JPS61220008A - Positioning system - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

TECHNICAL FIELD The present invention relates to a positioning method for positioning an object to be positioned at a predetermined position with high precision.

BACKGROUND ART Such a positioning method is necessary, for example, when assembling a sheet switch by laminating a plurality of sheets together. In order to convey and position a plurality of sheets at predetermined positions with high precision, the conveying means must be constructed with high precision, which complicates the construction.

Problems to be Solved by the Invention It is an object of the present invention to provide a positioning method which has a structure as simple as possible and which brings the object to be positioned to a predetermined position with great precision.

Means for Solving the Problems The present invention has an X pongee, a Y axis perpendicular to the X wheel, and a θ axis that is angularly displaced around an axis perpendicular to a plane containing the X pongee and the seven wheels, and a positioning object. The object to be positioned has two positioning marks, a television camera that images each mark individually, and a table that responds to the output from the television camera. image the marks with the marks positioned at a predetermined origin position on the table, store the imaged content, and then image the mark of the object to be positioned mounted on the table, Therefore, the positioning method is characterized in that it includes processing means for calculating and determining the deviation from the origin position, driving the table based on this deviation, and displacing the object to be positioned so that the mark comes to the origin position. be.

According to the present invention, it is possible to image the two positioning marks of the object to be positioned on the table with a television camera, store the imaged contents with the marks positioned at the origin position, and then image the two positioning marks of the object to be positioned on the table. The mark of the object to be positioned mounted on the table is imaged, the deviation from the origin position is calculated and determined based on the stored contents, and the table is driven so that this deviation is eliminated. In this way, even if the accuracy of the placement position of the object to be positioned on the table is low,
The table allows the object to be positioned to be positioned at a desired position with high precision.

Embodiment FIG. 1 is a simplified perspective view of an embodiment of the present invention. The table 1 has a mounting surface 3 on which a seat 2, which is an object to be positioned, is mounted. The table 1 having this mounting surface 3 is equipped with a motor Ml.

M2. It can be displaced to the X wheel, the 7 wheel, and the θ axis by M3. The Y-axis is perpendicular to the X-axis.

The plane containing the X axis and the Y sleeve is horizontal. The θ-axis is an axis that is angularly displaced around an axis m that is perpendicular to the horizontal plane that includes the X-axis and the Y-axis. There are two positioning marks 2 on the sheet 2.
a and 2b are formed by printing or etching. Marks 2a and 2b are CCD
(Charge Coupled Device)
Images are taken individually by television cameras A and B using, for example, television cameras A and B. The television cameras A and B are mounted at fixed positions above the mounting surface 3.
The sheet 2 is conveyed and placed on the vehicle. The accuracy of loading and conveying the sheet 2 onto the loading surface 3 by the first conveying means 4 is relatively low (although it is possible that the table 1 is
, M2, and M3, the marks 2m and 2b on the sheet 2 are positioned at predetermined origin positions with high precision. Thereafter, another sheet 5 to be superimposed on the sheet 2 is conveyed with high precision by the second conveyance means 6 and placed on the sheet 2 with high precision. In this way, the sheets 2 and 5 are overlapped with high precision, and one assembly process of the sheet switch is accomplished.

tJ&2 is a block diagram showing the electrical configuration of the embodiment shown in FIG. 1. Signals from the television cameras A and B are input via an interface 7 to a processing circuit 8 implemented by a microcomputer or the like. A signal from an input operation panel 9 is input to this processing circuit 8 . The processing circuit 8 drives and controls motors M1, M2, and M3 for driving the table 1. Motor M1
, M 2 , and M 3 are realized, for example, by pulse motors.

The positioning operation will be described step by step below.

By operating the first step operation panel 9, motors Ml, M2, M3 are
is energized and the table 1 is set at a predetermined reference position.

The sheet 2 having the second step marks 2a, 2b is placed on the mounting surface 3 of the table 1 at the exact position to be determined.

Third step: The marks 2a and 2b are imaged within one screen by television cameras A and H within the positioning tolerance range when the sheet 2 is transported and placed on the sheet by the first transport means 4. , the installation positions of television cameras A and B, and the magnifications of the lens optical systems of these television cameras A and B are set.

Fourth step: The marks 2a and 2b on the sheet 2 at the reference position are imaged by the television cameras A and B, and the images are binarized, and the images are stored in the memory 9 provided in the processing circuit 8. Therefore, the centroid of marks 2a*2b is calculated and calculated, and this is converted into the original
It is defined as the ζ position.

Fifth step A predetermined number N1 of pulses are given to the motor M1 corresponding to the X-axis to displace the table 1 in the X-axis direction.

In the sixth step, the marks 2a and 2b are imaged by television cameras A and B, and the centroid of each mark 2m and 2b is calculated.

In the seventh step, the same number N1 of pulses is applied to the motor M1 corresponding to the X sleeve, the motor M1 is reversed, and the table 1 is returned to the reference position.

In the eighth step, a predetermined number N2 of pulses are applied to the motor M2 corresponding to the Y sleeve to displace the table 1 from the reference position in the Y-axis direction, and then calculate the centroid of the marks 2a and 2b. Again, pulses with the number of pulses N2 are applied to the motor M2 to reverse the motor M2 and return the table 1 to the reference position.

Similarly to the ninth step, the table 1 is displaced in the θ-axis direction by applying a predetermined number N3 of pulses to the motor M3 corresponding to the zero wheel, and the marks 2a and 2b are moved to the television camera A.
The table 1 is imaged by B to obtain the centroid, and then a pulse number N3 is applied to the motor M3 to reverse the rotation and return the table 1 to the reference position.

10th step motor M1. Number of pulses given to M2 x p *
For yp, the resulting upward displacement meter IIIjl is expressed as the value captured by TV force/UA as xtA*yt
When At' is expressed and the values imaged by television camera B are expressed by xtB and ytB, the positional relationship between table 1 and television cameras A and B is as shown in the first equation and the second equation.

11th step Table 1 is obtained based on the fifth to ninth steps described above.

Chapter 1 Table Do the math.

・A=-...(3) bA=L...(4)・A=51
...(5) dB=161 N2 ...(10) #11
Step 2 Find the inverse matrices U and V of the matrix used in the 10th step described above as shown in equations 11 and 12.

13th step: With reference to Figure 3, the value XθA + FθA calculated using equations 13 and 14 in the coordinate thread of the ρ axis and the yp axis.
, xθBty19B and convert it into a vector $.

Let it be R.

In the fourteenth step, a new sheet 2 is conveyed onto the loading surface 3 of the table 1 by the first conveying means 4 and placed thereon.

This is imaged by TV cameras A and B, their respective centroids are calculated, and the deviation, including the sign, between the calculated centroid and the origin determined in the fourth step described above is determined. . The deviation of the centroid of mark 2a from the origin is Δ×4A, ΔF4A including the sign, and the deviation of the centroid of the other mark 2b from the origin is Δ×4 including the sign.
B, Δy4B.

15th step: The value of the vector R,0 shown in FIG. 3 x 2A,
Find y2 A wX2 B and y2 B.

16th step: Find a value θX such that the values P1 and 01 shown in equations 17 and 18 indicate the same coordinates, and set the vector to T.

IP1=IP 10 ×・$
...(1))01 =O+ θx-R・= (18
)T ” (xT 9yFT P) −
(19) Step #S17 The value θTp shown by equation 20 is the number of pulses to be given to the zero-wheel motor M3, and this equation #s20 is calculated.

θT9m111 θx−N 3 =12
0) Also, the value xTp in the above-mentioned formula 19 is the number of pulses to be applied to the motor M1 of the X wheel. Furthermore, yTp in Equation 19 is the number of pulses to be applied to the Y-wheel motor M3.

Each pulse having the number of pulses XTfltFT9*θTp is applied from the processing circuit 8 to the 18th step motors M 1 , M 2 , and M 3 to drive the table 1 for displacement.

19th step: In this state, another sheet 5 is stacked on top of the sheet 2 with high precision by the second conveyance means 6, and predetermined processing is performed.

In the 20th step, the sheets 2 and 5 on the seating surface 3 of the table 1 are removed.

The 21st step returns the table 1 to the above-mentioned reference position and repeats the same operations from the 14th step onwards.
It is possible to stack the sheets 5 on top of each sheet 2 and sequentially perform predetermined processing.

FIG. 4 is a perspective view of another embodiment of the invention.

The marks 2al and 2b1 formed on the sheet 2 on the table 1 are imaged by the two television cameras AI and Bl, and based on the results, the motors M11°M21. M31
This table 1 is angularly displaced around the X wheel, Y transport, and zero wheel by
01 is mounted on another table 102, which is connected to the motor M12.01. M22. M3
2 can be respectively displaced to the X axis, Y axis and zero wheel. Another pair of marks 2 on sheet 2
A2 and 2B2 are imaged by another television camera A2 and B2. This TV camera A 2, B 2
Depending on the output from motor M12. The table 102 can be displaced by M22 and M32, and the sheet 2 can be positioned at a predetermined position with high precision. TV camera A
1 , B 1 ; The outputs from A 2 and B 2 cause the motor Ml 1 . M21. M31; M12. M2
2. The operating procedure for driving M32 is the same as in the previous embodiment.

As another embodiment of the present invention, zoom lenses are provided in the television cameras A and B in the embodiments shown in FIGS. The sheet 2 may be roughly adjusted, and then the sheet 2 may be positioned with high precision by using a zoom lens with a high magnification.

As still another embodiment of the present invention, the above-mentioned FIGS.
In the illustrated embodiment, the pulses applied to the motors M1, M2, M3 are used to drive the table 1 without communicating during the coarse positioning adjustment stage, and then the pulses applied to the motors M1
, M 2 , M 3 by multiplying the pulses for driving them;
The positioning of the sheet 2 may be performed with high precision.

The present invention can be widely implemented not only for positioning a sheet as described above, but also for positioning other objects to be positioned at desired positions with high precision. Further, the conveying means is not essential in the present invention.

Effects As described above, according to the present invention, it is possible to position an object to be positioned with high precision with a relatively simple configuration.

[Brief explanation of drawings]

1 is a perspective view schematically showing an embodiment of the present invention, FIG. 2 is a block diagram showing the electrical configuration of the embodiment shown in FIG. 1, and FIG. FIG. 4, a diagram illustrating the principle, is a simplified perspective view of another embodiment of the invention. 1.101,102...Table, 2.5...Sheet, 2a, 2b, 2ml, 2b2, - mark, 4...First conveyance means, 6...Second conveyance means , 8・
...Processing circuit, 9...Memory, Ml, M2. M3. M
l 1. M21. M31. Ml2, M22. M32...
・Motor agent Patent attorney Number of strokes Keiichi Figure 2 Figure 3

Claims (1)

[Claims] It has an X-axis, a Y-axis perpendicular to the X-axis, and a θ-axis that is angularly displaced around an axis perpendicular to a plane including the X-axis and Y-axis; the object to be positioned has two positioning marks, and a television camera that images each mark individually; The marks are imaged with the marks positioned at the original position, and the imaged contents are stored. Next, the mark of the object to be positioned placed on the table is imaged, and the deviation from the original position is detected. 1. A positioning method comprising processing means for calculating and determining the deviation, driving a table based on this deviation, and displacing the object to be positioned so that the mark comes to the origin position.