JP3247703B2 - Printed circuit board working device and its feeding device error detecting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a printed circuit board working device.
The present invention relates to a device for detecting an error of a feeding device of the device, and more particularly to an automatic detection.

[0002]

2. Description of the Related Art When an electronic circuit is formed on a printed circuit board , various operations such as application of an adhesive, mounting of electronic components, drilling, and inspection are performed by a printed circuit board working device. There are many positions on the printed circuit board where such work is performed. Therefore, in order to perform a predetermined work at each work position, the printed circuit board and the work unit are relatively moved by a feeder, and the work unit is moved to the work position. It is necessary to let In such a feeder, manufacturing errors, assembling errors, errors due to changes over time, etc.
Usually, various errors occur, which reduce the feeding accuracy and the working accuracy. Therefore, conventionally, a worker or a maintenance staff of a maker detects and corrects an error of the feeder.

[0003]

However, in order for an operator or a maintenance person to detect an error in the feeder, the feeder must be operated and the error must be measured by a measuring device, which is troublesome. Time consuming,
There was a problem that required skill. The present invention automatically allows to detect an error of the feed device of the printed circuit board working apparatus
It was made as a subject to be.

[0004]

The object of the present invention is to provide a printing system.
Work such as applying adhesive to boards, mounting electronic components, and drilling
Provided in a working device having a working unit for applying
The printed circuit board and work unit on the surface of the printed circuit board.
Detects the feed error of the feeder that moves relatively in the
(A) a plurality of reference marks
A reference plate attached to the reference plate;
The plate is moved relative to the reference plate in a direction parallel to the surface of the plate.
An imaging device for imaging each of the reference marks;
Data and error of each reference mark image picked up by the imager
Error of the feeder based on the normal data without
And a calculating means for calculating.
It is. The above object also requires a printed circuit board working device,
(1) Applying adhesive to printed circuit boards, mounting electronic components, holes
A work unit for performing operations such as drilling and (2) pudding
Printed circuit board holding device for holding a printed circuit board;
Move the printed circuit board holding device and the work unit
By holding the printed circuit board holding device,
Lint board and work unit on the surface of printed circuit board
A feed device for relatively moving in a parallel direction;
A reference mark is attached and the printed circuit board holding device is
A reference plate held in place of the printed circuit board; (5)
By the feeding device, held on the printed circuit board holding device
And the plurality of reference plates are moved relative to the reference plate.
An image pickup device for picking up an image of each mark;
Data of each reference mark imaged by the
And calculating the error of the feeder based on the data of the regulation.
Calculating means, and (7) the feed calculated by the calculating means
In order to correct the error of the device,
Command data for relative movement between the printed circuit board and the work unit.
And remedial means to correct.
It is.

[0005]

The reference plate and the image pickup device are relatively moved by the feeder provided in the printed circuit board working device as described above ,
When the reference mark is imaged, if there is a feeding error in the feeding device, the image data of the imaged reference mark becomes data including the error, and the data of the reference mark image and the normal data without error are converted. By using this, the error of the feeder can be calculated. Also, such sending
Printed circuit board working device equipped with a device error detection device,
"Calculated by the calculating means based on the imaging result of the imaging device.
To correct the feeder error
Corrected relative movement instruction data between printed circuit board and work unit
Correction means that automatically adjusts the feed error of the feeder.
Not only detected by the
In addition, the relative movement support data between the work unit and the printed circuit board
Correction of data is also performed automatically.

[0006]

As described above, according to the error detecting apparatus of the present invention, the feed error can be detected by imaging the reference mark on the reference plate. Is automatically performed by being relatively moved by a feeding device provided in the working device,
Further, the calculation of the error based on the data of the image obtained by the imaging is also performed automatically, so that the error can be detected more quickly and easily than when the operator detects the error. In addition, if the error detection is performed manually, skill is required.Therefore, it is often necessary to have a maintenance person dispatched from the working device maker. If possible, the provision of this detection device by the user enables the user to detect the error by himself and to investigate and correct the cause of the error himself, and to promptly deal with the occurrence of the error. Can be. Alternatively, the user himself / herself can detect the error and send the data to the manufacturer to investigate the cause of the error. In this case as well, the occurrence of the error is smaller than when the maintenance staff goes to detect the error. Can be dealt with promptly. Furthermore, if the printed circuit board working device is provided with a function of correcting the movement instruction data of the printed circuit board and the work unit by the feeder, the work is performed while automatically correcting the feed error based on the detected error data. it can be carried out.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of a feeder error detecting apparatus according to the present invention;

In FIGS. 7 and 8, reference numeral 10 denotes an apparatus main body. On the apparatus main body 10, a printed board moving unit 14 for holding a printed board 12 and moving the printed board 12 in the horizontal Y-axis direction and three coating heads 16 as working units
(Indicated by A, B, and C in the figure), and an application unit 18 that applies an adhesive to the printed circuit board 12 by moving in the X-axis direction that is horizontal and orthogonal to the Y-axis direction. Is provided.

First, the printed board moving unit 14 will be described. The printed circuit board 12 is provided on the apparatus main body 10 in the X-axis direction.
And a carry-out conveyor 24 that carries out the printed circuit board 12 from the printed circuit board moving unit 14. Both the carry-in conveyor 22 and the carry-out conveyor 24 are belt conveyors,
It has a fixed guide 26 provided for fixing the position and a movable guide 28 provided for adjusting the position in the Y-axis direction, and guides the movement of the printed circuit board 12 and has a width corresponding to the size of the printed circuit board 12. Is to be adjusted. The printed board moving unit 14 is provided on the apparatus main body 10 and has a pair of guide rails 32 extending in the Y-axis direction.
have. A Y-axis table 34 shown in FIG. 9 is slidably mounted on the guide rail 32, and is screwed to a ball screw 38 disposed in the Y-axis direction with a fixed nut 36 on the lower surface thereof. The ball screw 38 is moved in the Y-axis direction by being driven by a Y-axis table driving motor 40 (see FIG. 6). In this embodiment, the nut 36, the ball screw 38, and the Y-axis table driving motor 40 constitute a Y-axis direction feeder 42.

[0010] As shown in FIG.
Endless conveyor belts 50 are respectively provided on inner surfaces of the support walls 44 and 46 provided at both ends in the axial direction and extending in the X-axis direction and facing each other. These conveyor belts 50 are driven by a belt drive motor to carry the printed circuit board 12 carried in by the carry-in conveyor 22 onto the Y-axis table 34. A printed board holding member 54 having a holding portion 58 on its upper surface is fixed to the support walls 44 and 46, and a push-up plate 62 slides on a guide plate 56 fixed inside the support walls 44 and 46. It is attached so that it can go up and down. The push-up plate 62 has a plate shape extending in the X-axis direction, and has a spring 76 provided between the push-up plate 62 and the guide plate 56.
And the lowering limit is defined by a stopper (not shown). When the push-up plate 62 is not pushed up, its upper end is located at substantially the same height as the upper running portion of the conveyor belt 50. are doing. An engagement pin 78 extending downward is fixed to the slide 66. The one support wall 46 is provided so as to be movable in the Y-axis direction, and is simultaneously moved when adjusting the width of the carry-in conveyor 22 and the carry-out conveyor 24 in accordance with the width of the printed circuit board 12. The interval between the conveyor belts 50 is adjusted to a size corresponding to the width of the printed circuit board 12.

An elevating table 82 is provided on the Y-axis table 34 and is moved up and down by an elevating air cylinder 84. A suction nozzle 86 is erected at the center of the upper surface of the elevating table 82, and the printed board 12 is
Is to be adsorbed. The lifting table 82 is at the lower end position when the printed circuit board 12 is carried into the conveyor belt 50, and when the printed circuit board 12 is moved up after being carried, the lifting table 82 abuts on the engaging pin 78 fixed to the push-up plate 62. To rise. As a result, the printed circuit board 12 placed on the conveyor belt 50 is
2 and is pushed up from the conveyor belt 50 and pressed against the protrusion 58 of the printed circuit board holding member 54, and is fixed to the Y-axis table 34 by being sandwiched between the push-up plate 62 and the protrusion 58. When the size of the printed board 12 is large, the suction nozzle 86 sucks the printed board 12 and corrects upward warpage.

Next, the coating unit 18 will be described.
As shown in FIG. 7, a pair of columns 1 is provided above the movable guides 28 of the carry-in conveyor 22 and the carry-out conveyor 24.
A base 110 supported by a base plate 08 is provided. On the base 110, a pair of guide rails 112 is provided in the X-axis direction, and an X-axis table 114 is slidably mounted. The X-axis table 114 is screwed to a ball screw 118 by a nut (not shown), and is moved in the X-axis direction by driving the ball screw 118 by an X-axis table driving motor 120. The nut, the ball screw 118 and the X-axis table driving motor 120 constitute the X-axis direction feeding device 122. The X-axis table 114 has three coating heads 1
6A, 16B, and 16C are mounted, respectively, and can be moved up and down, and can be rotated around the center line thereof. These coating heads 16A, 16
The structures of B, 16C, the structure of lifting and lowering, and the rotation are the same as those of the high-viscosity fluid coating device described in JP-A-1-56165, and the description is omitted.

Further, as shown in FIG. 10, the coating unit 18 is provided with a camera 190 as an imaging device for reading a reference mark provided on the printed circuit board 12. The camera 190 is moved in the X-axis direction together with the coating head 16. The reference mark is read prior to the application of the adhesive, and the movement instruction data of the Y-axis table 34 and the X-axis table 114 is read based on the read result. The correction is performed so that the application head 16 can be accurately moved to the adhesive application position on the printed circuit board 12.

The present coating apparatus has a control device 200 shown in FIG.
Is controlled by The control device 200 includes a CPU 202,
The computer mainly includes a ROM 204, a RAM 206, and a bus 208 connecting the ROM 204 and the RAM 206, and an input interface 210 connected to the bus 208.
, A camera 190 and an input device 212 are connected. An output interface 216 is also connected to the bus 208, and the drive interface 218, 220, and 222 connect the Y interface.
Axis drive servo motor 40, X axis drive servo motor 1
20, while the lifting air cylinder 84 is connected,
The camera 190 is connected via the control circuit 224. As shown in FIG. 5, the RAM 206 stores a measured value storage area 230 and a reference plate fixed error storage area 23.
2, a feed error storage area 234 and a counter 236 are provided together with a working area. In addition, RO
M204 includes a program for applying an adhesive to the printed circuit board 12 and a feed error detection routine of the feed devices 42 and 122 shown in the flowchart of FIG.
Various programs are stored.

When the adhesive is applied to the printed circuit board 12 in the adhesive applying apparatus configured as described above,
The Y-axis table 34 and the X-axis table 114 are moved in a state where the printed board 12 is fixed on the Y-axis table 34, and first, a reference mark provided on the printed board 12 is read. The movement instruction data is corrected, and the three coating heads 16A, 16
Of B and 16C, the center of the discharge pipe attached to the coating head used for coating is positioned right above the adhesive coating position, and the adhesive is coated. After the application, the application head 16 is moved to the application position where the adhesive is applied next.

As described above, the adhesive is applied to the printed board 12 by applying the printed board 12 and the coating head 16 to the Y-axis direction feeder 42 and the X-axis direction feeder 12 respectively.
2, and if there is an error in the feeding of each of the feeding devices 42 and 122, the coating head 1
6 is moved to a position shifted from a predetermined application position, and the adhesive cannot be applied with high accuracy. For this reason, the present adhesive application device is provided with a detecting device that detects a feeding error of each of the feeding devices 42 and 122.

As shown in FIG. 2, a reference plate 242 provided with a large number of reference marks 240 is used for detecting the feed error. The reference plate 242 has a square shape larger than the printed circuit board 12 having the largest dimension. The reference marks 240 are formed in a circular shape, and six reference marks 240 are arranged at equal intervals and in parallel along one side of the reference plate 242.
The fiducial marks 240 having these six as one line are
A total of 36 reference marks 240 are provided in a row. When a feed error is detected, the reference plate 242 is fixed on the Y-axis table 34 in the same manner as the printed circuit board 12, and the camera 190 and the reference plate 242 are moved in the X-axis direction and the Y-axis direction, respectively, to image the reference mark 240. .
Here, the camera 190 is moved in the opposite direction to the forward direction as indicated by solid arrows and broken arrows for each of the six rows of reference marks 240 parallel to the X-axis direction (the horizontal direction of the reference plate 242 shown in FIG. 2). The reference mark 240 is imaged by moving the reference mark 240 in the direction shown in FIG. 2 and a solid line arrow and a broken line arrow are provided for each of the six lines of the reference mark 240 parallel to the Y-axis direction (the vertical direction of the reference plate 242 shown in FIG. Then, the reference mark 240 is imaged by moving the Y-axis table 34 in the forward direction and the reverse direction as shown by. In the following description, the row number is represented by i and the column number is represented by j. For example, the coordinates of the reference mark 240 at the i-th row and the j-th column are represented as (x _{i, j} , y _{i, j} ).

In order to image the reference mark 240, the reference plate 24
When 2 is fixed to the Y-axis table 34, an error usually occurs in the position of the reference plate 242. This fixed error is X
Occurs around the axial, Y-axis, and vertical axes. FIG.
As shown in the figure, e _x ,
Y-axis direction e _y, if the deviation angle θ about the axis occurs, from the center X axis direction L _x, in the X-axis direction and the Y-axis direction caused by the rotation to the point distant L _y in the Y-axis direction shift amount .theta.L _y and .theta.L _x, and the coordinate of an arbitrary point on the reference plate 242, the coordinates in the absence of a fixed error (x,
if _{y), (x + e x} + θL y, y + e y + θ
L _x ). Therefore, the reference mark 24 in the i-th row and the j-th column
In the case where 0 is imaged by moving the camera 190 in the X-axis direction, as shown in FIG. 4, the reference mark 240 is moved from the position x _{i, j} (the movement instruction data represents this value) when there is no fixed error. the X-axis direction so that the deviated by (e _x + θL _yi). The shift amount is determined by the feed error Δx _{i, j} of the camera 190 when capturing the reference mark 240 and the camera 1
90 and the sum with the actually measured value Δx _{i, j} ′ obtained by imaging. On the other hand, the reference mark 230 of the i-th row and the j-th column is
, The reference mark 240 is shifted by (e _y + θL _xj ) in the Y-axis direction from the position where there is no fixed error.
2 is equal to the sum of the feed error Δy _{i, j} and the actually measured value Δy _{i, j} ′ obtained by imaging with the camera 190. In this embodiment, it is assumed that there is no relative position error between the reference marks 240 and no imaging error of the camera 190 itself.

Next, the detection of the feed error of the feed devices 42 and 122 will be specifically described based on the feed error detection routine shown in FIG. First, step S1 (hereinafter, S1
Abbreviated. Same for other steps. In), the count value C of the counter 236 is set to 1. Next, S2 is executed, and all the reference marks 240 are sequentially imaged by the camera 190, and the deviation Δx _{i, j} ′, Δy between the imaging center of the camera 190 and the center of the reference mark 240 is performed.
_{i, j} 'are measured. First, six rows of reference marks 240 arranged in parallel with the X axis are imaged by reciprocating movement of the camera 190 in both the forward and reverse directions, and the measured value storage area 230 of the RAM 206 is associated with the position of the reference mark 240 and the movement direction of the camera 190. Is stored in As the deviation Δx _{i, j} ′, two values are obtained: a value when the camera 190 is moved in the forward direction and a value when the camera 190 is moved in the reverse direction with respect to each reference mark 240, and are stored separately. You. If six rows of reference marks 240 arranged parallel to the X axis are imaged, then six columns of reference marks 240 arranged parallel to the Y axis are imaged. In this case, the reference plate 242 is reciprocated in the forward and reverse directions in the Y-axis direction, and two shifts Δy _{i, j} ′ between the forward movement and the backward movement obtained by imaging each reference mark 240. Is associated with the position of the reference mark 240 and the moving direction of the reference plate 242 in the measured value storage area 230.
Is stored in

[0020] If the imaging of the reference marks 240 is completed, then S3 is executed, the fixed error e _x of the reference plate 242, the calculation of e _y and θ are performed. This calculation is performed as follows. Taking the case where the reference mark 240 in the i-th row and the j-th column is imaged by moving the camera 190 in the X-axis direction, the expression (1) holds for the reference mark 240.

(Equation 1) Further, the equation (2) is obtained for the reference mark 240 at the i-th row and the (j + 1) -th column.

(Equation 2) Furthermore, the reference mark 2 of the i-th row and the j-th column and the i-th row (j + 1) column
Equation (3) is obtained for the distance between 40.

(Equation 3) P is a distance between the reference marks 240 adjacent in the X-axis direction, and is a distance between the reference marks 240 adjacent in the Y-axis direction.
It is also the distance between them. Further, the expressions (4) and (5) are obtained from the imaging result of the reference mark 240 in the i-th row (j + 2) column.

(Equation 4)

(Equation 5) Of the above five equations, the unknowns are Δx _{i, j} , Δ
_{x i, (j + 1)} , Δx i, (j + 2), a five e _x and theta, it is possible to calculate these unknowns from five equations. These five equations are obtained by imaging three reference marks 240 adjacent in the X-axis direction, and there are six reference marks 240 in one line. Two values of _ex and θ are calculated for each row. Also, Y
An equation can be similarly established for the reference marks 240 arranged in the axial direction, and two values of _ey and θ are calculated for each row. These fixed errors e _x , e _y ,
The calculation of θ may be performed on both the data at the time of the forward movement and the data at the time of the backward movement, or only one of them.

When the fixed errors e _x , e _y and θ are calculated, S4 is executed, and the e _x , e obtained for each of the plurality is calculated.
The average value of _y and θ is calculated, and the average fixed errors e _xm and e
stored as _ym and theta _m to the reference plate fixed error storage area 232 of the RAM 206. Next, S5 is executed to calculate the feed errors Δx _{i, j} and Δy _{i, j} . The formula Δx that is established between the fixed error, the feed error, and the actually measured value
_{i, j + Δx i, j} '= e x + θL yi, Δy i, j + Δ
_{y i, j '= e y} + θL xj of e _x, e _y and theta to the average fixed error e _xm, the e _ym and theta _m is _substituted, Δx _{i, j} and [Delta] y _{i, j} is calculated.

Two feed errors are obtained for each of the reference marks 240, one for the forward movement and the one for the reverse movement. The movement instruction data when the respective reference marks 240 are imaged and the camera 190, reference plate The data is stored in the working area of the RAM 206 in association with the feeding direction of the RAM 242. Each of the reference marks 240 has a line parallel to the X axis and a line Y
The two types of feed marks are obtained by moving the camera 190 in both the forward and reverse directions with respect to one reference mark 240 belonging to a column parallel to the axis and being taken as a reference mark belonging to a row parallel to the X axis. An error and a reference mark belonging to a row parallel to the Y-axis are imaged by moving the Y-axis table 34 in both forward and reverse directions, and a total of four feed errors, which are two types of feed errors obtained, are stored. .

Then, after the count value C is increased by 1 in S6, it is determined in S7 whether or not the feeding error has been detected eight times, but this determination is NO.
The execution of the routine returns to S2, and the feeding error is detected again. This is because the feeding error includes an error having no regularity, and the error cannot be detected only once. Then, after the feed error is calculated eight times, the determination in S7 becomes YES, and in S8, the average value of the feed errors calculated eight times is obtained and used as the final feed error. Stored in area 234.

If the data of the feed error is obtained in this manner, the characteristics of the feed error generated in each of the X-axis direction feeder 122 and the Y-axis direction feeder 42 can be determined based on the data. Each feeder 1
The coating head 16 can be moved to the coating position with high accuracy by modifying the feed amounts (moving instruction data) of 22, 22 and the like. For example, the feed error is stored in association with each normal position (defined by the movement instruction data in the X-axis direction and the Y-axis direction) for each of a large number of reference marks 240, and is centered on these normal positions. It is assumed that a feed error calculated for the normal position occurs in a square area having the side between the adjacent reference marks 240 as one side. At the time of applying the adhesive, it is determined which of the areas centered on the normal position the application position belongs to, and the feed amount of the coating head 16 and the printed board 12 is determined based on the feed error obtained for the normal position. Fix it. In this case, of the four types of feed errors stored for one regular position, the coating head 16 and the printed board 1
2 is selected, and a feed error according to the moving direction is selected and the feed amount is corrected, so that the coating head 16 can accurately move the feed devices 42 and 122 even if there is a feed error. The adhesive is moved to the application position and the adhesive can be applied to the printed circuit board 12. The reference mark 240 is provided on the entire reference plate 242, and a feed error is determined for the entire moving range of the printed board 12 and the application head 16 during the application of the adhesive.
Even if the perpendicularity between the guide rails 32 and 112 is bad, if the guide rails 32 and 112 are bent, or if the ball screws 38 and 118 have a manufacturing error or an assembly error, the feed error caused by these errors will be a reference mark 240. The adhesive can be applied with high accuracy by correcting the feed amount based on the feed error.

It should be noted that the correction value of the feed amount may be determined by other methods, such as by interpolation from the feed error of the normal position of the reference mark 240 surrounding the target feed position.

If the feed error can be eliminated by adjusting the feed devices 42 and 122, the feed error can be avoided by adjusting the feed device before applying the adhesive.

As is apparent from the above description, in the present embodiment, the area for storing S1 to S8 of the ROM 204, the portion of the CPU 202 and the RAM 206 which executes those steps calculates the feed error of the feed devices 42 and 122. It constitutes calculation means. ROM 204,
The calculation means of the CPU 202 and the RAM 206
Feed device in order to correct the feed error
For relative movement between printed circuit board and work unit
The part for correcting the data constitutes the correction means.

In the above embodiment, the camera 190
Although it is assumed that there is no imaging error in the camera itself, there is a case where the camera 190 has an imaging error.
The feed error obtained by the imaging of 40 includes the imaging error of the camera 190. In this case, for example, a large number of reference marks are provided in a small area of the reference plate 242 in the X-axis direction and the Y-axis direction, and the camera 190 and the Y-axis table 34 are moved to image the reference marks one by one. Since the feed error can be regarded as uniform in this area, the camera 1
90 imaging errors can be obtained.

In the above embodiment, the camera 19
0 and the reference plate 242 are separately moved in the X-axis direction and the Y-axis direction to capture the image of the reference mark 240. However, both are moved at the same time, and the reference mark 240 located on the diagonal line is moved. It is also possible to take an image and detect a feeding error based on data of an image obtained thereby. In this case, the reference mark 240 may be imaged in both the forward direction and the opposite direction on the diagonal line.

Further, in the above-mentioned adhesive application device,
The coating head 16 and the camera 190 are moved in the X-axis direction, and the reference plate 242 is moved in the Y-axis direction. Some coating devices are moved in the X-axis direction and the Y-axis direction. Conversely, there are also coating devices in which the printed board 12 is fixed and the coating head 16 and the camera 190 are moved in the X-axis direction and the Y-axis direction. The error detecting device according to the present invention can also be used for detecting such an error of the feeding device of the coating device.

In the above embodiment, the camera 19
When the reference mark 240 is located within the imaging range of the camera 190 at the position where 0 has moved, but the reference mark 240 is not within the range, the camera 190 is moved along the circumference of a circle or square around the movement position. To find the fiducial mark,
What is necessary is just to take an image.

Further, in the above embodiment, the reference mark 2
Although 40 is a circle, various shapes such as a quadrangle, a triangle, and a cross line can be adopted.

Further, the error detecting device according to the present invention is not only a device for applying an adhesive to a printed circuit board, but also a device for mounting electronic components on a printed circuit board, a device for making a hole in a printed circuit board, and a device for forming a printed circuit board. The present invention can also be used for detecting a feed error of a feed device such as a device for performing a continuity test.

In addition, without departing from the scope of the claims, the present invention can be carried out in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of the drawings]

FIG. 1 is a flowchart showing a feed error detection routine stored in a ROM of a computer serving as a main body of a control device of an adhesive application device having an error detection device according to an embodiment of the present invention.

FIG. 2 is a plan view showing a reference plate of the error detection device.

FIG. 3 is a diagram illustrating a fixing error that occurs when the reference plate is fixed to a Y-axis table of the adhesive application device.

FIG. 4 is a diagram illustrating a relationship between a fixed error, a feed error, and a measured value of a camera that occur in a reference mark provided on the reference plate.

FIG. 5 is a diagram conceptually showing a configuration of a RAM of the computer.

FIG. 6 is a block diagram showing the control device.

FIG. 7 is a plan view schematically showing the adhesive application device.

FIG. 8 is a front view conceptually showing the adhesive application device.

FIG. 9 is a side sectional view showing a printed board moving unit of the adhesive application device.

FIG. 10 is a front view schematically showing a coating unit of the adhesive coating device.

[Explanation of symbols]

 12 Printed circuit board 16 Coating head 36 Nut 38 Ball screw 40 Y-axis table drive motor 42 Y-axis direction feeder 118 Ball screw 120 X-axis table drive motor 122 X-axis direction feeder 190 Camera 200 Control device 240 Reference mark 242 Reference Board

────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Yasutaka Hayashi 19, Chausuyama, Yamamachi, Chiryu-shi, Aichi Fuji Machine Manufacturing Co., Ltd. (56) References JP-A-2-137300 (JP, A) JP-A JP-A-62-200403 (JP, A) JP-A-62-240871 (JP, A) JP-A-3-48910 (JP, A) JP-A-4-109931 (JP, A) (58) Fields investigated (Int) .Cl. ⁷ , DB name) H05K 13/00-13/04 G05B 19/19 G05D 3/12

Claims (4)

(57) [Claims] 1. A work apparatus having a work unit for performing operations such as application of an adhesive, mounting of electronic components, and drilling on a printed circuit board. The printed circuit board and the work unit are parallel to a surface of the printed circuit board. Detecting a feed error of a feed device for relatively moving in a direction , wherein the reference device is provided with a plurality of reference marks, and the feed device allows the feed device to detect a feed error in a direction parallel to a surface of the reference plate. An imaging device that is relatively moved with respect to a reference plate and captures an image of each of the plurality of reference marks; and an image capturing device that captures each of the plurality of reference marks. A feeder error detecting device for a printed circuit board working device, comprising: a calculating means for calculating an error. 2. The work device holds the printed circuit board.
A printed circuit board holding device for holding the printed circuit board.
The holding device also serves as a reference plate holding device for holding the reference plate.
The error detection of the feeder according to claim 1, wherein
apparatus. 3. The imaging device according to claim 1, wherein the imaging device is provided in the working device.
To image a plurality of fiducial marks on the printed circuit board
2. An image pickup apparatus comprising:
Or the feeder error detecting device according to 2. 4. Applying an adhesive to a printed circuit board,
A work unit that performs work such as mounting and drilling; A printed board holding device for holding the printed board, The printed circuit board holding device and the work unit
Moved to hold on printed circuit board holding device
The printed circuit board and the work unit
A feed device for relatively moving in a direction parallel to the surface of the A plurality of fiducial marks are attached to the printed circuit board holding device.
A reference plate held in place of the printed circuit board, By the feeding device, held on the printed circuit board holding device
And the plurality of reference plates are moved relative to the reference plate.
An imaging device for imaging each of the marks; There is an error with the data of the image of each reference mark imaged by the imaging device.
Error of the feeder based on the normal data with no difference
Calculating means for calculating The error of the feeder calculated by the calculating means is corrected.
In order to work with the printed circuit board by the feeding device,
Correcting means for correcting the relative movement instruction data with the unit;
Printed circuit board working equipment including.