JPH05146998A - Positioning device for board - Google Patents

Abstract

PURPOSE:To provide a positioning device positioning a board precisely and quickly in press machining. CONSTITUTION:A reference pin 5 brought into contact with a board 1 is adjusted so that a reference mark 2 provided on the board 1 is image-picked up at the center position of the visual field of a CCD 6. When the reference mark 2 is image-picked up in the visual field of the CCD 6, a LED 10 is blinked. When the reference mark 2 is image-picked up nearly at the center position of the visual field of the CCD 6, the LED 10 is continuously illuminated. The reference pin 5 setting the position of the board 1 is adjusted while the luminous state of the LED 10 is confirmed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device for controlling the posture of a substrate such as a printed circuit board when the substrate is automatically pressed.

[0002]

2. Description of the Related Art Positioning of a substrate when automatically and continuously pressing the substrate will be described below. In the automatic press, the substrate is first transferred onto the Y-θ table to position the substrate,
While holding one end of the substrate, the substrate is sent to a press machine, and the outer shape is punched and punched.

A solid-state image sensor (hereinafter referred to as CCD) having a visual field of 6 mm is used for positioning the substrate. In advance
A reference mark having a width of about 2 mm is formed near the side perpendicular to the side in the longitudinal direction of the substrate and at the center of the side width, one on each side of the side and the opposite side. When the board is transferred onto the Y-θ table, the reference mark on the board is imaged by the CCD installed for each reference mark, and 0.1 mm is output by the CCD output signal. The positioning of the substrate is performed by feedback control of the positioning of the substrate with a degree of accuracy.

While the automatic pressing is being performed, the substrate is Y-
It is intermittently supplied to the θ-table and positioned by feedback control. That is, when the substrate is transferred onto the Y-θ table, the substrate comes into contact with the protruding reference pins provided on the Y-θ table and stops. The reference pin is set at a position such that the reference mark is within the field of view (about 6 mm) of the CCD when the substrate is stopped.
The CD can image the reference mark and can be feedback-controlled.

By the way, when pressing substrates having different widthwise dimensions, the substrates are placed on the Y-θ table,
The position of the reference pin needs to be changed so that the reference mark is within the field of view of the CCD. The reference mark on the board is CC
To adjust the reference pin so that it is in the field of view of D,
This is performed using an LED that indicates the output signal state of the CCD. Specifically, it is performed as follows.

As for the state of the output signal of the CCD, as shown in FIG. 3, the output signal 23 is continuously output to the pixel 22 of the CCD 21. When the reference mark enters the field of view within the CCD 21, that is, regardless of which part of the pixel 22 within the CCD 21, the output signal 23 is continuously output and the LED continuously emits light. Therefore, the position of the substrate is finely adjusted in the light emitting state of the LED, and the reference pin is fixed at a position where the reference mark is considered to be substantially at the center of the CCD.

As described above, the reference pins are adjusted according to the substrates having different widths, that is, the reference mark is located within the field of view of the CCD, and the reference marks are provided for each substrate.
After the feedback control is enabled, the automatic press is restarted.

However, no matter how much the CCD is set within the field of view of the CCD, if the reference mark is deviated from the center of the field of view of the CCD, the feedback control time is set at the center of the CCD. This is longer than in the case, which leads to a reduction in work efficiency during press working. Therefore, when the size of the substrate is changed, the reference pin 5 for fixing the substrate must be fixed so that the reference mark is imaged in the center of the field of view of the CCD. However, in the prior art, since the LED emits light regardless of where the reference mark is located within the field of view of the CCD, the position of the substrate is adjusted so that the reference mark is always located in the center of the field of view of the CCD. It is difficult, requires skill of the operator, and takes time.

[0009]

The reference mark provided on the substrate minimizes the time for feedback control for determining the position of the substrate during automatic pressing, so that the field of view of the CCD can be minimized. It is desirable to be in the center of. Therefore, it is important to fix the reference pin so that the position of the substrate is set so that the reference mark is located at the center of the field of view of the CCD. However, since the substrate is positioned by the light emitting state of the LED, the position of the reference mark can be accurately CC.
It is quite difficult and time-consuming to adjust the center of the visual field of D with high accuracy. Therefore,
The present invention has been made to solve the above-mentioned drawbacks, and provides a positioning device for positioning a substrate with high accuracy and speed.

[0010]

A positioning device of the present invention is a table for positioning a substrate having a reference mark, and a reference for abutting the substrate provided on the table. CCD for imaging the pin and the reference mark
And the output signal from the CCD is input, and the CC
A signal processing circuit that detects that the reference mark is located at the center of the visual field of D, a power supply circuit that operates by the output signal of the signal processing circuit, and an LED that is a signal generation device that operates by the power supply circuit. Have.

[0011]

The substrate is transferred onto the table, and the reference mark provided on the substrate is imaged by the CCD. When the reference mark is located outside the center of the CCD field of view,
The output signal from the CCD is controlled by the reference mark CC by flashing the LED through the signal processing circuit and the power supply circuit.
It can be confirmed that it is within the field of view of D. Further, when the reference mark is located at the center of the field of view of the CCD, it is possible to confirm that the reference mark is at the center of the field of view of the CCD by continuously emitting light from the LED. Therefore, the position of the reference mark can be accurately set at the center of the field of view of the CCD, and the reference pin that contacts the substrate can be easily adjusted.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the positioning device of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the positioning device includes a Y-θ table 4 on which the substrate 1 is positioned.
The field of view of the CCD 6 to which the field of view of the reference mark 2 provided on the substrate 1 is 6 mm, the solid-state image sensor 6 having a resolution of 512 bits (hereinafter referred to as CCD), and the output signal from the CCD 6 are input. Y by a signal processing circuit 11 for detecting by detecting that the reference mark 2 is located at the center of the field and that the reference mark 2 is located at a position other than the center of the field of view, and an output signal from the signal processing circuit 11. -Θ table 4 to Y
Driving device 7 for moving in the −θ direction, and signal processing circuit 11
Power supply circuit 9 that operates according to the output signal of the
It is composed of a signal generating device that emits light by, for example, the LED 10. Incidentally, CCDs 6 and LEDs 10 are installed corresponding to the number of reference marks 2.

Using such a positioning device, automatic pressing is performed as follows. First, the substrate 1 is transferred in the direction of arrow A by the belt conveyor 3 and comes into contact with the reference pin 5 projecting on the Y-θ table 4 to stop. An image of the reference mark 2 is picked up by the CCD 6, and an output signal from the CCD 6 is passed through the signal processing circuit 11 and the driving device 7 to Y-
The θ table 4 is adjusted in the Y-θ direction, and positioning is completed by feedback control. After that, one end of the substrate 1 is gripped by the chuck 8, the substrate 1 is moved to a pressing device (not shown) on an extension of the direction of the arrow B, and is pressed.

In order to perform feedback control, the reference mark must be within the field of view of the CCD 6 when the substrate 1 is transferred to the Y-θ table 4 and stopped by the reference pin 5. is necessary. Therefore, when the size of the substrate 1 in the width direction or the like is changed, the reference pin 5 must be fixed at a position where the reference mark 2 is imaged in the center of the field of view of the CCD 6.

The fixing of the reference pin 5 is performed as follows. The reference mark 2 on the substrate 1 is moved to the center position of the visual field of the CCD 6. At this time, the CCD 6 is the reference mark 2 of the substrate 1.
Is picked up, and the output signal from CCD 6 is the signal processing circuit 11
The LED 10 emits light via the power supply circuit 9 according to the output signal of the signal processing circuit 11.

The light emitted from the LED 10 normally flashes when the reference mark 2 is imaged within the field of view of the CCD 6, and the reference mark 2 is emitted.
The output signal from the CCD 6 is processed by the signal processing circuit 11 so as to continuously emit light when the image is picked up when the camera 2 is positioned in the center of the field of view of the CCD 6, and the power is supplied through the power supply circuit 9. FIG. 2 shows the relationship between the output states of the CCD 6 and the signal processing circuit 11 at this time, which is the continuous signal output portion 13 output by the signal processing circuit 11 corresponding to the center 12 of the pixels of the CCD 6, and the CCD 6 The output signal corresponding to the pixels other than the center of the pixel is the blinking signal output portion 14.

While confirming the light emitting state of the LED 10, the reference mark 2 is placed in the center of the visual field of the CCD 6 so that the substrate 1
Is adjusted and the reference pin 5 is brought into contact with the substrate 1 and fixed to the Y-θ table 4. In this embodiment, the LED 10 is used as the signal generator, but instead of this, for example, a buzzer is used, and the pixel center 12 of the CCD 6 is used.
It may be distinguished from the case where the reference mark 2 exists in the other range.

[0018]

According to the present invention, by confirming the operating state of the signal generator, the reference pin that contacts the substrate is adjusted so that the reference mark is imaged in the center of the field of view of the CCD. The substrate can be positioned with high precision and speed. Further, it can be easily performed without requiring skill and the time for adjusting the reference pin itself can be shortened. Further, since the reference mark is always imaged in the center of the CCD, the feedback control time required for each substrate can be shortened and the workability of press working can be significantly improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a conceptual diagram showing characteristics of an output signal of a signal processing circuit corresponding to a pixel of a CCD according to an embodiment of the present invention.

FIG. 3 is a conceptual diagram showing characteristics of an output signal of a signal processing circuit corresponding to pixels of a CCD in a conventional positioning device.

[Explanation of symbols]

1 ... Substrate, 2 ... Standard mark, 3 ... Belt conveyor, 4 ...
Y-θ table, 5 ... Reference pin, 6 ... CCD, 7 ... Driving device, 8 ... Chuck, 9 ... Power supply circuit, 10 ... LED, 1
1 ... Signal processing circuit, 12 ... Pixel center, 13 ... Continuous processing signal output part, 14 ... Blinking signal output part.

Claims (2)

[Claims] 1. A table to which a substrate having a reference mark is transferred, a solid-state image pickup device for picking up the reference mark, and a signal processing for inputting a position signal output from the solid-state image pickup device. In a positioning device having a circuit and a signal generator operated by a signal output from the signal processing circuit, it is preferable that the signal processing circuit locates the reference mark in the center of the visual field of the solid-state image sensor. A substrate positioning device characterized by detecting and operating the signal generator according to the detected signal. 2. The signal processing circuit discriminates that the reference mark is located at the center of the field of view of the solid-state image pickup device and that the reference mark is located outside the center of the field of view. The positioning device according to claim 1, wherein the positioning device detects the position.