JPH0123000B2 - - Google Patents

Description

[Detailed Description of the Invention] The substrate is placed on an orthogonal coordinate system moving table (hereinafter referred to as X-Y
In the case of automatic machines (e.g. electronic component automatic insertion machines) that carry out processing by mounting a board (referred to as a table), it is also possible to automate the process of placing a board on an X-Y table or taking out a board from an X-Y table. required. The present invention relates to an automatic board mounting apparatus that meets such demands.

Board mounting devices that have been proposed so far include the following. One type is the one described in Patent Application Publication No. 38069 of 1980, in which a substrate supply device (loader), an XY table, and a substrate removal and storage device (unloader) are arranged in a straight line. Although this type has a streamlined structure, the substrate supply device and the substrate removal/storage device protrude from both sides of the machine body, so when the substrate processing machines are lined up in process order, the line becomes long. Other types include those described in Patent Application Publication No. 56686 of 1982. This uses an X-Y table with a hole, and drops the processed substrate down through the hole in the X-Y table, and then discharges it to a stocker. , since the board ejecting and storing devices are not arranged in a straight line on a plane,
Although the installation space is small, the structure becomes three-dimensional and complicated, which is disadvantageous in terms of cost.

The present invention has been made in view of the above points,
The purpose is to provide a board mounting device that is advantageous in terms of both space and cost. That is, in the present invention, a positioning frame is provided on the XY table, one side of this frame corresponds to a loading bridge for supplying substrates, and the side perpendicular to this frame corresponds to an unloading bridge for removing substrates. It is something. In other words, the substrates are fed from the front of the X-Y table and ejected from the side, which reduces the length of the production line compared to a layout where the feeding device and take-out/storage device are lined up on both sides of the machine body. You can save money. Furthermore, since the substrate basically moves along a path on a plane, the configuration does not become particularly complicated and does not lead to an increase in costs.

An embodiment of the present invention will be described below with reference to the drawings. Figure 1 schematically shows the layout of the equipment, where 1 is the main body of the machine that processes the substrates, 2 is the X-Y table on which the substrates are placed, and 3 is the storage area for the substrates to be processed. Stotsuka, 4 is Stotsuka 3 to X-
A loading bridge horizontally supplies substrates to the Y table 2, a stocker 5 stores processed substrates, and an unloading bridge 6 horizontally transfers substrates from the XY table 2 to the stocker 5. represents. The arrangement of the loading bridge 4 and the unloading bridge 6 is at right angles to each other, as can be seen in the figure.

FIG. 2 shows the configuration of the top surface of the XY table 2. Reference numeral 7 denotes a board positioning frame that forms a rectangular space in the center, two adjacent sides of the rectangle are formed by immovable guide plates 8 and 9, and the other two adjacent sides are formed by an inlet side restraining plate 10 and an outlet side, which are movable members. It is constituted by a side restraining plate 11. The immovable guide plates 8 and 9 are normally fixed to the XY table 2 by mounting screws 12, but by loosening the screws 12 they can be moved in the direction of narrowing or widening the rectangle, depending on the size of the board depending on the model. can cope with changes in As shown in FIGS. 3 to 6, grooves 13 into which the edges of the substrate fit are carved into the inner edges of the stationary guide plates 8, 9 and the restraint plates 10, 11. Now, the entrance side restraining plate 10 is supported by a pair of left and right legs 14, 15, and these legs 14, 15 are also supported by parallel links 18, 18 and 19, 19. 1 each of parallel links 18, 18 and 19, 19
In this case, shafts 20 and 21 to be attached to the shaft supports 16 and 17 are extended through the shaft supports 16 and 17, and levers 22 and 2 are attached to the extended ends.
3 is fixed. When the levers 22, 23 are rotated, the links 18, 19 connected thereto via the shafts 20, 21 also rotate, and the parallel links 18, 1
The legs 16, 17 and the restraint plate 10 move in parallel due to the actions of the elements 8, 19, and 19. The situation of the movement is the third.
4, lever 22 (and lever 2
3) rotates downward, the restraining plate 10 moves in parallel in a direction away from the rectangular space formed with other frame members, and further in a direction in which it sinks below the level of that rectangular space. . lever 22,
Rollers 24 and 25 are attached to the tip of 23. These levers 22 and 23 are urged upward by torsion springs 26 and 27 wound around the shafts 20 and 21, that is, in a direction in which the restraint plate 10 attempts to return to the position shown in FIG. The restraining plate 10 is stopped at the position shown in FIG. 3 by a stopper provided at an appropriate location, and does not enter the rectangular space any further.

The loading bridge 4 is the entrance side restraint plate 1
It is placed corresponding to 0. The skeleton of the loading bridge 4 mainly consists of a pair of side plates 28 (third and fourth
(Only one of the inner surfaces is shown in the figure), and both side edges of the substrate 30 are supported and conveyed by belts 29 provided on the inner surfaces of each side plate. This loading bridge 4 can be moved up and down, and is normally supported at the height shown in Figure 3 by a spring (not shown), but when a pneumatic cylinder (not shown) is activated, it is lowered to the height shown in Figure 4. be. 31 is side plate 2
A stopper 33 is a floating plate that is supported vertically by a guide pin 32 at the tip of a stopper 33 that stops the substrate 30 conveyed by the belt 29, and an X-Y table 2 when the loading bridge 4 is lowered. A rod 3 that relatively lifts the floating plate 31 by hitting the rod 3
4 are hanging down. 35 is a spring that urges the floating plate 31 downward; 36 is a limit switch that detects the board 30 caught on the stopper 33 and stops the belt 29; and 37 is a limit switch that integrally extends from the side plate 28 and connects the lever 22 when lowering. It is a pressing leg that tramples on. A similar pressure foot is also provided for the lever 23. 38 is a pneumatic cylinder supported by a fixed base 39, and a pusher 40 for pushing the board 30 supported by the loading bridge 4 into the positioning frame 7 is fixed to the end of the rod.

The outlet side restraint plate 11 is supported by a leg portion 41, and the leg portion 41 is supported by a shaft support 4 fixed to the XY table 2.
2,43. One shaft 44 passes through the shaft support 42, and a lever 45 is fixed to the end thereof. A roller 46 is attached to the tip of the lever 45, and when the roller 46 is pushed and the lever 45 is rotated downward, the leg 41 moves from the position shown in FIG. 5 to the position shown in FIG. It rotates in a direction away from the rectangular space and sinks below the level of the rectangular space. The restraining plate 11 is a lever 45
Due to the torsion spring 47 acting on the leg portion 41 at the pivot support 43,
It is given a restoring force to the position shown in FIG. 5, and is stopped at the position shown in FIG. 5 by a suitable stopper.

The unloading bridge 6 is the outlet side restraint plate 1
1. Similar to the loading bridge 4, the unloading bridge 6 also has a pair of side plates 49 (only one of which is shown in FIGS. 5 and 6) having a conveyor belt 50 on the inside surface forming the main frame, and the main frame of the unloading bridge 6 is It is supported at the position shown in FIG. 5 by a spring (not shown), and when a pneumatic cylinder (not shown) is actuated, it is lowered to the height shown in FIG. 52 is a pneumatic cylinder supported by the unloading bridge 6, and its rod 53 is normally in an extended state as shown in FIG. A hook 54 is fixed to the tip of the rod 53 for pulling the board 30 toward the unloading bridge 6, and the immovable guide plate 9
A cutout 55 through which a hook 54 is passed is formed in the hole.

56 is a positioning plate for positioning the substrate 30 with high precision. The positioning plate 56 is supported by a shaft 59 on shaft supports 57 and 58 on the XY table 2, and a crank 60 is fixed to the tip of the shaft 59 that has passed through the shaft support 57. - A spring 61 stretched between the Y-tables 2 biases the free end in the direction of lifting. Positioning plate 56
There are two upward positioning pins 63 on the free end of the board 30 that engage with through holes 62 provided at predetermined locations on the board 30.
It is protruded in some places. 64 is a housing containing a pneumatic cylinder, and a rod 65 for pushing the crank 60 protrudes from the side. As shown in FIG. 7, when the rod 65 pushes the crank 60, the positioning pin 63 is lowered and the board 30 can be taken in and out. The housing 64 is supported not by the XY table 2 but by the machine body 1 and is immovable.

As seen in FIG. 2, one side of the immovable guide plate 9 and the exit-side restraint plate 11 extends forward beyond the entrance-side restraint plate 10, forming a guideway for guiding the board 30 to the rectangular space. . Similarly, one side of the immovable guide plate 8 is also extended beyond the outlet side restraint plate 11, and the entrance side restraint plate 10 is arranged opposite to this extended portion.
The guide rail 66 is fixed as shown in FIG. 2 to form a guideway on the exit side.

Next, the effect will be explained. The XY table 2, which discharges the processed substrate 30 and is to be supplied with a new substrate, returns to the machine corner where the loading bridge 4 and unloading bridge 6 are waiting, and stops there. When the X-Y table 2 stops, the unloading bridge 6 lowers as shown in FIG. 6, aligns the belt 50 with the immovable guide plate 8 (and guide rail 66), and at the same time sets the restraint plate so that the board 30 can be ejected. Evacuate 11. Subsequently, the pneumatic cylinder 52 retracts the rod 53, and the board 30 hooked to the hook 54 passes through the guideway constituted by the immovable guide plate 8 and the guide rail 66 and is horizontally transferred to the belt 50. At the same time, the belt 50 starts to move and carries the substrate 30 toward the stocker 5, and the unloading bridge 6 and rod 53 rise and extend, respectively, returning to the state shown in FIG. During this time, the positioning pin 63 is connected to the rod 65.
It is held at a position away from the substrate 30 by. After the restraining plate 11 is restored, the loading bridge 4 descends as shown in FIG. 4, and the restraining plate 10 is retracted so that the substrate 30 can be received. Further, when the rod 34 hits the XY table 2, the stopper 33 releases the restraint of the board 30. At this time, the bridge 4 has descended to a height where the conveying surface of the belt 29 is aligned with the immovable guide plate 9 and the restraint plate 11, and the pusher 40 bumps its head behind the board 30, which was stopped by the stopper 33. The substrate 30 is pushed horizontally into a predetermined positioning position through a guideway consisting of an immovable guide plate 9 and a restraint plate 11 by the operation of a pneumatic cylinder 38. After the pushing is completed, the pusher 40 returns and the loading bridge 4 rises. Accordingly, the restraining plate 10 follows the substrate 30 from behind, captures it, and presses it against the immovable guide plate 8. Next, the rod 65 holding the positioning plate 56 in the non-engaging position retreats as shown in FIG. 8, and the positioning pin 63 rises to engage the through hole 62 of the board 30.
The substrate 30 is precisely positioned. After the substrate 30 is held firmly on the positioning frame 7 in this manner, the XY table 2 starts moving and heads toward the substrate processing station.

As explained above, in the present invention, one side of the substrate positioning frame provided on the XY table is configured as the substrate entrance, and one side perpendicular to this is configured as the substrate exit. can be arranged at right angles and combined with the machine body, which is advantageous in terms of space when forming a series of processing lines. Furthermore, since the mechanism of the positioning frame is only changed, and there is no major change in the structure of the machine itself, it does not lead to an increase in costs.
In addition, since the substrate restraining members provided at the entrance and exit of the positioning frame are moved by the approach of the loading bridge or unloading bridge to open the passage, the power source for the restraining members is attached to the XY table. There is no need to provide a holder, and the structure can be simplified and the moving mass can be reduced.

[Brief explanation of drawings]

The figures show one embodiment of the device of the present invention, with Fig. 1 being a schematic diagram of the layout, Fig. 2 being a top view of the X-Y table, and Figs. 5 and 6 are cross-sectional views explaining the structure and related operations of the unloading bridge and exit side restraining plate. FIGS. 7 and 8 are the structure of the positioning plate. FIG. 3 is a sectional view illustrating the operation. 2...X-Y table, 7... Board positioning frame, 10... Entrance side restraint plate (entrance side restraint member), 11... Outlet side restraint plate (exit side restraint member),
4... Loading bridge, 30... Board, 3
8... Pneumatic cylinder (means for pushing the substrate into the positioning frame), 6... Unloading bridge, 52... Pneumatic cylinder (means for pulling the substrate from the positioning frame into the unloading bridge).

Claims (1)

[Claims] 1. A moving table in an orthogonal coordinate system, a substrate positioning frame provided on the table, an entrance-side restraining member provided on two mutually perpendicular sides of the frame and always energized in a direction to restrain the substrate; a loading bridge that is movable toward and away from the outlet-side restraint member and the entrance-side restraint member, and when approached, retracts the restraint member against an applied force to enable horizontal entry of the board into the positioning frame; a means for pushing the board from the loading bridge into the positioning frame in response to the retracting movement of the entrance-side restraint member; an unloading bridge that allows the board to escape horizontally out of the positioning frame by retracting the board against a Equipped with board mounting equipment.