JP6987701B2 - Board transfer device, printing machine, component mounting machine, board transfer method - Google Patents

Description

The present invention relates to a technique for stopping a substrate conveyed by a conveyor.

In a printing device that prints a paste such as solder on a substrate, a component mounting machine that mounts components on a substrate, or the like, a substrate carried in from the outside is stopped at a predetermined target position, and work is executed on the substrate. Further, various methods have been proposed in order to accurately stop the substrate at the target position. For example, in the method described in Patent Document 1, the servomotor is conveyed by the conveyor belt by stopping the servomotor at a timing when the feed amount of the conveyor belt indicated by the encoder output of the servomotor that rotates the conveyor belt matches the target feed amount. Stop the board. Alternatively, in the method described in Patent Documents 2 and 3, the substrate is stopped by bringing the stopper into contact with the conveyed substrate.

Japanese Patent No. 4465401 Japanese Patent No. 4348884 Japanese Patent No. 6204573

However, in the servomotor method, even if the belt is stopped when the servomotor is stopped, if the frictional force between the board and the belt is not sufficient, the board will slip against the belt and deviate from the target position. There was a case. On the other hand, in the stopper method, the stopper is consumed while repeatedly colliding with the substrate, so that it is necessary to replace the stopper as appropriate, which is costly. As described above, each method has a demerit, but which demerit becomes a bigger problem depends on various situations such as the weight and shape of the substrate to be transported or the needs of the user.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique capable of stopping a substrate by an appropriate method according to a situation.

The substrate transport device according to the present invention has an endless toothed belt and a toothed pulley that meshes with the toothed belt, and the toothed belt is rotated with the rotation of the toothed pulley to rotate the toothed belt. The board is stopped by bringing the conveyor that transports the upper board in the forward transport direction, the servo motor that rotates the toothed pulley, the stopper, and the board that has reached the target position into contact with the stopper from the upstream side in the forward transport direction. The first stop mode for stopping the board and the second stop mode for stopping the board by executing servo control for the servomotor so that the servomotor stops at the timing when the board reaches the target position are selectively executed. It is equipped with a control unit.

The substrate transport method according to the present invention includes a step of transporting the substrate on the toothed belt in the forward transport direction by rotating an endless toothed belt that meshes with the toothed pulley as the toothed pulley rotates. The first stop mode that stops the board by bringing the board that has reached the target position into contact with the stopper from the upstream side in the forward transport direction, and the servo motor that drives the toothed pulley stops when the board reaches the target position. It is provided with a step of selectively executing a second stop mode in which the substrate is stopped by executing servo control on the servo motor so as to be performed.

In the present invention (board transfer device, substrate transfer method) configured in this way, the substrate on the toothed belt is rotated by rotating the endless toothed belt that meshes with the toothed pulley as the toothed pulley rotates. Is transported in the forward transport direction. Then, the first stop mode for stopping the board by bringing the board that has reached the target position into contact with the stopper from the upstream side in the forward transport direction, and the servo so that the servomotor stops at the timing when the board reaches the target position. A second stop mode for stopping the board by executing servo control on the motor is selectively executed. Therefore, it is possible to stop the substrate by an appropriate method according to the situation among the first stop mode by the stopper and the second stop mode by the servo control.

Further, the substrate transfer device may be configured so as to further include a detection unit that detects the stop position of the substrate and transmits it to the control unit. In such a configuration, it is possible to confirm whether or not the stop position of the substrate is appropriate for the target position.

Further, the control unit performs a mode examination process for examining the necessity of switching from the second stop mode to the first stop mode based on the result of comparing the stop position of the substrate stopped by the second stop mode with the target position. If it is executed and it is determined in the mode examination process that switching is necessary, the substrate transfer device may be configured so that the board is stopped after the mode examination process in the first stop mode. In such a configuration, if slip occurs between the substrate stopped in the second stop mode by servo control and the toothed belt, it is determined that the stop mode of the board needs to be switched, and the board is stopped thereafter. Can be properly executed in the first stop mode by the stopper.

Further, the control unit configures the board transfer device so as to determine the necessity of switching based on the result of determining whether or not the difference between the stop position and the target position is larger than the threshold value in the mode examination process. Is also good. In such a configuration, it is possible to determine whether or not the stop mode of the substrate needs to be switched by a simple process such as comparison with a threshold value.

Further, in the mode examination process, the control unit switches when it is confirmed that the difference between the stop position and the target position is larger than the threshold value for N boards (N is an integer of 2 or more) continuously conveyed by the conveyor. The board transfer device may be configured so as to be determined to be necessary. In such a configuration, it is possible to prevent the stop mode of the board from being switched from the second mode by the servo control to the first mode by the stopper when the slip of the board is caused by a temporary factor.

Further, when the control unit confirms that the stop position of the board stopped by the second stop mode is deviated from the target position in the forward transport direction, the stopper directs the board in the reverse transport direction opposite to the forward transport direction. The board transfer device may be configured so that the board is moved to the target position by pushing. With such a configuration, the substrate can be reliably positioned at the target position even when the substrate slips.

Further, when the control unit confirms that the stop position of the board stopped by the second stop mode is deviated from the target position in the forward transfer direction, the control unit transfers the board in the reverse transfer direction opposite to the forward transfer direction by the conveyor. The substrate transfer device may be configured so that the substrate is stopped by bringing the substrate that has reached the target position into contact with the stopper from the upstream side in the reverse transfer direction. With such a configuration, the substrate can be reliably positioned at the target position even when the substrate slips.

Further, when the control unit simultaneously conveys two boards arranged at intervals in the forward transfer direction by a conveyor, the control unit moves the stopper in the forward transfer direction while positioning it between the two boards. A board transfer device may be configured. In such a configuration, it is possible to prevent the two substrates conveyed at the same time by the conveyor from accidentally contacting each other by the stopper.

Further, the control unit may configure a substrate transfer device so as to synchronize the transfer of the two boards by the conveyor with the movement of the stopper. With such a configuration, it is possible to prevent the stopper from inadvertently contacting the substrate conveyed by the conveyor.

Further, the control unit rotates the conveyor while stopping the succeeding substrate on the upstream side in the forward transport direction by the stopper among the two boards arranged at intervals in the forward transport direction, so that the two boards are in order. The substrate transfer device may be configured so that the substrate discharge operation of discharging the preceding substrate on the downstream side in the transfer direction from the conveyor in the forward transfer direction can be executed. In such a configuration, for example, when the transfer of the preceding board is obstructed by an obstacle and an error is stopped, the board ejection operation is executed after the obstacle is removed by the user, so that the preceding board is left. Only can be discharged.

Further, it has an input operation unit that accepts an input operation of a user who selects either a first stop mode or a second stop mode, and the control unit refers to the input operation unit in the first stop mode and the second stop mode. The board transfer device may be configured to execute one stop mode selected by an input operation. In such a configuration, it is possible to stop the substrate by an appropriate method according to the user's needs among the first stop mode by the stopper and the second stop mode by the servo control.

The printing machine according to the present invention has an endless toothed belt and a toothed pulley that meshes with the toothed belt, and by rotating the toothed belt with the rotation of the toothed pulley, the toothed belt is mounted on the toothed belt. A conveyor that transports the substrate in the forward transport direction, a servomotor that rotates the toothed pulley, a stopper, a mask holder that holds the mask, a squeegee unit that slides the squeegee on the upper surface of the mask, and the target position. The first stop mode that stops the board by bringing the reached board into contact with the stopper from the upstream side in the forward transport direction, and the servo for the servo motor so that the servo motor stops when the board reaches the target position. It is equipped with a control unit that selectively executes a second stop mode in which the substrate is stopped by executing control, and the control unit raises the stopped substrate toward the mask and brings it into contact with the mask from below. At the same time, by sliding the squeegee on the upper surface of the mask, the paste is printed on the substrate through the pattern of the mask.

In the present invention (printing machine) configured in this way, the substrate on the toothed belt is forwarded in the forward transport direction by rotating the endless toothed belt that meshes with the toothed pulley as the toothed pulley rotates. Be transported. Then, the first stop mode for stopping the board by bringing the board that has reached the target position into contact with the stopper from the upstream side in the forward transport direction, and the servo so that the servomotor stops at the timing when the board reaches the target position. A second stop mode for stopping the board by executing servo control on the motor is selectively executed. Therefore, it is possible to stop the substrate by an appropriate method according to the situation among the first stop mode by the stopper and the second stop mode by the servo control.

Further, the control unit controls the squeegee unit based on a print program including at least the printing pressure for pressing the squeegee against the mask and the speed at which the squeegee slides on the mask, and the print program in the first stop mode and the second stop mode. The printing press may be configured to selectively execute one of the stop modes specified in 1. In such a configuration, it is possible to stop the substrate by an appropriate method according to the regulation of the printing program among the first stop mode by the stopper and the second stop mode by the servo control.

Further, a cleaning unit for cleaning the mask is further provided by sliding the sheet on the mask while pressing the sheet from below on the mask, and the control unit transports the substrate toward the target position by a conveyor. The printing press may be configured to perform the cleaning of the mask by the cleaning unit in parallel. In such a configuration, the period for transporting the substrate toward the target position can be effectively utilized for cleaning the mask.

The component mounting machine according to the present invention has an endless toothed belt and a toothed pulley that meshes with the toothed belt, and the toothed belt is rotated with the rotation of the toothed pulley to rotate the toothed belt. A conveyor that transports the upper board in the forward transport direction, a servomotor that rotates the toothed pulley, a stopper, a mounting head, and a board that has reached the target position are brought into contact with the stopper from the upstream side in the forward transport direction. Select the first stop mode to stop the board with, and the second stop mode to stop the board by executing servo control to the servo motor so that the servo motor stops when the board reaches the target position. A control unit is provided, and the control unit causes the mounting head to mount the components on the stopped board.

In the present invention (parts mounting machine) configured in this way, the substrate on the toothed belt is forwardly conveyed by rotating the endless toothed belt that meshes with the toothed pulley as the toothed pulley rotates. Will be transported to. Then, the first stop mode for stopping the board by bringing the board that has reached the target position into contact with the stopper from the upstream side in the forward transport direction, and the servo so that the servomotor stops at the timing when the board reaches the target position. A second stop mode for stopping the board by executing servo control on the motor is selectively executed. Therefore, it is possible to stop the substrate by an appropriate method according to the situation among the first stop mode by the stopper and the second stop mode by the servo control.

Further, the control unit controls the mounting head based on the mounting program that defines the mounting procedure of the component on the board, and selects one of the first stop mode and the second stop mode specified in the mounting program. The component mounting machine may be configured so as to execute the system. In such a configuration, it is possible to stop the board by an appropriate method according to the provisions of the mounting program among the first stop mode by the stopper and the second stop mode by the servo control.

According to the present invention, it is possible to stop the substrate by an appropriate method according to the situation.

The front view which shows typically the printing machine which concerns on this invention. FIG. 3 is a block diagram showing an electrical configuration included in the printing machine of FIG. 1. It is a figure which shows typically an example of the substrate transport part of the substrate holding mechanism included in the printing machine of FIG. The perspective view which shows a part of the structure of a stopper unit schematically. The figure which shows an example of the carry-in operation of the substrate B by a stopper schematically. The flowchart which shows an example of the operation by the printing machine of FIG. The figure which shows the 1st example of the operation of a stopper which can be executed in a servo stop mode. The figure which shows the 2nd example of the operation of a stopper which can be executed in a servo stop mode. The figure which shows the 3rd example of the operation of a stopper which can be executed in a servo stop mode. The figure which shows the 4th example of the operation of a stopper which can be executed in a servo stop mode. The partial plan view which shows typically the component mounting machine which concerns on this invention.

FIG. 1 is a front view schematically showing a printing machine according to the present invention, and FIG. 2 is a block diagram showing an electrical configuration included in the printing machine of FIG. In FIG. 1 and the following figures, XYZ orthogonal coordinate axes with the Z direction as the vertical direction and the X and Y directions as the horizontal directions are appropriately shown. The printing machine 1 includes a mask holding unit 2 for holding the mask M, a squeegee unit 3 arranged above the mask M, and a substrate holding mechanism 4 arranged below the mask M. Further, the printing machine 1 includes a main control unit 10 composed of a CPU (Central Processing Unit), a RAM (Random Access Memory), and the like, and a storage unit 11 composed of an HDD (Hard Disk Drive) and the like.

The storage unit 11 stores a printing program that defines the printing pressure (pressure) at which the squeegee unit 3 presses the squeegee 31 against the mask M during the printing operation, the speed at which the squeegee 31 is slid onto the mask M, and the like. There is. Then, the main control unit 10 controls each of the units 2 and 3 according to the printing program, so that the substrate B is brought into contact with the mask M from below by the substrate holding mechanism 4, and the tip of the squeegee 31 of the squeegee unit 3 is brought into contact with the upper surface of the mask M. Slide in the X direction. As a result, a printing operation is executed in which the solder D supplied to the upper surface of the mask M is printed on the upper surface of the substrate B via a pattern penetrating the mask M.

Further, the printing machine 1 includes a drive control unit 12 and a valve control unit 13 that control the operation of each movable unit, and the main control unit 10 is a movable unit of the units 2 and 3 by the drive control unit 12 and the valve control unit 13. To control. Further, the printing machine 1 includes a display unit 14 composed of, for example, a liquid crystal display and the like, and an input unit 15 composed of an input device such as a keyboard and a mouse. Therefore, the operator can check the operating status of the printing machine 1 by checking the display contents of the display unit 14, and can input a command to the printing machine 1 by operating the input unit 15. The display unit 14 and the input unit 15 may be integrally configured by a touch panel. Further, the printing machine 1 includes a communication unit 16 that executes communication with an external device, and the communication unit 16 receives, for example, the above-mentioned printing program from an external server and stores it in the storage unit 11.

The mask holding unit 2 has a clamp member 21, and the mask M is detachably attached to the clamp member 21 via a frame 22 provided on the peripheral portion thereof. As a result, the mask M having a flat plate shape is held by the mask holding unit 2 in parallel (that is, horizontally) in the XY plane. This mask M has a rectangular shape in a plan view and has a through hole (mask pattern) having a shape corresponding to a printing pattern on the substrate B.

The substrate holding mechanism 4 is arranged below the mask M held by the mask holding unit 2 and has a function of aligning the position of the substrate B carried in from the outside with respect to the mask M. The substrate holding mechanism 4 has a substrate transport unit 5 that carries in, holds, and carries out the substrate B. The substrate transfer unit 5 supports a substrate transfer unit 51 that conveys the substrate B in the Y direction, a substrate holding unit 53 that holds the substrate B received from the substrate transfer unit 51, and a substrate transfer unit 51 and a substrate holding unit 53. It has a flat plate-shaped movable table 55.

FIG. 3 is a diagram schematically showing an example of a substrate transport portion of the substrate holding mechanism included in the printing machine of FIG. 1. In FIG. 3 and the following figures, the forward transport direction Yf in which the substrate B is transported parallel to the Y direction from the carry-in side to the carry-out side and the reverse transport direction Yb opposite to the forward transport direction Yf are appropriately shown. In the board transfer section 51, the carry-in conveyor 51A for carrying in the board B, the work conveyor 51B for supporting the board B received from the board transfer section 51A at a predetermined work position Lo, and the board B received from the work conveyor 51B are carried out. The carry-out conveyor 51C and the carry-out conveyor 51C are arranged in the Y direction. These conveyors 51A, 51B, and 51C are arranged at the same height as each other, and convey the substrate B along a horizontal transfer path extending in the Y direction.

Each of the conveyors 51A, 51B, and 51C is composed of a pair of belt conveyors C arranged in parallel in the Y direction (in other words, arranged in parallel in the Y direction) with an interval in the X direction. The upper surfaces of the pair of belt conveyors C are arranged horizontally at the same height, and both ends of the substrate B in the X direction are supported from below. Specifically, the belt conveyor C has a plurality of toothed pulleys Cp and an endless toothed belt Cb, and the toothed belt Cb is hung on these toothed pulleys Cp so that the toothed belt Cb And the toothed pulley Cp mesh with each other. Then, the substrate B is supported by the upper surface of the toothed belt Cb (that is, the upper surface of the belt conveyor C).

Further, the substrate transport unit 51 has a conveyor drive unit M51 (FIG. 2) that drives the conveyors 51A, 51B, and 51C. The conveyor drive unit M51 is composed of three conveyor motors Mc provided corresponding to the three conveyors 51A, 51B, and 51C, respectively. In each of the conveyors 51A, 51B, and 51C, the toothed pulleys Cp of the pair of belt conveyors C are connected to the same conveyor motor Mc, and when the conveyor motor Mc rotates these toothed pulleys Cp, the toothed belt Cb is toothed. It rotates according to the pulley Cp. In this way, the pair of belt conveyors C are driven in the Y direction by the common conveyor motor Mc. The conveyor motor Mc is a servo motor, and the drive control unit 12 can execute servo control on the conveyor motor Mc based on the encoder output of the conveyor motor Mc.

Further, in the substrate transport unit 51, an inlet sensor Si and an outlet sensor So are provided for each of the three conveyors 51A, 51B, and 51C. That is, in the three conveyors 51A, 51B, and 51C, the substrate B that has reached the upstream end of each forward transport direction Yf is detected by the inlet sensor Si and reaches the downstream end of each forward transport direction Yf. The board B is detected by the outlet sensor So.

In such a configuration, the substrate B can be carried into the working position Lo by servo control. That is, when the tip of the substrate B, which is delivered from the carry-in conveyor 51A to the work conveyor 51B and is conveyed in the forward transfer direction Yf, reaches the detection position of the inlet sensor Si provided in the work conveyor 51B, the inlet sensor Si is used as the main. The detection signal of the substrate B is transmitted to the control unit 10. When the main control unit 10 receives the detection signal, the conveyor motor arrives at the timing when the substrate B moves the distance from the detection position of the inlet sensor Si to the working position Lo (that is, the timing when the substrate B reaches the working position Lo). Mc is stopped by servo control. In this way, the substrate B is carried into the working position Lo.

As shown in FIG. 1, the substrate holding portion 53 has a flat plate-shaped elevating table 531 and a slide column 532 that can slide in the Z direction with respect to the movable table 55, and the movable table 55 is the upper end of the slide column 532. Is supported by. A plurality of backup pins P erected in the Z direction are arranged on the upper surface of the elevating table 531 at intervals in the X direction and the Y direction. Further, the board holding unit 53 is provided with a backup drive unit M533 (FIG. 2), and the backup drive unit M533 that receives a command from the drive control unit 12 raises and lowers the slide column 532 together with the elevating table 531. Move the backup pin P up and down. For example, when the substrate B is carried in by the substrate transport unit 51, the backup drive unit M533 positions the upper end of each backup pin P below the upper surface of the belt conveyor C of the substrate transport unit 51. Then, when the work conveyor 51B of the substrate transport unit 51 stops the substrate B directly above the backup pin P, that is, at the work position Lo, the backup drive unit M533 raises the backup pin P to raise the upper end of the backup pin P to the substrate. It is projected upward from the upper surface of the belt conveyor C of the transport unit 51. As a result, the upper end of the backup pin P pushes up the substrate B while contacting the lower surface of the substrate B, and the substrate B is delivered from the substrate transport portion 51 to the upper end of each backup pin P.

Further, the substrate holding portion 53 drives a pair of clamp plates 534 arranged above the pair of belt conveyors C of the work conveyor 51B at intervals in the X direction, and at least one of these clamp plates 534 in the X direction. It has a plate drive unit M534 (FIG. 2). The upper surface of each clamp plate 534 is a plane parallel to the X and Y directions and is located at the same height. The plate drive unit M534 adjusts the air supplied to the clamp plate 534 by opening and closing the valve in response to a command from the valve control unit 13. As a result, the clamp plate 534 is driven in the X direction.

Then, the drive control unit 12 raises the substrate B on the backup pin P between the pair of clamp plates 534, and the valve receiving the command from the valve control unit 13 operates to narrow the distance between these clamp plates 424. As a result, the substrate B is clamped by these clamp plates 534 from the X direction (horizontal direction).

Further, the substrate transfer unit 5 has a table drive mechanism 56 that drives the movable table 55. The table drive mechanism 56 is attached to the X-axis table 561, the Y-axis table 562 attached to the upper surface of the X-axis table 561, the R-axis table 563 attached to the upper surface of the Y-axis table 562, and the R-axis table 563. On the other hand, it has a ball screw 564 for raising and lowering the movable table 55. Further, the table drive mechanism 56 uses an X-axis drive unit M561 for driving the X-axis table 561 in the X direction, a Y-axis drive unit M562 for driving the Y-axis table 562 in the Y direction, and an R-axis table 563 in the R direction ( It has an R-axis drive unit M563 that drives in a rotation direction about an axis parallel to the Z-direction) and a Z-axis drive unit M564 that drives the movable table 55 in the Z-direction by rotating the ball screw 564. Therefore, the drive control unit 12 controls the drive units M561 to M564 (FIG. 2) to move the substrate transport unit 51 and the substrate holding unit 53 arranged on the movable table 55 in the X, Y, Z, and R directions. Can be driven. For example, when positioning the carried-in substrate B with respect to the mask M, the drive control unit 12 sets the position of the substrate B clamped to the clamp plate 534 by the XYR axis drive units M561 to M563. -Adjust in the Y direction and adjust in the Z direction by the Z-axis drive unit M564. As a result, the upper surfaces of the clamp plate 534 and the substrate B each come into contact with the lower surface of the mask M.

Further, the substrate holding mechanism 4 has a stopper unit 6 for stopping the substrate B transported in the Y direction by the substrate transport unit 5. FIG. 4 is a perspective view schematically showing a part of the configuration of the stopper unit. The stopper unit 6 has a stopper head 61 that can move in the X and Y directions, and the stopper head 61 has a stopper 611 that has a pin shape parallel to the Z direction and can move up and down in the Z direction. A Z-axis drive unit M61 (FIG. 2) composed of an actuator, a motor, or the like is attached to the stopper head 61, and the Z-axis drive unit M61 drives the stopper 611 in parallel in the Z direction.

Further, the stopper unit 6 includes a Y-axis rail 62 that movably supports the stopper head 61 in parallel in the Y direction, a Y-axis ball screw 63 attached to the Y-axis rail 62 in parallel in the Y direction, and a Y-axis rail 62. It has a Y-axis motor M63 which is attached to and drives the Y-axis ball screw 63 to rotate. A stopper head 61 is attached to the nut of the Y-axis ball screw 63. Further, the stopper unit 6 rotationally drives an X-axis rail 64 that movably supports the Y-axis rail 62 in parallel to the X direction, an X-axis ball screw 65 provided in parallel to the X direction, and an X-axis ball screw 65. It has an X-axis motor M65 (FIGS. 1 and 2). The Y-axis rail 62 is attached to the nut of the X-axis motor M65. In such a configuration, the stopper 611 can move in the Y direction (both directions of the forward transport direction Yf and the reverse transport direction Yb) and the X direction along with the stopper head 61.

The Y-axis motor M63 and the X-axis motor M65 are servomotors, and the drive control unit 12 executes servo control on the Y-axis motor M63 and the X-axis motor M65 in the X direction of the stopper 611 of the stopper head 61. And the position in the Y direction (XY coordinates) can be adjusted. Further, the drive control unit 12 can adjust the height of the stopper 611 in the Z direction by controlling the Z-axis drive unit M61.

In such a configuration, as shown in FIG. 5, the substrate B can be carried into the working position Lo by using the stopper 611. FIG. 5 is a diagram schematically showing an example of the loading operation of the substrate B by the stopper. That is, as shown in the “standby” column of FIG. 5, the drive control unit 12 conveys the substrate B in the forward transfer direction Yf by the work conveyor 51B, and stops the stopper 611 at the standby position Lw on the transfer path of the substrate B. To wait. That is, this standby position Lw is located between the X directions of the pair of belt conveyors C constituting the work conveyor 51B, and is adjacent to the work position Lo from the downstream side of the forward transport direction Yf. The stopper 611 at the standby position Lw intersects the toothed belt Cb on the upper side of the belt conveyor C in the front view, and is located on the transport path of the substrate B. Therefore, as shown in the “stop” column of FIG. 5, when the substrate B reaches the working position Lo, it comes into contact with the stopper 611 of the standby position Lw and stops. In this way, the substrate B is carried into the working position Lo.

Further, as shown in FIG. 4, a recognition camera 71 is attached to the stopper head 61, and the recognition camera 71 moves integrally with the stopper head 61 in the X direction and the Y direction. The recognition camera 71 can capture images above and below the recognition camera 71. Then, the main control unit 10 executes the positioning of the mask M and the substrate B based on the result of imaging these with the recognition camera 71. That is, the recognition camera 5 is provided so as to be located at a height between the substrate B and the mask M when the substrate B is separated downward from the mask M, and the main control unit 10 is a drive control unit. While the recognition camera 5 is moved between the substrate B and the mask M by the 12, the fiducial marks of the substrate B and the mask M are imaged by the substrate transfer unit 5. Then, the main control unit 10 controls the substrate transfer unit 5 based on the imaging result of these fiducial marks to execute the alignment between the mask M and the substrate B.

Further, the printing machine 1 includes a cleaning unit 72 provided under the mask M. The cleaning unit 72 is attached to the nut of the X-axis ball screw 65, and moves in the X direction along with the stopper unit 6 by driving the X-axis motor M65. Then, the main control unit 10 slides the gauze G on the lower surface of the mask M in the X direction (cleaning direction) while pressing the gauze G against the mask M from below by the cleaning unit 72. As a result, cleaning is performed in which the solder D adhering to the lower surface of the mask M is wiped off with the gauze G.

As described above, in the printing machine 1, as a method of stopping the substrate B at the work position Lo, a method by servo control of the conveyor motor Mc that drives the work conveyor 51B (servo stop mode) and a method by the stopper 611 (stopper stop mode). ) And can be used selectively. Subsequently, an example of the operation of the printing machine 1 in which these methods are used properly will be described.

FIG. 6 is a flowchart showing an example of operation by the printing machine of FIG. This flowchart is executed under the control of the main control unit 10. In step S101, the stopper flag indicating whether or not the stopper stop mode is selected is set to off. That is, in the example of FIG. 6, when printing is started, the servo stop mode is selected by default as the mode for stopping the substrate B. Further, in step S102, the count value of the number of times the stop position of the substrate B, which will be described later, deviates from the working position Lo is reset to zero.

When the loading of the board B is started by the board transport unit 51 (step S103), it is confirmed whether or not the stopper flag is on (step S104). Here, since the stopper flag is off, it is determined as "NO" in step S104, and the process proceeds to step S105. In step S105, the substrate B is stopped by the servo control for the conveyor motor Mc that drives the work conveyor 51B (servo stop mode). In such a servo stop mode, the stopper 611 is retracted from the transport path of the substrate B and does not abut on the substrate B.

In step S106, the recognition camera 71 moves above the stopped substrate B and images the fiducial mark of the substrate B to recognize the stopped position of the substrate B. Then, this stop position is transmitted from the recognition camera 71 to the main control unit 10. In step S107, the main control unit 10 determines whether the positional deviation between the stop position and the work position Lo (for example, the distance in the Y direction of each center) is larger than the threshold value. Here, if the misalignment is larger than the threshold value (“YES” in step S107), the count value is incremented to “1” in step S108. It should be noted that such misalignment occurs when the frictional force between the substrate B and the toothed belt Cb is weak and the substrate B slides forward with respect to the toothed belt Cb when the toothed belt Cb is stopped. , It tends to occur when the weight of the substrate B is light. In step S109, it is confirmed whether or not the count value has reached a predetermined value N (N is an integer of 2 or more). Here, since the count value is less than the predetermined value N (“NO” in step S109), the process proceeds to step S113.

That is, when the main control unit 10 raises the substrate B to the mask M while adjusting the positions of the substrate B with respect to the mask M in the X and Y directions (step S113), the main control unit 10 slides the squeegee 31 onto the upper surface of the mask M. Move (step S114). When the solder D is printed on the substrate B in this way, the substrate B descends from the mask M (step S115), and in step S116, it is determined whether printing on all the substrates B is completed. Here, assuming that printing is incomplete (“NO” in step S116), the cleaning unit 72 starts cleaning the mask M in step S117, and the preceding substrate B on which the solder D is printed starts to be carried out in step S118. Will be done. Further, in step S103, the subsequent board B is started to be carried in. In this way, cleaning of the mask M, carrying out of the preceding substrate B, and carrying in of the succeeding substrate B are performed in parallel.

Since the stopper flag is off, it is determined as "NO" in step S104, and the substrate B is stopped by the servo control as described above (servo stop mode). If the positional deviation between the stop position and the work position Lo of the substrate B recognized in step S106 is equal to or less than the threshold value (“NO” in step S107), the count value is reset to zero (step S111), and then step S113. Steps S113 to S118 and S103 can be executed in the same manner as described above.

On the other hand, if the positional deviation between the stop position and the work position Lo of the substrate B recognized in step S106 is larger than the threshold value again (“YES” in step S107), the count value is incremented to “2”. Therefore, for example, if the predetermined value N is "2", it is determined as "YES" in step S109, and the stopper flag is set to ON in step S110. Then, steps S113 to S118 and S103 can be executed in the same manner as described above.

However, since the stopper flag is on, it is determined as "YES" in step S104. Therefore, the substrate B whose carry-in was started in step S103 is stopped at the working position Lo by the stopper 611 in step S112 (stopper stop mode). Then, steps S113 to S118 and S103 can be executed in the same manner as described above.

Such an operation is repeatedly executed until printing on all the substrates B is completed. Then, when printing on all the substrates B is completed (“YES” in step S116), the flowchart of FIG. 6 ends.

In the embodiment described above, the substrate B on the toothed belt Cb is moved to the forward transport direction Yf by rotating the endless toothed belt Cb that meshes with the toothed pulley Cp as the toothed pulley Cp rotates. Be transported. Then, the stopper stop mode (first stop mode) of step S112 for stopping the board B by bringing the board B that has reached the work position Lo into contact with the stopper 611 from the upstream side of the forward transport direction Yf, and the board B work. The servo stop mode (second stop mode) of step S105 for stopping the substrate B by executing the servo control for the conveyor motor Mc so that the conveyor motor Mc stops at the timing when the position Lo is reached is selectively selected. Will be executed. Therefore, it is possible to stop the substrate B by an appropriate method according to the situation among the stopper stop mode by the stopper 611 and the servo stop mode by the servo control.

Further, a recognition camera 71 that detects the stop position of the substrate B and transmits it to the main control unit 10 is provided. Therefore, it is possible to confirm whether or not the stop position of the substrate B is appropriate for the work position Lo.

Specifically, the main control unit 10 needs to switch from the servo stop mode to the stopper stop mode based on the result of comparing the stop position of the board B stopped by the servo stop mode (step S105) with the work position Lo. The mode examination process for examining the rejection is executed (steps S107 to S110). Then, when it is determined that switching is necessary in this mode examination process, the board B is stopped after the mode examination process in the stopper stop mode (step S112). Therefore, if slippage occurs between the board B stopped in the servo stop mode and the toothed belt Cb, it is determined that the stop mode of the board B needs to be switched, and the subsequent stop of the board B is stopped. Can be properly executed in stop mode.

Further, in the mode examination process, the main control unit 10 determines whether or not switching is necessary based on the result of determining whether or not the difference (positional deviation) between the stop position and the work position Lo is larger than the threshold value (step S107). ). In such a configuration, it is possible to determine whether or not the stop mode of the substrate B needs to be switched by a simple process such as comparison with a threshold value.

Further, in the mode examination process, the main control unit 10 needs to switch when it confirms that the difference between the stop position and the work position Lo is larger than the threshold value for the N boards B continuously conveyed by the work conveyor 51B. Judge. In such a configuration, it is possible to prevent the stop mode of the board B from being switched from the servo mode to the stopper stop mode when the slip of the board B is caused by a temporary factor.

Further, a cleaning unit 72 for cleaning the mask M by sliding the gauze G onto the mask M while pressing the gauze G against the mask M from below is provided. Then, when the preceding substrate B is separated downward from the mask M, the main control unit 10 conveys the succeeding substrate B toward the working position Lo by the work conveyor 51B (step S103), and the mask by the cleaning unit 72. Cleaning of M (step S117) is executed in parallel. In such a configuration, the period of substrate transfer for transporting the substrate B toward the working position Lo can be effectively utilized for cleaning the mask M.

By the way, as described above, in the servo stop mode, the substrate B can be stopped by the servo control for the conveyor motor Mc, so that the stopper 611 is unnecessary. However, in the servo stop mode, the stopper 611 can also be used as follows.

FIG. 7 is a diagram showing a first example of the operation of the stopper that can be executed in the servo stop mode. Step S201 shown in FIG. 7 is a state immediately before starting the carrying-out of the preceding board B1 on which the solder D is printed from the working position Lo and the carrying-in of the succeeding board B2 to the working position Lo (step S103 of FIG. 6). The state immediately before) is shown. In this step S201, the stopper 611 is located on the transport path of the substrate B2 between the preceding substrate B1 and the succeeding substrate B2. At this time, the stopper 611 is separated from both the preceding substrate B1 and the succeeding substrate B2 and does not abut on them.

Then, the main control unit 10 synchronizes the three conveyor motors Mc that drive the conveyors 51A, 51B, and 51C with the Y-axis motor M63 that drives the stopper 611 by servo control, so that the substrates B1 and B2 The transfer in the forward transfer direction Yf and the movement of the stopper 611 in the forward transfer direction Yf are synchronized. As a result, the stopper 611 moves at the same speed as the preceding substrates B1 and B2 while being located between the preceding substrate B1 and the succeeding substrate B2 (step S202). Then, while carrying out the preceding board B1 from the working position Lo, the succeeding board B2 can be carried in to the working position Lo (step S203).

In the embodiment described above, when the main control unit 10 simultaneously conveys two substrates B1 and B2 arranged at intervals in the forward transfer direction Yf by the conveyors 51A, 51B and 51C, the main control unit 10 uses 2 stoppers 611. It is moved in the forward transfer direction Yf while being positioned between the sheets B1 and B2. In such a configuration, of the two boards B1 and B2 that are simultaneously conveyed by the conveyors 51A, 51B, and 51C, the succeeding substrate B2 has a reason that the conveying speed of the preceding substrate B1 is slowed down or the preceding substrate B1 is stopped. By catching up with the preceding substrate B1, it is possible to prevent the two substrates B1 and B2 from accidentally contacting each other by the stopper 611.

Further, the main control unit 10 synchronizes the transfer of the two boards B1 and B2 by the conveyors 51A, 51B and 51C with the movement of the stopper 611. Therefore, it is possible to prevent the stopper 611 from inadvertently contacting the substrates B1 and B2 conveyed by the conveyors 51A, 51B and 51C.

FIG. 8 is a diagram showing a second example of the operation of the stopper that can be executed in the servo stop mode. Here, the parts different from the first example described above will be mainly described, and the common parts are designated by corresponding reference numerals and the description thereof will be omitted as appropriate. However, it goes without saying that the same effect can be obtained by providing the same configuration as that of the first example.

In the example of FIG. 8, in the state shown in step S202, it is assumed that the transport of the preceding substrate B1 is obstructed by an obstacle and the substrate B1 stops at a position straddling the work conveyor 51B and the carry-out conveyor 51C. In such a case, the conveyors 51A, 51B, and 51C are stopped with an error, and the display unit 14 issues a warning to the user. Then, when the user who has confirmed the warning removes the obstacle, he / she inputs a command to the input unit 15 to execute the board discharge operation for discharging the preceding board B1.

Upon receiving such a command, the main control unit 10 controls the horizontal movement of the stopper head 61 to bring the stopper 611 into contact with the succeeding substrate B2 from the downstream side of the forward transport direction Yf (step S204), and then the conveyor. The toothed belts Cb of 51B and 51C are rotated (step S205). As a result, the preceding substrate B1 can be discharged from the working conveyor 51B to the unloading conveyor 51C while the succeeding substrate B2 is stopped by the stopper 611 (step S206).

In the embodiment described above, the main control unit 10 stops the succeeding board B2 on the upstream side of the forward transport direction Yf among the two boards B1 and B2 arranged at intervals in the forward transport direction Yf by the stopper 611. By rotating the work conveyor 51B while rotating the work conveyor 51B, a substrate discharge operation is executed in which the preceding board B1 on the downstream side of the forward transport direction Yf out of the two boards B1 and B2 is discharged from the carry-in conveyor 51A in the forward transport direction Yf (step). S204 to S206). In such a configuration, for example, when the transport of the preceding board B1 is obstructed by an obstacle and an error is stopped, the board discharging operation is executed after the obstacle is removed by the user, so that the succeeding board B2 is left. Only the preceding substrate B1 can be discharged.

FIG. 9 is a diagram showing a third example of the operation of the stopper that can be executed in the servo stop mode. This third example shows a recovery operation that can be executed when the stop position Ls of the substrate B in the servo stop mode deviates from the work position Lo. That is, as shown in step S105 of FIG. 9, the stop position Ls of the substrate B stopped by the servo stop mode is deviated from the working position Lo by the deviation amount ΔY in the forward transport direction Yf. When such a positional deviation is confirmed in step S106 in the flowchart of FIG. 6 above, the main control unit 10 executes the next operation instead of steps S107 to S111, and then executes step S113.

That is, the main control unit 10 brings the stopper 611 into contact with the substrate B from the downstream side of the forward transport direction Yf (step S121), and then moves the stopper 611 in the reverse transport direction Yb. As a result, the main control unit 10 pushes the substrate B in the reverse transfer direction Yb by the stopper 611 to move the substrate B to the working position Lo (step S122).

In this way, when the main control unit 10 confirms that the stop position Ls of the board B stopped by the servo stop mode is deviated from the work position Lo in the forward transport direction Yf, the stopper 611 causes the board B to move in the reverse transport direction Yb. The substrate is moved to the working position Lo by pushing toward. In such a configuration, even if the substrate B slips, the substrate B can be reliably positioned at the working position Lo.

FIG. 10 is a diagram showing a fourth example of the operation of the stopper that can be executed in the servo stop mode. This fourth example also shows a recovery operation like the third example. That is, as shown in step S105 of FIG. 10, the stop position Ls of the substrate B stopped by the servo stop mode deviates from the working position Lo (step S132 of FIG. 10) by the amount of deviation ΔY in the forward transport direction Yf. ing. When such a positional deviation is confirmed in step S106 in the flowchart of FIG. 6 above, the main control unit 10 executes the next operation instead of steps S107 to S111, and then executes step S113.

That is, the main control unit 10 positions the stopper 611 on the transport machine path of the substrate B in the reverse transport direction Yb at a position adjacent to the working position Lo from the downstream side in the reverse transport direction Yb (step S131). Then, the main control unit 10 conveys the substrate B in the reverse transfer direction Yb by the work conveyor 51B, and the substrate B that has reached the work position Lo abuts on the stopper 611 and stops at the work position Lo (step S132). ).

In this way, when the main control unit 10 confirms that the stop position Ls of the board B stopped by the servo stop mode is deviated from the work position Lo in the forward transfer direction Yf, the work conveyor 51B moves the substrate B in the reverse transfer direction. The substrate B is stopped by transporting the substrate B to Yb and bringing the substrate B that has reached the working position Lo into contact with the stopper 611 from the upstream side of the reverse transport direction Yb. In such a configuration, even if the substrate B slips, the substrate B can be reliably positioned at the working position Lo.

As described above, in the present embodiment, the substrate holding mechanism 4 and the main control unit 10 cooperate to function as an example of the "board transfer device" of the present invention, and the belt conveyor C becomes an example of the "conveyor" of the present invention. The toothed belt Cb corresponds to an example of the "toothed belt" of the present invention, the toothed pulley Cp corresponds to an example of the "toothed pulley" of the present invention, and the conveyor motor Mc corresponds to the "servo" of the present invention. The stopper 611 corresponds to an example of the "stopper" of the present invention, the main control unit 10 corresponds to an example of the "control unit" of the present invention, and the recognition camera 71 corresponds to the "detection" of the present invention. The forward transport direction Yf corresponds to an example of the "forward transport direction" of the present invention, the reverse transport direction Yb corresponds to an example of the "reverse transport direction" of the present invention, and the substrate B corresponds to the present. The substrate B1 and B2 correspond to an example of the "two substrates" of the present invention, the substrate B1 corresponds to an example of the "preceding substrate" of the present invention, and the substrate B2 corresponds to an example of the "board" of the present invention. The working position Lo corresponds to an example of the "target position" of the present invention, the stop position Ls corresponds to an example of the "stop position" of the present invention, and corresponds to an example of the "subsequent substrate" of the present invention. The stopper stop mode corresponds to an example of the "first stop mode" of the present invention, the servo stop mode of step S105 corresponds to an example of the "second stop mode" of the present invention, and steps S106 to S111 correspond to the "second stop mode" of the present invention. The threshold corresponds to an example of the "mode examination process", the threshold corresponds to an example of the "threshold" of the present invention, steps S204 to S206 correspond to an example of the "board ejection operation" of the present invention, and the printing machine 1 corresponds to the present invention. The mask holding unit 2 corresponds to an example of the "mask holding portion" of the present invention, the mask M corresponds to an example of the "mask" of the present invention, and the squeegee unit 3 corresponds to the present invention. The squeegee unit corresponds to an example of the "squeegee unit" of the present invention, the squeegee 31 corresponds to an example of the "squeegee" of the present invention, the "print program" corresponds to an example of the "printing program" of the present invention, and the cleaning unit 72 corresponds to the present invention. Corresponds to an example of the "cleaning unit" of.

The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-mentioned one without departing from the spirit of the present invention. For example, according to the flowchart of FIG. 6 above, the servo stop mode is set by default, and when the substrate B slips, it is switched to the stopper stop mode. However, the criteria for selecting either the servo stop mode or the stopper stop mode is not limited to this.

For example, when a print program is generated by a server external to the printing machine 1, which stop mode may be used may be set in the print program. At this time, when the substrate B to be printed is less than the predetermined weight, the stopper stop mode is selected, while when the substrate B to be printed is the predetermined weight or more, the servo stop mode is selected and the printing program is performed. Can be set. Alternatively, when the substrate B having a notch at the upstream end of the forward transport direction Yf is stopped, the stop position of the substrate B may be shaken depending on which part of the end the stopper 611 abuts. Therefore, the servo stop mode may be selected and set in the print program regardless of the weight of the substrate B.

In such a configuration, the printing machine 1 selectively executes one stop mode specified in the printing program among the stopper stop mode and the servo stop mode. Therefore, it is possible to stop the substrate B by an appropriate method according to the specifications of the printing program among the stopper stop mode and the servo stop mode.

Alternatively, the input unit 15 (input operation unit) accepts the input operation of the user who selects either the stopper stop mode or the servo stop mode, and the main control unit 10 receives the input operation selected by the input operation to the input unit 15. You may execute the mode. In such a configuration, the substrate B can be stopped by an appropriate method according to the user's needs among the stopper stop mode and the servo stop mode.

Further, the specific configuration such as the shape and dimensions of the stopper 611 can be appropriately changed, and the execution order of each step in the flowchart of FIG. 6 can be appropriately changed.

Further, the substrate processing apparatus capable of executing the above-mentioned substrate transfer method using FIG. 6 and the like is not limited to the printing press 1. Therefore, this board transfer method can also be executed in a component mounting machine that mounts components on the substrate B.

FIG. 11 is a partial plan view schematically showing the component mounting machine according to the present invention. This component mounting machine 9 has a main control unit 90 (control unit) which is a processor composed of a CPU, RAM, and the like, and the main control unit 90 is based on a mounting program that defines a mounting procedure for components on the substrate B. By controlling each part of the component mounting machine 9, component mounting is executed.

The component mounting machine 9 includes a board transfer unit 51 similar to the above. Then, the component mounting machine 9 executes the transfer of the board B required for component mounting by the board transfer unit 51. That is, the component mounting machine 9 mounts the components on the board B carried into the work position Lo from the upstream side in the Y direction by the board transfer section 51, and the board B for which the component mounting is completed is placed in the work position by the board transfer section 51. Carry out from Lo to the downstream side in the Y direction. In particular, each of the conveyors 51A, 51B, and 51 of the substrate transport unit 51 is provided with a conveyor motor Mc as described above, and the main control unit 90 works on the substrate B by servo control to the conveyor motor Mc. It can be stopped at the position Lo (servo stop mode).

Two component supply units 91 are arranged in the Y direction on both sides of the board transfer unit 51 in the X direction, and a plurality of tape feeders 911 are arranged in the Y direction in each component supply unit 91. For each tape feeder 911, a component supply reel around which a component supply tape containing small pieces such as integrated circuits, transistors, capacitors, etc. is housed at predetermined intervals is arranged, and each tape feeder 911 has a component supply reel. By intermittently feeding out the component supply tape drawn from the component supply reel, the component is supplied to the component supply position at the tip thereof.

Further, the component mounting machine 9 includes the same stopper unit 6 as described above. Therefore, the main control unit 90 can stop the substrate B at the working position Lo by using the stopper 611 provided on the stopper head 61 of the stopper unit 6 (stopper stop mode).

Further, a mounting head 92 is attached to the stopper head 61 of the stopper unit 6, and the mounting head 92 can move in the X direction and the Y direction along with the stopper head 61. A plurality of nozzles 93 arranged in a row at a predetermined pitch in the X direction are detachably attached to the mounting head 92. Then, when the nozzle 93 of the mounting head 92 is opposed to the component supply position from above, the main control unit 90 attracts the component supplied to the component supply position to the nozzle 93. Subsequently, the main control unit 90 moves the nozzle 93 that has attracted the component to the upper side of the substrate B, and causes the nozzle 93 to release the adsorption of the component to mount the component on the substrate B.

Then, the component mounting machine 9 can appropriately execute the above-mentioned substrate transfer method. At this time, the same deformation as that for the printing machine 1 can be performed on the component mounting machine 9. For example, various criteria can be considered as the criteria for selecting either the servo stop mode or the stopper stop mode.

Specifically, when the mounting program is generated by the server outside the component mounting machine 9, it may be configured so that which stop mode is used can be set in the mounting program. In such a configuration, the substrate B can be stopped by an appropriate method according to the provisions of the mounting program among the stopper stop mode and the servo stop mode.

1 ... Printing machine 10 ... Main control unit (board transfer device, control unit)
2 ... Mask holding unit (mask holding unit)
3 ... Squeegee unit 31 ... Squeegee 4 ... Board holding mechanism (board transfer device)
611 ... Stopper 71 ... Recognition camera (detection unit)
72 ... Cleaning unit 9 ... Parts mounting machine 92 ... Mounting head B ... Board B1 ... Leading board B2 ... Subsequent board C ... Belt conveyor (conveyor)
Cb ... Toothed belt Cp ... Toothed pulley Lo ... Working position (target position)
Ls ... Stop position M ... Mask Mc ... Conveyor motor (servo motor)
Yb ... Reverse transport direction Yf ... Forward transport direction S112 ... Stopper stop mode (first stop mode)
S105 ... Servo stop mode (second stop mode)
S106 to S111 ... Mode examination processing S204 to S206 ... Board ejection operation

Claims (17)

It has an endless toothed belt and a toothed pulley that meshes with the toothed belt, and by rotating the toothed belt with the rotation of the toothed pulley, the substrate on the toothed belt is sequentially moved. A conveyor that transports in the transport direction and
A servo motor that rotates the toothed pulley and
With a stopper
The servomotor has a first stop mode in which the substrate is stopped by bringing the substrate that has reached the target position into contact with the stopper from the upstream side in the forward transport direction, and a timing at which the substrate reaches the target position. A board transfer device including a control unit that selectively executes a second stop mode for stopping the board by executing servo control on the servo motor so as to stop. The substrate transfer device according to claim 1, further comprising a detection unit that detects a stop position of the substrate and transmits the stop position to the control unit. The control unit examines the necessity of switching from the second stop mode to the first stop mode based on the result of comparing the stop position of the substrate stopped by the second stop mode with the target position. The board transfer device according to claim 2, wherein the mode review process is executed, and when it is determined that the switching is necessary in the mode review process, the board is stopped after the mode review process in the first stop mode. .. The substrate according to claim 3, wherein the control unit determines whether or not the switching is necessary based on the result of determining whether or not the difference between the stop position and the target position is larger than the threshold value in the mode examination process. Transport device. In the mode examination process, the control unit confirms that the difference between the stop position and the target position is larger than the threshold value for N substrates (N is an integer of 2 or more) continuously conveyed by the conveyor. Then, the board transfer device according to claim 4, wherein it is determined that the switching is necessary. When the control unit confirms that the stop position of the substrate stopped by the second stop mode is deviated from the target position in the forward transport direction, the stopper reverses the substrate to the forward transport direction. The substrate transfer apparatus according to any one of claims 2 to 5, wherein the substrate is moved to the target position by pushing the substrate in the reverse transport direction. When the control unit confirms that the stop position of the substrate stopped by the second stop mode is deviated from the target position in the forward transport direction, the conveyor reverses the substrate to the forward transport direction. 2. Board transfer device. When two substrates arranged at intervals in the forward transport direction are simultaneously conveyed by the conveyor, the control unit moves the stopper in the forward transport direction while positioning the stopper between the two substrates. The substrate transfer device according to any one of claims 1 to 7. The substrate transfer device according to claim 8, wherein the control unit synchronizes the transfer of the two boards by the conveyor with the movement of the stopper. The control unit rotates the conveyor while stopping the succeeding substrate on the upstream side in the forward transport direction by the stopper among the two substrates arranged at intervals in the forward transport direction. The substrate transfer apparatus according to any one of claims 1 to 7, wherein a substrate ejection operation of ejecting a preceding substrate on the downstream side in the forward transfer direction from the conveyor in the forward transfer direction can be executed. It has an input operation unit that accepts an input operation of a user who selects either the first stop mode or the second stop mode.
The one according to claim 1 to 10, wherein the control unit executes one stop mode selected by the input operation to the input operation unit from the first stop mode and the second stop mode. Board transfer device. It has an endless toothed belt and a toothed pulley that meshes with the toothed belt, and by rotating the toothed belt with the rotation of the toothed pulley, the substrate on the toothed belt is sequentially moved. A conveyor that transports in the transport direction and
A servo motor that rotates the toothed pulley and
With a stopper
The mask holding part that holds the mask and
A squeegee unit that slides the squeegee on the upper surface of the mask,
The servomotor has a first stop mode in which the substrate is stopped by bringing the substrate that has reached the target position into contact with the stopper from the upstream side in the forward transport direction, and a timing at which the substrate reaches the target position. It is provided with a control unit that selectively executes a second stop mode in which the substrate is stopped by executing servo control on the servo motor so as to stop.
The control unit slides the squeegee on the upper surface of the mask while raising the stopped substrate toward the mask and bringing it into contact with the mask from below, thereby passing through the pattern of the mask. A printing machine that prints paste on the substrate. The control unit controls the squeegee unit based on a printing program including at least a printing pressure for pressing the squeegee against the mask and a speed at which the squeegee slides on the mask, and also controls the squeegee unit, the first stop mode, and the second stop mode. The printing machine according to claim 12, wherein one of the stop modes specified in the printing program is selectively executed. A cleaning unit for cleaning the mask is further provided by sliding the sheet onto the mask while pressing the sheet against the mask from below.
The printing machine according to claim 12 or 13, wherein the control unit performs substrate transfer for transporting the substrate toward the target position by the conveyor and cleaning of the mask by the cleaning unit in parallel. It has an endless toothed belt and a toothed pulley that meshes with the toothed belt, and by rotating the toothed belt with the rotation of the toothed pulley, the substrate on the toothed belt is sequentially moved. A conveyor that transports in the transport direction and
A servo motor that rotates the toothed pulley and
With a stopper
With the mounting head,
The servomotor has a first stop mode in which the substrate is stopped by bringing the substrate that has reached the target position into contact with the stopper from the upstream side in the forward transport direction, and a timing at which the substrate reaches the target position. It is provided with a control unit that selectively executes a second stop mode in which the substrate is stopped by executing servo control on the servo motor so as to stop.
The control unit is a component mounting machine that causes the mounting head to mount components on the stopped board. The control unit controls the mounting head based on a mounting program that defines a mounting procedure for the component on the board, and one of the first stop mode and the second stop mode specified in the mounting program. The component mounting machine according to claim 15, which selectively executes the stop mode of the above. A process of transporting the substrate on the toothed belt in the forward transport direction by rotating an endless toothed belt that meshes with the toothed pulley as the toothed pulley rotates.
A first stop mode for stopping the substrate by causing contact the substrate that has reached the target position from the upstream side of the forward conveying direction to scan stopper, said toothed pulley at a timing when the substrate reaches the target position A substrate transfer method comprising a step of selectively executing a second stop mode in which the substrate is stopped by executing servo control on the servomotor so that the servomotor that drives the board is stopped.

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