JP4338459B2 - Substrate positioning device in work equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a substrate positioning apparatus in a working apparatus that performs a predetermined operation on a printed board by providing a plurality of board pressing devices at intervals in the conveyance direction of the printed board in a positioning unit. More specifically, for example, the working device includes an adhesive application device for applying an adhesive on a printed circuit board and an electronic component mounting device for mounting an electronic component on the printed circuit board. The printed circuit board in the working device is positioned. The present invention relates to a substrate positioning apparatus.
[0002]
[Prior art]
Conventionally, in a substrate positioning device in a working device that performs a predetermined work on a printed circuit board in a positioning unit, regardless of the size of the printed circuit board, the position is regulated at a fixed position on a plane orthogonal to the transport direction of the printed circuit board. Although the position of the printed circuit board in the conveying direction was regulated by contacting the device, the position of the stopper for positioning the board was determined within a predetermined range in order to position the board in accordance with the shape of the board and the mounting state of the electronic component. There has been proposed a substrate positioning device that can be set at an arbitrary position (see Patent Document).
[0003]
[Patent Literature]
Japanese Patent Laid-Open No. 2002-299892
[Problems to be solved by the invention]
However, even if the position of the stopper for positioning the substrate can be set to an arbitrary position within a predetermined range in this way, in particular, a plurality of levels for making the level in the height direction of the printed circuit board as a substrate pressing device constant Since the Z clamp mechanism does not always come to an appropriate position in the transport direction of the printed circuit board, the level of the printed circuit board cannot be stably made constant.
[0005]
Therefore, an object of the present invention is to provide a substrate positioning device in a working device that can stably perform the action of a plurality of Z clamp mechanisms for making the level in the height direction of a printed circuit board constant.
[0006]
[Means for Solving the Problems]
Accordingly a first aspect of the present invention, the substrate positioning device in the working device for performing predetermined operations on the printed circuit board in the positioning unit, thus sparse to away from densely the center close to the center in the conveying direction of the printed board positioning portion A plurality of substrate pressing devices provided symmetrically with respect to the center and spaced in the transport direction so as to be in contact with a surface orthogonal to the transport direction of the printed circuit board and transporting the printed circuit board A position restricting device for restricting the position in the direction is provided so as to be movable according to the length in the transport direction of the printed circuit board, and according to the length in the transport direction of the printed circuit board with the center in the transport direction of the positioning unit as a reference The position of the position regulating device is determined.
[0007]
The second invention is the substrate positioning device in the working device for performing predetermined operations on the printed circuit board in the positioning unit, thus sparse to away from densely the center close to the center in the conveying direction of the printed board positioning portion bets A plurality of substrate pressing devices provided symmetrically with respect to the center and spaced apart in the transport direction, in contact with a surface orthogonal to the transport direction of the printed circuit board, in the transport direction of the printed circuit board A position regulating device that regulates the position and is movable according to the length in the transport direction of the printed circuit board, a storage device that stores the length in the transport direction of a plurality of types of printed circuit boards of different sizes, and a plurality of types A selecting device for selecting the printed circuit board to be processed from among the printed circuit boards, and the printed substrate selected by the selecting device; And a control device that reads out the length in the transport direction from the storage device and controls to determine and move the position of the position restricting device with reference to the center of the positioning unit in the transport direction. To do.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, based on the drawings, there are an adhesive application device for applying an adhesive on a printed circuit board as an operation device, an electronic component mounting device for mounting an electronic component on the printed circuit board, and the like. The embodiment will be described. FIG. 1 is a plan view of an electronic component mounting apparatus 1. A plurality of component supply units 3 for supplying various electronic components one by one to a component take-out portion (component adsorption position) are provided on a base 2 of the apparatus 1. It is installed side by side. A supply conveyor 4, a positioning unit 5, and a discharge conveyor 6 are provided between the opposing component supply unit 3 groups. The supply conveyor 4 conveys the printed circuit board P received from the upstream to the positioning unit 5, and after the electronic components are mounted on the substrate P positioned by a positioning mechanism (not shown) by the positioning unit 5, the conveyance is conveyed to the discharge conveyor 6. Is done. The supply conveyor 4 and the discharge conveyor 6 will be described in detail later.
[0009]
8A and 8B are a pair of beams that are long in the X direction, each of which rotates a screw shaft 10 by driving a Y-axis motor 9, and along the pair of left and right guides 11, a component take-out portion ( The component suction position) is individually moved in the Y direction.
[0010]
Each of the beams 8A and 8B is provided with mounting heads 7A and 7B that move along a guide (not shown) by an X-axis motor (not shown) in the longitudinal direction, that is, the X direction. Each mounting head 7A or 7B is equipped with two vertical axis motors (not shown) for vertically moving the two suction nozzles 17A, 17B or 17C, 17D, and θ for rotating around the vertical axis. Two shaft motors (not shown) are mounted. Accordingly, the suction nozzles of the two mounting heads 7A and 7B can move in the X direction and the Y direction, can rotate around the vertical line, and can move up and down.
[0011]
Here, although the supply conveyor 4 and the discharge conveyor 6 are demonstrated, since both are the same structures, the supply conveyor 4 is mainly explained in full detail. The supply conveyor 4 is provided so as to be movable up and down, and receives the printed circuit board P from the upstream device 20 when it is at a raised position higher than the lower end level of the suction nozzles 17A, 17B, 17C, and 17D, and is lowered to the positioning unit 5 The same conveyance level is transferred to the positioning unit 5.
[0012]
Next, the positioning portion 5 will be described in detail with reference to FIGS. 2 to 6. The movable chute 20 is fixed along the guides 23, 23 via the ball screws 22, 22 rotated by the drive motor 21. It is possible to approach and separate in the direction. That is, a timing belt 31 is stretched around pulleys 25 and 26 provided on the output shaft and driven shaft of the drive motor 21 and pulleys 27, 28, 29 and 30 provided on the movable chute 20 side. When the motor 21 is driven, the ball screws 22 and 22 are rotated via the pulleys 25, 26, 27, 28, 29, and 30 and the timing belt 31, and the nut bodies 32 and 32 provided on the movable chute 20 are 22, the movable chute 20 is guided by guides 23, 23 and can be moved toward and away from the fixed chute 24.
[0013]
Further, a position restricting device 35 is provided on the fixed chute 24 side so as to abut on a surface orthogonal to the transport direction of the printed circuit board P and restrict the position of the printed circuit board P in the transport direction. That is, the positioning pin 36 of the position regulating device 35 is movable in the transport direction of the printed board P along the guide 39 via the ball screw 38 that is rotated by driving of the drive motor 37. More specifically, a timing belt 42 is stretched between pulleys 40 and 41 provided at the output shaft of the drive motor 37 and the end of the ball screw 38. When the drive motor 37 is driven, each pulley 40, 41 and The ball screw 38 rotates via the timing belt 42, the nut body 43 is guided by the guide 39, and the positioning pin 36 provided on the nut body 43 can be moved in the transport direction of the printed circuit board P by the drive of the drive motor 37. is there.
[0014]
Next, based on FIG. 7, a description will be given of the Z clamp mechanism 45 as a plurality of substrate pressing devices for making the level in the height direction of the printed circuit board P constant. First, the movable chute 20 and the fixed chute 24 are provided with a plurality of positioning levers 46 having an L-shaped cross section that can move up and down at a predetermined interval. A plurality of pins 48 that slide in the holes are fixed, and a piston body 50 that moves up and down in the recess 49 is fixed to the upper end of the pins 48.
[0015]
Then, pressurized air is supplied through an opening / closing valve 51 connected to an air supply source (not shown) and a supply hole 52 provided in the movable chute 20 and the fixed chute 24, and the piston body 50 is pushed up to form a recess. 49, the positioning lever 46 is raised via the pin 48, and both end portions of the printed circuit board P are moved from below to the engaging portions 53 formed on the movable chute 20 and the fixed chute 24. The positioning lever 46 is configured to press. A spring (not shown) for biasing the piston body 50 downward can be provided in the recess 49, so that the piston body 50 can be smoothly returned after the supply of pressurized air is stopped.
[0016]
It should be noted that a plurality of backup pins (not shown) provided in the positioning portion 5 abut on the back surface of the printed circuit board P, and both ends of the printed circuit board P are lowered to the locking portion 53 at the upper end of the raised positioning lever 46. The suction nozzles 17A, 17B or 17C, 17D as the mounting means move the electronic component supplied from the component supply device to an arbitrary position on the substrate P in the state where the electronic component is pressed. It is what you wear.
[0017]
It should be noted that the printed circuit board P on the supply conveyor 4 may be replaced with the positioning unit 5 and the printed circuit board P on the positioning unit 5 may be replaced with the discharge conveyor 6 by using a transfer. A pair of conveyor belts 55 is provided on the conveyor 4, the positioning unit 5, and the discharge conveyor 6, and the conveyor 4, the both ends of the printed circuit board P are placed and conveyed.
[0018]
Next, in FIG. 8, each element of the electronic component mounting apparatus 1 is centrally controlled by the CPU 60, and a ROM 61 that stores a control program and a RAM 62 that stores various data are connected via a bus line 63. . Further, a CRT 64 for displaying an operation screen and the like, and a touch panel 65 as input means formed on the display screen of the CRT 64 are connected to the CPU 60 via an interface 66. The touch panel 65 arbitrarily displays a switch on the CRT 64 screen. The drive motors 21, 37 and the like are connected to the CPU 60 via the interface 66.
[0019]
A recognition processing unit 59 is connected to the CPU 60 via an interface 66. The recognition processing unit 59 performs recognition processing of an image captured by the component recognition camera 16 based on the component library data. The processing result is sent to the CPU 60. That is, the CPU 60 outputs an instruction to the recognition processing unit 59 so as to perform recognition processing (calculation of misalignment amount) on the image captured by the component recognition camera 16 and receives a recognition processing result from the recognition processing unit 59. It is.
[0020]
The size in the X direction (conveyance direction) and the size in the Y direction are stored in the RAM 62 for each type of printed circuit board P as shown in FIG. Then, the model of the printed circuit board P can be selected on the screen of the CRT 64 as shown in FIG. That is, on the board selection screen of the CRT 64, the model of the printed board P to be flown can be selected by pressing an arbitrary switch unit 64A and then pressing the decision switch 64B.
[0021]
With the above configuration, the electronic component mounting operation will be described below. Before that, a screen as shown in FIG. 10 is displayed on the CRT 64, and the model of the printed circuit board P to be mounted is pressed by pressing any switch 64A. Then, the user selects to press the decision switch 64B. When the setup operation relating to the board is performed, the CPU 60 reads the length in the Y direction perpendicular to the transport direction of the selected printed board P from the RAM 62 and controls the operation of the drive motor 21. That is, the drive motor 21 is driven, the ball screw 22 is rotated via the pulleys 25, 26, 27, 28, 29, 30 and the timing belt 31, and the nut bodies 32, 32 provided on the fixed chute 24 are guided. 23, 23, the movable chute 20 can be moved toward and away from the fixed chute 24, and the movable chute 20 moves according to the size of the printed board P in the Y direction.
[0022]
Further, the CPU 60 reads the length of the selected printed circuit board P in the transport direction from the RAM 62 and controls the positioning pins 36 of the position restricting device 35 to move with reference to the center CL in the substrate transport direction. That is, when the drive motor 37 is driven, the ball screw 38 is rotated through the pulleys 40 and 41 and the timing belt 42, the nut body 43 is guided by the guide 39, and the positioning pin 36 provided on the nut body 43 is driven. It is possible to move in the transport direction of the printed circuit board P by driving the motor 37, specifically, a distance that is half of the length in the transport direction of the printed circuit board P (the length in the X direction) with reference to the center CL in the substrate transport direction. The CPU 60 calculates, and the CPU 60 controls the positioning pin 36 to move to a position away from the center CL by that distance.
[0023]
After the setup operation related to the board is completed, the mounting operation to the printed circuit board P can be performed, and the mounting operation operation will be described below. First, when the printed circuit board P is inherited from an upstream device (not shown) and exists on the supply conveyor 4, the printed circuit board P on the supply conveyor 4 is moved to the positioning unit 5.
[0024]
At this time, the positioning pin 36 of the position regulating device 35 moves to a position separated by a distance that is half the length of the printed board P in the carrying direction (the length in the X direction) with reference to the center CL in the board carrying direction. Therefore, when the printed circuit board P on the supply conveyor 4 moves to the positioning unit 5, the printed circuit board P is transported by the pair of transport belts 55 by driving of a drive motor (not shown). It will stop and stop.
[0025]
And each Z clamp mechanism 45 act | operates and the level of the height direction of the printed circuit board P is made constant. That is, pressurized air from an air supply source (not shown) is supplied through the supply hole 52 provided in the opening / closing valve 51, the movable chute 20 and the fixed chute 24, and the positioning lever 46 is raised by the air. The printed circuit board P can be positioned in the vertical direction by pressing both ends of the printed circuit board P against the engaging portion 53 from below, and the printed circuit board P can be fixed.
[0026]
In this case, with reference to the center CL in the substrate transport direction, the Z clamp mechanism 45 is disposed on the center CL, and the Z clamp mechanism 45 is densely close to the center CL and becomes sparse as the distance from the center CL increases. By arranging so that the number of Z clamp mechanisms 45 is minimized, the level of the height direction of the printed circuit board P can be kept stable regardless of the size of the printed circuit board P in the X direction. can do. The plurality of Z clamp mechanisms 45, that is, the positioning levers 46, are provided symmetrically on the upstream side and the downstream side with respect to the center CL, so that the printed circuit board P can be pressed more uniformly over the entire width. The level can be made stable and constant.
[0027]
Further, a backup pin is inserted into a hole in a backup table (not shown), and the backup pin comes into contact with the back surface of the printed circuit board P as the table is raised, so that the circuit board P is held horizontally. Push to support. Further, the warp is pushed up by the backup pins even for the substrate P having the warp on the lower side, and the substrate P is supported horizontally.
[0028]
Then, the mounting data stored in the RAM 62 on the printed circuit board P conveyed to the positioning unit 5, that is, the XY coordinate position to be mounted on the printed circuit board P, the rotation angle position about the vertical axis, and the FDR number (each component supply) According to the mounting data in which the arrangement number of the unit 3 is designated, the electronic component to be mounted by the suction nozzle corresponding to the component type of the electronic component is sucked out from the predetermined component supply unit 3 and taken out.
[0029]
Therefore, if the suction nozzle 17A of the mounting head 7A corresponds to the component type of the electronic component, the suction nozzle 17A moves so as to be positioned above the component supply unit 3 that stores the electronic component to be mounted first. As described above, in the Y direction, the Y axis motor 9 is driven to move the beam 8A along the pair of guides 11, and in the X direction, the X axis motor (not shown) is driven to move the mounting head 7A. Since the predetermined supply unit 3 is already driven and the component can be taken out at the component suction position, the vertical axis motor (not shown) is driven and the nozzle 17A is lowered to suck the electronic component. The suction nozzle 17B moves so as to be positioned above the component supply unit 3 for storing the electronic component to be mounted next, and sucks and takes out the electronic component.
[0030]
Further, the suction nozzles 17A and 17B are moved above the component recognition camera 16 to pick up images of the sucked and held electronic components, and recognition processing is performed by the component recognition processing unit 59. Based on the result, the beam 8A and the mounting head are again detected. 7A is moved, and the suction nozzles 17A and 17B each mount the electronic component on the printed circuit board P while correcting the misalignment in consideration of the component recognition result.
[0031]
In this way, when electronic components are mounted one after another and all the electronic components are mounted on the printed circuit board P, the printed circuit board P is conveyed from the positioning unit 5 to the discharge conveyor 6.
[0032]
Even when a plurality of Y clamp mechanisms are provided as a substrate pressing device for pressing the substrate in a direction perpendicular to the direction of conveyance of the printed circuit board, the substrate positioning in the conveyance direction is the same as the substrate positioning in the conveyance direction. If the position is determined, the action of the Y clamp mechanism can be stabilized.
[0033]
Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations can be made by those skilled in the art based on the above description, and the present invention is not limited to the various embodiments described above without departing from the spirit of the present invention. It encompasses alternatives, modifications or variations.
[0034]
【The invention's effect】
Above, the present invention, presence of the and intervals in the conveying direction symmetrically with respect to the center so as to thus sparse away from densely the center close to the center in the conveying direction of the printed board positioning portion The position restricting device is determined in accordance with the length of the printed circuit board in the transport direction with reference to the center of the positioning unit in the transport direction. It is possible to provide a substrate positioning apparatus in a working apparatus that can stably perform the action of a plurality of Z clamp mechanisms for making the level of the above constant.
[Brief description of the drawings]
FIG. 1 is a plan view of an electronic component mounting apparatus.
FIG. 2 is a plan view of a positioning unit.
FIG. 3 is a front view of a positioning unit.
FIG. 4 is a rear view of the positioning unit.
FIG. 5 is a left side view of a positioning unit.
FIG. 6 is a right side view of a positioning unit.
FIG. 7 is a longitudinal sectional view at the center of the movable chute.
FIG. 8 is a control block diagram.
FIG. 9 is a diagram illustrating printed circuit board size data;
FIG. 10 is a diagram showing a board model selection screen.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Electronic component mounting apparatus 3 Component supply unit 4 Supply conveyor 5 Positioning part 6 Discharge conveyor 7A, B Mounting head 8A, B Beam 17A, B, C, D Suction nozzle 20 Movable chute 24 Fixed chute 35 Position control apparatus 36 Positioning pin 37 Drive motor 60 CPU
62 RAM
CL Center

Claims (2)

In the substrate positioning device in the working device for performing predetermined operations on the printed circuit board in the positioning unit, with respect to the center so as to thus sparse away from densely the center close to the center in the conveying direction of the printed board positioning portion position regulation to exist a and intervals in the conveying direction symmetrically with a plurality of substrate holders apparatus provided, in contact with the plane perpendicular to the conveying direction of the printed circuit board to regulate the position in the transport direction of the printed circuit board Te The apparatus is movably provided according to the length of the printed circuit board in the transport direction, and the position of the position regulating device is determined according to the length of the printed circuit board in the transport direction with reference to the center of the positioning unit in the transport direction. A substrate positioning device in a working device. In the substrate positioning device in the working device for performing predetermined operations on the printed circuit board in the positioning unit, with respect to the center so as to thus sparse away from densely the center close to the center in the conveying direction of the printed board positioning portion the in which a plurality of substrate holders device provided by presence of and distance to the conveying direction symmetrically, in contact with the plane perpendicular to the conveying direction of the printed circuit board to regulate the position in the transport direction of the printed circuit board Te Processing is performed from among a position regulation device that can move according to the length in the conveyance direction of the printed circuit board, a storage device that stores the lengths of the plurality of types of printed circuit boards in the conveyance direction, and a plurality of types of printed circuit boards. A selection device for selecting the printed circuit board, and a conveying direction of the printed circuit board selected by the selection device; And a control device that reads the length from the storage device and controls the position restricting device to move by determining the position of the positioning unit with respect to a center in the transport direction. Substrate positioning device.

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