JPS59139414A - Substrate positioning device - Google Patents

Abstract

PURPOSE:To position a substrate accurately in a high speed, by positioning the substrate preliminarily and detecting its positional deviation with an image sensor to control a positioning table. CONSTITUTION:A substrate 11 is put in a guide groove 12 of a carrying-in part and is carried to a table 14 and is positioned onto a reference face 14a by a pressing piece 15. In case of accurate positioning, a position mark 11a provided preliminarily on the substrate 11 is measured by an image sensor 16 to detect the deviation in the carrying direction, and said table 14 is controlled to correct the position of the substrate 11 in accordance with this positional deviation quantity. With respect to this measurement of the positional deviation, the mark 11a is latched in a shift register 23 by said sensor 16 and shifted successively by a clock signal, and a counter 24 is stopped in the position of said mark 11a, and count counts are used as a measurement signal.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a board positioning device that can be used when processing, assembling and mounting boards such as printed wiring boards or hybrid integrated circuit boards.

Conventional configuration and its problems An example of a conventional substrate positioning device is shown in FIG.

In this apparatus, a substrate 1 is carried into a temporary positioning section 3 by a conveyor belt 2. The substrate 1 temporarily positioned here is sucked by a vacuum chuck 4 and transferred to a positioning table 6. Further, the movable piece 6 driven by the cylinder 7 is pressed against the reference surface 8.

Positioned. After being positioned and processed in this manner, the substrate 1 is carried out again by the vacuum chuck 4 and transported to the next step by the transport belt 9.

However, although such conventional devices can accurately position the substrate 1 if it is an accurate rectangle or square, the actual substrate 1 cannot be guaranteed to be perpendicular and parallel on each side, and in particular, If 1 is small and the length of one side is the same, the error will become large. For example, when these substrates 1 are positioned using this device, positioning errors occur depending on which side of the reference surface the sides contact. In addition, with this device, the movement of the substrate 1 is discontinuous, and it takes time for one positioning. Also.

Reliability of conveyance is low as there is a need to change the conveyance using a vacuum chuck 4 or the like.

OBJECTS OF THE INVENTION An object of the present invention is to eliminate these conventional drawbacks and provide a positioning device that is capable of accurate positioning, high speed, and high reliability.

Structure of the Invention In the present invention, above or below a positioning table having a positioning reference surface and a pushing piece opposite thereto,
By installing an image sensor that measures the positional deviation of the board in a direction parallel to the positioning reference plane and controlling the positioning table using the measurement output, it is possible to perform positioning with high precision and high speed. This realizes a highly reliable device.

DESCRIPTION OF EMBODIMENTS A substrate positioning apparatus according to an embodiment of the present invention will be described below with reference to FIG. In this apparatus, the substrate 1 enters a guide groove 12 in the loading section and is conveyed in a palm V state, and is conveyed to the positioning table 14 by the movement of the conveying hook 13 in the direction of arrows 1→17b→17c→17d. At this time, the substrate 1 is pressed against the reference surface 14a by the pusher piece 15 and the pusher spring 15a, and is positioned in the direction perpendicular to the transport direction and in the rotational direction.

Next, the positional deviation in the transport direction is measured by measuring the positioning mark 11a provided in advance on a part of the substrate 11 with an image sensor 16 installed above the positioning table. Then, the positioning table 14 is controlled 1 based on the measurement output, and the positioning table 14 is corrected as shown by the arrow 14b according to the amount of positional deviation, thereby accurately and quickly positioning the positioning table 14 in the vertical, horizontal, and rotational directions.

FIG. 4 shows an example of the configuration of a circuit for measuring position f by the image sensor 16. The alignment mark 11a on the substrate 1 is projected onto the -dimensional image sensor 22 through the lens 21, and this is converted into an electrical signal. This position signal is latched in the shift register 23 according to the timing of the start signal, and then shifted to the right according to the clock signal and output. At the same time, counter 2
4, after being reset by a start signal, the clock is counted. This means that the position signal is from the shift register 22.
This continues until the counter 24 is stopped. The count content of the counter 24 at the time of this stop is output as a control measurement signal indicating correction of the positioning table 14.

The substrate 11 thus positioned and subjected to the prescribed processing
is delivered to the guide groove 18 of the delivery section by one cycle of movement of the transport hook 13.

In this way, the substrate 1 is
By detecting the displacement of the position of the substrate 11 and controlling the positioning table 14 according to the edge protrusion, the substrate 11 can be correctly positioned accurately and at high speed.

Effects of the Invention As described above, according to the present invention, the substrate can be pre-positioned in the vertical direction and rotational direction using the push piece and the reference surface, and furthermore, it can be positioned in the transport direction by measuring the positional deviation of the substrate using an image sensor. , the measurement direction can be limited to one direction, and the board can be positioned accurately and at high speed, and the measurement speed can be increased and the cost of the entire equipment can be reduced.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing a conventional substrate positioning device, Fig. 2 is a perspective view showing a substrate positioning device in an embodiment of the present invention, and Fig. 3 is a state of a substrate carried into a positioning table in the same device. FIG. 4 is a block diagram showing a configuration example of a positional deviation measurement device using an image sensor used in the same device. 11... Board, 11a... Alignment mark, 14 Positioning table, 14a... Reference surface, 16... Push piece, 16...・Name of Image Sensor-0 agent Patent attorney Toshio Nakao
and 1 other person Figure 4 Figure 6 Procedural amendment (Direction N) June 76, 1986 2 Name of the invention Board positioning device 3 Person making the amendment Relationship to the case Patent application
Address 1006 Oaza Kadoma, Kadoma City, Osaka Name (582) Matsushita Electric Industrial Co., Ltd. Representative Yama
Toshihiko Shimo 4 Agent 571 Address Matsushita Electric Industrial Co., Ltd., 1006 Oaza Kadoma, Kadoma City, Osaka Prefecture 6 Date of amendment order 7 Contents of amendment Drawing drawing number "Figure 4", "Figure 6", ``Figure 6j ``7th
Each figure is separate. "Figure 1", "Figure 2", "Figure 3". Figure 4” is corrected.

Claims (1)

[Claims] An image sensor that optically measures the positional deviation of the substrate in a direction parallel to the single surface by having a reference surface and a pushing piece installed opposite each other, and A substrate positioning device having a control means for controlling a positioning table.