JP5095875B2 - Bonding apparatus and control method thereof - Google Patents

Description

  The present invention relates to, for example, a bonding apparatus in which a technique for bonding a plate-shaped workpiece such as a liquid crystal module and a cover panel is improved, and a control method thereof.

  In general, a liquid crystal panel is configured by laminating a liquid crystal module, a protective sheet for protecting the surface, a touch panel for operation, and the like. These liquid crystal modules, protective sheets, touch panels, etc. (hereinafter referred to as “workpieces”) are built into the housing of the liquid crystal module, and in order to avoid contact with the liquid crystal glass due to deformation of the protective panel or touch panel. There was a space.

  However, if an air layer enters between a liquid crystal module, a protective sheet, a touch panel, etc. (hereinafter referred to as a workpiece), the visibility of the display surface is reduced due to reflection of external light. In order to cope with this, bonding is performed by using a bonding material such as a double-sided tape or an adhesive so that a layer filling the space between the workpieces is formed.

  For this reason, the manufacture of a liquid crystal panel requires a bonding apparatus that prepares the bonding material for at least one workpiece and performs bonding. Further, in order to prevent bubbles and the like from being mixed between the workpieces to be bonded, it is desirable that the bonding is performed in a vacuum. Therefore, it is necessary to provide the bonding apparatus with a vacuum chamber or the like.

  As techniques for bonding workpieces in this manner, for example, those shown in Patent Documents 1 to 3 have been proposed. The techniques described in Patent Documents 1 and 2 are methods for bonding workpieces in a vacuum. The technique described in Patent Document 3 is a technique in which an apparatus for holding a workpiece sequentially processes while moving by an intermittently rotating turntable in order to perform bonding efficiently.

JP 2004-170974 A JP 2004-170975 A Japanese Patent No. 3595125

  Incidentally, in order to accurately position the workpiece, it is desirable to provide an XY-θ table that can be displaced in the orthogonal direction (XY direction) and the rotation direction (θ direction) on a plane. However, such an XY-θ table is large when a driving source for driving the XY-θ table is included. For this reason, mounting the XY-θ table on the turntable leads to an increase in the size of the entire apparatus and complicates the processing of the power supply and the control line. Furthermore, if the entire XY-θ table including the drive source and the like is accommodated in the vacuum chamber to ensure sealing, the vacuum chamber also becomes large. Such an increase in size eventually increases the manufacturing cost of the device.

  The present invention has been proposed in order to solve the above-described problems of the prior art, and its main purpose is that the turntable can be used to efficiently position and bond the workpiece. An object of the present invention is to provide an inexpensive and small-sized bonding apparatus and a control method thereof.

  Another object of the present invention is to provide a laminating apparatus capable of realizing stable operation, free from bubbles and dust, and capable of laminating with high accuracy, and a control method thereof.

  In order to achieve the above object, the present invention has the following technical features in a bonding apparatus.

  That is, the present invention provides a turntable that rotates intermittently according to a plurality of positions, a plurality of turntables provided on the turntable and holding a pair of workpieces, and at least one of the pair of workpieces provided on the holding device. And a pressing device for bonding the pair of workpieces by urging at least one of the pair of workpieces in the holding device.

  At least one position of the turntable is provided with a detection device having a camera that images a pair of workpieces.

  Further, according to the present invention, based on the image captured by the camera, three of the four vertices of the virtual square in one work and three of the four vertices of the virtual square in the other work. A three-point extraction unit for extracting each point, and among the three points extracted by the three-point extraction unit, the midpoint of two points constituting both ends of a diagonal line of each work is used as the center of gravity of each work A center-of-gravity calculation unit to calculate, an inclination calculation unit to calculate the inclination of each workpiece based on two points constituting one side of a square for each workpiece among the three points extracted by the three-point extraction unit; and the center of gravity And a positioning calculation unit that calculates a control amount of the positioning unit based on the inclination.

  Another aspect has the following technical characteristics in the control method of a bonding apparatus.

  That is, in this aspect, a turntable that intermittently rotates in accordance with a plurality of positions, a plurality of the turntables, a holding device that holds a pair of workpieces that constitute a display device, and a pair of holding devices that are provided in the holding device. A control device controls a bonding apparatus having a positioning unit that positions at least one of the workpieces and a pressing device that bonds the pair of works by biasing at least one of the pair of works in the holding device. Thus, a pair of workpieces are bonded together.

  The control device includes a three-point extraction unit, a center of gravity calculation unit, an inclination calculation unit, and a positioning calculation unit. The three-point extraction unit is based on an image obtained by imaging a pair of workpieces. 3 points out of the 4 vertices of the virtual square in the workpiece and 3 points out of the 4 vertices of the virtual square in the other workpiece are extracted, respectively, and the centroid calculating unit extracts the three points Among the three points extracted by the part, the midpoint of two points constituting both ends of the square diagonal line for each workpiece is calculated as the center of gravity of each workpiece, and the inclination calculating unit is extracted by the three-point extracting unit Of the three points, the inclination of each workpiece is calculated based on two points constituting one side of the square for each workpiece, and the positioning calculation unit controls the amount of control of the positioning unit based on the center of gravity and the inclination. Is calculated.

  In the invention as described above, the center of gravity and the inclination of a pair of workpieces are calculated by detecting the three points of each square, and the positioning amount can be determined. It can be carried out.

In another aspect, the four vertices are corners of a square workpiece.
In another aspect, the four vertices are marks attached to the workpiece.

  In another aspect, the four vertices are corners of a square frame attached to the workpiece.

  In another aspect, the four vertices in one work are corners of a square frame attached to one work, the other work is a square, and the four vertices in the other square work are in the other square. This is the work corner.

  In another aspect, the four vertices in one work are corners of a square frame attached to one work, the other work is a square, and the four vertices in the other square work are in the other square. The positioning calculation unit calculates a control amount so that the corner of the workpiece is positioned in parallel with the side of the frame of one workpiece and the side of the other workpiece.

  In the invention as described above, for example, there is no situation in which the frame visually recognized by the user is inclined with respect to the displayable area, and the generation of defective products can be prevented.

  In another aspect, the holding device is a device that holds a pair of workpieces facing each other vertically.

  In another aspect, the detection apparatus includes a first camera that images an upper workpiece and a second camera that images a lower workpiece.

  In another aspect, one or two of the first cameras are provided, and one or two of the second cameras are provided.

  In another aspect, three or four first cameras are provided, and three or four second cameras are provided.

  In the above invention, the upper and lower three points can be imaged at the same time by using 3 to 4 units on the upper and lower sides.

  As the number of cameras increases, the mechanism for driving the cameras can be simplified and imaging can be performed at high speed.

  Another aspect has a drive mechanism for inserting the second camera between the upper and lower workpieces.

  In another aspect, a reflective portion is provided on a surface of the second camera that faces the first camera.

  In the invention as described above, even when the workpiece is curved or the like, the irradiation light from the first camera side is reflected by the reflecting portion of the second camera and can be received by the first camera. Can be detected reliably.

  In another aspect, the three-point extraction unit extracts three points from three locations that can be extracted or have a good image among the four vertices captured by the camera.

  In another aspect, the positioning calculation unit calculates the control amount of the positioning unit so that the center of gravity and the inclination of the pair of workpieces coincide with each other.

  As described above, according to the present invention, it is possible to efficiently position and bond a workpiece using a turntable, and to provide an inexpensive and small bonding apparatus and a control method thereof. it can.

  Moreover, according to this invention, the stable operation | movement can be implement | achieved, there is no mixing of a bubble, dust, etc., and the bonding apparatus which can be bonded with high precision, and its control method can be provided.

1 is a schematic plan view showing an overall configuration of an embodiment of the present invention. It is a longitudinal cross-sectional view which shows the holding | maintenance apparatus in embodiment of FIG. It is a perspective view which shows the holding | maintenance part and adsorption | suction part in the holding | maintenance apparatus of FIG. It is a longitudinal cross-sectional view which shows the positioning part in embodiment of FIG. It is a top view which shows the positioning of the X direction and the Y direction in the positioning part of FIG. It is a top view which shows the positioning of (theta) direction in the positioning part of FIG. It is a longitudinal cross-sectional view which shows the time of lock release of the lock part in the positioning part of FIG. It is a longitudinal cross-sectional view which shows the time of locking of FIG. FIG. 8 is a plan view of FIG. 7. It is a longitudinal cross-sectional view which shows the time of adsorption | suction of the crimping | compression-bonding part in embodiment of FIG. It is a longitudinal cross-sectional view which shows the time of adsorption | suction release of the crimping | compression-bonding part of FIG. It is a longitudinal cross-sectional view which shows the three-way valve (A) of FIG. 10, and the three-way valve (B) of FIG. It is a side view which shows the peeling apparatus (1st unit) in embodiment of FIG. FIG. 14 is a plan view of FIG. 13. FIG. 14 is a rear view of FIG. 13. It is a side view which shows the peeling apparatus (2nd unit) in embodiment of FIG. It is explanatory drawing which shows peeling by the peeling apparatus of FIG. It is explanatory drawing which shows peeling by the peeling apparatus of FIG. It is explanatory drawing which shows lower peeling (A) (B) and upper peeling (C) (D) by the conventional peeling apparatus. It is a perspective view which shows the detection apparatus in embodiment of FIG. It is a side view which shows the detection apparatus of FIG. It is explanatory drawing which shows light reception of the coaxial epi-illumination in the detection apparatus of FIG. It is a longitudinal cross-sectional view which shows the time of the vacuum chamber raise of the press apparatus in embodiment of FIG. It is a longitudinal cross-sectional view which shows the time of the vacuum chamber lowering of the press apparatus of FIG. It is a longitudinal cross-sectional view which shows the time of the fall of the pressurization head of the press apparatus of FIG. It is a functional block diagram which shows the control apparatus of embodiment of FIG. It is a functional block diagram which shows the vacuum calculating part of FIG. It is a flowchart which shows the positioning procedure in embodiment of FIG. It is explanatory drawing which shows the positioning procedure in embodiment of FIG. It is a flowchart which shows the bonding procedure in embodiment of FIG. It is explanatory drawing which shows the table showing the relationship between the detection voltage and pressure by the conventional vacuum gauge. FIG. 32 is an explanatory diagram in which the table of FIG. 31 is graphed. It is explanatory drawing which shows the graph showing the relationship between the detection voltage and pressure by the vacuum gauge in this embodiment. It is explanatory drawing which shows (1) division of the graph of FIG. It is explanatory drawing which shows (2) division of the graph of FIG. It is explanatory drawing which shows (3) division of the graph of FIG. It is a simplified top view which shows one Embodiment at the time of using the coating device of the adhesive agent of this invention. It is a longitudinal cross-sectional view which shows an example of another detection apparatus. It is a longitudinal cross-sectional view which shows an example of another detection apparatus. It is a perspective view which shows an example of the workpiece | work bonded together. It is explanatory drawing which shows the example of alignment of FIG. It is explanatory drawing which shows the positioning procedure in embodiment of FIG.

Next, embodiments of the present invention (hereinafter referred to as embodiments) will be specifically described with reference to the drawings.
[A. Constitution]
[1. overall structure]
First, the whole structure of the bonding apparatus of this embodiment (henceforth this apparatus) is demonstrated. As shown in FIG. 1, this apparatus has four holding devices 2 mounted on a turntable 1. The turntable 1 is configured to rotate intermittently by the index mechanism 11 in accordance with the loading / unloading position 1A, the adhesive material preparation position 1B, the positioning position 1C, and the vacuum bonding position 1D.

  As shown in FIGS. 2 and 3, the holding device 2 is a device that holds the workpiece S <b> 1 and the workpiece S <b> 2 so as to face each other vertically. In the present embodiment, for example, a rectangular substrate such as a liquid crystal module and a cover panel is used as the workpieces S1 and S2. The workpieces S1 and S2 are provided with detection marks M1 and M2 corresponding to four vertices of a virtual rectangle or square. The holding device 2 includes a positioning unit 300 that aligns the positions of the workpieces S1 and S2.

  A peeling device 3 or a coating device is detachably provided at the adhesive material preparation position 1B. As shown in FIGS. 13 to 19, the peeling device 3 is a device that peels off the release paper F (the release sheet or the like of any material) of the double-sided tape T1 that has been attached in advance to the workpiece S1. Although not shown, the coating device is a device that applies an adhesive to the workpiece S1. As the coating apparatus, a known apparatus can be used.

  As shown in FIGS. 20 and 21, the positioning position 1 </ b> C is provided with a detection device 4 that detects the positions of the workpieces S <b> 1 and S <b> 2. Based on the value detected by the detection device 4, the positioning amount of the workpiece S1 with respect to the workpiece S2 in the positioning unit 300 is determined.

  As shown in FIGS. 2 and 23 to 25, a pressing device 5 is provided at the vacuum bonding position 1 </ b> D. The pressing device 5 can bond the workpiece S2 by pressing the workpiece S2 toward the workpiece S1 in the vacuum space in the vacuum chamber 51.

[2. Holding device]
Next, details of each part will be described. First, the holding | maintenance apparatus 2 is provided with the holding | maintenance part 100, the support | pillar part 200, the positioning part 300, the drive part 400, the lock | rock part 350, and the adsorption | suction part 500, as shown to FIGS.

[2-1. Holding part]
As shown in FIG. 3, the holding unit 100 is a substantially U-shaped frame that holds the left and right edges of the workpiece S2.
[2-2. Prop section]
The column part 200 is two columnar members raised in the vertical direction. The support part 100 supports the support part 100 so as to be movable up and down. In the initial position, the holding unit 100 is located above the workpiece S1 and holds the workpiece S2 in the horizontal direction. At the time of bonding, the holding device 100 is pressed downward together with the workpiece S2 by the pressing device 5, and the workpiece S1 and the workpiece S2 are bonded.

[2-3. Positioning part]
As shown in FIG. 4, the positioning unit 300 includes a placement unit 310, an X-axis unit 320, a Y-axis unit 330, a θ-axis unit 340, and the like that are supported by a gantry 1 a fixed to the turntable 1. .
[2-3-1. Placement part]
The placement unit 310 includes an XY-θ table 311, a shaft unit 312, a movable table 313, a bellows 314, a pulley 315, and the like.

  The XY-θ table 311 is a horizontal table for positioning the workpiece S1. The XY-θ table 311 is provided on a horizontal plane so as to be movable in orthogonal linear directions (X direction and Y direction) and to be rotatable about the shaft portion 312 (θ direction). .

  The shaft portion 312 is a vertical columnar member. The upper end of the shaft portion 312 is rotatably connected to the XY-θ table 311. The lower end of the shaft portion 312 passes through the turntable 1 and is fixed to the movable table 313. As will be described later, the movable table 313 is provided so as to be movable in the X-axis and Y-axis directions by the X-axis part 320 and the Y-axis part 330.

  A bellows 314 that covers the shaft portion 312 is attached between the movable table 313 and the turntable 1. The attachment end of the bellows 314 is airtight. Further, since the bellows 314 has flexibility, the bellows 314 is flexibly displaced in accordance with the movement of the movable base 313 while maintaining airtightness. The pulley 315 is fixed to an XY-θ table 311. A timing belt 343 (described later) is hung on the pulley 315.

[2-3-2. X-axis part]
The X-axis part 320 has a rotating shaft 321, an eccentric roller 322, an armature 323, and the like. The rotation shaft 321 is a vertical member that can be rotated by the driving unit 400. The eccentric roller 322 is attached to the upper end of the rotating shaft 321. As shown in FIG. 5, the eccentric roller 322 is inserted into a Y-direction groove 313 a formed in the movable table 313.

  For this reason, the eccentric roller 322 can move the movable table 313 in the X direction by urging the inner wall of the groove 313a according to the rotation of the rotating shaft 321. At this time, the shaft 312 and the XY-θ table 311 move in the X direction together with the movable table 313.

  The armature 323 is attached to the lower end of the rotating shaft 321. The armature 323 is detachably provided on a clutch 420 described later. By connecting the armature 323 to the clutch 420, the driving shaft 400 can drive the rotating shaft 321.

[2-3-3. Y axis]
The Y-axis part 330 has a rotating shaft 331, an eccentric roller 332, an armature 333, and the like. The rotation shaft 331 is a vertical member that can be rotated by the driving unit 400. The eccentric roller 332 is attached to the upper end of the rotating shaft 331. As shown in FIG. 5, the eccentric roller 332 is inserted into a groove 313 b in the X direction formed in the movable table 313.

  For this reason, the eccentric roller 332 can move the movable base 313 in the Y direction by urging the inner wall of the groove 313b according to the rotation of the rotating shaft 331. At this time, the shaft 312 and the XY-θ table 311 move in the Y direction together with the movable table 313.

  The armature 333 is attached to the lower end of the rotating shaft 331. The armature 333 is detachably provided on a clutch 430 described later. By connecting the armature 323 to the clutch 430, the drive shaft 400 can drive the rotating shaft 331.

[2-3-4. θ-axis]
The θ shaft portion 340 includes an upper rotating shaft 341, a pulley 342, a timing belt 343, a bellows coupling 344, a lower rotating shaft 345, an armature 346, and the like. The upper rotating shaft 341 is a vertical member, and a pulley 342 is fixed to the upper end thereof. A timing belt 343 is hung on the pulley 342. Accordingly, as shown in FIG. 6, when the upper rotary shaft 341 rotates, the rotation is transmitted to the pulley 315 via the timing belt 343, and thus the XY-θ table 311 rotates.

  The lower end of the upper rotating shaft 341 is connected to the upper end of the bellows coupling 344. The bellows coupling 344 is a connecting member constituted by a flexible bellows that absorbs a deviation in the X direction and the Y direction. A lower rotating shaft 345 is connected to the lower end of the bellows coupling 344. The lower rotation shaft 345 is a vertical member, and the rotation is transmitted to the upper rotation shaft 341 via the bellows coupling 344.

  The armature 346 is attached to the lower end of the lower rotating shaft 345. The armature 346 is detachably provided on a clutch 440 described later. By connecting the armature 346 to the clutch 420, the driving unit 400 can drive the lower rotating shaft 345 and the upper rotating shaft 341.

[2-4. Drive part]
The drive unit 400 includes a fixed table 410, clutches 420, 430, and 440, motors 450, 460, and 470. The fixed table 410 is a table fixed to the lower part of the turntable 1. Clutchs 420, 430, and 440 are fixed at positions corresponding to the X-axis part 320, the Y-axis part 330, and the θ-axis part 340 in the fixed table 410. The clutches 420, 430, and 440 are connected to motors 450, 460, and 470 that transmit rotation to the clutches 420, 430, and 440, respectively.

  When the coils 421, 431, 441 are energized, the clutches 420, 430, 440 attract the armatures 323, 333, 346 by magnetic flux generated between the rotors 422, 432, 442 and the armatures 323, 333, 346. As a result, the driving force of the motors 450, 460, 470 can be transmitted to the X-axis part 320, the Y-axis part 330, and the θ-axis part 340.

[2-5. Lock part]
As shown in FIGS. 4 and 7 to 9, the lock portion 350 includes a brake plate 351, a brake 352, a lifting shaft 353, a spring 354, a pressed portion 355, a cylinder 356, and the like. The brake plate 351 is, for example, a spring steel plate fixed to the movable table 313. The brake 352 is a member that locks the movable base 313 by pressing the brake plate 351 with a part of the base 1a. A contact surface of the brake 352 with the brake plate 351 is provided with a non-slip member such as a rubber lining, for example.

  The elevating shaft 353 is provided so as to be able to move up and down through the gantry 1a. A brake plate 351 is attached to the upper end of the lifting shaft 353. The spring 354 is a biasing member such as a spring that biases the lifting shaft 353 downward. The pressed portion 355 is attached to the lower end of the lifting shaft 353. The cylinder 356 is a unit that is fixed to the fixed table 410 and releases the lock by urging the pressed portion 355 that comes to the upper part of the cylinder 356. Note that the illustrated lock portion 350 corresponds to the X-axis portion 320, and other lock portions having the same structure corresponding to the Y-axis portion 330 and the θ-axis portion 340 are not shown. Is provided.

[2-6. Adsorption part]
As shown in FIGS. 10 and 11, the suction unit 500 includes a suction plate 510, a three-way valve 520, a suction pump 530 (see FIG. 26), and the like. The suction plate 510 is fixed on an XY-θ table 311. On the suction plate 510, a protective member 511 in which a sheet made of a polyurethane porous film is attached to the surface of an elastic member such as rubber is attached. A suction hole (not shown) is formed in the suction plate 510 and the protection member 511. The suction hole is connected to one end of the pipe 512 through a ventilation path formed in the suction plate 510.

  The three-way valve 520 is fixed to the turntable 1. The three-way valve 520 includes an inner pipe portion 521, an upper valve 522, a lower valve 523, a rod 524, a pressed portion 525, and the like. The inner pipe portion 521 is a pipe continuous in the vertical direction. The inner pipe portion 521 penetrates the turntable 1 and projects to the upper surface side and the lower surface side.

  The other end of the pipe 512 is connected to the inner pipe portion 521 that protrudes to the upper surface side of the turntable 1. As a result, the suction hole of the XY-θ table 311 and the inner pipe portion 521 communicate with each other through the ventilation path. One end of a pipe 526 is connected to the side surface of the inner pipe portion 521 protruding to the lower surface side of the turntable 1. The other end of the pipe 526 is connected to an adsorption pump 530 that is a vacuum source. In addition, even if the turntable 1 rotates, the adsorption pump 530 and the pipe 526 are connected via a rotary joint (not shown) so that the communication between the adsorption pump 530 and the pipe 526 is ensured.

  The upper valve 522 is a valve that opens and closes the upper end of the inner pipe portion 521 by moving up and down. The lower valve 523 is a valve that opens and closes communication with the adsorption pump 530 by moving up and down in the inner pipe portion 521. The rod 524 is provided so as to be movable up and down in the inner pipe portion 521. The rod 524 connects the upper valve 522 and the lower valve 523. The pressed portion 525 is provided at the lower end of the rod 524. The pressed portion 525 is urged upward by a pressing portion 527 configured by a cylinder or the like. The pressing part 527 is fixed to the fixed table 410.

  Such a three-way valve 520 connects a line that connects the suction hole and the suction pump 530 as shown in FIG. 12A when the workpiece S1 is sucked (see the black arrow line). Then, as shown in FIG. 12B, when the pressed portion 525 at the lower end is pushed up by the pressing portion 527, the upper valve 522 is opened and the lower valve 523 is closed, so that the suction hole and the surroundings have the same atmospheric pressure. At the same time, the communication with the suction pump 530 is closed (see the black arrow line).

[3. Peeling device]
The peeling device 3 is a device for sticking and peeling the release paper F of the double-sided tape T1 attached to the workpiece S1 or S2 to the adhesive tape T2. As shown in FIGS. 13 to 15, the peeling device 3 includes a supply unit 31, a conversion unit 32, a peeling unit 33, a winding unit 34, and the like.

  The supply unit 31 includes a delivery reel 31a and a reel rotation mechanism 31b (see FIG. 26). The delivery reel 31a is a reel around which the supplied adhesive tape T2 is wound. The reel rotation mechanism 31b is a mechanism for controlling the brake of the delivery reel 31a (not shown). As shown in FIG. 14, the conversion unit 32 is a pin or a roller that converts the traveling direction of the adhesive tape T <b> 2 from the supply unit 31 to a right angle.

  The peeling unit 33 includes a peeling head 33a, a cylinder 33b, guide rollers 33c to 33e, and the like. The peeling head 33a is a roller that presses the adhesive tape T2 supplied from the supply unit 31 against the release paper F on the workpiece S1 by pressing the adhesive tape T2 from the back surface of the sticking surface. The peeling head 33a is inclined so that the pressure bonding of the adhesive tape T2 starts from the end of the workpiece S1. The cylinder 33b is a mechanism that moves the peeling head 33a forward (leftward in the figure). During this operation, the brake of the supply unit 31a can be released and the adhesive tape T2 can be pulled out. The guide rollers 33c to 33e are rollers that guide the movement of the adhesive tape T2 from the conversion unit 32 to the peeling head 33a and from the peeling head 33b to the winding unit 34 (guide member).

  The winding unit 34 includes a winding reel 34a, a reel lifting / lowering mechanism 34b, a reel rotating mechanism 34c (see FIG. 26), and the like. The take-up reel 34a is a reel that takes up the adhesive tape T2 from the peeling head 33a. The axis of the take-up reel 34 a is provided in a direction orthogonal to the axis of the supply unit 31. The reel elevating mechanism 34b is a mechanism for elevating the take-up reel 34a by, for example, rotation of a feed screw. The reel rotation mechanism 34c has a drive source (not shown) and the like, and is a mechanism that controls rotation and braking of the take-up reel 34a.

  In addition, said peeling apparatus 3 equips with the 1st unit U1 for peeling the peeling paper F from lower workpiece | work S1. In this peeling apparatus 3, as shown in FIG. 16, the first unit U1 is provided in a replaceable manner with a second unit U2 for peeling the release paper F from the upper workpiece S2.

  In the first unit U1, as shown in FIGS. 13 and 17, the adhesive tape T2 from the conversion unit 32 is supplied from the lower side of the peeling head 33a, passes through the upper side, and is guided to the take-up reel 34a. As shown, guide rollers 33c to 33e are provided. The guide roller 33e in the first unit U1 changes the traveling direction of the adhesive tape T2 that has passed through the peeling head 33a downward.

  On the other hand, in the second unit U2, as shown in FIGS. 16 and 18, the adhesive tape T2 from the conversion unit 32 is supplied from the upper side of the peeling head 33a, passes through the lower side, and passes to the take-up reel 34a. Guide rollers 33f and 33g are provided so as to be guided. The guide roller 33g in the second unit U2 changes the traveling direction of the adhesive tape T2 that has passed through the peeling head 33a downward.

  Furthermore, the first unit U1 and the second unit U2 are provided by a cylinder 35 so as to be movable up and down. The first unit U1 can press the adhesive tape T2 in the peeling head 33a against the release paper F of the workpiece S1 when descending. The second unit U2 can press the adhesive tape T2 in the peeling head 33a against the release paper F of the workpiece S2 when ascending.

  The peeling by the peeling device 3 is performed as follows. That is, as shown in FIGS. 17A and 18A, the peeling head 33a is moved forward by the cylinder 33b, the adhesive tape T2 is pulled out from the supply portion 31a, and the first unit U1 is moved by the cylinder 35. Reel raising / lowering mechanism in a state where the adhesive tape T2 is pressed against the release paper F by lowering or raising the second unit U2, and the reel rotating mechanisms 31b and 34c brake the rotation of the delivery reel 31a and the take-up reel 34a. The take-up reel 34a is lowered by 34b.

  Then, as shown in FIGS. 17B and 18B, the adhesive tape T2 is pulled downward, and the peeling head 33a moves backward while pressing the adhesive tape T2 against the release paper F. Thereby, the release paper F is affixed on the adhesive tape T2, and is peeled from the workpiece S1 or S2.

[4. Detection device]
As shown in FIGS. 20 and 21, the detection device 4 includes two CCD cameras 41 and 42, arms 45 and 46 that support them, a camera drive mechanism 49 (see FIG. 26), and the like. The CCD camera 41 disposed above is a camera (first camera) that images the corner or mark M2 of the upper workpiece S2 with the lens surface facing downward. The CCD camera 42 disposed below is a camera (second camera) that images the corner or mark M1 of the lower workpiece S1 with the lens surface facing downward.

  The camera drive mechanism 49 has a drive source (not shown) and the like, and is a mechanism that drives the arms 45 and 46 (for example, an XY axis drive mechanism). The arm 45 is provided so that the CCD camera 41 can be taken in and out above the workpiece S <b> 2 by moving in the horizontal direction (front / rear / left / right direction) by the camera driving mechanism 49. Similarly, the arm 46 is also provided so that the CCD camera 42 can be taken in and out above the workpiece S1 by moving in the horizontal direction (front-rear and left-right directions) by the camera drive mechanism 49.

  Each of the CCD cameras 41 and 42 is a camera that captures an image of a detection target by detecting reflected light of a built-in light source (coaxial epi-illumination). The imaging of each CCD camera 41, 42 is controlled by an imaging control unit 662, as will be described later. Further, a reflection surface 42 a for reflecting light from the upper CCD camera 41 is provided on the upper surface of the lower CCD camera 42. The reflecting surface 42a can be a simple member such as an aluminum tape, for example.

[5. Pressing device]
As shown in FIGS. 2 and 23 to 25, the pressing device 5 includes a vacuum chamber 51, a pressure head 52, an elevating mechanism 53, a cylinder 54, and the like. The vacuum chamber 51 is a chamber that covers and holds the holding device 2 on the turntable 1. The pressurizing head 52 is a means that is provided in the vacuum chamber 51 and pressurizes the workpiece S2 downward.

  The elevating mechanism 53 is a mechanism for elevating the vacuum chamber 51 together with the pressurizing head 52 by a driving source (not shown). The cylinder 54 is a mechanism that moves the pressure head 52 up and down by a drive rod that moves forward and backward. The pressure head 52 is provided with a protective member 52a in which a sheet made of a polyurethane porous film is attached to the rubber surface.

  Further, the vacuum chamber 51 is connected with a decompression pump 55 serving as a vacuum source via a pipe and is provided with a vacuum gauge 56 for detecting the internal pressure (see FIG. 26).

[6. Control device]
The components such as the turntable 1, the holding device 2, the peeling device 3, the detection device 4, and the pressing device 5 are controlled by the respective driving sources, switches, power supplies, and the like operated by the control device 6 shown in FIG. Is done. The control device 6 can be configured, for example, by realizing the following functions by a dedicated electronic circuit or a computer that operates with a predetermined program.

  Hereinafter, the control device 6 will be described with reference to FIG. 26 which is a virtual functional block diagram. It should be noted that an operator inputs an input device such as a switch, a touch panel, a keyboard, and a mouse for operating the control device 6, and an output device such as a display, a lamp, and a meter for checking the state of the control device 6. Omitted.

  That is, the control device 6 has functions such as a table control unit 610, a storage unit 620, a timing control unit 630, an input / output interface 640, a peeling control unit 650, a position detection unit 660, a positioning control unit 670, and a vacuum control unit 680. is doing.

[6-1. Table control unit]
The table control unit 610 is means for controlling the intermittent rotation operation of the index mechanism 11.
[6-2. Storage unit]
The storage unit 620 is a unit that stores various settings, data, and the like such as operation timing, arithmetic expressions, and calculation results.

[6-3. Timing control unit]
The timing control unit 630 is means for controlling the operation timing of each unit at a preset timing.
[6-4. I / O interface]
The input / output interface 640 is a means for controlling signal conversion and input / output with each unit to be controlled.

[6-5. Peeling control unit]
The peeling control unit 650 is a means for controlling the operation of the peeling device 3. The peeling control unit 650 includes a head control unit 651, a rotation control unit 652, a lift control unit 653, and the like.

  The head controller 651 is a means for controlling the cylinder 33b that drives the peeling head 33a, the cylinder 35 that drives the first unit U1 or the second unit U2. The rotation control unit 652 is a unit that controls the reel rotation mechanism 31 b of the supply unit 31 and the reel rotation mechanism 34 c of the winding unit 34. The raising / lowering control part 653 is a means to control the reel raising / lowering mechanism 34b.

[6-6. Position detector]
The position detection unit 660 is means for controlling the detection device 4. The position detection unit 660 includes a camera drive unit 661, an imaging control unit 662, a three-point extraction unit 663, a centroid calculation unit 664, an inclination calculation unit 665, and the like. The camera drive unit 661 is means for controlling the camera drive mechanism 49 that moves the arms 45 to 48. The imaging control unit 662 is means for controlling imaging by the CCD cameras 41 to 44.

  The three-point extraction unit 663 is means for extracting the three points of the corners of the workpieces S1 and S2 or the marks M1 and M2 from the images captured by the CCD cameras 41 and 42. The center-of-gravity calculation unit 664 is means for calculating the center of gravity from the points extracted by the three-point extraction unit 663. The inclination calculation unit 665 is means for calculating an inclination from the points extracted by the three-point extraction unit 663.

[6-7. Positioning control unit]
The positioning control unit 670 is means for controlling the positioning unit 300. The positioning control unit 670 includes a clutch control unit 671, a positioning calculation unit 672, a motor control unit 673, and the like. The clutch control unit 671 is means for attaching and detaching the armatures 323, 333, 346 and the clutches 420, 430, 440 by controlling energization to the coils 421, 431, 441. The clutch control unit 671 also performs locking by the lock unit 350 by operating the cylinder 356 in synchronization with the energization of the coils 421, 431, and 441. The positioning calculation unit 672 is a unit that calculates the movement amount of the XY-θ table 311 based on the gravity center and inclination of the workpieces S1 and S2 calculated by the gravity center calculation unit 664 and the inclination calculation unit 665.

[6-8. Vacuum control unit]
The vacuum control unit 680 is a unit that controls the suction unit 500 and the pressing device 5. The vacuum control unit 680 includes a chamber control unit 681, a decompression control unit 682, a vacuum calculation unit 683, a valve control unit 684, a press control unit 685, an adsorption control unit 686, and the like. The chamber controller 681 is means for controlling the elevating mechanism 53 that elevates and lowers the vacuum chamber 51.

  The decompression control unit 682 is means for controlling the decompression pump 55 that decompresses the inside of the vacuum chamber 51. The vacuum calculation unit 683 is means for calculating the pressure in the vacuum chamber 51 based on the detection value of the vacuum gauge.

  As shown in FIG. 27, the vacuum calculation unit 683 includes a voltage determination unit 683a, an expression selection unit 683b, a pressure calculation unit 683c, and the like. The voltage determination unit 683 a is a unit that determines which of the voltage ranges set in the storage unit 620 is the analog output (voltage value) from the vacuum gauge 56. The expression selection unit 683b is means for selecting a polynomial approximation formula corresponding to the voltage range determined by the voltage determination unit 683a based on the voltage range set in the storage unit 620 and the corresponding polynomial approximation formula. The pressure calculation unit 683c is a means for calculating the pressure value based on the determined voltage value and the selected polynomial approximation.

  The valve control unit 684 is a unit that controls the pressing unit 527 that switches opening and closing of the three-way valve 520 based on the calculation result of the vacuum calculation unit 683. The pressing control unit 685 is a means for controlling the cylinder 54 that raises and lowers the pressure head 52. The suction control unit 686 is means for controlling the suction pump 530 for sucking the workpiece S1 on the suction plate 510.

  Here, a calculation example by the vacuum calculation unit 683 will be described with reference to FIGS. That is, consider a case where the analog output from a general vacuum gauge and the indicated pressure have a relationship as shown in FIG. In such a case, as a method for deriving the pressure from the analog value, a table (analog data table) as shown in FIG. 31 is stored in advance in the storage device, and this table and the current analog value are sequentially compared. There is a way to do it. However, in this method, it is necessary to sequentially search for the corresponding data, and the arithmetic processing program becomes larger and the processing time becomes longer.

  Next, there is a method in which the amount of change between each data in the table is regarded as linear, and calculation processing is performed. However, if the number of data in the table stored in the storage device is increased in order to improve the accuracy of the pressure derivation result, the processing in the arithmetic processing device is delayed. Conversely, if the number of data is reduced, the accuracy of the pressure derivation result will be worse, but the calculation process will be faster. That is, the accuracy and the computation processing time are in a reciprocal relationship.

  As another method, there is a method of calculating using a polynomial approximate expression. However, when the table is complex, if a polynomial approximation formula that satisfies the required accuracy is made, the degree of the approximation function will increase, and the calculation process will take an enormous amount of time. For example, when the above table is graphed, as shown in FIG. 32, the relationship between voltage and pressure is non-linear, and it is difficult to establish a polynomial approximation that provides high accuracy over the entire range. FIG. 32 corresponds to FIGS. 33 to 36, but is a one-log graph in order to display a wide pressure range.

  In the present embodiment, the table is divided into an arbitrary plurality of sections, and a polynomial approximate expression corresponding to each section is established. Then, according to the detected voltage value, one of the polynomial approximation formulas is selected, and the pressure calculation calculation is performed.

For example, when the analog detected voltage value from the vacuum gauge 56 and the pressure indicated by this have the relationship shown in the graph of FIG. 33, the voltage value range is divided into the following three ranges.
(1) 0V to less than 3V
(2) 3V to less than 8V
(3) 8V to 10V

Then, the following three polynomial approximation equations are set in correspondence with these ranges (1) to (3).
(a) PL = -36.837V3 + 320.94V2-1104.9V + 1724.7 [Pa]
(b) Pm = -0.8021V3 + 23.787V2-240.08V + 832.07 [Pa]
(c) Ph = -0.6572V3 + 21.162V2-231.87V + 859.72 [Pa]

  The polynomial approximation formula in each range is sufficiently accurate with a cubic function. That is, as shown in FIG. 34, when the reference graph in the range of (1) is compared with the calculation result graph, the lines are almost coincident. This also applies to the ranges (2) and (3) shown in FIGS.

  As shown in FIG. 27, the storage unit 620 has a valve pressure value that is a threshold for the valve control unit 684 to switch the three-way valve 520, and the pressure control unit 685 lowers the pressure head 52. For this purpose, a pressure value for pressing is set. For this reason, when the pressure value calculated by the pressure calculation unit 683c becomes the valve pressure value, the three-way valve 520 is switched, and when the pressure value becomes the pressing pressure value, the pressure head 52 is lowered. To do.

[B. Action]
The operation of the present embodiment having the above-described configuration is as follows. In addition, the method of controlling the bonding apparatus in the procedure demonstrated below and the computer program which operates a control apparatus are also one aspect | mode of this invention.

[1. Mounting of workpiece]
First, mounting of the workpieces S1 and S2 on the holding device 2 will be described. Note that one adhesive surface of the double-sided tape T1 is attached to the work S1. At this time, the release paper F is stuck on the other surface of the double-sided tape T1.

  That is, at the loading / unloading position 1A shown in FIG. 1, the operator places the workpiece S1 on the protective member 511 of the suction plate 510 so that the surface to which the double-sided tape T1 is adhered is up as shown in FIGS. Put it on. At this time, the suction control unit 686 operates the suction pump 530 to suck the workpiece S1 through the suction holes of the suction plate 510 and the protection member 511. Further, the worker sets the workpiece S2 on the holding unit 100. It is also possible to automatically load a handled workpiece by a supply mechanism such as an autoloader instead of manually loading the workpiece.

[2. Release of release paper]
As described above, the holding device 2 that holds the workpieces S <b> 1 and S <b> 2 comes to the adhesive material preparation position 1 </ b> B by the rotation of the turntable 1. Here, the peeling apparatus 3 peels the release paper F of the workpiece S1. That is, as shown in FIGS. 13 and 17A, the head control unit 651 moves the peeling head 33a forward by driving the cylinder 33b, and drives the cylinder 35 to drive the first unit U1. Is raised, and the peeling adhesive tape T2 is brought into contact with the edge of the release paper F of the double-sided tape T1 of the workpiece S1.

  The rotation control unit 652 controls the reel rotation mechanisms 31b and 34c, so that the lifting control unit 653 operates the reel lifting mechanism 34b in a state where the delivery reel 31a and the take-up reel 34a are braked, and the winding is performed. The take reel 34a is lowered. Then, the peeling head 33a moves backward while the adhesive tape T2 is pulled downward. At this time, as shown in FIG. 17B, the release paper F in contact with the adhesive tape T2 is attached to the double-sided tape T1 and peeled off.

  Then, while the rotation control unit 652 operates the reel rotation mechanism 34c to rotate the take-up reel 34a, the lift control unit 653 operates the reel lift mechanism 34b to raise the take-up reel 34a. To the state where the release paper F is peeled off from the workpiece S1.

  In addition, although the above demonstrated the case where the release paper F was peeled from the lower workpiece | work S1 using the 1st unit U1, the release paper F was removed from the upper workpiece | work S2 using the 2nd unit U2. In the case of peeling, the basic operation procedure is the same (see FIGS. 18A and 18B).

[3. Work positioning]
Next, the holding device 2 holding the workpieces S1 and S2 comes to the positioning position 1C by the rotation of the turntable 1. At this time, the pressed portion 355 is biased by the cylinder 356 of the lock portion 350, so that the positioning portion 300 is unlocked (all of the X, Y, and θ axes). Then, position detection by the detection device 4 and positioning by the positioning unit 300 are performed. Such a procedure will be described below along the flowchart of FIG. 28 with reference to FIGS.

[3-1. Position detection]
The camera drive unit 661 moves the arms 45 and 46 by operating the camera drive mechanism 49. As a result, as shown in FIGS. 20 and 21, the CCD camera 41 moves above the workpiece S2, and the CCD camera 42 moves between the workpiece S1 and the workpiece S2 (step 101).

  Then, the CCD cameras 41 and 42 sequentially stop at the positions corresponding to the corners of the workpieces S1 and S2 or the marks M1 and M2 (step 102). The imaging control unit 662 causes the CCD camera 41 to sequentially image the corners or marks M1 and M2 of the workpiece S1 and the workpiece S2 (step 103). The captured image is input to the control device 6 (step 104).

  When the workpiece S2 is normal during the above imaging, the reflected light from the workpiece S2 by the coaxial incident illumination returns to the CCD camera 41 as shown in FIG. . However, as shown in FIG. 3, the workpiece S <b> 2 is not attracted to the suction plate 510 like the workpiece S <b> 1 but is held in the air by the holding unit 100. For this reason, as shown in FIG. 22B, the workpiece S2 is likely to be bent, distorted, etc. In this case, the reflected light from the workpiece S2 may not return to the CCD camera 41.

  In this embodiment, even in such a case, as shown in FIG. 22C, the illumination from the CCD camera 41 is reflected by the reflecting surface 42a attached to the CCD camera 42 to ensure the CCD camera 41. Thus, imaging can be performed. When the marks M1 and M2 are to be detected, it is desirable that the portion corresponding to the marks M1 and M2 in the workpiece S2 has a portion that transmits light in order to receive reflected light.

  After imaging at least three points as described above (step 105), the three-point extraction unit 663 extracts the three points of the corner of the workpiece S1 or the identification mark M1 from the captured image and responds to this. Three points of the corner of the workpiece S2 or the mark M2 are extracted (step 106). Note that the process of extracting points from an image can be realized by a conventional general image processing technique, and thus description thereof is omitted.

  As shown in FIG. 29 (A), the center-of-gravity calculation unit 664 calculates the midpoint of two diagonal points among the three points of each of the workpieces S1 and S2 (the points surrounded by a one-dot chain line circle). The center-of-gravity coordinates G1 and G2 of S2 are calculated (step 107). In addition, the inclination calculation unit 665 calculates the inclination of a straight line connecting two points of the long side or the short side among the three points of the workpieces S1 and S2 as the inclination of the workpieces S1 and S2 (step 108).

  Next, the positioning calculation unit 672 in the positioning control unit 670 calculates the amount of movement of the workpiece S1 so that the center of gravity and the inclination of the workpieces S1 and S2 coincide (step 109). That is, the amount of movement in the XY direction (the amount of rotation of the rotation shafts 321 and 331) for adjusting the center of gravity is calculated, and the amount of rotation in the θ direction (the amount of rotation of the lower rotation shaft 345) for adjusting the inclination is calculated. To do.

  The clutch control unit 671 connects the rotors 422, 432, 442 and the armatures 323, 333, 346 by energizing the coils 421, 431, 441 (step 110). Then, the motor control unit 673 operates the motors 450, 460, and 470 to rotate the rotating shafts 321, 331, and 345 (step 111). The motors 450, 460, and 470 are stopped when the rotation shafts 321, 331, and 345 are rotated by the calculated rotation amount (step 112).

  Further, the clutch control unit 671 operates the cylinder 356 of the lock unit 350 to release the bias to the pressed portion 355, thereby lowering the brake 352 by the biasing force of the spring 354, and the brake plate 351. Lock with pinching (step 113). This is performed almost simultaneously for all of the X, Y, and θ axes. Then, the clutch control unit 671 stops energization of the coils 421, 431, and 441, and releases the connection between the X-axis unit 320, the Y-axis unit 330, the θ-axis unit 340, and the drive unit 400 by the clutches 420 to 440. .

  Accordingly, the position of the XY-θ table 311 is adjusted so that the positions of the workpieces S1, S2 are aligned. For example, when the workpieces S1 and S2 have a shift as shown in FIG. 29A, the centers of gravity G1 and G2 coincide with each other as shown in FIG. As shown in FIG. 29 (C), the tilts can be matched by turning.

  When the detection target such as a corner or a mark has little variation for each workpiece, if two diagonal points are detected, alignment can be performed by matching the gravity center and the diagonal slope. Therefore, also in this embodiment, the two diagonal points of the workpieces S1 and S2 are detected, and the respective gravity centers G1 and G2 are aligned by movement in the XY directions, and the diagonals are matched by rotation. You may let them. Thereby, the burden of calculation processing can be reduced.

[4. Vacuum bonding]
Next, the holding device 2 holding the workpieces S1 and S2 comes to the vacuum bonding position 1D by the rotation of the turntable 1. Then, vacuum bonding is performed by the pressing device 5. Such a procedure will be described with reference to FIG. 2, FIG. 10 to FIG. 12, and FIG.

  That is, as shown in FIGS. 23 and 24, the chamber controller 681 operates the elevating mechanism 53 to lower the vacuum chamber 51 and seal the periphery of the holding device 2 (step 201). Then, the decompression control unit 682 operates the decompression pump 55 to decompress the interior of the vacuum chamber 51 (step 202).

  The vacuum gauge 56 outputs the detected voltage value to the control device (step 203). In the vacuum calculation unit 683, the voltage determination unit 683a determines whether the voltage value detected by the vacuum gauge 56 is within the above range (1) to (3) (step 204). In accordance with the determination result, the expression selection unit 683b selects a polynomial approximation expression (steps 205-1 to 20-3). The pressure calculation unit 683c calculates a pressure based on the detected voltage value and the selected polynomial approximate expression (step 206).

  When the valve control unit 684 determines that the calculated pressure value is equal to or lower than the predetermined valve pressure (step 207), the valve control unit 684 raises the pressing unit 527 to move the pressed unit 525 of the three-way valve 520. Energize. Then, as shown in FIGS. 11 and 12B, the rod 524 of the three-way valve 520 rises, the upper valve 522 opens the upper end of the inner pipe portion 521, and the lower valve 523 is closed. (Step 208). Thereby, the inside of the suction plate 510 and the inside of the vacuum chamber 51 have the same pressure, and blowing out from the suction holes is prevented.

  Further, when the pressure control unit 685 determines that the calculated pressure value is equal to or lower than a predetermined pressure for pressing (step 209), the pressure control unit 685 operates the cylinder 54 to apply pressure as shown in FIG. The head 52 is lowered and the work S2 is pressed against the work S1 (step 210). Thereafter, the decompression control unit 682 stops the decompression pump 55 (step 211), and the chamber control unit 681 raises the pressurizing head 52 and the vacuum chamber 51 to release them to the atmosphere (steps 212 and 213).

[5. Work removal]
As described above, when the holding device 2 that holds the bonded workpieces S1 and S2 comes to the loading / unloading position 1A by the rotation of the turntable 1, the worker takes out the workpieces S1 and S2 from the holding unit 100. This operation can also be automated by a carry-out mechanism or the like.

[C. effect]
According to the present embodiment as described above, the following effects can be obtained. That is, the pair of workpieces S1 and S2 can be supplied at one position, and the workpieces S1 and S2 after bonding can be taken out at the same position, so that the work space can be reduced. .

  Since the peeling head 33a in the peeling apparatus 3 is inclined, the pressure-sensitive adhesive tape T2 can be pressed from the ends of the workpieces S1 and S2, and the release paper F can be reliably peeled off. In addition, the peeling head 33a is inclined, the conversion unit 32 causes the supply unit 31 to be removed from the longitudinal direction of the adhesive tape T2 in the peeling unit 33, and the moving direction of the take-up reel 34a is up and down. Therefore, the required space in the depth direction can be reduced. For example, as shown in FIGS. 19 (A) to 19 (D), the advantage of such a peeling device 3 is that a take-up reel L1, a feed reel L2, and a peel head L3 are arranged, and the take-up reel L1 is attached to the adhesive tape T2. This is clear even when compared with the conventional example configured to move in the longitudinal direction.

  Moreover, the peeling apparatus 3 can respond easily to peeling of the release paper F from the lower workpiece S1 and peeling of the release paper F from the upper workpiece S2 by exchanging the units U1 and U2. Advantages of such a peeling device 3 are, for example, for the conventional example for the lower work S1 shown in FIGS. 19A and 19B and the upper work S2 shown in FIGS. 19C and 19D. This is also clear from the fact that the arrangement itself of the take-up reel L1 and the delivery reel L2 has to be changed, making it difficult to make a unit. Note that, for example, by using the apparatus including the rollers 33c to 33g shown in FIGS. 17 and 18, the adhesive tape T2 is simply replaced as shown in FIG. Thus, it can be used for upper side peeling and lower side peeling.

  Moreover, since the peeling apparatus 3 becomes an independent structure which can be attached or detached to the bonding apparatus, since a transfer machine etc. become unnecessary, it can prevent adhesion of refuse. Furthermore, since the peeling device 3 and the coating device can be exchanged, various products can be handled.

  The XY-θ table 311 on the turntable 1 can be separated from the motors 450, 460, and 470 by the clutches 420, 430, and 440 and moved as it is. For this reason, it is not necessary to mount a drive source etc. in the turntable 1, a power supply and a control line become unnecessary, and stable operation | movement is realizable by simple structure. Further, since a plurality of holding devices 2 can be mounted on the turntable 1, high-speed and efficient bonding can be realized.

  Further, since the drive source and the like need only be provided at one place, it can be configured at low cost. Further, since the XY-θ table 311 can be small, it can be easily accommodated in a vacuum and can easily prevent bubbles and the like from being mixed therein. Furthermore, since the workpieces S1 and S2 can be bonded on the XY-θ table 311 after positioning, bonding with high accuracy is possible.

  In particular, since the detection device 4 detects the center of gravity and the inclination of the workpieces S1 and S2 at three points, accurate detection can be performed with a minimum processing load. Even when the workpieces S1 and S2 are curved or the like, the irradiation light from the CCD camera 41 is reflected by the reflecting surface 42a of the CCD camera 42, so that accurate detection can be performed. Therefore, highly accurate bonding based on accurate detection is possible.

  Since vacuum bonding can be performed at one position on the turntable 1, it is possible to save space. Moreover, since it is not necessary to position in the vacuum chamber 51, the apparatus can be made small and simplified. Further, when the pressure in the vacuum chamber 51 is reduced, the suction line in the suction portion 500 can be shut off simultaneously with the three-way valve 520 and at the same time as the pressure in the vacuum chamber 51. S1 can be prevented from coming off and stable operation can be realized. Moreover, since it switches with the single three-way valve | bulb 520, it can manufacture small and cheaply.

  When the pressure in the vacuum chamber 51 is detected, an appropriate approximate expression corresponding to the voltage value is selected and the pressure is calculated, so that a highly accurate pressure calculation can be performed with a low-order approximation function. In addition, since it is only necessary to always perform arithmetic processing using a simple function, the processing load is reduced.

  Since the protective member 511 of the suction portion 500 and the protective member 52a of the pressing device 5 are made of a porous sheet attached to an elastic member, the workpiece S1 is absorbed while absorbing the impact on the workpieces S1 and S2. , S2 can be prevented from sticking to the protective members 511 and 52a, and stable bonding can be realized. Further, compared to the case where the rubber surface is roughened by machining, the rubber is more slippery and less likely to be worn. Moreover, it is cheaper than the case where rubber is subjected to low energy irradiation treatment. Furthermore, when the sheet is deteriorated, it is easier to replace the sheet than when the entire rubber is replaced.

[D. Other Embodiments]
The present invention is not limited to the embodiment as described above. For example, as described above, when an adhesive application device is used instead of the peeling device, any material that can be used at present or in the future is applicable as the adhesive. A material that is cured by externally radiating electromagnetic waves in a broad sense, such as an ultraviolet curable resin or a radiation curable resin, or a temperature change, such as a thermosetting resin, can be applied. As a coating apparatus, a well-known apparatus can be used as mentioned above. For example, an inkjet coating device, a screen printing device, a squeeze coating device, a dispensing nozzle coating device, and the like can be considered, but the invention is not limited to these.

  When the adhesive is applied by the application device, it is conceivable to provide an adhesive curing position 1E as the stop position of the turntable 1, as shown in FIG. In this case, by installing an electromagnetic wave irradiating device, a heating device, or the like at the curing position 1E, when the bonded workpiece comes to the curing position 1E, the electromagnetic wave is irradiated or heated. Is cured.

  The detailed configuration of the peeling apparatus is not limited to that shown in the above embodiment. For example, the peeling head may be configured to be able to be pressed against the release paper while allowing the adhesive tape to move, and the drive mechanism may be configured to be able to contact and separate from the release paper. Further, the position and number of guide rollers can be freely set. Further, the conversion angle of the conversion unit is not limited to a right angle as long as the sending unit is removed from the longitudinal direction of the adhesive tape of the peeling head. Note that other well-known devices can be applied as the peeling device.

  Any known attachment / detachment member for attaching / detaching the positioning portion and the drive portion can be applied. For example, a mechanical clutch that does not depend on coil excitation may be used. As the coupling and bellows, any known connecting member having a structure that allows the displacement of the shaft can be used.

  The material, thickness, hardness, etc. of the protective member are also free. For example, on the pressure head side, a polyurethane porous film sheet adhered to urethane rubber with a hardness of 40 with a double-sided tape, and on the suction plate side, a polyurethane porous film sheet on urethane rubber with a hardness of 80 However, it is not limited to these.

  The number of cameras in the detection device is not limited to the above number. Only one unit, only two units in the horizontal direction, or only three to four units in the horizontal direction may be sequentially moved upward and downward. Moreover, you may move back and forth as two units up and down. Furthermore, the upper and lower three points may be taken at the same time, and the upper and lower three points may be imaged simultaneously. First, if two points on the diagonal are imaged and there is a point that cannot be extracted from this, another point may be imaged. After imaging four locations, three points may be extracted from three locations where extraction is possible or the image is good. As the number of cameras increases, the mechanism for driving the cameras can be simplified and imaging can be performed at high speed.

  Further, as shown in FIG. 38, the lower CCD camera 42 is configured such that light from the light source can be vertically irradiated by the prism, and the upper CCD camera 41 receives the light irradiated upward. You may do it. As shown in FIG. 39, the lower CCD camera 42 may be configured to reflect the upper light by the reflecting surface 42a so that the upper and lower images can be imaged and the light from the light source can be irradiated vertically. Further, the material of the reflecting surface may be metal, glass, resin, etc., but any material can be used as long as it can reflect the irradiated light. Further, the reflection surface may be formed integrally with the camera casing.

  The work to be bonded is typically a cover panel and a liquid crystal module (a laminate of a display panel and a backlight), but can be widely applied as an apparatus for bonding elements constituting a display device. . Therefore, for example, the present invention can also be applied to a case where a touch panel and a liquid crystal module are bonded together.

  The detection target for positioning can also be appropriately changed according to the mode of the workpiece. For example, as shown in FIG. 40, when the work S2 that is the cover panel is bonded to the work S1 that is the liquid crystal module, it is also possible to detect the corner of the frame H printed on the work S2. In this case, as shown in FIG. 41, it is desirable to position the workpiece S1 (or displayable region, the same applies hereinafter) and the side of the frame H so as to coincide with each other. In particular, since the side of the frame H is a portion visually recognized by the user who purchased the product, if the frame H is inclined with respect to the workpiece S1, there is a high possibility that the frame H becomes a defective product.

  In order to prevent this, positioning by three-point detection is more effective than positioning by two-point detection for the following reasons. That is, since the size and shape of the frame H are formed by printing or the like, there are cases where variations occur for each workpiece S2. For example, as shown in FIG. 42 (A), when the shape of the workpiece S1 and the frame H do not match, even if the two diagonal points are detected and the gravity center and the inclination of the diagonal line are matched, As shown in FIG. 42B, the frame H is positioned with respect to the workpiece S1 in a tilted state.

  On the other hand, when the three points are detected and the inclinations of the center of gravity and the long side are made to coincide with each other as in the above embodiment, the sides of the workpiece S1 and the frame H are parallel as shown in FIG. become. Thereby, the situation where the frame H visually recognized by the user who purchased the product is not inclined with respect to the displayable area is eliminated, and the occurrence of defective products can be prevented.

DESCRIPTION OF SYMBOLS 1 ... Turntable 1a ... Base 2 ... Holding device 3 ... Separating device 4 ... Detection device 5 ... Pressing device 6 ... Control device 11 ... Index mechanism 31 ... Supply part 31a ... Delivery reel 31b, 34c ... Reel rotation mechanism 32 ... Conversion part 33 ... peeling part 33a ... peeling heads 33b, 35, 54, 356 ... cylinders 33c to 33g ... guide roller 34 ... take-up part 34a ... take-up reel 34b ... reel lifting mechanism 41-44 ... CCD cameras 43a, 44a ... reflecting surface 45-48 ... arm 49 ... camera drive mechanism 51 ... vacuum chamber 52 ... pressure head 52a, 511 ... protective member 53 ... lifting mechanism 55 ... decompression pump 56 ... vacuum gauge 100 ... holding part 200 ... post part 300 ... positioning part 310 ... Placement section 311 ... XY-θ tables 312, 320, 330, 340 ... Shaft section 313 ... Movable bases 313a, 313b Groove 314 ... Bellows 315 ... Pulley 321, 331, 345 ... Rotating shaft 322, 332 ... Eccentric rollers 323, 333, 346 ... Armature 341 ... Upper rotating shaft 342 ... Pulley 343 ... Timing belt 344 ... Bellows coupling 345 ... Lower rotating shaft 350 ... locking portion 351 ... brake plate 352 ... brake 353 ... lift shafts 354 ... spring 355,525 ... pressed portion 400 ... driving unit 410 ... fixed table 420, 430, 440 ... clutch 421,431,441 ... coils 422, 432 , 442 ... Rotor 450, 460, 470 ... Motor 500 ... Adsorption part 510 ... Adsorption plate 512, 526 ... Piping 520 ... Three-way valve 521 ... Inner pipe part 522 ... Upper valve 523 ... Lower valve 524 ... Rod 527 ... Pressing part 530 ... Suction pump 610 ... Table control unit 62 DESCRIPTION OF SYMBOLS 0 ... Memory | storage part 624 ... Calculation part 630 ... Timing control part 640 ... Input / output interface 650 ... Separation control part 651 ... Head control part 652 ... Rotation control part 653 ... Elevation control part 660 ... Position detection part 661 ... Camera drive part 662 ... Imaging control unit 663 ... 3-point extraction unit 664 ... Center of gravity calculation unit 665 ... Inclination calculation unit 670 ... Positioning control unit 671 ... Clutch control unit 672 ... Positioning calculation unit 673 ... Motor control unit 680 ... Vacuum control unit 681 ... Chamber control unit 682 ... Depressurization control unit 683 ... Vacuum calculation unit 683a ... Voltage determination unit 683b ... Expression selection unit 683c ... Pressure calculation unit 684 ... Valve control unit 685 ... Press control unit

Claims (16)

In the bonding apparatus for bonding a pair of workpieces constituting the display device,
A turntable that rotates intermittently according to multiple positions;
A plurality of holding devices provided on the turntable for holding a pair of workpieces;
A positioning portion that is provided in the holding device and positions at least one of the pair of workpieces;
A pressing device that bonds the pair of workpieces by biasing at least one of the pair of workpieces in the holding device;
Have
At least one position of the turntable is provided with a detection device having a camera that images a pair of workpieces,
Based on the image picked up by the camera, three points of four vertices of a virtual square in one work and three points of four vertices of a virtual square in the other work are extracted, respectively. A three-point extraction unit to
A centroid calculating unit that calculates, as the centroid of each workpiece, a midpoint between two points constituting both ends of a square diagonal line for each workpiece among the three points extracted by the three-point extracting unit;
An inclination calculating unit that calculates an inclination of each workpiece based on two points constituting one side of a square for each workpiece among the three points extracted by the three-point extracting unit;
A positioning calculation unit that calculates a control amount of the positioning unit based on the center of gravity and the inclination;
It has a bonding apparatus characterized by having.   The bonding apparatus according to claim 1, wherein the four vertices are corners of a square workpiece.   The bonding apparatus according to claim 1, wherein the four vertices are marks attached to a workpiece.   The bonding device according to claim 1, wherein the four vertices are corners of a square frame attached to the workpiece. Four vertices in one work are corners of a square frame attached to one work.
The other work is a square,
The bonding apparatus according to claim 1, wherein the four vertices of the other rectangular workpiece are corners of the other rectangular workpiece.   The bonding apparatus according to claim 1, wherein the holding device is a device that holds a pair of workpieces facing each other vertically. The detection device includes:
A first camera that images an upper workpiece;
A second camera for imaging the lower workpiece;
The bonding apparatus according to claim 6, further comprising: One or two of the first cameras are provided,
The said 2nd camera is provided with 1 unit | set or 2 units | sets, The bonding apparatus of Claim 7 characterized by the above-mentioned. Three or four of the first cameras are provided,
The said 2nd camera is provided with 3 units | sets or 4 units | sets, The bonding apparatus of Claim 7 characterized by the above-mentioned.   The bonding apparatus according to claim 7, further comprising a drive mechanism for inserting the second camera between the upper and lower workpieces.   The bonding apparatus according to claim 7, wherein a reflection portion is provided on a surface of the second camera that faces the first camera.   The bonding device according to claim 1, wherein the three-point extraction unit extracts three points from three locations where the four vertices captured by the camera can be extracted or have good images.   The bonding apparatus according to claim 1, wherein the positioning calculation unit calculates a control amount of the positioning unit so that a center of gravity and an inclination of a pair of workpieces coincide with each other. A turntable that intermittently rotates according to a plurality of positions; a plurality of turntables provided on the turntable; a holding device that holds a pair of workpieces constituting a display device; and at least one of the pair of workpieces provided on the holding device. A pair of workpieces can be controlled by controlling a bonding device having a positioning unit for positioning and a pressing device for bonding the pair of workpieces by biasing at least one of the pair of workpieces in the holding device. In the control method of the laminating apparatus for laminating
The control device includes a three-point extraction unit, a centroid calculation unit, an inclination calculation unit, and a positioning calculation unit,
The three-point extraction unit, based on an image obtained by imaging a pair of workpieces, of three vertices of a virtual square in one workpiece and four vertices of a virtual square in the other workpiece 3 points are extracted,
The center-of-gravity calculation unit calculates, as the center of gravity of each workpiece, a midpoint between two points constituting both ends of a square diagonal line for each workpiece among the three points extracted by the three-point extraction unit;
The inclination calculation unit calculates the inclination of each workpiece based on two points constituting one side of a square for each workpiece among the three points extracted by the three-point extraction unit;
The said positioning calculating part calculates the control amount of the said positioning part based on the said gravity center and the said inclination, The control method of the bonding apparatus characterized by the above-mentioned. Four vertices in one work are corners of a square frame attached to one work.
The other work is a square,
The four vertices of the other square work are the corners of the other square work.
The control method of the bonding apparatus according to claim 14, wherein the positioning calculation unit calculates a control amount so that a side of the frame of one workpiece and a side of the other workpiece are positioned in parallel. . The 3-point extraction unit, out of the four vertexes before Symbol shooting image image, from extractable or image good three, laminating apparatus according to claim 14, wherein the extracting three points Control method.

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