JPH0532180B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a substrate transport device used in a process of processing a substrate such as an electronic circuit board.

(b) Conventional technology A production method in which a board transport line is configured with parallel guide rails and the board is processed while moving the board along this board transport line has been widely put into practical use in the electronic circuit board assembly process. . In such devices, claws often sweep the substrate to a subsequent station. Examples can be found in JP-A-59-139414, JP-A-61-187629, JP-A-62-136443, and the like. It is also common to have a variable spacing between one guide rail and the other to accommodate substrates of different widths.
Examples thereof include JP-A No. 62-144207, JP-A-57-77213, and JP-A-59-42066.

(c) Problems to be solved by the invention When pushing a board in a board transport line with a claw, if the pushing position is far off from the center line of the board, the board will be twisted and the board will not be fed smoothly. There may be cases where this is not the case. Therefore, we want to always push the board near the center line. By the way, when the width of the board changes, one of the guide rails does not move and only the other moves, so the position of the center line of the board changes each time. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a device that can automatically change the position of the claws in response to a change in the width of the board and a shift in the position of the center line of the board.

(d) Means for Solving the Problems In the present invention, a slider is arranged in parallel to a substrate transport line consisting of a fixed guide rail and a movable guide rail, and a claw for feeding the substrate is made to protrude from the slider. The support frame of the slider is installed on a slide track extending perpendicularly to the substrate transport line. A stationary rack is provided parallel to this slide track, and the movable support member of the movable guide rail is
Similarly, install a movable rack parallel to the slide track. A pinion pivotally connected to the slider support frame is engaged with the fixed rack and the movable rack.

(E) Effect When the width of the board increases or decreases by a value of W ₁ , the distance between the movable guide rail and the fixed guide rail increases or decreases by W ₁ . As the movable guide rail moves, rotation is imparted to the pinion of the support frame by the movable rack, and the pinion rolls on the fixed rack. The distance the pinion moves is W ₁ /2, that is, the support frame moves by half the amount of movement of the movable guide rail. By the way, the position of the center line of the board is also W ₁ / when viewed from the fixed guide rail.
Since the distance of 2 is changed, the displacement of the pawl and the displacement of the center line of the substrate eventually match, and it becomes possible to always bring the pawl into contact with the vicinity of the center line of the substrate.

(F) Embodiment 1 is a substrate transfer line in which substrates are passed between parallel guide rails. In the substrate transfer line 1, a portion corresponding to the processing station 3 is constituted by a substrate positioning device 5 that moves two-dimensionally within a horizontal plane.
The upstream part is the loading bridge 7, and the downstream part is the unloading bridge 9.
It is becoming. The substrate positioning device 5 has parallel guide rails 11, 12, and the loading bridge 7 and unloading bridge 9 also have parallel guide rails 13, 14, 15, 16. The guide rails 11, 13, and 15 are aligned in a straight line, and the guide rails 12, 14, and 16 are aligned in a straight line to form a continuous guide rail structure. The substrate positioning device 5 enters between the loading bridge 7 and the unloading bridge 9 only when transferring the substrate 18, and is extracted from there and moves two-dimensionally when processing the substrate. Alternatively, the loading bridge 7 and the unloading bridge 9 may be spaced apart from each other to ensure a movement space for the substrate positioning device 5, as is often seen in this type of substrate transfer device. The substrate positioning device 5 is provided with a leading edge position reference member 20 and a trailing edge position reference member 21 . The leading edge position reference member 20 and the trailing edge position reference member 21 are lifted onto the substrate transport plane by a lifting mechanism (not shown) and then lowered therefrom. The leading edge position reference member 20 and the trailing edge position reference member 21 are also given horizontal movement by a horizontal drive mechanism (not shown).
The member not selected as a position reference serves to press the substrate 18 against the other member by this horizontal movement. Guide rail 13,1
Substrate conveyor belts 23 and 24 are arranged inside the substrates 4, 15 and 16, respectively. The loading bridge 7 has a substrate stopper 2 for waiting the substrate 18 carried by the substrate conveyance belt 23 at a certain position.
6 will be provided. Like the position reference members 20 and 21, the substrate stopper 26 is lifted onto the substrate transport plane by an unillustrated elevating mechanism and then lowered from there.

30 is a slider that slides parallel to the substrate transport line 1. The slider 30 is assembled around a rectangular base 31.
A total of three supporting walls 32 are fixedly installed on the upper surface of the device 1 at both ends and the center, and a pair of parallel mounting bars 33 are spanned between them. A ball spline bearing 34 is fixed to the lower surface of the base 31. The ball spline bearing 34 is slidably and non-rotatably fitted into a ball spline shaft 36 supported by a support frame 35. Therefore, when the ball spline shaft 36 is rotated, the slider 30 is also rotated about the axis.
As shown in FIG. 2, a lever 37 is fixed to one end of the ball spline shaft 36. As shown in FIG. A tension coil spring 38 is stretched between the tip of the lever 37 and the support frame 35 to apply rotational force to the ball spline shaft 36 in one direction. The support frame 35 also pivotally supports an air cylinder 39. A rod 40 of the air cylinder 39 is connected to a lever 37, and by extending the rod 40, the ball spline shaft 36 is reversed against the tension coil spring 38. direction. This rotation of the ball spline shaft 36 causes the claws to move up and down, which will be described later. 4
1 and 42 are tension coil springs and wires connected to the slider 30. By pulling the slider 30 downstream with the tension coil spring 41 and pulling it back upstream with the wire 42, the slider 30 is given linear reciprocating motion in the substrate feeding direction. is given.

The mounting bar 33 has a first claw 50 in order from the upstream side.
The second claw 51 and third claw 52 are attached. Each pawl extends to the center of the substrate transport line 1, and pushes the substrate 18 near the center line with its downwardly bent tip to feed and unload the substrate 18.

Among the guide rails, the guide rails 11, 13, and 15 that are farther from the slider 30 are fixed guide rails in the sense that they do not participate in changing the substrate transfer width, and the guide rails 12, 1 that are closer to the slider 30 are
4, 16 are fixed guide rails 11, 13, 15
It is a movable guide rail that allows you to change the distance between the two.

The support frame 35 is supported on a slide track 60 extending perpendicularly to the substrate transport line 1 .
That is, the support frame 35 is slidable in a direction perpendicular to the slider 30. A fixing rack 61 is fixed to the table surface supporting the substrate transport line 1 in parallel to the slide track 60. Further, a movable rack 63 is fixed to a movable support member 62 that supports the movable guide rail 14, also in parallel with the slide track 60. The movable rack 63 and the fixed rack 61 are located vertically facing each other, and the pinion 64 is placed between them.
The teeth of the pinion 64 are simultaneously engaged with the teeth of the racks 61 and 63. The pinion 63 is fixed to a cantilever shaft 65 pivotally connected to the support frame 35. A driven rack 66 protrudes from the movable support member 62, and a pinion 68 of the drive shaft 67
Engage with each other. The drive shaft 67 is rotated by an electric motor (not shown), thereby causing the movable support member 62 to move. The movement mechanism of the movable guide rail 16 and the motion transmission mechanism between the movable guide rail 16 and the support frame 35 are also constructed in the same manner as described above. The movable guide rail 12 is connected to the movable guide rails 14 and 16 and given movement to change the distance, but a description of the mechanism will be omitted here.

Next, the operation will be explained. In FIG. 5, the substrate 1
8 has a width of W ₀ , and the substrate transfer line 1
The width has also been adjusted accordingly. The substrate 18 on the substrate positioning device 5 has been processed, and the substrate 18 on the loading bridge 7 has not been processed yet. Initially, the position reference members 20, 21 and the substrate stopper 26 have their tips protruding from the substrate transport plane, but sink below the substrate transport plane at the stage of feeding and unfeeding the substrate 18.
The first, second, and third claws 50, 51, and 52, which had been lifted above the substrate transport plane, are lowered to replace the position reference members 20, 21 and the substrate stopper 26, and the first claw 50 is The second claw 51 is located immediately after the substrate 18 on the loading bridge 7, the second claw 51 is located immediately in front of the same substrate 18, and the third claw 52 is located immediately after the substrate 18 on the substrate positioning device 5. The tips of the first, second, and third claws 50, 51, and 52 are spaced apart from the fixed guide rails 11, 13, and 15 by approximately W ₀ /2. When the wire 42 is fed out in this state, the slider 30 is pulled by the spring 41 and slides, and the first claw 50 and the second claw 51 sandwich the unprocessed board 18 and send it to the board positioning position.
The third claw 52 feeds the processed substrate 18 from the substrate positioning device 5 to the unloading bridge 9. After that, the first, second and third claws 50, 51, 52
is lifted and the slider 30 returns to its old position. Position reference members 20, 21 and board stopper 26
floats on the substrate transport plane. position reference member 20,
21, one of which serves as a positional reference to maintain a stationary reference, and the other to which the substrate 18 is pressed. The substrate stopper 26 receives the substrate 18 carried by the substrate conveyance belt 23. Board conveyor belt 2
4 carries away the processed substrate 18. In the processing station 3, a substrate positioning device 5 is connected to a loading bridge 7 and an unloading bridge 9.
Then, a predetermined portion of the substrate 18 is placed under the processing tool. FIG. 1 shows, as an example of a processing tool, a vacuum chuck 71 for pressing a chip-shaped electronic component 70 onto an adhesive applied to a substrate 18.
is depicted.

FIG. 6 shows the situation when it comes to handling a wider substrate 18'. The width W ₂ of the substrate 18' is greater than the width W ₀ of the substrate 18 by W ₁ . The movable guide rails 12, 14, and 16 have moved by that amount, but as they move, the movable rack 63 is moved by the pinion 6.
4 on the fixed rack 61. As mechanics teaches, the pinion 64 moves by a distance equal to 1/2 the amount of movement of the movable rack 63. Therefore, in this case, the support frame 35 moves a distance of W ₁ /2. Along with this, the fixed guide rails 11, 13, 15 and the tips of the first, second, and third claws 50, 51, and 52 are separated by W ₂ /2, so that each claw is This means that the tip of has followed correctly.

In this embodiment, a single pinion 64 is engaged with the fixed rack 61 and the movable rack 63, but if the fixed rack 61 and the movable rack 63 cannot be placed facing each other due to space limitations, they may be engaged with a single pinion 64 on a single shaft. The same movement can be obtained by fixing two pinions with the same number of teeth and pitch circle diameter, and meshing one pinion with a fixed rack and the other pinion with a movable rack.

(G) Effects of the Invention According to the present invention, as the movable guide rail moves, the claw automatically moves by half the distance, so the contact point of the claw on the board can be adjusted regardless of the width of the board. It is possible to always maintain the substrate at a constant dimensional ratio, preferably near the center line of the substrate, and the substrate feeding operation can be carried out smoothly.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a perspective view showing the structure of the upper part of the device, Fig. 2 is a perspective view of the main part seen from the opposite direction to Fig. 1, and Fig. 3 is a slider support. FIG. 4 is a perspective view showing the frame moving mechanism, FIG. 4 is a partially enlarged front view, and FIGS. 5 and 6 are top views illustrating the correspondence between the substrate width and the claw position. 18, 18'...Substrate, 1...Substrate transfer line,
11, 13, 15...Fixed guide rail, 12,
14, 16...Movable guide rail, 30...Slider, 50...First claw, 51...Second claw, 52...
...Third pawl, 35...Support frame, 60...Slide track, 61...Fixed rack, 62...Movable support member, 63...Movable rack, 64...Pinion.

Claims (1)

[Scope of Claims] 1. A slider is arranged in parallel on a substrate transfer line consisting of a fixed guide rail and a movable guide rail whose interval is variable, and a claw protruding from the slider is engaged with a substrate on the substrate transfer line. A support frame for supporting the slider is installed on a slide track extending at right angles to the substrate transport line, and is attached to a stationary fixed rack and a movable support member of the movable guide rail. A substrate transfer device comprising movable racks arranged parallel to the slide track, and a pinion pivotally connected to the support frame engaged with the fixed rack and the movable rack.