KR20240130744A - Processing device and processing method - Google Patents

Abstract

The purpose of the present invention is to provide a processing device capable of appropriately processing a portion of a workpiece to be processed. A processing device (1) according to one aspect of the present invention comprises: an imaging unit (11) having an optical element (11a) facing a plate-shaped or sheet-shaped work P from the normal direction and capturing an image of a reference position marker R provided on the work P from the normal direction; a work fixing member (12) that fixes the work P to a reference position in the normal direction near the optical element (11a) when viewed from the normal direction during imaging by the imaging unit (11); a specifying unit (13) that specifies a processing target portion of the work P based on the imaging result by the imaging unit (11); a first processing unit (14a) and a second processing unit (14b) capable of inserting the processing target portion from both sides; and a first driving mechanism (15) that drives the work fixing member (12) so that the reference position and the normal direction position during insertion by the first processing unit (14a) and the second processing unit (14b) become the same.

Description

Processing device and processing method

The present invention relates to a processing device and a processing method.

A processing device that processes a plate-shaped or sheet-shaped work is known. Examples of such processing devices include an electrical inspection device that tests the electrical characteristics of a work, and a processing device that processes a work.

Japanese Patent Publication No. 2010-237061

In this processing device, the position of the processing target portion of the workpiece is determined by capturing an image of a reference position marker provided on the workpiece in the normal direction of the workpiece. In this processing device, if the workpiece has a bend or a curve, the processing target portion of the workpiece cannot be accurately positioned, and there is a concern that sufficient processing precision for the workpiece may not be obtained.

Patent Document 1 describes an electronic component inspection device capable of inspecting a plurality of electronic components while pressurizing both sides of a substrate with a plurality of electronic components mounted thereon, while supporting the substrate from both sides with a tray. Patent Document 1 describes that by supporting the substrate with a tray, a plurality of electronic components can be inspected simultaneously even when warping or bending occurs in the substrate.

However, in the electronic component inspection device described in Patent Document 1, since the substrate is forcibly fixed to the tray, there is a risk that misalignment due to warping or bending of the substrate when fixed by the tray may occur, or that excessive stress may be applied to the substrate. As a result, there is a risk that the measurement points of the substrate may not be properly inspected.

The present invention has been made based on these circumstances, and an object of the present invention is to provide a processing device and a processing method capable of appropriately processing a portion of a workpiece to be processed.

A processing device according to one aspect of the present invention comprises: an imaging unit that has an optical element that faces the workpiece in a normal direction from the front, and captures an image of a reference position marker provided on the workpiece in the normal direction; a workpiece fixing member that fixes the workpiece to a reference position in the normal direction near the optical element when capturing an image by the imaging unit; a specifying unit that specifies a processing target portion of the workpiece based on a result of capturing an image by the imaging unit; a first processing unit and a second processing unit capable of inserting the processing target portion from both sides; and a first driving mechanism that drives the workpiece fixing member so that the reference position and the normal direction position at the time of insertion by the first processing unit and the second processing unit become the same.

Figure 1 is a schematic side view of a processing device according to one embodiment of the present invention, viewed in a direction perpendicular to the normal direction of the work.
Figure 2 is a cross-sectional view taken along line II-II of the processing device of Figure 1.
Fig. 3 is a flow chart showing a processing method using the processing device of Fig. 1.
Fig. 4 is a schematic side view showing the procedure for determining the insertion position in the normal direction of the work in the processing method of Fig. 3.
FIG. 5 is a schematic side view showing the procedure for capturing a reference position marker while the work is fixed by a work fixing member in the processing method of FIG. 3.
FIG. 6 is a schematic side view showing a modified example of the procedure of FIG. 5 for capturing a reference position marker while the work is fixed by the work fixing member in the processing method of FIG. 3.
FIG. 7 is a schematic side view showing a modified example of the procedure of FIGS. 5 and 6 for capturing a reference position marker while the work is fixed by the work fixing member in the processing method of FIG. 3.
Fig. 8 is a schematic side view showing the state before the processing target portion of the workpiece in the processing method of Fig. 3 is inserted by the first processing unit and the second processing unit.
Fig. 9 is a schematic side view showing a state in which a processing target portion of a workpiece in the processing method of Fig. 3 is sandwiched between a first processing unit and a second processing unit.
Fig. 10 is a schematic side view of a processing device in an embodiment different from the processing device of Fig. 1, viewed in a direction perpendicular to the normal direction of the work.

A processing device according to one aspect of the present invention comprises: an imaging unit that has an optical element that faces the workpiece in a normal direction from the front, and captures an image of a reference position marker provided on the workpiece in the normal direction; a workpiece fixing member that fixes the workpiece to a reference position in the normal direction near the optical element when capturing an image by the imaging unit; a specifying unit that specifies a processing target portion of the workpiece based on a result of capturing an image by the imaging unit; a first processing unit and a second processing unit capable of inserting the processing target portion from both sides; and a first driving mechanism that drives the workpiece fixing member so that the reference position and the normal direction position at the time of insertion by the first processing unit and the second processing unit become the same.

The above work fixing member may partially fix the work at a position closer to the optical element than the portion to be processed when viewed in the normal direction.

The above first driving mechanism is driven to separate the work fixing member from the work before the first processing unit and the second processing unit fit the portion to be processed.

The processing device may be provided with a second driving mechanism that drives the first processing section and the second processing section, and the second driving mechanism may drive at least one of the first processing section and the second processing section to determine an insertion position in the normal direction of the workpiece before fixing of the workpiece by the workpiece fixing member, and the first driving mechanism may drive the workpiece fixing member so that the workpiece is positioned at the normal direction position determined by the second driving mechanism.

The processing device may further include a measuring unit capable of measuring the normal direction position of the workpiece at the time of the imaging, and the normal direction position of the workpiece at the time of insertion by the first processing unit and the second processing unit.

A processing method according to another aspect of the present invention comprises: an imaging unit having an optical element facing the front in the normal direction to a plate-shaped or sheet-shaped workpiece; a work fixing member fixing the workpiece to a reference position in the normal direction near the optical element as viewed in the normal direction; a specifying unit specifying a processing target portion of the workpiece; a first processing unit and a second processing unit capable of inserting the processing target portion from both sides; and a first driving mechanism driving the work fixing member, wherein the work fixing member is driven so that the reference position and the normal direction position at the time of insertion by the first processing unit and the second processing unit become the same, and while the workpiece is fixed to the reference position by the work fixing member, a reference position marker provided on the workpiece is imaged in the normal direction, and based on a result of imaging the reference position marker, the processing target portion of the workpiece is specified.

In addition, in the present invention, there is no clear distinction between "plate-like" and "sheet-like", but a thing that does not substantially cause bending due to its own weight is called a "plate-like", and a thing that has flexibility and causes bending due to its own weight can be called a "sheet-like". In the present invention, "sheet-like" is a concept that includes "film-like". "Close to the optical element as viewed in the normal direction of the work" means that, when viewed in the normal direction of the work, the gap with the imaging area of the work is 10 mm or less. This gap is preferably 8 mm or less, and more preferably 5 mm or less. In addition, there is no particular limitation as the lower limit of the gap with the imaging area of the work. For example, if the work fixing member is transparent, when the work is viewed in the normal direction, the work fixing member may be arranged within the imaging area of the work.

In one aspect of the present invention, the processing device drives the work fixing member so that the normal direction position of the work becomes the same when the first processing unit and the second processing unit insert and when the imaging unit takes an image. Therefore, even if the work has a bend, a twist, a bend, or the like, the processing device can easily align the normal direction position of the reference position marker when taking an image with the normal direction position of the processing target portion when taking an image. That is, the processing device can perform the imaging by the imaging unit and the insertion by the first processing unit and the second processing unit in a state where the work is placed within the same virtual plane. As a result, the processing device can easily and accurately grasp the positional relationship between the reference position marker provided on the work and the processing target portion, thereby appropriately processing the processing target portion.

Hereinafter, embodiments of the present invention will be described in detail with appropriate reference to the drawings.

[First embodiment]

<Processing device>

The processing device (1) of Figs. 1 and 2 comprises an optical element (11a) facing a plate-shaped or sheet-shaped work P in the normal direction (Z direction in Fig. 1), an imaging unit (11) for imaging a reference position marker R provided on the work P in the normal direction, a work fixing member (12) for fixing the work P to a reference position in the normal direction near the optical element (11a) when viewed in the normal direction during imaging by the imaging unit (11), a specifying unit (13) for specifying a processing target portion of the work P based on the imaging result by the imaging unit (11), a first processing unit (14a) and a second processing unit (14b) capable of inserting the processing target portion from both sides, and a work fixing unit for fixing the work so that the reference position and the normal direction position during insertion by the first processing unit (14a) and the second processing unit (14b) become the same. The processing device (1) comprises a first driving mechanism (15) for driving the first processing unit (14a) and the second processing unit (14b), and a control unit (17) for controlling the operations of the first driving mechanism (15) and the second driving mechanism (16). In the present embodiment, the specific unit (13) is included in the control unit (17). In addition, in Fig. 1, the imaging unit (11) and the work fixing member (12) are arranged on both sides of the work P. However, the arrangement of the imaging unit (11) and the work fixing member (12) can be set based on the specifications of the processing device (1), and one or both of the imaging unit (11) and the work fixing member (12) may be arranged on only one side of the work P. In addition, in Fig. 1, the first driving mechanism (15), the second driving mechanism (16), and the control unit (17) are provided in a one-to-one correspondence to each of the first processing unit (14a) and the second processing unit (14b). However, the first driving mechanism (15), the second driving mechanism (16), and the control unit (17) may be configured as being common to the first processing unit (14a) and the second processing unit (14b).

The processing device (1) can be configured as, for example, an electrical inspection device that uses a printed circuit board as the work P, or a processing device that processes the work P (an electrical inspection device is illustrated in FIG. 1). The specific configurations of the first processing unit (14a) and the second processing unit (14b) can be appropriately set according to the functions required for the processing device (1). When the processing device (1) is an electrical inspection device, the first processing unit (14a) and the second processing unit (14b) have a plurality of probes (21) that can make contact in a normal direction with respect to the work P, a plurality of guide holes (not illustrated) that guide the plurality of probes (21), and a support plate (22) that can make contact in a normal direction with respect to the work P. In addition, in FIG. 1, each of the first processing unit (14a) and the second processing unit (14b) is provided so as to be capable of inspecting the electrical characteristics of the work P. However, depending on the type of the processing device (1) or the function required for the processing device (1), one of the first processing unit (14a) and the second processing unit (14b) may only have the function of inserting the work P between the other processing unit.

〔WORK〕

As described above, when the processing device (1) is an electrical inspection device, a printed circuit board is used as the work P. This printed circuit board has a circuit pattern arranged on a substrate and is flexible. When the work P is a printed circuit board, the work P has a plurality of processing target portions. The processing device (1) is configured to sequentially process a plurality of processing target portions arranged on the work P.

The work P has, for example, a rectangular shape when viewed in plan view. The work P is held and supported horizontally as a whole while its four corners are gripped by the work gripper (31). Since the work P is held and supported in the air by its peripheral part being partially gripped by the work gripper (31), it may be bent, twisted, or bent due to its own weight. The processing device (1) is suitable for appropriately processing the target portion of the work P in a configuration in which the work P may be bent, twisted, or bent.

In the work P, a reference position marker R is provided. The reference position marker R is not particularly limited as long as it can be used as a reference position for specifying the processing target portion, and may be, for example, the circuit pattern itself or a mark for position determination provided separately from the circuit pattern.

(Camera department)

The imaging unit (11) has a camera that captures a digital image and an image processing unit that processes the digital image captured by the camera. The camera has the aforementioned optical element (11a) facing the work P from the normal direction. As the optical element (11a), a lens can be exemplified.

The above image processing unit may be included in the control unit (17) or may be provided separately from the control unit (17). When the image processing unit is included in the control unit (17), the image processing unit may be a part of a program processed by the control unit (17).

The above camera may be held and supported independently, or may be directly or indirectly connected to a second driving mechanism (16) so as to be able to move together with the first processing unit (14a) or the second processing unit (14b). When the above camera is held and supported independently, it is preferable that the camera be configured to be able to move in the plane direction of the work P (the XY plane direction in Fig. 1) and the normal direction of the work P (the Z-axis direction in Fig. 1).

(Work fixation absence)

The work fixing member (12) has a support surface (12a) that partially supports the work P. The work fixing member (12) fixes the work P to a reference position in the normal direction by bringing the support surface (12a) into contact with the work P in the normal direction. For example, if the work P has self-weight bending, the processing device (1) pushes upward the work fixing member (12) on the lower side (on the second processing section (14b) side) so that the work P is positioned at the reference position, and moves downward the work fixing member (12) on the upper side (on the first processing section (14a) side) so that the work P can be sandwiched between the work fixing member (12) on the lower side.

As shown in Fig. 2, the work fixing member (12) is provided so as to partially support the work P near the optical element (11a) when viewed in the normal direction of the work P. Since the work fixing member (12) only needs to partially support the work P, the stress applied to the work P can be sufficiently reduced. The work fixing member (12) may be provided so as to support the work P by a part of the periphery of the optical element (11a) when viewed in the normal direction of the work P.

The work fixing member (12) fixes the work P so that the normal direction position (Z-axis direction position) of the imaging area of the work P when imaging the reference position marker R aligns with the normal direction position of the processing target portion of the work P when processing by the first processing unit (14a) and the second processing unit (14b). The work fixing member (12) only needs to fix the work P when imaging by the imaging unit (11), and does not need to fix the work P when inserting the processing target portion by the first processing unit (14a) and the second processing unit (14b). Therefore, the work fixing member (12) only needs to be arranged on a part of the outer edge side of the first processing unit (14a) and the second processing unit (14b) when viewed from the normal direction of the work P, which faces the optical element (11a) (is close to the optical element (11a). According to this configuration, the processing device (1) can achieve compactness of the work fixing member (12), and can achieve miniaturization and cost reduction of the device, while easily increasing the processing efficiency of the work P while suppressing stress on the work P.

It is preferable that the work fixing member (12) partially fixes the work P at a position closer to the optical element (11a) than the processing target portion when viewed from the normal direction of the work P. According to this configuration, the processing device (1) can achieve compactness of the work fixing member (12), and can achieve miniaturization and cost reduction of the device, and can quickly and reliably fix the work P at a desired position when capturing an image of the reference position marker R.

(specific government)

The specific section (13) determines the characteristic points of the work P among the digital images captured by the camera of the imaging section (11), thereby obtaining the relative positions of the camera and the processing target portion of the work P. In addition, the specific section (13) determines the absolute position of the processing target portion in the XYZ coordinate system based on the arrangement of the camera.

(1st Processing Unit and 2nd Processing Unit)

The first processing unit (14a) and the second processing unit (14b) each have a support plate (22) that contacts the work P in the normal direction. The first processing unit (14a) and the second processing unit (14b) are provided so that the work P can be inserted from both sides by the support plate (22).

(First driving mechanism)

The first driving mechanism (15) drives the work fixing member (12) at least in the normal direction of the work P. The first driving mechanism (15) may be configured so as to be able to drive the work fixing member (12) in the plane direction of the work P as well. The first driving mechanism (15) is configured so as to be able to drive the work fixing member (12) independently of the first processing unit (14a) and the second processing unit (14b). The specific configuration of the first driving mechanism (15) is not particularly limited, and for example, a configuration may include a slider extending in the normal direction of the work P, and a guide rail that holds and supports the slider so as to be able to slide in the normal direction.

It is preferable that the first driving mechanism (15) be driven to move the work fixing member (12) away from the work P before the first processing section (14a) and the second processing section (14b) fit the processing target portion. The processing device (1) moves the work fixing member (12) away from the work P after the imaging of the reference position marker R by the imaging section (11), places the first processing section (14a) and the second processing section (14b) against the processing target portion, and then fits the processing target portion of the work P within the same virtual plane as the reference position, thereby enabling the desired processing to be performed quickly and stably.

(Second driving mechanism)

The second driving mechanism (16) is configured to be capable of driving the first processing unit (14a) and the second processing unit (14b) in three dimensions. In addition, the second driving mechanism (16) may be configured to be capable of rotating the first processing unit (14a) and the second processing unit (14b) around an axis parallel to the normal direction of the work P.

As the second drive mechanism (16), for example, a multi-joint robot, an orthogonal coordinate drive system, etc. can be mentioned. By using an orthogonal coordinate drive system as the second drive mechanism (16), it is easy to reduce the cost and the space occupied. As the orthogonal coordinate drive system, for example, it can be configured to have an orthogonal coordinate robot capable of positioning two axes in the plane direction of the work P, an elevating member arranged on the orthogonal coordinate robot, and a rotating member arranged on the elevating member and configured to enable one or both of the first processing section (14a) and the second processing section (14b) to rotate.

The second driving mechanism (16) preferably determines the insertion position in the normal direction of the work P by driving at least one of the first processing section (14a) and the second processing section (14b) before fixing the work P by the work fixing member (12). Furthermore, in this configuration, the first driving mechanism (15) preferably drives the work fixing member (12) so that the work P is positioned at the normal direction position determined by the second driving mechanism (16). By driving the first driving mechanism (15) and the second driving mechanism (16) in this manner, the processing device (1) can easily and reliably align the normal direction position of the reference position marker R at the time of imaging by the imaging section (11) with the normal direction position of the processing target portion of the work P at the time of processing by the first processing section (14a) and the second processing section (14b). As a result, the processing target portion can be appropriately processed in a more stable state.

(Control unit)

The control unit (17) is configured to include a computer having a memory unit such as a CPU (Central Processing Unit) that performs data processing or a semiconductor memory that temporarily or permanently stores various types of information.

The control unit (17) first moves at least one of the first processing unit (14a) and the second processing unit (14b) to determine the insertion position in the normal direction of the work P by the first processing unit (14a) and the second processing unit (14b). Next, the control unit (17) moves the work fixing member (12) to fix the work P to a reference position in the normal direction when the image is captured by the imaging unit (11). When the image capture by the imaging unit (11) is finished, the control unit (17) moves the work fixing member (12) away from the work P, and then moves the first processing unit (14a) and the second processing unit (14b) to face the processing target portion of the work P. In addition, the control unit (17) moves the first processing unit (14a) and the second processing unit (14b) in the opposite inward direction (in the direction of approaching each other) and inserts the work P at the same normal direction position as the reference position. After the processing by the first processing unit (14a) and the second processing unit (14b) is finished, the control unit (17) moves the first processing unit (14a) and the second processing unit (14b) away from the work P. The control unit (17) controls the work fixing member (12) and the first processing unit (14a) and the second processing unit (14b) for each processing target portion based on the above sequence. The processing device (1) can quickly and stably perform a desired processing on the work P by the control unit (17) performing the above-described control.

<How to handle>

Next, with reference to FIGS. 3 to 9, a processing method using the processing device (1) of FIGS. 1 and 2 will be described.

The processing method is performed using a processing device (1) comprising: an imaging unit (11) having an optical element (11a) facing a plate-shaped or sheet-shaped work P in a normal direction; a work fixing member (12) for fixing the work P to a reference position in the normal direction near the optical element (11a) as viewed in the normal direction; a specifying unit (13) for specifying a processing target portion of the work P; a first processing unit (14a) and a second processing unit (14b) capable of inserting the processing target portion from both sides; a first driving mechanism (15) for driving the work fixing member (12); a second driving mechanism (16) for driving the first processing unit (14a) and the second processing unit (14b); and a control unit (17) for controlling the operations of the first driving mechanism (15) and the second driving mechanism (16). As illustrated in Fig. 3, the processing method determines an insertion position in the normal direction of the workpiece P (S1), drives the workpiece fixing member (12) (S2), captures an image of a reference position marker R (S3), specifies a processing target portion of the workpiece P (S4), and inserts the processing target portion of the workpiece P (S5). Furthermore, the processing method includes a procedure for releasing the insertion of the workpiece P after S5. By repeating the procedures of S2 to S5 for other processing target portions of the workpiece P, the processing method can quickly and stably perform desired processing on the workpiece P.

(S1)

In S1, by driving at least one of the first processing unit (14a) and the second processing unit (14b) by the second driving mechanism (16), the insertion position of the processing target portion in the normal direction of the work P is determined.

Referring to Fig. 4, an example of a procedure for determining an insertion position in a case where the work P is bent downward is described. In S1, the second processing unit (14b) is moved upward so that the upper surface of the support plate (22) of the second processing unit (14b) is positioned within a virtual plane determined by the gripping positions of the work P by the four work gripping units (31). In S1, position information of the state in which the upper surface of the support plate (22) is moved within the virtual plane in order to eliminate the bending of the work P is stored in the control unit (17).

In addition, the above-described procedure is an example, and in S1, the position of the upper surface of the support plate (22) of the second processing unit (14b) does not necessarily have to coincide with the virtual plane.

(S2)

S2 is performed by driving the work fixing member (12) by the first driving mechanism (15). In S2, the work fixing member (12) is driven so that the normal direction position becomes the same as the reference position and the first processing unit (14a) and the second processing unit (14b) when inserting.

In S2, the work P is fixed by the work fixing member (12) so that the position remembered in S1 and the fixing position in the normal direction of the work P match. In S2, for example, as shown in FIG. 5, the work P may be fixed by sandwiching the work P from both sides by a pair of work fixing members (12). In addition, in S2, as shown in FIG. 6, in order to partially relieve the downward bending of the work P, the work fixing member (12) located on the downward side of the work P is moved upward, and the work P is supported from below by the work fixing member (12), thereby fixing the work P. In addition, in S2, in order to partially relieve the rising of the work P, the work fixing member (12) located on the upper side of the work P is moved downward, and the work P is supported from above by the work fixing member (12), thereby fixing the work P.

(S3)

S3 is performed by capturing an image of a reference position marker R by an imaging unit (11). In S3, the reference position marker R provided on the work P is captured in the normal direction of the work P while the work P is fixed to the reference position by a work fixing member (12). In S3, the reference position marker R is captured by a pair of imaging units (11) facing each other with the work P interposed therebetween, as shown in FIGS. 5 and 6, for example.

In addition, in S3, as shown in Fig. 7, the reference position marker R may be captured by one imaging unit (11) arranged on one side of the work P. For example, if circuit patterns are provided on both sides of the work P and the sizes of these circuit patterns are different, by using a circuit pattern with a smaller size as the reference position marker R, it becomes easier to specify the processing target portion of the work P by S4 described later. In addition, even when capturing the reference position marker R by one imaging unit (11), the work P may be captured only from one side by one work fixing member (12) arranged on the upper or lower side of the work P.

(S4)

S4 is performed by a specific section (13). In S4, a processing target section of the work P is specified based on the imaging result of the reference position marker R.

(S5)

In S5, the processing target portion of the workpiece P is sandwiched by the first processing unit (14a) and the second processing unit (14b) while the first processing unit (14a) and the second processing unit (14b) are positioned opposite each other on both sides of the processing target portion of the workpiece P. In S5, the processing target portion of the workpiece P is sandwiched by the first processing unit (14a) and the second processing unit (14b) so that the position stored in S1 and the insertion position in the normal direction of the workpiece P are identical.

An example of the insertion procedure of the processing target portion of the workpiece P in S5 will be described. First, in S5, as shown in FIG. 8, with the workpiece P being released from fixation by the workpiece fixing member (12), the first processing unit (14a) and the second processing unit (14b) are driven in the plane direction of the workpiece P by the second driving mechanism (16) to a position facing the processing target portion of the workpiece P. Furthermore, in S5, as shown in FIG. 9, the processing target portion of the workpiece P is inserted from both sides by the first processing unit (14a) and the second processing unit (14b). The insertion of the processing target portion may be performed by moving the first processing unit (14a) and the second processing unit (14b) simultaneously. Furthermore, the insertion may also be performed by moving the second processing unit (14b) to a predetermined position so as to eliminate warping, etc., of the processing target portion, and then moving the first processing unit (14a).

<Advantages>

The processing device (1) drives the work fixing member (12) so that the normal direction position of the work P becomes the same when the first processing unit (14a) and the second processing unit (14b) are inserted and when the image is captured by the imaging unit (11), by the first driving mechanism (15). Therefore, even if the work P is warped, twisted, bent, etc., the processing device (1) can easily align the normal direction position of the reference position marker R when the image is captured and the normal direction position of the processing target portion when the image is captured by the first processing unit (14a) and the second processing unit (14b). That is, the processing device (1) can perform the imaging by the imaging unit (11) and the insertion by the first processing unit (14a) and the second processing unit (14b) in a state where the work P is placed within the same virtual plane. As a result, the processing device (1) can appropriately process the processing target portion by easily and accurately identifying the positional relationship between the reference position marker R provided on the work P and the processing target portion.

The processing method can easily align the normal direction position of the reference position marker R at the time of imaging with the normal direction position of the processing target portion at the time of insertion by the first processing unit (14a) and the second processing unit (14b), even when the work P is warped, twisted, bent, or the like. As a result, the processing method can appropriately process the processing target portion by easily and accurately grasping the positional relationship between the reference position marker R provided on the work P and the processing target portion.

[Second embodiment]

<Processing device>

The processing device (41) of Fig. 10 has an optical element (11a) that faces the work P in a plate-like or sheet-like shape from the normal direction (Z direction of Fig. 10), and comprises an imaging unit (11) that captures an image of a reference position marker R provided on the work P in the normal direction, a work fixing member (12) that fixes the work P to a reference position in the normal direction near the optical element (11a) when viewed from the normal direction during imaging by the imaging unit (11), a specifying unit (13) that specifies a processing target portion of the work P based on the imaging result by the imaging unit (11), a first processing unit (14a) and a second processing unit (14b) that can insert the processing target portion from both sides, and a work fixing unit that makes the reference position and the normal direction position at the time of insertion by the first processing unit (14a) and the second processing unit (14b) the same. The processing device (41) is provided with a first driving mechanism (15) that drives the absence (12). In addition, the processing device (41) is provided with a second driving mechanism (16) that drives the first processing section (14a) and the second processing section (14b), and a control section (17) that controls the operations of the first driving mechanism (15) and the second driving mechanism (16). In addition, the processing device (41) is provided with a measuring section (42) that can measure the normal direction position of the workpiece P when capturing an image by the imaging section (11), and the normal direction position of the workpiece P when inserting it by the first processing section (14a) and the second processing section (14b). In addition to being provided with the measuring section (42), the processing device (41) can have the same configuration as the processing device (1) of Fig. 1. Therefore, only the measuring section (42) will be described below.

(measurement section)

The measuring unit (42) includes a non-contact sensor. As the non-contact sensor, for example, a distance sensor such as a laser distance sensor or an ultrasonic distance sensor can be exemplified. The measuring unit (42) measures the distance from a measuring point of the work P in the normal direction of the work P, thereby obtaining the relative position of the measuring point with respect to the measuring unit (42). The measuring unit (42) specifies the absolute position of the measuring point in the XYZ coordinate system based on the position of the measuring unit (42). The measuring unit (42) may be provided to be movable in the plane direction of the work P (the XY plane direction of FIG. 10) so as to be able to measure the distance from a desired measuring point.

<How to handle>

The processing method using the processing device (41) is similar to the processing method using the processing device (1) of Fig. 1 in that the insertion position in the normal direction of the work P is determined (S1), the work fixing member (12) is driven (S2), the reference position marker R is imaged (S3), the processing target portion of the work P is specified (S4), and the processing target portion of the work P is inserted (S5).

In the processing method, the expected insertion position in the normal direction of the work P determined by S1 and the fixing position in the normal direction of the work P in S2 are measured by the measuring unit (42). Furthermore, in the processing method, the insertion position in the normal direction of the work P in S5 may also be measured by the measuring unit (42). In the processing method, the work fixing member (12) is driven in S2, or the first processing unit (14a) and the second processing unit (14b) are driven in S1 or S5 so that the measured value in S1 or S5 and the measured value in S2 match each other.

<Advantages>

Since the processing device (41) is equipped with a measuring unit (42), even if the work P is bent, twisted, or curved, the work P can be processed quickly and appropriately in a more stable state.

The processing method can process the work P quickly and appropriately in a more stable state even when the work P is bent, twisted, or curved by measuring the normal direction position of the work P by the measuring unit (42).

[Other embodiments]

The above embodiment does not limit the configuration of the present invention. Therefore, the above embodiment may omit, substitute, or add components of each part of the above embodiment based on the description of this specification and technical common sense, and all of them should be interpreted as falling within the scope of the present invention.

In the above embodiment, a configuration in which the work is held and supported in a horizontal direction has been described. However, the direction in which the work is held and supported can be changed depending on the specifications of the device. In addition, in the above embodiment, a configuration in which a corner of the work is held by a work gripper has been described, but the method for holding the work in the processing device is not limited to the above configuration.

In the above embodiment, the second driving mechanism is configured to drive at least one of the first processing section and the second processing section before fixing the workpiece by the workpiece fixing member, thereby determining the insertion position in the normal direction of the workpiece. However, if the insertion position in the normal direction of the workpiece by the first processing section and the second processing section is known, the insertion position in the normal direction of the workpiece does not need to be determined by the second driving mechanism.

As described above, the processing device according to one aspect of the present invention is suitable for appropriately processing a portion of a workpiece to be processed.

1, 41: Processing unit
11: Camera section
11a: Optical elements
12: Work fixing member
12a: Support surface
13: Specific section
14a: Processing Unit 1
14b: 2nd Processing Unit
15: 1st driving mechanism
16: Second driving mechanism
17: Control Unit
21: Probe
22: Support plate
31: Work Paji District
42: Measuring section
P: Work
R: Reference position marker

Claims (6)

An imaging unit having an optical element facing the normal direction to a plate-shaped or sheet-shaped work, and capturing an image of a reference position marker provided on the work in the normal direction;
When taking an image by the above-mentioned imaging unit, a work fixing member that fixes the work to a reference position in the normal direction near the optical element as viewed in the normal direction,
A specific section that specifies the processing target portion of the work based on the imaging result by the imaging section,
A first processing unit and a second processing unit capable of inserting the above processing target portion from both sides,
A first driving mechanism that drives the work fixing member so that the normal direction position becomes the same as the above reference position and the position during insertion by the first processing unit and the second processing unit.
A processing device having a. In the first paragraph,
A processing device, wherein the work fixing member partially fixes the work at a position closer to the optical element than the processing target portion when viewed in the normal direction. In claim 1 or 2,
A processing device, wherein the first driving mechanism drives the work fixing member to separate from the work before the insertion of the processing target portion by the first processing unit and the second processing unit. In clause 1, clause 2 or clause 3,
It has a second driving mechanism that drives the first processing unit and the second processing unit,
The second driving mechanism drives at least one of the first processing unit and the second processing unit before fixing the work by the work fixing member to determine the insertion position in the normal direction of the work,
A processing device, wherein the first driving mechanism drives the work fixing member so that the work is positioned at a normal direction position determined by the second driving mechanism. In any one of claims 1 to 4,
A processing device further comprising a measuring unit capable of measuring the normal direction position of the workpiece during the shooting, and the normal direction position of the workpiece during insertion by the first processing unit and the second processing unit. An imaging unit having an optical element facing the normal direction to a plate-shaped or sheet-shaped work,
A work fixing member that fixes the work to a reference position in the normal direction, near the optical element as viewed from the normal direction;
A specific section that specifies the processing target portion of the above work,
A first processing unit and a second processing unit capable of inserting the above processing target portion from both sides,
A first driving mechanism for driving the above work fixing member
Using a processing device equipped with,
The work fixing member is driven so that the normal direction position becomes the same when the reference position and the first processing unit and the second processing unit are inserted.
While the work is fixed to the reference position by the work fixing member, the reference position marker provided on the work is captured in the normal direction,
Based on the imaging result of the above reference position marker, the processing target portion of the work is specified.
How to handle.

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