TW200304539A

TW200304539A - Position detection method, position detection device and positioning method of printed circuit board

Info

Publication number: TW200304539A
Application number: TW092103832A
Authority: TW
Inventors: Masato Fukushima; Yoshikazu Muramatsu; Tadashi Sakino; Syozo Sakai
Original assignee: Uht Corp
Priority date: 2002-02-28
Filing date: 2003-02-25
Publication date: 2003-10-01
Also published as: JP2003254714A; CN1226592C; KR20030071533A; CN1487265A; TW591198B

Abstract

The present invention provides a position detection method, position detection device and positioning method of printed circuit board to proceed photographing to plural reference portions allocated with minute spacing and to detect the coordinate of each reference portion in a short time with high precision without interfering plural photographing devices. It has an optical guiding device (10) and photographing device (20). The optical guiding device (10) divides the image of at least two reference portions into plural images corresponding to each reference portion, and divide the images of at least two reference portions (31a) incident into the entrance opening (11a) into plural images corresponding to each reference portion, guide these images to the exit opening (11b). Proceed image processing to the plural photographing data obtained from plural photographing devices (20), so as to detect the coordinate of each reference portion (31a).

Description

200304539 五、發明說明（1) 【發明所屬之技術領域】本發明涉及一種檢測以微小間隔配置的多個基準部位的各座標的位置檢測方法和位置檢測裝置，特別是涉及適合於作，對形成於印刷基材上的印刷電路板進行衝切的前作業，高精度地檢測出印刷電路板上的基準部位和载置有印刷電路板的基台上的基準部位等的座標的位置檢測方法、及使用該位置檢測方法和位置檢測裝置的印刷電路板的定位方法。【先前技術】 θ在衝切形成於柔性薄膜等印刷基材w上的印刷電路板w 的場合，沿其端部的修整外形線w丨的〔形的部分、即所謂的修整孔（slim hole)w2的衝切要求高精度（參照第8圖）。 P在由該修整孔w2圍成的印刷電路板w的端部形成多個配線圖案的連接導線，在包含修整孔…在内由過去的衝壓，置對印刷電路板w整體進行衝切的場合，上述連接導線 4周圍的衝切精度低’戶斤以，易發生該導線部與該導線部的連接不良，產生產品可靠性下降的問題。因此’先前技術（參照曰本專利公報第2662477號）在刷電路板的端部近旁設置對準標記，由CCD攝像機等攝 f ^置對該對準標記進行攝像，同時，由圖像處理對該對，私圮的座標進行檢測，將該檢測出的座標作為基準，由衝-員對印刷電路板的端部的修整孔進行衝切。可是，按照上述技術，當印刷電路板的端部與衝頭在角度上不一致時，需要對形成該印刷電路板的印刷基材或 9467.ptd 第6頁 200304539 1發明說明（2) 衝頭和與該衝頭對應的模具進行角度修正，所以，各印刷電路板至少檢測出兩個對準標記的座標。 :而，在想用一台攝像裝置對兩個對準“ 2合，由於需要使視野範圍比由相： =置對一個對準標記進行攝像的場合寬，為丄= 雖提出有設置分別與兩個對準標記 a 二=，但在印刷電路板為小型的場合= =為微小尺寸…，產生上述二台攝像裝 1生干涉的問題。另彳，雖可考慮通過傾斜地設置由裝置以避免上述干涉的問題，但在該場合，田於圖像失真，所以不能獲得高精度的攝像。另外’雖也可考慮分別對應於兩個對準標記使一台 2^移動的問題，但在該場合，由於需要攝像裝置：移勁守間，所以，座標檢測時間變長。【發明内容】本發明疋鑒於上述問題而研發的，其目的在於提供一多個攝像裝置相互干涉以高精度在短時間内按位置檢測方法、位置檢測裝置、及印刷電路雨個ίIf決上述問題，本發明的位置檢測方法係將至少多個的像光學地分割成與每個該基準部位對應的由各攝像装置對這些分割獲得的多個像進行攝像 9467.ptd 第7頁 200304539 五、發明說明（3) ，進而對這些多個攝像數據分別進行圖像處理從而檢測出上述各基準部位的座標。上述基準部位為例如形成於印刷基材上的印刷電路板的C狀修整外徑線的兩個出角狀的頂部和用於從上述印刷基材衝切印刷電路板的模具的多個規定部位等。200304539 V. Description of the invention (1) [Technical field to which the invention belongs] The present invention relates to a position detection method and a position detection device for detecting the coordinates of a plurality of reference positions arranged at a minute interval, and more particularly, it is suitable for making, forming Position detection method for detecting coordinates such as a reference part on a printed circuit board and a reference part on a base on which a printed circuit board is placed, before performing a die-cutting operation on a printed circuit board on a printed substrate, And a positioning method of a printed circuit board using the position detection method and the position detection device. [Prior Art] When a printed circuit board w formed on a printed substrate w such as a flexible film is die-cut, the [shaped portion of the outline line w 丨 is called a trim hole (trim hole) is trimmed along its end. ) W2 requires high precision for punching (see Figure 8). When a plurality of wiring pattern connecting wires are formed at the end of the printed circuit board w surrounded by the trimming hole w2, the entire printed circuit board w is punched out by conventional punching including the trimming hole ... Because the punching accuracy around the above-mentioned connecting wire 4 is low, the connection between the wire part and the wire part is prone to occur, resulting in a problem that the reliability of the product is reduced. Therefore, in the prior art (refer to Japanese Patent Publication No. 2662477), an alignment mark is provided near the end of the printed circuit board, and the alignment mark is photographed by a CCD camera or the like. At the same time, the image processing is performed by image processing. In this pair, the private coordinates are detected, and the detected coordinates are used as a reference, and the trimming hole at the end of the printed circuit board is punched by a puncher. However, according to the above-mentioned technology, when the end of the printed circuit board is inconsistent with the punch, the printed substrate or 9467.ptd forming the printed circuit board needs to be described. Page 6 200304539 1 Description of the invention The die corresponding to the punch is angle-corrected, so each printed circuit board detects at least two coordinates of the alignment mark. : However, if you want to use two cameras to align two alignments with one camera, you need to make the field of view wider than the following: = Set an alignment mark for imaging. It is 丄 = The two alignment marks a ==, but when the printed circuit board is small == is a small size ..., the problem of interference between the two camera devices mentioned above will occur. In addition, it is possible to avoid the device by obliquely setting it to avoid The above-mentioned interference problem, but in this case, because the image is distorted, it is impossible to obtain high-precision imaging. In addition, although the problem of moving one 2 ^ corresponding to two alignment marks can be considered, Occasionally, because an imaging device is needed: moving between guards, the coordinate detection time becomes longer. [Summary of the Invention] The present invention was developed in view of the above problems, and its purpose is to provide a plurality of imaging devices to interfere with each other with high accuracy in short. According to the position detection method, the position detection device, and the printed circuit, the above problems are solved within time. The position detection method of the present invention optically divides at least a plurality of images into Each of the imaging devices corresponding to the reference site performs imaging on the multiple images obtained by these divisions. 9467.ptd Page 7 200304539 V. Description of the invention (3), and further performing image processing on these multiple imaging data to detect each of the above. Coordinates of a reference part. The reference part is, for example, two out-angled tops of a C-shaped trimmed outer diameter line of a printed circuit board formed on a printed substrate, and a die for cutting a printed circuit board from the printed substrate. Multiple prescribed locations, etc.

另外’上述光學分割乃意味使用稜鏡和反射鏡等將朝向一個方向的像分成多個像，並朝不同方向分別引導這些多個像’其具體例為使用斷面為等腰三角形的稜鏡反射^ ，將從一個方向入射到該棱鏡反射鏡的頂部側的像分成二部分，並使該分割獲得的兩個像分別朝不同的方向反射。按照上述技術手段，將多個基準部位的像光學地分割成與母個該基準部位對應的多個像，從而使這些基準部位間的間隔擴大地分別入射至對應的攝像裝置。In addition, the above-mentioned optical segmentation means that an image directed in one direction is divided into multiple images using 稜鏡 and a mirror, etc., and these multiple images are guided in different directions respectively. A specific example is the use of an isosceles triangle in cross section. Reflect ^, divide the image incident from one direction on the top side of the prism mirror into two parts, and cause the two images obtained by the division to reflect in different directions, respectively. According to the above-mentioned technical means, the images of the plurality of reference portions are optically divided into a plurality of images corresponding to the mother reference portion, so that the intervals between the reference portions are made incident on the corresponding imaging devices, respectively.

另外’在第2發明的位置檢測裝置中，具有將入射口的至少兩個基準部位的像光學地分割成與每個該基準部位對應的多個像並將這些分割獲得的多個像分別向出射口引導的光學導向裝置和多個分別對著上述出射口的攝像裝置，進而分別對由這些多個攝像裝置獲得的攝像數據進行圖像處理，檢測出上述各基準部位的座標。另外’第3發明的位置檢測裝置的特徵在於，上述光學導向裝置具有使入射到上述入射口的至少兩個基準部位的像朝向一方向反射的第1反射裝置、將由該第丨反射裝置反射的像分割成與每個上述基準部位對應的多個像並使該分割獲得的多個像分別引導至不同的方向的光學分支裝^In addition, in the position detection device according to the second aspect of the present invention, an image of at least two reference portions of the entrance port is optically divided into a plurality of images corresponding to each of the reference portions, and the plurality of images obtained by the division are directed to The optical guide device guided by the exit port and a plurality of imaging devices facing the exit port respectively perform image processing on the imaging data obtained by the plurality of imaging devices to detect the coordinates of the reference positions. In addition, the position detection device of the third invention is characterized in that the optical guide device includes a first reflection device that reflects an image of at least two reference portions incident on the entrance port toward one direction, and a first reflection device that reflects the image by the first reflection device. An optical branching device that divides an image into a plurality of images corresponding to each of the above-mentioned reference parts and guides the plurality of images obtained by the division to different directions, respectively ^

200304539 五、發明說明（4) —_ 、及反射由該光學分支裝置分割的各像並將出射口的第2反射裝置。、力等至上述另外，第4發明的位置檢測裝置的特徵在於，光學導向裝置和上述攝像裝置相對移動，從而使^上二的各基準部位的像的視野範圍移動。象獲仔上述光學導向裝置和上述攝像裝置相 ”定上述光學導向裝置的狀態移動上 =因定上述攝像裝置的狀態下移動上述光學 ^置^在固 =導向裝置與上述攝像裝置雙方分別朝二方= 另外’第5發明的位置檢測裝置的特徵在於 :指為兩個，通過在與兩個上述第 ^ 的：向使上述光學導向裝置與兩個？= =對移動，彳吏兩個上述視野範圍朝向接近及離開準邛2 ’第6發明的位置檢測裝置的特徵在於，上述美兩個，通過在與兩個上述第2反 = =平行的方向使上述光學導向裝置與兩己置方述移動方：大述視野範圍中的一方朝向與上一方的視方向移動，並使另一方朝向與上述扪硯野範圍的移動方向相反的方向移動。定位i : : J7姓發明為使用位置檢測裝置的印刷電路板的部位的座户4、ώ徵在於，分別檢測基台上的至少兩個基準橾和與這些座標對應的印刷電路板上的多個座標 9467.ptd 第9頁 200304539 五、發明說明（5) ’使上述基台與上述印刷電路板中的一方或雙方移動使上述印刷電路板上的上述基準部位與上述基台上的上述基準部位一致。【實施方式】下面，根據附圖說明本發明的實施例。第1圖為本發明的位置檢測裝置的一例。200304539 V. Description of the invention (4) —_, and a second reflecting device that reflects the images divided by the optical branching device and exits. In addition, the position detection device according to the fourth invention is characterized in that the optical guide device and the imaging device are relatively moved to move the field of view of the image of each of the reference positions. According to the above-mentioned optical guidance device and the imaging device, it is determined that the state of the optical guidance device is shifted up = the above optical device is moved under the condition of the imaging device ^ fixed ^ = both the guidance device and the imaging device are facing two Fang = In addition, the position detection device of the 5th invention is characterized in that: there are two fingers, and the two of the above mentioned ^: to make the above-mentioned optical guide device and two? = = Pair move, the two above The position detection device of the sixth aspect of the invention is directed toward and away from the vision range 2 '. The sixth aspect of the invention is characterized in that the above-mentioned two optical devices are arranged in a direction parallel to the two above-mentioned second == parallel directions. The moving party: One of the large visual fields moves in the direction opposite to the previous one, and the other moves in the direction opposite to the moving direction of the Takino range. Positioning i:: J7 was invented to use position detection The owners of the printed circuit board of the device are characterized by detecting at least two reference frames on the abutment and a plurality of printed circuit boards corresponding to these coordinates. Bid 9467.ptd Page 9 200304539 V. Description of the invention (5) 'Move one or both of the abutment and the printed circuit board to move the reference portion on the printed circuit board and the reference portion on the abutment [Embodiments] Embodiments of the present invention will be described below with reference to the drawings. Fig. 1 is an example of a position detection device of the present invention.

該位置檢測裝置A具有光學導向裝置1〇和攝像裝置2〇 ;該光學導向裝置1〇將入射到入射口 lla的兩個基準部位的像分割成與各個該基準部位對應的兩個像，將該兩個像分別引導至出射口 11b ;該攝像裝置20分別對著兩個上述出射口 lib、lib ;通過對由該多個攝像裝置2〇獲得的多個攝像數據進行圖像處理，檢測上述各基準部位的座標。技照本貫施形式的優先一側；上述基準部位形成為鱼衝頭對應的模具30(基台）的〔形狀的孔31的出角狀的兩個部位31 a、3 1 a (參照第1圖）。The position detection device A includes an optical guide device 10 and an imaging device 20; the optical guide device 10 divides an image of two reference positions incident on the entrance port 11a into two images corresponding to each of the reference positions, and divides the image The two images are respectively guided to the exit ports 11b; the camera device 20 faces the two exit ports lib, lib, respectively; and by performing image processing on a plurality of imaging data obtained by the plurality of imaging devices 20, the above is detected The coordinates of each reference position. The first side of the conventional technical form; the above reference part is formed as two angled parts 31 a and 3 1 a of the [shaped hole 31 of the mold 30 (abutment) corresponding to the fish punch (refer to the first 1 picture).

光學導向裝置10在主體外殼11内具有使從入射口 lla 入射的兩個基準部位31a、31a的像雙方都朝後方反射的第 1反射裝置12、將由該第1反射裝置12反射的像分割成與每個上述基準部位31a對應的多個像的光學分支裝置13、及反射由該光學分支裝置13分割的各像將其引導至上述出射口 lib的第2反射裝置14。主體外殼11在平面視圖下大體呈T形狀，在其前端側部位具有朝下開口的1個入射口 11 a，同時，在其後端側部位具有朝上方開口的兩個出射口 11 b、11 b、將從1個入射The optical guide device 10 includes, in the main body housing 11, a first reflection device 12 that reflects both images of the two reference portions 31a and 31a incident from the entrance 11a, and divides an image reflected by the first reflection device 12 into An optical branching device 13 for a plurality of images corresponding to each of the reference sites 31a, and a second reflection device 14 that reflects each image divided by the optical branching device 13 and guides the images to the exit port lib. The main body housing 11 is generally T-shaped in a plan view, and has one entrance opening 11 a opened downward at a front end portion, and two exit openings 11 b, 11 opened at a rear end portion. b, will be incident from 1

9467.ptd 第10頁 200304539 五、發明說明（6) 口 lla入射的像分支後引導至兩個出射口lib、lib地將内部形成為空心狀。第1反射裝置12為反射鏡，通過在以水平狀支承的主體外殼11内按約45度的傾斜角度固定，反射從下方入射的兩個基準部位31a、31a的像，朝主體外殼u内的後方引導。該第1反射裝置12如與上述同樣地作用，則也可為稜鏡〇光學分支裝置13為大體等腰三角形斷面的棱鏡反射鏡，在使其頂部朝向上述第1反射裝置12的狀態下固定於主體外殼11的中央後端部。該光學分支裝置u將從第1反射裝置1 2側入射的像朝左右4 5度方向分割成兩個部分地反射 ’將該分割獲得的兩個像引導至第2反射裝置丨4。第2反射裝置1 4為所謂頂形稜鏡（亦稱屋頂形稜鏡或反射面棱鏡），使從入射面14a入射的像依次由該稜鏡内的兩個反射面14b、14c反射，從出射面14d(參照第3圖）。上述兩個反射面14b、14c的角度為90度，這些反射面14b、14c 的稜線141與入射面14a的角度為45度。該第2反射裝置14反射由光學分支裝置13分割獲得的各像將其引導至出射口 lib地固定至主體外殼1丨的左右的出射口 lib、lib的各内側，而且該兩個第2反射裝置14、 14使其入射面14a、14a相向地配置。下面泮細說明該第2反射裝置14的作用。如第3圖所示，文字P的像P入射到入射面14a的座標（di，di，）時，在反射面14b的點14bl反射’成為在X-Z平面上順時針回轉g〇度9467.ptd Page 10 200304539 V. Description of the invention (6) The entrance of the lla incident image is branched to two exit ports lib and lib to form the interior into a hollow shape. The first reflecting device 12 is a reflecting mirror, which is fixed at an inclination angle of about 45 degrees in the main body housing 11 which is supported horizontally, and reflects the images of the two reference parts 31a and 31a incident from below toward the main body housing u. Rear guide. If the first reflecting device 12 functions in the same manner as described above, the optical branching device 13 may be a prism reflector having a substantially isosceles triangular cross-section, with the top portion facing the first reflecting device 12. It is fixed to the center rear end portion of the main body case 11. The optical branching device u divides an image incident from the first reflection device 12 side into two parts of 45 ° to the left and right and reflects it partially. 'The two images obtained by the division are guided to the second reflection device 丨 4. The second reflecting device 14 is a so-called top-shaped chirp (also referred to as a roof-shaped chirp or a reflecting surface prism), which causes an image incident from the incident surface 14a to be sequentially reflected by two reflecting surfaces 14b and 14c in the chirp. The exit surface 14d (see FIG. 3). The angle between the two reflecting surfaces 14b and 14c is 90 degrees, and the angle between the ridgeline 141 of the reflecting surfaces 14b and 14c and the incident surface 14a is 45 degrees. The second reflection device 14 reflects the images obtained by dividing by the optical branching device 13 and guides them to the exit port lib and is fixed to each of the left and right exit ports lib and lib of the main body casing 1 and the two second reflections The devices 14 and 14 have their incident surfaces 14a and 14a facing each other. The function of the second reflection device 14 will be described in detail below. As shown in FIG. 3, when the image P of the character P is incident on the coordinates (di, di,) of the incident surface 14a, the reflection at the point 14bl on the reflecting surface 14b becomes a clockwise rotation of g ° on the X-Z plane.

9467.ptd 第11頁 200304539 五、發明說明（7) 、在X-Y平面上順時針回轉45度獲得的像P’ 。該像P’在反射面14c的點14cl反射，成為在X-Z平面上順時針回轉9 0度、在X - Y平面上順時針回轉4 5度的像ρπ，從出射面14d的座標（do，do’）出射。然而，按照上述構成的光學導向裝置1 〇，如第2圖所示，將顯示於第1反射裝置12下方的工件面Wx的文字R和文字L的像rl、11入射到第1反射裝置12而反射成為與上述工件面W X垂直的像r 2和像1 2。9467.ptd Page 11 200304539 V. Description of the invention (7) The image P 'obtained by rotating clockwise 45 degrees on the X-Y plane. The image P 'is reflected at the point 14cl of the reflecting surface 14c, and becomes an image ρπ rotated 90 degrees clockwise on the XZ plane and 45 degrees clockwise on the X-Y plane, and the coordinates from the exit surface 14d (do, do ') shoot out. However, according to the optical guide device 10 configured as described above, as shown in FIG. 2, the characters R and 11 of the characters R and L of the work surface Wx displayed below the first reflecting device 12 are incident on the first reflecting device 12. On the other hand, the reflection becomes an image r 2 and an image 12 perpendicular to the workpiece surface WX.

這些像r 2和像1 2入射到光學分支裝置1 3時，被分割成上述兩個文字R和文字L分別對應的兩個像r3和像13而反射。這些像r3像13朝相反的方向沿與向光學分支裝置13的入射方向成直角的方向直進，分別入射到右側的第2反射裝置1 4和左側的第2反射裝置1 4。 ^ 由於像r3反射到右侧的第2反射裝置14内的反射面14t) (參照第3圖）’因而成為使工件面w X上的文字r朝順時針方向回轉90度的像r4。另外，像13由左側的第2反射裝置14内的反射面Hb反射因而使工件面flfx上的文字L成為逆時針回轉9〇的像η。When these images r 2 and 12 are incident on the optical branching device 13, they are divided into two images r 3 and 13 corresponding to the two characters R and L respectively and reflected. These images r3 and 13 go straight in the opposite direction at right angles to the incident direction to the optical branching device 13, and are incident on the second reflection device 14 on the right and the second reflection device 14 on the left. ^ Since the image r3 is reflected on the reflecting surface 14t in the second reflecting device 14 on the right side (refer to FIG. 3) ', it becomes an image r4 in which the character r on the work surface w X is rotated 90 degrees clockwise. In addition, the image 13 is reflected by the reflection surface Hb in the second reflection device 14 on the left side, so that the character L on the work surface flfx becomes an image η rotated counterclockwise by 90.

像r4和像14分別入射到左右的攝像裝置2〇。這些攝像裝置20、20為CCD攝像機，分別靠近光學導向裝置10的兩個出射口 llb、llb配置。"近光子導各攝像裝置20係朝XY方向可水平移動地支承在由滾珠螺桦機構、導軌、伺服馬達等組合構成的水平移動機 (圖中未示出）。The images r4 and 14 are incident on the left and right imaging devices 20, respectively. These imaging devices 20 and 20 are CCD cameras, and are disposed near the two exit ports 11b and 11b of the optical guide device 10, respectively. " Near photon guide Each camera device 20 is horizontally movable in the XY direction and is supported by a horizontal moving machine (not shown) composed of a combination of a ball screw mechanism, a guide rail, and a servo motor.

200304539 五、發明說明（8) * 另外在各攝像裝置2 0的後端經由圖像二分支電路板 41和圖像處理裝置42電連接有顯示器43(參照第4圖），將由兩個攝像裝置20、20攝像的兩個圖像分別顯示於左右的顯示器43、43。按照上述構成的位置檢測裝置A，模具3 〇上的兩個基準部位31a、31a的像由第1反射裝置12、光學分支裝置13 第2反射裝置14依次反射，從而分割成對應於每個上述基準，位31a的兩個像，該分割的各像由攝像裝置2〇攝像，顯不於各顯示器43，同時，由圖像處理裝置42進行圖像處理，檢測出其座標。此時，模具30對該模具3〇上的左右的視野範圍s、§具有角度的狀態配置，或左右的視野範圍s、s間的寬度與兩個基準部位31a、31a的寬度不同的場合，沿與兩個第2反射裝置14、14的配置方向大體直交的方向或/和大體平行的方向水平移動雙方的攝像裝置2〇、2〇，便可使左右的視野範圍S、S的各位置變化。例如，如第5圖（al )所示，將模具3〇對由兩攝像裝置 20、30獲得的該模具30上的左右的視野範圍s、s順時針方向具有角度的狀態下配置，而且，兩個基準部位31&、31a 的寬度比左右的視野範圍s、S間寬的場合，朝向與兩個第 2反射裝置14的配置方向直交且接近兩個基準部位31a的方向（第1圖的XI方向）移動兩攝像裝置2〇、2〇，則右側的視野範圍S便可朝向Rxl方向變位，且左側的視野範圍s可向Lxl方向變位，即向兩個視野範圍s、s之間距擴大的方200304539 V. Description of the invention (8) * In addition, a display 43 (refer to FIG. 4) is electrically connected to the rear end of each camera device 20 via the second image branch circuit board 41 and the image processing device 42, and two camera devices will be used. The two images taken at 20 and 20 are displayed on the left and right displays 43, 43 respectively. According to the position detection device A configured as described above, the images of the two reference portions 31a and 31a on the mold 30 are sequentially reflected by the first reflection device 12, the optical branching device 13, and the second reflection device 14, so as to be divided into corresponding to each of the above. On the basis of the two images of bit 31a, each of the divided images is captured by the imaging device 20 and displayed on each display 43. At the same time, the image processing device 42 performs image processing to detect its coordinates. At this time, the mold 30 is arranged with the left and right visual field ranges s and § on the mold 30, or when the width between the left and right visual field ranges s and s is different from the widths of the two reference parts 31a and 31a. Horizontally moving the two imaging devices 20 and 20 in a direction that is substantially orthogonal to the arrangement direction of the two second reflecting devices 14 and 14 and / or a direction that is substantially parallel to each other allows the positions of the left and right visual fields S and S to be set. Variety. For example, as shown in FIG. 5 (al), the mold 30 is arranged in a state where the left and right visual field ranges s, s on the mold 30 obtained by the two imaging devices 20, 30 are clockwise, and If the widths of the two reference parts 31 & and 31a are wider than the left and right visual field ranges s and S, the direction is perpendicular to the arrangement direction of the two second reflecting devices 14 and approaches the two reference parts 31a (see FIG. 1). XI direction) By moving the two camera devices 20 and 20, the field of view S on the right can be shifted toward the direction of Rxl, and the field of view s on the left can be shifted toward the direction of Lxl, that is, toward the two fields of view s, s. Enlarged square

200304539 五、發明說明（9) 向變位（第5圖（bl))。進而，使兩攝像裝置20、20朝向與兩個第2反射装置 14的配置方向平行的左方向（第1圖的Y2方向）移動，則左侧的視野範圍S便可朝向Ry 2方向（第5圖的下方向）變位，且左側的視野範圍SL可向Ly2方向（第5圖的上方向）變位（第5 圖（cl))。於是，兩個基準部位31 a、31 a便可分別位置於其對應的視野範圍S的大體靠近中央的位置，同時在顯示器43、 43上，即各顯示器43的大體靠近中央的位置顯示對應的基準部位31a。基準部位31 a、31 a的各座標由圖像處理檢測，依需要進行模具30與該模具30對應的衝頭（圖中未示出）的角度或疊合於該模具30的印刷基材w的角度之修正。上述攝像裝置20的移動方向為一例，兩個攝像裝置2〇可分別由上述的水平移動機構朝所期望的水平方向移動，而左右的視野範圍S、S分別朝向與對應的攝像裝置2〇的移動方向相應的方向變位。200304539 V. Description of the invention (9) Directional displacement (Figure 5 (bl)). Furthermore, by moving the two imaging devices 20 and 20 toward the left direction (the Y2 direction in FIG. 1) parallel to the arrangement direction of the two second reflecting devices 14, the left field of view S can be directed toward the Ry 2 direction (the first The bottom direction of Fig. 5) is shifted, and the visual field range SL on the left can be shifted toward the direction of Ly2 (upward direction of Fig. 5) (Fig. 5 (cl)). Therefore, the two reference parts 31 a and 31 a can be respectively located at positions near the center of the corresponding field of view S, and at the same time, the corresponding positions can be displayed on the displays 43 and 43, that is, the positions of the displays 43 near the center. Reference site 31a. The coordinates of the reference parts 31 a and 31 a are detected by image processing. The angle of the die 30 and the punch (not shown) corresponding to the die 30 or the printing substrate w superposed on the die 30 are performed as required. The correction of the angle. The moving direction of the imaging device 20 is an example. The two imaging devices 20 can be moved in the desired horizontal direction by the horizontal moving mechanism, and the left and right visual field ranges S and S respectively face the corresponding imaging devices 20. The direction of movement is shifted accordingly.

即，對右侧的攝像裝置2〇的XI方向的移動，其視野範圍S朝向RX1方向變位，對右側的攝像裝置2〇的义2方向的移動其視野範圍S朝向Rx2方向變位，對右側的攝像裝置2〇的Y1方向的移動，其視野範圍s朝向Ryl方向變位，對右侧的攝像裝置20的Y2方向的移動，其視野範圍s朝向方向變位。又，對左侧的攝像裝置20的^方向的移動，其視野範That is, when the right-side imaging device 20 moves in the XI direction, the visual field range S is displaced toward the RX1 direction, and when the right-side imaging device 20 moves in the sense 2 direction, the visual field range S is displaced toward the Rx2 direction. The movement in the Y1 direction of the right imaging device 20 shifts its field of view s toward the Ryl direction, and the movement in the Y2 direction of the right imaging device 20 shifts its field of view s toward the direction. In addition, for the movement in the ^ direction of the left imaging device 20,

9467.ptd 第14頁 200304539 五、發明說明（10) 圍S朝向Lxl方向變位，對左側的攝像裝置20的X2方向的移動，其視野範圍S朝向Lx2方向變位，對左側的攝像裝置2〇的Y1方向的移動，視野範圍S朝向L y 1方向變位，對左側的攝像裝置20的Y2方向的移動，其視野範圍s朝向Ly2方向蠻位。下面’根據第6圖說明使用上述構成的位置檢測裝置a 將印刷電路板w定位於模板30(基台）上的程序。首先，如第6(a)圖所示，對於載置印刷基材w的模具 30上的兩個基準部位31a、31a，使用圖像處理裝置42對由攝像裝置20分別攝像的攝像圖像進行圖像處理，從而檢其座標。、然後，用上述位置檢測裝置A檢測載置於上述模具3〇近旁的印刷基材¥的對應於上述基準部位31&、“a的&位 s 1P 電路板W端部的〔狀的修整外形線wl上的兩個出角狀基準部位wla、的各座標（參照第6(b)圖）。動機水平方向回轉和移動的習知輸送機構或移及Ξ2方:上示出)將印刷基材w或模具30朝向χγ方向或/ 3?-致Λ動’使基準部位Wla、“a和基準部位3U、刷電路板二軸具3。，在印刷基材W上的印整孔W2(參照圖6(二形斷面的衝頭(圖中未示出)衝製修例。下面’根據第7圖說明本發明的位置檢測裝置的另一、’、檢'則裝置A係由可水平移動之兩個攝像裝置9467.ptd Page 14 200304539 V. Description of the invention (10) The range S is shifted in the direction of Lxl, and the field of view S of the left camera 20 is shifted in the direction of L2, and the field of view S is shifted toward the left camera 2 The movement in the Y1 direction of 〇 shifts the visual field range S toward the Ly 1 direction, and the movement in the Y2 direction of the left imaging device 20 causes the visual field range s to shift toward the Ly2 direction. Next, a procedure for positioning the printed circuit board w on the template 30 (abutment) using the position detection device a configured as described above will be described with reference to FIG. 6. First, as shown in FIG. 6 (a), the two reference portions 31 a and 31 a on the mold 30 on which the printing base material w is placed are image-captured by the image-capturing device 20 using the image processing device 42. Image processing to check its coordinates. Then, the position detection device A is used to detect the [shape trimming of the end of the printed circuit board W end corresponding to the reference position 31 & "a & s s 1P of the printed circuit board W placed near the mold 30". The coordinates of the two out-angled reference parts wla, on the outline line wl (refer to Figure 6 (b)). The conventional conveying mechanism or movement of the horizontal rotation and movement of the motive force is shown in the above figure. The base material w or the mold 30 is oriented in the χγ direction or / 3?-?, so that the reference portion Wla, "a and the reference portion 3U, and the printed circuit board biaxial fixture 3. The printed hole W2 on the printing substrate W (refer to FIG. 6 (a punch with a double-shaped cross section (not shown in the figure) for a punching repair example. The following describes the position detection device of the present invention based on FIG. 7. Another, ', inspection' device A is composed of two camera devices that can be moved horizontally

200304539 五、發明說明（11) 2 0、2 0構成，而本位置檢測裝置B係將兩個攝像裝置2 〇、 20固定，且光學導向裝置10，可朝向χγ向水平移動。其它構成與上述位置檢測裝置A相同，故採用相同符號，詳細說明從略。使光學導向裝置10朝向XY方向移動的水平移動機構係與上述位置檢測裝置A同樣，由滾珠螺桿機構、導軌及伺服馬達等組成（圖中未示出）。按照此位置檢測裝置β，左右的視野範圍S、s朝向光學導向裝置10的移動方向相應的方向變位。片即，對光學導向裝置10的XI方向的移動，右側的視野範圍S朝向Rx2方向變位，同時，左側的視野範圍s朝向lx2 方向變位。々另外，對光學導向裝置10的)(2方向的變位，右側的視野範圍S朝向Rx 1方向變位，同時，左側的視野範圍s朝向 Lxl方向變位。另外，對光學導向裝置丨〇的γ丨方向的移動，右側的視 &圍S朝向Ry2方向變位，同時，左侧的視野範圍s Ly2方向變位。 ff r ifi q 對光學導向裝置1 0的Y 2方向的移動，右側的視 & 朝向Ryl方向變位，同時，左側的視野範圍S朝向 Lyl方向變位。 τ v200304539 V. Description of the invention (11) It is composed of 20 and 20, and the position detection device B is a system that fixes two camera devices 20 and 20, and the optical guide device 10 can move horizontally toward χγ. The other configurations are the same as those of the position detection device A described above, and therefore the same symbols are used, and detailed descriptions are omitted. The horizontal movement mechanism that moves the optical guide device 10 in the XY direction is composed of a ball screw mechanism, a guide rail, and a servo motor (not shown in the figure) similarly to the position detection device A described above. According to this position detection device β, the left and right visual field ranges S, s are displaced in a direction corresponding to the moving direction of the optical guide device 10. That is, for the movement in the XI direction of the optical guide 10, the field of view S on the right side is shifted toward the direction of Rx2, and the field of view s on the left side is shifted toward the direction of lx2. 々 In addition, for the (two-direction displacement of the optical guidance device 10), the right field of view range S is shifted toward the Rx 1 direction, and at the same time, the left field of view range s is shifted toward the Lx1 direction. In addition, the optical guidance device 丨〇 The movement in the γ 丨 direction shifts the right view & S to the Ry2 direction, and at the same time, the left field of view s Ly2 shifts. Ff r ifi q To the Y 2 direction of the optical guidance device 10, The right view & shifts towards the Ryl direction, and the left field of view S shifts towards the Lyl direction. Τ v

移動ί述位置檢測裝置Α分別使兩個攝像裝置20、20水平得可，但也可將兩個攝像裝置20、20 —體固定，使于早一的水平移動機構使該兩攝像裝置20、20朝向XYThe position detection device A is moved to make the two camera devices 20 and 20 level horizontally, but the two camera devices 20 and 20 may be fixed in a body so that the horizontal camera moves the two camera devices 20 and 20 earlier. 20 towards XY

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方向移動，從而獲得更另外，上述位置檢攝像裝置20、20之兩個的變位有良好的追從性得較廣之一可取例。但圖像顯示於單一的顯示另外，上述位置檢、31 a的像分割成兩個、像進行攝像的一例，但個該基準部位對應的多多個像進行攝像亦可。簡早的構造。測裳置A和B係備有分別對應於兩個顯示器43、43，使對視野範圍s、s ’且可將各視野範圍S的面積確保也可將兩個攝像裝置2〇、20的攝像器。〇測裝置A和B係將兩個基準部位3 j ^ •分別由攝像裝置對該分割的兩個將3個以上的基準部位分割成與各個像，由攝像裝置分別對該分割的、，另外，上述位置檢測裝置A和β可為在同一裝置内具有光〒導向裝置1〇、攝像裝置20、2〇、圖像處理裝置42、顯不器43、43等的構成，也可為將上述構置作為獨立的裝置設置的構成。飞合衮Directional movement to obtain even more. In addition, one of the above-mentioned position detection camera devices 20 and 20 has good followability and is widely applicable. However, the image is displayed on a single display. In addition, the above-mentioned position detection and the image of 31a are divided into two, and an image is taken as an example. However, a plurality of images corresponding to the reference position may be taken. Simple early construction. The measuring devices A and B are equipped with two displays 43 and 43 respectively, so that the area of the field of view s, s' and each field of view S can be ensured, and the two imaging devices 20 and 20 can be imaged. Device. 〇Measurement devices A and B are two reference parts 3 j ^ • The two reference parts divided by the imaging device are divided into three or more reference parts by the imaging device, and The above-mentioned position detection devices A and β may have a configuration including a light guide device 10, an imaging device 20, 20, an image processing device 42, a display 43, 43 and the like in the same device. The configuration is provided as an independent device. Fly together

>另外，上述光學導向裝置10係具有第1反射裝置12、光學分支裝置13、及兩個第2反射裝置14、η的一可取例，但祗要可將至少兩個基準部位的像依各基準部位分割成對應的多個像的構成，則例如也可為僅具有光學分支裝置 13的構成或可為在上述光學導向裝置1〇的構成上追加光學分支裝置/和反射裝置的構成。另外，，上述位置檢測裝置Α和8之攝像對象的基準部位不限於上述模具30上的基準部位31 a和上述印刷基材界上的基準部位wla，也可為例如設於模具上或印刷基材上等的> In addition, the above-mentioned optical guide device 10 is a preferable example having the first reflection device 12, the optical branching device 13, and two second reflection devices 14, n. The configuration in which each reference portion is divided into a plurality of corresponding images may be, for example, a configuration including only the optical branching device 13 or a configuration in which an optical branching device and a reflecting device are added to the configuration of the optical guide device 10 described above. In addition, the reference part of the imaging target of the position detection devices A and 8 is not limited to the reference part 31 a on the mold 30 and the reference part wla on the printed substrate boundary, and may be, for example, provided on a mold or a printing substrate. First-rate

200304539 五、發明說明（13) 至少兩個對準標記本發明備有上述的構成，因此，可發揮下述的效果。由於將至少兩個基準部位的像依各基準部位分割成對，的多㈣，藉攝像裝置對該各像進行攝像，所以心夕個攝像裝置相互干涉’可以高精度且短 :配置的多個基準部位進行攝像，檢測出各基準部= 私（申請專利範圍第1 — 3項）。而且，如使光學導向裝置和攝像裝置相對移動，則可將各基準部位的視野範圍輕易地變位使各基準部位包含於視野範圍。例如，基準部位為兩個時時朝向與兩個第2反射裝置的配置方向大使:直，的场合，冑者兩個攝像裝x的移冑，可使兩個視野範圍朝向接近及離開的方向變位。另夕卜，基準部位為兩個時，使兩個攝像裝置同時朝向與兩個第2反射裝置的配’ 大體平行的方向移動的場合，隨著兩個攝像裝置的方向， Z使兩個上述視野範圍内的一方朝向與攝像裝置動方向大體直交的方向變位，，使另一方 2 一方的視野範圍的移動方向相反的方 ^ ^ 圍第4-7項）。 …丑、甲明專利範 ’可容易而且於模具等基台路板的衝孔加另外，按照上述印刷電路板的定位方法正確地將形成於印刷基材的印刷電路板疊合上的規定位置，結果可高精度地進行印刷電工和切斷加工等。 200304539 圖式簡單說明【圖式簡單說明】第1圖為本發明a 斜視圖。置檢測裝置的一例的概略構造的第2圖為光學導而继_ 第裝置的一例的内部構造的斜視圖。第3圖為第2反射裝置的一例的斜視圖。圃第4圖為電連接攝像| 視圖。裝置與圖像處理裝置的一例的斜第5圖(al) (ci)為視色圍依次動的狀態的平面圖，（a2) r u暴口）上移200304539 V. Description of the invention (13) At least two alignment marks The present invention has the above-mentioned structure, and therefore, the following effects can be exhibited. Since the images of at least two reference parts are divided into pairs according to each reference part, the images are captured by the imaging device, so the imaging devices interfere with each other. 'It can be highly accurate and short: The reference part was imaged, and each reference part was detected as private (items 1 to 3 of the scope of patent application). Furthermore, if the optical guide device and the imaging device are relatively moved, the field of view range of each reference site can be easily shifted so that each reference site is included in the field of view. For example, if the reference position is two directional and ambassadors: the position of the two second reflection devices: Straight, the shift of the two cameras x can move the two fields of vision toward the approaching and leaving directions. Variable Bit. In addition, when there are two reference parts, when the two imaging devices are moved simultaneously in a direction substantially parallel to the arrangement of the two second reflecting devices, Z makes two of the above as the directions of the two imaging devices. One side of the field of view is displaced in a direction that is substantially orthogonal to the direction of movement of the camera, so that the other side of the field of view of the other side moves in the opposite direction ^ ^ (period 4-7). … The Ugly and Jiaming patents can be easily punched into abutment boards such as molds, and in addition, the printed circuit board formed on the printed substrate can be accurately stacked in a predetermined position according to the positioning method of the printed circuit board described above. As a result, printing electricians and cutting processes can be performed with high accuracy. 200304539 Brief description of the drawings [Simplified description of the drawings] Fig. 1 is a perspective view of the invention a. Fig. 2 is a perspective view showing the internal structure of an example of a detection device, and Fig. 2 is a perspective view showing the internal structure of an example of an optical device. Fig. 3 is a perspective view of an example of a second reflecting device. Figure 4 shows the electrical connection camera | view. Figure 5 (al) (ci) is a plan view of the state in which the color range moves sequentially, and (a2) r u burst) moves up

獲得的圖像的平面圖。（)為對述各視野範圍㈣ & ί ^圖按（a)〜（C)依次示出本發明印刷電路板的定位順序的要部平面圖。 |α疋π 第7圖為本發明的位置檢測裝置的另一例的斜視圖。第8圖為印刷電路板和形成多個該印刷電路板的印刷基材的一例的平面圖。【符號說明】 10·.·光學導向裝置 11 b. ·出射口 13···光學分支裝置 2 0 · · ·攝像裝置 31 a ··基準部位 43. · ·顯示器 W——印刷基材 W1 a · ·基準部位A plan view of the obtained image. () Is a plan view of the main parts showing the positioning sequence of the printed circuit board of the present invention in the order of (a) to (C) for each of the visual field ranges. | α 疋 π FIG. 7 is a perspective view of another example of the position detection device of the present invention. Fig. 8 is a plan view of an example of a printed circuit board and a printed substrate on which a plurality of the printed circuit boards are formed. [Symbol description] 10 .... Optical guide device 11 b .... Exit 13 ... Optical branch device 2 0 ... Photo camera 31 a Reference position 43 Display W--printing substrate W1 a · Reference site

11a·. 入射口 12··. 第1反射装置 14··. 第2反射裝置 30··. 模具（基台） 42··. 圖像處理裝^置 A、Β· •位置檢測裝置 w.... 印刷電路板11a .. Entrance 12 .. 1st reflection device 14 .. 2nd reflection device 30 ... (mold) 42 .. Image processing device A, B. Position detection device w. ... A printed circuit board

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Claims

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1 · 一種位置檢測方法，包括· 像光學地分割成與各該基準 #將至少兩個基準部位的裝置分別對這些分割獲得的;個像’利用攝像的座標。像處理，檢測出上述各基準部位備有：將入射到入射口的至割成與各該基準部位對應的個像分別向出射口引導的光述出射口配設的攝像裝置，獲得的攝像數據進行圖像處的座標。少多學藉1 · A position detection method, comprising: · an image is optically divided into respective reference points, and the at least two reference parts are respectively obtained by a device for these divisions; each image 'uses the coordinates of the camera. In the image processing, it is detected that each of the above reference positions is provided with: an imaging device provided with an imaging device configured to cut out the light incident on the entrance port corresponding to each of the reference positions and guide the light to the exit port, and obtain imaging data Coordinates at the image. Learn less

2 · —種位置檢測裝置，兩個基準部位的像光學地分個像而將這些分割獲得的多導向裝置及多個分別對著上分別對由這些多個攝像裝置理，檢測出上述各基準部位2. A position detection device, wherein the images of two reference parts are optically divided into images, and the multi-guide device obtained by dividing these and a plurality of face-to-face and face-to-face are respectively detected by the plurality of camera devices to detect each of the above-mentioned reference Part

3·如申請專利範圍第2項所述的位置檢測裝置，其中該光學導向裝置備有：使入射到上述入射口的至少兩個基準部位的像朝同一方向反射的第1反射裝置；將該第1反射裝置反射的像分割成與各該基準部位對應的多個像，同時將該分割獲得的多個像分別引導至不同的方向的光學分支裝置；及使該光學分支裝置分割的像反射而將其引導至上述出射口的第2反射裝置。 4.如申請專利範圍第2或3項所述的位置檢測裝置，其特徵在於：通過使上述光學導向裝置和上述攝像裝置相對移動，使攝像獲得的各基準部位的像的視野範圍變位。3. The position detection device according to item 2 of the scope of patent application, wherein the optical guiding device is provided with: a first reflection device that reflects images of at least two reference positions incident on the entrance port in the same direction; An optical branching device that divides an image reflected by the first reflecting device into a plurality of images corresponding to each of the reference parts, and simultaneously guides the multiple images obtained by the segmentation to different directions; and reflects the divided image of the optical branching device The second reflecting device is guided to the exit port. 4. The position detection device according to item 2 or 3 of the scope of patent application, wherein the optical guide device and the imaging device are relatively moved to shift the visual field range of the image of each reference part obtained by imaging.

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5 ·如申請專利範圍笛徵在於：上述基準部位為 Μ的位置檢^裝置，其特射裝置的配置方向大，古上固通過在與兩個上述第2反兩個上述攝像裝置相對移向f上述光學導向裝置與及離開的方向變位。移動而使兩個上述視野範圍朝接近徵在6於如所述的位置檢測裝置，其特5 · If the scope of the patent application is: the position detection device of the above reference position is M, the arrangement direction of its special shooting device is large. f The above-mentioned optical guides are displaced in and out directions. Move to bring the two above-mentioned fields of vision closer to each other.

射裝置的配置方向方=在與兩個上述第2反兩個上述摄後验的方向使上述光學導向裝置莫方朝向#± if 目對移動而使兩個上述視野範圍中的一 im:方向大體直交的方向變位，並使另μ 〃述方的視野範圍的移動方向相反的方向變位。The direction of the arrangement of the shooting device = In the direction opposite to the two above-mentioned second and two above-mentioned photographic posteriors, the above-mentioned optical guidance device is not oriented toward # ± if the eye pair moves to make one of the two above-mentioned fields of vision: direction: Displaces in a direction that is substantially orthogonal, and displaces the direction of movement of the field of view of the other side in the opposite direction.

n认·研專利範圍第5項所述的位置檢測裝置，其特二；·上述基準部位為兩個，通過在與兩個上述第2反 &置的配置方向大體平行的方向使上述光學導向裝置與二固上述攝像裝置相對移動而使兩個上述視野範圍中的一朝向與上述移動方向大體直交的方向變位，並使另一方朝向與上述一方的視野範圍的移動方向相反的方向變位。 8· 一種使用申請專利範圍第1或2項所述的位置檢測裝置的印刷電路板的定位方法，其特徵在於：分別檢測基台上的至少兩個基準部位的座標和與這些座標對應的印刷電The position detection device described in item 5 of the patent scope is characterized by the second feature; the two reference parts are two, and the optical device is made to be in a direction substantially parallel to the arrangement directions of the two second anti-amplifiers. The guide device and the Ergu camera move relative to each other, so that one of the two fields of view is displaced in a direction substantially orthogonal to the moving direction, and the other is shifted in a direction opposite to the direction of movement of the one field of view. Bit. 8. A method for positioning a printed circuit board using the position detection device described in item 1 or 2 of the scope of patent application, characterized in that the coordinates of at least two reference positions on the abutment and the printing corresponding to these coordinates are respectively detected Electricity

第21頁 200304539 六、申請專利範圍路板上的多個座標，使上述基台與上述印刷電路板中的一方或雙方移動，使上述印刷電路板上的上述基準部位與上述基台上的上述基準部位一致。Page 21, 200304539 6. Multiple coordinates on the road surface for patent application, move one or both of the abutment and the printed circuit board, so that the reference position on the printed circuit board and the aforesaid on the abutment The reference position is consistent.

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