JP3621629B2 - Drilling device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a punching device for punching, and more particularly to a punching device that is useful when trimming a deformed hole such as a U-shape or an L-shape in a processing target portion of a printed circuit board formed on a base print.
[0002]
[Prior art]
As a perforating device (trimming device) for trimming a terminal of a printed circuit board formed on a base print such as a flexible film, a technique disclosed in Japanese Patent No. 2512685 is known. Yes.
This prior art includes a punching machine that can be controlled in the X-axis direction, a rectangular first trimming punch whose plane-view longitudinal direction is parallel to the X-axis direction, and the plan-view longitudinal direction in the Y-axis direction. A holding mechanism that holds a rectangular second trimming punch that is parallel to the plane and a workpiece that holds a rectangular shape in plan view is configured to be controllable in the Y-axis direction, and the workpiece is moved in the Y-axis direction by the holding mechanism. While controlling, the punching machine having the first and second trimming punches is controlled to move in the X-axis direction to image an arbitrary reference point of the workpiece, and from the reference point to the first and second trimming punches With a fixed offset, the holding mechanism is controlled in the Y-axis direction and the punching machine is controlled in the X-axis direction, and the L-shaped hole and the U-shaped hole are punched out using the first and second trimming punches. It has become the jar.
The first and second trimming punches are supported so that the rotation angle thereof can be adjusted in the circumferential direction, and the vertical holes constituting the L-shaped holes and the U-shaped holes are in the X axis direction, and the horizontal holes are in the Y axis direction. The L-shaped hole and the U-shaped hole that are inclined with respect to each other and are displaced in the θ direction with respect to the direction of the workpiece in a so-called plan view can be punched.
[0003]
However, when punching a deformed hole other than a perfect circle, such as an L-shaped hole or a U-shaped hole, which is displaced in the θ direction with respect to the direction of the workpiece in plan view as described above, it matches the displacement in the θ direction. As a result, it becomes necessary to rotate and adjust the first and second trimming punches in the circumferential direction, which makes the previous setup very troublesome.
[0004]
[Problems to be solved by the invention]
The present invention has been made in view of the above-described conventional circumstances, and its technical problem is to artificially transfer a workpiece target portion between a punched body and a die so as to have a desired planar view shape other than a perfect circle. It is to make the hole punch through accurately.
[0005]
[Means for Solving the Problems]
The technical means taken to solve the above-mentioned objects are a drive mechanism that moves the punched body up and down, and an X-axis direction, a Y-axis direction, and a θ-direction control that are provided below the drive mechanism and attracts the workpiece releasably. A movable work table, and a die that can be moved up and down with the surface of the work table ascended to the upper limit with the space for the control movement secured in the guide opening opened in the work table. And a lower illumination means for irradiating the work from the guide port disposed below the work table and opened when the die is lowered, and before and after the work table and the drilling body are coaxially moved in and out of the die and the drilling body. A movable imaging unit, an image processing device that communicates with the imaging unit and stores a die hole as teaching data, and a control unit. Each time the image is moved to the monitor screen and displayed on the monitor screen, the image of the processing target is picked up by the image pickup unit, and the coordinate value for centering is analyzed from the image data. Then, the centering data is calculated based on the coordinate value for centering and the teaching data, and the control unit controls the work table for sucking the workpiece with the centering data and moves the imaging unit backward. The gist is to raise the die to the upper limit and to lower the perforated body with the drive mechanism.
Here, the imaging unit is a CCD camera.
The perforated body is formed in a shape conforming to the shape of the portion to be processed, such as a U-shape in plan view or an L-shape in plan view.
The teaching data is obtained by analyzing image data obtained by capturing an image of a die hole that matches the planar shape of the punched body in the imaging unit, and a coordinate value required for centering is obtained by an image processing apparatus. Stored in the image memory.
In addition, an upper illumination means is provided, and can be freely switched to the lower illumination means according to the nature of the workpiece.
[0006]
According to the above means, each processing target part of the workpiece is artificially transferred and positioned coaxially between the punched body and the die and positioned directly below the standby imaging unit, and the monitor screen of the image processing apparatus. Each time the image is displayed, the workpiece is picked up by the work table and the lower illumination from the lower illumination means is used to pick up an image of the processing target portion by the image pickup unit, and the image processing apparatus is made up of the transmission image. The coordinate value for centering is analyzed from the image data, and the coordinate value is compared with the coordinate value of the teaching data stored in advance in the image processing apparatus to calculate the centering data. Next, the work table that picks up the workpiece is controlled with its centering data (controlled to move in the X-axis direction, Y-axis direction, and θ direction), the imaging unit is retracted and the die is raised to the upper limit, and finally drilled. A hole having a predetermined plan view shape set by lowering the body is punched out.
Further, when using the upper illumination means, a reflected image is used instead of the transmitted image.
[0007]
The control unit operates the operation unit after the imaging to control the work table for attracting the workpiece based on the centering data, and the imaging unit is retracted, the die is raised to the upper limit, A control method for lowering the perforated body may also be used.
Here, the operation unit indicates an artificial operation means such as a foot switch or a touch switch.
In the case of this means, the work part to be picked up on the work table by the operation of the operation part after the work target part of the work is artificially transferred directly below the image pickup part and displayed on the monitor screen of the image processing apparatus. Imaging by the imaging unit, analysis of coordinate values for centering by binarized data, coordinate values of teaching data, calculation processing of centering data from the coordinate values for centering, work table based on the centering data The punching process is performed after the control movement, the retraction of the imaging unit, and the rise of the die to the upper limit.
[0008]
In both the first and second aspects, when the control movement range in the θ direction of the work table is limited to a predetermined angle, the control of the predetermined angle with respect to the coordinate value of the teaching data stored in the image processing apparatus is performed. It is possible to punch a hole in a predetermined plan view shape to be punched by artificially transferring the workpiece so that the work target portion of the workpiece is displayed on the monitor screen with the orientation roughly adjusted to be within the moving range it can.
In addition, when the coordinate value of the processing target portion is obtained with an error that is greater than the control movement range in the θ direction with respect to the coordinate value of the teaching data, it is controlled as an artificial transfer error immediately below the imaging portion of the processing target portion. The unit stops the subsequent operation, and further displays an error on the linked display unit or issues a warning with a lamp, buzzer, or the like.
[0009]
The imaging unit is fixedly provided at a position that does not interfere with the lifting and lowering of the perforated body separately from the die and the reflecting mirror that can move back and forth so as to be coaxial with the perforated body. It is also possible to capture a reflected image of the part to be processed of the workpiece that is reflected.
In this case, since it is lighter than the case where the imaging unit itself is moved back and forth, it is possible to use a small drive source for entering and exiting.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
1 to 5 show an embodiment of a punching device of the present invention, more specifically, a trimming punching device (bordering device), and reference numeral A is the punching device.
[0011]
The perforating apparatus A includes a work table 1, a machine base 2 attached to the work table 1, a drive mechanism 3 including a perforated body 13, a work table 4, a die 5, a lower illumination means 6, and an imaging unit. 7, an image processing device 8, and a control unit 9.
[0012]
The work table 1 is a desk having a work surface 11 as a surface, casters 41... At a lower end, and a leg insertion space 31 for storing a leg of a chair user who performs work on the front surface. A machine base 2 having a U-shape when viewed from the side is attached to the end so that the lower half of the machine base 2 wraps around the work surface 11 of the work table 1 as shown in FIGS.
[0013]
As shown in FIGS. 2 and 4, the machine base 2 has a substantially U-shape when viewed from the side, and is provided with a drive mechanism 3 for the perforated body 13 in the upper portion 12 in a state of being attached to the work table 1. A die 5 that is coaxial with the perforated body 13 supported by the drive mechanism 3 is supported on the lower side portion 22 via a support portion 5 'so as to be movable up and down.
[0014]
Further, the work table 1 includes a work table 4 that can control and move a desired area portion in the X axis direction, the Y axis direction, and the θ direction centering on a portion facing the punched body 13 on the work surface 11. ing.
[0015]
Further, in the machine base 2, an imaging unit 7 which is coaxial with the punched body 13 and the die 5 in the forward movement state is provided at the vertical portion 32 of the machine base 2 positioned higher than the surface level of the work table 1. 10 is supported so as to be movable back and forth.
[0016]
As shown in FIGS. 2, 3, and 4, the surface of the work table 4 is positioned on the same surface as the work surface 11, which is a surface adjacent to the work table 1, and is controlled and moved in the Y-axis direction. The Y table unit 14, the X table unit 24 positioned below the Y table unit 14 and controlled in the X axis direction, and the θ table positioned below the X table unit 24 and controlled in the θ direction The table part 34 is comprised.
The work table 4 is accommodated in an accommodation space 21 recessed from the work surface 11 of the work table 1, and a layout in which the front half of the lower side portion 22 of the machine base 2 is accommodated in the accommodation space 21. It has become.
[0017]
The θ table portion 34 is formed in a rectangular shape from the upper end opening portion of the cylindrical portion 34a whose upper and lower ends are opened, and is formed at the upper end opening edge of the set vertical port 22a opened in the lower side portion 22 of the machine base 2. The cylindrical portion 34a is supported by the provided ring bearing b so as to be rotatable.
[0018]
Further, as shown in FIG. 3, the θ table portion 34 has a θ extending portion 34b extending in the length direction from the end of one outer edge portion, and the θ extending arm 34b has the one of the one extending portion 34b. The angle of the outer edge portion that is continuous with the outer edge portion is varied in the θ direction by being pushed from the outside by the θ eccentric cam 34d that is rotated by the θ servo motor 34c provided on the upper surface side edge of the lower side portion 22. In addition, a pair of X guide rails 24a and 24a facing the X-axis direction is provided on the upper surface with the tube port 34a 'interposed therebetween, and the X saddles 24b and 24b are movably fitted to the X guide rails 24a and 24a, respectively. Combined.
In the present embodiment, the control moving range in the θ direction of the θ table unit 34 is set to about 30 degrees.
[0019]
The θ table portion 34 is provided with an X servo motor 24c on the upper surface of a protrusion 34e that protrudes horizontally from one outer edge where the θ extending arm 34d protrudes. An eccentric cam for X 24d rotated by the motor 24c is further disposed above the cam.
[0020]
The X table portion 24 has a rectangular shape having an opening 24 ′ having the same diameter as the cylindrical port 34 a ′ of the θ table portion 34 at the center, and a portion sandwiching the opening 24 ′ is attached to the X saddles 24 b and 24 b. In addition, a pair of Y guide rails 14a and 14a facing the Y-axis direction is provided on the upper surface with the opening 24 'interposed therebetween, and Y saddles 14b and 14b are fitted to the Y guide rails 14a and 14a so as to be movable in the Y-axis direction. The outer peripheral portion parallel to the Y guide rails 14a, 14a is pushed by the X eccentric cam 24d so as to be controlled in the X-axis direction.
Further, the X table portion 24 is provided with a protrusion 24e extending horizontally on one outer edge portion pushed by the X eccentric cam 24d, and a Y servo motor 14c is provided on the upper surface of the protrusion 24e. Above that, a Y eccentric cam 14d rotated by a Y servo motor 14c is arranged.
[0021]
As shown in FIGS. 1 and 3, the Y table portion 14 has a disk shape, is concentric with the opening 24 ′, has a smaller diameter than the opening 24 ′, and has a larger diameter than the die 5. And a plurality of internal hollow vacuum portions 14f having suction holes 14f 'are formed on the upper surface around the guide port 14', and a donut plate-like mounting plate to be attached to the Y saddle 14b. An outer edge portion parallel to the X-axis direction of the projecting portion 14e horizontally projecting from one outer edge portion corresponding to the Y eccentric cam 14d is fixed by the Y eccentric cam 14d. By pushing, it can be controlled in the Y-axis direction.
[0022]
In addition, the Y table portion 14 is connected to a connection fitting 101 at the tip of the hose 100 that communicates with a vacuum device (not shown) at one outer edge portion thereof, and is connected to the internal hollow through the connection groove 102 from the connection fitting 101. Each vacuum part 14f is vacuumed from suction holes 14f '... which are opened in a scattered manner on the upper surface of the vacuum part 14f to suck the work W to be processed.
[0023]
The support portion 5 ′ includes a die shaft 15 having a die 5 and a vertical movement mechanism 25 for the die shaft 15.
[0024]
The die shaft 15 has an annular projecting portion 15b that opens a drop passage 15a of a punched tip (not shown) inside and is slidably contacted with an inner peripheral surface of the set vertical port 22a, and a lower peripheral surface. The upper portion of the annular projection 15b is fitted to the inner surface of the cylindrical portion 34a of the θ table portion 34 by a linear guide 15d so as to be slidable up and down.
The linear guide 15d has a configuration in which balls 15d "are rotatably scattered in a cylindrical retainer 15d 'so as to protrude inward and outward.
The die shaft 15 is provided with a die holder 35 at its upper end, and the die 5 is assembled to the die holder 35.
[0025]
As shown in FIG. 4, the vertical movement mechanism 25 covers the lower end opening portion of the set vertical port 22a with a cover plate 25a so that a die is formed between the lower surface of the annular protrusion 15b of the die shaft 15 and the cover plate 25a. An air supply chamber 25b for ascending the shaft 15 is secured, and the lower end side of the die shaft 15 is projected from a hole 25c opened in the center of the cover plate 25a, and screwed into the screw portion 15c. A compression spring 25e is interposed between the bracket 25d and the cover plate 25a, and compressed air is supplied to the air supply chamber 25b from an inflow space 25f secured between the cover plate 25a and the lower side portion 22 of the machine base 2. By doing so, the die shaft 15 has a bowl-like shape so as to narrow the set vertical opening 22a from the lower side portion 22 so that the upper surface of the annular projection 15b is slightly lower than the lower surface of the cylindrical body 34a of the θ table portion 34. Protrude into It rises against the resilience of the compression spring 25e until it comes into contact with the lower surface of the part, and the annular protrusion 15b becomes the upper surface of the cover plate 25a due to the resilience of the compression spring 25e by stopping the supply of compressed air. The die 5 is lowered until it abuts against.
Reference numeral 25g is a guide post for moving the die 5 up and down in a non-rotatable manner, 25h is an O-ring for preventing air leakage, and 25i is a connection fitting for supplying compressed air to the inflow space 25f.
[0026]
When the die shaft 15 and the die holder 35 are both raised to the ascending limit, the die shaft 15 and the die holder 35 are formed to have a diameter that allows the annular space S1 to be inserted into the opening 24 ′ of the X table portion 24 as shown in FIG. 5 is formed with a diameter to be inserted into the guide port 14 ′ of the Y table portion 14 in the same state with the annular space S 2, and the upper surface thereof is the Y table portion of the work table 1 when it is raised to the ascent limit. 14 and the same surface.
[0027]
The die holder 35 holds a plurality of LEDs, which are the downward illumination means 6... In a concave portion 35 a provided around the die 5, obliquely upward and radially toward the guide port 14 ′. The light can be projected upward toward the guide port 14 ′ opened when the die 5 is lowered when the supply is stopped.
[0028]
As shown in FIGS. 2 and 4, the drive mechanism 3 is provided with a Z servo motor 23 on the upper portion 12 of the machine base 2 and a ball screw 43 attached to a ram 33 corresponding to the die holder 35. Are linked to the Z servo motor 23 via pulleys 53, 53 and a belt 63, and the ram 33 is guided by a vertical guide 73 provided on the upper portion 12 so as to be movable up and down.
[0029]
Further, the ram 33 is provided with mold constituent members necessary for holding the punched body (punch) 13, such as a punch block and a backing plate. This is a well-known stripper plate that presses and holds the workpiece W until it is released.
Reference numeral 300 denotes upper illumination means (a plurality of LEDs) provided in a protruding manner on the punch block. The lower illumination means 6 can be switched according to the nature of the workpiece W.
[0030]
As shown in FIG. 2, the space 4 ′ for the control movement in the X axis direction and the Y axis direction of the work table 4 includes an annular space S3 secured around the Y table portion 14 and the X table portion 24, and the annular space S1, Consists of S2.
[0031]
The image pickup unit 7 is a CCD camera, and the access mechanism 10 includes an air cylinder 10 a provided in the vertical part 32 of the machine base 2 and a guide rail 10 b in the Y-axis direction provided on the lower surface of the upper part 12 of the machine base 2. Thus, the imaging unit 7 at the tip is moved back and forth so as to be positioned coaxially with the die 5 and the perforated body 13.
[0032]
The image processing device 8 includes an image memory (not shown) for storing teaching data of the punched holes 5a of the die 5 as binarized image data in a RAM (not shown), and an image analysis of the image pickup signal in the image pickup unit 7. And an image memory (not shown) for storing the above data as coordinate data, in addition to an INF (not shown) for the screen 18a of the monitor 18, an INF for communication (not shown), and a ROM A control program relating to image analysis stored in (not shown) is executed to binarize the captured analog image signal, and the image core in the binarized RAM (not shown) is stored. A CPU (not shown) for calculating centering data based on the coordinate value for alignment and the coordinate value of the teaching data is provided, and the result is transmitted to the mechanism control unit (control) via the communication INF (not shown). Part) And performs control of the communication.
[0033]
The control unit 9 basically controls each mechanism, servo motor, compressed air supply source, air cylinder, and the like based on a control program for overall control of the apparatus main body stored in a ROM (not shown). Then, a command is sent to each mechanism or the like via a communication INF (not shown) to control the entire apparatus.
[0034]
The operation of the drilling apparatus A having the above-described configuration will be described in sequence. First, the imaging unit (1) moves forward on the workpieces W1... (CCD camera) 7 is artificially transferred within the visual field of the teaching data in the field of view of the teaching data, and is displayed on the monitor screen 18a of the image processing device 8 using the illumination by the lower illumination means 6 or the upper illumination means 300 (FIG. 2). FIG. 5B is a front view of the monitor screen 18a when the processing target portion w1... Is displayed on the monitor screen 18a. Switching between the illumination means 6 and 300 is selected according to the nature of the workpiece W.
(2) The work W is attracted to the work table 4, more specifically, the Y table section 14, and the imaging section 7 images the processing target section w1, and the image data is analyzed (binarized) for processing. The coordinate value for centering of the target part w1 is calculated, and the centering data is calculated from the coordinate value of the teaching data.
Specifically, if the shape of the hole 5a in plan view is a U-shaped hole as illustrated, the center of the connecting edge 5a "(the connecting edge connecting the parallel edges 5a 'and 5a') at the inner edge of the hole 5a. The coordinate value C1 and the coordinate values C2 and C2 of the two corners (two corners where the connecting edge 5a ″ and the parallel edges 5a ′ and 5a ′ are connected) are stored in the image memory as teaching data (in the image memory). The stored binarized image data is replaced with a monitor screen, and is shown as FIG. 5A.) Then, the processing target portion w1... Has an error (X-axis direction, Y-axis line as shown in FIG. 5B). Direction, θ direction), and by performing image processing on the monitor screen 18a for image processing by imaging, the center coordinate value C1 'of the outer edge and the two corner coordinate values C2' and C2 'are calculated and processed. Center coordinate value C1,2 corner The center value C1 ′ for centering obtained by image analysis and the center coordinate value C1 ′ obtained by image analysis, and the center in the X axis direction, the Y axis direction, and the θ direction of the work table 4 from the two corner coordinate values C2 ′ and C2 ′. Process the output data.
In the calculation processing of the centering data, it is needless to say that the setting of the coordinate value of the teaching data and the comparative coordinate value of the processing target portion w1 are different for each hole shape to be punched.
(3) When the centering data is a value exceeding the θ control movement range (30 degrees in the present embodiment) of the θ table section, the machining target section w1 is controlled to move according to the centering data. I can't. At that time, an error is displayed on the display means D linked to the control unit 9, or a lamp display, a buzzer alarm or the like is transmitted to the operator, and the subsequent operation is stopped.
(4) On the other hand, when the centering data is within the θ control movement range of the θ table unit 34, the Y table unit 14, X table unit 24, and θ table unit 34 constituting the work table 4 Based on the alignment data, the workpieces w1... Are centered by being controlled in required directions in the X axis direction, the Y axis direction, and the θ direction (FIG. 5C).
(5) Finally, the backward movement of the imaging unit 7, the rise of the die 5 to the ascending limit, and the lowering of the perforated body 13 are continuously controlled to perform punching (trimming) of the shape of the perforated body 13 ( (See the two-dot chain line in FIG. 4 and the two-dot chain line in FIG. 5).
In the case of (3), the direction of the processing target portion w1... Is artificially changed and displayed on the monitor screen 18a with an error within the θ control moving range of the θ table portion 34. Accordingly, punching (trimming) processing is performed through steps (2), (4), and (5).
[0035]
Moreover, although not shown in figure, each process object part w1 ... is made to move artificially between the imaging | photography part 7 and the die | dye 5 which are advancing coaxially with the punching body 13 and the die | dye 5, and are waiting | standby. The steps (2) to (5) are automatically executed when the monitor screen 18a is displayed. The display is not displayed on the monitor screen 18a, and the foot switch or the touch switch is operated. It is also free to adopt a control system in which the steps (2) to (5) are executed for the first time by operating a section (not shown).
[0036]
Further, the θ control section is not limited to a certain range in which the θ table section 34 described above uses the θ eccentric cam 34d as in the present embodiment. For example, the θ table section 34 is not limited. Can be rotated 180 degrees so that the processing target portion w1 is stored in the monitor screen 18a without displaying the processing target portion w1 roughly on the teaching data direction on the monitor screen 18a. It is also possible to perform punching according to the cross-sectional shape of the punched body by controlling the coordinate data of the teaching data and the centering data calculated from the obtained coordinate values.
In that case, workability is greatly improved.
[0037]
Note that the imaging unit (CCD camera) 7 is not shown in the drawing, but apart from the reflector 5 (reflecting the transmitted light) that can move back and forth so as to be coaxial with the die 5 and the punch 13, the punch 13. It is also possible to take a reflected image of the workpiece target portion w1,...
In this case, the reflecting mirror is supported so as to be movable back and forth by the entrance / exit mechanism 10 provided in the vertical portion 32 of the machine base 2 so as to be positioned coaxially with the die 5 and the perforated body 13, and the reflected image from the reflecting mirror is supported. Is received by an image pickup unit (CCD camera) 7 fixedly provided on the vertical portion 32 of the machine base 2.
In this embodiment, since the light reflecting mirror is moved back and forth rather than the imaging unit, the drive source (air cylinder 10a) of the entry / exit mechanism 10 may be a small output one.
[0038]
【The invention's effect】
Since the present invention is configured as described above, an artificial work transfer operation is performed to place each processing target part of the work within the field of view of the imaging part so that it is displayed on the monitor screen in accordance with the direction of teaching data. Thus, it is possible to newly provide a very convenient drilling device that can accurately punch out predetermined irregular holes (co-shaped holes, L-shaped holes, etc.) other than a perfect circle.
[Brief description of the drawings]
FIG. 1 is a perspective view of a punching device of an embodiment.
2 is an enlarged and partially cutaway view in a side sectional view of FIG. 1, and shows a state in which a processing target portion has been artificially transferred into the field of view of an imaging portion.
FIG. 3 is an exploded perspective view of a θ table portion, an X table portion, and a Y table portion constituting the work table, partially cut away.
4 is an enlarged and partially cutaway view in the side cross-sectional view of FIG. 1, showing the state before the image pickup unit retreats and rises to the upper limit of the die and is punched, and the punching state is indicated by a two-dot chain line. Appear.
5A is a front view of a monitor screen, and FIG. 5A shows a case where teaching data stored in an image memory of the image processing apparatus is displayed on the monitor screen. (B) shows the state which put the process target object in the visual field of an imaging part, and binarized the image data. (C) shows a state in which the workpiece is controlled and moved with the obtained centering data.
[Explanation of symbols]
A: punching device 3: drive mechanism 4: work table 14 ': guide port 4': space for control movement 13: punching body 5: die 6: downward illumination means 7: imaging unit 8: image processing device 9: control unit 5a : Hole

Claims (3)

A drive mechanism that moves the drilling body up and down, a work table that is provided below the drive mechanism and that is capable of removably picking up a workpiece and that can be controlled in the X-axis, Y-axis, and θ-directions, and a guide that opens in the work table A die that can be moved up and down with the surface of the work table ascending as far as the surface of the work table is located, with the space for the control movement secured in the mouth, and disposed below the work table when the die is lowered A downward illumination means for irradiating the work from the opened guide port, a die between the work table and the punched body, an imaging unit movable back and forth coaxially with the punched body, and a die connected to the imaging unit and connected to the die An image processing device that stores the punched holes as teaching data, and a control unit. The image processing device directly below each image processing unit of the workpiece is moved coaxially with the die and the punched body. Each time the image is transferred and displayed on the monitor screen, the image capturing unit is imaged, the coordinate value for centering is analyzed from the image data, the coordinate value for centering and the teaching data are Based on the centering data, the control unit controls the work table for picking up the workpiece with the centering data, and moves the imaging unit backward, raises the die to the upper limit, and drills with the drive mechanism. A perforating apparatus for lowering a body. The control unit operates the operation unit after the imaging to control the work table for attracting the workpiece based on the centering data, and the imaging unit is retracted, the die is raised to the upper limit, The perforating apparatus according to claim 1, wherein the perforating body is lowered by the driving mechanism. The imaging unit is fixedly provided at a position that does not interfere with the lifting and lowering of the perforated body separately from the die and the reflecting mirror that can move back and forth so as to be coaxial with the perforated body, and is reflected by the reflecting mirror. The perforating apparatus according to claim 1, wherein a reflected image of a processing target portion of the workpiece is picked up.

Images