JP2009034759A - Workpiece positioning device - Google Patents

Workpiece positioning device Download PDF

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JP2009034759A
JP2009034759A JP2007200245A JP2007200245A JP2009034759A JP 2009034759 A JP2009034759 A JP 2009034759A JP 2007200245 A JP2007200245 A JP 2007200245A JP 2007200245 A JP2007200245 A JP 2007200245A JP 2009034759 A JP2009034759 A JP 2009034759A
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workpiece
base
information
tool
axis
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JP4503635B2 (en
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Toru Ishii
徹 石井
Hideaki Tsubakida
英昭 椿田
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Yamaha Fine Technologies Co Ltd
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Yamaha Fine Technologies Co Ltd
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Priority to JP2007200245A priority Critical patent/JP4503635B2/en
Priority to KR1020080073668A priority patent/KR101202478B1/en
Priority to CN2008101441330A priority patent/CN101357460B/en
Priority to TW097128803A priority patent/TWI374789B/en
Publication of JP2009034759A publication Critical patent/JP2009034759A/en
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Publication of JP4503635B2 publication Critical patent/JP4503635B2/en
Priority to KR1020110118333A priority patent/KR101256314B1/en
Priority to KR1020120156110A priority patent/KR101367537B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q16/00—Equipment for precise positioning of tool or work into particular locations not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/248—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods
    • B23Q17/249—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods using image analysis, e.g. for radar, infrared or array camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
    • B26D5/22—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed having the cutting member and work feed mechanically connected
    • B26D5/24—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed having the cutting member and work feed mechanically connected including a metering device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01—Means for holding or positioning work
    • B26D7/02—Means for holding or positioning work with clamping means
    • B26D7/025—Means for holding or positioning work with clamping means acting upon planar surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2716/00—Equipment for precise positioning of tool or work into particular locations
    • B23Q2716/08—Holders for tools or work comprising a divider or positioning devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Forests & Forestry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Electromagnetism (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece positioning device applicable to a working device for forming irregular holes and patterns and an inspecting device for a workpiece having the irregular holes and patterns formed. <P>SOLUTION: A camera 61 obtains information (X, Y and θ) on an X-axis position X and a Y-axis position Y in a work inspection region R and a rotation angle θ around an axis vertical to an X-Y plane for a tool and a workpiece W on the working inspection region by imaging them. A position adjusting device for the workpiece drives to control a driving unit of holders 1 and 8 so that the (X, Y and θ) information of the tool and the (X, Y and θ) information of the workpiece match to adjust the position of the workpiece W. A pawl member of the holder pinches the workpiece at a point between itself and a base when the pawl member swings toward the base by a pawl driving part. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、プリント基板等のシート状又はフィルム状のワークを加工装置又は検査装置等の所定位置に位置決めするワーク位置決め装置に関し、特に、一旦、ワークを加工装置又は検査装置の作業面上に載置した後、ワークの位置を検出し、予め定めた所定の作業位置に載置し直すワーク位置決め装置に関する。   The present invention relates to a workpiece positioning device that positions a sheet-like or film-like workpiece such as a printed circuit board at a predetermined position such as a processing device or an inspection device, and in particular, once the workpiece is placed on the work surface of the processing device or the inspection device. The present invention relates to a workpiece positioning device that detects a position of a workpiece and places the workpiece on a predetermined work position after the placement.

プリント基板は、パンチング装置において、所定の形状パターンがくり抜かれ、また検査装置において、プリント基板の導通が検査される。このとき、装置入り口に位置したプリント基板をパンチング領域又は検査領域に取り入れ、その２次元方向（Ｘ方向及びＹ方向）のプリント基板の位置並びにＸ方向及びＹ方向に垂直の軸の回りのプリント基板の回転方向の位置を、パンチング領域又は検査領域に配置されたパンチングユニット又は検査ユニットに合わせて位置決めする必要がある。   The printed circuit board has a predetermined shape pattern cut out in a punching apparatus, and the inspection apparatus inspects the continuity of the printed circuit board. At this time, the printed circuit board located at the entrance of the apparatus is taken into the punching area or the inspection area, and the position of the printed circuit board in the two-dimensional direction (X direction and Y direction) and the printed circuit board around the axis perpendicular to the X direction and the Y direction. It is necessary to position the position in the rotation direction according to the punching unit or inspection unit arranged in the punching area or inspection area.

このような従来のワークの位置決め装置としては、特許文献１乃至３に開示されたものがある。これらの特許文献１乃至３に開示されたワークの位置決め装置においては、ワークを任意の位置で位置決めする場合、ワークの予め設定された２点又は４点の位置を把持部により面接触にて把持し、前記把持部を、Ｘ方向、Ｙ方向及び回転方向に動かしてその位置を調整している。   Examples of such conventional workpiece positioning devices are disclosed in Patent Documents 1 to 3. In the workpiece positioning devices disclosed in these Patent Documents 1 to 3, when the workpiece is positioned at an arbitrary position, two or four preset positions of the workpiece are gripped by surface contact by the gripping portion. The gripper is moved in the X direction, the Y direction, and the rotation direction to adjust the position.

しかしながら、上述の従来技術においては、ワークの予め設定された２点又は４点の位置を基台に接続された把持部により面接触にて把持し、前記把持部を含む基台部を、Ｘ方向、Ｙ方向及び回転方向に動かしてその位置を調整しているので、その移動機構の構造が複雑化し、大型化する。これにより、装置コストが上昇する。また、異なる大きさのワークを把持する場合、ワーク把持部の段取りの変更が必要である。   However, in the above-described prior art, the positions of two or four points set in advance on the workpiece are gripped by surface contact by a gripping part connected to the base, and the base part including the gripping part is Since the position is adjusted by moving in the direction, the Y direction, and the rotation direction, the structure of the moving mechanism becomes complicated and the size increases. This increases the device cost. Further, when gripping workpieces of different sizes, it is necessary to change the setup of the workpiece gripping portion.

また、特許文献４においては、ワークを作業テーブルに沿ってＸ軸・Ｙ軸方向に移動させるＸ・Ｙ軸移動機構と、ワークのマーク芯出し用の撮像部と、ワークのマークを芯出し位置に一致するようにＸ・Ｙ軸移動機構を補正動させる制御部とを備えたパンチング装置が開示されている。更に、特許文献５には、ワーク上に形成されたパターンを撮影する撮影手段と、撮影された画像を表示すると共にこの画像に重ねて案内線を表示する表示手段と、表示された画像を記憶する記憶手段と、記憶された画像からワーク上の対応するパターンの位置決めに必要な情報を算出する算出手段と、記憶された画像と算出された情報に基づいてワーク上の対応するパターンを位置決めする位置決め手段とを有するワークの位置決め装置が開示されている。特許文献６には、テーブル上の可撓性材料に穿孔する穿孔装置において、光学ミラーが可動のドリルと可撓性材料との間の第１位置に位置して、可撓性材料の表面上の正確な穿孔位置を直接に観察し、この光学ミラーが可動ドリルの経路から離れた第２の位置に引き込まれ、穿孔が完了した後に第１の位置に再度位置する穿孔装置が開示されている。   In Patent Document 4, an X / Y-axis moving mechanism for moving a workpiece in the X-axis / Y-axis directions along the work table, an imaging unit for centering the mark on the workpiece, and a centering position of the workpiece mark A punching device is disclosed that includes a control unit that corrects and moves the X / Y-axis moving mechanism so as to coincide with the above. Further, Patent Document 5 stores a photographing unit that photographs a pattern formed on a workpiece, a display unit that displays a photographed image and displays a guide line on the image, and stores the displayed image. Storing means, calculating means for calculating information necessary for positioning the corresponding pattern on the workpiece from the stored image, and positioning the corresponding pattern on the workpiece based on the stored image and the calculated information A workpiece positioning apparatus having positioning means is disclosed. In Patent Document 6, in a punching device for punching a flexible material on a table, an optical mirror is positioned at a first position between the movable drill and the flexible material, and the surface of the flexible material is placed. A drilling device is disclosed that directly observes the exact drilling position of the laser and is retracted to the first position after the drilling is completed after the optical mirror is retracted to a second position away from the path of the movable drill. .

特許第３７４１２５号公報Japanese Patent No. 374125 特開２００６−２８１４３２号公報JP 2006-281432 A 特許第３４２００３９号公報Japanese Patent No. 3420039 特許第２８５１００１号Japanese Patent No. 285001 特開２００３−１４４３４号公報JP 2003-14434 A 特開平７−１４８６９５号公報JP-A-7-148695

しかしながら、従来の位置決め装置は、ワークのＸ方向及びＹ方向の位置のみ位置合わせが可能であるため、加工できる形状が、丸形状に限られてしまうという難点がある。つまり、従来の位置決め装置は、ドリル穿孔又は丸形状のパンチ穿孔の加工装置にしか、適用できず、異形状の孔又はパターンを、位置合わせして加工することには、適用できなかった。   However, since the conventional positioning apparatus can align only the position of the workpiece in the X direction and the Y direction, the shape that can be processed is limited to a round shape. That is, the conventional positioning device can be applied only to a drilling device or a punching device having a round shape, and cannot be applied to processing an irregularly shaped hole or pattern in alignment.

本発明はかかる問題点に鑑みてなされたものであって、プリント基板等のシート状又はフィルム状等のワークの加工装置又は検査装置に適用され、異形状の孔及びパターンを形成する加工装置並びに異形状の孔及びパターンが形成されたワークの検査装置に適用することもできるワーク位置決め装置を提供することを目的とする。   The present invention has been made in view of such a problem, and is applied to a processing apparatus or inspection apparatus for a sheet-like or film-like workpiece such as a printed circuit board, and a processing apparatus for forming irregularly shaped holes and patterns, and It is an object of the present invention to provide a workpiece positioning device that can be applied to a workpiece inspection device in which irregularly shaped holes and patterns are formed.

本発明に係るワーク位置決め装置は、加工検査領域におけるＸ軸位置Ｘ及びＹ軸位置Ｙ並びにＸ−Ｙ面に垂直の軸の回りの回転角θに関する情報（Ｘ，Ｙ，θ）を工具と前記加工検査領域上のワークについてこれらを検出する検出装置と、前記ワークの位置調整装置と、を有し、
前記位置調整装置は、１対の移動部と、前記移動部を相互に直交するＸ方向及びＹ方向に駆動する１対の駆動部と、前記各移動部に設けられてワークを把持する把持部と、前記工具の（Ｘ，Ｙ，θ）情報と前記ワークの（Ｘ，Ｙ，θ）情報とが一致するように前記駆動部を駆動制御する制御部と、を有することを特徴とする。 The workpiece positioning apparatus according to the present invention provides information (X, Y, θ) on the X-axis position X and the Y-axis position Y in the machining inspection area and the rotation angle θ about the axis perpendicular to the XY plane (X, Y, θ) and the tool. A detection device for detecting the workpiece on the processing inspection area, and a position adjustment device for the workpiece,
The position adjusting device includes a pair of moving units, a pair of driving units that drive the moving units in the X and Y directions orthogonal to each other, and a gripping unit that is provided in each of the moving units and grips a workpiece. And (X, Y, θ) information of the tool and (X, Y, θ) information of the workpiece, and a control unit that drives and controls the drive unit.

この場合に、前記把持部は、ワークの一方の面に接触してこれを支持する基部と、前記ワークの他方の面側に設けられ水平軸を介して揺動可能な爪部材と、この爪部材を揺動させる爪駆動部と、を有し、前記爪部材は、前記爪駆動部により前記基部に向けて揺動したときに前記基部との間で前記ワークを点で把持する形状を有することが好ましい。   In this case, the gripping portion includes a base portion that contacts and supports one surface of the workpiece, a claw member that is provided on the other surface side of the workpiece and can swing via a horizontal shaft, and the claw A claw driving portion that swings the member, and the claw member has a shape that grips the workpiece with a point between the claw driving portion and the base portion when the claw driving portion is swung toward the base portion. It is preferable.

また、前記検出装置は、例えば、撮像装置である。   The detection device is, for example, an imaging device.

更に、このワーク位置決め装置において、例えば、前記駆動部は、Ｙ方向に延びる１対の平行なＹガイドと、前記Ｙガイドに沿って移動可能のＹ台座と、前記Ｙ台座を往復駆動するＹ駆動部材と、前記Ｙ台座上に設けられＸ方向に延びるＸガイドと、前記Ｘガイドに沿って移動可能のＸ台座と、前記Ｙ台座上に設けられ前記Ｘ台座を往復駆動するＸ駆動部材と、を有し、前記Ｘ台座により前記移動部が構成されるものである。   Further, in this work positioning apparatus, for example, the drive unit includes a pair of parallel Y guides extending in the Y direction, a Y pedestal movable along the Y guide, and a Y drive for reciprocating the Y pedestal. A member, an X guide provided on the Y pedestal and extending in the X direction, an X pedestal movable along the X guide, and an X drive member provided on the Y pedestal for reciprocatingly driving the X pedestal; And the moving part is constituted by the X pedestal.

前記ワークは、例えば、プリント基板である。   The workpiece is, for example, a printed board.

本発明によれば、小型かつ簡素な構造の位置調整装置により、検査加工領域上のワークのＸ方向位置、Ｙ方向位置及びθ方向位置を調整することができるので、検査加工領域上に一旦載置されたワークを撮像装置により撮影してその（Ｘ，Ｙ，θ）情報を取得し、これを工具の（Ｘ，Ｙ，θ）情報と比較して相互に一致するように、駆動部を駆動制御することにより、検査加工領域上でワークの位置（Ｘ，Ｙ，θ）と工具の位置（Ｘ，Ｙ，θ）とを高精度で一致させることができる。このため、高精度の加工又は検査を実施することができる。   According to the present invention, the X-direction position, the Y-direction position, and the θ-direction position of the workpiece on the inspection processing area can be adjusted by the position adjustment device having a small and simple structure. The placed work is photographed by the imaging device, and the (X, Y, θ) information is obtained, and the drive unit is compared with each other by comparing it with the (X, Y, θ) information of the tool. By controlling the driving, the position (X, Y, θ) of the workpiece and the position (X, Y, θ) of the tool can be matched with high accuracy on the inspection processing region. For this reason, highly accurate processing or inspection can be performed.

先ず、本発明の概要について説明する。本発明においては、フィルム状等のワークを、１対の把持部が２点で把持する。この場合に、把持部は、基部とワークに点接触する爪部材との間で、ワークを点で把持するので、駆動部が移動部をＸ方向及びＹ方向に駆動することにより、ワークをＸ方向及びＹ方向に位置調整できると共に、例えば、Ｙ方向の移動量を１対の駆動部で相違するものとすることにより、ワークをその面に垂直な軸の回りに回転させることができる。この場合に、前記爪部材はワークを点で把持するので、ワークがフィルム状である場合に、ワークの回転に伴い、ワークにシワ及びたるみ等が発生することはない。また、駆動部は、移動部をＸ方向及びＹ方向の２方向に移動させるだけでよく、回転駆動する必要はないので、駆動部が簡素化され、小型化することができる。このようにして、本発明においては、ワークの位置調整装置が簡素な構造で、ワークの（Ｘ，Ｙ，θ）位置を調整することができる。   First, the outline of the present invention will be described. In the present invention, a pair of gripping parts grips a film-like workpiece at two points. In this case, the gripping unit grips the workpiece with the point between the base and the claw member that makes point contact with the workpiece, so that the driving unit drives the moving unit in the X direction and the Y direction, thereby moving the workpiece to X. The position can be adjusted in the direction and the Y direction, and the workpiece can be rotated about an axis perpendicular to the surface by making the amount of movement in the Y direction different between the pair of driving units. In this case, since the claw member grips the workpiece with a point, when the workpiece is in the form of a film, the workpiece does not wrinkle or sag as the workpiece rotates. In addition, the drive unit only needs to move the moving unit in two directions, the X direction and the Y direction, and does not need to be rotationally driven. Therefore, the drive unit can be simplified and reduced in size. In this way, in the present invention, the position adjustment device of the workpiece can be adjusted with a simple structure and the (X, Y, θ) position of the workpiece can be adjusted.

そして、本発明においては、撮像装置が、検査加工領域における加工工具又は検査工具等の工具を撮影して、その（Ｘ，Ｙ，θ）情報を取得し、また検査加工領域上に載置されたワークを撮影して、その（Ｘ，Ｙ，θ）情報を取得し、制御部がこれらの工具の（Ｘ，Ｙ，θ）情報と、ワークの（Ｘ，Ｙ，θ）情報とが一致するように、駆動部を駆動制御する。このようにして、検査加工領域に一旦載置されたワークの位置が、微調整され、Ｘ方向及びＹ方向に限らず、θ方向（回転方向）にも微調整することができるので、ドリル穿孔又は丸形状のパンチ穿孔の加工装置に限らず、異形状の孔又はパターンを加工する加工装置及び検査装置にも、ワークの高精度位置合わせに適用することができる。   And in this invention, an imaging device image | photographs tools, such as a processing tool in an inspection process area | region, or an inspection tool, acquires the (X, Y, (theta)) information, and is mounted on an inspection process area | region. The workpiece is photographed and its (X, Y, θ) information is acquired, and the control unit matches the (X, Y, θ) information of these tools with the (X, Y, θ) information of the workpiece. Thus, the drive unit is driven and controlled. In this way, the position of the workpiece once placed in the inspection processing area is finely adjusted and can be finely adjusted not only in the X direction and the Y direction but also in the θ direction (rotation direction). Alternatively, the present invention can be applied not only to a circular punch punching processing apparatus but also to a processing apparatus and an inspection apparatus for processing a hole or pattern having a different shape for high-precision positioning of a workpiece.

以下、本発明の実施形態について添付の図面を参照して具体的に説明する。図１は本発明の実施形態に係るワーク位置決め装置の全体を示す斜視図、図２乃至図５は同じくその動作を示す斜視図、図６は本発明の実施形態に係るワーク位置決め装置の位置調整装置の全体を示す平面図、図７は同じくその正面図、図８はその一部を示す斜視図、図９（ａ）は把持部を示す正面図、図９（ｂ）乃至（ｄ）は把持部の動作を示す側面図である。   Hereinafter, embodiments of the present invention will be specifically described with reference to the accompanying drawings. FIG. 1 is a perspective view showing an entire workpiece positioning apparatus according to an embodiment of the present invention, FIGS. 2 to 5 are perspective views showing the operation thereof, and FIG. 6 is a position adjustment of the workpiece positioning apparatus according to the embodiment of the present invention. FIG. 7 is a front view thereof, FIG. 8 is a perspective view showing a part of the apparatus, FIG. 9A is a front view showing a gripping portion, and FIGS. 9B to 9D are views. It is a side view which shows operation | movement of a holding part.

先ず、位置調整装置について説明する。図７に示すように、支持部１００上に、１対の駆動部１０１及び１０２が設置されている。フィルム状ワークとしてのＦＰＣ基板（フレキシブルプリント基板：Flexible Printed Circuit)（図示せず）のパンチング領域又は検査領域への導入方向をＹ軸とし、このＹ軸に直交する方向をＸ軸とする。各駆動部１０１，１０２においては、基台２０，３０上に、その長手方向をＹ方向に平行にしたＹ軸ボールネジ６，１３がその中心軸を中心として回転可能に支持されており、このＹ軸ボールネジ６，１３はＹ軸駆動モータ７，８により回転駆動されるようになっている。また、基台２０，３０上には、Ｙ軸ガイド５，１２がその長手方向をＹ方向に平行にして設置されており、このＹ軸ガイド５，１２に案内されて、Ｙ台座２１，３１がＹ方向に往復移動できるようになっている。   First, the position adjusting device will be described. As shown in FIG. 7, a pair of drive units 101 and 102 are installed on the support unit 100. An introduction direction of an FPC board (Flexible Printed Circuit) (not shown) as a film workpiece into a punching area or an inspection area is defined as a Y axis, and a direction orthogonal to the Y axis is defined as an X axis. In each of the drive units 101 and 102, Y-axis ball screws 6 and 13 whose longitudinal direction is parallel to the Y direction are supported on the bases 20 and 30 so as to be rotatable about the central axis. The axial ball screws 6 and 13 are rotated by Y-axis drive motors 7 and 8. On the bases 20 and 30, Y-axis guides 5 and 12 are installed with their longitudinal directions parallel to the Y-direction. Can reciprocate in the Y direction.

このＹ台座２１，３１上には、その長手方向をＸ方向に平行にしてＸ軸ボールネジ３，１０がその中心軸を中心として回転可能に支持されており、このＸ軸ボールネジ３，１０はＸ軸駆動モータ４，１１により回転駆動されるようになっている。また、Ｙ台座２１，３１上には、Ｘ軸ガイド２，９がその長手方向をＸ方向に平行にして設置されており、このＸ軸ガイド２，９に案内されて、Ｘ台座２２，３２がＸ方向に往復移動できるようになっている。   On the Y pedestals 21 and 31, X-axis ball screws 3 and 10 are supported so that the longitudinal direction thereof is parallel to the X direction so as to be rotatable around the central axis. The shafts are driven to rotate by shaft drive motors 4 and 11. Further, X-axis guides 2 and 9 are installed on the Y pedestals 21 and 31 with their longitudinal directions parallel to the X direction. Can reciprocate in the X direction.

このＸ台座２２，３２は、駆動部の移動部として機能する。このＸ台座２２，３２上に夫々把持部１，８が設けられている。把持部１，８はＸ台座２２，３２からＹ方向の前方に突出するアーム４０，５０を有し、このアーム４０，５０の前端に、把持部の爪部材４１，５１が配置されている。なお、図８に示す符号１５はパンチ用金型、符号１７はダイ用金型である。   The X bases 22 and 32 function as a moving unit of the driving unit. The gripping portions 1 and 8 are provided on the X bases 22 and 32, respectively. The gripping portions 1, 8 have arms 40, 50 protruding forward in the Y direction from the X bases 22, 32, and claw members 41, 51 of the gripping portion are disposed at the front ends of the arms 40, 50. In addition, the code | symbol 15 shown in FIG. 8 is a metal mold | die for punches, and the code | symbol 17 is a metal mold | die for die | dye.

図９に一方の爪部材４１を代表して示すように、アーム４０の下面が前方に延長して基部４９が形成されており、この基部４９の若干後方のアーム４０に水平の回転軸４２が設けられている。この回転軸４２を中心として爪支持部４８が回転可能に支持されている。爪支持部４８には、爪部材４１が固定されている。また、この爪支持部４８の側面には、連結軸４７がその長手方向を水平にして突出している。ピストン４４はその長手方向をＹ方向にして設置されており、Ｙ方向に進出退入することができる。このピストン４４の先端にはハウジング４５が固定されており、このハウジング４５の側面には、垂直方向に延びる長孔４６が形成されている。そして、この長孔４６内に連結軸４７が嵌合しており、ピストン４４が進出すると、ハウジング４５が前方に移動し、長孔４６内に嵌合する連結軸４７を前方に押すことにより、爪部材４１の爪支持部４８が図９（ｂ）から図９（ｃ）に示すように前方下方に回動する。逆に、ピストン４４が退入することにより、爪部材４１の爪支持部４８は上方後方に回動する。   As representatively shown in one claw member 41 in FIG. 9, the lower surface of the arm 40 extends forward to form a base portion 49, and a horizontal rotation shaft 42 is attached to the arm 40 slightly behind the base portion 49. Is provided. A claw support portion 48 is rotatably supported around the rotation shaft 42. A claw member 41 is fixed to the claw support portion 48. Further, the connecting shaft 47 protrudes on the side surface of the claw support portion 48 with its longitudinal direction being horizontal. The piston 44 is installed with the longitudinal direction thereof set to the Y direction, and can advance and retreat in the Y direction. A housing 45 is fixed to the tip of the piston 44, and a long hole 46 extending in the vertical direction is formed on a side surface of the housing 45. Then, the connecting shaft 47 is fitted in the long hole 46, and when the piston 44 advances, the housing 45 moves forward, and by pushing the connecting shaft 47 fitted in the long hole 46 forward, The claw support portion 48 of the claw member 41 rotates forward and downward as shown in FIGS. 9B to 9C. Conversely, when the piston 44 is retracted, the claw support portion 48 of the claw member 41 rotates upward and rearward.

爪部材４１は、円錐状に形成されており、その先端４３はＦＰＣ基板と点接触するように、表面積が小さいものとなっている。この先端４３は、例えば、所定の曲率半径で湾曲する半球状をなし、ＦＰＣ基板との接触面積は、ＦＰＣ基板を穿孔してしまわない程度の大きさをもち、またＦＰＣ基板を基部４９との間で確実に把持できる大きさであるが、先端４３が基部４９との間でＦＰＣ基板を把持した状態で、ＦＰＣ基板がシワ及び歪みを生じないで回転できる程度に小さいことが必要である。なお、他方の爪部材５１も爪部材４１と同様の構造を有する。   The claw member 41 is formed in a conical shape, and its tip 43 has a small surface area so as to make point contact with the FPC board. The tip 43 has, for example, a hemispherical shape with a predetermined radius of curvature, and the contact area with the FPC board is large enough not to pierce the FPC board. However, it is necessary that the FPC board be small enough to rotate without causing wrinkles and distortion while the tip 43 is gripping the FPC board with the base 49. The other claw member 51 has the same structure as the claw member 41.

次に、加工検査工具及び撮像装置について説明する。図１に示すように、位置調整装置の基台２０，３０のＹ方向の前方に、加工検査工具６０が配置されており、この加工検査工具６０の上方に撮像装置のカメラ６１が配置されている。加工検査工具６０においては、例えば、パンチング加工を行う装置の場合は、ダイスがその上面に設けられている。撮像装置においては、駆動部６４が加工検査工具６０の上方に設置されており、この駆動部６４の下面に、Ｘ軸方向に移動可能にＸ移動部６３が設置されている。即ち、Ｘ移動部６３は駆動部６４から垂下されており、適宜の駆動部材により、Ｘ軸方向に移動することができるようになっている。そして、このＸ移動部６３の下面には、Ｙ軸方向に移動可能にＹ移動部６２が設置されている。即ち、Ｙ移動部６２はＸ移動部６３から垂下されており、適宜の駆動部材により、Ｙ軸方向に移動することができるようになっている。そして、このＹ移動部６２の先端に、その撮像方向を下方に向けてカメラ６１が設置されている。   Next, a processing inspection tool and an imaging device will be described. As shown in FIG. 1, a processing inspection tool 60 is disposed in front of the bases 20 and 30 of the position adjusting device in the Y direction, and a camera 61 of the imaging device is disposed above the processing inspection tool 60. Yes. In the processing inspection tool 60, for example, in the case of an apparatus that performs punching processing, a die is provided on the upper surface thereof. In the imaging apparatus, a drive unit 64 is installed above the processing inspection tool 60, and an X moving unit 63 is installed on the lower surface of the drive unit 64 so as to be movable in the X-axis direction. In other words, the X moving unit 63 is suspended from the driving unit 64 and can be moved in the X-axis direction by an appropriate driving member. A Y moving unit 62 is installed on the lower surface of the X moving unit 63 so as to be movable in the Y-axis direction. In other words, the Y moving unit 62 is suspended from the X moving unit 63 and can be moved in the Y-axis direction by an appropriate driving member. And the camera 61 is installed in the front-end | tip of this Y moving part 62 with the imaging direction facing downward.

このカメラ６１は、図２に示すように、Ｘ移動部６３のＸ方向の移動及びＹ移動部６２のＹ方向の移動により、加工検査工具６０の上面の加工検査領域Ｒ内の任意の位置に移動することができ、その位置におけるダイス等の工具形状を撮影することができる。   As shown in FIG. 2, the camera 61 is moved to an arbitrary position in the machining inspection region R on the upper surface of the machining inspection tool 60 by the movement of the X movement unit 63 in the X direction and the movement of the Y movement unit 62 in the Y direction. The tool shape such as a die at the position can be photographed.

位置調整装置と、加工検査工具６０との間には、例えば、テーブル（図示せず）が設置されており、このテーブル上にＦＰＣ等のシート状又はフィルム状のワークＷが搬送されてくる。このテーブル上に載置されたワークＷの端縁を、位置調整装置の把持部１，８が把持する。   For example, a table (not shown) is installed between the position adjusting device and the processing inspection tool 60, and a sheet-like or film-like workpiece W such as an FPC is conveyed onto the table. The gripping portions 1 and 8 of the position adjusting device grip the edge of the workpiece W placed on the table.

また、図３乃至図５に示すように、位置調整装置のアーム４０，５０が進出して把持部１，８が把持したワークＷを前方に移動させると、ワークＷは、加工検査工具６０上に、一旦、載置される。   As shown in FIGS. 3 to 5, when the arms 40 and 50 of the position adjusting device are advanced and the workpiece W gripped by the gripping portions 1 and 8 is moved forward, the workpiece W is placed on the processing inspection tool 60. First, it is placed.

制御部は、カメラ６１が工具を撮影した撮像画像をもとに画像処理して、その工具の（Ｘ，Ｙ，θ）情報（位置、傾き情報）を取得し、カメラ６１がワークを撮影した撮像画像をもとに画像処理してそのワークの（Ｘ，Ｙ，θ）情報（位置、傾き情報）を取得する。そして、制御部は、この工具の（Ｘ，Ｙ，θ）情報とワークの（Ｘ，Ｙ，θ）情報とが一致するように、位置調整装置のＸ軸駆動モータ４，１１及びＹ軸駆動モータ７，８を駆動する。   The control unit performs image processing based on a captured image obtained by photographing the tool by the camera 61 to obtain (X, Y, θ) information (position and tilt information) of the tool, and the camera 61 photographs the workpiece. Image processing is performed based on the captured image to obtain (X, Y, θ) information (position and tilt information) of the workpiece. The control unit then drives the X-axis drive motors 4 and 11 and the Y-axis drive of the position adjustment device so that the (X, Y, θ) information of the tool matches the (X, Y, θ) information of the workpiece. The motors 7 and 8 are driven.

なお、ワークとしては、ＦＰＣ基板等のフィルム状ワークに限らず、本発明は、種々の形状のワークに対し、本発明を適用することができる。更に、ワークは、柔軟な材質のものに限らず、剛体のワークに対して本発明を適用することもできる。剛体の場合は、本発明のような点で把持する把持部を使用しなくても、シワ等の問題が生じないが、本発明は、ワークの回転用の駆動部が低コストであるという効果を奏する。   The work is not limited to a film-like work such as an FPC board, and the present invention can be applied to work of various shapes. Furthermore, the workpiece is not limited to a flexible material, and the present invention can also be applied to a rigid workpiece. In the case of a rigid body, problems such as wrinkles do not occur even if a gripping part that grips at a point as in the present invention is not used, but the present invention is advantageous in that the drive part for rotating the workpiece is low in cost. Play.

次に、上述の如く構成されたワーク位置決め装置の動作について説明する。先ず、テーブル上に搬送されてきたフレキシブルプリント基板等のワークＷ（図２，３参照）は、図１に示すように、ワークＷの端縁が把持部１，８の基部（４９）上に位置するように、供給される。そして、ピストン（４４）が進出することにより、爪部材（４１）が前方の下方に揺動して、ワークＷを爪部材（４１）の先端（４３）と基部（４９）との間で把持する。次いで、Ｙ軸ボールネジ６，１３をモータ７，８により回転駆動して、Ｙ台座２１、３１を加工（パンチング）領域又は検査領域（加工検査領域Ｒ）内に引き込み、加工検査領域Ｒ内の所定位置に位置させる。   Next, the operation of the workpiece positioning device configured as described above will be described. First, the workpiece W (see FIGS. 2 and 3) such as a flexible printed circuit board conveyed on the table has the edge of the workpiece W on the base (49) of the gripping portions 1 and 8, as shown in FIG. Supplied to be located. When the piston (44) advances, the claw member (41) swings forward and downward, and the workpiece W is gripped between the tip (43) and the base (49) of the claw member (41). To do. Next, the Y-axis ball screws 6 and 13 are rotationally driven by the motors 7 and 8 to draw the Y bases 21 and 31 into the machining (punching) area or the inspection area (machining inspection area R). To position.

このワークＷが加工検査工具６０上に供給される前に、例えば、図２に示すように、加工検査装置がパンチング装置である場合は、カメラ６１は、加工検査工具６０としてのダイスに設けられた複数個の打ち抜きパターン（異形形状）のうちの１個を撮像する。制御部は、この撮像画像に基づいて、この打ち抜きパターンの位置Ｘ，Ｙ及び傾きθの情報（Ｘ，Ｙ，θ）を取得する。   Before the workpiece W is supplied onto the work inspection tool 60, for example, as shown in FIG. 2, when the work inspection apparatus is a punching apparatus, the camera 61 is provided in a die as the work inspection tool 60. One of the plurality of punching patterns (irregular shapes) is imaged. The control unit acquires information (X, Y, θ) of the position X, Y and the inclination θ of the punching pattern based on the captured image.

次いで、図３及び図４に示すように、アーム４０，５０の進出により、把持部１，８が進出して、ワークＷを加工検査装置６０上に一旦載置すると、カメラ６１は、加工検査工具６０における撮像打ち抜きパターンに対応する位置に存在するワークＷの打ち抜きパターンを撮像する。そうすると、制御部は、この撮像画像に基づいて、ワークＷの打ち抜きパターンの位置Ｘ，Ｙ及び傾きθの情報（Ｘ，Ｙ，θ）を取得する。そして、制御部は、工具の打ち抜きパターンの（Ｘ，Ｙ，θ）情報と、ワークＷの打ち抜きパターンの（Ｘ，Ｙ，θ）情報とを比較し、両者が合致するように、位置調整装置のＸ軸駆動モータ４，１１及びＹ軸駆動モータ７，８を駆動する。   Next, as shown in FIG. 3 and FIG. 4, when the arms 40 and 50 are advanced, the gripping portions 1 and 8 are advanced and once the workpiece W is placed on the processing inspection device 60, the camera 61 performs the processing inspection. The punching pattern of the workpiece W existing at a position corresponding to the imaging punching pattern in the tool 60 is imaged. Then, the control unit acquires information (X, Y, θ) of the position X, Y and the inclination θ of the punching pattern of the workpiece W based on the captured image. Then, the control unit compares the (X, Y, θ) information of the tool punching pattern with the (X, Y, θ) information of the punching pattern of the work W, and adjusts the position adjustment device so that they match. The X-axis drive motors 4 and 11 and the Y-axis drive motors 7 and 8 are driven.

このとき、工具とワークの（Ｘ，Ｙ，θ）情報が一致するように、Ｘ台座２２、３２（移動部）をＸ方向及びＹ方向に若干移動させて、Ｘ方向位置及びＹ方向位置を調節すると共に、Ｘ方向の移動量とＹ方向の移動量とを違えることにより、Ｘ方向及びＹ方向に垂直な軸（ワークの表面に垂直な軸）の回りにワークを回転させてその回転方向の位置も調節する。   At this time, the X bases 22 and 32 (moving part) are slightly moved in the X direction and the Y direction so that the (X, Y, θ) information of the tool and the workpiece coincide with each other, and the X direction position and the Y direction position are set. By adjusting and moving the movement amount in the X direction different from the movement amount in the Y direction, the work is rotated around an axis perpendicular to the X direction and the Y direction (axis perpendicular to the surface of the work), and the rotation direction Also adjust the position.

この場合に、本実施形態においては、把持部が、基部とワークに点接触する爪部材との間で、ワークを点で把持するので、駆動部が移動部をＸ方向及びＹ方向に駆動することにより、ワークをＸ方向及びＹ方向に位置調整できると共に、例えば、Ｙ方向の移動量を１対の駆動部で相違するものとすることにより、ワークをその面に垂直な軸の回りに回転させることができる。駆動部は、移動部をＸ方向及びＹ方向の２方向に移動させるだけでよく、回転駆動する必要はないので、駆動部が簡素化され、小型化することができる。また、爪部材４１，５１はワークを点で把持するので、ワークがフィルム状である場合に、ワークの回転に伴い、ワークにシワ及びたるみ等が発生することはない。   In this case, in the present embodiment, the gripping part grips the work with the point between the base and the claw member that makes point contact with the work, so that the driving part drives the moving part in the X direction and the Y direction. Thus, the position of the workpiece can be adjusted in the X direction and the Y direction, and the workpiece can be rotated about an axis perpendicular to the surface by making the amount of movement in the Y direction different between a pair of driving units. Can be made. The drive unit only needs to move the moving unit in two directions, the X direction and the Y direction, and does not need to be rotationally driven. Therefore, the drive unit can be simplified and reduced in size. Further, since the claw members 41 and 51 hold the workpiece with points, when the workpiece is in the form of a film, wrinkles and slack do not occur in the workpiece as the workpiece rotates.

その後、図５に示すように、上側の加工検査工具を、下側の加工検査工具６０に重ね、所定の形状のパターンをパンチングによりくり抜くか、又はＦＰＣの導通検査を行う。このようにして、本実施形態によれば、ワークをＸ方向及びＹ方向に位置調整するだけではなく、ワークをθ方向に回転させることができるので、打ち抜きパターンが円形ではなく、異形状である場合、又はＵ字形等の所定のパターン形状を有している場合にも、ワークの傾きを変えて、両者のパターンを合致させることができるので、異形状又はパターン形状の孔を加工する（穿孔する）ような場合にも、本実施形態の位置決め装置を適用することができる。   After that, as shown in FIG. 5, the upper processing inspection tool is placed on the lower processing inspection tool 60, and a pattern of a predetermined shape is punched out or FPC continuity inspection is performed. Thus, according to this embodiment, not only the position of the workpiece is adjusted in the X and Y directions, but also the workpiece can be rotated in the θ direction, so that the punching pattern is not circular but has an irregular shape. In this case, even when it has a predetermined pattern shape such as a U-shape, the inclination of the workpiece can be changed to match both patterns. In this case, the positioning device of this embodiment can be applied.

本発明は、ワーク位置決め装置によりワークを所定の位置に位置させて、パンチング又は電気検査を行うパンチング装置及び検査装置等に有用である。   INDUSTRIAL APPLICABILITY The present invention is useful for a punching apparatus and an inspection apparatus that perform punching or electrical inspection by positioning a work at a predetermined position by a work positioning device.

本発明の実施形態に係るワーク位置決め装置の全体を示す斜視図である。It is a perspective view showing the whole work positioning device concerning an embodiment of the present invention. 同じくその動作を示す斜視図である。It is a perspective view which similarly shows the operation | movement. 同じくその動作を示す斜視図である。It is a perspective view which similarly shows the operation | movement. 同じくその動作を示す斜視図である。It is a perspective view which similarly shows the operation | movement. 同じくその動作を示す斜視図である。It is a perspective view which similarly shows the operation | movement. 本発明の実施形態に係るワーク把持位置決め装置の全体を示す平面図である。It is a top view which shows the whole workpiece | work holding | grip positioning apparatus which concerns on embodiment of this invention. 同じくその正面図である。It is the same front view. その一部を示す斜視図である。It is a perspective view which shows the part. （ａ）は把持部を示す正面図、（ｂ）乃至（ｄ）は把持部の動作を示す側面図である。(A) is a front view which shows a holding part, (b) thru | or (d) are side views which show operation | movement of a holding part.

符号の説明Explanation of symbols

１，８；把持部、２，９；ガイド、３，１０；ボールネジ、４，１１；モータ、５，１２；ガイド、６，１３；ボールネジ、７，８；モータ、２０，３０；基台、２１，３１；Ｙ台座、２２，３２；Ｘ台座、４０、５０；アーム、４１、５１；爪部材、４２；回転軸、４３；先端、４４；ピストン、４５；ハウジング、４６；長孔、４７；連結軸、４８；支持部、４９；基部、５１；爪部材、６０；加工検査工具、６１；カメラ、６２；Ｙ移動部、６３；Ｘ移動部、６４；駆動部、１００；支持部、１０１、１０２；駆動部   1,8; gripping part, 2,9; guide, 3,10; ball screw, 4,11; motor, 5,12; guide, 6,13; ball screw, 7,8; motor, 20, 30; 21, 31; Y base, 22, 32; X base, 40, 50; Arm, 41, 51; Claw member, 42; Rotary shaft, 43; Tip, 44; Piston, 45; Housing, 46; Connecting shaft, 48; support part, 49; base part, 51; claw member, 60; processing inspection tool, 61; camera, 62; Y movement part, 63; X movement part, 64; drive part, 100; 101, 102; drive unit

Claims (4)

加工検査領域におけるＸ軸位置Ｘ及びＹ軸位置Ｙ並びにＸ−Ｙ面に垂直の軸の回りの回転角θに関する情報（Ｘ，Ｙ，θ）を工具と前記加工検査領域上のワークについてこれらを検出する検出装置と、前記ワークの位置調整装置と、を有し、
前記位置調整装置は、１対の移動部と、前記移動部を相互に直交するＸ方向及びＹ方向に駆動する１対の駆動部と、前記各移動部に設けられてワークを把持する把持部と、前記工具の（Ｘ，Ｙ，θ）情報と前記ワークの（Ｘ，Ｙ，θ）情報とが一致するように前記駆動部を駆動制御する制御部と、を有することを特徴とするワーク位置決め装置。 Information (X, Y, θ) on the X-axis position X and Y-axis position Y in the machining inspection area and the rotation angle θ around the axis perpendicular to the XY plane is obtained for the tool and the workpiece on the machining inspection area. A detecting device for detecting, and a position adjusting device for the workpiece,
The position adjusting device includes a pair of moving units, a pair of driving units that drive the moving units in the X and Y directions orthogonal to each other, and a gripping unit that is provided in each of the moving units and grips a workpiece. And a control unit that drives and controls the drive unit so that the (X, Y, θ) information of the tool and the (X, Y, θ) information of the workpiece coincide with each other. Positioning device. 前記把持部は、ワークの一方の面に接触してこれを支持する基部と、前記ワークの他方の面側に設けられ水平軸を介して揺動可能な爪部材と、この爪部材を揺動させる爪駆動部と、を有し、前記爪部材は、前記爪駆動部により前記基部に向けて揺動したときに前記基部との間で前記ワークを点で把持する形状を有することを特徴とする請求項１に記載のワーク位置決め装置。 The gripping part contacts and supports one surface of the workpiece, a claw member provided on the other surface side of the workpiece and swingable via a horizontal shaft, and swings the claw member. And the claw member has a shape that grips the workpiece with a point between the claw member and the base when the claw member is swung toward the base by the claw drive unit. The workpiece positioning apparatus according to claim 1. 前記検出装置は、撮像装置であることを特徴とする請求項１又は２に記載のワーク位置決め装置。 The work positioning apparatus according to claim 1, wherein the detection device is an imaging device. 前記駆動部は、Ｙ方向に延びる１対の平行なＹガイドと、前記Ｙガイドに沿って移動可能のＹ台座と、前記Ｙ台座を往復駆動するＹ駆動部材と、前記Ｙ台座上に設けられＸ方向に延びるＸガイドと、前記Ｘガイドに沿って移動可能のＸ台座と、前記Ｙ台座上に設けられ前記Ｘ台座を往復駆動するＸ駆動部材と、を有し、前記Ｘ台座により前記移動部が構成されることを特徴とする請求項１乃至３のいずれか１項に記載のワーク位置決め装置。 The drive unit is provided on the Y base, a pair of parallel Y guides extending in the Y direction, a Y base movable along the Y guide, a Y drive member that reciprocates the Y base, and the Y base. An X guide extending in the X direction; an X pedestal movable along the X guide; and an X drive member provided on the Y pedestal for reciprocatingly driving the X pedestal, wherein the movement by the X pedestal The work positioning apparatus according to claim 1, wherein the part is configured.
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JP2007200245A JP4503635B2 (en) 2007-07-31 2007-07-31 Work positioning device
KR1020080073668A KR101202478B1 (en) 2007-07-31 2008-07-28 Apparatus for determining the position of work
CN2008101441330A CN101357460B (en) 2007-07-31 2008-07-29 Working piece positioning device
TW097128803A TWI374789B (en) 2007-07-31 2008-07-30 Determination method of position work
KR1020110118333A KR101256314B1 (en) 2007-07-31 2011-11-14 Apparatus for determining the position of work
KR1020120156110A KR101367537B1 (en) 2007-07-31 2012-12-28 Apparatus for determining the position of work

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CN103112008B (en) * 2013-01-29 2015-09-02 上海智周自动化工程有限公司 Two vision robots for floor cutting locate and method for carrying automatically
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JP7017305B2 (en) * 2016-10-20 2022-02-08 ナブテスコ株式会社 Work positioner
CN107234487B (en) * 2017-05-31 2018-12-18 天津大学 Moving component multi-parameter detecting method based on combinatorial surface type standard
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CN115519606B (en) * 2022-10-24 2023-07-25 东莞市准锐自动化设备有限公司 PCB positioning and adjusting device and cutting equipment

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