JPH0799399A - Positioning apparatus - Google Patents

Abstract

PURPOSE:To easily and accurately position by image recognition means even by a mark having no position of a center of gravity by correcting a moving distance when both works are superposed based on a signal from a calculating means for detecting deviations of a registered origin position in X-Y direction and rotating direction. CONSTITUTION:A tape carrier package(TCP) automatic placing machine has a positioning unit 10 for holding and positioning the TCP, an image recognition unit 20 and a controller 30. The unit 10 has four-axis table 11 of an X-axis, a Y-axis, Z-axis and rotating directions in a horizontal plane. The table 11 is driven by a driving mechanism 12 which can be finely position controlled. First, an alignment area and an origin position are first set and registered, a positional deviation is detected based on the area and the origin position, the mechanism 12 is operated with the detected data, and accurately position regulated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for accurately aligning two works in an automatic mounting machine for aligning and bonding two different works by image recognition means. .

[0002]

2. Description of the Related Art For example, in manufacturing and assembling a liquid crystal panel, a tape carrier package (hereinafter referred to as T
There is a step of laminating (called CP). In this step, the electrodes formed at a fine pitch on the cell and the electrodes on the TCP side are superposed in a state where they are accurately aligned and the two works are bonded together. Used. In this TCP automatic mounting machine, a cell and a TCP are arranged at predetermined positions, the positions of both works are recognized by the image recognition means, and then the TCP corrects the positional deviation based on the signal from the image recognition means. While overlapping on the cell. As described above, in order to enable recognition by the image recognition means, the cell and the TCP are provided with alignment marks, respectively.

Here, the TCP has a considerable length, and a pair of alignment marks are formed in the vicinity of both left and right ends thereof. The pair of alignment marks are imaged by two television cameras. , Image recognition is performed. An alignment mark having a center of gravity position such as a quadrangle is usually used, and the center of gravity position of the alignment mark is photographed by these two TV cameras. Then, based on this image data, the barycentric position of the alignment mark on the XY coordinate axes is calculated to detect the positions of the TCP in the X-axis direction, the Y-axis direction, and the rotation direction (hereinafter referred to as the θ direction). Based on the position in the XYθ directions, the TCP is moved by the driving means so as to be superposed on the cell.

[0004]

By the way, the alignment marks provided on the TCP are not always provided with the center of gravity because they are used for other positioning. For example, in the case of a mark composed of one or a plurality of lines, since the barycentric position does not exist, it is difficult to accurately detect the position of the mark by the image recognition means, and therefore fine positioning cannot be performed. There is a drawback that.

The present invention has been made in view of the above points, and it is an object of the present invention to easily and extremely accurately position a mark having no barycentric position by the image recognition means. Is to be able to do it.

[0006]

In order to achieve the above-mentioned object, according to the present invention, two works, each of which is formed with a pair of positioning patterns arranged in line symmetry, are relatively positioned and superposed. A first camera for photographing a portion of one of the workpieces on which one pattern is formed, and a second camera for photographing a portion of the other workpiece on which the other pattern is formed. , An area registration unit for setting and registering a region including a positioning pattern for each as an alignment area in the visual field range of the first camera, and an origin position registration for registering a predetermined position as an origin position with respect to this alignment area Part and the alignment area and origin position symmetrical to the alignment area and origin position set by the first image recognition means. And a second alignment area / origin position registration unit for setting, and an alignment area on the workpiece photographed by the first and second cameras and a position on the image of a reference position corresponding to the origin position in this alignment area are recognized. And a calculation means for detecting deviations in the XY direction and the rotation direction from the registered origin position, and a movement amount when the two works are superposed on each other based on a signal from the calculation means. Is its characteristic.

[0007]

In order to align the two members, first, the alignment area and the origin position are set and registered, and the actual work position is set based on the alignment area and the origin position thus set and registered. Is corrected and mounted on the other member.

Setting of alignment area and origin position
The registration is performed by using the positioning mark formed on the work as a clue. However, the pattern of this mark may have a shape having a barycentric position, but it is more advantageous for a shape having no barycentric position.

Then, the work is placed at a predetermined position,
A part of the workpiece where the mark is formed is photographed by one camera, and a predetermined limited area including the mark is registered as an alignment area. Next, with respect to this alignment area, preferably, a predetermined position inside the alignment area is set and registered as the origin position. Since a pair of marks are provided on the workpiece at line symmetric positions, if one alignment area and origin position are set and registered based on the image of one camera, the alignment area with the other mark as the origin is set. The origin position and the origin position can be automatically registered in the alignment area and the origin position that are set / registered as described above and the inside-out position. Thus, by determining the other alignment area and the origin position based on the one alignment area and the origin position, the alignment area and the origin position for both marks can be accurately matched.

When the alignment area and the origin position are set and registered as described above, the work is mounted on an automatic mounting machine or the like and sent into the visual field range of the first and second cameras. Then, with these first and second cameras, the area corresponding to the alignment area is searched using the mark as a clue. When this alignment area is detected, a reference position corresponding to the origin position in the work concerned which is determined by this alignment area is calculated. Then, with respect to the reference position thus determined, the position on the coordinate axis centering on the registered origin position is calculated. Based on the result of this calculation, the position shift of the workpiece in the XY direction and the θ direction is detected, and the drive mechanism such as the automatic mounting machine is operated based on the detected data, whereby the position adjustment can be performed extremely accurately. it can. Therefore, the work can be superposed in a state where the work is strictly aligned with the other work.

[0011]

Embodiments of the present invention will now be described in detail with reference to the drawings. In this embodiment, as shown in FIG. 1, a TCP automatic mounting machine for bonding the TCP 2 to the cell 1 of the liquid crystal panel is shown. Cell 1
Are provided with a large number of cell-side electrodes 1a at fine pitch intervals, and the TCP 2 is also formed with a large number of TCP-side electrodes 2a at the same pitch intervals as the cell-side electrodes 1a. Then, the cell 1 is transported to the bonding station and positioned by the positioning mechanism, and the TCP
The TCP2 is held by the automatic mounting machine, the TCP2 is carried in, and the TCP2 is relatively positioned so that the electrodes 1a and 2a are accurately overlapped with each other, and the TCP2 is laminated and bonded. In this way, the positioning marks 3 and 4 are formed on the cell 1 and the TCP 2, respectively, in order to enable the relative positioning of the cell 1 and the TCP 2.
In the drawing, the positioning mark 3 on the cell 1 side is a square mark, and the positioning mark on the TCP 2 side has electrodes on both ends extended toward the end side in a direction orthogonal to the routing direction of this electrode. It is formed by the lines of a book.

The device configuration of this TCP automatic loading machine is shown in FIG.
As shown in FIG. 2, the TCP 2 is held and the positioning unit 10 for positioning the TCP 2 and the image recognition unit 20 are arranged.
And a control unit 30. Positioning unit 1
0 is 4 in the horizontal direction (X axis direction) and the vertical direction (Y axis direction), the height direction (Z direction), and the rotation direction (θ direction) on the horizontal plane.
It has an axis table 11, and TCP is attached to this 4-axis table 11.
It is designed to hold 2. The four-axis table 11 is driven by a drive mechanism 12 capable of fine position control, such as a stepping motor, and the drive mechanism 12 is controlled by a servo means 13.

The image recognition unit 20 includes two television cameras 21a and 21b, an image control unit 22, and monitor televisions 23a and 23b. The image control unit 22
On the screen of the first TV camera 21a of the two TV cameras 21a and 21b, a predetermined range including a positioning mark is set as an alignment area, and a predetermined position in this alignment area is indicated by a + character. It includes means for inputting the origin position shown.

The control unit 30, as shown in FIG.
Alignment area registration unit 31a and first origin position registration unit 32a for setting and registering the alignment area and the origin position set on the screen of the television camera 21a of
And a second registration area and a second origin position on the screen of the second television camera 21b based on the first alignment area and the origin position.
And an alignment area registration unit 31b and a second origin position registration unit 32b. Then, the images from the first and second television cameras 21a and 21b are captured and compared with the data registered in the first and second alignment area registration units 31a and 31b, and the first and second alignment areas are registered. To search for a site corresponding to the alignment area of
The second area search units 33a and 33b, and the first and second origin position registration units 32a and 32b at the portions corresponding to the first and second alignment areas searched by the area search units 33a and 33b. The registered origin position and the reference position corresponding to the origin position within the range corresponding to the alignment area of the images acquired by the first and second television cameras 21a and 21b are determined, and the origin position is set as the center. First and second to detect the position on the coordinate axis
Coordinate position detection units 34a and 34b. further,
A calculator 35 is provided for calculating the displacement of the TCP2 in the XYθ directions from the coordinate positions detected by the first and second coordinate position detectors 34a and 34b. Furthermore,
The movement amount from the origin position to the position where TCP2 exactly overlaps the cell 1 is set in advance in the standard movement amount setting unit 36, and the TC of the standard movement amount setting unit 36 is set.
A signal related to the amount of positional deviation of TCP2 in the XYθ directions calculated by the calculation unit 35 is added to the signal related to the standard movement amount of P2 by the adder 37, and this signal is input to the servo means 13, and this servo means 13 is added. A control signal for the four-axis table 11 is generated by

Then, first, the cell 1 is arranged at a predetermined position in the bonding station, and the positioning is performed with the positioning mark 3 as a reference. Since the positioning mark 3 provided on the cell 1 is a square having a barycentric position, the positioning can be performed based on the barycentric position of the positioning mark 3.

In this state, the first and second television cameras 2
At 1a and 21b, the positioning marks 3 of the cell 1 are put into the visual field range, respectively, and the device is set to the setting / registration mode. In this state, the first and second television monitors 23a, 2
While displaying the image in 3b, the operator holds the TCP2 on the four-axis table 11 while visually checking the image, and the positioning marks 4 of the TCP2 indicate the first and second positions, respectively.
The second television cameras 21a and 21b are moved into the field of view. In this state, the image control unit 22 is operated to move the alignment area display E on the screen to align it with the position of the positioning mark 4, as shown in FIG. Further, when the position of the alignment area is determined, the origin display O consisting of a + character is arranged at a predetermined position inside the alignment area display E.

When the alignment area and origin position are registered, the first alignment area registration section 31a and the first reference position registration section 32a in the control section 30 are registered.
At, the alignment area and the origin position set as described above are registered. In addition, here, the positioning mark 4 of the TCP 2 corresponds to the first and second television cameras 21a, 21.
You can set and register this alignment area and origin position if you are within the field of view of b.
It is desirable that P2 is arranged as parallel as possible to the cell 1 and at a predetermined position for actual alignment.

Here, since a pair of positioning marks 4 are formed at positions of line symmetry in the TCP 2, if the alignment area and the origin position are registered on the screen of the first television monitor 23a with the positioning mark 4 as a reference,
Even if the alignment area and the origin position are not set again on the screen of the second television monitor 23b, the position that is the inside out of the alignment area and the origin position on the screen of the first television monitor 23a is the second position. TV monitor 2
The alignment area and the origin position on the screen of 3b are displayed. Therefore, this data is registered as the second alignment area and the origin position. Therefore, if these are set individually for the second alignment area and the origin position, the mutual positions may not match.
Setting the first alignment area and first origin position
Once registered, the second alignment area and second
The origin position of is set to the second alignment area registration unit 31b and the second origin position registration unit 32b so that they are turned over.

The procedure for setting / registering the alignment area and the origin position described above is as shown in FIG. When the pair of alignment areas and the origin position are registered in this way, the standard position of TCP2 is determined,
The amount of movement required to superpose the TCP 2 on the cell 1 in the aligned state is calculated. This is recorded in the standard movement amount setting unit 36. That is, when the TCP2 is arranged in this standard position, the 4-axis table 11
Is moved in the XY directions (and θ directions) set in the standard movement amount setting unit 36, the electrode 2 of the TCP2 is moved.
It is possible to superimpose a on the electrode 1a of the cell 1 so as to exactly overlap.

After the alignment area and the origin position are set and registered as described above, the TCP 2 is actually automatically mounted on the cell 1. Then, the cell 1 is carried into the laminating station and positioned at a predetermined position. The positioning of the cell 1 is performed by the television cameras 21a and 21b in the image recognition unit 20.
The image is obtained by recognizing the image, but since the positioning mark 3 having the center of gravity is formed in the cell 1,
Accurate positioning can be performed by a known method.

Then, the TCP2 is set to the positioning unit 10
Is mounted on the four-axis table 11 that constitutes the image recognition unit 20, and the positioning marks 4 formed at positions near both ends of the four-axis table 11 constitute the image recognition unit 20. It is carried into a position within the visual field range of 21b. Then, the images of the first and second television cameras 21a and 21b are taken into the first and second area search units 33a and 33b and registered in the first and second alignment area registration units 31a and 31b. Search for a pattern that matches the existing pattern. When the same pattern as the alignment area is detected, data relating to the origin position registered in the first and second reference position registration units 32a and 32b in the first and second coordinate position detection units 34a and 34b. Based on the above, the position of the reference position of the TCP 2 is detected as the XY coordinate with the origin position as the origin. As a result, as shown in FIG.
In the image areas of the first and second television cameras 21a and 21b, the positions of the XY coordinate axes of the reference positions S ₁ and S ₂ are detected. This signal is transmitted to the calculation unit 35, and the calculation unit 35 calculates the deviation amount in the X-axis direction and the Y-axis direction, and at the same time, establishes the line connecting the reference positions S ₁ and S ₂ and the origin of the XY coordinates. The angle θ with the connecting line is measured.

The signal relating to the amount of deviation in each direction of XYθ measured in this way is added to the signal relating to the standard movement amount set by the standard movement amount setting unit 36 in the adder 37, and then added to the servo means 13. A signal relating to the amount of movement is supplied, and a drive control signal is input from the servo means 13 to the drive mechanism 12 based on this signal.
The axis table 11 operates to position the TCP 2 mounted on the 4-axis table 11 at the upper position of the cell 1 and the electrode 2a at the upper position of the electrode 1a of the cell 1. By lowering TCP2 in this state, T
CP2 will be superimposed on cell 1.

Then, the TCP 2 and the cell 1 are fixed to each other by means of adhesion or the like, so that they are bonded together. After that, move cell 1 to the next TC
The P2 is conveyed to a bonding position, the cell 1 is positioned at this position, and the above-described operation is repeated to sequentially bond the TCP2.

If the position of the positioning mark 4 of the TCP2 is accurately arranged, it is not necessary to change it once the alignment area and origin position are set / registered, but the alignment of the cell 1 and the TCP2 is not necessary. Must be performed extremely strictly, and even if the position of the positioning mark 4 deviates even slightly, the positions of the electrodes 1a and 2a of both works will not match. Therefore, for example, the alignment area and the origin position should be set for each TCP manufacturing lot. All you have to do is register. Since this setting / registration can be performed by moving the cursor on the television monitor, the operation is extremely simple.

In the above-mentioned embodiment, the TCP is bonded to the cell, but it is essential only that the work be accurately aligned and bonded. It goes without saying that it can be used as a device. Further, the positioning mark is not limited to the one shown in the figure, and various figures, symbols, etc. can be used as long as they can be distinguished from other parts, and a figure with a center of gravity position may be used.

[0026]

As described above, according to the present invention, one of the positioning patterns is used in the relative positioning of two works having a pair of positioning patterns arranged in line symmetry. Then, the alignment area and origin position are set / registered, and the other positioning pattern is set / registered as the inside-out position of the alignment area and origin position that was set / registered. When the origin position in the registered alignment area and the work to be bonded are placed at a predetermined position, the reference position corresponding to this origin position is detected and the deviation from the origin position on the horizontal plane is calculated. However, since the movement of the work is controlled based on the calculation result, the positioning pattern without the center of gravity position is formed. Even click, the image recognition unit, very easily, yet the effects of such very strictly it is possible to perform superposition of the workpiece.

[Brief description of drawings]

FIG. 1 is a diagram showing appearances of two works to be overlapped with each other.

FIG. 2 is a schematic configuration diagram of a device of an automatic TCP loading machine.

FIG. 3 is a block diagram showing a configuration of a control unit.

FIG. 4 is an operation explanatory view showing a registration operation of an alignment area and an origin position on the first television monitor.

FIG. 5 is a flowchart of a registration procedure of an alignment area and an origin position.

FIG. 6 is an operation explanatory view of a calculation unit that calculates a deviation amount of TCP.

[Explanation of symbols]

 1 Cell 1a Cell Side Electrode 2 TCP (Tape Carrier Package) 3,4 Positioning Mark 10 Positioning Unit 11 4 Axis Table 12 Drive Mechanism 13 Servo Means 20 Image Recognition Unit 21a, 21b Television Camera 23a, 23b Television Monitor 30 Control Unit 31a, 31b Alignment area registration unit 32a, 32b Reference position registration unit 34a, 34b Coordinate position detection unit 35 Calculation unit 36 Standard movement amount setting unit 37 Adder

Claims (1)

[Claims] 1. A positioning device for relatively positioning and superposing two works, each of which is provided with a pair of positioning patterns arranged in line symmetry, wherein one pattern of both works is formed. The first camera for photographing the region where the pattern is formed, the second camera for photographing the region where the other pattern of both workpieces is formed, and the positioning pattern for the visual field range of the first camera. An area registration unit that sets / registers a part including the position as an alignment area, an origin position registration unit that registers a predetermined position with respect to the alignment area as an origin position, an alignment area set by the first image recognition unit, and A second alignment area that sets the alignment area and origin position symmetrical to the origin position.
The origin position registration unit recognizes the alignment area in the work photographed by the first and second cameras and the position on the image of the reference position corresponding to the origin position in this alignment area, and recognizes the registered origin position. An alignment device comprising a calculation means for detecting a deviation in the XY directions and a rotation direction, and a movement amount when the two works are superposed on each other, based on a signal from the calculation means.