Substrate working device

Patent metadata

Field	Value
Publication number	US-9621858-B2
Application number	US-201214361207-A
Country	US
Kind code	B2
Filing date	Aug 31, 2012
Priority date	Dec 6, 2011
Publication date	Apr 11, 2017
Grant date	Apr 11, 2017

Abstract

A substrate working device includes: a base; a first substrate working table and a second substrate working table movably supported on the base; an indicator provided to one of a base side member, which is formed on the base or a member fixed to the base, and the first and second substrate working tables; an imaging unit provided on the other one, which is different from the one, of the base side member and the first and second substrate working tables in order to image the indicator; and a control unit that, by causing the imaging unit to image the indicator and based on image data thereof, acquires position information related to each of the substrate working tables and that moreover determines whether or not the respective substrate working tables interfere with each other at the time of movement of each substrate working table based on the position information.

First claim

The invention claimed is:

1. A substrate working device that performs predetermined work with respect to a substrate, comprising:
a base;
a first substrate working table and a second substrate working table movably supported on the base to be able to approach each other in a specific direction;
an indicator provided on one of a base side member, which is the base or a member fixed to the base, and the first and second substrate working tables;
an imaging unit provided on the other one, which is different from the one, of the base side member and the first and second substrate working tables in order to image the indicator; and
a control unit that, by causing the imaging unit to image the indicator and based on image data thereof and position data of one of the indicator and the imaging unit, the one which is provided to the base side member, acquires position information related to each of the substrate working tables, and that moreover determines whether or not the respective substrate working tables interfere with each other at a time of movement of each of the substrate working tables based on the position information.

2. The substrate working device according to claim 1 , wherein the position information is a position coordinate of the first substrate working table and the second substrate working table.

3. The substrate working device according to claim 2 , wherein the control unit calculates, based on the position coordinate of the first substrate working table and the second substrate working table and a minimum interval between the two substrate working tables enabled to approach to each other in the specific direction without interference with each other, an interference reference distance that is a sum of moving distances of the respective substrate working tables when the respective substrate working tables are caused to approach up to a position of the minimum interval from a predetermined origin position, and moreover determines whether or not the substrate working tables interfere with each other by comparing a moving target coordinate or current coordinate of the two substrate working tables and the interference reference distance.

4. The substrate working device according to claim 1 , wherein the control unit performs control of repeatedly acquiring the position information by causing the imaging unit to image the indicator at a predetermined timing during the predetermined work.

5. The substrate working device according to claim 1 , wherein
the imaging unit is a substrate recognition camera that is provided in a fixed manner to the base side member and that recognizes the substrate held by the first substrate working table, and the second substrate working table, and
the indicator includes a first indicator provided to the first substrate working table in a position where imaging is possible by the substrate recognition camera and a second indicator provided to the second substrate working table in a position where imaging is possible by the substrate recognition camera.

6. The substrate working device according to claim 5 , wherein
the substrate recognition camera includes a first substrate recognition camera corresponding to the first substrate working table and a second substrate recognition camera corresponding to the second substrate working table, and
the control unit determines whether or not the respective substrate working tables interfere with each other based on the position information related to the respective substrate working tables and an interval between the two substrate recognition cameras in the specific direction by causing the first indicator of the first substrate working table to be imaged by the first substrate recognition camera and causing the second indicator of the second substrate working table to be imaged by the second substrate recognition camera.

7. The substrate working device according to claim 1 , further comprising a printing work unit that prints, via a mask, solder with respect to the substrate held by the first substrate working table and the second substrate working table, wherein
the imaging unit is a first mask recognition camera provided to the first substrate working table, and a second mask recognition camera provided to the second substrate working table for recognition of the mask, and
the indicator is provided to the base side member in a position where imaging is possible by the two mask recognition cameras.

8. The substrate working device according to claim 7 , wherein
the indicator includes a first indicator provided in a position where imaging is possible by the first mask recognition camera and a second indicator provided in a position where imaging is possible by the second mask recognition camera, and
the control unit determines whether or not the respective substrate working tables interfere with each other based on the position information related to the respective substrate working tables obtained by causing the first mask recognition camera to image the first indicator and causing the second mask recognition camera to image the second indicator and an interval between the two indicators in the specific direction.

9. The substrate working device according to claim 1 , wherein the indicator is a mark for position recognition.

Assignees

• Fujimoto Takeshi
• Yamaha Motor Co Ltd

Inventors

• Fujimoto Takeshi

Classifications

• H04N7/183 Primary

  for receiving images from a single remote source · CPC title

• H05K13/0061

  Tools for holding the circuit boards during processing; handling transport of printed circuit boards · CPC title

• H05K13/08 Primary

  Monitoring manufacture of assemblages · CPC title

• H05K13/0465

  by soldering (H05K13/0469 takes precedence) · CPC title

• H05K3/3484

  Electricity · mapped topic