about the rotation angle (θ) around the axis perpendicular to the Y and XY planes to the tool and the workpiece on the machining inspection area. It has a detection apparatus which detects these with respect to, and the position adjustment apparatus of the said workpiece | work,
The position adjusting device includes a pair of moving parts, a pair of driving parts for driving the moving parts in the X and Y directions orthogonal to each other, a holding part provided on each of the moving parts to grip a workpiece, and the tool. Has a control unit for driving control of the driving unit so that the (X, Y, θ) information of
The detection device is an imaging device,
And the moving unit draws the workpiece into the workpiece inspection region to position the workpiece at a predetermined position in the workpiece inspection region.

Images