JPH04210355A - Work device - Google Patents

Abstract

PURPOSE:To execute the work onto the position in the preset specified design distance by composing it with a work machine having at least two work parts, a table arranged in opposition to the work part, a camera arranged in opposition to the table, and a matching machine. CONSTITUTION:When a printed board is fixed with its placing on a table 30, each mark is opposed to cameras 43, 45, the slide of a mark face center to the fixed point preset in a camera visual field is calculated, and a matching machine 20 is controlled based thereon. In this case, if, the weight of one part of the mark is larger than that of the other part, the matching of a one side reference is executed with the face center of the mark of one part being conformed to the fixed point inside the camera visual field of one part and also so that the face center of the other part is located on the line connecting the fixed points of the both camera visual fields inside. Also, in case of the weights of both marks being equal, the matching of the center straddling is executed so that the face centers of both marks become in the same slippage to each fixed point.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is directed to a method for applying the present invention to a method in which all or a part of a processing station, or all or a part of a position at a predetermined distance from the processing station, or a part of the processing station. The present invention relates to a device for detecting at least two machining locations based on the marks on a workpiece having a mark attached to a part of the position spaced apart from the machining location by a predetermined distance, and causing the machine to perform machining.

There are various types of conventional machining techniques, such as drilling, punching, and inserting pins into holes, but all of them require alignment between the machining location of the workpiece and the machining part of the processing machine prior to machining. It is.

Although this alignment can be performed manually while monitoring the marks attached to the processing area using a magnifying monitor, for example, this requires skill and is inefficient.

To solve this problem, it is possible to adopt an automatic alignment method. In other words, a CCD camera that detects the mark position on the workpiece as an image output is prepared as a substitute for the human eye, and a processing machine is placed opposite the camera across a space, and the camera and processing machine are integrated. Join. Then, a table to place the workpiece is placed between the camera and the processing machine,
Either one of the above-mentioned integrated camera and processing machine or table is movable by being integrally coupled with an alignment machine that performs fine movement control according to the image output of the camera. In this way, the mark on the workpiece placed on the table is converted into an image output of the camera and taken out, and by performing, for example, binarization and face center calculation, I) the face center of the mark is detected. be done. Next, an alignment machine is used to align the machined part or As a result of controlling the position of the workpiece, the processing section is automatically brought to face the center of the face of the mark on the workpiece, and processing is performed in this state.

The above is a case where processing is performed at one location on the workpiece, but in the case of a workpiece such as a printed circuit board, it is necessary to drill holes at at least two points, for example, for insertion of a guide bin.

In this case, the process is basically the same as above, and after machining one location, the workpiece is coarsely fed by the distance between the marks, and then the same alignment and machining operations as above are repeated, and the hole is drilled. .

Problems to be Solved by the Invention Incidentally, in the case of a workpiece such as the printed circuit board mentioned above, a mark indicating a processing location is formed by printing, but thermal deformation of one or both of the board and the printing plate, etc. Therefore, the distance between marks may not always be a predetermined value, and may vary. In the conventional technology, in this case as well, processing is performed faithfully to the center of each mark for each mark, and as a result, variations in the distance between the two marks remain as they are.
For example, if the processing location is a guide bottle insertion hole, it may become impossible to insert the bottle. For this reason, the diameter of the guide hole is actually formed to be larger than the diameter of the guide pin to some extent, but if this is done, the occurrence of backlash is unavoidable, resulting in errors in subsequent steps. Furthermore, in the prior art, since the camera and processing machine are integrated, there are restrictions on their arrangement.

Means for Solving the Problems In order to solve the above problems, the present invention performs machining to a position at a predetermined design distance predetermined based on mark positions and design values corresponding to two points of a plurality of machining locations. The present invention provides a device for obtaining

That is, the first aspect of the present invention is to process all or a part of a plurality of machining places, or all or a part of a position spaced from the machining places at a predetermined distance, or a part of the machining places. It is a device that performs processing on at least two processing points of a workpiece, which are marked at some positions at a predetermined distance from the cutting point, and has at least two processing sections arranged at a predetermined interval. A processing machine, a table placed opposite the processing section on which the workpiece is placed, and a common or separate camera or installation position placed opposite the table to detect each mark on the workpiece. It consists of a camera having a variable function, and an alignment machine that is coupled to either the processing machine or the table, or both, and performs fine movement control according to the camera output. Moreover, the second aspect of the present invention
In this invention, an alignment place and a processing place are separated, and a workpiece is transferred between the two places using a transfer means, and the work piece is transferred between all or part of a plurality of processing places or the processing place. A device that performs processing at at least two processing points on a workpiece, which are marked at all, part, or both of positions spaced apart by a predetermined distance;
A processing machine having at least two processing sections arranged at a predetermined interval, a first table arranged opposite to the processing section and on which a workpiece is placed, and arranged spaced apart from the first table. a second table, a shared or separate camera or a camera having a position variable function and arranged opposite to the second table to detect each mark on the workpiece, and the second table; Alternatively, it includes an aligning machine that is coupled to one or more of the processing machines and performs fine movement control according to the camera output, and a transfer means that transfers the workpiece between the first and second tables.

Each processing part of the processing machine is fixed at a predetermined distance apart, and when processing something at a different distance from this, the distance must be adjusted according to the type of workpiece. Fixation takes place.

Effects In the first invention described above, when the workpiece is placed on the table, image outputs corresponding to the two marks are detected by the camera, and its face-centered coordinates are calculated.

In addition, if the two marks are within the field of view of one camera and there is no problem with the accuracy of face center calculation, one camera can be shared; in other cases, images are output using separate cameras. Take out. Based on this image output, the coordinates of the face center of each of the two marks based on the camera field of view are determined, and based on this, the table (workpiece) connected to the alignment machine, the processing machine, or both are controlled. Each mark face center and each processing part are made to face each other, and processing is performed in this state.

However, in reality, the distance between face centers differs from the distance between processed parts due to printing misalignment of marks and the like. In that case, the line connecting the mark face centers and the line connecting the processed parts are matched by the same matching as described above, but the relationship between the mark face centers and the opposed positions of the processed parts is indefinite. Therefore, if one of the two marks has a higher weight than the other, the alignment machine uses that mark as a reference to match the face center of that mark with one machined part, and the other machined part aligns both marks. Alignment is performed by positioning them on the connecting line. Furthermore, if the weights of both marks as a reference are the same, the difference between the marks is distributed to the center, and processing is then performed. Note that during machining, it is more efficient to operate the two machining sections at the same time, but even if there is a time lag in the operation of both door machining sections, the machining accuracy at the two locations is the same.

Next, in the second invention, when the second table is combined with the alignment machine, the workpiece is placed on the second table,
Then, as in the first invention, by detecting the mark face-centered coordinates, calculating the deviation between the actually measured face-centered coordinates and the designed mark face-centered coordinates, and controlling the alignment machine based on the deviation, one of the marks can be assigned to one reference or the center. Matching is performed by one of the selected methods. The f&aligned workpiece is transferred a predetermined distance by the transfer means and reaches the first table, where it is processed by the processing machine. In addition, when the alignment machine is combined with the processing machine using the second table 1) instead of the second table, the workpiece is first placed on the second table ``2'' in the same manner as described above, and the mark surface center is The coordinates are detected and the deviation from the design value is calculated, and the position of the processing machine is aligned by controlling the alignment machine similar to the above based on the deviation. During this time, the workpiece on the second table is transferred to the transfer means. The material is transported a predetermined distance and reaches the second table, where it is processed.

Therefore, in the second invention, in which the alignment machine is combined with the second table, it is possible to align the next workpiece while processing the workpiece, and the alignment machine can also be used to process the next workpiece. When combined with a machine, the processing machine can be placed in the same direction as the camera, eliminating installation constraints. Furthermore, in the first and second inventions, the marks may be detected by a camera provided for each mark, or by a single shared camera if both marks are within the field of view of one camera. The same is true even if the arrangement position of one camera is made variable and the camera is moved to each position to detect each mark.

1.2 showing a front view and a side view of an embodiment of the first invention
In the figure, the base of an alignment machine 20 is fixed on a base 10, and the alignment machine 20 is operated in two orthogonal XY directions (left and right directions of the page and directions orthogonal to the page) and the θ direction (rotation direction).
The lower surface of a table 30 on which a workpiece is placed is integrally fixed onto two support columns 21 and 22 that protrude upward from the upper surface of the aligning machine 20. At the rear of the alignment fi 20 (on the left in FIG. 2), the base of a support 40 is fixed on the base 10, which supports 41, 42 (but 42 (not shown), and the table 30
Left and right processing parts (drills in this example) 44 and right processing parts 46 are respectively disposed at the tips of the left and right supports 41 and 42 extending downward.
is fixed. On the top side across the table 30, a left camera 43 and a right camera 45 face each of the processing blades.
is fixedly placed.

In addition, in the table 30, each of the processing parts 44.4
Through-holes are drilled in a part of the table facing 6 and other necessary parts, so that the machining parts 44 and 46 during machining.
The machining blade can protrude above the table top surface. In addition, the image outputs of the left and right cameras 43 and 45 are introduced into a processing section (not shown), where they are subjected to binarization processing, face center calculation, and deviation calculation processing, and the deviation signals are outputted to the matching @20 It is added as a movement control signal in each direction.

The processing for the above items is carried out as follows.

For example, in the case of drilling guide holes for inserting guide pins at two predetermined positions on a workpiece made of a printed circuit board, marks are printed in advance on the printed circuit board at predetermined positions corresponding to the guide hole pitch. Also, the processing section 44
．． The positions of the guide holes 46 are adjusted so that the interval therebetween is the same as the predetermined guide hole pitch.

First, the operation will be explained assuming that there is no misalignment between the marks.The printed circuit board is placed on the table 30 and fixed by a clamp mechanism (not shown). As a result, each mark faces the camera 43, 45, and the deviation at that time (deviation from the center of the mark's face with respect to a predetermined fixed point within the field of view of the camera) is calculated, and the outer alignment 8!20 is controlled based on it. The table 30 and the printed circuit board are moved together to align the center of the mark face with a fixed point within the field of view of the camera, and then processing is performed by the processing sections 44 and 46.

The above description is based on the assumption that the mark pitch completely matches the guide hole pitch, but there are variations in the mark pitch in l. In this case, if the weight of one mark is larger than the other, the face center of one mark should match the fixed point in the field of view of one camera, and the face center of the other mark should match the fixed point in the field of view of both cameras. The one-sided reference is aligned so that it is located on the connecting line. Furthermore, if the weights of both marks are equal, alignment, that is, alignment of center distribution, is performed so that the center of the faces of both marks have the same deviation from each fixed point.

In the above embodiment, the camera and the processing section are placed one above the other, but the same effect can be achieved even if the positions of the two are swapped.Also, the camera and the processing section are placed on the same side, either above or below, and the position is adjusted after alignment. The same effect can be achieved by moving the two by a certain amount of positional deviation and performing the processing, or by printing alignment marks on the workpiece itself in advance with the alignment marks shifted by the distance between the camera and the processing part. The same goes for Furthermore, in the above embodiment, the alignment machine is integrated with the table to control the movement of the workpiece, but conversely, the processing unit may be combined with the alignment machine to control the movement. The same is true even if both are combined with separate matching machines. Also,
In the above embodiment, separate cameras were placed to face the two marks, but if the mark positions are close and it is possible to capture images within the field of view of one camera, two cameras may be used in common. Furthermore, the same effect can be obtained by making one camera movable over a predetermined distance and facing the mark at each moving position. Next, FIG. 3 is a plan view showing an embodiment of the second invention, and the difference from the watercolor version shown in FIGS. .32
The camera 43.45 and the processing section 44.46 arranged above and below the table 30 are arranged at a distance from each other.
, the first table 32 and 31 are arranged to face each other separately, a conveyance table 50 that moves a predetermined distance between both tables 31 is newly provided, and the alignment machine (not shown) is 2 table 32 (or processing machine or both).

In addition, each table 31, 32.50 is, for example, a special public show 6l-
32144r printing device], each has a suction function, and the upper surface of the transport table 50 is
The height of the upper surface of the second table 31, 32 can be changed to three levels: horizontal, protruding, and recessed.

In the above, the workpiece is placed and attracted on the second table 32, the mark coordinates are detected by the camera 43.45 facing the second table 32, and based on the mark coordinates, one side reference or center distribution is performed as in the first invention. The alignment will be done.

After the alignment is completed, the transport table 50 moves to the above-mentioned three stages of "horizontal 1".
state, the workpiece is suctioned onto the conveying table 50, and then moved a certain distance to the right in the "protruding" state, so that the workpiece reaches the first table, where it is transferred to the first table. It is adsorbed. Processing is then carried out in this state. During this time, the next workpiece is placed on the second table 32 and alignment is performed thereon, and the conveyance table 50 moves back in the "depressed" state, and the series of operations described above is repeated.

Incidentally, in the above embodiment, the case where the height of the conveyance table is changed to three levels is illustrated, but substantially the same function as this, for example, the first and second tables 31, 32 and the conveyance table 50 each have two levels. The same thing can be done if a step height switching section is provided so that three relative states can be obtained.

λ skin p-mataji 1 As described above, the present invention holds at least two processed parts at a predetermined distance from each other, detects marks at two places on the workpiece to find their predetermined positions, or If necessary, the deviation in mark spacing is automatically processed at the same time based on one side and distributed to the center, so work efficiency can be significantly improved.
Since processing is carried out constantly and at regular intervals, it does not interfere with subsequent processes.

[Brief explanation of the drawing]

FIG. 1.2 is a front view and a side view, respectively, showing an embodiment of the present invention. 20: Matching machine 30.31.32.50: Table 43.45
: Camera 44.46 : Processing department copy SJ ~ Hanging 9 Procedural amendment recommendation form) 1. Display of the case: 1990 Patent Application No. 195688 2, Title of the invention: Processing device 3, Person making the amendment Relationship to the case: Patent applicant address: 2-4-1 Nishi-Shinjuku, Shinjuku-ku, Tokyo Name: Onosaku Co., Ltd. February 4, 1992 (Delivery date: February 25, 1992) 5, "Brief explanation of drawings" column 6 of the specification to be amended, Contents of the amendment (1) Page 19 of the specification cylinder Correct lines 13-14 as follows.

Claims (1)

[Claims] 1. All or a part of a plurality of processing places, all or part of a position at a predetermined distance from the processing place, or a part of a processing place and a predetermined distance from the processing place. A processing machine that performs processing on at least two processing points of a workpiece that is marked at a part of the position spaced apart from each other, and has at least two processing parts arranged at a predetermined interval; A table that is placed opposite the processing section and on which the workpiece is placed, and a shared or separate camera that is placed opposite the table and that detects each mark on the workpiece or a variable arrangement position. A processing device comprising a camera, and an alignment machine coupled to either the processing machine or the table, or both, to perform fine movement control according to the camera output. 2. Machining of at least two points on a workpiece with marks attached to all or part of multiple processing points, or all or part of the processing points and positions spaced at a predetermined distance, or both. The apparatus includes: a processing machine having at least two processing sections arranged at a predetermined interval; a first table arranged opposite to the processing section and on which a workpiece is placed; a second table disposed apart from the first table; and a common or separate camera disposed opposite the second table for detecting each mark on the workpiece; or a camera having a variable arrangement position. a camera having a camera, an aligning machine that is coupled to one or more of the second table or the processing machine and performs fine movement control according to the camera output, and a workpiece is transferred between the first and second tables. A processing device consisting of a means for transporting.