Teaching method in marking device and teaching jig

Abstract

Provided is a teaching method and a teaching jig for a marking device that appropriately marks a defect position of a flat workpiece. In the marking device, after a defect position found from an image when a flat workpiece (W) is photographed by a camera is determined as a position on the image on a first coordinate, a marking head (50) is driven by a driving mechanism, and a defect portion of the workpiece (W) is marked. In a process of teaching a second coordinate corresponding to the first coordinate to the driving mechanism, a first positioning portion (510) composed of one of a convex portion and a concave portion is provided on the marking head (50), and on the other hand, a plurality of second positioning portions (380) composed of the other of the convex portion and the concave portion are provided on the teaching jig (300), the teaching jig (300) is moved relative to the marking head (50), and the second coordinate is taught based on a position at which the second positioning portions (380) and the first positioning portion (510) are engaged.

Description

TECHNICAL FIELD

[0001] The present application relates to a teaching method in a marking device and a teaching jig. BACKGROUND

[0002] For a flat workpiece such as a printed wiring board, for a workpiece determined as a defective product in an inspection process, sometimes a mark is made at a defective position, and analysis of the cause of the defect is performed. Manual marking of such a mark is very inefficient. Therefore, a technique is proposed in which, in a marking device, for a workpiece determined as a defective product in an inspection process, a marker such as a marker pen automatically makes a mark at a defective position (see Patent Document 1).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT DOCUMENTS

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2000-15170 SUMMARY

[0006] In the technique described in Patent Document 1, after the defect position of a workpiece is determined as a position on a first coordinate in an inspection process, a mark is made on the defect position on the first coordinate in a marking device. Therefore, in order to properly perform this operation, a teaching operation of setting a second coordinate corresponding to the first coordinate in the marking device is required. However, in Patent Document 1, a teaching process is not at all suggested.

[0007] In view of the above problems, an object of the present application is to provide a teaching method in a marking device for properly making a mark on a defect position of a flat workpiece and a teaching jig.

[0008] To solve the above problems, the present application provides a teaching method for a marking device, the marking device having: an inspection unit that determines a defect position found in an image when a flat workpiece placed on a workpiece placement surface for inspection is photographed by a camera as a position on a first coordinate on the image; and a marking unit that has a driving mechanism that relatively moves a marking head with respect to a workpiece carried from the inspection unit to a workpiece placement surface for marking, and that performs marking on a defective portion of a workpiece determined as a defective product by the inspection unit, characterized in that, in a second coordinate teaching process in which a second coordinate on a workpiece placed on the workpiece placement surface is taught to the driving mechanism as a coordinate corresponding to the first coordinate, a first positioning portion composed of one of a convex portion and a concave portion is provided on the marking head, and, on the other hand, a teaching jig in which a plurality of second positioning portions composed of the other of the convex portion and the concave portion are arranged in two directions intersecting each other is placed on the workpiece placement surface for marking, and, in this state, the teaching jig is relatively moved with respect to the marking head, and the second coordinate is taught based on a position at which the second positioning portions are fitted into the first positioning portion.

[0009] In the present application, since the second coordinate is taught based on a position at which the first positioning portion provided on the marking head and the second positioning portion provided on the teaching jig are fitted into each other, the second coordinate can be appropriately set. Therefore, marking can be appropriately performed on a defective position of a flat workpiece.

[0010] In the present application, the following method can be employed: the first positioning portion is composed of a concave portion, a hole is provided on the teaching jig, and a pin for composing the second positioning portion is fixed in the hole when the second coordinate teaching process is performed.

[0011] In the present application, the following method can be employed: the marking head includes a pen holder that holds the marking pen, the pen holder includes: a disc-shaped inner member that holds the marking pen at an eccentric position offset from the center in the radial direction; and an outer member that supports the inner member via a radial bearing so as to be rotatable about a rotation center axis that passes through the center of the inner member and extends in the up-down direction, the marking unit has a rotation driving mechanism that rotates the inner member about the rotation center axis, and the first positioning portion is provided on the rotation center axis.

[0012] In the present application, the following method can be employed: when the second coordinate teaching process is performed, at least the marking pen is detached from the marking head, and, on the other hand, a member provided with the first positioning portion composed of a concave portion is attached to the marking head.

[0013] In the present application, the following method can be employed: in the first coordinate teaching process of teaching the inspection section the first coordinates, the first coordinates are taught based on the position of the hole when the teaching jig with the pin removed is captured by the camera, with the teaching jig placed on the workpiece placement surface of the inspection section.

[0014] In the present application, the following method can be employed: the hole is a stepped hole that switches the inner diameter at the position halfway along the depth direction to form an annular surface at the position halfway along the depth direction, and the first coordinates are taught based on the position of the annular surface of the hole when the teaching jig is captured by the camera.

[0015] In the present application, the following method can be employed: the camera is a line scan camera, and in the teaching jig, a plurality of holes are included in the region overlapping the range of the 1 line of the line scan camera, in both the main scan direction in which the range extends and the sub scan direction intersecting the main scan direction.

[0016] In the present application, the following method can be employed: the height position of the annular surface of the teaching jig is the same as the height position of the upper surface of the workpiece when the workpiece is placed on the workpiece placement surface of the inspection section.

[0017] Another aspect of the present application is a teaching jig for a marking device that has an inspection section that determines the position of a defect found in an image captured by a camera from a flat workpiece placed on a workpiece placement surface of an inspection section as a position on a first coordinate on the image, and a marking unit that has a drive mechanism that relatively moves a marking head with respect to a workpiece carried from the inspection section to a workpiece placement surface of a marking section, and that performs marking on a defective portion of a workpiece determined as a defective product by the inspection section, and that teaches a second coordinate on the workpiece placed on the workpiece placement surface to the drive mechanism as a coordinate corresponding to the first coordinate, characterized in that a plurality of second positioning portions for fitting a first positioning portion are arranged in two directions intersecting each other, the first positioning portion is constituted by one of a convex portion and a concave portion provided on the marking head, and the second positioning portion is constituted by the other of the convex portion and the concave portion.

[0018] In the present application, since the second coordinate is taught based on the position in which the first positioning portion provided on the marking head and the second positioning portion provided on the teaching jig fit, the second coordinate can be appropriately set. Therefore, marking can be appropriately performed on the position of the defect of the flat workpiece.

[0019] (EFFECTS OF THE INVENTION)

[0020] In the present application, since the second coordinate is taught based on the position in which the first positioning portion provided on the marker head and the second positioning portion provided on the teaching jig are fitted, the second coordinate can be properly set. Therefore, the marker can be properly performed at the defect position of the flat workpiece. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is an explanatory view of the marker added by the marker device to which the present application is applied.

[0022] Figure 2 is a side view of the marker device of the embodiment of the present application.

[0023] Figure 3 is a side view showing Figure 2 the upper and lower drive mechanism of the marker unit shown in

[0024] Figure 4 is a front view showing Figure 2 the rotation drive mechanism of the marker unit shown in

[0025] Figure 5 is an explanatory view of Figure 2 the marker head shown in

[0026] Figure 6 is a plan view of Figure 2 the workpiece holder used in the marker device shown in

[0027] Figure 7 is a plan view of Figure 2 the teaching jig used in the teaching process of the marker device shown in

[0028] Figure 8 is a sectional view of Figure 7 the hole of the teaching jig shown in

[0029] Figure 9 is an explanatory view showing the appearance when Figure 7 the teaching jig shown in is used in the second coordinate teaching process.

[0030] Figure 10 is an explanatory view of the second coordinate teaching process using Figure 7 the teaching jig shown in DETAILED DESCRIPTION

[0031] An embodiment of the present application will be described with reference to the drawings. In the following description, three directions orthogonal to each other are described as an X-axis direction, a Y-axis direction, and a Z-axis direction. The X-axis direction is a front-rear direction, the Y-axis direction is a width direction, and the Z-axis direction is an up-down direction.

[0032] (Overall Structure)

[0033] Figure 1 is a diagram illustrating a mark M attached by the marking device 1 to which the present application is applied. Figure 2 is a side view of the marking device 1 according to the embodiment of the present application.

[0034] In Figure 1 , in a flat workpiece W such as a display panel or a printed wiring board, in the case where a workpiece that is determined to be a defective product in an inspection process, a mark is sometimes formed at a defective-portion- generating site of the defective product, and the cause of the defective product is analyzed or the like. The mark M is formed in a manner of surrounding the defective-portion-generating site. In the present embodiment, the mark M is in a circular arc shape or a circular shape. In the present embodiment, the mark M is in a circular arc shape in which a part M0 of the circumference is missing. In the present embodiment, the workpiece W is a display panel.

[0035] As Figure 2 shown, the marking device 1 has, at a position above the stage 3, an inspection section 100 that determines a defective position found from an image when the workpiece W placed on the inspection workpiece placement surface 110 is photographed by the camera 150, and a marking unit 10 that performs marking on a defective site of the workpiece W determined to be a defective product by the inspection section 100.

[0036] The camera 150 is a line scan camera 151 in which the main scanning direction is oriented in the Y-axis direction orthogonal to the X-axis direction that is the conveyance direction of the workpiece W, and the workpiece W is conveyed in the X-axis direction that is the sub scanning direction by the panel conveyance mechanism 13 shown by the arrow X1. Therefore, the camera 150 can photograph the entire surface of the display region of the workpiece W when performing the lighting inspection of the workpiece W. The panel conveyance mechanism 13 is constituted by a linear actuator such as a feed screw mechanism.

[0037] The inspection workpiece placement surface 110 is constituted by a plurality of rollers that support the workpiece W from below. The marking workpiece placement surface 2 is also constituted by a plurality of rollers that support the workpiece W from below, like the inspection workpiece placement surface 110. Therefore, the workpiece W is conveyed from the inspection workpiece placement surface 110 to the marking workpiece placement surface 2 by the panel conveyance mechanism 13. However, the panel conveyance mechanism 13 is in a stopped state when the workpiece W is marked by the marking head 50.

[0038] The marking unit 10 has a drive mechanism that relatively moves the marking head 50 with respect to the workpiece W conveyed to the marking workpiece placement surface 2 from the inspection section 100. The drive mechanism is constituted by, for example, an X-axis drive mechanism 11 that drives the marking unit 10 in the X-axis direction and a Y-axis drive mechanism 12 that drives the marking unit 10 in the Y-axis direction, as shown by the arrows X0 and Y0 in Figure 2

[0039] ​In this embodiment, although the marking workpiece placement surface 2 and the inspection workpiece placement surface 110 are continuous, sometimes the workpiece W is inspected, for example, while it is placed on the inspection workpiece placement surface 110, which is separate from the marking workpiece placement surface 2. Only the workpiece W that has a defect is transported to the marking workpiece placement surface 2 by a robot or the like.

[0040] In addition to being transported individually, workpiece W may also be transported while held in a workpiece holder. In this embodiment, workpiece W is held in a reference... Figure 6 The workpiece is transported in the state described later, in the condition of the workpiece holder 200, but... Figure 1 The illustration of the workpiece holder 200 is omitted.

[0041] (Structure of marker unit 10)

[0042] Figure 3 It is shown Figure 2 Side view of the up-down drive mechanism 30 of the marking unit 10 shown. Figure 4 It is shown Figure 2 The front view of the rotary drive mechanism 70 of the marking unit 10 shown. Figure 5 It is Figure 2 The illustrated diagram shown is an enlarged view of the marker head 50.

[0043] like Figure 3 and Figure 4 As shown, the marking unit 10 includes: a base 20 supporting the components described below; a vertical drive mechanism 30 fixed to a vertical plate 201 of the base 20; a movable block 40 driven in the vertical direction relative to the base 20 by the vertical drive mechanism 30; and a marking head 50 movably supported on the movable block 40 in the vertical direction. The base 20 includes a vertical plate 201 and horizontal plates 202, 203, etc., which are horizontally bent at the ends of the vertical plate 201. The vertical drive mechanism 30 is a fluid pressure cylinder device 31 with the movable block 40 connected below, fixed to the vertical plate 201 of the base 20. The marking head 50 includes a marking pen 5 with a downward-facing pen tip 5a made of felt, synthetic fiber, or synthetic resin, and the marking pen 5 is a type of pen that can be appropriately replenished with oil-based ink.

[0044] The marking head 50 includes a pen holder 51 for holding the marking pen 5. The pen holder 51 includes: a disc-shaped inner part 52 that holds the marking pen 5 in an off-center position radially offset from the center; and an outer part 54 that supports the inner part 52 via a cylindrical radial bearing 53 so that it can rotate about a rotational axis L that passes through the center of the inner part 52 and extends in the vertical direction.

[0045] like Figure 5As shown, the inner member 52 is provided with a first member 521 constituted by a cylindrical collar that holds the pen holder 51 on the inside, a second member 522 to which the first member 521 is fixed on the inside by a bolt 592, and a stopper 523 fixed to the lower end of the first member 521 by a bolt 593, the stopper 523 engaging with the front end side of the marker pen 5. Thus, although the marker pen 5 can be inserted from above into the inside of the first member 521, the marker pen 5 is prevented from falling downward from the first member 521 by the stopper 523. In addition, a support plate 590 that supports the radial bearing 53 is fixed to the second member 522 by a bolt 591.

[0046] Referring again to Figure 3 and Figure 4 In the marker head 50, the vertical shaft 56 extends upward from the outer member 54, and the movable block 40 is fixed with a cylindrical member 41 that supports the vertical shaft 56 of the pen holder 51 so as to be movable in the up-down direction. Thus, the marker head 50 is supported by the vertical shaft 56 so as to be movable in the up-down direction on the movable block 40.

[0047] In the pen holder 51, the outer member 54 is non-rotatable by the vertical shaft 56 and the cylindrical member 41.

[0048] The stopper 57 that abuts against the cylindrical member 41 from above abuts against the upper end of the vertical shaft 56. Thus, when the fluid pressure cylinder device 31 lowers the movable block 40, the marker head 50 including the pen holder 51 is lowered due to the weight while being guided by the cylindrical member 41 of the vertical shaft 56. In addition, when the fluid pressure cylinder device 31 raises the movable block 40, the marker head 50 is raised. In the present embodiment, two sets of the vertical shaft 56, the cylindrical member 41, and the stopper 57 are provided around the marker pen 5 between the outer member 54 and the movable block 40.

[0049] A damper 26 is provided between the base 20 and the movable block 40. The damper 26 attenuates the lowering speed at the lowering end when the movable block 40 is lowered. A vertical plate 42 is connected to the movable block 40 in a manner adjacent to the fluid pressure cylinder device 31, and a damper 27 is provided between the vertical plate 42 and the base 20. The damper 27 attenuates the raising speed at the raising end when the movable block 40 is raised, and functions as a stopper that defines the raising position of the movable block 40.

[0050] The marking unit 10 has a rotary drive mechanism 70 mounted on a horizontal plate 202 of the base 20. The rotary drive mechanism 70 rotates the inner component 52 of the pen holder 51 about the rotation center axis L. More specifically, a vertical shaft 55 extends upward from the inner component 52. On the other hand, the rotary drive mechanism 70 includes a rotary actuator 71, a horizontal plate 73 connected to the output shaft 72 of the rotary actuator 71, and a vertical plate 74 extending downward from the end of the horizontal plate 73. Two rollers 75 are mounted on the sides of the vertical plate 74, abutting against the vertical shaft 55 from both sides. Therefore, when the output shaft 72 of the rotary actuator 71 rotates and the horizontal plate 73 and the vertical plate 74 rotate about the rotation center axis L, the inner component 52 rotates together with the vertical shaft 55. In addition, a pressing member 58 is fixed on the vertical shaft 55, abutting against the upper end of the marking pen 5.

[0051] In the marking unit 10 configured in this way, the outer part 54 of the pen holder 51 is fixed, while the inner part 52 is connected to the rotation drive mechanism 70. Furthermore, the central axis L0 of the marking pen 5 is separated from the rotation center axis L. Additionally, the rotation drive mechanism 70 rotates the inner part 52 within an angle range of less than 360°. Therefore, as... Figure 1 As shown, the tip 5a of the marking pen 5 is able to attach a portion of the arc-shaped mark M missing in the circumferential direction M0 to the workpiece W.

[0052] (Structure of the pen pressure adjustment mechanism 90)

[0053] exist Figure 3 In the marking unit 10, the weight G of the marking head 50 causes the tip 5a of the marking pen 5 to come into contact with the workpiece W for marking. In this embodiment, a coil spring 94 is disposed between the movable block 40 and the marking head 50, and the coil spring 94 applies an upward force S to the marking head 50 against its own weight G. Therefore, the force exerted by the pen tip 5a against the workpiece W when marking the workpiece W, i.e., the pen pressure, is obtained by subtracting the force S of the coil spring 94 from the weight G of the marking head 50.

[0054] The marking unit 10 is provided with a pen pressure adjustment mechanism 90, which uses a helical spring 94 to adjust the pen pressure when the marking pen 5 marks the workpiece W.

[0055] The pen pressure adjustment mechanism 90 adjusts the force S by adjusting the length of the spiral spring 94, thereby adjusting the pen pressure.

[0056] In the present embodiment, the coil spring 94 is a compression coil spring 95 arranged in a state of being compressed in the up-and-down direction between the movable block 40 and the marker head 50. The pen pressure adjustment mechanism 90 is provided with the compression coil spring 95, a first spring support member 91 fixed to the marker head 50, and a second spring support member 92 fixed to the movable block 40 by a fixing member 93, and the compression coil spring 95 is arranged between the first spring support member 91 and the second spring support member 92 in a state of being compressed in the up-and-down direction. Thus, the length of the compression coil spring 95 in the up-and-down direction is adjusted by the up-and-down position of the second spring support member 92 when fixed to the movable block 40 by the fixing member 93.

[0057] More specifically, the first spring support member 91 is provided with a shaft portion 911 around which the compression coil spring 95 is arranged, and a support portion 912 which protrudes on the upper end side of the shaft portion 911 and abuts against the upper end of the compression coil spring 95. The second spring support member 92 is provided with a first plate portion 921 fixed to the movable block 40 at an intermediate position in the up-and-down direction by the fixing member 93, and a second plate portion 922 bent from the lower end portion of the first plate portion 921 to abut against the lower end of the compression coil spring 95, and the compression coil spring 95 is arranged in a compressed state between the support portion 912 of the first spring support member 91 and the second plate portion 922 of the second spring support member 92. The fixing member 93 is a bolt. A long hole 923 extending in the up-and-down direction is provided at the second plate portion 922, and a screw hole for fixing the fixing member 93 is formed in the side surface of the movable block 40. Thus, the up-and-down position when the second spring support member 92 is fixed to the movable block 40 by the fixing member 93 can be adjusted in the up-and-down direction of the long hole 923. In the pen pressure adjustment mechanism 90, the height h of the upper end portion of the second spring support member 92 from the upper surface of the movable block 40 is adjusted.

[0058] In the pen pressure adjustment mechanism 90 of the present embodiment, two sets of the compression coil spring 95, the first spring support member 91, the second spring support member 92, and the fixing member 93 are provided.

[0059] (Configuration of the monitoring device 60)

[0060] In the marking unit 10, a monitoring device 60 for monitoring the mark M marked on the work W by the marker pen 5 is held on the base 20. The monitoring device 60 monitors the blur degree or the like of the mark M, and detects the timing of replenishing ink to the marker pen 5.

[0061] In the present embodiment, the monitoring device 60 is held at the lower end portion of the support shaft 65 fixed to the horizontal plate 202 of the base 20, and is located laterally to the marker head 50. The monitoring device 60 is a photographing device which photographs the mark M, and is inclined at an angle of about 5° in a manner that the surface of the work W can be appropriately monitored.

[0062] (Configuration of cap 80)

[0063] In Figure 4 , the marker device 1 has a cap 80 that covers the nib 5a from below during standby of the marker head 50 above. The cap 80 is fixed to the pillar 4 that extends upward from the table 3 as shown by connecting members 86, 87, 88, 89. In addition, between the connecting member 86 and the horizontal plate 203 of the base 20, a Y-axis drive mechanism 12 that drives the marker unit 10 in the Y-axis direction is provided. Figure 4 Figure 2 The cap 80 has a seal member 82 that abuts against the outer circumferential surface of the marker pen 5 at the opening edge of the recess 81 that accommodates the nib 5a. The seal member 82 is composed of rubber or the like. The seal member 82 is sometimes also configured to abut against the pen holder 51 around the nib 5a. Here, the cap 80 is positioned below the marker head 50, but in the marker device 1, an up-down drive mechanism 30 that drives the marker head 50 in the up-down direction and the Y-axis drive mechanism 12 that drives the marker unit 10 in the Y-axis direction are provided. Therefore, for the marker head 50, when marking is performed on the workpiece W, the marker head 50 can be moved in the up-down direction while avoiding the cap 80, and in the standby position, the marker head 50 is moved in the up-down direction while overlapping the cap 80 in the up-down direction, whereby mounting to the cap 80 and dismounting from the cap 80 are performed.

[0064] The cap 80 has a seal member 82 that abuts against the outer circumferential surface of the marker pen 5 at the opening edge of the recess 81 that accommodates the nib 5a. The seal member 82 is composed of rubber or the like. The seal member 82 is sometimes also configured to abut against the pen holder 51 around the nib 5a. Here, the cap 80 is positioned below the marker head 50, but in the marker device 1, an up-down drive mechanism 30 that drives the marker head 50 in the up-down direction and the Y-axis drive mechanism 12 that drives the marker unit 10 in the Y-axis direction are provided. Therefore, for the marker head 50, when marking is performed on the workpiece W, the marker head 50 can be moved in the up-down direction while avoiding the cap 80, and in the standby position, the marker head 50 is moved in the up-down direction while overlapping the cap 80 in the up-down direction, whereby mounting to the cap 80 and dismounting from the cap 80 are performed.

[0065] (Action)

[0066] In the marker device 1 of the present embodiment, the up-down drive mechanism 30 switches the height position of the marker head 50 in three stages of the uppermost end, the lowermost end, and the middle. Figure 4 The case where the marker head 50 is positioned at the uppermost end is shown, and the nib 5a is not mounted on the cap 80.

[0067] When the up-down drive mechanism 30 lowers the movable block 40 from the above state, the marker head 50 is lowered. As a result, the nib 5a is embedded inside the recess 81 of the cap 80, and becomes a standby state in which the seal member 82 abuts against the outer circumferential surface of the marker pen 5. Therefore, in the standby state, evaporation of ink or solidification of ink from the nib 5a is less likely to occur.

[0068] In this state, when the up-down drive mechanism 30 raises the movable block 40, the marker head 50 is raised to the uppermost end, and becomes Figure 4 ​The marker head 50 is moved to a position not overlapping the cap 80 in the up-and-down direction. Next, when the up-and-down drive mechanism 30 lowers the movable block 40, the marker head 50 is lowered to the lowermost end, and the pen nib 5a comes into abutment with the workpiece W. At this time, the pen nib 5a comes into abutment with the workpiece W at the optimum pen pressure set by the pen pressure adjustment mechanism 90. Therefore, when the rotary drive mechanism 70 rotates the inner member 52 of the pen holder 51 about the rotation center axis L, a mark M is added to the workpiece W.

[0069] After the mark is thus added, the up-and-down drive mechanism 30 raises the marker head 50 to the uppermost end, and then the Y-axis drive mechanism 12 moves the marker head 50 to a position directly above the cap 80. Then, the up-and-down drive mechanism 30 lowers the marker head 50 to the intermediate position. As a result, the marker head 50 again becomes the standby state.

[0070] (Structure of workpiece holder 200)

[0071] Figure 6 is a plan view of the workpiece holder 200 used in the marking device 1 shown in Figure 2 is a plan view of the workpiece holder 200 used in the marking device 1 shown in Figure 2 is a plan view of the workpiece holder 200 used in the marking device 1 shown in Figure 6 The workpiece holder 200 shown in FIG. 8 is a quadrangular frame member, and has plate portions 210, 220 opposed in the X-axis direction and plate portions 230, 240 opposed in the Y-axis direction. A connecting portion 250 to the panel carrying mechanism 13 is provided at the plate portion 220. The end portion of the plate portion 230 on the plate portion 240 side and the end portion of the plate portion 240 on the plate portion 230 side are support surfaces 231, 241 that support the workpiece W from below, and a plurality of suction ports 233, 243 of a vacuum suction mechanism that holds the workpiece W are provided in the support surfaces 231, 241.

[0072] Further, a positioning roller 214 that comes into abutment with the end portion of the workpiece W is provided at the plate portion 210. Further, a clamping mechanism 232, 242 that presses the end portion of the workpiece W from above is provided at the plate portions 230, 240.

[0073] A positioning roller 234 that comes into abutment with the end portion of the workpiece W and a tilt adjustment portion 235 that adjusts the position of the positioning roller 234 in the Y-axis direction are provided at the plate portion 230. Therefore, the tilt of the workpiece W on the workpiece holder 200 can be adjusted.

[0074] (First coordinate teaching process)

[0075] Figure 7 is a plan view of the teaching jig 300 used in the teaching process of the marking device 1 shown in Figure 2 is a plan view of the teaching jig 300 used in the teaching process of the marking device 1 shown in Figure 8 is a plan view of the teaching jig 300 used in the teaching process of the marking device 1 shown in Figure 7A cross-sectional view of hole 315a of the teaching fixture 300 shown.

[0076] exist Figure 2 In the inspection unit 100 of the marking device 1 shown, the location of a defect found in an image taken by the camera 150 when inspecting a workpiece W placed on the workpiece mounting surface 110 is determined as its position on a first coordinate on the image. Therefore, in the inspection unit 100, a first coordinate teaching process is performed to teach the first coordinate before the actual inspection process. Specifically, when the first coordinate is taught to the inspection unit 100... Figure 8 With the teaching fixture 300 fixed to the workpiece holder 200, the workpiece W is placed on the inspection workpiece placement surface 110. Here, the teaching fixture 300 is a metal plate of the same size as the workpiece W, and it has opposing edges 301 and 302 in the X-axis direction and opposing edges 303 and 304 in the Y-axis direction. A recess 330 for alignment, etc., is provided at the end of the teaching fixture 300. In this embodiment, the teaching fixture 300 is an aluminum plate thicker than the workpiece W.

[0077] In the teaching fixture 300, a hole 316a is formed at the first corner 306 formed by sides 301 and 303, a hole 317a is formed at the second corner 307 formed by sides 302 and 303, a hole 318a is formed at the third corner 308 formed by sides 302 and 304, and a hole 319a is formed at the fourth corner 309 formed by sides 301 and 304. Additionally, a hole 315a is formed between holes 316a and 319a.

[0078] Here, holes 316a and 317a are positioned identically in the Y-axis direction, as are holes 318a and 319a. Furthermore, holes 317a and 318a are positioned identically in the X-axis direction, as are holes 315a, 316a, and 319a. Therefore, in the teaching fixture 300, multiple holes are arranged in two intersecting directions, namely the X-axis and Y-axis directions. Thus, if the entire surface of the teaching fixture 300 is photographed using the camera 150, the first coordinates on the image can be set using holes 315a, 316a, 317a, 318a, and 319a as reference points. Here, if at least three holes 316a, 317a, and 318a are used as reference points, the first coordinates on the image can be set. Therefore, during the inspection process, if a defect is found when the entire surface of the workpiece W is photographed by camera 150, the location of the defect on the first coordinate can be determined.

[0079] In this embodiment, such as Figure 8As shown, the holes 315a, 316a, 317a, 318a, 319a are all step holes that switch the inner diameter at the middle position in the depth direction in a manner that the annular face 310 is formed at the middle position in the depth direction. More specifically, the holes 315a, 316a, 317a, 318a, 319a all have a first hole 311 that is open at the lower surface of the teaching jig 300 and a second hole 312 that is open at the upper surface of the teaching jig 300 with a larger diameter than the first hole 311, and the first hole 311 and the second hole 312 are communicated. Thus, the first coordinate can be set with the center derived from the image of the annular face 310 when the teaching jig 300 is photographed with the camera 150 as the reference point. Thus, when photographed with the camera 150, the holes 315a, 316a, 317a, 318a, 319a can be reliably detected. In addition, the height position of the annular face 310 of the teaching jig 300 is the same as the height position of the upper surface of the workpiece W when the workpiece W is placed on the workpiece placement face 110 for inspection. Thus, the teaching process can be performed under the same conditions as when the workpiece W is actually photographed.

[0080] In the present embodiment, as shown in Figure 7 In addition, as shown in Figure 7 In the first coordinate teaching process, as shown in Figure 6 In the first coordinate teaching process, as shown in

[0081] (Second coordinate teaching process)

[0082] Figure 9 is an explanatory diagram showing the case when the teaching jig 300 shown in Figure 7 is used in the second coordinate teaching process. Figure 10 is an explanatory diagram showing the case when the teaching jig 300 shown in Figure 7An explanatory view of a second coordinate teaching process of the teaching jig 300.

[0083] In the second coordinate teaching process in which the second coordinate placed on the workpiece W placed on the workpiece placement surface 2 is taught to the X-axis drive mechanism 11 and the Y-axis drive mechanism 12 in correspondence with the first coordinate, the first positioning portion 510 composed of one of the convex portion and the concave portion is provided on the marker head 50, and a plurality of second positioning portions 380 composed of the other of the convex portion and the concave portion are provided on the teaching jig 300, and the second coordinate is taught with the position in which the second positioning portion 380 is fitted into the first positioning portion 510 as a reference. Therefore, a plurality of the teaching jigs 300 are arranged in the X-axis direction and the Y-axis direction which intersect each other.

[0084] In the present embodiment, as shown in Figure 9 and Figure 10 In the second coordinate teaching process, the first positioning portion 510 is composed of the concave portion, and the pin 385 for composing the second positioning portion 380 composed of the convex portion is fixed in the holes 315a, 316a, 317a, 318a, 319a of the teaching jig 300 via the cylindrical member 386.

[0085] Further, in the marker head 50, in the second coordinate teaching process, at least the marker pen 5 is detached from the marker head 50, and on the other hand, the member 515 provided with the first positioning portion 510 composed of the concave portion is attached to the marker head 50. More specifically, the first member 521 and the stopper 523 shown in Figure 5 are detached, and on the other hand, the member 515 is fixed to the second member 522 by the bolt 592. In this state, the first positioning portion 510 is located on the rotation center axis L.

[0086] In the present embodiment, in the holes 315a, 316a, 317a, 318a, 319a of the teaching jig 300, the pin 385 is fixed with respect to at least the holes 316a, 317a, 319a to compose the second positioning portion 380, and the second coordinate is taught with the position in which the second positioning portion 380 is fitted into the first positioning portion 510 as a reference by manually moving the marker head 50.

[0087] Thus, in the present embodiment, since the second coordinates are taught based on the position where the first positioning portion 510 provided on the marker head 50 and the second positioning portion 380 provided on the teaching jig 300 are fitted, the second coordinates can be properly set. Thus, the defect position of the flat workpiece W can be properly marked. Further, since the common teaching jig 300 is used in the first coordinate teaching process and the second coordinate teaching process, the first coordinates and the second coordinates properly correspond. Thus, if the control portion (not shown) of the marking device 1 converts the first coordinates into the second coordinates to control the X-axis drive mechanism 11 and the Y-axis drive mechanism 12, the marking can be properly performed on the defect position found by the inspection portion 100.

[0088] [Other Embodiments]

[0089] In the above embodiment, the first positioning portion 510 is provided as a recess portion and the second positioning portion 380 is provided as a protrusion portion, but the first positioning portion 510 can be provided as a protrusion portion and the second positioning portion 380 can be provided as a recess portion.

[0090] In the above embodiment, the marker M is a circular arc shape in which a part M0 of the circumference is missing, but the present application can also be applied to a structure in which a circular marker M is additionally provided. Further, in the above embodiment, the structure in which the marker pen 5 is rotated when the marker M is added, but in a marking device of a type in which the pen tip 5a is brought into abutment with the workpiece W without rotating the marker pen 5, the present application can also be applied when the pen pressure is adjusted.

[0091] Reference Signs

[0092] 1 … marker device; 2 … marker workpiece placement surface; 5 … marker pen; 5a … pen tip; 10 … marker unit; 11 … X-axis drive mechanism; 12 … Y-axis drive mechanism; 13 … faceplate handling mechanism; 20 … base; 30 … up-down drive mechanism; 31 … fluid pressure cylinder device; 40 … movable block; 41 … cylindrical member; 50 … marker head; 51 … pen holder; 52 … inner member; 53 … radial bearing; 54 … outer member; 60 … monitoring device; 70 … rotary drive mechanism; 71 … rotary actuator; 80 … cap; 90 … pen pressure adjustment mechanism; 94 … coil spring; 95 … compression coil spring; 100 … inspection section; 110 … inspection workpiece placement surface; 150 … camera; 151 … line scan camera; 200 … workpiece holder; 300 … teaching jig; 306 … first corner; 307 … second corner; 308 … third corner; 309 … fourth corner; 315a, 315b, 316a, 316b, 317a, 318a, 319a, 319b … hole; 310 … annular surface; 380 … second positioning portion; 385 … pin; 510 … first positioning portion; 515 … member; 521 … first member; 522 … second member; G … weight; L … rotational center axis; L0 … central axis; M … mark; S … force; W … workpiece.

Claims

1. A teaching method of a marking device having an inspection section that is taught first coordinates by a first coordinate teaching process and determines a defective position found from an image when a flat workpiece placed on a workpiece placement surface for inspection is photographed with a camera as a position on the first coordinates on the image, and a marking unit that has a driving mechanism that relatively moves a marking head with respect to a workpiece carried from the inspection section onto a workpiece placement surface for marking, and that implements marking on a defective portion of a workpiece determined as a defective product by the inspection section, characterized in that, in a second coordinate teaching process in which second coordinates on a workpiece placed on the workpiece placement surface are taught to the driving mechanism as coordinates corresponding to the first coordinates, the first coordinate teaching process and the second coordinate teaching process use the same position on a teaching jig as a reference.

2. The teaching method of a marking device according to claim 1, characterized in that the first positioning portion is composed of a recess, a hole is provided on the teaching jig, and a pin for composing the second positioning portion is fixed in the hole when the second coordinate teaching process is performed.

3. The teaching method of a marking device according to claim 2, characterized in that the marking head includes a pen holder that holds a marking pen, the pen holder includes an inner member that holds the marking pen at an eccentric position offset from the center in the radial direction, and an outer member that supports the inner member so as to be rotatable about a rotation center axis that passes through the center of the inner member and extends in the up-down direction via a radial bearing, the marking unit has a rotation driving mechanism that rotates the inner member about the rotation center axis, and the first positioning portion is provided on the rotation center axis.

4. The teaching method of a marking device according to claim 3, characterized in that, when the second coordinate teaching process is performed, at least the marking pen is detached from the marking head, and a member provided with the first positioning portion composed of a recess is attached to the marking head.

5. The teaching method of a marking device according to any one of claims 2 to 4, characterized in that, in the first coordinate teaching process, the first coordinates are taught based on the positions of the holes in the teaching jig in a state in which the teaching jig with the pins detached from the holes is placed on the workpiece placement surface for inspection.

6. The teaching method of a marking device according to claim 5, characterized in that ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The hole is a stepped hole in which an inner diameter is switched at a halfway position in a depth direction in a manner that a ring surface is formed at the halfway position in the depth direction, The first coordinate is taught based on a position of the ring surface of the hole at the time of photographing the teaching jig by the camera.

7. The teaching method of a marking device according to claim 5, wherein The camera is a line scan camera, In the teaching jig, a plurality of holes are included in both a main scanning direction in which a photographing range of 1 line of the line scan camera extends and a sub scanning direction intersecting the main scanning direction in a region overlapping the photographing range.

8. The teaching method of a marking device according to claim 6, wherein A height position of the ring surface of the teaching jig is equal to a height position of an upper surface of a work when the work is placed on the work placement surface for inspection.

9. A teaching jig for a marking device, the marking device having an inspection section that teaches a first coordinate through a first coordinate teaching process and determines a position of a defect found from an image taken by a camera when a flat plate-shaped work is placed on a work placement surface for inspection as a position on the first coordinate on the image, and a marking unit that has a driving mechanism that relatively moves a marking head with respect to a work carried from the inspection section to a work placement surface for marking, and performs marking on a defective portion of the work determined as a defective product by the inspection section, the teaching jig being used to teach a second coordinate on the work placed on the work placement surface as a coordinate corresponding to the first coordinate to the driving mechanism in a second coordinate teaching process, characterized in that The first coordinate teaching process and the second coordinate teaching process use the same position on the teaching jig as a reference, A plurality of second positioning portions for a first positioning portion are arranged in two directions intersecting each other, the first positioning portion being constituted by one of a convex portion and a concave portion provided on the marking head, and the second positioning portion being constituted by the other of the convex portion and the concave portion.

10. The teaching jig according to claim 9, wherein The marking head includes a pen holder that holds a marking pen, The pen holder includes an inner side member that holds the marking pen at an eccentric position offset from the center in the radial direction, and an outer side member that supports the inner side member so as to be rotatable about a rotation center axis that passes through the center of the inner side member and extends in the up-down direction via a radial bearing, The marking unit has a rotation driving mechanism that rotates the inner side member about the rotation center axis, The first positioning portion is provided on the rotation center axis.

11. The teaching jig according to claim 10, wherein The first positioning portion is constituted by the concave portion, A hole is provided on the teaching jig, When the second coordinate is taught to the driving mechanism, a pin for constituting the second positioning portion constituted by the convex portion is fixed in the hole.

12. The teaching jig according to claim 11, wherein The hole is a stepped hole in which the inner diameter is switched at a halfway position in the depth direction in a manner that a ring surface is formed at the halfway position in the depth direction, When the first coordinates are taught to the inspection section, the coordinates that determine the defect positions are taught based on the position of the ring surface of the hole when the teaching jig is imaged by the camera.

13. The teaching jig according to claim 12, wherein The camera is a line scan camera, In the teaching jig, a plurality of holes are included in both a main scan direction in which the imaging range extends and a sub scan direction that intersects the main scan direction, in a region that overlaps the amount of one line of the line scan camera.

14. The teaching jig according to claim 12 or 13, wherein The height position of the ring surface of the teaching jig is the same as the height position of the upper surface of the work when the work is placed on the work placement surface of the inspection.

Images