CN107949168A

CN107949168A - Processing unit and processing method

Info

Publication number: CN107949168A
Application number: CN201710953541.XA
Authority: CN
Inventors: 石井彻
Original assignee: Yamaha Fine Technologies Co Ltd
Current assignee: Yamaha Fine Technologies Co Ltd
Priority date: 2016-10-13
Filing date: 2017-10-13
Publication date: 2018-04-20
Anticipated expiration: 2037-10-13
Also published as: KR20180041075A; KR101973864B1; CN107949168B; JP2018063169A; JP6726077B2

Abstract

The problem of the present invention is to provide a kind of processing unit that can be prevented in the edge damage flexible workpiece of handle part.The processing unit of the present invention has：Hold multiple handle parts of the outer rim of the flexible workpiece of tabular；Each handle part is supported, the supporting part relative to the handle part of supporting with parallel moving mechanism or oscillating head mechanism more than one degree of freedom.

Description

Processing unit and processing method

Technical field

The present invention relates to processing unit and processing method.

Background technology

Outer rim and the processing unit that is checked or processed using the flexible workpiece for holding square tabular or band plate-like.Make For such processing unit, such as the check device of flexible printed board, punching machine etc. (such as special open 2000-202799 Publication, special open 2006-332422 publications).

In such processing unit, the position that inspection head or processing head are abutted with flexible workpiece is sometimes from the flexible work of holding Deviate to the normal to a surface direction of flexible workpiece the position of the outer rim of part.If causing such position offset, flexible work Part can consumingly press collision with the edge of handle part and cause to damage.

Patent document 1：(Japan) special open 2000-202799 publications

Patent document 2：(Japan) special open 2006-332422 publications

The content of the invention

In view of the unfavorable condition, problem of the invention is, there is provided a kind of edge damage that can be prevented due to handle part Hinder the processing unit of flexible workpiece.

For to solve the problem, processing unit of the invention has：Multiple handle parts, it holds the flexible workpiece of tabular Outer rim；Supporting part, it supports each handle part, relative to the handle part supported, has more than one degree of freedom flat Row moving mechanism or oscillating head mechanism.

The supporting part can also have make normal to a surface direction parallel shifting of the flexible workpiece along the supporting part Dynamic parallel moving mechanism.

The parallel moving mechanism can also be the motion of one degree of freedom.

The supporting part, which can also have, makes the flexible workpiece be revolved around the axis center parallel with the surface of the supporting part The oscillating head mechanism turned.

The oscillating head mechanism can also be the motion of two frees degree.

Can also also have the recovery mechanism for making the handle part of the supporting part supporting automatically restore to initial position.

The processing unit can be used for checking or process the flexible workpiece.

The processing unit, which can also also have, to be configured to move in a manner of the surface with the flexible workpiece abuts Inspection head or processing head.

The processing unit can also also have the mechanism that the flexible workpiece is checked or processed.

It is a kind of processing method for other inventions of to solve the problem, has：Tabular is held using multiple handle parts Flexible workpiece outer rim process；Each handle part is supported, and the multiple handle part is carried out more than one degree of freedom Move in parallel or the process of yaw.

Brief description of the drawings

Fig. 1 is the schematic diagram for the processing unit for representing one embodiment of the present invention.

Fig. 2 is the schematic side elevation of the grasping device of the processing unit of Fig. 1.

Fig. 3 is the schematic diagram of a process of the electric checking for the processing unit for representing Fig. 1.

Fig. 4 is the schematic diagram of next process of Fig. 3 of the electric checking for the processing unit for representing Fig. 1.

Fig. 5 is the schematic diagram for the processing unit for representing the embodiments different from Fig. 1 of the present invention.

Fig. 6 is the schematic side elevation of the grasping device of the processing unit of Fig. 5.

Fig. 7 is the schematic side elevation of the grasping device of the embodiments different from Fig. 2 and Fig. 6.

Fig. 8 is the schematic side elevation of the grasping device of the embodiments different from Fig. 2, Fig. 6 and Fig. 7.

Fig. 9 is the schematic plan of the grasping device of the embodiments different from Fig. 2, Fig. 6, Fig. 7 and Fig. 8.

Figure 10 is the schematic side elevation (A directions view) of the grasping device of Fig. 9.

Figure 11 is the schematic elevational view (B directions view) of the grasping device of Fig. 9.

Figure 12 is the schematic plan of the grasping device of the embodiments different from Fig. 2, Fig. 6, Fig. 7, Fig. 8 and Fig. 9.

Figure 13 is the flow chart of the order for the processing method for representing an embodiment of the present invention.

Description of reference numerals

1 first electric checking head

2 second electric checking heads

3 first driving mechanisms

4 second driving mechanisms

5th, 5a, 5b, 5c, 5d, 5e grasping device

6 first cameras

7 second cameras

8 controllers

9 detectors

10 guide plates

11 bearing surfaces

12nd, 12a, 12b, 12c handle part

13rd, 13a, 13b, 13c, 13d, 13e supporting part

14th, 14a, 14b, 14c clamp base

15 clip arms

16 actuators

17 support shafts

18,18a springs

19 limiters

20 abutments

21 punch dies

22 punches

23 punchings

24 linear guide portions

25 recesses

26 springs

27 snap-latch pieces

28 first support shafts

29,29e first supporting members

30 second support shafts

31st, the second supporting members of 31e

32 first springs

33 first limiters

34 second springs

35 second limiters

36 first abutments

37 second abutments

38 first recesses

39 first springs

40 first snap-latch pieces

41 second recesses

42 second springs

43 second snap-latch pieces

P, Pa flexible printed board

Embodiment

The processing unit of the present invention has：Multiple handle parts, it holds the outer rim of the flexible workpiece of tabular；Supporting part, its Each handle part is supported, relative to the handle part supported, there is parallel moving mechanism or pendulum more than one degree of freedom Head mechanism.

The processing unit has：Hold multiple handle parts of the outer rim of the flexible workpiece；Support each handle part Supporting part, the supporting part have parallel moving mechanism or pendulum more than one degree of freedom relative to the handle part supported Head mechanism.Therefore, which can absorb processing head relative to flexible workpiece when carrying out the processing of flexible workpiece What ground connect that position and multiple handle parts hold flexible workpiece holds position in the position offset of the normal direction of flexible workpiece, can Prevent the edge damage flexible workpiece in handle part.

It should be noted that " tabular " is to include banding, sheet, membranaceous concept.In addition, " flexible workpiece " has flexibility Or bendability, as long as process object can be become, do not do particular determination.Hereinafter, it is flexible work as process object Part, illustrates embodiments of the present invention by taking flexible printed board as an example, but the process object of the present invention is not limited to flexible printing Substrate.

The processing unit can be used in checking or processing flexibility workpiece.

Hereinafter, embodiments of the present invention are specifically described with reference to appropriate attached drawing.

[first embodiment]

Fig. 1 shows the structure of the processing unit of one embodiment of the present invention.The processing unit of Fig. 1 is the thin square plate of detection The electric checkup apparatus of the electric characteristic of the flexible workpiece of shape, that is, flexible printed board P.

The processing unit has：Separate provided opposite, the 1st electric checking first 1 that can be moved close to each other and the Two electric checkings first 2；Drive respectively first electric checking first 1 and the second electric checking first 2 the first driving mechanism 3 and Second driving mechanism 4；Hold multiple grasping devices 5 of the outer rim of flexible printed board P；Flexible printed board P is shot The first camera 6 and the second camera 7；Control the controller 8 of the first driving mechanism 3 and the second driving mechanism 4.Such as figure Shown in 1, between first electric checking first 1 and the second electric checking first 2 configure flexible printed board P when, can with it is soft Property printed base plate P to abut ground mobile on surface.

In addition, the processing unit can also have frame (not shown) for supporting each composed component etc..

As the flexible printed board P that electric characteristic is checked using the processing unit, typically with vertical view side The top of the base material of the flexible sheet of shape forms multiple function parts, finally cuts out the part including each function part and obtains more The flexible printed board of a electronic unit.

Such flexible printed board P becomes, including each function part or minority function part smaller region by The check object portion that first electric checking first 1 and the second electric checking first 2 check.In other words, flexible printed board P has more A check object portion.Therefore, flexible printed board P changes position using the first electric checking first 1 and the second electric checking first 2 And clamped repeatedly, the electrical characteristic in each check object portion is checked in order.

First electric checking first 1 and the first 2 separation provided opposite of the second electric checking, have respectively：Multiple detectors 9；Lead Plate 10, the guide plate 10 have the multiple guide holes being inserted into respectively for the plurality of detector 9.

(detector)

Multiple detectors 9 are vertical with guide plate 10, and respective front end is somewhat highlightedly kept from guide plate 10.In addition, The predetermined measuring point that multiple detectors 9 are configured to the conduction mode of flexible printed board P abuts.

(guide plate)

Guide plate 10 is formed using the material with insulating properties, opposite with flexible printed board P, is had and is being carried out electric checking When the flat bearing surface 11 that is abutted with flexible printed board P.

In addition, the first electric checking first 1 and the second electric checking first 2 are preferably to have to be used for via multiple detectors 9 Measure the structure in the circuit of the electric characteristic of flexible printed board P.That is, the first electric checking first 1 and the second electric checking First 2 preferably have the electrical characteristic of measure flexible printed board P, and can export measurement result via more a small number of distributions To the measure circuit of controller 8.

Further, being described in detail as after, the first electric checking first 1 first crimped with flexible printed board P is excellent Elect as, the face pressure of relatively large side connects with wiring width in the table back side of flexible printed board P, conduction mode.Anti- speech Flexible printed board P, when using the processing unit, is preferably configured to by it, the big side of the wiring width of conduction mode with First electric checking first 1 is opposite.

In addition, in the processing unit, as described later, flexible printed board P is applied by using the first electric checking first 1 When adding tension force and eliminating the warpage of flexible printed board P, bending, preferably the first electric checking first 1 is configured in the second electrically inspection First 2 lower section is looked into, so that making flexible printed board P easily closely sealed with bearing surface 11 using gravity.In other words, filled in the processing In putting, be preferably flexible printed board P be substantially horizontally kept, the first electric checking first 1 from below with flexible printed board P Crimping, the second electric checking first 2 are crimped relative to flexible printed board P from top.

First driving mechanism 3 and the second driving mechanism 4 can carry out the first electric checking first 1 and the second electric checking First 2 three-dimensional localization, can more preferably carry out the first electrically inspection centered on the axis of the normal direction of flexible printed board P Look into first 1 and second electric checking first 2 rotational positioning structure.In addition, the normal direction of flexible printed board P represents, it is more Surface of a grasping device 5 by the surface grip of flexible printed board P for plane flexible printed board P ideally Normal direction.

As the first driving mechanism 3 and the second driving mechanism 4, articulated robot can also be used, it is preferred to use into The smaller orthogonal coordinates type drive system of this and occupied space.As the orthogonal coordinates type drive system, can have： The orthogonal coordinates humanoid robot of two axis positioning can be carried out on the in-plane of flexible printed board P；It is disposed in the orthogonal coordinates The lifting gear of the end of humanoid robot；Can be kept up and down using the lifting gear, by the first electric checking first 1 and Second electric checking first 2 remains the rotary positioning apparatus for being capable of rotational positioning respectively.

In addition, the first driving mechanism 3 and the second driving mechanism 4 are electric using the first electric checking first 1 and second When checking first 2 clamping flexible printed board P, it is possible to have the crimp force that can make to act on flexible printed board P is suitably changed Buffer part of the ground to the normal direction elastic deformation of flexible printed board P.

Multiple grasping devices 5 are by holding the outer rim of flexible printed board P, by the normal direction of flexible printed board P Position is generally kept at the position that the first electric checking first 1 and the second electric checking first 2 are checked.

As shown in Fig. 2, each grasping device 5 has：Hold the handle part 12 of the outer rim of flexible printed board P；Supporting is held The supporting part 13 in portion 12.It is the passive of one degree of freedom that the supporting part 13 of grasping device 5, which has relative to the handle part 12 of supporting, Motion, that is, oscillating head mechanism.That is, in grasping device 5, handle part 12 can be supported by yaw using supporting part 13.

(handle part)

Handle part 12 can have：Supported portion 13 supports, and is supported in the upper surface of the end of a side and flexible printed board P The clamp base 14 connect；The top of the clamp base 14 can be movably disposed in, is printed with being connected to the flexible of clamp base 14 The face that the part of brush substrate P is opposite is abutted with flexible printed board P, and flexible printed board P is sandwiched between clamp base 14 Clip arm 15；Make the end of a side of the clip arm 15 that the actuating of arm 15 is abutted or discretely driven fixture to clamp base 14 Device 16.That is, using the action of actuator 16, the front end of clamp base 14 is made to crimp or separate with the front end of clip arm 15, So that handle part 12 keeps or liberates flexible printed board P.

On the driving mechanism of the structure of the handle part 12, particularly clip arm 15, such as special open 2006-281432 public affairs Report it is disclosed like that, can be carried out using cam mechanism driven by actuator 16 etc..Specifically, can be by fixture base Portion 14 arranges cam path, and the pin for making to engage with the cam path is disposed in clip arm 15, and guide clamp arm 15 is relative to fixture base The relative movement in portion 14, is moved using the cam driven by actuator 16 to drive fixture to arm 15 relative to the opposite of clamp base 14 It is dynamic.

(supporting part)

Supporting part 13 is used as oscillating head mechanism, has the fixture that handle part 12 can be rotationally supported centered on support shaft 17 The structure of base portion 14.Support shaft 17 matches somebody with somebody the lateral edges parallel for the laminal flexible printed board P for being set to hold with handle part 12. That is, it is with the surface with flexible printed board P, more specifically using the yaw of the handle part 12 of the oscillating head mechanism of supporting part 13 Be the lateral edges parallel of held part support shaft 17 centered on revolution action.In addition, support shaft 17 is disposed in and holds Portion 12 be used for hold the position that the construction of flexible printed board P does not buffer.

In addition, supporting part 13 also has the recovery mechanism for making handle part 12 automatically restore to initial position.Due to supporting part 13 have recovery mechanism, therefore can hold the handle part 12 by multiple grasping devices 5 of the flexible printed board P held Part surface configuration at grade, can suppress to act on the holding of unwanted stress on flexible printed board P The inclination in portion 12.

As the recovery mechanism, as shown in the figure, can have：Make the clamp base 14 of handle part 12 around the week of support shaft 17 Enclose the spring 18 rotationally pressed to a direction；Configure support shaft 17 spring 18 opposite side, with clamp base 14 Abut, overcome the pressing force of spring 18, limit the limiter 19 of the rotation of clamp base 14.Such recovery mechanism can make handle Portion 12 is held only to move to side from initial position.As can from the initial position of the handle part 12 move direction, for flexibility The normal direction of printed base plate P, and sandwich flexible printing base using the first electric checking first 1 and the second electric checking first 2 The position side of plate P, is typically upside.

As the spring 18, such as compression spring etc. can be used.Being capable of alignment jig base portion alternatively, it is also possible to set 14 are connected to the part of limiter 19 or make abutment 20 of the clamp base 14 engaging in the angle position of limiter 19.

First camera 6 and the second camera 7 shoot flexible print to obtain the positional information of flexible printed board P The image of brush substrate P, view data is provided to aftermentioned controller 8.

First camera 6 and the second camera 7 can also be held in frame (not shown) of the processing unit etc., but It can utilize the first driving mechanism 3 and the second driving mechanism 4, first with the first electric checking 1 and second electric checking first 2 one Rise at least can movably be kept on the in-plane of flexible printed board P.By shining the first camera 6 and second Camera 7 first with the first electric checking 1 and the second electric checking first 2 move together, to limit the scope of image procossing, by institute The pixel of the camera needed and the operational capability of controller are smaller, therefore the processing unit can be made less expensive, and And the proof cycle of flexible printed board P can be shortened.

First camera 6 and the view data of the second camera 7 shooting utilize known image procossing in controller 8 Technical Analysis, uses for the coordinate of the characteristic point in the check object portion of specific compliance printed base plate P.Specifically, according to First camera 6 and the view data of the second camera 7 shooting, specific first camera, 6 or second camera 7 are printed with flexible The relative position in the check object portion of brush substrate P, and then the absolute position in the check object portion of specific compliance printed base plate P.

In addition, when using the digital picture of the first camera 6 and the second camera 7 shooting flexible printed board P, lead to The position for the normal direction for making the flexible printed board P of the first camera 6 and the second camera 7 is crossed (apart from flexible printing base The separating distance of plate P) necessarily, it can relatively easily calculate the first camera 6 and the second camera 7 and flexible printed board The relative position of the in-plane in the check object portion of P.

The characteristic point extracted in image procossing can also be preset in the conduction mode of flexible printed board P Character shape part or in flexible printed board P, be set to the dedicated mark of image procossing.

As controller 8, such as use programmable logic controller (PLC), personal computer etc..

Controller 8 has：Make the first electric checking first 1 relative to flexible printed board P after in-plane positioning, Control the first of the first driving mechanism 3 to crimp control element to the normal direction of flexible printed board P with crimping；It is electric first After checking first 1 positioning and crimping, the second electric checking first 2 is set to position it in in-plane relative to flexible printed board P Second crimping control element of normal direction crimping the second driving mechanism 4 of ground control of backward flexible printed board P.

The first crimping control element and the second crimping control element can utilize such as distribution program, subprogram etc. Software is realized.

(the first crimping control element)

First crimping control element carries out successively：The positional information of flexible printed board P is obtained using the first camera 6 Step (first position information acquisition step)；Using the first driving mechanism 3, the first electric checking first 1 is set to be right against flexible printing The check object portion of substrate P in-plane positions the step of (the first in-plane positioning step)；Utilize the first driving machine Structure 3, the step for making the first electric checking first 1 move and be crimped with flexible printed board P along the normal direction of flexible printed board P Suddenly (the first crimping step).

(first position information acquisition step)

First crimping control element shoots flexible printing in the information acquisition step of first position using the first camera 6 Substrate P, by carrying out image procossing to the view data of shooting, specific phase is for the flexible printed board P's of the first camera 6 The relative position of the in-plane in check object portion.Thus, calculate to make the first electric checking first 1 be right against flexible printing base The check object portion of plate P and the amount of movement of in-plane needed.

(the first in-plane positioning step)

First crimping control element is in the first in-plane positioning step, using the first driving mechanism 3, by making first Electric checking first 1 only moves the necessity calculated in first position information acquisition step on the in-plane of flexible printed board P Amount of movement, makes the first electric checking first 1 be right against the check object portion of flexible printed board P.

(the first crimping step)

First crimping control element in the first crimping step, by make the bearing surface 11 of the first electric checking first 1 with it is soft Property printed base plate P crimping, and make the more of the face of multiple detectors 9 of the first electric checking first 1 and a side of flexible printed board P A measuring point crimping.

In addition, in the first crimping step, as shown in figure 3, making the bearing surface 11 of the first electric checking first 1 to than comprising profit Held with grasping device 5 datum plane at each thickness direction center for holding position of the outer rim of flexible printed board P closer to First 2 side of second electric checking protrudes.

In this way, by making the bearing surface 11 of the first electric checking first 1 be protruded from datum plane, flexible printed board P is made With tension force, so that the check object portion of flexible printed board P and the bearing surface 11 of the first electric checking first 1 are closely sealed.That is, first Crimping control element makes the inspection of flexible printed board P by making the bearing surface 11 of the first electric checking first 1 be protruded from datum plane Check as portion along bearing surface 11 is stretched as tabular, and warpage, bending can be removed.

The lower limit for the overhang that datum plane as the bearing surface 11 from first electric checking first 1 protrudes, is preferably The 0.1% of the equispaced for the holding position that grasping device 5 opposite flexible printed board P is held, more selects 0.2%.It is another Aspect, the upper limit for the overhang that the datum plane as the bearing surface 11 from the first electric checking first 1 protrudes, is preferably flexible print The 1% of the equispaced for the holding position that the opposite grasping device 5 of brush substrate P is held, more elects 0.5% as.Electric from first In the case that the overhang that the datum plane of the bearing surface 11 of gas inspection first 1 protrudes is unsatisfactory for the lower limit, it may be impossible to fill Divide the warpage for removing flexible printed board P, bending.On the contrary, the datum plane in the bearing surface 11 from the first electric checking first 1 is dashed forward In the case that the overhang gone out exceedes the upper limit, act on the stress for having surplus on flexible printed board P and may damage soft Property printed base plate P.In addition, " equispaced for holding position " represents the interval in the holding region that opposite grasping device 5 is held Minimum be averaged, in the case of at the interval in the holding region that grasping device 5 is held, minimum part is continuous, the pole at interval Small value represent with the length of the minimum part in interval be weighted it is average after value (such as to sandwich flexible printed board P multipair Grasping device 5 in the case of keeping, the interval of each pair of grasping device 5 is added with the effective width of grasping device 5 Average value after power).

In addition, in the first crimping step, flexible printed board P is being removed using the crimping of the first electric checking first 1 Warpage, bending when, flexible printed board P may somewhat position offset.Therefore, in the first crimping step, the is preferably made One electric checking first 1 is crimped to the big side of the wiring width of the conduction mode of flexible printed board P.

(the second crimping control element)

Second crimping control element carries out successively：The positional information of flexible printed board P is obtained using the second camera 7 Step (second place information acquisition step)；The second electric checking first 2 is set to be right against flexible printing base using the second driving mechanism 4 The step of positioning in the in-plane direction to the check object portion of plate P (the second in-plane positioning step)；Utilize the second driving machine Structure 4, makes the second electric checking first 2 move along the normal direction of flexible printed board P and be crimped with flexible printed board P, so that (second crimps step to the step of flexible printed board P is clamped between the second electric checking first 2 and the first electric checking first 1 Suddenly).

(second place information acquisition step)

Second crimping control element shoots flexible printing in the information acquisition step of the second place using the second camera 7 Substrate P, by carrying out image procossing to the view data of shooting, and specific phase is for the flexible printed board P of the second camera 7 Check object portion in-plane relative position.Thus, calculate to make the second electric checking first 2 be right against flexible print The check object portion of brush substrate P and the amount of movement of in-plane needed.

(the second in-plane positioning step)

Second crimping control element is in the second in-plane positioning step, using the second driving mechanism 4, makes second electric Check the first 2 mobile necessity movements calculated in the information acquisition step of the second place on the in-plane of flexible printed board P Amount, so that the second electric checking first 2 is right against the check object portion of flexible printed board P.

(the second crimping step)

As shown in figure 4, the second crimping control element makes the second electricity in the second crimping step, using the second driving mechanism 4 Gas checks and first 2 crimped with flexible printed board P, by flexible printed board P be clamped in the first electric checking first 1 bearing surface 11 and Between the bearing surface 11 of second electric checking first 2.

In addition, the second crimping step removed in the first crimping step the warpage of flexible printed board P, bending it is laggard OK, therefore flexible printed board P hardly position offsets.Therefore, in the second crimping step, the second electrically inspection is preferably made First 2 face pressures to the small side of the wiring width of the conduction mode of flexible printed board P are looked into connect.

That is, cause in the warpage due to flexible printed board P, bending, and make what the abutted position of detector 9 may deviate In first crimping step, the face by making the side big with the wiring width of the conduction mode of flexible printed board P of detector 9 is supported Connect, and can suppress to measure caused by the abutted position offset of detector 9 bad.On the other hand, be difficult to produce by In second crimping step of the offset of the abutted position of detector 9 caused by the warpage, bending in flexible printed board P, pass through The face of the side small with the wiring width of the conduction mode of flexible printed board P of detector 9 is abutted, can prevent measure not It is good.

Even if the processing unit makes flexible printed board P be pressed to its normal direction using the first electric checking first 1, make handle Hold portion 12 to rotate, can prevent that the edge due to handle part 12 from acting on unnecessary bending stress, shearing to flexible printed board P Stress.That is, which can prevent that the edge due to handle part 12 from causing to damage to flexible printed board P.

Therefore, the processing unit is by making handle part of the bearing surface 11 of the first electric checking first 1 than including grasping device 5 12 hold the datum plane at the thickness direction center of the holding position of the outer rim of flexible printed board P more to the second electric checking head 2 sides protrude, and without with damaging flexible printed board P working tension, remove warpage, bending.Thus, the processing unit relative to Flexible printed board P, makes the second electric checking first 2 precisely crimp, and can relatively accurately check flexible printed board P Electric characteristic.

[second embodiment]

Fig. 5 represents the structure of the processing unit of the other embodiment of the present invention.The processing unit of Fig. 5 is to strip band plate The flexible workpiece of shape, that is, flexible printed board Pa carries out the processing unit (plant) of perforate processing (perforation).

The processing unit has：Separate provided opposite, the first processing head that can be moved close to each other i.e. punch die 21 with And the second processing head, that is, punch 22；The punch die 21 and the first driving mechanism 3 of punch 22 and the second driving machine are driven respectively Structure 4；Hold multiple grasping device 5a of the outer rim of flexible printed board Pa；Shoot the first camera 6 of flexible printed board Pa And second camera 7；Control the controller 8 of the first driving mechanism 3 and the second driving mechanism 4.As shown in figure 5, described When flexible printed board Pa is configured between punch die 21 and punch 22, it can be moved with abutting with the surface of flexible printed board Pa It is dynamic.

The first driving mechanism 3, the second driving mechanism 4 in the processing unit of Fig. 5, the first camera 6, the second camera 7 And controller 8 can be with the first driving mechanism 3 in the processing unit of Fig. 1, the second driving mechanism 4, the first camera 6, Two cameras 7 and controller 8 are same.Accordingly, with respect to the processing unit of Fig. 5, omit and said with what the processing unit of Fig. 1 repeated It is bright.

It is provided using the flexible printed board Pa wound into rolls of the processing unit perforate, in uncoiling and from length side In the state of being kept successively by grasping device 5a to one end, through hole is formed using punch die 21 and punch 22, and is wound into Web-like.

Punch die 21 and punch 22 separate punching 23 one of the cross sectional shape of provided opposite, punch 22 with being formed at punch die 21 Ground is caused to be formed.The processing unit is configured with punch die 21 in the state of flexible printed board Pa, and punch 22 is inserted into punching 23 And form hole in flexible printed board Pa.

Multiple grasping device 5a make flexible printed board Pa's by holding the outer rim (both side edges) of flexible printed board Pa The position of normal direction is generally kept at the Working position of punch die 21 and punch 22.

As shown in fig. 6, each grasping device 5a has the handle part 12a for the outer rim for holding flexible printed board Pa；Support handle Hold the supporting part 13a of portion 12a.The supporting part 13a of grasping device 5a has the handle part 12a relative to supporting, with a freedom Spend passive motion i.e. parallel moving mechanism.That is, can be parallel using supporting part 13a in grasping device 5a, handle part 12a Movably it is supported by.

(handle part)

Handle part 12a can have：The clamp base 14a supported by supporting part 13a；Movably it is disposed in the clamp base Flexible printed board Pa, is sandwiched the clip arm 15 between clamp base 14a by 14a；Drive the actuator 16 of the clip arm 15. , can be with the handle part 12 for holding Fig. 2 as the construction of the flexible printed board Pa of the handle part 12a for holding Fig. 6 Flexible printed board P construction it is identical.

(supporting part)

Supporting part 13a can have linear guide portion 24 (guide rail and sliding block as illustrated as parallel moving mechanism Combination) structure.Handle part 12a can be movably supported on the normal direction of flexible printed board Pa by linear guide portion 24 (direction of action of punch 22).That is, using supporting part 13a parallel moving mechanism carry out handle part 12a move in parallel for The normal direction of flexible printed board Pa moves in parallel.

In addition, supporting part 13a, which also has, makes the recovery mechanism that handle part 12a recovers automatically to initial position.Due to supporting Portion 13a has recovery mechanism, can be by by the handle part 12a handles of the multiple grasping device 5a of flexible printed board P held The surface configuration for the part held at grade, can suppress unnecessary stress as flexible printed board P Position offset between handle part 12a.

As the recovery mechanism, as shown in the figure, can have：Make the clamp base 14a of handle part 12a along linear guide The spring 18a that portion 24 presses with moving in parallel to a direction；Abutted with clamp base 14a, overcome the pressing force of spring 18a and limit The limiter 19 moved in parallel of clamp base 14a processed.Such recovery mechanism can make handle part 12a from initial position only to Move side.As can from the initial position of handle part 12a move direction, be 22 side of punch, typically on the upside of.

Even if the processing unit makes flexible printed board Pa be pressed to its normal direction using punch die 21, by making handle part 12a is moved in parallel, and can prevent that the edge due to handle part 12a from causing to damage to flexible printed board Pa.Therefore, the processing Device is by making the bearing surface of punch die 21 from the holding position of the outer rim of the flexible printed board Pa held including handle part 12a The datum plane at thickness direction center is highlightedly crimped to 22 side of punch, can on flexible printed board Pa working tension and remove Warpage, bending are gone, can precisely carry out perforate processing.

[the 3rd embodiment]

Fig. 7 represents the grasping device 5b of the processing unit of the other embodiment of the present invention.Processing by replacing Fig. 1 fills The grasping device 5 put and use grasping device 5b, form the processing unit of the embodiment different from Fig. 1.

Multiple grasping device 5b are by holding the outer rim of flexible printed board P, and by the normal direction of flexible printed board P Position be generally kept at the inspection position of the first electric checking first 1 and the second electric checking first 2.

Grasping device 5b has：Hold the handle part 12b of the outer rim of flexible printed board P；Support the supporting of handle part 12b Portion 13b.The supporting part 13b of grasping device 5b has the handle part 12b relative to supporting with the passive fitness machine of one degree of freedom Structure, that is, oscillating head mechanism.That is, in grasping device 5b, handle part 12b can be supported by yaw using supporting part 13b.

(handle part)

Handle part 12b can have：The clamp base 14b supported using supporting part 13b；Movably it is disposed in the fixture base Flexible printed board P, is sandwiched the clip arm 15 between clamp base 14b by portion 14b；Drive the actuator of the clip arm 15 16., can be with the handle part for holding Fig. 2 as the construction of the flexible printed board P of the handle part 12b for holding Fig. 7 The construction of 12 flexible printed board P is identical.

(supporting part)

Supporting part 13b has the folder that handle part 12b can be rotationally supported centered on support shaft 17 as oscillating head mechanism Has the structure of base portion 14b.Be disposed in might as well the lateral edges parallel for the flexible printed board P that support shaft 17 and handle part 12b is held Hinder the position of the action of clip arm 15.Therefore, using supporting part 13b oscillating head mechanism carry out handle part 12b yaw be with The surface of flexible printed board P is parallel, is centered on the support shaft 17 of the lateral edges parallel of the part with holding more specifically Revolution action.

In addition, supporting part 13b, which also has, makes the recovery mechanism that handle part 12b recovers automatically to initial position.It is extensive as this Answer a pager's call structure, as shown in the figure, can make snap-latch piece 27 to the supporting in the clamp base 14b with handle part 12b using spring 26 The structure that the recess 25 that the vertical direction upper shed of axis 17 is formed presses.

Recess 25 is preferably disposed in spaced apart position from support shaft 17.Snap-latch piece 27, which is preferably matched somebody with somebody, to be set to supporting On portion 13b, it can be moved on the direction (radial direction) vertical with support shaft 17, i.e., protrude and retreat towards support shaft 17.Separately Outside, spring 26 and snap-latch piece 27 can group enter supporting part 13b.Such recovery mechanism can be made centered on support shaft 17 Handle part 12b is turned round from initial position to either direction.

As the shape of recess 25, the preferably cross sectional shape vertical with support shaft 17 is generally V-shaped groove.As the V-arrangement A pair of of inclined-plane between angle, can be less than more than 120 ° 160 °.In addition, as spring 25, compression spring can be used.Separately Outside, snap-latch piece 27 is in the mode that the side orthogonal with support shaft 17 moves up so as to be disposed in supporting part 13b, and as having The sphere or the component of barrel surface abutted with recess 25.

Using such structure, by the revolution of clamp base 14b, the inclined-plane of recess 25 makes snap-latch piece 27 to away from supporting The direction pressing of axis 17, and spring 26 is compressed, restoring force can be accumulated.In this condition, in the power for turning round clamp base 14b In the case of being removed, utilize snap-latch piece 27 to press the inclined-plane of recess 25 by extending spring 26, return clamp base 14b Turn, abut snap-latch piece 27 and the both sides on a pair of of inclined-plane in recess 25.Thus, clamp base 14b and handle part 12b is made certainly It is dynamic to return to initial position.

[the 4th embodiment]

Fig. 8 shows the grasping device 5c of the processing unit of the other embodiment of the present invention.Grasping device 5c passes through generation Used for the grasping device 5 of the processing unit of Fig. 1, form the processing unit of the embodiment different from Fig. 1.

Multiple grasping device 5c are by holding the outer rim of flexible printed board P, by the normal direction of flexible printed board P Position is generally kept at the inspection position of the first electric checking first 1 and the second electric checking first 2.

Each grasping device 5c has：Hold handle part 12c, the branch of supporting handle part 12c of the outer rim of flexible printed board P Bearing portion 13c.The supporting part 13c of grasping device 5c has the handle part 12c relative to supporting, with the movement that one degree of freedom is passive Mechanism, that is, parallel moving mechanism.That is, in grasping device 5c, handle part 12c is supported to parallel to move using supporting part 13c It is dynamic.

(handle part)

Handle part 12c can have：The clamp base 14c supported using supporting part 13c；Movably it is disposed in the fixture base Portion 14c, sandwiches the clip arm 15 of flexible printed board P between clamp base 14c；Drive the actuator of the clip arm 15 16., can be with the handle part for holding Fig. 2 as the construction for being used to hold flexible printed board P of the handle part 12c of Fig. 8 The construction of 12 flexible printed board P is same.

(supporting part)

Supporting part 13c is as parallel moving mechanism, as shown in the figure, can have linear guide portion 24.Linear guide portion 24 Handle part 12c can be movably supported along the normal direction of flexible printed board P.That is, the parallel moving mechanism of supporting part 13c The normal direction moved in parallel as flexible printed board P of handle part 12c moves in parallel.

Allow in addition, supporting part 13c also has from the initial position of handle part 12c to the normal side of flexible printed board P To moving in parallel for both sides, and handle part 12c is set to automatically revert to the recovery mechanism of initial position.In this way, due to supporting part 13c has recovery mechanism, and the edge that can suppress handle part 12c damages flexible workpiece in flexible printed board P.

As the recovery mechanism, as shown in the figure, can utilize spring 26 make snap-latch piece 27 to be formed as to handle part 12c The recess 25 of the vertical direction opening in movable direction in linear guide portion 24 of clamp base 14c press.Holding as Fig. 8 The structure of the recess 25 of the recovery mechanism of device 5c, spring 26 and snap-latch piece 27, can be with the recovery of the grasping device 5b of Fig. 7 The structure of the recess 25 of mechanism, spring 26 and snap-latch piece 27 is identical.

[the 5th embodiment]

The grasping device 5d of the processing unit of the other embodiment of the present invention is represented into Figure 11 in Fig. 9.The holding fills 5d is put by the grasping device 5 of the processing unit of replacement Fig. 1 to use, forms the processing unit of the embodiment different from Fig. 1.

Multiple grasping device 5d are by holding the outer rim of flexible printed board P, by the normal direction of flexible printed board P Position is generally kept at the inspection position of the first electric checking first 1 and the second electric checking first 2.

Grasping device 5d has：Hold the handle part 12 of the outer rim of flexible printed board P, support the supporting part of handle part 12 13d.The supporting part 13d of grasping device 5d has the handle part 12 relative to supporting, with the motion that two frees degree are passive That is oscillating head mechanism.That is, in grasping device 5d, handle part 12 is supported to using supporting part 13d can be to both direction yaw. In addition, the structure of the handle part 12 of the grasping device 5d of Fig. 9 to Figure 11 can be with the knot of the handle part 12 of the grasping device 5 of Fig. 2 Structure is identical.Therefore, the knot of the structural detail mark and the grasping device 5 of Fig. 2 of the handle part 12 of the grasping device 5d of Fig. 9 to Figure 11 The identical reference numeral of constitutive element part simultaneously omits repeat specification.

(supporting part)

Supporting part 13d has as oscillating head mechanism：Handle part 12 can be rotationally supported centered on the first support shaft 28 Clamp base 14 the first supporting member 29；First supporting part can be rotationally supported centered on the second support shaft 30 Second supporting member 31 of part 29.

First support shaft 28 matches somebody with somebody the lateral edges parallel for the flexible printed board P for being set to hold with handle part 12.In addition, second Axis 30 is held with being set to parallel with flexible printed board P and vertical with the first support shaft 28.That is, the oscillating head mechanism of supporting part 13d The yaw of the handle part 12 of generation is mutually orthogonal directions the yaw action of both direction.

In addition, supporting part 13d also has the recovery mechanism for making handle part 12 automatically restore to initial position.As the recovery Mechanism, as shown in the figure, can have：The clamp base 14 of handle part 12 is set to be rotated around the first support shaft 28 to a direction First spring 32 of ground pressing；Arranged on the first supporting member 29, abutted with clamp base 14, overcome the pressing of the first spring 32 Power, limits the first limiter 33 of the rotation of clamp base 14；Make the first supporting member 29 around the second support shaft 30 to The second spring 34 that one direction rotationally presses；Arranged on the second supporting member 31, abutted with the first supporting member 29, overcome second The pressing force of spring 34, limits the second limiter 35 of the rotation of the first supporting member 29.

In addition, in order to adjust the initial position of handle part 12, can also be in clamp base 14 and the first limiter 33 parts abutted set the first abutment 36 on the first limiter 33, in the first supporting member 29 and the second limiter 35 parts abutted or the second limiter 35 set the second abutment 37.

[sixth embodiment]

Figure 12 represents the grasping device 5e of the processing unit of the other embodiment of the present invention.Grasping device 5e passes through generation Used for the grasping device 5 of the processing unit of Fig. 1, form the processing unit with Fig. 1 different embodiments.

Multiple grasping device 5e make the normal direction of flexible printed board P by holding the outer rim of flexible printed board P Position is generally kept at the inspection position of the first electric checking first 1 and the second electric checking first 2.

Grasping device 5e has：Hold the handle part 12b of the outer rim of flexible printed board P；Support the supporting of handle part 12b Portion 13e.The supporting part 13e of grasping device 5e has the handle part 12b relative to supporting with the passive fitness machine of two frees degree Structure, that is, oscillating head mechanism.That is, in grasping device 5e, handle part 12b is supported to put to both direction using supporting part 13e Head.In addition, the structure of the handle part 12b of the grasping device 5e of Figure 12 can be with the knot of the handle part 12b of the grasping device 5b of Fig. 7 Structure is identical.Therefore, the structure of the structural detail mark and the grasping device 5b of Fig. 7 of the handle part 12b of the grasping device 5e of Figure 12 The identical reference numeral of element, and omit repeat specification.

(supporting part)

Supporting part 13e can rotationally support the folder of handle part 12b as oscillating head mechanism centered on the first support shaft 28 Has the first supporting member 29e of base portion 14b；First supporting member can be rotationally supported centered on the second support shaft 30 The second supporting member 31e of 29e.

First support shaft 28 matches somebody with somebody the lateral edges parallel being set to the handle part 12b flexible printed board P held.In addition, second Support shaft 30, which is matched somebody with somebody, is set to parallel with flexible printed board P and vertical with the first support shaft 30.That is, the swinging machine of supporting part 13e The yaw for the handle part 12b that structure carries out acts for the yaw of mutually orthogonal both direction.

In addition, supporting part 13e also has the recovery mechanism for making handle part 12b automatically restore to initial position.It is extensive as this Answer a pager's call structure, as shown in the figure, can have：Using the first spring 39, make the first snap-latch piece 40 to be formed as with clamp base 14b The first recess 38 of the vertical direction upper shed of the first support shaft 28 press, and make the second snap-latch piece using second spring 42 43 press to the second recess 41 be formed as in the direction upper shed vertical with the second support shaft 30 of the first supporting member 29e.

As shown in figure 13, the processing method of an embodiment of the present invention mainly has：Tabular is held using multiple handle parts Flexible workpiece outer rim process<Hold process>；Each handle part is supported, and the multiple handle part is carried out one More than the free degree moving in parallel or the process of yaw<Move in parallel or yaw process>.The processing method is to carry out tabular Flexible workpiece processing method, can be carried out using above-mentioned processing unit.As above-mentioned processing, particular determination is not done, Such as the inspection of the flexible workpiece of tabular, processing etc..

Using the processing method, since with above-mentioned operation, when handling flexible workpiece, (the inspection of processing head can be absorbed It is first-class to look into head, processing) the holding position of flexible workpiece that is held relative to abutted position and the multiple handle parts of flexible workpiece exists Position offset in the normal direction of flexible workpiece, can prevent the edge damage flexible workpiece in handle part.

In process is held, the outer rim of the flexible workpiece of tabular is held using multiple handle parts.Thus, the flexible work of tabular The position of the normal direction of part is generally kept at the processing position of processing head.

Move in parallel or yaw process in, support each handle part, and the multiple handle part is carried out one More than the free degree moving in parallel or yaw.Using the process, can absorb in processing, processing head is relative to flexible work The holding position for the flexible workpiece that the abutted position of part is held with multiple handle parts is inclined in the position of the normal direction of flexible workpiece Move.

It is right in the state of the position offset of the normal direction of absorption flexible workpiece as described above using the processing method Flexible workpiece is handled.

[other embodiment]

The embodiment does not limit the structure of the present invention.Therefore, record of the embodiment based on this specification And common technical knowledge, the composed component of the embodiment each several part can be omitted, replaced or added, this should all be explained To belong to the scope of the present invention.

The supporting part of the processing unit can also be configured to make handle part support with the free degree more than three degree of freedom.

, can also Ellipsis recovering mechanism in the processing unit.

The processing unit can also also have the mechanism for being checked flexible workpiece or being processed.

The processing unit can also be such as optical sensing used in addition to using the electric checking of electric checking head Device carries out the check device checked etc. or the processing unit (plant) such as being laser machined in addition to perforation.Separately Outside, the structure of the grasping device of the embodiment of electric checkup apparatus can also be suitable for processing unit (plant), will can also processed The structure of the grasping device of the embodiment of device is suitable for check device.

Industrial applicibility

The processing unit of the present invention can be suitable for flexible or bendability, and can produce warpage, curved soft The inspection of property workpiece, processing etc..

Claims

1. a kind of processing unit, it is characterised in that have：

Multiple handle parts, it holds the outer rim of the flexible workpiece of tabular；

Supporting part, it supports each handle part, relative to the handle part supported, has parallel shifting more than one degree of freedom Motivation structure or oscillating head mechanism.

2. processing unit as claimed in claim 1, it is characterised in that

The supporting part have make the parallel shifting that the normal to a surface direction of the flexible workpiece along the supporting part moves in parallel Motivation structure.

3. processing unit as claimed in claim 2, it is characterised in that

The parallel moving mechanism is the motion of one degree of freedom.

4. processing unit as claimed in claim 1, it is characterised in that

The supporting part have make the flexible workpiece around the axis center rotating swinging machine parallel with the surface of the supporting part Structure.

5. processing unit as claimed in claim 4, it is characterised in that

The oscillating head mechanism is the motion of two frees degree.

6. the processing unit as any one of claim 1 to 5, it is characterised in that

Also there is the recovery mechanism for making the handle part of the supporting part supporting automatically restore to initial position.

7. the processing unit as any one of claim 1 to 6, it is characterised in that

The processing unit is used to checking or processing the flexible workpiece.

8. processing unit as claimed in claim 7, it is characterised in that

Also there is the inspection head or processing head for being configured to move in a manner of the surface with the flexible workpiece abuts.

9. processing unit as claimed in claim 7, it is characterised in that

Also there is the mechanism that the flexible workpiece is checked or processed.

10. a kind of processing method, it is characterised in that have：

The process that the outer rim of the flexible workpiece of tabular is held using multiple handle parts；

Each handle part is supported, and the multiple handle part is carried out more than one degree of freedom moving in parallel or yaw Process.