Positioning device and positioning method
阅读说明:本技术 定位装置及定位方法 (Positioning device and positioning method ) 是由 石井彻 于 2018-12-27 设计创作,主要内容包括:本发明提供定位装置及定位方法,能够相对于处理对象物准确地定位处理部。本发明的一个方式的定位装置为相对于定位对象物即处理对象物(P)对被定位部件即第一处理部(Ha)进行定位的定位装置,具有:使所述第一处理部(Ha)移动的第一移动机构(1a)、保持在所述第一移动机构(1a)且对所述处理对象物进行拍摄的第一相机(2a)、从与所述第一相机(2a)相反的方向对所述第一处理部(Ha)进行拍摄的第二相机(2b)、以及配设成在彼此相对的所述第一相机(2a)及所述第二相机(2b)的拍摄范围内出现、消失的基准标识(Mc)。(The invention provides a positioning device and a positioning method, which can accurately position a processing part relative to a processing object. A positioning device according to an aspect of the present invention is a positioning device for positioning a first processing unit (Ha) as a positioning member with respect to a processing object (P) as a positioning object, and includes: the image processing apparatus includes a first moving mechanism (1a) that moves the first processing unit (Ha), a first camera (2a) that is held by the first moving mechanism (1a) and that photographs the processing object, a second camera (2b) that photographs the first processing unit (Ha) from a direction opposite to that of the first camera (2a), and a reference mark (Mc) that is disposed so as to appear and disappear within the photographing range of the first camera (2a) and the second camera (2b) that face each other.)
1. A positioning device for positioning a first processing unit as a positioning member with respect to a processing object as a positioning object, the positioning device comprising:
a first moving mechanism that moves the first processing unit;
a first camera which is held by the first moving mechanism and photographs the processing object;
a second camera that photographs the first processing section from a direction opposite to the first camera;
and a reference mark arranged to appear and disappear in the shooting ranges of the first camera and the second camera facing each other.
2. The positioning device of claim 1,
there is also a second moving mechanism that movably holds the second camera.
3. The positioning device of claim 2,
the second moving mechanism keeps a relative position of the second processing unit positioned with respect to the processing object and the second camera constant.
4. The positioning device according to claim 1, 2 or 3,
the first moving mechanism has: the image pickup apparatus includes a first moving body that moves in a first direction perpendicular to an optical axis of the first camera, and a second moving body that moves in a second direction perpendicular to the optical axis of the first camera and the first direction.
5. The positioning device of claim 4,
the reference mark is held at the second-direction central portion of the first mobile body.
6. The positioning device according to claim 4 or 5,
the first moving mechanism further includes a rotating mechanism that is held by the second moving body and rotates the first processing unit around an axis parallel to the optical axis of the first camera.
7. The positioning device according to claim 4, 5 or 6,
the first moving mechanism further includes a lifting mechanism that is held by the second moving body and moves the first processing unit in a direction parallel to the optical axis of the first camera.
8. The positioning device according to any one of claims 1 to 7,
the reference mark protrudes toward a position where the processing object is held in the optical axis direction of the first camera.
9. The positioning device according to any one of claims 1 to 8,
the reference mark protrudes and recedes in a direction inclined with respect to an optical axis of the first camera.
10. The positioning device of claim 9,
the mechanism for projecting and retracting the reference mark includes: a linear motion guide for guiding the reference mark, and a driving cylinder for pushing and pulling the reference mark in a direction inclined with respect to the linear motion guide.
11. The positioning device of claim 8,
the mechanism for projecting the reference mark combines a mechanism for linearly moving the reference mark in a plane in the first direction and the second direction and a mechanism for linearly moving the reference mark in a direction perpendicular to the first direction and the second direction.
12. The positioning device according to any one of claims 1 to 11,
the first processing unit is an inspection head having a plurality of probes.
13. A positioning method for positioning a processing unit as a positioning member with respect to a processing object as a positioning object, the positioning method comprising:
shooting a reference mark appearing in a shooting range of a first camera and a second camera arranged opposite to the first camera by using the first camera and the second camera;
shooting a processing part identifier arranged on the processing part by using the second camera;
calculating a relative position between the reference marker and the processing unit marker based on the position of the reference marker captured by the second camera and the position of the processing unit marker captured by the second camera;
calculating a relative position between the first camera and the processing unit marker based on the calculated relative position between the reference marker and the processing unit marker and the position of the reference marker captured by the first camera;
shooting the object to be processed by using the first camera;
identifying a relative position of the processing object with respect to the first camera based on the position of the processing object captured by the first camera;
the processing unit is positioned with respect to the processing object based on the identified relative position of the processing object with respect to the first camera and the calculated relative position between the first camera and the processing unit mark.
14. The positioning method of claim 13,
the method further includes, between the step of imaging the reference mark and the step of imaging the processing unit mark, the steps of:
enabling the reference mark to be avoided from the shooting ranges of the first camera and the second camera;
moving the processing section to a shooting range of the second camera;
in the step of calculating the relative position between the reference mark and the processing unit mark, the relative position between the reference mark and the processing unit mark is calculated in consideration of the moving distance of the processing unit.
Technical Field
The present invention relates to a positioning device and a positioning method.
Background
In a printed circuit board manufacturing site, an inspection apparatus is used which presses an inspection head having a plurality of probes (electrical contacts) against a printed circuit board and brings the probes into contact with measurement points of the printed circuit board to inspect electrical characteristics of the printed circuit board.
The inspection head of the inspection apparatus has a head body that is positioned by a three-dimensional moving mechanism and a probe unit that is attached to the head body and has a plurality of probes and a guide that positions the plurality of probes, in order to inspect various printed boards. That is, in the inspection apparatus, the probe unit of the inspection head is replaced according to the printed substrate to be inspected.
In general, in an inspection apparatus, a positioning device for positioning an inspection head includes a camera, and the inspection head is positioned with respect to a substrate by imaging a printed circuit board with the camera and confirming the position of the printed circuit board by image processing. However, in recent years, the printed board has been highly refined, and the inspection head needs to be accurately positioned with respect to the printed board, so that an error in mounting the probe unit with respect to the head main body cannot be ignored.
In order to correct the mounting error of the probe unit, an inspection apparatus has been proposed in which an auxiliary camera is disposed on a table holding a printed circuit board, an inspection head is imaged by the auxiliary camera, and the position of a jig positioning mark provided on a guide of the probe unit is recognized to grasp the accurate position of the probe unit (see japanese patent application laid-open No. 2009-113600).
Disclosure of Invention
Technical problem to be solved by the invention
In the inspection apparatus described in the above publication, the auxiliary camera is disposed on the stage holding the printed circuit board, and therefore the apparatus structure is complicated. Such a complicated apparatus structure not only increases the cost of the apparatus, but also has a problem that it is difficult to secure a space for arranging a structure for grasping the accurate position of the probe unit in a small-sized apparatus. In particular, in order to inspect both sides of the printed circuit board, as described in the above-mentioned publication, an auxiliary camera for imaging the front guide of the inspection head and an auxiliary camera for imaging the rear guide of the inspection head are required.
In view of the above-described problems, an object of the present invention is to provide a positioning device and a positioning method that can accurately position a processing unit such as an inspection head with respect to a processing target such as a printed circuit board.
Technical solution for solving technical problem
A positioning device according to the present invention for solving the above-described problems is a positioning device for positioning a first processing unit as a positioning member with respect to a processing object as a positioning object, and includes: a first moving mechanism that moves the first processing unit; a first camera which is held by the first moving mechanism and photographs the processing object; a second camera that photographs the first processing section from a direction opposite to the first camera; and a reference mark arranged to appear and disappear in the shooting ranges of the first camera and the second camera facing each other.
Further, a positioning method according to the present invention is a positioning method for positioning a processing unit with respect to a processing target object, and includes the steps of: shooting a reference mark appearing in a shooting range of a first camera and a second camera arranged opposite to the first camera by using the first camera and the second camera; shooting a processing part identifier arranged on the processing part by using the second camera; calculating a relative position between the reference marker and the processing unit marker based on the position of the reference marker captured by the second camera and the position of the processing unit marker captured by the second camera; calculating a relative position between the first camera and the processing unit marker based on the calculated relative position between the reference marker and the processing unit marker and the position of the reference marker captured by the first camera; shooting the object to be processed by using the first camera; identifying a relative position of the processing object with respect to the first camera based on the position of the processing object captured by the first camera; the processing unit is positioned with respect to the processing object based on the identified relative position of the processing object with respect to the first camera and the calculated relative position between the first camera and the processing unit mark.
Drawings
Fig. 1 is a schematic diagram showing a configuration of a positioning device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram showing the structure of an inspection apparatus having the positioning apparatus of fig. 1.
Fig. 3 is a schematic diagram showing a structure of an identification moving means of the positioning apparatus of fig. 1.
Fig. 4 is a flowchart showing a positioning method according to an embodiment of the present invention.
Fig. 5 is a simplified image of a captured image of the rear camera in the fiducial mark capturing process of fig. 4.
Fig. 6 is a simplified image diagram of a captured image of the rear camera in the processing unit mark capturing step of fig. 4.
Fig. 7 is a simplified image diagram showing an overview of the reference marker position calculating step shown in fig. 4.
Fig. 8 is a simplified image of a captured image of the front camera in the camera position calculating step of fig. 4.
Fig. 9 is a flowchart showing the operation of the positioning device of the present invention.
Fig. 10 is a simplified image diagram of a captured image of the front camera in the positioning process of fig. 9.
Fig. 11 is a schematic diagram showing a configuration of a sign moving device different from that of fig. 3.
Detailed Description
A positioning device according to an aspect of the present invention is a positioning device for positioning a first processing unit as a positioning member with respect to a processing object as a positioning object, the positioning device including: a first moving mechanism that moves the first processing unit; a first camera which is held by the first moving mechanism and photographs the processing object; a second camera that photographs the first processing section from a direction opposite to the first camera; and a reference mark arranged to appear and disappear in the shooting ranges of the first camera and the second camera facing each other.
In another aspect of the present invention, a positioning method for positioning a processing unit with respect to a processing target includes: shooting a reference mark appearing in a shooting range of a first camera and a second camera arranged opposite to the first camera by using the first camera and the second camera; shooting a processing part identifier arranged on the processing part by using the second camera; calculating a relative position between the reference marker and the processing unit marker based on the position of the reference marker captured by the second camera and the position of the processing unit marker captured by the second camera; calculating a relative position between the first camera and the processing unit marker based on the calculated relative position between the reference marker and the processing unit marker and the position of the reference marker captured by the first camera; shooting the object to be processed by using the first camera; identifying a relative position of the processing object with respect to the first camera based on the position of the processing object captured by the first camera; the processing unit is positioned with respect to the processing object based on the identified relative position of the processing object with respect to the first camera and the calculated relative position between the first camera and the processing unit mark.
Here, the "imaging range" refers to an image area required for image processing in the captured image by the camera, and does not include a peripheral area not required for image processing.
The positioning device and the positioning method use the reference marks which appear and disappear in the shooting ranges of the first camera and the second camera. In this way, in a state where the reference mark appears in the imaging ranges of the first camera and the second camera, the first camera on the processing unit side and the second camera facing the first camera can image the reference mark separately. In addition, the processing unit can be imaged by the second camera even in a state where the reference mark is kept away from the imaging range of the camera. The relative positional relationship between the processing unit and the reference mark can be derived from the captured image. Therefore, the processing unit can be accurately positioned with respect to the processing object by capturing an image of the processing object with the first camera on the processing unit side, calculating the relative position of the first camera with respect to the processing object, and correcting the relative positional relationship between the processing unit and the first camera. In addition, in the positioning apparatus and the positioning method, since the first camera and the second camera that are movable are opposed to each other and the accurate position of the processing unit is confirmed, the second camera can be arranged in an arbitrary space that does not interfere with other main components of the positioning apparatus and other main components of the positioning apparatus. This enables the device to be miniaturized.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings as appropriate.
A positioning device according to an embodiment of the present invention shown in fig. 1 is a device that accurately positions a first processing unit Ha with respect to a processing object (not shown) that is a positioning object.
Examples of the combination of the object to be processed and the first processing portion Ha include a printed circuit board, an inspection head for inspecting electrical characteristics of the printed circuit board, a film, a punching portion for punching a hole in the film, a finished product part, and a finishing head.
The positioning device of fig. 1 has: the image processing apparatus includes a first moving mechanism 1a that moves a first processing unit Ha, a first camera (front side camera) 2a that is held by the first moving mechanism 1a so that a relative position with respect to the first processing unit Ha is constant and that images a processing object from the front side, a second camera (rear side camera) 2b that images the first processing unit Ha from the direction (rear side) opposite to the
The first moving mechanism 1a holds the first processing unit Ha and the
In a state where the reference mark Mc is present in the imaging range of the first and
In addition, since the positioning device faces the movable
Next, the details of the positioning device and the positioning method will be described by describing the structure of the inspection device having the positioning device.
[ inspection apparatus ]
The inspection apparatus shown in fig. 2 is an electrical inspection apparatus for inspecting electrical characteristics of a printed board P having circuits formed on both surfaces thereof.
The inspection apparatus of fig. 2 includes: the apparatus includes a
The positioning device has: a front side moving mechanism 1a for moving the front side inspection head Ha, a rear
In the positioning device, when the front side inspection head Ha is positioned with respect to the printed board P, the front side moving mechanism 1a is used as a first moving mechanism, the rear
In the following description, the absolute directions such as "horizontal", "up" and "down" are used in conjunction with the embodiments, but the arrangement of the main components of the structure of the present invention is not limited.
[ printed substrate ]
A typical example of the printed board P for inspecting electrical characteristics by the inspection apparatus of fig. 2 is a double-sided board having circuit patterns formed on both sides. The printed board P may be a rigid printed board having a strong rigidity, or may be a flexible printed board having flexibility.
The printed board P has an object mark Mp as a reference point for accurately recognizing the position of the printed board P when the front side transfer mechanism 1a and the rear
The object mark Mp may be, for example, a metal pattern formed simultaneously with the circuit pattern by using a metal for forming the circuit pattern on both surfaces of the printed board P. The object mark Mp may be a characteristic point (a point recognizable by image processing) in the circuit pattern, and may be formed by printing using paint, for example, in addition to the metal pattern. The object marker Mp may be provided separately on the front surface and the rear surface of the printed circuit board P, but here, it will be described as a single pattern of through holes that can be recognized from either the front surface or the rear surface.
[ substrate holding mechanism ]
The
As the
[ inspection head ]
The front side inspection head Ha has a head
< head main body >
The head
< Probe Unit >
The
The plurality of
The
Processing unit marks Mha and Mhb serving as reference points for accurately positioning the
The front side inspection head Ha and the rear side inspection head Hb preferably have circuits for measuring the electrical characteristics of the printed board P via the plurality of
[ moving mechanism ]
The front side moving mechanism 1a is a rectangular coordinate type moving mechanism for positioning the front side inspection head Ha. Specifically, the front-side moving mechanism 1a includes: the inspection apparatus includes a first moving
The
The rear-
< first moving body >
The first moving
< second Mobile body >
The second
< rotating mechanism >
The
< lifting mechanism >
The elevating
< Camera >
The first and
The image data captured by the
< reference mark >
The reference mark Mc is a single mark that can be photographed by the
The marking
The thickness of the plate-
The planar shape of the reference mark Mc may be, for example, a cross shape as long as the position (coordinate) thereof can be specified, but may be a circular shape which can be easily formed. The diameter of the circular reference mark Mc is preferably as small as possible within the range that can be confirmed by the
(identification moving device)
The
The
The
The
As shown in fig. 3, the
In this way, the
In fig. 3, a second moving
The
The
[ controller ]
As the
The
The initial setting control and the positioning control can be realized by software such as a part program and a subroutine.
[ positioning method ]
Next, the positioning method of the present invention will be described in detail. The initial setting control and the positioning control are explained as control in the case where the front-side moving mechanism 1a is used to position the front-side inspection head Ha. The control in the case where the rear
< initial setting control >
As shown in fig. 4, the flow of the initial setting control includes: a reference mark capturing step (step S1), a reference mark avoiding step (step S2), a processing unit moving step (step S3), a processing unit mark capturing step (step S4), a reference mark position calculating step (step S5), and a camera position calculating step (step S6).
(reference mark imaging step)
In the reference mark capturing step of step S1, the
In the reference mark capturing step S1, since one reference mark Mc is captured by each of the two
(reference mark avoiding step)
In the reference mark avoiding step of step S2, the
(treatment section moving step)
In the processing unit moving step of step S3, the front side inspection head Ha is moved by the front side moving mechanism 1a within the imaging range of the
(processing part identification imaging step)
In the processing unit flag imaging step of step S4, the processing unit flag Mha of the front side inspection head Ha is imaged by the
In the reference marker imaging step S1, when the imaging range of the
That is, in the positioning method, the reference mark photographing step S1 of photographing the reference mark Mc appearing in the photographing range of the
(reference marker position calculating step)
In the reference marker position calculating step of step S5, the relative position (the two-dimensional data including the interval in the first direction and the interval in the second direction) X between the reference marker Mc and the processing unit marker Mha is calculated based on the position (the coordinates including the position in the first direction and the position in the second direction) C1 of the reference marker Mc in the image captured by the
When the processing unit moving step S3 is omitted, the movement distance L of the front side inspection head Ha is set to 0, and the relative position X between the reference mark Mc and the processing unit mark Mha is calculated. That is, when the processing unit moving step S3 is not required, the relative position X between the reference mark Mc and the processing unit mark Mha can be calculated based only on the position (coordinate C1) of the reference mark Mc and the position (coordinate C2) of the processing unit mark Mha in the image captured by the
(Camera position calculating step)
In the camera position calculating step of step S6, the relative position between the
Specifically, as shown in fig. 8, the position of the separation-only distance-X where the relative position X (i.e., the relative position X between the reference marker Mc and the processing unit marker Mha shown in fig. 7 calculated in the reference marker position calculation step S5) is reversed from the position (coordinate C4) of the reference marker Mc in the captured image of the
When the
< positioning control >
As shown in fig. 9, the flow of the positioning control includes: a process object photographing process (step S11), an object position identifying process (step S12), and a positioning process (step S13).
(Process for imaging treatment object)
In the processing object capturing step of step S11, the object mark Mp, which is a representative point of the processing object, which is the printed board P, is captured by the
(target position identifying step)
In the object position recognition step of step S12, the position of the object marker Mp with respect to the
(positioning step)
In the positioning step of step S13, the front side inspection head Ha is accurately positioned in front of the printed circuit board P based on the coordinates C6 of the object marker Mp recognized in the object position recognition step S12 with respect to the
Specifically, first, the relative position Y that the processing unit mark Mha and the object mark Mp should have when the front side inspection head Ha is accurately aligned with respect to the printed board P is calculated from the design data of the front side inspection head Ha and the printed board P. The calculation of the relative position Y is preferably performed in advance before the positioning control is performed.
Next, as shown in fig. 10, a position where the coordinate C6 of the object marker Mp is shifted from the relative position Y in the coordinate system of the image captured in the object position recognition step S12 is specified as the coordinate C7 where the processing unit marker Mha should be located. The coordinate C7 at which this should be located may exist outside the captured image of the
Further, the movement amount Z by which the front side inspection head Ha and the
Then, the front side inspection head Ha and the
< advantage >
The inspection apparatus of fig. 2 is held by the first
In the inspection apparatus of fig. 2, either the
The inspection apparatus of fig. 2 is provided with two moving mechanisms, a front side moving mechanism 1a and a rear
In the inspection apparatus of fig. 2, the
Further, since the
[ second embodiment ]
Fig. 11 shows a
The
The
The
The
[ other embodiments ]
The embodiment is not limited to the structure of the present invention. Therefore, the present embodiment can omit, replace or add the main components of the structure of each part of the embodiment based on the description of the present specification and the common technical knowledge, and it should be understood that all of them belong to the scope of the present invention.
In this positioning device, the relative position between the processing unit and the first camera may be made constant from the start of the initial setting control to the end of all the positioning controls, more specifically, during the period from the time when the reference marker is imaged in the reference marker imaging step of the initial setting control to the time when the target marker is imaged in the target position recognition step of the last positioning step. That is, the positioning device may be configured such that the processing unit moves in conjunction with the first camera during a control period necessary for positioning. Therefore, the second camera is not limited to being held by the second movable body as in the inspection apparatus shown in fig. 2, and may be held by the elevating mechanism and the rotating mechanism, or may be directly attached to the processing unit.
In this positioning device, the front side moving mechanism may hold a reference mark, i.e., a mark moving device. The reference mark may be held by a second movable body of the front-side movement mechanism or the rear-side movement mechanism.
In this positioning device, the elevating mechanism attached to the second movable body may elevate the processing unit together with the rotating mechanism.
The moving mechanism of the positioning device is not limited to the orthogonal coordinate type moving mechanism, and may be any moving mechanism such as a multi-joint robot or a triangular (parallel) robot, or may be a combination of a plurality of moving mechanisms.
Industrial applicability
The positioning device of the present invention can be suitably used particularly in an inspection device for inspecting electrical characteristics of a printed circuit board having circuit patterns formed on both surfaces thereof.
Description of the reference numerals
1a, 1b moving mechanism;
2a, 2b camera;
3a holding mechanism;
4, 4a identifies the mobile device;
5, a controller;
6a, 6b head body;
7a, 7b probe units;
8a, 8b probes;
9a, 9b guide plates;
10a, 10b a first mobile body;
11a, 11b a second mobile body;
12a, 12b rotation mechanism;
13a, 13b lifting mechanism;
14a, 14b guide rails;
15, 15a identifies the component;
16 plate-shaped portions;
17 a linear motion guide;
18 driving cylinder;
19 a first driving section;
20 a second driving part;
a Ha front side inspection head (first processing unit);
a Hb rear side inspection head;
mc benchmark identification;
identifying an Mp object;
mha, Mhb treatment segment identification;
p print the base plate.
- 上一篇:一种医用注射器针头装配设备
- 下一篇:接地故障检测