JP2001009785A - Drilling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To speedify motion before drilling work (teaching movement to put a mark for correction of a work in a view field of a camera for θ correction) and to improve drilling efficiency. SOLUTION: This device is constituted by arranging two cameras 4 for θcorrection at an upper position except for upper positions of a drilling part 3 and a moving mechanism 2 free to adjust positions on the same straight line of an X axis. Thereafter, a data for correction in the θ direction of a drilling objective work 100 is automatically and highly speedily provided only by moving them with a teaching data input immediately below the two cameras 4, 4 for θ correction previously positionally adjusted with an interval of the marks 100a, 100a for correction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a punching device for punching a workpiece such as a ceramic green sheet or a flexible substrate which is detachably supported on a work holder.

[0002]

2. Description of the Related Art Conventionally, when a rectangular work in plan view is a flexible work such as a ceramic green sheet or a flexible substrate, one side portion of the work holder is detachably supported on the work holder and a finger mechanism is used. , And is moved in the X and Y axis directions by a moving mechanism, so that a punch is formed in a perforated portion provided with a required punch and a die having a corresponding punched hole.

[0005] FIG. 5 is a plan view of the punching device, in which reference numeral “a” denotes a machine stand, “a1” denotes a work table constituting the upper surface thereof,
Reference numeral 1 denotes a finger mechanism including a pair of fingers 11 for holding one side of the work holder 101 and a finger saddle 21 for supporting the finger 11. Reference numeral 5 denotes a holding assist mechanism for pushing the work holder 101 to the finger mechanism 1. A moving mechanism 3 consisting of a ball screw for moving the mounting base 31 for controlling the rotation of the finger saddle 21 in the horizontal direction so as to be adjustable in the X and Y axis directions. The moving mechanism 3 is arranged in the X axis direction in the Y axis direction. A perforated portion 13 'comprising a plurality of punching units 13 is a camera unit arranged adjacent to the punching units 13,..., 4 is a camera for correcting θ, and 9 is a camera for centering. The cameras 4 and 9 (CCD cameras) attached to the camera unit 13 'are connected to an image processing device 200 for binarizing a captured image, and, of course, the image processing device 20.
0 is communicated to the control unit 300, and the control unit 300
The moving mechanism 2, a driving source of the punching unit (for example, an air cylinder, a servomotor, a linear motor, or the like), a driving source for rotating the finger mechanism 1 in the horizontal direction, and the like are connected. Reference numeral 10 denotes a teaching controller.

[0004] Each of the holding assisting mechanisms 5 pushes a work holder 101 having a notch 101 a on one side of the side facing the finger mechanism 1 toward the finger 11 from the front in the Y-axis direction by a pusher. Positioning is performed by the guide action of the notch portion 101a and is sandwiched by the fingers 11, whereby the workpiece 100 to be punched is provided on one longitudinal side thereof in parallel with its edge. Correction marks 100a, 1
00a is accurately set on the X-axis line. In some cases, the correction mark 100a also serves as a reference hole mark for punching a workpiece in a required pattern. The symbol R indicates the workpiece 10 to be drilled.
This is a work magazine which accommodates a work holder 101 which detachably supports the work holder 101 in a multi-stage manner so as to be able to be taken in and out, and is vertically movable with respect to the work table a1.

By the way, the punches 23 have a small deviation from the theoretical mounting value with respect to the centering camera 9 due to the mounting error of the punching units 13, and the work (work holder 101) 100 is in the θ direction due to the clamping error. There is a reality that the finger 11 is rotated by a minute angle and is held by the finger 11.

Therefore, it is necessary to set up before drilling. In the pre-setup, a work holder holding a test work having the same shape and the correction mark at the same position as the work to be drilled is sandwiched by the finger mechanism 1 and each punch 23.
Each time the test drilling is performed, the offset amount (fixed distance from the punch to the centering camera) is moved and each punch 2
After centering 3 and storing the centering data in the control unit 300, one arbitrary test hole is fixed from the centering position of the camera 9 for centering to the camera 9 for centering. The θ correction camera 4 is moved to the separated θ correction camera 4 by the offset amount to move the offset amount to the center of the test hole.
Axis correction data is stored (this stores the positional relationship of each axis of each punch 23 with respect to the centering camera 9 axis and the positional relationship of the θ correction camera 4 axes with respect to the centering camera 9 axis, respectively). Then, from the mechanical origin position of the finger mechanism 1, first, a correction mark near the perforated portion 3 is attached to the camera unit 13 ′ and the field of view of the θ correction camera 4 (specifically, the image processing device). The work holder sandwiched by the finger mechanism 1 is moved by teaching so as to fit within the monitor screen associated with the camera, and the data (movement distance) is stored in the control unit 300. The camera is moved by teaching so as to be within the field of view (monitor screen) of the CCD camera for θ correction, and data (movement distance) is similarly stored in the control unit 300. It is intended.

By doing so, the center deviation data with respect to the offset amount between the nine axes of the centering camera and the four axes of the θ correcting camera (the fixed distance of each of the θ correcting camera axes with respect to the centering camera axis) and In addition, the actual pinching error in the θ direction in the finger mechanism 1 at the time of actual operation for drilling the workpiece 100 to be drilled is calculated in consideration of the center coordinate value of each correction mark obtained by the imaging moved by the teaching data. Become like

By the way, the correction marks 100a, 100a of the workpiece 100 to be drilled having the same shape as the test workpiece in actual operation.
When the center coordinate value of the .theta. Correction is obtained from the imaging data of the .theta. Correction camera 4, the work holder 101 is held by the finger mechanism 1 by the holding assist mechanism 5, and then the two .theta.
It is essential that the work holder 101 be largely moved in the X and Y axis directions with the teaching data D so that 00a and 100a individually fall within the field of view (monitor screen) of the θ correction camera 4 of the camera unit 13 ′. I do. This is always performed as a pre-operation prior to the actual drilling, which wastes time and degrades the drilling efficiency.

[0009]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has as its object a pre-drilling operation (a work correction mark is placed within the field of view of a θ correction camera). It is an object of the present invention to provide a punching device which speeds up the teaching feed for storing) and thereby improves the drilling efficiency.

[0010]

According to a first aspect of the present invention, a finger mechanism for holding one side of a work holder for detachably supporting a work is horizontally rotated. The moving angle is adjustable, and the finger mechanism is controlled and moved in the X and Y axis directions by the moving mechanism,
In a punching apparatus for punching a workpiece with a punching unit, two θs are provided at upper positions except for the upper positions of the punching unit and the moving mechanism.
The gist is that the correction camera is arranged on the same straight line as the X-axis so that the position can be adjusted. The gist of the present invention is that the two cameras are disposed at an upper position excluding the upper position of the perforated portion and the moving mechanism and near the mechanical origin of the finger mechanism. Needless to say, according to the second aspect, the two cameras can be adjusted in position on the same X-axis line. The term “near the mechanical origin of the finger mechanism” preferably refers to a front part or a rear part in the Y-axis direction above the finger in the finger mechanism located at the mechanical origin.

(Operation) According to the above technical means, the following operation is achieved. (Claim 1) The present punching device adjusts the positions of two θ correction cameras at the same interval as the two correction marks attached to the work. Therefore, the two θ-correction cameras are adjusted in position between the correction marks attached to the test work and set artificially, and the position data is stored in the control unit. The test work is punched with all the punches, and each test hole is moved to the centering camera by each offset amount (fixed distance to the centering camera for each punch), and each center is moved by the centering camera. The test hole is centered, and the centering data is stored in the control unit. Then, arbitrary test holes that are respectively contained within the fields of view of the two θ correction cameras are moved by the offset amount from the centering position of the centering camera axis to each θ correction camera, and each θ hole is moved. The correction dimensions of the θ correction camera axis with respect to the center of the test hole at that time are acquired within the field of view of the correction camera (specifically, a monitor screen associated with the image processing apparatus) and stored in the control unit. This is because θ correction caused by a clearance that is position-adjustable with respect to the offset amount between the centering camera axis and the θ correction camera axis (the fixed distance of each θ correction camera axis with respect to the centering camera axis). Misalignment data in the Y-axis direction of the camera axis. Then, from the mechanical origin position, teaching data in which the two correction marks attached to the workpiece fall within the field of view (monitor screen) of each of the θ correction cameras is input and stored in the control unit. Up to this point is the preparation required in the past. Thus, at the time of actual drilling of a workpiece to be drilled having the same shape as the test workpiece, the work holder sandwiched by the finger mechanism automatically moves with the teaching data to move two correction marks to the corresponding two corresponding marks. Just by simultaneously capturing and imaging within the field of view of the θ correction camera (monitor screen), taking into account the center coordinate value of the correction mark obtained and the misalignment data, the actual actual operation of the finger mechanism is performed in the same manner as before. The clamping error is calculated, and the data is used to correct the θ direction at the time of drilling. Of course, the calculation is performed automatically and at high speed by the image processing apparatus. When the hole is drilled, after the θ correction is performed as described above, the reference hole based on the center coordinate value of one correction mark or the hole in a predetermined pattern is formed in the test hole as in the related art. Is performed based on the centering data. In addition, when the displacement of the finger mechanism in the θ direction due to the pinching is large and one of the correction marks does not fit within one field of view (monitor screen) of the θ correction camera, the finger mechanism is slightly rotated in the horizontal direction. Then, the two correction marks are both stored in the field of view (monitor screen) of the camera and imaged in the same manner as in claim 1, and the center coordinate value of the correction marks obtained, the misalignment data, and the finger Data in the θ direction of the workpiece is calculated from the relationship with the data on the fine rotation of the mechanism in the horizontal direction. (Claim 2) The present drilling apparatus reduces the teaching amount (movement amount) of the work when obtaining (calculating) the data in the θ direction of the work.

[0012]

Next, an embodiment of the present invention will be described with reference to the drawings. FIGS. 1 to 4 show an embodiment of the punching apparatus of the present invention. Reference numeral A denotes the punching apparatus, 1 denotes a finger mechanism, 2 denotes a moving mechanism, 3 denotes a punching section, and 4 denotes a camera for θ correction.

As shown in FIG. 1, a punching device A is provided with a work 10 in a left front half of a machine base a having an upper surface as a work table a1.
Work holder 1 to which 0 is adsorbed or peeled off
A work magazine R, which is formed by stacking work magazines 01 in multiple stages, is provided so as to be vertically movable. A moving mechanism 2 for controlling and moving in the X and Y axis directions is attached to the machine base a at the rear end side. A pusher, which is the holding assist mechanism 5, is provided at r1.

The perforated portion 3 is provided with a required number of punching units 13 having a substantially U-shape in a side view in the X-axis direction, facing the Y-axis direction. Holding the punch 23 in the holder, and the punch 23 in the lower half.
A die (not shown) is provided in correspondence with.

As shown in FIG. 1, the finger mechanism 1 is located on the rear side in the Y-axis direction of the work magazine R, and is spaced apart in the X-axis direction on the rear side in the Y-axis direction of the work magazine R. A pair of fingers 1 arranged side by side
A finger saddle 21 having 1 and 11 is mounted on a mounting base 31 so as to be able to adjust a horizontal rotation angle.

The means for adjusting the rotation angle in the horizontal direction includes a projecting shaft 21a projecting downward from the center end of a finger saddle 21 having an inverted T-shape in plan view as shown in FIG. The finger saddle 21 is configured to rotate in the θ direction about the rotation shaft 6 by being pushed by the rotation of a cam 31 a provided on the mounting base 31. Needless to say, a drive source 41 such as a servomotor is connected to the cam 31a.

The moving mechanism 2 is a ball screw mechanism that is controlled to move in both the X-axis direction and the Y-axis direction, as is well known in the art, and a detailed description thereof will be omitted.

The two θ-correction cameras 4, 4 are disposed above the perforated portion 3 and the moving mechanism 2, except for the positions above and above the mechanical origin of the finger mechanism 1.
The camera 4 for θ correction has a support arm (not shown) erected from, for example, the work table a1 from a position where the control movement of the work 100 is not hindered, and a guide pointing in the X-axis direction to the support arm (not shown). The rail 14 is fixed and provided downward so that the position of the rail 14 can be adjusted with respect to the guide rail 14.

FIG. 4 is an enlarged view of the means for adjusting the position, which comprises a camera mount 24 and a fine adjustment body 34. Both the camera mount 24 and the fine adjustment body 34 have holding portions 24a, 34a at the upper end for slidably holding the guide rail 14, and the holding portions 24a, 34a.
The connecting pieces 24b and 34b are suspended from the ends on the side closer to each other in a parallel relationship, and the holding portions 24a and 34a can be locked to and released from the guide rail 14 by the advance and retreat of the lock screw 7 together. . Further, the camera mounting base 24 and the fine adjustment body 34 have a screw hole 24c formed in the connection piece 24b of the camera mounting base 24, and the hole 34c formed in the connection piece 34b of the fine adjustment body 34 is inserted into the screw hole 24c. A mode in which the adjusting screw 8 is screwed, and the adjusting screw 8 is integrally provided with a portion larger than the hole 34c on the base end side as shown in the figure, and the connecting piece 34b is loosely held by the large portion. When the lock screws 7 are loosened, the camera mounting base 24 and the fine adjustment body 34 slide together to change the position in the X-axis direction, and when the camera mounting base 24 is unlocked, the fine adjustment body By locking the lock screw 7 of 34 and then moving the adjusting screw 8 forward and backward, the camera mount 24
Can be finely adjusted in the X-axis direction. Of course, after the fine adjustment, the lock screw 7 of the camera mount 24 is locked.

Reference numeral 9 denotes a centering camera, which is fixed downward using a support arm (not shown) for supporting the guide rail 14 in the present embodiment. Furthermore,
Reference numeral 10 denotes a controller for inputting teaching data. Further, each of the θ correction cameras 4 and 4 and the centering camera 9 are communicated to the image processing device 200 in the same manner as in the related art, and the image processing device 200 is communicated to the control unit 300,
The control unit 300 is connected to the moving mechanism 2, the driving source of the punching unit (for example, an air cylinder, a servomotor, a linear motor, or the like), and the driving source 41 for rotating the finger mechanism 1 in the horizontal direction as in the related art. .

Next, the pre-setup of the drilling apparatus according to the present embodiment will be described in detail. The two correction cameras 4 and 4 are connected to each other at intervals of correction marks provided at one longitudinal corner of the test work. The position is adjusted in the X-axis direction near the mechanical origin of the finger mechanism 1 and locked, and the positions of the cameras 4 and 4 are stored in the control unit 300 (RAM). A work holder that supports the test work by operating the holding assist mechanism 5 is held by the finger mechanism 1. A notch is formed in the work holder as in the related art. Next, as before, the work holder is artificially moved, and a test drilling is performed with each of the punches 23 spaced apart from the centering camera 9 by a fixed distance, and the test hole is used for centering. The camera 9 is moved artificially with each offset amount, and the test hole is centered by the centering camera 9 and stored in the control unit (RAM) 300 as each centering data. Then, an arbitrary test hole is set from the axis 9 of the centering camera to the axis 4 of the θ correction camera so that each of the test holes falls within the visual field (monitor screen) of each of the θ correction cameras 4 and 4 from the axis 9 of the centering camera. (The fixed distance of each of the θ-correction camera axes with respect to the centering camera axis) is moved, imaged and binarized, and the offset amount between the centering camera 9 axis and the θ correction camera 4 axis In response to this, the CPU obtains data on the misalignment of the four axes of the θ correction camera in the Y-axis direction due to the position-adjustable clearance, and also uses the control unit (RA
M) Store 300. This misalignment data is very small (μm
Unit). Then, from the mechanical origin position of the finger mechanism 1, the teaching data (moving distance) in which the two correction marks attached to the test work fall within the field of view (monitor screen) of each of the θ correction cameras 4 and 4 is shown. The information is input from a keyboard or the like and stored in the control unit (RAM) 300. The two correction cameras 4, 4 are adjusted in position in the X-axis direction near the mechanical origin of the finger mechanism 1 and locked at intervals of the correction marks respectively attached to one longitudinal side corner of the trial work. All of the setups other than the above are to obtain the position data of each axis of each punch 23... With respect to the centering camera 9 axis and the position correction data of the θ correction camera 4 axis with respect to the centering camera 9 axis. Therefore, it is not shown in FIG.

As shown in FIG. 1, during the actual operation of drilling a workpiece 100 having the same shape as the test workpiece, the workpiece 10 held by the finger mechanism 1 is drilled.
The work holder 101 that supports 0 automatically shifts the teaching data D from the mechanical origin to move the two correction marks 100a attached to the work 100,
The image processing apparatus 200 automatically calculates the imaged data in the θ direction in the finger mechanism 1 in a pre-operation in which the image data is individually and simultaneously placed in the field of view (monitor screen) of the corresponding two θ correction cameras 4 and 4. The pinching error can be calculated. FIG.
Moves the two correction marks 100a, 100a attached to the workpiece 100 to be drilled with the teaching data D to the fields of view of two corresponding θ correction cameras 4, 4 (in detail, (Monitor screen of the processing apparatus). 2 of correction mark 100a in image processing apparatus 200
By displaying the quantified data on the monitor screen 201, it is possible to obtain coordinate values in which the correction mark center 100a 'is displaced T1 and T2 in the X-axis direction and the Y-axis direction with respect to the cursor center 201a. This coordinate value is used for both correction marks 100.
a, and the above-mentioned misalignment data is calculated by adding or subtracting the two coordinate values, and the control unit (CPU) 300 uses the obtained data to drive the finger mechanism 1 via the interface. The source 41 and the moving mechanism 2 for controlling and moving the finger mechanism 1 in the X and Y axis directions are controlled, and the actual correction movement in the θ direction is performed. If the workpiece 100 to be drilled is the same shape as the test work, the pinching error in the θ direction by the finger mechanism 1 is two θs corresponding to the two correction marks 100a, 100a.
Since it is limited to be within the field of view (monitor screen) of the correction cameras 4 and 4, it is not necessary to input teaching data again. In the subsequent drilling process, a reference hole based on the center coordinate value of one correction mark 100a or a hole in a predetermined pattern is stored in the control unit (ROM) 300 in consideration of the centering data by the test hole. The perforated work performed according to the program is inserted again into the work magazine R, and the work magazine R is raised by one step in order to perform perforation processing on an unprocessed work. Insertion of the perforated work and extraction of the unprocessed work are alternately repeated until there is no more work.

It is to be noted that even if the pinching error in the θ direction in the finger mechanism 1 is large and one correction mark 100a cannot be accommodated in one field of view (monitor screen) of the θ correction camera 4, the finger mechanism 1 can be used. The center coordinate value from the binarized data contained in the field of view (monitor screen) of the camera 4 by fine rotation in the horizontal direction, and the offset amount between the nine axes of the centering camera and the four axes of the θ correction camera (The fixed distance of each of the θ-correction camera axes with respect to the centering camera axis) The misalignment data in the Y-axis direction of the θ-correction camera axis caused by the clearance that can be adjusted, and the horizontal position of the finger mechanism 1 The correction data in the θ direction of the workpiece 100 can be similarly calculated from the relationship with the fine rotation data in the direction.

In the present embodiment, the mechanical origin of the finger mechanism 1 is set as the movement start point of the teaching data. Instead of using the mechanical origin of the finger mechanism 1 as the movement start point of the XY axes, the finger mechanism 1
It is free to set the point at which the fixed amount has moved in the X-axis direction, the Y-axis direction, or the X and Y-axis directions as the mechanical origin.

In this embodiment, the work magazine R
A punching device of a type in which an unprocessed work contained in a work magazine is removed, and the perforated work is inserted into the work magazine R again after punching is described. The present invention includes a punching device of a type in which the workpiece is pinched and the punched workpiece is artificially removed after the punching.

[0026]

According to the present invention, as described above, the two correction marks attached to the workpiece are adjusted in position with the same correction mark interval, and the fields of view of the two corresponding θ correction cameras (images). Just by moving the teaching data so as to fit individually and simultaneously on the monitor screen associated with the processing device and capturing an image, the correction data in the θ direction of the work (drilling target work) in the actual operation (drilling) is automatically and Can be obtained at high speed. Therefore, two correction marks are attached to the camera unit adjacent to the punching unit.
With the teaching data that sequentially fits within the field of view of the θ correction CCD cameras (specifically, the monitor screen linked to the image processing device), the work (the work to be drilled) is sequentially moved, and then the image is taken and the processing shifts to drilling. Compared to a conventional drilling device, correction data in the θ direction of a work (workpiece to be drilled) at the time of actual operation is obtained more quickly, and the process shifts to drilling, whereby efficient drilling can be promised. Further, when the area of the work is changed and the interval of the correction mark is displaced, the position of the θ correction camera may be adjusted with the correction mark interval,
The task is also easy. (Claim 2) Moreover, Claim 2
When the two cameras are arranged at an upper position excluding the upper position of the perforated portion and the moving mechanism and in the vicinity of the mechanical origin of the finger mechanism, the movement amount of the work by the teaching data is small. Thus, it is possible to shift to the drilling process more quickly.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of a punching device according to an embodiment of the present invention, showing a positional relationship among a finger mechanism, a θ correction camera, a work magazine, a punching unit, a moving mechanism, and the like.

FIG. 2 shows two correction marks attached to a workpiece by moving a finger mechanism with teaching data from a mechanical origin within the field of view (monitor screen) of the corresponding two θ correction cameras. FIG.

FIG. 3 shows a state in which the center of the correction mark is displaced in the X and Y axis directions with respect to the center of the cursor of the monitor on the monitor screen in the state of FIG.

FIG. 4 is an enlarged front view showing a support state of the camera for θ correction.

FIG. 5 is a plan view of a conventional punching device, and a finger mechanism is provided so that each correction mark falls within a field of view (monitor screen) of a θ correction CCD camera attached to a camera unit from a mechanical origin position. 5 shows a state in which the work holders sandwiched by are sequentially moved by teaching to pick up an image of the correction mark and obtain the center coordinate value thereof.

[Explanation of symbols]

101: Work holder 10
0: Work A: Punching device 1: Finger mechanism 2: Moving mechanism 3: Punching part 4: θ correction camera 100a: Correction mark

Claims (2)

[Claims] A finger mechanism for holding one side of a work holder for detachably supporting a work is capable of adjusting a rotation angle in a horizontal direction, and the finger mechanism is moved by a moving mechanism.
In a punching device that performs control movement in the Y-axis direction and punches the work at the punching portion, two θ-correction cameras are positioned on the same straight line on the X-axis at an upper position excluding the upper position of the punching portion and the moving mechanism. A perforation device characterized in that the position is adjustable. 2. The perforation according to claim 1, wherein said two cameras are arranged at an upper position excluding an upper position of said perforation portion and a moving mechanism and near a mechanical origin of a finger mechanism. apparatus.