JP6637752B2 - Article assembling device, parts assembling method - Google Patents

Description

  The present invention relates to an article assembling apparatus and the like for assembling an article by combining a plurality of components.

  When assembling an electronic component by combining a plurality of components, an article assembling apparatus is used. For example, in the case of a crystal resonator, a crystal piece serving as a first component is transported one by one by an article assembling apparatus and mounted on a ceramic package serving as a second component. For example, in order to position the relative position between the crystal blank and the ceramic package with high accuracy, the positions of both are measured with a camera or the like at the time of mounting, and the relative positions are controlled. The article assembling apparatus is used for assembling various articles such as a hinge structure of a digital camera and a lens module (lens portion) in which a plurality of lenses and filters are stacked, in addition to electronic parts.

  Optical modules used in digital cameras and smartphones require high-precision assembly of various components in order to capture high-definition video. As such an optical module, there is known an optical module in which a lens driving module for forming an image of a subject is integrated with a semiconductor element (imaging element) such as a CCD or a CMOS (for example, see Patent Document 1). The lens driving module includes a lens unit and a driving unit such as a VCM (voice coil motor unit) that moves the lens unit.

  When assembling this optical module, the chart is imaged by the imaging device via the lens driving module, and while viewing the image, the lens driving module is adjusted in position in the optical axis direction with respect to the imaging device, and is adjusted at the just focus position. The lens drive module is fixed to the image sensor.

  Further, in focusing between the image pickup device and the lens drive module, a focusing step of focusing the lens drive module on a reference (master) image pickup device different from the image pickup device, and a just focus obtained by the focus step A just focus position reproducing step of arranging the image sensor and the lens drive module based on the position, and a fixing step of fixing the image sensor and the lens arranged at predetermined positions in the just focus position reproducing step are performed.

  In addition, an optical axis adjusting device is used to align the optical axes of the two optical components. This optical axis adjustment device performs shift adjustment for making the optical axes of both optical components coincide on a predetermined plane and tilt adjustment for making the optical axes of both optical components coaxial (for example, Patent Document 2). reference).

JP 2010-114731 A JP 2008-46630A

  However, the conventional electronic component assembling apparatus has a problem in that it takes a long time to position the plurality of components with high accuracy, and the assembling efficiency is deteriorated. For example, in the conventional optical module assembling apparatus (optical axis adjusting apparatus) disclosed in Japanese Patent Application Laid-Open No. 2008-46630, it takes several tens of seconds to perform the shift adjustment and the tilt adjustment.

  Further, in Japanese Patent Application Laid-Open No. 2010-114731, the arrangement of the reference image pickup element in the focusing step and the arrangement of the image pickup element in the just focus position reproduction step are not always the same. For this reason, a manufacturing error occurs in assembling the optical module. In order to eliminate such a manufacturing error, it is necessary to adjust the position of the lens using the lens driving device in each of the focusing step and the just-focus position reproducing step. In such a case, the time required for assembling the optical module is further increased. Further, since the optical axis adjustment between the actual image sensor and the lens driving module is not performed, it is not possible to manufacture a highly accurate optical module.

  Further, in recent optical modules, even higher-definition video has been demanded, but there is a limit in improving the accuracy of assembling the lens drive module and the image sensor.

  On the other hand, the lens drive module is assembled by fixing the lens portion and the driven portion of the VCM that moves the lens portion with an adhesive (for example, an ultraviolet curable resin). By improving the assembling accuracy of the lens unit and the driving unit, a higher definition image may be obtained. However, since the miniaturization of the lens drive module has been remarkably advanced, it has not been easy to improve the assembly accuracy of the lens unit and the VCM. Further, as described above, when trying to improve the assembling accuracy of the lens unit and the driving unit, it takes a long time to position each other, and there is a problem that the assembling efficiency is deteriorated.

  The present invention has been made in view of the above circumstances, and has as its object to provide an assembling apparatus and the like that can shorten the assembling time while increasing the assembling accuracy of an electronic component.

  The present invention that achieves the above object is a component assembling apparatus that assembles an article by combining a first component and a second component, and includes a plurality of position adjustment units and the first position adjustment unit with respect to the position adjustment unit in a component supply area. A component supply device that supplies a component and the second component, an article unloading device that unloads the article from the position adjustment unit in an article unloading area, and the plurality of pieces so as to pass through the component supply area and the article unloading area. And a transfer device for moving the position adjustment unit, wherein the position adjustment unit respectively holds a first holding unit for holding the first component, a second holding unit for holding the second component, A position adjusting mechanism for adjusting a relative position of one holding unit and the second holding unit, wherein the position adjusting unit is moved forward from the component supply area by the transfer device. An article assembling apparatus, wherein the relative position between the first part and the second part is completed by the position adjustment mechanism when passing through a position adjustment area existing while being moved to the article unloading area. .

  In relation to the article assembling apparatus, the position adjustment unit adjusts a first relative position of the first holding unit and the second holding unit in a first position adjustment region downstream of the component supply region. Further, in the second position adjustment area downstream of the first relative position, a second relative position in a direction different from the first relative position in the first holding unit and the second holding unit is adjusted. It is characterized by doing.

  In relation to the article assembling apparatus, one of the first relative position and the second relative position positioned by the position adjustment unit is a relative distance in the perspective direction where the first component and the second component approach or separate from each other. And the other of the first relative position and the second relative position includes a relative position in a sliding direction in which the first component and the second component are perpendicular to the perspective direction. .

  In relation to the article assembling apparatus, one of the first relative position and the second relative position positioned by the position adjustment unit is a relative distance in the perspective direction where the first component and the second component approach or separate from each other. And wherein the other of the first relative position and the second relative position includes a relative angle at which the reference axis of the first component and the reference axis of the second component are inclined.

  In relation to the article assembling apparatus, one of the first relative position and the second relative position positioned by the position adjustment unit is in a perspective direction in which the first component and the second component approach or separate from each other. And the other of the first relative position and the second relative position includes a relative angle at which the reference axis of the first component and the reference axis of the second component are inclined. It is characterized by the following.

  In relation to the article assembling device, a first measuring device for measuring the first relative position is arranged in the first position adjusting region, and the second relative position is measured in the second position adjusting region. A second measuring device is provided.

  In relation to the article assembling apparatus, the transfer apparatus simultaneously stops the position adjustment unit in each of the first position adjustment area and the second position adjustment area, and for a plurality of the articles, The adjustment of one relative position and the adjustment of the second relative position are performed simultaneously.

  In relation to the article assembling apparatus, the position adjustment unit is configured such that, in a third position adjustment region downstream of the second position adjustment region, the first and second holding units and the first and second holding units. A third relative position different from the second relative position is adjusted.

  In relation to the article assembling apparatus, any one of the first relative position to the third relative position positioned by the position adjustment unit is in a perspective direction in which the first component and the second component approach or separate from each other. Including the relative position, any one of the remaining two of the first relative position to the third relative position is a relative position in the sliding direction in which the first component and the second component are perpendicular to the perspective direction. The remaining one of the first to third relative positions includes a relative angle at which the reference axis of the first part and the reference axis of the second part are inclined.

  In relation to the article assembling device, a first measuring device for measuring the first relative position is arranged in the first position adjusting region, and the second relative position is measured in the second position adjusting region. And a third measuring device for measuring the third relative position is disposed in the third position adjustment area.

  In relation to the article assembling device, the transfer device simultaneously stops the position adjustment units in each of the first position adjustment region, the second position adjustment region, and the third position adjustment region, and sets three or more units. For the article, the adjustment of the first relative position, the adjustment of the second relative position, and the adjustment of the third relative position are simultaneously performed.

  In relation to the article assembling apparatus, the article assembling apparatus further includes a fixing region for fixing the first component and the second component to each other downstream of the position adjustment region by the position adjustment unit.

  In relation to the article assembling apparatus, the apparatus further includes, as the fixing area, a first fixing area and a second fixing area disposed downstream of the first fixing area.

  In connection with the article assembling apparatus, an adhesive curing device that cures an adhesive applied to the article is disposed in the fixing area.

  In connection with the article assembling device, the transfer device stops the position adjusting unit in the fixing region and the position adjusting region at the same time, thereby fixing the first component and the second component in the fixing region. And simultaneously performing the relative positioning operation of the first component and the second component by the position adjustment mechanism in the position adjustment region.

  In relation to the article assembling apparatus, at least one of the first holding unit and the second holding unit is provided with a power supply terminal that supplies power to the first component or the second component. .

  In relation to the article assembling device, the transfer device has a rotary table rotated by a drive shaft, and the plurality of position adjustment units are arranged in a circumferential direction of the rotary table. .

  In relation to the article assembling apparatus, the article is a lens drive module including a lens unit and a drive unit that moves the lens unit, wherein the lens unit is the first component, and the drive unit is the drive unit. It is characterized by being a second part.

  In relation to the article assembling apparatus, the first holding unit has a chuck for holding the lens unit, and the chuck is provided around the lens unit when viewed from the optical axis direction of the lens unit. An escape for adhesive is formed to avoid overlapping with the adhesive applied to a plurality of locations.

  In relation to the article assembling apparatus, the first holding section has an opening and closing mechanism for opening and closing the chuck.

  In relation to the article assembling apparatus, the second holding unit is fixed to a base side of the position adjustment unit, and the position adjustment mechanism displaces the first holding unit, so that the second holding unit and Is characterized by adjusting the relative position of.

  In relation to the article assembling apparatus, an image sensor is arranged on an extension of the optical axis of the lens unit when the position is adjusted by the position adjusting mechanism.

  In relation to the article assembling apparatus, the drive unit includes a driven unit fixed to the lens unit, and a drive source that moves the driven unit in the optical axis direction of the lens unit by energization. The second holding unit, a drive source side holding unit that holds the drive source side, and presses the end face in the optical axis direction of the driven unit with a pressing body to change the position of the driven unit in the optical axis direction. And a pressing portion for regulating.

  In relation to the article assembling apparatus, the pressing portion is configured such that, when the article is viewed from the optical axis direction, an advancing / retracting mechanism that advances and retreats between a place where the pressing body and the article overlap and a place where they do not overlap, A vertical movement mechanism for moving the pressing body in the optical axis direction at a place where the body and the article overlap.

  In relation to the article assembling apparatus, the pressing body has pressing protrusions for pressing a plurality of positions on the end face in the optical axis direction of the driven portion, and the first holding portion holds the lens portion. Wherein the chuck has a pressing protrusion relief portion for avoiding interference with the pressing protrusion when viewed from the optical axis direction of the lens portion. .

  In relation to the article assembling apparatus, the article is an optical module including a lens drive module having a lens unit and a drive unit that moves the lens unit, and an imaging element that receives an image via the lens unit. The image pickup device is the first component, and the lens drive module is the second component.

  In relation to the article assembling apparatus, a power supply terminal for supplying power to the lens driving module is provided in the second holding unit, and the position adjustment mechanism positions the first component and the second component relative to each other. Before positioning, power is input to the lens driving module to adjust the position of the lens unit to a reference position.

  In relation to the article assembling apparatus, after adjusting the position of the lens unit to a reference position, until the position adjustment mechanism completes the relative positioning of the first component and the second component, the lens driving is performed. The power supply to the module is continued.

  In connection with the article assembling apparatus, the article assembling apparatus further includes an application device that applies an adhesive to the article held by the position adjustment unit or the article before being supplied to the position adjustment unit.

  In relation to the article assembling apparatus, the position adjustment mechanism includes a perspective movement mechanism that adjusts a relative position in a perspective direction in which the first component and the second component approach or separate from each other, and the first component and the second component. A sliding plane moving mechanism for adjusting a relative position in a sliding direction in which the component is perpendicular to the perspective direction, and a tilt mechanism for adjusting a relative angle at which a reference axis of the first component and a reference axis of the second component are inclined. And the following.

  In relation to the article assembling apparatus, the position adjustment mechanism includes a rotation mechanism that relatively rotates the first part and the second part about the perspective direction as a rotation axis.

  The present invention for achieving the above object is a component assembling method for assembling an article by combining a first component and a second component, and supplying the first component and the second component to a position adjustment unit in a component supply area. A component supplying step, an article unloading step of unloading the article from the position adjustment unit in the article unloading area, and a transfer for moving the plurality of position adjustment units so as to pass through the component supply area and the article unloading area. The position adjustment unit, when passing through the position adjustment area existing during the movement from the component supply area to the article unloading area by the transfer step, the first component and the second component A method of assembling an article, wherein the relative positioning of the objects is completed.

  In relation to the article assembling method, in the first position adjustment region downstream of the component supply region, adjust the first relative position of the first holding portion and the second holding portion, further, the In a second position adjustment area downstream of the one relative position, a second relative position in the first holding unit and the second holding unit in a direction different from the first relative position is adjusted. .

  According to the present invention, it is possible to assemble a camera module with high accuracy and in a short time. Further, according to the optical axis adjusting device of the present invention, it is possible to efficiently adjust the optical axis of various optical components.

(A) It is a front sectional view of a lens drive module assembled with the article assembling apparatus concerning a first embodiment of the present invention, and (B) is a plane sectional view. It is a top view of the same lens drive module. It is a top view explaining the outline of the article assembling apparatus. It is a top view explaining the holding part for drive parts of the application device of the article assembling apparatus. It is front sectional drawing explaining operation | movement of the holding part for the same drive parts. It is a front sectional view explaining operation of the coating device. It is a side view explaining the positioning unit of the positioning device of the article assembly apparatus. It is a top view explaining the same positioning unit. It is a partial enlarged plan view explaining operation of the same positioning unit. It is a partial enlarged plan view explaining operation of the same positioning unit. It is a partial enlarged front view explaining operation | movement of the same positioning unit. It is a partial enlarged plan view explaining operation of the same positioning unit. It is a partial enlarged side view explaining operation | movement of the same positioning unit. It is a partial enlarged front view explaining operation | movement of the same positioning unit. (A) is a plan view showing a test chart, and (B) is an explanatory view schematically showing a state in which the test chart is photographed by an image sensor. (A) to (D) are graphs showing changes in the gray level difference values of the peripheral pixels of the image sensor, and (E) is a diagram for explaining the arrangement of the peripheral pixels on the image sensor, (F) and (F). (G) is a diagram for explaining a trigonometric function for calculating a tilt correction amount. (A)-(C) is a figure for explaining the change of the best focus position by the tilt control from the 1st time to the 3rd time. It is a top view explaining the outline of the modification of the article assembling apparatus. It is a top view explaining the outline of the modification of the article assembling apparatus. It is a front sectional view of an optical module assembled with an article assembling apparatus concerning a second embodiment of the present invention. It is a top view explaining the outline of the article assembling apparatus. It is a side view explaining the positioning unit of the positioning device of the article assembly apparatus. It is a partial enlarged plan view explaining operation of the same positioning unit.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In this specification, one direction in a horizontal plane is defined as an X direction, a direction orthogonal to the X direction in a horizontal plane is defined as a Y direction, and a direction orthogonal to the X direction and the Y direction is defined as a Z direction.

  (First embodiment)

  In the first embodiment, an article assembling apparatus that assembles a lens drive module as an article by using a lens unit as a first part and a driving unit as a second part will be described.

  (Lens drive module LM)

  As shown in FIGS. 1 and 2, the lens drive module LM has a lens unit LL and a drive unit KK. The lens unit LL includes a lens barrel LT and a lens element LX fixed to the lens barrel LT.

  The drive section KK has a lens drive motor MT, a housing QT for protecting the lens drive motor MT, and an input terminal LN for supplying a predetermined power to the lens drive motor MT. The lens drive motor MT is a boil coil motor here, and incorporates a drive source MT1 that generates a magnetic force by a ring-shaped coil and a ring-shaped magnet MG, and uses the magnetic force of the drive source MT1 to move in the optical axis direction. It has a driven part MT2 that moves.

  The driven portion MT2 is a cylindrical member, and a pair of L-shaped holding grooves MM for holding the lens portion LL are formed on the inner peripheral surface thereof. The holding groove MM has an axial groove MJ extending in the axial direction from the end face, and a circumferential groove MS extending in the circumferential direction so as to be continuous with the axial groove MJ and the back side. Accordingly, when the pair of engagement protrusions TT formed on the outer peripheral surface of the lens barrel LT are advanced along the holding groove MM, the engagement protrusion TT and the holding groove MM are engaged. Note that the groove width and depth of the holding groove MM are set to be larger than the size of the engagement protrusion TT, and the width and depth of the holding groove MM are set within the margin before the two are fixed by the adhesive. The driven part MT2 and the lens part LL can move relatively.

  The adhesive UJ is applied between the axial end surface of the driven portion MT2 and the peripheral surface of the lens barrel LT at a plurality of positions (four here) in the circumferential direction. The adhesive UJ is hardened by ultraviolet rays after adjusting the relative position between the driven portion MT2 and the lens barrel LT. As a result, when the lens drive module LM is completed, the driven part MT2 and the lens barrel LT are fixed to each other.

  When a predetermined voltage is input to the input terminal LN, the lens drive motor MT moves the lens unit LL in the optical axis direction according to the input voltage condition. For example, when no voltage is input to the input terminal LN, the lens unit LL is at an undefined position. On the other hand, when the voltage input to the input terminal LN is V1, the lens unit LL is at the INF position (focusing position at infinity). Although not shown, when the voltage input to the input terminal LN is V2, the lens unit LL is located at another position (for example, a macro position).

  (Outline of the article assembling apparatus 1)

  As shown in FIG. 3, the article assembling apparatus 1 includes an application device 70, a positioning device 3, and a controller 90 that outputs a control signal for controlling these devices.

  The coating device 70 includes a component carrier 72, a component supply device 79A that supplies the lens unit LL and the driving unit KK to the component carrier 72 in the component supply region F-IN, and a lens driving module LM in the article unloading region L-OUT. And a transfer device 80 that moves the plurality of component carriers 72 so as to pass through the component supply area F-IN and the article unload area L-OUT. The transfer device 80 is a so-called turret mechanism, and has a rotary table that is rotated by a drive source such as a motor (not shown). Around the rotary table, a plurality of (in this case, 12) component carriers 72 are arranged at equal intervals (30 ° intervals) in the circumferential direction.

  In the article supply area F-IN, a lens section tray SL in which a plurality of lens sections LL are stocked and a drive section side tray SK in which a plurality of drive sections KK are stocked are arranged. The component supply device 79A sequentially takes out the lens unit LL and the driving unit KK from each tray and places them on the component carrier 72.

  Further, in the coating apparatus 70, a temporary assembly area AS and a coating area DS exist in the middle from a component supply area F-IN to a component temporary unloading area D-OUT to be described later. In the temporary assembly area AS, the lens unit LL and the drive unit KK are temporarily assembled. In the application region DS, the adhesive UJ is applied to the lens unit LL and / or the driving unit KK.

  In the present embodiment, the application device 70 and the positioning device 3 are interlocked. Therefore, on the way from the component supply area F-IN of the coating apparatus 70 to the article unloading area L-OUT, a component temporary unloading area D-OUT cooperating with the component supply area IN of the positioning apparatus 3 and an article of the positioning apparatus 3 There is an article temporary carry-in area D-IN that cooperates with the carry-out area OUT. Therefore, in the component temporary unloading area D-OUT, the lens unit LL and the driving unit KK are transferred by the component supply device 65 to the positioning device 3 side. Similarly, in the article temporary carry-in area D-IN, the lens driving module LM is transferred from the positioning device 3 to the coating device 70 by the component supply device 65.

  In the article carry-out area L-OUT, a collection tray OT for collecting the correctly assembled lens driving module LM and an error tray ET for collecting the incorrectly assembled lens driving module LM are arranged. The article unloading device 79B takes out the lens drive module LM from the component carrier 72 and distributes the lens drive module LM to the collection tray OT and the error tray ET.

  The positioning device 3 includes a plurality of position adjustment units 10, a component supply device 65 that supplies the lens unit LL and the driving unit KK to the position adjustment unit 10 in the component supply area IN, and a lens from the position adjustment unit 10 in the article unloading area OUT. An article unloading device (common to the component supply device 65) that unloads the drive module LM, and a transfer device 60 that moves the plurality of position adjustment units 10 so as to pass through the component supply area IN and the article unloading area OUT are provided. .

  The transfer device 60 is a so-called turret mechanism, and has a rotary table that is rotated by a drive source such as a motor (not shown). Around the rotary table, a plurality (eight in this case) of position adjustment units 10 are arranged at equal intervals (45 ° intervals) in the circumferential direction. Further, in the present embodiment, since the component supply area IN and the article unloading area OUT are at the same position, the transfer device 60 rotates the position adjustment units 10 by 360 ° so that the position adjustment units 10 The material is transferred from the area IN to the article unloading area OUT.

  A position adjustment area AA exists between the component supply area IN and the article unloading area OUT, and when the position adjustment unit 10 passes through the position adjustment area AA, the relative positioning of the lens unit LL and the drive unit KK is completed. .

  (Structure of coating device)

  Next, the structure of the coating device 70 will be described. As shown in FIG. 4, the component carrier 72 in the coating device 70 is mounted on a base 73, a housing 73 </ b> A for a lens unit, a housing 73 </ b> B for a driving unit formed on the base, and a housing 73 </ b> B for the driving unit. And a driving unit holding unit 76 for holding the driving unit KK to be placed.

  The lens section housing section 73A is a cylindrical housing space, and the bottom side is open. As shown in FIG. 5, in the assembly area AS, a lens portion holding portion 74 is arranged to be vertically movable and rotatable. The lens section holding section 74 is a suction nozzle, and enters the lens section housing section 73A of the base 73 temporarily stopped from the bottom side to form the bottom surface of the lens section housing section 73A. I do. Therefore, the lens unit holding unit 74 can hold the lens unit LL placed in the lens unit housing unit 73A from the bottom surface side, and can move the lens unit LL up and down and rotate with respect to the optical axis. .

  Returning to FIG. 4, the holding unit 76 for the driving unit can switch between holding and releasing the holding of the driving unit KK, and the holding unit 76 of the driving unit KK with the bottom surface (lower surface) for the lens unit LL opened. Hold. The driving unit holding unit 76 includes first and second arms 77A and 77B for holding the driving unit KK, an arm moving unit 77M that can change the relative position of the first and second arms 77A and 77B, and a driving unit. An output terminal 77U for supplying predetermined power to the unit KK, and a power controller (not shown) for outputting power under predetermined conditions from the output terminal 77U under the control of the controller 90.

  The arm moving unit 77M makes it possible to change the relative positions of the first and second arms 77A and 77B between the holding state and the holding release state of the driving unit KK. As shown in FIG. 4B, when the first and second arms 77A and 77B hold the driving unit KK, the output terminal 77U is electrically connected to the input terminal LN of the driving unit KK. In the present embodiment, an urging member 77T for urging the second arm 77B is further provided.

  The first arm 77A is formed with a concave portion 77D for accommodating a part of the driving portion KK, and is fixed to the base portion 77G. The second arm 77B is movable along a rail-shaped guide mechanism 77H provided on the base portion 77G, and is relatively movable toward and away from the first arm 77A. The arm moving section 77M is provided integrally with the base section 77G, and swings the cam 77J by a motor (not shown). By the lift operation of the cam 77J, the second arm 77B abutting on the cam 77J moves along the guide mechanism 77H. Note that the biasing member 77T is a tension spring, and the second arm 77B and the cam 77J are always in close contact with each other.

  Therefore, in a state where the second arm 77B is separated from the first arm 77A, the driving portion KK is positioned in the concave portion 77D of the first arm 77A, and then the cam 77J is swung to move the second arm 77B to the first arm 77A. Approach. As a result, while the output terminal 77U is in contact with the input terminal of the drive unit KK, the drive unit KK is pinched and positioned by the first arm 77A and the second arm 77B.

  In addition, it is preferable that the holding unit 76 for the driving unit includes an urging member (not shown) for urging the output terminal 77U. As the urging member, a known urging member such as a coil spring or a leaf spring can be used. According to the biasing member, when the first and second arms 77A and 77B hold the driving unit KK, the electrical connection between the output terminal 51U and the input terminal LN can be more reliably achieved.

  In this manner, when the adhesive UJ is applied in a state where the power is supplied to the driving unit KK and the driven unit MT2 is positioned at a predetermined position, the driven unit MT2 can be moved in the axial direction or the direction perpendicular to the axis. The position can be stabilized in advance, and the tip of the dispenser DP and the application location on the upper surface of the driven part MT2 are positioned with high precision, so that the application position and the application amount of the adhesive UJ can be controlled more accurately.

  (Inspection operation in pre-inspection area P-CK)

  The preliminary inspection region P-CK is located in common with or upstream of a coating region DS described later. In the preliminary inspection area P-CK, before applying the ultraviolet curable resin UJ to the driving section KK and the lens section LL, specifically, before and after performing temporary assembly in an assembly area AS described later, and before application, Power is supplied to the driving unit KK to determine whether the driving unit KK operates normally. This determination may be made by software on the controller side that supplies power to the drive unit KK, and the operation and posture of the driven unit MT2 (or the lens unit LL) are inspected from outside using a camera or a laser displacement meter. The determination may be made based on the following. When it is determined that the drive unit KK has failed, the application of the ultraviolet curable resin UJ in the application region DS is avoided. As a result, it is possible to recover the failed drive unit KK in a clean state and perform maintenance (reuse).

  Further, in the pre-inspection area P-CK, an imaging device serving as a visual inspection device is arranged, and the visual inspection of the lens unit LL and / or the driving unit KK is performed using the imaging device. For example, when the controller determines that the lens unit LL and / or the driving unit KK has a flaw or dust adhered based on an image captured by the imaging device, the ultraviolet curable property in the application area DS is determined. Avoid application of resin UJ itself. As a result, the lens unit LL and the drive unit KK in a state where the ultraviolet-curable resin UJ is not applied can be collected in a clean state, so that these components can be maintained (reused). In addition, since the appearance of the lens portion LL and the like can be inspected before applying the ultraviolet-curable resin UJ, whether the appearance abnormality is essentially present in the lens portion LL or the like or whether the ultraviolet-curable resin UJ Since it is possible to determine whether it is caused by the coating process (including the case where the resin UJ itself adheres to the lens), it is possible to take prompt measures against appearance abnormality.

  In addition, it is preferable that this preliminary inspection area P-CK is arranged in a process after an assembly area AS described later. In this way, it is possible to determine in advance whether the lens unit LL and the driving unit KK are defectively assembled (for example, misalignment). In this case, for example, it is desirable to install a visual inspection device (imaging device) below the assembled lens unit LL and the driving unit KK to detect the positional relationship between them.

  (Temporary assembly operation in assembly area AS)

  In the assembly area AS, as shown in FIG. 5A, first, the driving unit holding unit 76 is opened, and the lens unit holding unit 74 enters the lens unit housing 73A of the base 73. Let it. Next, the component supply device 79A places the lens unit LL on the lens unit accommodation unit 73A. After that, as shown in FIG. 5B, the driving unit KK is placed in the driving unit accommodation unit 73B above the lens unit LL. Thereafter, by closing the holding portion 76 for the driving unit, the driving unit KK is pinched and positioned with high accuracy, and power is supplied to the driving unit KK as necessary. By this power supply, there is an advantage that the attitude of the driven part MT2 is stabilized, and the collision with the lens part LL at the time of temporary assembly can be reduced.

  As shown in FIG. 5C, the lens unit holding unit 74 raises the lens unit LL while sucking and holding the lens unit LL, and moves the lens unit LL into the driven unit MT2 of the driving unit KK. As shown in FIG. 5 (D), it is rotated by 90 °. As a result, the pair of engaging protrusions TT formed on the outer peripheral surface of the lens barrel LT enter along the L-shaped holding groove MM, and the engaging protrusion TT and the holding groove MM are engaged. After that, as shown in FIG. 5E, the temporary assembling process is completed by retracting the lens unit holding portion 74 from the base 73 to the lower side. A driving mechanism (not shown) for vertically moving and rotating the lens unit holding section 74 may be arranged on the back side of the base 73 and may be configured to rotate together with the base 73. A structure in which the lens unit holding unit 74 is moved up and down and rotated from outside may be fixedly installed in the assembly area AS.

  Here, the structure in which the engagement protrusion TT of the lens portion LL is inserted into the holding groove MM of the driven portion MT2 and assembled is exemplified, but the present invention is not limited to this. The coupling structure between the lens unit LL and the driving unit KK is various. For example, a male screw is formed on the outer periphery of the lens unit LL, and a female screw is formed on the inner periphery of the driving unit KK. You may do it. In any case, the lens unit LL and the driven unit MT2 may be relatively moved in accordance with the coupling structure of the components.

  (Coating operation in coating area DS)

  As shown in FIGS. 6A and 6B, in the application area DS, the dispenser DP applies the ultraviolet curable resin UJ serving as an adhesive to a predetermined position that is a boundary between the lens barrel LT and the driven part MT2. I do. In the first application region DS1 in FIG. 3, the ultraviolet curable resin UJ is applied at one position (first position) in the circumferential direction of the lens barrel LT, and in the second application region DS2, UV curable resin UJ is applied to the second position having a phase difference of 90 ° with respect to the second position, and in the third application region DS3, the UV curable resin UJ is applied to the third position having a phase difference of 90 ° with respect to the second position. Is applied, and in the fourth application region DS4, the ultraviolet curable resin UJ is applied to a fourth position having a phase difference of 90 ° with respect to the third position. As a result, the ultraviolet curable resin UJ is applied to the four circumferential positions around the lens barrel LT (see FIG. 2). As described above, the adhesive UJ is applied in a state where power is supplied to the driving unit KK and the driven unit MT2 is accurately positioned at a predetermined position. it can. In particular, when the drive unit KK has a built-in camera shake correction mechanism using a spring wire or the like, and when power is not supplied to the drive unit KK, the driven unit MT2 swings due to a slight external vibration. , The coating position is easily shifted. Accordingly, by supplying power to the drive unit KK during application as in the case of the present application device 70, the vibration of the camera shake correction mechanism can be attenuated, and the displacement of the application position can be suppressed.

  Further, in the present embodiment, the four component carriers 72 are simultaneously stopped between the first application region DS1 to the fourth application region DS4 to perform the application operation simultaneously, so that the application efficiency is significantly improved. It is desirable to arrange the application confirmation area CK after the application area DS, and photograph the ultraviolet curable resin UJ with a camera arranged above to confirm whether or not the application is correct. This makes it possible to discharge defective products of the ultraviolet-curable resin UJ in advance, and to avoid assembling (irradiation of the ultraviolet light to the resin UJ) even if the components are temporarily guided to the positioning device. Collection and reuse of defective products can be facilitated. Further, the number of times of application and the order of application are not limited to this, and other procedures may be used.

  (Structure of positioning device)

  Next, the structure of the positioning device 3 will be described. As shown in FIG. 3, in the positioning device 3, the position adjustment unit 10 moved by the transfer device 60 moves from the upstream side to the downstream side in the component loading area IN, the lens measurement area NPU, the grip area GL, the first It passes through the position adjustment area AA1, the second position adjustment area AA2, the third position adjustment area AA3, the first curing area UV1, the second curing area UV2, and the article unloading area OUT. Since these areas are arranged at intervals of 45 °, the eight position adjustment units 10 are simultaneously stopped in any of these areas, and the processes in each area are performed simultaneously. In addition, the whole of the first position adjustment area AA1, the second position adjustment area AA2, and the third position adjustment area AA3 is defined as a position adjustment area AA, and the entirety of the first curing area UV1 and the second curing area UV2 is defined as the curing area UV. Is defined.

  As shown in FIGS. 7 and 8, the position adjustment unit 10 of the positioning device 3 includes a first holding unit 20 that holds the lens unit LL, and a second holding unit that is arranged on the base 5 and holds the driving unit KK. It has a portion 30 and a position adjusting mechanism 40 arranged on the base 5 to adjust the relative position between the first holding portion 20 and the second holding portion 30.

  (Detailed structure of the first holder)

  The first holding unit 20 is a so-called chuck mechanism, and connects the first arm 22 and the second arm 24 extending in the radial direction of the rotary table and the first arm 22 and the second arm 24 in the tangential direction of the rotary table or An arm moving unit (first opening / closing mechanism) 26 that opens and closes in the circumferential direction is provided. The arm moving unit 26 is a slide guide, and slides the first arm 22 and the second arm 24 in the horizontal direction so as to approach and separate from each other. The opening and closing method may employ another method such as turning.

  As shown in FIG. 12A, concave portions 22A and 24A having a partial arc shape for holding the lens portion LL are formed at the distal ends of the first arm 22 and the second arm 24. Therefore, the lens portion LL is stably held by bringing the concave portions 22A and 24A into contact with the outer peripheral surface of the lens barrel LT of the lens portion LL.

  Further, at the distal ends of the first arm 22 and the second arm 24, an adhesive escape portion 25A is formed. The adhesive escape portion 25A is a notch extending further outward in the radial direction from the concave portions 22A and 24A. As shown in FIG. 12B, when the lens portion LL is held by the first arm 22 and the second arm 24, when viewed from the optical axis direction of the lens portion LL, the lens escape portion 25 </ b> A allows the lens to move. Interference (covering state) between the ultraviolet curable resin (adhesive) UJ applied to a plurality of locations around the portion LL and each of the arms 22 and 24 is avoided. Here, the case where the adhesive escape portion 25A is formed by the notch is illustrated, but a space (for example, a gap) in which the first arm 22 and the second arm 24 do not exist is used as the adhesive escape portion 25A. Can also. Specifically, a structure is adopted in which four arms whose phases are different from the application position of the ultraviolet-curable resin UJ in the circumferential direction are approached radially inward, and the lens portion LL is held by the tip of each arm. May be.

  Further, in the present embodiment, relief portions 25 </ b> B for pressing projections are formed at the distal ends of the first arm 22 and the second arm 24. In addition, the relief portion 25 </ b> B for the press projection uses a gap formed between the first arm 22 and the second arm 24, that is, a space where no arm exists. As shown in FIG. 12 (C), interference between the pressing protrusion 37B (described in detail later) and each of the arms 22 and 24 when viewed from the optical axis direction of the lens portion LL is caused by the pressing protrusion relief portion 25B. Be avoided.

  As shown in FIG. 13, a portion of the first holding unit 20 that holds the lens unit LL is formed of an extremely thin member when viewed from the horizontal direction. With this configuration, when the lens unit LL is held, the first holding unit 20 does not project from the upper end surface of the lens unit LL, or even if it does, the projection amount is limited to 5 mm or less. Thus, the pressing protrusion 37B (details will be described later) can be made compact, so that it can be efficiently irradiated with ultraviolet rays and cured (see FIG. 13D).

  (Detailed structure of the second holding part)

  As shown in FIG. 8, the second holding unit 30 presses the drive source side holding unit 31 that holds the housing QT side or the drive source MT1 side of the drive unit KK and the end face in the optical axis direction of the driven unit MT2. And a pressing portion 36 for defining the position of the driven portion MT2 in the optical axis direction.

  As shown in FIG. 9, the drive source side holding unit 31 is a so-called chuck mechanism, and includes a first arm 32 and a second arm 34 that are movable in a tangential direction of the rotary table, and a first arm 32 and a second arm 32. An arm moving unit (second opening / closing mechanism) 33 that opens and closes the arm 34 is provided. The arm moving section 33 is a slide guide, and slides the first arm 32 and the second arm 34 in the horizontal direction so as to approach and separate from each other.

  At the distal ends of the first arm 32 and the second arm 34, rectangular recesses 32A and 34A for holding the driving unit KK are formed. Accordingly, the concave portions 32A and 34A are brought into contact with the outer peripheral surface of the housing QT of the driving unit KK, whereby the driving source MT1 side of the driving unit KK is held. Further, at least one of the first arm 32 and the second arm 34 has an output terminal 35 for supplying a predetermined power to the drive unit KK, and a power under a predetermined condition under the control of the controller 90 from the output terminal 35. A power controller (not shown) for outputting.

  The pressing portion 36 presses the end surface of the driven portion MT2 in the optical axis direction, and an advance / retreat mechanism 38 for moving the pressing body 37 in the horizontal direction (radial direction of the rotary table) to advance and retreat above the driving portion KK. And a vertical movement mechanism 39 for moving the pressing body 37 in the optical axis direction.

  As shown in FIG. 13, the pressing body 37 has a mortar-shaped opening 37 </ b> A having a wide upper edge and a narrower lower edge, and is connected to the lower edge of the opening 37 </ b> A to be further lower. And has a plurality of rod-shaped pressing projections 37B protruding therefrom. In the present embodiment, two pressing projections 37B are formed with a phase difference of 180 ° (see FIG. 12). As shown in FIGS. 13 (A) and 13 (B), the advance / retreat mechanism 38 causes the pressing body 37 to advance / retreat in the radial direction of the rotary table to cause the opening 37A and the pressing projection 37B to enter above the driving unit KK. , From the upper part of the driving unit KK. As shown in FIGS. 13B and 13C, the vertical movement mechanism 39 vertically moves the pressing body 37 located above the driving unit KK so as to approach / separate from the driving unit KK. As shown in FIG. 14B, when the pressing body 37 approaches the driving unit KK, the lower end (protruding end) of the pressing projection 37B comes into contact with the upper end of the driven unit MT2, and the driven unit MT2 is moved to the infinite end (INF end). ). The pressing protrusions 37B pressing the driven portion MT2 do not interfere with each other because they are located in the pressing protrusion escape portions 25B of the first holding portion 20.

    (Detailed structure of position adjustment mechanism)

  Returning to FIGS. 7 and 8, the position adjustment mechanism 40 supports the first holding unit 20 and can individually adjust the position and posture of the first holding unit 20, and is fixed to the base 5. X shift mechanism 40XS, Y shift mechanism 40YS fixed to the slide member of X shift mechanism 40XS, Z shift mechanism 40ZS fixed to the slide member of Y shift mechanism 40YS, and sliding of Z shift mechanism 40ZS. A Y tilt mechanism 40YT fixed to the member, a Z tilt mechanism 40ZT fixed to the tilt table of the Y tilt mechanism 40YT, and an X tilt mechanism (rotation mechanism) 40XT fixed to the tilt table of the Z tilt mechanism 40ZT. Have. The first holding unit 20 is installed on a tilt table of the X tilt mechanism 40XT. It should be noted that the X, Y, and Z axes that are the centers of rotation of the tilt are set substantially at the center of the lens unit LL.

  Therefore, the position adjusting mechanism 40 has X, Y, and Z shift mechanisms 40XS, 40YS, and 40ZS stacked along the Z-axis direction, and further, the X, Y, and Z tilt mechanisms 40XT extending radially outward of the rotary table. , 40YT, and 40ZT. Note that these Y and Z tilt mechanisms 40YT and 40ZT are so-called gonio stages.

  Although not particularly shown, the drive mechanism of the X shift mechanism 40XS includes an elastic member (for example, a spring or rubber) that connects the base side and the slide member and urges the slide member to one side, and an urging member of the elastic member. And a drive source (for example, a servomotor or a solenoid) that moves the slide member by a cam or the like against the movement of the slide member. This structure is similarly applied to the Y and Z shift mechanisms 40YS and 40ZS.

  Although not particularly shown, the drive structure of the X tilt mechanism 40XT includes an elastic member (for example, a spring or rubber) that connects the base side and the tilt table to swing the tilt table to one side, and biases the elastic member. And a drive source (for example, a servo motor or a solenoid) that swings the tilt table to the opposite side by a cam or the like in opposition to the above. This structure is similarly applied to the Y and Z tilt mechanisms 40YT and 40ZT. As described above, when the elastic member, the cam, and the like are combined as the driving structure, the position adjusting mechanism 40 corresponding to six axes can be driven with a very compact configuration as a whole.

  According to the position adjusting mechanism 40 of the present embodiment, since the Y and Z tilt mechanisms 40YT and 40ZT approach the first holding unit 20, it is possible to reduce the tilt radii RY and RZ. Can be reduced.

  (Operation of positioning device)

  Next, an operation in each region of the positioning device 3 shown in FIG. 3 will be described.

  Parts loading area IN: As shown in FIGS. 9A to 9C, the coating unit 70 supplies the lens unit LL and the driving unit KK to the position adjustment unit 10. Here, the driving unit KK is held by the second holding unit 30. In the coating device 70 on the upstream side, the lens unit LL and the driving unit KK are combined with each other, and a predetermined position of the lens unit LL and the driving unit KK is coated with the ultraviolet curable resin UJ in advance. Here, an example in which the lens unit LL and the driving unit KK are supplied in a combined state is shown. However, the lens unit LL and the driving unit KK are separately supplied, and the adhesive is applied on the turntable. May be. Of course, as shown in the present embodiment, the whole including the coating device 70 can be defined as a positioning device.

  Lens measurement area NPU: Above the lens measurement area NPU, a laser displacement meter (distance measuring device) (not shown) is arranged, and measures the height of the top surface of the lens element LX of the lens unit LL. Here, the distance measuring device estimates the actual height of the top surface by measuring the height at four locations around the virtual optical axis. The information on the top surface height is used in the vacuum process in the grip area GL.

  Grip area GL: The lens part LL is held by the first holding part 20. At this time, as shown in FIG. 11A, the top surface of the lens element LX of the lens unit LL is sucked by the vacuum chuck BC in which the grip area GL is arranged, and is held as shown in FIG. After the lens portion LL is raised to a predetermined grip height within a range allowed by the groove MM, the lens portion LL is held by the first holding portion 20 as shown in FIG. 11C (FIG. 12A). (B)). After the first holding unit 20 holds the lens unit LL, the negative pressure of the vacuum chuck BC is released and the unit is retracted upward (see FIG. 14A).

  After that, in the grip area GL, power is supplied to the driving unit KK via the driving source side holding unit 31 to drive the VCM, and while the VCM is driven, FIGS. 10B, 13A, 13B, and 14B. As shown in (2), the driven part (lens carrier) MT2 is pushed to the innermost position (to the INF end) by the pressing body 37 of the pressing part. That is, the driven unit MT2 is set to the innermost stop position in the VCM ON state. The pressing operation by the pressing unit and the power supply to the driving unit KK are continued to a fixed area UV described later.

  First position adjustment area AA1: Adjusts the relative angle of each reference axis of lens unit LL and drive unit KK (this is referred to as tilt adjustment). Specifically, as shown in FIGS. 7 and 13C, an optical axis adjustment device (chart device) W is arranged above the first position adjustment area AA1, and the reference image sensor MC is arranged below the first position adjustment region AA1. Is arranged to be able to move up and down. When the lens unit LL and the driving unit KK are inserted between the optical axis adjusting device W and the reference image sensor MC, the reference image sensor MC rises and approaches the lens unit LL. Next, a chart image of the optical axis adjustment device W is captured by the reference image sensor MC via the lens unit LL. As shown in FIG. 14C, using the imaging result (imaging information), the position adjustment mechanism 40 controls the tilt of the first holding unit 20 to adjust the reference axes of the lens unit LL and the driving unit KK. Be parallel to each other. After the adjustment, the reference image sensor MC is lowered.

  Second position adjustment area AA2: Adjusts the relative position in the sliding direction (XY plane direction) perpendicular to the approaching or separating direction (Z-axis direction) of the lens unit LL and the driving unit KK (this is X- Y adjustment). Specifically, a camera (not shown) is arranged above the second position adjustment area AA2, and the lens unit LL and the driving unit KK are simultaneously photographed from above, and the images are analyzed, whereby the lens unit is analyzed. The shift of the LL and the driving unit KK in the XY plane direction is calculated. Using this calculation information, as shown in FIG. 14 (D), the position adjusting mechanism 40 controls the first holding unit 20 to slide in the XY plane, and moves the X-axis of the lens unit LL and the driving unit KK. Adjust the relative position in the Y plane direction.

  Third position adjustment area AA3: Adjusts the relative position of the lens unit LL and the drive unit KK in the perspective direction (Z-axis direction) (this is referred to as focus adjustment). Specifically, as shown in FIGS. 7 and 13C, an optical axis adjustment device (chart device) W is arranged above the third position adjustment area AA3, and the reference image sensor MC is arranged below the third position adjustment region AA3. Is arranged to be able to move up and down. When the lens unit LL and the driving unit KK are inserted between the optical axis adjusting device W and the reference image sensor MC, the reference image sensor MC rises and approaches the lens unit LL. Next, a chart image of the optical axis adjustment device W is captured by the reference image sensor MC via the lens unit LL. As shown in FIG. 14E, using this imaging result (imaging information), the position adjustment mechanism 40 controls the first holding unit 20 in the Z-axis direction, and moves the lens unit up to the position where the lens is just focused. Adjust the distance between LL and the drive unit KK. At this time, the tilt adjustment and the XY adjustment are also finely adjusted as necessary. After the adjustment, the reference image sensor MC is lowered.

  Fixed region UV (first curing region UV1 and first curing region UV2): As shown in FIGS. 10C, 12C, 13D, and 14F, the ultraviolet irradiation device U Ultraviolet rays are irradiated from four directions to cure the ultraviolet curable resin UJ applied to four places between the lens unit LL and the driving unit KK. For example, irradiation is performed, for example, for 5 seconds in each of the first curing region UV1 and the first curing region UV2. As a result, the lens unit LL and the driven unit MT2 of the driving unit KK are fixed to each other. After curing, the power supply to the VCM is turned off, and the pushing of the driven portion (lens carrier) MT2 by the pressing portion 36 is released. The opening operation after curing may be performed while the rotary table is rotating. When it is determined in the application device 70 that the application of the ultraviolet-curable resin UJ is defective, it is preferable to stop (avoid) ultraviolet irradiation only for the component. By doing so, the lens unit LL and the driving unit KK can be collected without being fixed, so that the reuse of defective products can be facilitated.

  Article unloading area OUT: The completed lens drive module LM is unloaded to the coating device 70 side. Although not shown here, a step of securing an air blow area downstream of the fixed area UV and blowing air to the lens drive module LM to disperse dust adhered to the lens unit LL and the like is included. Is preferred. Further, a step of taking an image of the lens unit LL by a camera or the like at any place (preferably in the article unloading area OUT) in all the steps and inspecting whether or not dust is attached to the lens unit LL may be included. preferable.

  (Details of position adjustment area AA)

  The optical axis adjustment device (chart device) W provides a test chart imaged through the lens unit LL using the reference image sensor MC inserted below the lens unit LL. The controller 90 performs image analysis on the photographed image of the test chart, and can calculate deviation amounts (tilt error, XY error, focus error) between various optical axes of the lens unit LL and the reference image sensor MC. Further, the optical axis adjustment device W outputs a correction condition of the position adjustment unit 10 from the calculated shift amount. Here, the correction condition is for adjusting the optical axis of the lens unit LL and the reference image sensor MC, and specifically, the moving direction in the X direction, the Y direction, the Z direction, the moving amount thereof, and the like. , X-axis, Y-axis, and Z-axis, and their swing angles.

  In the present embodiment, the relative positional relationship between the reference imaging device MC and the driving unit KK is determined by the transfer device 80, the second holding unit 30 of the position adjustment unit 10, the vertical movement unit of the reference imaging device MC, and the optical axis adjustment device W. Has been adjusted with high precision in advance by the mechanical setting of. Therefore, if the relative position of the lens unit LL is controlled with high accuracy based on the reference image sensor MC, the relative position of the lens unit LL and the driving unit KK is adjusted.

  FIG. 15A shows an example of the test chart F. On the test chart F, a striped pattern F1 is drawn. In an image obtained by capturing the striped pattern F1, for example, when the focus matches, the contrast of the image (the difference between black and white in the output signal) increases, and when the focus does not match (the image is blurred), the contrast increases. Becomes smaller. The test chart F has a cross pattern F2 for determining the center thereof. Thereby, the plate center F3 can be determined. Further, the rotation angle around the Z axis can be determined based on the angle of the striped pattern F1 or the cross pattern F2.

  FIG. 15B schematically shows a state in which the test chart F is photographed by the reference image sensor MC. A data area (frame) photographed by the reference image sensor MC is defined as G, and a frame center E of the data area G is defined. Are defined as peripheral pixels A to D. The correction condition calculation device calculates errors Gxs and Gys in the XY direction between the frame center E and the plate center F3 projected in the data area G. Further, an error Gzt around the Z axis is calculated from the difference between the crossing pattern F2 projected in the data area G and the frame reference lines KX and KY in the X and Y directions of the data area G. These errors Gxs, Gys, and Gzt are correction conditions for X shift, Y shift, and Z tilt (rotation around the Z axis) for adjusting the center of the lens unit LL to the center of the chart unit 61.

  Here, the errors Gxs and Gys in the XY direction between the frame center E and the plate center F3 projected in the data area G are set as the X shift and Y shift correction conditions, but the present invention is not limited to this. Not done. For example, the center of the lens portion LL is the brightest position in the image of the reference image sensor MC, and gradually becomes darker in a ring shape as it spreads around. Therefore, by analyzing an image captured by the reference image sensor MC, the brightest area in the data area G is determined as the center (lens center) FM of the lens unit LL, and the lens center FM and the data area G are determined. It is also preferable to set the errors Gxs and Gys in the X direction and the Y direction with respect to the frame center E as correction conditions for the X shift and the Y shift. This method is effective when the lens center of the lens unit LL does not coincide with the center of the pattern plate F for focus determination.

  When performing X / Y tilt adjustment or focus adjustment or performing the reference imaging of the test chart F at a plurality of positions in the Z-axis direction while the lens unit LL is raised (moved in the positive direction) by the position adjustment unit 10 in the Z-axis direction. An image is taken with the element MC. The correction condition calculating device calculates a grayscale difference value (brightness / darkness difference value) BW in the peripheral pixels A to D, and calculates a tilt error from an output variation of the grayscale difference value BW along the movement in the Z direction. Specifically, as shown in FIGS. 16A to 16D, for each of the peripheral pixels A to D, the peak point of the gray-scale difference value (light-dark difference value) BW accompanying the movement in the Z direction (this is the best point). The focus position (referred to as focus) ZA, ZB, ZC, and ZD are determined. When the timing of the best focus, that is, the Z-direction focus positions ZA, ZB, ZC, and ZD are shifted from each other in each of the peripheral pixels A to D, the angle between the optical axis of the reference imaging element MC and the optical axis of the lens unit LL Since it can be defined that there is a difference, the lens unit LL is tilt-controlled around the Y-axis and the X-axis so that the focus position in the Z direction almost coincides in all the peripheral pixels A to D.

  For example, as shown in FIG. 16E, the analysis is performed on the pixels A and B having the actual distance Xab in the X-axis direction, and as shown in FIGS. It is assumed that the actual distance Zab (= ZA-ZB) in the Z-axis direction as the difference between the two is calculated. By calculating the inclination angle of the hypotenuse of the right triangle with these two actual distances Xab and Zab as the adjacent sides by the relational expression of FIG. 16F, the inclination deviation amount Gyt of the optical axis around the Y axis can be determined. Similarly, as shown in FIG. 16E, the analysis is performed on the pixels A and C having the actual distance Yac in the Y-axis direction, and as shown in FIGS. It is assumed that the actual distance Zac (= ZA-ZC) in the Z-axis direction as the position difference is calculated. Furthermore, the inclination Gxt of the optical axis around the X axis is determined by calculating the inclination angle of the hypotenuse of a right-angled triangle having these two actual distances Yac and Zac as adjacent sides by the relational expression of FIG. it can. These tilt shift amounts Gyt and Gxt are the correction conditions for the Y tilt and the X tilt.

  Here, the case where the X tilt and Y tilt correction conditions are calculated using the Z direction focus positions ZA, ZB, and ZC of the three pixels A to C has been exemplified. That is, when calculating the X tilt and the Y tilt, it is possible to use at least three peripheral pixels A to C constituting the vertices of a triangle. On the other hand, the calculation can be performed using four pixels A to D or more pixels. For example, as shown in FIG. 16E, the average value (ZA + ZC) / 2 of the Z direction positions of the pixels A and C existing at the same position in the X direction, and the pixel B existing at the same position in the X direction. Using the average value (ZB + ZD) / 2 of the pixels D, the amount of tilt shift around the Y axis (the correction condition of the Y tilt) may be calculated. The same applies to the case of calculating the amount of tilt shift about the X axis.

  Further, the average value of the Z-direction focus positions of the peripheral pixels A to D becomes the final setting condition Gzt of the Z shift. Note that the Z shift is an axis on which a search operation is performed to calculate another correction value. Therefore, the Z shift is not a concept of a correction condition but a final setting condition.

  As a result, the correction conditions for the X shift, the Y shift, the Z shift, the X tilt, the Y tilt, and the Z tilt (the setting conditions for the Z shift) can be output by calculating the correction conditions using the optical axis adjustment device W. it can. Here, when determining the correction conditions of the X tilt and the Y tilt, a case where the difference is calculated geometrically between a plurality of pixels by a trigonometric function using a difference in a focus position in the Z direction and a distance between pixels is exemplified. However, it goes without saying that the present invention is not limited to this method.

  <Pre-setting of reference image sensor>

  Before operating the positioning device 3, the shift calibration condition and the tilt calibration condition of the reference image sensor MC are calculated through image analysis of the captured image of the test chart by the reference image sensor MC. Here, the shift calibration condition of the position adjustment unit 10 is to make the optical axis of the test chart coincide with the optical axis of the reference image sensor MC on a predetermined plane. For example, when the optical axis of the test chart is coincident with the optical axis of the reference image sensor MC on the XY plane, the shift calibration conditions include the X-direction calibration conditions Gxs, Y This is the shift calibration condition Gys. Further, the tilt calibration condition is to match the XY axis of the reference image sensor MC with the XY axis of the test chart, and is a Z tilt calibration condition Gzt that is a rotation direction and a rotation amount around the X axis. .

  The controller 90 calculates shift calibration conditions and tilt calibration conditions. In response to this result, the fixed position of the reference image sensor MC is manually adjusted. Specifically, the shift adjustment is performed in the X direction and the Y direction so that the optical axis of the test chart coincides with the optical axis of the reference image sensor MC on a predetermined plane (for example, the XY plane). Similarly, the tilt is adjusted in the Z direction so that the XY axes of the reference image sensor MC and the XY axes of the test chart coincide with each other. Thus, the X shift adjustment, the Y shift adjustment, and the Z tilt adjustment in the pre-setting stage are completed.

  <Detailed control in first position adjustment area AA1>

  In the first position adjustment area AA1, a test chart for adjusting X tilt, Y tilt, and Z shift is photographed using the optical axis adjustment device W. In this case, as shown in FIG. 16A, the test chart is photographed at a plurality of positions in the Z direction while moving the first holding unit 20 in the Z direction. The controller 90 calculates a tilt correction condition of the position adjustment unit 10 based on the image analysis on the photographing result. The tilt correction condition is a condition for adjusting the attitude of the first holding unit 20 so that the optical axis of the lens unit LL and the optical axis of the reference image sensor MC are coaxial, and the tilt radius RX described above is used. , RY. The tilt correction conditions of the position adjustment unit 10 are, for example, an X tilt correction condition Gxt and a Y tilt correction condition Gyt that are a swing direction and a swing amount around the X axis to the Y axis, and the Z shift correction condition is Z The Z-shift correction condition Gzs, which is the moving direction of the direction and the moving amount. Note that the Z shift correction condition Gzs is a value used only at the time of final positioning of the reference image sensor MC (final stage), and thus need not be used here. The controller 90 controls the position adjustment unit 10 according to the tilt correction condition.

  After the tilt adjustment of the first holding unit 20 is completed, the controller 90 captures an image of the test chart using the optical axis adjustment device W, and calculates the tilt correction condition again as described above.

  After calculating the tilt correction condition, the controller 90 determines whether or not the second tilt correction condition is within an allowable range by a built-in determination unit. That is, it is determined whether or not the X tilt correction amount Gxt and the Y tilt correction amount Gyt (in other words, the shift amount of the optical axis between the lens unit LL and the reference image sensor MC) is within an allowable range. For this determination, the correction amount Gxt and the Y tilt correction amount Gyt may be used, but it is also possible to make a determination based on the deviation amounts of the Z-direction focus positions ZA to ZD described above.

  If it is determined that the second tilt correction condition is within the allowable range of light irradiation, the tilt adjustment of the first holding unit 20 is not performed according to the second tilt correction condition, and the second position adjustment area is not adjusted. Move to AA2. On the other hand, if it is out of the allowable range, the tilt adjustment is performed based on the tilt correction condition, and then the above steps are repeated. That is, (1) execution of predetermined judgment processing and setting processing relating to the recalculated tilt correction conditions, (2) tilt adjustment of the first holding unit 20 reflecting the results of the judgment processing and setting processing, and (3) tilt correction Recalculation of the condition is repeatedly performed.

  <Detailed control in the second position adjustment area AA2>

  Here, centering of the lens unit LL is performed by a camera arranged above. Since the tilt control of the lens unit LL has been completed in the first position adjustment area AA1, accurate centering can be performed since the inclination of the optical axis of the lens unit LL is reduced. If the lens unit LL is inclined with respect to the optical axis of the camera, the imaging result becomes an elliptical shape, and accurate centering becomes difficult.

  <Detailed control in the third position adjustment area AA3>

  Here, a test chart for adjusting the preliminary X tilt and Y tilt and the Z shift is photographed using the optical axis adjusting device W. In this case, as shown in FIG. 16A, the test chart is photographed at a plurality of positions in the Z direction while moving the first holding unit 20 in the Z direction. The controller 90 calculates a tilt correction condition and a Z shift correction condition (focus condition) of the position adjustment unit 10 based on the image analysis of the photographing result. However, since the tilt correction condition has already been adjusted in the first position adjustment area AA1, it will most likely fall within the determination threshold.

  Therefore, in the third position adjustment area AA3, the focus of the position adjustment unit 10 is controlled according to the Z shift correction condition Gzs.

  After the focus adjustment of the first holding unit 20 is completed, the controller 90 again takes an image of the test chart using the optical axis adjustment device W, and performs the same calculation of the Z shift correction condition and the tilt correction condition as described above. .

  After calculating the Z shift correction condition, the controller 90 determines whether or not the second Z shift correction condition is within an allowable range by a built-in determination unit. That is, it is determined whether the Z shift correction amount is within the allowable range. If it is determined that the second and subsequent Z shift correction conditions are within the allowable range of light irradiation, the Z-shift adjustment of the first holding unit 20 according to the second Z shift correction condition is performed, and positioning is performed. And move to the fixed area UV. On the other hand, when the Z shift correction condition is out of the allowable range, in order to repeat the above process, focus control based on the Z shift correction condition is performed, and then the test chart is photographed again. That is, (1) execution of predetermined judgment processing and setting processing relating to the recalculated Z shift correction condition, (2) Z shift adjustment of the first holding unit 20 reflecting the results of the judgment processing and setting processing, and (3). The recalculation of the Z shift correction condition is repeatedly performed.

  FIG. 17 shows a view in which the Z-direction focus positions of the peripheral pixels A to D analyzed by the controller 90 in the first position adjustment area AA1 are displayed in an overlapping manner. 17A shows a state after the first tilt correction, FIG. 17B shows a state after the second tilt correction, and FIG. 17C shows a state after the third tilt correction. In the first time, the Z-direction focus positions ZA to ZD are largely shifted, but in the second time, the Z-direction focus positions ZA to ZD rapidly approach. In the third time, the Z-direction focus positions ZA to ZD almost coincide. At the third time, since the shift amount of the Z-direction focus positions ZA to ZD falls within the range of the predetermined range AP, the process shifts to <second position adjustment area AA2>. Note that, as can be seen from FIG. 17, in the first position adjustment area AA1, the search range Zsr for imaging while moving the reference imaging element MC in the Z direction needs to be set wide for the first time, but the second time. After the first time, it is preferable to set the average value and the center of the Z-direction focus positions ZA to ZD to be narrow, so that the imaging time can be shortened.

  As described above, according to the article assembling apparatus 1 of the present embodiment, the plurality of position adjustment units 10 move together with the lens unit LL and the driving unit KK from the component supply area IN to the article unloading area OUT. In the position adjustment area AA during that time, since each position adjustment unit 10 completes the relative positioning of the lens unit LL and the drive unit KK, it is possible to dramatically improve the assembly efficiency. In particular, since the path (assembly path) through which each component to be assembled passes can be unified, if a trouble occurs on the assembly path, it is possible to quickly identify the cause. In the case where the lens unit LL and the driving unit KK are respectively supplied to the plurality of position adjustment units 10 that are fixed and arranged to perform relative positioning individually as in the related art, a path through which each component is transferred is: Since it branches into a plurality of position adjustment units 10, it takes a long time to identify where the cause is when an assembly trouble occurs.

  Further, the position adjustment area AA of the article assembling apparatus 1 has a plurality of position adjustment areas (first position adjustment area AA1, second position adjustment area AA2, and third position adjustment area AA3). The unit 10 passes through the first position adjustment area AA1, the second position adjustment area AA2, and the third position adjustment area AA3 in order, and can adjust the relative position little by little (divided). Thus, the time for adjusting the position of each of the first position adjustment area AA1, the second position adjustment area AA2, and the third position adjustment area AA3 can be shortened, so that the time during which the transfer device 60 stops uselessly can be reduced. For example, the respective position adjustment times of the first position adjustment area AA1, the second position adjustment area AA2, and the third position adjustment area AA3 are made closer to the component carry-in time of the component supply area IN or the component carry-out time of the article discharge area OUT. As a result, the assembly efficiency is greatly improved.

  Further, in the article assembling apparatus 1, the focus adjustment (approach / separation direction), the XY adjustment (slide direction), and the tilt adjustment (tilt direction) are simultaneously performed by the three position adjustment areas AA1, AA2, and AA3. And since it can be performed separately, the position control of each position adjustment area AA1, AA2, AA3 can be simplified. In particular, by completing the tilt adjustment that can affect the focus adjustment and the XY adjustment in the first first position adjustment area AA1, the subsequent focus adjustment (approach / separation direction) and XY adjustment (slide direction) ) Is further simplified. For example, if the tilt adjustment is to be performed last (for example, the third position adjustment area AA3), it is necessary to perform XY adjustment and focus adjustment again by the tilt adjustment, so that the adjustment time tends to be long.

  In the first position adjustment area AA1 and the third position adjustment area AA3, the reference image pickup device MC is vertically arranged so as to be vertically movable (approachable to and away from the lens unit LL), and upwardly to adjust the optical axis. A device (chart device) W is arranged. As a result, the position and orientation of the lens unit LL can be detected with high accuracy by capturing the chart image with the reference image sensor MC via the lens unit LL.

  Furthermore, since the article assembling apparatus 1 has the fixed area UV (first curing area UV1 and first curing area UV2) on the downstream side of the position adjustment area AA, the lens unit LL and the driving unit KK whose position adjustment has been completed. Can be fixed to each other. At this time, on the position adjustment unit 10 that stops at the first curing region UV1 and the first curing region UV2, the time during which the adhesive is cured by the ultraviolet irradiation device and the relative position in the position adjustment region AA are adjusted. Since the time can be made to progress simultaneously, no wasted time is eliminated, and the assembling efficiency can be improved. In particular, when the irradiation time of the ultraviolet ray is long, as in the present embodiment, by dividing into the first curing region UV1 and the first curing region UV2, the irradiation time of each region can be reduced by half, so that the assembling efficiency is reduced. Can be further enhanced.

  In the article assembling apparatus 1, the transfer device 60 has a rotary table structure, and the modularized position adjustment units 10 based on the base 5 are installed at equal intervals in the circumferential direction of the rotary table. . Therefore, in the manufacturing stage of the article assembling apparatus 1, an accuracy test and an operation test can be performed in advance for each position adjustment unit 10. Also, when setting up the article assembling apparatus 1 at a site such as an assembly factory, if the base 5 of the position adjustment unit 10 is fixed on the rotating table (adjusted), the installation work can be completed in a short time. Can be done. When the article assembling apparatus 1 breaks down, maintenance becomes easy.

  In the article assembling apparatus 1, since the adhesive escape portions 25A are formed on the arms 22 and 24 of the first holding unit 20 that holds the lens unit LL, ultraviolet curing for fixing the lens unit LL and the driving unit KK is performed. Ultraviolet rays can be applied to the conductive resin (adhesive) UJ via the adhesive escape portion 25A. As a result, the positioning of the lens unit LL by the position adjustment mechanism 40 and the subsequent irradiation of ultraviolet rays can be continuous, so that the assembling accuracy can be improved.

  Further, in the article assembling apparatus 1, the second holding unit 30 includes the pressing unit 36 that regulates the position of the driven unit MT2 in the optical axis direction in the driving unit KK. Therefore, when the lens unit LL and the driven unit MT2 are fixed to each other, the relative position between them can be adjusted with high accuracy. At this time, the relief portions 25B for the pressing protrusions are formed on the arms 22 and 24 of the first holding portion 20, so that interference between the pressing protrusions 37B of the pressing portion 36 and the arms 22 and 24 is avoided. As a result, the relative position between the driven part MT2 and the lens part LL can be adjusted while positioning the driven part MT2. Further, the second holding unit 30 is provided with the output terminal 35 and can supply power to the driving unit KK, so that the reference position of the driven unit MT2 by the pressing unit 36 can be adjusted with higher accuracy.

  Further, the article assembling apparatus 1 has a coating device 70 upstream of the positioning device 3. Therefore, after temporarily assembling the lens unit LL and the driving unit KK and applying the ultraviolet curable resin UJ between them, the lens unit LL and the driving unit KK can be collectively carried into the positioning device 3. Since the application step, the position adjustment step, and the fixing (adhesive curing) step can be continued, it is possible to reduce the time during which the parts are left unfixed after applying the UV-curable resin UJ (adhesive).

  Further, in the coating device 70, the provisional assembly area AS and the application area DS are arranged in the movement path of the component carrier 72, so that the provisional assembly process of the lens unit LL and the driving unit KK and the ultraviolet curable resin (adhesive ) The UJ coating process can be performed simultaneously, and the coating efficiency can be increased. Further, the application region DS is divided into a first application region DS1 to a fourth application region DS4, and four application processes can be performed simultaneously. When the application position is three, the application area DS may be divided into three parts. In addition, if the dispenser DP and the component can be relatively moved, a plurality of parts can be provided in one application area DS. UV curable resin (adhesive) UJ may be applied to the location.

  In addition, in the article assembling apparatus 1 of the first embodiment, the case where the positioning device 3 and the application device 70 are configured by separate rotary tables has been exemplified, but the present invention is not limited to this. For example, as shown in FIG. 18, in the single transfer device 60, the provisional assembly area AS, the application area DS, the position adjustment area AA, the fixed area UV, and the like are collectively obtained by increasing the number of arrangements of the position adjustment units 10. They can also be placed. On the other hand, the article assembling apparatus of the present invention is not limited to the case where the coating apparatus 70 is integrated, but as in the article assembling apparatus 1 shown in FIG. May be supplied by the tray TT, and the positioning device 3 may perform position adjustment or the like and collect the same.

  Next, an article assembling apparatus 100 according to a second embodiment of the present invention will be described with reference to FIG. The same or similar mechanisms, members, components, areas, and the like as those of the article assembling apparatus 1 described in the first embodiment are omitted from the description by matching the reference numerals in the drawings and the text, and The following description focuses on differences from the embodiment.

  The article assembled by the article assembling apparatus 100 is the optical module KM shown in FIG. The optical module KM includes the lens drive module LM described with reference to FIGS. 1 and 2 and the image sensor SS that receives an image via the lens unit LL. In the present embodiment, the image sensor SS is defined as a first component that performs position adjustment by a position adjusting mechanism, the lens drive module LM is defined as a second component, and the image sensor SS and the lens drive module LM are Joined by resin (adhesive) UJ.

  As shown in FIG. 21, the article assembling apparatus 100 includes a plurality of position adjustment units 10 and, in the first component supply area F1-IN, the image pickup device SS serving as the first component from the element tray FT to the position adjustment unit 10. In the first component supply device 82 to be supplied and the component supply region F2-IN located in the middle of the movement path of the position adjustment unit 10, the second component supply lens drive module LM from the tray to the position adjustment unit 10 is supplied. A two-component supply device 83, an article unloading device 84 that unloads the optical module KM from the position adjustment unit 10 in the article unloading area L-OUT and sorts the optical module KM into a collection tray and an error tray ET, and a first component supply area F-IN The plurality of position adjustment units 10 are passed through the second component supply area F2-IN and the article unloading area L-OUT. It includes a transfer device 60 for moving the.

  The transfer device 60 is a so-called turret mechanism, and has a rotary table that is rotated by a drive source such as a motor (not shown). Around the rotary table, a plurality of (here, eight) position adjustment units 10 are arranged at equal intervals (here, 20 ° intervals) in the circumferential direction.

  An application area DS is provided between the first component supply area F1-IN and the second component supply area F2-IN. In this application region DS, ultraviolet curable resin (adhesive) UJ is sequentially applied to four places around the imaging element SS (see FIGS. 23A and 23B). During this time, since the lens drive module LM does not exist, the dispenser can easily apply the liquid.

  Between the second component supply area F2-IN and the article unloading area L-OUT, the lens measurement area NPU, the first position adjustment area AA1, the second position adjustment area AA2, and the third position are arranged from upstream to downstream. The adjustment area AA3 and the fixed area UV (the first cured area UV1 and the first cured area UV2) are arranged.

  Above the lens measurement area NPU, a laser displacement meter (distance measuring device) not particularly shown is arranged, and measures the height of the top surface of the lens element LX of the lens unit LL. At this time, power is supplied from the second holding unit 30 of the position adjustment unit 10 to the driving unit KK to drive the VCM, thereby setting the lens unit LL to the reference position. The power supply to the drive unit KK is continued up to a fixed area UV described later.

  In the first position adjustment area AA1, the relative angle between each reference axis of the image sensor SS and the lens drive module LM is adjusted (this is referred to as tilt adjustment). Specifically, an optical axis adjustment device (chart device) W is arranged above the first position adjustment area AA1, and a chart image of the optical axis adjustment device W is captured by the image sensor SS via the lens drive module LM. I do. Using this imaging result (imaging information), the position adjustment mechanism 40 tilt-controls the first holding unit 20 to make the respective reference axes of the lens driving module LM and the imaging device SS parallel to each other.

  In the second position adjustment area AA2, the relative position in the slide direction (XY plane direction) perpendicular to the approaching or separating direction (Z-axis direction) of the image sensor SS and the lens driving module LM is adjusted (this is referred to as the “X-Y plane direction”). XY adjustment). Specifically, an optical axis adjustment device (chart device) W is arranged, and a chart image of the optical axis adjustment device W is captured by the image sensor SS via the lens drive module LM. Using this imaging result (imaging information), the displacement of the imaging element SS and the lens driving module LM in the XY plane direction is calculated. Using this calculation information, the position adjustment mechanism 40 controls the first holding unit 20 to slide in the XY plane, and adjusts the relative positions of the image sensor SS and the lens drive module LM in the XY plane. .

  In the third position adjustment area AA3, the relative positions of the image sensor SS and the lens drive module LM (in the Z-axis direction) are adjusted (this is referred to as focus adjustment). Specifically, an optical axis adjustment device (chart device) W is arranged above the third position adjustment area AA3, and a chart image of the optical axis adjustment device W is captured by the image sensor SS via the lens drive module LM. I do. Using this imaging result (imaging information), the position adjustment mechanism 40 controls the first holding unit 20 in the Z-axis direction, and adjusts the distance between the imaging element SS and the lens driving module LM to a position where the focus becomes a just focus. I do. At this time, the tilt adjustment and the XY adjustment are also finely adjusted as necessary.

  In the fixed region UV (first cured region UV1 and first cured region UV2), ultraviolet rays are irradiated from four directions to the gap between the image sensor SS and the lens drive module LM by an ultraviolet irradiation device, and the gap is positioned at four locations. The UV curable resin UJ applied to the substrate is cured. For example, irradiation is performed, for example, for 5 seconds in each of the first curing region UV1 and the first curing region UV2. As a result, the image sensor SS and the lens drive module LM are fixed to each other, and the optical module KM is completed. After curing, the power supply to the VCM of the lens drive module LM and the image sensor SS is turned off.

  In the article unloading area L-OUT, the optical module KM is unloaded. Although not shown here, a step of securing an air blow area downstream of the fixed area UV and blowing air to the lens drive module LM to disperse dust adhered to the lens unit LL and the like is included. Is preferred.

  As shown in FIGS. 22 and 23, the position adjustment unit 10 includes a first holding unit 20 that holds the image sensor SS, and a second holding unit 30 that is disposed on the base 5 and holds the lens driving module LM. And a position adjusting mechanism 40 arranged on the base 5 to adjust a relative position between the first holding unit 20 and the second holding unit 30.

  (Detailed structure of the first holder)

  The first holding unit 20 is a so-called chuck mechanism, and connects the first arm 22 and the second arm 24 extending in the radial direction of the rotary table and the first arm 22 and the second arm 24 in the tangential direction of the rotary table or An arm moving unit (first opening / closing mechanism) 26 that opens and closes in the circumferential direction is provided. The arm moving unit 26 is a slide guide, and slides the first arm 22 and the second arm 24 in the horizontal direction so as to approach and separate from each other. The opening and closing method may employ another method such as turning.

  At the tips of the first arm 22 and the second arm 24, recesses 22A and 24A for holding the image sensor SS are formed. Therefore, the image sensor SS is stably held by bringing the recesses 22A and 24A into contact with the peripheral surface of the image sensor SS. Here, the case of being sandwiched by the arm is illustrated, but it may be held from below by a tray.

  A signal input / output unit 20C is formed at one of the distal ends of the first arm 22 and the second arm 24. The signal input / output unit 20C supplies power to the image sensor SS and transmits a signal captured by the image sensor SS to the controller 90.

  The portion of the first holding unit 20 that holds the image sensor SS is formed of a thin member when viewed from the horizontal direction. With this configuration, when the image sensor SS is held, the first holding unit 20 does not protrude from the upper end surface of the image sensor SS. Thus, the gap between the image sensor SS and the lens drive module LM can be efficiently irradiated with ultraviolet rays and cured.

  (Detailed structure of the second holding part)

  The second holding unit 30 holds the housing QT of the lens drive module LM. The second holding unit 30 is a so-called chuck mechanism, and includes a first arm 32 and a second arm 34 that are movable in a tangential direction of the rotary table, and an arm moving unit that opens and closes the first arm 32 and the second arm 34. (Second opening / closing mechanism) 33. The arm moving section 33 is a slide guide, and slides the first arm 32 and the second arm 34 in the horizontal direction so as to approach and separate from each other.

  At the distal ends of the first arm 32 and the second arm 34, rectangular recesses 32A and 34A for holding the lens drive module LM are formed. Therefore, the lens drive module LM is held by bringing the recesses 32A and 34A into contact with the outer peripheral surface of the housing QT of the lens drive module LM. Further, at least one of the first arm 32 and the second arm 34 has an output terminal 35 for supplying a predetermined power to the lens driving module LM, and an output terminal 35 under a control of the controller 90 for supplying power under a predetermined condition. And a power controller (not shown) for outputting from the controller.

  Since the second holding unit 30 holds the peripheral surface of the housing QT by the first arm 32 and the second arm 34, the second holding unit 30 can hold the bonding surface (lower surface) to the lens drive module LM with the bonding surface (lower surface) opened (see FIG. C)). As a result, the ultraviolet curable resin applied to the gap can be cured while the upper surface of the image sensor SS and the lower surface of the lens drive module LM are close to each other and positioned with high accuracy.

  According to the article assembling apparatus 100 having the above-described configuration, the ultraviolet curable resin is applied to the image sensor SS in the middle of the movement path of the position adjustment unit 10, and then the lens drive module LM is loaded. In the NPU, a predetermined voltage V can be supplied to the lens drive module LM. At this time, the lens unit LL moves according to the output voltage V. The laser displacement meter disposed above the lens measurement area NPU measures the distance to the top surface of the lens, and determines whether the lens unit LL is correctly located at the INF position. On the other hand, when it is determined that the position of the lens unit LL is not the INF position, the controller 90 changes the supply voltage and re-determines whether the lens unit LL is located at the INF position. The voltage change and the determination of the position of the lens unit LL are repeatedly performed until it is determined that the position of the lens unit LL is the INF position. Note that the concept such as “reference position” or “INF position” in the present embodiment is not limited to a so-called origin position. For example, the concept includes a "target value" for positioning the lens unit LL based on specifications at the time of assembly. That is, when assembling with a desired offset from the origin position, the arbitrary offset position is defined as a so-called reference position.

  When it is determined that the position of the lens unit LL is the INF position, the controller 90 sets the voltage value corresponding to the INF position as the reference voltage value V1. Then, at least up to the position adjustment area AA (here, up to the fixed area UV), the controller 90 maintains the state in which the reference voltage value V1 is output. In the lens measurement area NPU, it takes some time for the lens unit LL to stabilize at the reference position. However, the work here is an optical axis adjustment step in the position adjustment area AA and a fixing step in the fixed area UV. , The time loss can be greatly reduced.

  Thereafter, the transfer device 80 transports the position adjustment unit 10 to the position adjustment area AA. In the position adjustment area AA, the optical axis of the lens unit LL stopped at the reference position and the image sensor SS is adjusted using a predetermined test chart. Since the optical axis adjustment has been described in detail in the first embodiment, the description is omitted. During the adjustment of the optical axis between the lens unit LL and the image sensor SS, the power condition supplied to the lens drive module LM is maintained, and the lens unit LL is kept at the reference position.

  In the position adjustment area AA of the present embodiment, the optical axis is adjusted by positioning the image sensor SS without moving the lens drive module LM. By doing so, the lens drive module LM can be stopped, so that the built-in spring or the built-in wire holding the lens unit LL can be prevented from vibrating or resonating, and the positioning accuracy of the optical axis can be improved. be able to. Also, maintaining power supply to the lens drive module LM also leads to suppression of vibration of the lens unit LL during optical axis adjustment. In particular, in the case of the lens drive module LM having a built-in mechanical camera shake correction mechanism or the like, the lens unit LL and the like vibrate even with a minute vibration. Therefore, if the optical axis adjustment is performed while moving the lens drive module LM, the error of the optical axis adjustment increases.

  When the optical axis adjustment is completed in the position adjustment area AA, in the fixed area UV, the irradiation device irradiates the curable resin applied between the lens drive module LM and the image sensor SS with predetermined light. Thereby, the optical module KM is assembled.

  In the second embodiment, when an optical module is obtained by attaching a lens drive module having a lens unit movable between a reference position and a retracted position retracted from the reference position by inputting electric power to the image sensor. A power input to the lens driving module to adjust the position of the lens unit to the reference position (executed in the lens measurement area NPU), and an optical axis of the lens unit at the reference position by the power input. And an optical axis adjustment step (executed in the position adjustment area AA) for creating a coincidence state in which the optical axis of the image sensor coincides, and a fixing step for fixing the lens drive module and the image sensor after the coincidence state is created ( (Executed in the fixed region UV).

  At this time, it is preferable to supply electric power for driving the lens unit between the reference position and the retracted position to the lens driving module. Until the alignment, predetermined power can be continuously supplied to the lens drive module. Further, since the region for performing the reference position setting step of adjusting the position of the lens unit to the reference position is different from the region for performing the optical axis adjustment step, the assembly efficiency can be improved. Further, power supply to the lens driving module is continued from the time when the optical axis of the lens unit and the imaging device are aligned to the time when the lens driving module and the imaging device are fixed.

  In the above embodiment, when the optical axes of the components are adjusted, the direction of the optical axis is vertical, but the present invention is not limited to this, and the optical axis direction is close to the original use state of the camera. The direction may be horizontal, or may be an oblique direction crossing the vertical direction.

  Further, in the above embodiment, the case where the lens components are assembled is illustrated, but the present invention is not limited to this, and electric signals such as a crystal oscillator, an acceleration sensor, an angular velocity sensor, a pressure sensor, and a temperature sensor (thermistor) are transmitted. It can be used for assembling electronic components that can be output, as well as assembling various articles such as capacitors and LED elements.

  It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various changes can be made without departing from the spirit of the present invention.

1, 100 Article assembling device 3 Positioning device 5 Base 10 Position adjusting unit 20 First holding unit 20C Signal input / output unit 22 First arm 24 Second arm 26 Arm moving unit 30 Second holding unit 31 Drive source side holding unit 32 First arm 34 Second arm 35 Output terminal 36 Pressing part 37 Pressing body 37B Pressing projection 38 Retracting mechanism 39 Vertical movement mechanism 40 Position adjustment mechanism 40XS Shift mechanism 40XT Tilt mechanism 40YS Shift mechanism 40YT Tilt mechanism 40ZS Shift mechanism 40ZT Tilt mechanism 51U Output Terminal 60 Transfer device 61 Chart unit 65 Component supply device 70 Coating device 72 Component carrier 73 Base 73A Lens unit accommodation unit 73B Drive unit accommodation unit 74 Lens unit holding unit 76 Drive unit holding unit 79A Component supply unit 79B Article Unloading device 80 Transfer device 82 First component supply Device 83 Second component supply device 84 Article unloading device 90 Controller AA Position adjustment area AA1 Each position adjustment area AA1 First position adjustment area AA2 Second position adjustment area AA3 Third position adjustment area BC Vacuum chuck DP Dispenser DS Application area DS1 One application area DS2 Second application area DS3 Third application area DS4 Fourth application area KK Drive section KM Optical module LL Lens section LM Lens drive module LX Lens element MC Reference imaging element MM Holding groove MS Circumferential groove MT Lens drive motor MT1 Drive source MT2 Follower NPU Lens measurement area OT Collection tray QT Housing SS Image sensor TT Engagement projection U Ultraviolet irradiation device UJ Ultraviolet curing resin UV Fixed area UV1 First curing area UV2 First curing area UV2 Second curing area

Claims (34)

A parts assembling apparatus that assembles an article by combining a first part and a second part,
A plurality of position adjustment units,
A component supply device that supplies the first component and the second component to the position adjustment unit in a component supply area,
An article unloading device that unloads the article from the position adjustment unit in an article unloading area,
A transfer device that moves the plurality of position adjustment units so as to pass through the component supply area and the article unloading area,
Each of the position adjustment units,
A first holding unit that holds the first component,
A second holding unit that holds the second component,
A position adjusting mechanism for adjusting a relative position between the first holding unit and the second holding unit,
When the position adjustment unit passes through a position adjustment area existing while being moved from the component supply area to the article unloading area by the transfer device, the first and second components are moved by the position adjustment mechanism. has become so that to complete the relative positioning,
The position adjustment unit,
In the first position adjustment area downstream of the component supply area, adjust the first relative position of the first holding unit and the second holding unit,
Further, in the second position adjustment area downstream of the first relative position, adjusting the second relative position in the first holding unit and the second holding unit in a direction different from the first relative position. Characterized by
Article assembly equipment. One of the first relative position and the second relative position positioned by the position adjustment unit includes a relative position in a perspective direction in which the first component and the second component approach or separate from each other, and the first relative position And the other of the second relative position, characterized in that the first part and the second part include a relative position in the sliding direction perpendicular to the perspective direction,
The article assembling apparatus according to claim 1 . One of the first relative position and the second relative position positioned by the position adjustment unit includes a relative position in a perspective direction in which the first component and the second component approach or separate from each other, and the first relative position And the other of the second relative position is characterized by including a relative angle at which the reference axis of the first part and the reference axis of the second part are inclined,
The article assembling apparatus according to claim 1 . One of the first relative position and the second relative position, which is positioned by the position adjustment unit, is a slide direction relative to the perspective direction in which the first component and the second component approach or separate from each other in a sliding direction. Including a position, wherein the other of the first relative position and the second relative position includes a relative angle at which the reference axis of the first component and the reference axis of the second component are inclined,
The article assembling apparatus according to claim 1 . In the first position adjustment region, a first measurement device that measures the first relative position is arranged,
In the second position adjustment area, a second measurement device that measures the second relative position is arranged,
The article assembling apparatus according to claim 1 . The transfer device, simultaneously stopping the position adjustment unit in each of the first position adjustment region and the second position adjustment region, for a plurality of the articles, the first relative position adjustment and the second The adjustment of the relative position is performed simultaneously,
The article assembling apparatus according to claim 1 . The position adjustment unit,
In the third position adjustment region downstream of the second position adjustment region, the first holding unit and the second holding unit, to adjust a third relative position different from the first and second relative positions. Features,
The article assembling apparatus according to claim 1 . Either the first relative position to the third relative position positioned by the position adjustment unit includes a relative position in the perspective direction in which the first component and the second component approach or separate from each other, and the first relative position Any one of the remaining two of the position to the third relative position includes a relative position in a sliding direction in which the first component and the second component are perpendicular to the perspective direction, and the first relative position to the The remaining one of the third relative positions includes a relative angle at which the reference axis of the first part and the reference axis of the second part are inclined,
An article assembling apparatus according to claim 7 . In the first position adjustment region, a first measurement device that measures the first relative position is arranged,
In the second position adjustment area, a second measuring device that measures the second relative position is arranged,
In the third position adjustment area, a third measuring device that measures the third relative position is arranged,
An article assembling apparatus according to claim 7 . The transfer device simultaneously stops the position adjustment unit in each of the first position adjustment region, the second position adjustment region, and the third position adjustment region, and for three or more of the articles, Adjusting one relative position, adjusting the second relative position, and adjusting the third relative position simultaneously,
The article assembling apparatus according to claim 7 . On the downstream side of the position adjustment area by the position adjustment unit, characterized by having a fixing area for fixing the first component and the second component to each other,
The article assembling device according to any one of claims 1 to 10. As the fixed area,
A first fixed region and a second fixed region disposed downstream of the first fixed region, characterized by having
An article assembling apparatus according to claim 11 . An adhesive curing device that cures an adhesive applied to the article is arranged in the fixing region,
An article assembling apparatus according to claim 11 . The transfer device,
By simultaneously stopping the position adjustment unit in the fixed region and the position adjustment region, the fixing operation of the first component and the second component in the fixed region, and the second by the position adjustment mechanism in the position adjustment region Characterized in that the relative positioning work of one part and the second part are simultaneously advanced,
An article assembling apparatus according to any one of claims 11 to 13 . At least one of the first holding unit and the second holding unit is provided with a power supply terminal that supplies power to the first component or the second component,
The article assembling device according to any one of claims 1 to 14. The transfer device has a rotary table rotated by a drive shaft,
The plurality of position adjustment units are arranged in a circumferential direction of the turntable,
The article assembling device according to any one of claims 1 to 15. A parts assembling apparatus that assembles an article by combining a first part and a second part,
A plurality of position adjustment units,
A component supply device that supplies the first component and the second component to the position adjustment unit in a component supply area,
An article unloading device that unloads the article from the position adjustment unit in an article unloading area,
A transfer device that moves the plurality of position adjustment units so as to pass through the component supply area and the article unloading area,
Each of the position adjustment units,
A first holding unit that holds the first component,
A second holding unit that holds the second component,
A position adjusting mechanism for adjusting a relative position between the first holding unit and the second holding unit,
When the position adjustment unit passes through a position adjustment area existing while being moved from the component supply area to the article unloading area by the transfer device, the first and second parts are moved by the position adjustment mechanism. Relative positioning is completed,
The article is a lens driving module including a lens unit and a driving unit that moves the lens unit,
The lens unit is the first component, and the driving unit is the second component,
Article assembly equipment. The first holding unit has a chuck for holding the lens unit,
In the chuck, when viewed from the optical axis direction of the lens portion, an adhesive escape portion for avoiding overlap with an adhesive applied to a plurality of locations around the lens portion is formed. Features,
An article assembling apparatus according to claim 17 . The first holding unit has an opening and closing mechanism for opening and closing the chuck,
An article assembling apparatus according to claim 18 . The second holding unit is fixed to a base side of the position adjustment unit,
The position adjusting mechanism adjusts a relative position with the second holding unit by displacing the first holding unit,
An article assembling apparatus according to any one of claims 17 to 19 . At the time of position adjustment by the position adjustment mechanism, an imaging element is arranged on an extension of the optical axis of the lens unit,
The article assembling apparatus according to any one of claims 17 to 20 . The drive unit includes a driven unit fixed to the lens unit, and a drive source that moves the driven unit in the optical axis direction of the lens unit by energization,
The second holding section holds the drive source side holding section, and a pressing body presses an end face of the driven section in the optical axis direction with a pressing body to regulate the position of the driven section in the optical axis direction. And a pressing portion that performs
The article assembling apparatus according to any one of claims 17 to 21 . The pressing portion, when viewed from the optical axis direction of the article, an advancing and retreating mechanism for advancing and retreating between a place where the pressing body and the article overlap and a place where the article does not overlap, and a part where the pressing body and the article overlap. A vertical movement mechanism for moving a pressing body in the optical axis direction,
The article assembling apparatus according to claim 22 . The pressing body has a pressing protrusion that presses a plurality of portions of the end face in the optical axis direction in the driven portion,
The first holding unit has a chuck for holding the lens unit,
When the chuck is viewed from the optical axis direction of the lens portion, a relief portion for a pressing protrusion is formed to avoid interference with the pressing protrusion,
An article assembling apparatus according to claim 22 . A parts assembling apparatus that assembles an article by combining a first part and a second part,
A plurality of position adjustment units,
A component supply device that supplies the first component and the second component to the position adjustment unit in a component supply area,
An article unloading device that unloads the article from the position adjustment unit in an article unloading area,
A transfer device that moves the plurality of position adjustment units so as to pass through the component supply area and the article unloading area,
Each of the position adjustment units,
A first holding unit that holds the first component,
A second holding unit that holds the second component,
A position adjusting mechanism for adjusting a relative position between the first holding unit and the second holding unit,
When the position adjustment unit passes through a position adjustment area existing while being moved from the component supply area to the article unloading area by the transfer device, the first and second components are moved by the position adjustment mechanism. It is designed to complete relative positioning,
The article is an optical module that includes a lens unit and a lens driving module that has a driving unit that moves the lens unit, and an image sensor that receives an image via the lens unit.
The image pickup device is the first component, the lens drive module is the second component,
Article assembly equipment. A power supply terminal for supplying power to the lens drive module is provided in the second holding unit,
Before performing relative positioning between the first component and the second component by the position adjustment mechanism, power is input to the lens drive module to adjust the position of the lens unit to a reference position,
An article assembling apparatus according to claim 25 . After adjusting the position of the lens unit to the reference position, the power supply to the lens drive module is continued until the position adjustment mechanism completes the relative positioning of the first component and the second component. Characterized by the fact that
An article assembling apparatus according to claim 26 . The article held by the position adjustment unit, or, having an application device for applying an adhesive to the article before being supplied to the position adjustment unit,
An article assembling apparatus according to any one of claims 1 to 27 . A parts assembling apparatus that assembles an article by combining a first part and a second part,
A plurality of position adjustment units,
A component supply device that supplies the first component and the second component to the position adjustment unit in a component supply area,
An article unloading device that unloads the article from the position adjustment unit in an article unloading area,
A transfer device that moves the plurality of position adjustment units so as to pass through the component supply area and the article unloading area,
Each of the position adjustment units,
A first holding unit that holds the first component,
A second holding unit that holds the second component,
A position adjusting mechanism for adjusting a relative position between the first holding unit and the second holding unit,
When the position adjustment unit passes through a position adjustment area existing while being moved from the component supply area to the article unloading area by the transfer device, the first and second components are moved by the position adjustment mechanism. It is designed to complete relative positioning,
The position adjustment mechanism,
A perspective movement mechanism that adjusts the relative position in the perspective direction in which the first component and the second component approach or separate,
A slide plane moving mechanism that adjusts a relative position in a slide direction in which the first component and the second component are perpendicular to the perspective direction,
And a tilt mechanism for adjusting a relative angle at which the reference axis of the first part and the reference axis of the second part are inclined,
Article assembly equipment. The position adjustment mechanism,
A rotation mechanism that relatively rotates the first part and the second part with the perspective direction as a rotation axis,
An article assembling apparatus according to claim 29 . A part assembling method for assembling an article by combining a first part and a second part,
A component supply step of supplying the first component and the second component to a position adjustment unit in a component supply area,
An article unloading step of unloading the article from the position adjustment unit in an article unloading area,
A transfer step of moving the plurality of position adjustment units so as to pass through the component supply area and the article unloading area,
When the position adjustment unit passes through a position adjustment region existing while being moved from the component supply region to the article unloading region by the transfer step, the relative positioning of the first component and the second component is completed. So that
In a first position adjustment region downstream of the component supply region, adjust the first relative position of the first component and the second component,
Further, in a second position adjustment area downstream of the first relative position, a second relative position in the first component and the second component in a direction different from the first relative position is adjusted. The article assembling method.   A part assembling method for assembling an article by combining a first part and a second part,
  A component supply step of supplying the first component and the second component to a position adjustment unit in a component supply area,
  An article unloading step of unloading the article from the position adjustment unit in an article unloading area,
  A transfer step of moving the plurality of position adjustment units so as to pass through the component supply area and the article unloading area,
  When the position adjustment unit passes through a position adjustment region existing while being moved from the component supply region to the article unloading region by the transfer step, the relative positioning of the first component and the second component is completed. So that
  The article is a lens driving module including a lens unit and a driving unit that moves the lens unit,
  The article assembling method, wherein the lens part is the first part, and the driving part is the second part.   A part assembling method of assembling an article by combining a first part and a second part,
  A component supply step of supplying the first component and the second component to a position adjustment unit in a component supply area,
  An article unloading step of unloading the article from the position adjustment unit in an article unloading area,
  A transfer step of moving the plurality of position adjustment units so as to pass through the component supply area and the article unloading area,
  When the position adjustment unit passes through a position adjustment area existing while being moved from the component supply area to the article unloading area by the transfer step, the relative positioning between the first component and the second component is completed. So that
  The article is an optical module that includes a lens unit and a lens driving module that has a driving unit that moves the lens unit, and an image sensor that receives an image via the lens unit.
  The article assembling method, wherein the imaging device is the first component, and the lens driving module is the second component.   A part assembling method for assembling an article by combining a first part and a second part,
  A component supply step of supplying the first component and the second component to a position adjustment unit in a component supply area,
  An article unloading step of unloading the article from the position adjustment unit in an article unloading area,
  A transfer step of moving the plurality of position adjustment units so as to pass through the component supply area and the article unloading area,
  When the position adjustment unit passes through a position adjustment area existing while being moved from the component supply area to the article unloading area by the transfer step, the relative positioning between the first component and the second component is completed. It is like
  The position adjustment unit,
  A perspective movement step of adjusting a relative position in a perspective direction in which the first component and the second component approach or separate from each other,
  A slide plane moving step of adjusting the relative position in the slide direction in which the first component and the second component are perpendicular to the perspective direction,
  A tilt step of adjusting a relative angle at which the reference axis of the first part and the reference axis of the second part are inclined.

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