JPS6366439B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a board transfer device for an automatic assembly machine that mounts and assembles electronic components on a circuit board for electrical equipment.

A circuit board is produced by assembling various parts 2, 2, . . . on a board 1, as shown in FIG. FIG. 2 shows an example of an automatic assembly machine equipped with a conveyance device, in which the substrates 1 are sequentially conveyed to assembly stations 4 and 4' by means of a feed claw 3. Electronic components supplied by parts feeders 5, 5, etc. are loaded onto the board 1 by a component mounting head (not shown) to the board positioned at the assembly station 4 or 4'.
mounted on top.

Conventionally, the substrate 1 is generally fed by sliding on guide rails 6 and 7, but when the external dimensions of the substrate 1 are changed, the following various points need to be readjusted.

(a) Changing the interval between the guide rails 6 and 7 according to the width w of the board 1.

(b) Move the feed claw 3 so that it is located in the center of the guide rails 6 and 7.

(c) The amount by which the feed claw 3 pushes the board 1 in the longitudinal direction of the guide rail is changed in accordance with the length l of the board.

Since each of the items (a), (b), and (c) above requires adjustment, it takes a lot of time and effort to readjust the transport mechanism when changing the external dimensions of the circuit board in conventional automatic circuit board assembly machines. It required The reduction in efficiency of circuit board assembly work due to the above-mentioned problems is particularly significant in the case of medium- to small-volume production of multiple models.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an automatic dimension-adjustable substrate transfer device that can be quickly and easily adapted to changes in substrate dimensions.

In order to achieve the above object, the present invention provides a fixed guide rail, a movable guide rail provided so as to be movable in parallel with the fixed guide rail, and a movable guide rail provided between the fixed guide rail and the movable guide rail. , equipped with a feed claw to feed the board, advance, descend,
In a substrate transfer device consisting of a feed rod that repeats backward and upward movements, an automatic control device is attached to automatically adjust the substrate transfer device according to the dimensions of the substrate, and (a) the above automatic a movable guide rail parallel movement means for causing the movable guide rail to move in parallel by a control device; (b) an interlocking means for moving the feed rod in parallel in conjunction with the parallel movement of the movable guide rail; and (c) the above. The present invention is characterized in that it is provided with: a drive means for the feed rod that controls the amount of feed of the feed rod by an automatic control device, so that it can be easily adapted to substrates of various sizes.

Next, an embodiment of the present invention will be described with reference to FIGS. 3 to 5.

FIG. 3 is an overall perspective view of the substrate transport device.
A fixed guide rail 6 is fixed to the above-mentioned automatic circuit board assembly machine (not shown), and a movable guide rail 7 is provided so as to face parallel to the fixed guide rail 6. A guide shaft 8 (only one is shown) is fixed to each end of the movable guide rail 7, supported by a ball bush 9, and guides the movable guide rail 7 so that it can move freely in parallel in the directions of arrows A and A'. do.
Then, attach the rack 10 to the above movable guide rail.
10 is fixed, and the gears 17, 17 meshing with the gears are driven by the stepping motor 11.
A transmission means consisting of timing pulleys 12, 12, a timing belt 13, a reducer 14, a gear 15, and a gear 16 is provided.

The above-mentioned stepping motor 11 is automatically operated to move the movable guide rail 7 in parallel in the directions of arrows A and A', and the distance between the guide rails 6 and 7 is adjusted to the width dimension of the substrate 1, which is the object to be transported. An automatic control device 60 is attached that has the function of adapting.

The movable guide rail parallel movement means is easy 1.
0, 10, gear 17, 17, gear 16, gear 1
5, reducer 14, timing pulley 12, 12,
Timing belt 13 and stepping motor 1
Consists of 1.

The feed rod 29 is supported by two sliders 23 (only one is shown), and the slide shaft 21 with a rack fixed to the sliders 23 is mounted on the holder 2.
2, and the feed rod 29 is positioned between and parallel to the fixed guide rail 6 and the movable guide rail 7, and is supported so as to be freely movable in parallel in the directions of arrows A and A'. .

Then, the slide shaft 21 with the rack
The gear 20 is meshed easily with the gear 20.
A gear 18, which is integrally connected via a rod 19, is meshed with the aforementioned gear 15 for driving the movable guide rail.

The gear 18 mentioned above has the same number of teeth as the gear 16.
As a result, gear 18 and gear 16 are rotated in the same direction and at the same speed, and therefore gear 17 and gear 20 are interlocked in the same direction and at the same speed. The pitch circle diameter of the gear 20 is set to 1/2 of the pitch circle diameter of the gear 17. As a result, the slide shaft 21 with rack moves in the same direction at 1/2 the speed of the rack 10. Therefore, the feed rod 29 moves in the same direction as the movable guide rail 7 at 1/2 the speed.

With the above configuration, when the stepping motor 11 rotates and moves the movable guide rail 7 in parallel by a certain distance, for example Smm, in the direction of arrow A, the feed rod 29 moves in parallel by S/2mm in the direction of arrow A. Therefore, when assembling and adjusting this substrate transfer device,
If the position of the feed rod 29 is adjusted to be in the center between the fixed guide rail 6 and the movable guide rail 7, then when the movable guide rail 7 moves in parallel in the directions of arrows A and A', the feed rod will 29
is always moved in parallel so that it is always located at the center of both guide rails 6 and 7.

The interlocking means for moving the feed rod in parallel includes a slider 28, a slide shaft 21 with a rack, a gear 20, a rod 19, a gear 18, a gear 15, a reducer 14, timing pulleys 12, 12, a timing belt 13, and a stepping motor 11. configured.

As mentioned above, the feed rod 29, which is interlocked in the directions of arrows A and A', can move up and down (directions of arrows B and B') and forward and backward (directions of arrows C and C') without interfering with the interlocking function described above. As driving means for feeding the substrate 1, a lever 26 is rotated back and forth by an air cylinder 24, and a rack 3 is driven back and forth by a stepping motor 35.
4 will be provided.

An XX' view of the vicinity of the lever 26 is shown in FIG. 4, and a YY' view of FIG. 4 is shown in FIG.

A spline shaft 32 is fitted into a spline bearing 31 attached to the feed rod 29, and the spline shaft 32 is fixed to the feed rod holder 27. A lever 26 is rotated around a lever shaft 25 by an air cylinder 24.
and the above-mentioned feed rod holder 27 are rotatably connected by a pin 30. The air cylinder 24
is expanded and contracted by an air operation valve 61 controlled by an automatic control device 60.

The air cylinder 24 and lever shaft 25 described above are attached to the slide block 33. On the other hand, the slide shafts 41, 41 are supported in parallel with the feed rod 29 by a fixed block 42, and the slide block 33 is slidably attached to the slide shaft 41 via a linear bearing 43.

In order to slide the above slide block 33 along the slide shaft 41, a rack 34 is fixed to the slide block 33, and the automatic control device 60
A stepping motor 3 operated by
The gear 36 attached to the gear 5 is meshed with the rack 34 (see FIG. 3). 28 is an interlocking rod,
It is interposed between two levers 26 (only one is shown) and rotatably attached. This allows the two levers 26 to be moved by one air cylinder 24.

On the upper surface of the feed rod 29, fixed feed claws 37 and damper type feed claws 38 are suitably arranged and arranged at regular intervals (see FIG. 4). The fixed feed pawl 38 mentioned above is for feeding the substrate 1 at a constant pitch, and is fixed to the upper surface of the feed rod. The driving means for the feed rod includes a stepping motor 35, a gear 36, a rack 34, a slide block 33, and a lever shaft 2.
5, lever 26, pin 30, feed rod holder 2
7. Consists of a spline shaft 32 and a spline bearing 31. In addition to the damper-type feed claw 38 that feeds the board 1 at a constant pitch,
In order to set the board 1 in a fixed position on the assembly station, the feed rod 29 is provided with a biasing function to press the board against the stopper 39 (FIG. 1).
In contrast, it is elastically supported via a spring 40.

The stopper 39 has the function of coming into contact with the board 1 being fed along the guide rails 6 and 7 and positioning it at the assembly station, and of retracting the board 1 after it has been assembled in order to send it out. As shown in Figure 5, the air cylinder 4
5 to a stopper lever 46 which is rotated around a pin 47. The air cylinder 45 is expanded and contracted by an automatic control device 60 via an air operation valve 62.

A board clamp portion 51 is provided for positioning the board 1 in the horizontal direction perpendicular to the transport direction when it is set on the assembly station (FIG. 5).
The spring 4 is held by the push rod holder 63.
The push rod holder 63 is held by an air cylinder 48 so as to be able to reciprocate in the directions of arrows D and D'. This allows pushrod 5
When 0 is pushed rightward, it comes into contact with the board 1 and urges it toward the guide rail 6, thereby positioning the board 1.

In this embodiment, the feed rod 29 is moved by arrow C,
The stepping motor 35, which is driven in the C' direction to feed the substrate, is controlled as follows, and the amount of feed is varied in accordance with the dimensions of the substrate.

FIG. 6 is a plan view for explaining the feeding amount in the substrate feeding operation. The substrate position when the substrate 1 is fed in the direction of arrow C and comes into contact with the stopper 39 is indicated by 1', and the substrate is fed to position 1'. The position of the substrate just before it is placed is indicated by 1''.

When the feed rod 29 retreats in the direction of arrow C',
Bring the front end of the damper-type feed claw 38 into contact with the rear edge of the board at position 1''.At this time, move the feed claw 38 to position 3.
8''. At this time, the distance between the front end of the feed claw 38'' and the stopper 39 is L.

When the board 1 is pressed toward the stopper 39 by the damper type feed pawl 38, the deflection amount Δl of the spring 40 is set in advance. Then, the appropriate feed amount D of the feed rod 29 is determined as follows. D=
L−l+Δl l is the lengthwise dimension of the substrate 1.
If the feed pawl at the 38'' position advances by a distance D in the direction of arrow C, it will reach the position P shown by the chain line, but when it reaches the 38' position on the way, the board 1 will move to the stopper 39.
Since it comes into contact with and stops at the 1'' position, the spring 40' is deflected by Δl, and the feed pawl stops at the 38' position.

As is clear from the above explanation, when the dimensions of the substrate, which is the object to be transported, change, the feed operation amount D of the feed rod 29 is changed according to the length l, D = L - l.
It must be changed so that it becomes +Δl. The apparatus of this embodiment automatically adjusts the feed amount D as follows.

The limit switch 5 detects the position of the substrate 1 near the starting point of conveyance on the feed rod 29 shown in FIG.
2 is provided, thereby inputting a signal of the substrate feed origin position to the automatic control device 60.

In addition, a limit switch 53 is provided that comes into contact with a preset reference position when the movable guide rail 7 moves in parallel in the directions of arrows A and A'.
The automatic control device 60 is made to input a signal of the origin position at the interval (guide width) between the guide and the guide.

Then, the dimensional data of the substrate 1 input to the magnetic cassette tape is given to the automatic control device 60, and the automatic control device 60 is caused to perform automatic adjustment as shown in the flowchart of FIG.

In the first flow 54, the stepping motor 35 for feeding operation is controlled by the signal from the limit switch 52 for detecting the origin position of substrate feeding, and the position of the feeding rod 29 in the forward and backward directions is adjusted to the reference position.

Next, in flow 55, the stepping motor 11 for driving the movable guide rail 7 is controlled by the signal from the guide width detection limit switch 53 to set the guide width to a predetermined reference dimension. Then, the substrate transport data 64 input to the magnetic tape is given. Once the dimensions of the substrate 1, which is the object to be transported, are determined, the required movement amount of the movable guide rail 7 and the above-mentioned feed amount D are determined accordingly, so these values are included in the substrate transport data 64. Enter.

The guide width movement amount data is set in flow 56, and the guide width changing stepping motor 11 is rotated by an appropriate amount in flows 57 and 58.
The guide width is adjusted according to the width dimension of the substrate 1.

In flow 59, the board feed amount data is set, and the stepping motor 35 for feeding operation adjusts the appropriate feed amount D=L-l+Δl corresponding to the length l of the board.
The feed rod 29 is set to reciprocate by a feed amount D in the directions of arrows C and C' by forward and reverse rotation corresponding to .

Due to the effects explained above, the device of this embodiment can:
When changing the dimensions of a board to be transported, if the board dimension data is provided using a magnetic cassette tape, the distance between the guide rails 6 and 7 is automatically set, as well as an appropriate board feed amount. So,
It is possible to significantly reduce the labor and loss time required for so-called setup change work associated with changes in board dimensions.

When the guide width and feed amount are set as described above, the feed rod 29 is moved according to the program pre-installed in the automatic control device (see Fig. 3). Downward movement in the direction of arrow C' (b) Return movement in the direction of arrow C' by the stepping motor 35 (c) Upward movement in the direction of arrow B by the air cylinder 24 (d) Feed movement in the direction of arrow C by the stepping motor 35 (a) ), (b), (c), and (d) are sequentially repeated to automatically transport the substrate 1.

As explained above, the present invention provides a substrate transport device that includes a fixed guide rail, a movable guide rail, and a feeding rod equipped with a feeding claw. An automatic control device for automatically adjusting the device is attached, and (a) a movable guide rail parallel movement means operated by the above automatic control device, and (b) an amount of parallel movement of the above movable guide rail. (c) a means for driving the feed rod whose feed operation amount is controlled by the automatic control device described above; Can adapt quickly and easily.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an example of a circuit board, Fig. 2 is a plan view showing an example of a circuit board assembly device, and Fig. 3 is a perspective view showing an example of a circuit board assembly device.
The figure is a perspective view of one embodiment of the substrate transfer device according to the present invention, FIG. 4 is a view taken along the line X-X' in FIG. 3, and FIG. 6 is a schematic plan view for explaining the feed amount in the embodiment,
FIG. 7 is a flowchart of the above embodiment. 1, 1', 1''...board, 6...fixed guide rail,
7... Movable guide rail, 11, 35... Stepping motor, 14... Speed reducer, 15, 16, 17, 1
8, 20, 36... Gear, 21... Slide shaft with rack, 22... Slide shaft holder with rack, 23... Feed rod slider, 24, 45, 48
...Air cylinder, 26,46...Lever, 27...
Feed rod holder, 29...Feed rod, 31...Spline bearing, 32...Spline shaft, 3
7... Fixed feed claw, 38, 38', 38''... Damper type feed claw, 39... Board stopper, 40, 40', 4
0″...Spring, 43...Linear bearing, 5
1... Board clamp part.

Claims (1)

[Scope of Claims] 1. A fixed guide rail, a movable guide rail provided to be movable in parallel with the fixed guide rail, and a feeder provided between the fixed guide rail and the movable guide rail for feeding the substrate. In a substrate transport device comprising a feed rod that is equipped with claws and repeatedly moves forward, downward, backward, and upward, an automatic control device is provided for automatically adjusting the substrate transport device according to the dimensions of the substrate. (a) movable guide rail parallel movement means for moving the movable guide rail in parallel by the automatic control device; (b) moving the feed rod in parallel in conjunction with the parallel movement of the movable guide rail; An automatic dimension-adjustable substrate transfer device, comprising: interlocking means; and (c) driving means for the feed rod for controlling the feed amount of the feed rod by the automatic control device.