JP2002240938A - Substrate carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a substrate carrying device capable of reducing installation space and reducing carrier tact of a circuit board. SOLUTION: This device is provided with a carrying and revolving device 101 having a holding and carrying device 111, a revolving device 121 and a rail shortening device 131. When the holding and carrying device 111 is revolved by the revolving device 121, the entire length of a carrier rail part is shortened by the rail shortening device 131. Therefore, space when revolving the holding and carrying device can be reduced and installation space of the substrate carrying device can be reduced as compared with conventional space.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a board transfer apparatus for transferring a circuit board supplied to an electronic component mounting machine, and more particularly, to a board transfer apparatus for sorting circuit boards to a plurality of board transfer paths.

[0002]

2. Description of the Related Art In recent years, in the electronic component mounting industry, aiming at more efficient production, by forming various production forms corresponding to large-mix low-volume production and small-variety mass production,
There is a demand for an improvement in the operation rate of the mounting line. Hereinafter, an example of a conventional transfer mode of a circuit board and the board transfer apparatus will be described with reference to the drawings. FIG. 9 shows the circuit board 1
1 shows a conventional board transfer device 10 that performs the above-described sorting, and a mounting section 20 that mounts electronic components on the circuit board 1 supplied by the board transfer device 10. Here, the mounting unit 2
0, as shown in the figure, as the substrate transport path, the three rows of the first substrate transport conveyor section 21, the fourth substrate transport conveyor section 24, and the third substrate transport conveyor section 23 are at the same height level. Is provided. At the center of the three rows, a second substrate transport conveyor section 22 that overlaps the fourth substrate transport conveyor section 24 and is disposed immediately below the fourth substrate transport conveyor section 24 is provided. In addition, the first board transfer conveyor section 21 and the third board transfer conveyor section 23 are a conveyor section for transferring the circuit board 1 to supply the circuit board 1 to the component mounting devices 25 and 26 provided in the mounting section 20. The second substrate transport conveyor section 22 and the fourth substrate transport conveyor section 24 are bypass conveyor sections.

The above-described board transfer apparatus 10 for supplying the circuit board 1 to the four board transfer conveyor sections 21 to 24 includes a first slide conveyor 11, a second slide conveyor 12, a lifting conveyor 13, an intermediate connection Conveyor 1
4 and a swivel conveyor 15. The first slide conveyor 11 holds the circuit board 1 conveyed from the conveyance path 2 on the pre-process side, and holds the held circuit board 1 on the first conveyor position 11-1 and the second fourth conveyor position 11-. 2 and then the circuit board 1 is transported.
The first conveyor position 11-1 corresponds to an arrangement position of the first substrate transfer conveyor unit 21, and the second fourth conveyor position 11-2 corresponds to the second substrate transfer conveyor unit 22 and the fourth substrate transfer. Corresponding to the arrangement position of the conveyor unit 24. The second slide conveyor 12 holds the circuit board 1 conveyed from the first slide conveyor 11, and holds the held circuit board 1 at the second fourth conveyor position 11-2.
And the third conveyor position 12-2, and then transport the circuit board 1. The third conveyor position 12-2 corresponds to the arrangement position of the third substrate transport conveyor section 23. The lifting conveyor 13 moves the second slide conveyor 1 at the second fourth conveyor position 11-2.
2 and the circuit board 1 which is arranged corresponding to one of the second board conveyor 22 and the fourth board conveyor 24 and supplied from the second slide conveyor 12.
Is carried out to the second board transfer conveyor section 22 or the fourth board transfer conveyor section 24 by the elevating operation. The intermediate connection conveyor 14 is provided with the first slide conveyor 11.
And the first board transfer conveyor section 21 and the circuit board 1 conveyed from the first slide conveyor 11 to the first board transfer conveyor section 21. The revolving conveyor 15 is provided with the second slide conveyor 12.
And the third board conveyor 23, and the circuit board 1 supplied from the second slide conveyor 12 is rotated by 180 degrees on a plane, and unloaded to the third board conveyor 23. I do.

The reason why the circuit board 1 needs to be rotated is as follows. That is, the component mounting apparatus 25 that mounts the electronic components on the circuit board 1 supplied by the first board transfer conveyor section 21 is transferred through the first board transfer conveyor section 21 as illustrated. The circuit board 1 is installed on the left side in the transport direction. On the other hand, a component mounting apparatus 26 that mounts electronic components on the circuit board 1 supplied by the third board transfer conveyor section 23 is transferred through the third board transfer conveyor section 23 as shown in the figure. It is installed on the right side in the transport direction of the circuit board 1. On the other hand, the reference end surface of the circuit board 1 transported on the transport path 2 on the pre-process side is located on the left side in the transport direction as shown by the triangular mark. Therefore, when supplying the circuit board 1 to the third board transfer conveyor section 23, it is necessary to rotate the circuit board 1 on a plane so that the reference end surface corresponds to the component mounting apparatus 26.

[0005] The operation of the conventional substrate transfer apparatus 10 configured as described above will be described below. The first slide conveyor 11 arranges the transport rail 11a at the first conveyor position 11-1, and receives the circuit board 1 transported from the previous process. Thereafter, when receiving a board request signal from the intermediate connection conveyor 14, the first slide conveyor 11 carries out the circuit board 1 from the transfer rail 11a to the intermediate connection conveyor 14. When receiving the board request signal from the second slide conveyor 12, the first slide conveyor 11 moves the transfer rail 11a holding the circuit board 1 to the second fourth conveyor position 11-2.
After moving to the second slide conveyor 12
Take out to. At this time, the second slide conveyor 12
Transport rail 12a is located at the second and fourth conveyor positions 11-2.
Are located in When receiving the board request signal from the component mounting apparatus 25, the intermediate connection conveyor 14 supplies the circuit board 1 supplied from the first slide conveyor 11 to the first board transport conveyor section 21. When receiving the board request signal from the elevating conveyor 13, the second slide conveyor 12 carries out the circuit board 1 from the transport rail 12 a to the elevating conveyor 13. When receiving a board request signal from the turning conveyor 15, the second slide conveyor 12 moves the transport rail 12a to the third conveyor position 12-2.
And the circuit board 1 is carried out to the revolving conveyor 15 from the transport rail 12a. The revolving conveyor 15 receives the circuit board 1 on the transport rail 15a,
a, and after the 180-degree turning operation, the transfer rail 15a
Is lowered. Thus, the position of the reference end surface of the circuit board 1 is changed, and when the board request signal is received from the component mounting apparatus 26, the circuit board 1 is moved from the transport rail 15a to the third position.
It is carried out to the substrate transporting conveyor section 23. The reason why the transport rail 15a is raised and lowered during the turning is to avoid interference between the transport rail 15a and the third substrate transport conveyor section 23. The lifting conveyor 13 is provided with a transport rail 13a.
Receives the circuit board 1 supplied from the second slide conveyer 12 at the second conveyor conveyer section 22 or the fourth
When a board request signal is received from the board transfer conveyer unit 24, the transfer rail 13a is moved up and down so as to correspond to the conveyor to which the board request signal is sent, and then the circuit board held on the transfer rail 13a 1 is carried out to the second substrate transport conveyor unit 22 or the fourth substrate transport conveyor unit 24 to which the substrate request signal is sent.

[0006]

However, in the conventional substrate transfer apparatus 10, it is necessary to provide a plurality of types of apparatuses as described above, and the first slide conveyor 11, the second slide conveyor 12, Conveyor 13
And the like, as shown in the drawing, there is a problem that the installation must be performed in an overlapping manner along the transport direction of the circuit board 1 and the installation space is widened. Actually, the installation space of the substrate transfer device 10 along the transfer direction requires about 1.8 m.
In addition, it is difficult to install a plurality of types of apparatuses in an overlapping manner along the transport direction, and there is a problem that the cost is increased. Further, since the revolving conveyor 15 has a structure in which the transport rail 15a revolves as it is, the second slide conveyor 1
It is necessary to turn the transport rail 15a so as to avoid interference with the second and third substrate transport conveyor sections 23. Therefore, the operation of arranging the transport rail 15a at a position where it does not interfere with the second slide conveyor 12 or the like affects the transport tact, and the transport tact in all the processes is delayed, which has been a problem in specifications. SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and can reduce a circuit board transfer tact as compared with the related art, and can further reduce an installation space as compared with the related art. It is an object of the present invention to provide a board transfer device which can easily carry out sorting work of distributing circuit boards to a transfer path in a minimum installation space.

[0007]

In order to solve the above-mentioned problems, the present invention is configured as follows. According to the substrate transport apparatus of the first aspect of the present invention, there is provided a holding / transporting apparatus having a transport rail section and holding and transporting a circuit board along the transport rail section, and the transport rail section in a transport direction of the circuit board. And a rail shortening device provided in the holding and conveying device for shortening the overall length of the rail.

[0008] Further, the present invention further comprises a transport turning device having a turning device for turning the holding / transporting device around a rotation axis along the thickness direction of the circuit board around the rotation axis. When the turning device turns the holding / conveying device, one end of the transfer rail portion may be bent to shorten the entire length of the transfer rail portion in the transfer direction of the circuit board.

In addition, the apparatus may further include a first moving device for moving the transport turning device along the thickness direction.

[0010] The apparatus may further include a second moving device for moving the first moving device in a direction perpendicular to the thickness direction and the transport direction.

[0011] When the circuit board is distributed and supplied to a plurality of board transfer paths extending in the transfer direction and arranged in the orthogonal direction, the holding and transferring by the turning device is performed. While rotating the apparatus, the transport turning apparatus and the first moving apparatus are moved to the position of the arbitrary substrate transfer path by the second moving apparatus, and the rail shortening apparatus or the first moving apparatus is operated. A control device for causing the control device to perform the control may be further provided.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A substrate transfer device according to an embodiment of the present invention will be described below with reference to the drawings.
In the drawings, the same components are denoted by the same reference numerals. FIG. 1 shows the substrate transfer device 1001. The substrate transfer device 1001 includes a transfer turning device 101.
, A first moving device 201, a second moving device 301, and a control device 401, and these devices are collectively formed as one device. Such a substrate transfer device 1001
Performs the function of the substrate transfer apparatus 10 shown in FIG.
Since the respective devices such as the transport turning device 101 and the like are collectively formed in one device, the substrate transport device 1001 is configured as shown in FIG.
As shown in (1), the installation space in the transfer direction 3 of the circuit board 1 can be made very compact as compared with the conventional board transfer device 10. Specifically, as described above, the conventional installation space in the transport direction 3 is approximately 1.8 m.
Requires the substrate transfer device 1001 of the present embodiment.
Then about 0.45m is enough. Hereinafter, the transport turning device 101, the first moving device 201, the second moving device 301, and the control device 401 will be described in detail.

First, the transport turning device 101 will be described. The transport turning device 101 includes a holding transport device 111.
, A turning device 121 and a rail shortening device 131 for carrying the circuit board 1 along the carrying direction 3 and for turning the circuit board 1 and for shortening the rails. As shown in FIGS. 4 and 5, the holding and conveying device 111 is a device that holds the circuit board 1 and conveys the circuit board 1 in the conveying direction 3, and includes a pair of conveying rail portions 112, a conveying belt 113, and the conveying belt 113. And a belt driving unit 114 that drives the belt 113. Each of the transport rails 1
Reference numeral 12 denotes rail members 1127 extending along the transport direction 3 so as to be able to support both edges of the circuit board 1 along the transport direction 3, and both ends of each rail member 1127 as described in detail later. And a reduction rail 1121 that is rotatably attached to the rail member 1127 at a position and is moved between the transport position 1122 and the folding position 1123 by the rail shortening device 131. Each transport rail 1
Numeral 12 is provided on the base plate 1124. The transport direction 3 corresponds to the width of the circuit board 1 to be transported.
5 so that the width dimension between the transport rails 112 along the orthogonal direction 5 orthogonal to the thickness direction 4 of the circuit board 1 to be transported can be adjusted.
2 is a rotary screw 11 along a pair of sliders 1125 laid on the base plate 1124 along the orthogonal direction 5.
26 can be moved by rotating it in the circumferential direction.

The transport belt 113 is provided on the transport rail 1
12 is a belt extending along 12 and supporting the circuit board 1 by mounting the edge portions on both sides of the circuit board 1 and transporting the circuit board 1 in the transport direction 3. In the present embodiment, the belt driving unit 114 drives the conveyor belt 113, and includes a motor 1142, a pulley 1141-1 attached to an output shaft of the motor 1142, and a belt tension pulley 1141- 2. Transport pulley 1141-3-1
141-9, and the transport belt 113 is wound around each of the pulleys 1141-1 to 1141-9 as shown in the figure, and the pulleys 1141-1 to 1141-are moved to move the circuit board 1 in the transport direction 3. 9 → Pulley 1141
Move in the order of -1. The transport belt 113, the belt driving unit 114, and each pulley 1141-2 to 114
Reference numerals 1-9 are provided on the respective transport rail units 112.

According to the holding / transporting device 111 having the above-described configuration, the circuit board 1 is provided with the above-mentioned edge portions on both sides of the circuit board 1 on the transport belts 113 provided on the pair of transport rail portions 112 respectively. While supported, the motor 1
The sheet is conveyed in the conveying direction 3 by driving the 142.

As shown in FIG. 3, the turning device 121 has a rotating shaft 1237 along the thickness direction 4 of the circuit board 1.
A rotary actuator 122 as a drive source for turning, the turning device for turning the holding and conveying device 111 in a direction 124 around the rotation axis 1237 around the rotary shaft 1237,
And a turning mechanism 123 driven by the rotary actuator 122 to turn the holding and conveying device 111. The turning mechanism 123 will be described below.

As shown in FIG. 3 and FIG.
The output shaft 122a of the rotary actuator 122 attached to the base plate 125 of the 23 is attached to one end of a lever 1231 for transmitting the rotational drive, and the other end of the lever 1231 is attached to one end of a rod 1233 having a shaft 1232. Are rotatably mounted. The other end of the rod 1233 has a planetary gear 1234
Are rotatably mounted. The planetary gear 1234
The internal gear 1235 and the gear 1236 mesh with each other, and a plate 1237 a fixed to a rotating shaft 1237 is attached to the gear 1236. The rotation shaft 1237 is connected to the base plate 125.
Frame material 1 of the substrate transfer device 1001 for supporting
110 is supported by two bearings 1111 so as to be rotatable in its circumferential direction.
7 is connected to the base plate 11 of the holding / conveying device 111.
24, and the other end is connected to a shaft 2035 described later. In addition, the rotary elevating shaft 1238
Can be inserted into the guide holes of the plate 1237a. Incidentally, reference numeral 1239 denotes a stopper. The frame member 1110 is mounted on a base plate 3032 mounted on a slider 3031 laid along the orthogonal direction 5 on a gantry 1120 of the substrate transfer apparatus 1001.

The operation of the turning mechanism 123 configured as described above will be described. Rotary actuator 12
2 is rotated in the circumferential direction 126 in the forward direction by the planetary gear 1234, the internal gear 1235, and the gear 1236 via the lever 1231, the shaft 1232, and the rod 1233.
237 and the plate 1237a are in the direction around the axis 124.
From the first position 127 to the second position 128 by 180 degrees. Therefore, the holding and conveying device 111 connected to the rotating shaft 1237 turns by 180 degrees. By rotating the output shaft 122a of the rotary actuator 122 in the reverse direction, the rotation shaft 1237 and the plate 1237a can be rotated from the second position 128 to the first position 127 by 180 degrees.

In this embodiment, the rotary drive unit is the rotary actuator 122 as described above, but a motor may be used. Although FIGS. 4 and 6 have described the configuration example of the turning in the horizontal direction, the present invention can be similarly applied to other vertical directions and inclined directions.

Next, the rail shortening device 131 will be described with reference to FIGS. The rail shortening device 131 is provided in each of the transport rail portions 112 of the holding and transporting device 111 with the same structure. Reference numeral 132 denotes a drive unit in the rail shortening device 131, and in this example, an air cylinder is used. The output shaft of the drive unit 132 is
12 is connected to one end of a lever 133 which is attached so as to be rotatable around a central portion 133a as a center of rotation. One end of a link rod 134 is rotatably connected to the one end of the lever 133.
34 is rotatably connected to one end of a lever 1121a provided on the reduction rail 1121-1. Similarly, one end of a link rod 135 is rotatably connected to the other end of the lever 133, and the other end of the rod 135 is connected to the lever 1121a provided on the reduction rail 1121-2. One end is rotatably connected.
In FIGS. 4 and 5, for convenience of description, the reduction rail 1121 located on the right side is replaced with the reduction rail 1121-1.
The reduction rail 1121 located on the left side was defined as a reduction rail 1121-2.

The reduction rail 1121-1 is rotated about the rotation axis of the pulley 1141-3 shown in FIG.
The reduction rail 1121-2 includes a pulley 1141-
With the rotation axis 8 as the center of rotation, as described above, the transfer position 1
It is rotatably attached to each transport rail 112 so as to rotate between 122 and the folding position 1123. Therefore, the pulleys 1141-3 and 1141-8 can be said to be pulleys for the center of rotation of the reduction rail 1121. Further, the pulley 114 is attached to one end of each of the reduction rails 1121.
1-5, 1141-7, and the pulley 1141-
5, 1141-7 is connected to the pulley 1141-
3 and the pulley 1141-8. Therefore, each reduction rail 12
11 is the pulley 1141-3 and the pulley 1141
The pulley 1141 does not rotate even when it is rotated between the transfer position 1122 and the folding position 1123 around −8.
-3 and the distance between pulley 1141-4 and pulley 1
The distance between 141-8 and pulley 1141-7 does not change. Therefore, even when each reduction rail 1211 rotates, the tension acting on the transport belt 113 does not change.

The rail shortening device 1 configured as described above
31 will be described. By moving the output shaft of the driving unit 132 in the direction of arrow 136a and rotating the lever 133 in the direction of arrow 137a about the central portion 133a, the rods 134 and 135 move, and the reduction rail 1121- 1, 1121-2 each lever 1121
a moves in the direction of arrow 138a. With this movement, the reduction rail 1121-1 is rotated about the rotation axis of the pulley 1141-3 as a rotation center.
2 is the folding position 1 from the transfer position 1122 as described above with the rotation axis of the pulley 1141-8 as the rotation center.
Rotate to 123. On the other hand, by moving the output shaft of the drive unit 132 in the direction of arrow 136b, the lever 133 rotates in the direction of arrow 137b, and each of the levers 1121a moves in the direction of arrow 138b. Thus, each reduction rail 1121 rotates from the folding position 1123 to the transport position 1122.

As described above, the rail shortening device 131
Is provided, the reduction rails 1121 provided at both ends of the transport rail portion 112 can be folded, and the overall length of the transport rail portion 112 can be shortened. Therefore, without folding the reduction rail 1121,
When the holding / conveying device 111 is turned at 1, the range drawn by the end of the conveying rail portion 112 is indicated by reference numeral 13 in FIG.
The circle shown by 9a is obtained. On the other hand, when the reduction rail 1121 is folded and turned, the range drawn by the end of the transport rail unit 112 is smaller than the range 139a.
The circle indicated by 39b is obtained. Therefore, the circuit board 1 can be turned in a smaller space as compared with the related art, and the transfer rail portion 112 is used for the turning operation as in the related art.
There is no need to raise and lower. Also, the rail shortening device 13
Providing 1 is also effective as a measure for avoiding interference with an adjacent conveyor or an operating device.

As described above, the pulley 1141-
4, 1141-7, and the conveyor belt 1 between the pulleys
13 can be changed without adding a tensioner for the conveyor belt 113 to the conveyor rail 112.
Can be shortened.

As described above, in this embodiment, the driving unit 1
Although an air cylinder is used as 32, a motor may be used. Further, the rotation of the lever 133 may be performed using a rotary actuator or a motor. Also, in the above description, the transport rail 11
Although the reducing rails 1121 are provided at both ends of 2 and both of them are moved, only one of them may be moved based on the relationship of the installation space or the like. Further, the reduction rail 1121 may be provided only at one end of the transport rail section 112. In the above embodiment, the reduction rail 11 is used.
21 is configured to bend in the direction of gravity, but is not limited to this. A structure capable of shortening the entire length of the transport rail portion 112 without changing the tension of the transport belt 113 as compared with the related art. Can be taken. For example, a structure in which the reduction rail 1121 is bent in the anti-gravity direction or expands and contracts in the direction in which the rail member 1127 extends can be considered.

Further, the turning operation of the holding and conveying device 111 by the turning device 121 and the rail shortening device 1
The folding operation of the reduction rail 1121 by 31 is as follows.
It can be done separately or simultaneously.

Next, regarding the first moving device 201,
This will be described below with reference to FIG. The first moving device 20
Reference numeral 1 denotes a driving unit 202 of the first moving device 201 which is a rotary actuator in the present embodiment, and a first movement which is driven by the driving unit 202 and moves the rotating shaft 1237 along the thickness direction 4. Mechanism 203. The first moving mechanism 203 includes a lever 2031 attached to an output shaft of the driving unit 202, and a pin 2032 protruding from the lever 2031 at one end of the lever 2031.
A shaft 2033 having one end rotatably engaged with the pin 2032 and the other end connected to the link ball 2034 and arranged coaxially with the rotation shaft 1237; and one end connected to the link ball 2034 and the other end. To the rotation shaft 1237
And a shaft 2035 coaxially arranged with the rotation shaft 1237.

The driving section 202 is provided with the gantry 112
On the base plate 3032 attached to the slider 3031 above the slider 031, it is fixed to an attachment plate 2036 extending in the thickness direction 4. Therefore, as described later, the slider 303 is moved by the second moving device 301.
When the transport turning device 101 moves in the orthogonal direction 5 along 1, the first moving device 201 also moves. In addition, as described above, the shaft 2035 rotates in the same direction as the rotation shaft 1237 rotates in the circumferential direction. However, since the link ball 2034 is provided, the shaft 2035 rotates in the circumferential direction. Shaft 20
33 does not likewise rotate in the circumferential direction.

The first moving device 20 configured as described above
1 will be described. The rotation of the output shaft of the drive unit 202 causes the lever 2031 to start rotating from the state shown in FIG. 3, and one end of the shaft 2033 rotates about the link ball 2034 via the pin 2032. The rotational motion is converted to linear motion by a link ball 2034 and the shaft 2035 and the rotary shaft 12
37 is pushed up in the thickness direction 4. Therefore, the holding and transporting device 111 connected to the rotating shaft 1237 as described above is moved along the thickness direction 4 from the first height position 204 shown by a solid line in FIG. 2
Move to height position 205. The first height position 204
Corresponds to, for example, the installation level of the second substrate transport conveyor section 22, and the second height position 205 corresponds to, for example, the installation level of the fourth substrate transport conveyor section 24. By reversing the output shaft of the drive unit 202, the holding and conveying device 111 can be moved from the second height position 205 to the first height position 204 along the thickness direction 4. .

By providing the first moving device 201 as described above, the holding and conveying device 111 can be moved along the thickness direction 4. In the above description, a rotary actuator is used as the driving unit 202, but a motor may be used. In the present embodiment, the thickness direction 4 corresponds to the vertical direction in the vertical direction, but the present invention can be similarly applied to other horizontal directions and inclined directions.

Next, the second moving device 301 will be described below with reference to FIGS. The second moving device 3
01 is the transport turning device 101 described above and the first moving device 201 attached to the transport turning device 101,
It is a device for moving along the orthogonal direction 5,
In this embodiment, two air cylinders 3021 and 30
22 and a transport unit 303. The transport unit 303 includes a pair of sliders 3031 laid on the gantry 1120, a base plate 3032 attached to the slider 3031, and an air cylinder 302 laid on the gantry 1120 along the orthogonal direction 5.
And a slider 3033 for sliding the base plate 232. The base plate 3032 is fixed to the drive unit 302. or,
The frame member 1110 of the turning device 121 is attached to the base plate 3032.

The air cylinder 3021 is used to move the transport turning device 101 and the first moving device 201 to the first substrate transport conveyor 21 and the second substrate transport conveyor 22 or the fourth substrate transport conveyor. 24, and the air cylinder 3
Numeral 022 is for moving between the second substrate transport conveyor section 22 or the fourth substrate transport conveyor section 24 and the third substrate transport conveyor section 23. The air cylinder 3022 is moved by the air cylinder 3021 so that the slider 30 can move.
33.

[0033] The second moving device 301 thus configured
Will be described. Transport turning device 101 and first
The moving device 201 is, for example, the first substrate transport conveyor unit 21.
When the air cylinder 302 is arranged corresponding to
By driving 1, the air cylinder 3022 moves on the slider 3033. Accordingly, the transport turning device 101 and the first moving device 201 attached to the drive unit 302 move the second substrate transport conveyor unit 22 or the fourth substrate transport unit 22 from the position where the first substrate transport conveyor unit 21 is disposed.
It is moved to the position where the substrate transport conveyor section 24 is arranged. Further, by driving the air cylinder 3022, the transfer turning device 101 and the first moving device 201 move the third substrate transfer position from the arrangement position of the second substrate transfer conveyor portion 22 or the fourth substrate transfer conveyor portion 24. To the position where the conveyor unit 23 is arranged. Also, the air cylinder 302
1 and the air cylinder 3022 are operated in the opposite direction to the above, so that the transport turning device 101 and the first moving device 201 are moved from the position where the third substrate transport conveyor portion 23 is disposed to the second substrate transport conveyor portion. 22 or the fourth above
To the position where the substrate transporting conveyor section 24 is disposed,
It can be moved to the position where the substrate transport conveyor section 21 is arranged.

The use of an air cylinder as the driving unit 302 as in the present embodiment can reduce the manufacturing cost of the apparatus, but, of course, is not limited to this mode. As the driving unit 302, a pulse motor or AC
A servo motor may be used. Also, the driving unit 30
For example, a ball screw structure may be adopted as the second member 2. In this case, one ball screw may be used. In the present embodiment, the orthogonal direction 5 has been described by taking the horizontal direction as an example. However, the present invention can be similarly applied to other vertical directions and inclined directions.

The control device 401 is composed of the above-described transport / rotation device 101, first moving device 201, and second moving device 30.
In addition to controlling the operation of each of the drive units in Step 1, the control of the transfer operation of the circuit board 1 in the board transfer device 1001 is performed as described below.

The operation of the substrate transfer apparatus 1001 according to the present embodiment configured as described above will be described. FIG.
As shown in (1), the circuit board 1 transported from the transport path 2 in the previous process is loaded into the transport rail section 112 of the transport turning device 101 which is previously arranged at the first conveyor position 11-1. When the circuit board 1 is loaded and unloaded in the transport turning device 101, the reduction rail 1121 is used.
Are arranged at the transfer position 1122. According to a board request signal from the mounting device 25 or the mounting device 26 in the post-process,
As described above, the transport turning device 101 is provided with the second moving device 30.
After being moved along the orthogonal direction 5 at 1, the first substrate transfer conveyor 21, the second substrate transfer conveyor 22 or the fourth substrate transfer conveyor 24, or the third substrate transfer The circuit board 1 is mounted on any of the conveyor sections 23.
Out.

Here, when the transport turning device 101 is moved along the orthogonal direction 5 by the second moving device 301, for example, when the transport turning device 101 is moved from the first conveyor position 11-1 to the second substrate transport conveyor section 22. , The second mobile device 301
Is operated at the same time, the first moving device 201 is operated to change the height level of the holding and conveying device 111.
For example, when moving from the first conveyor position 11-1 to the third conveyor position 12-2, the second moving device 30
1 is operated, and at the same time, the turning device 121 is operated to turn the holding / conveying device 111 to turn the circuit board 1
The reference end face is adapted to the mounting device 26. When the holding and conveying device 111 is turned, the rail shortening device 131 is operated to place the reduction rail 1121 at the folding position 1123 before the turning operation starts.

As described above, while the transport / swing device 101 is moved in the orthogonal direction 5 by the second moving device 301,
By simultaneously moving the holding / conveying device 111 in the thickness direction 4 or turning in the axial direction 124, the conveying tact can be reduced as compared with the conventional case.

As described above, according to the substrate transfer device 1001 of the present embodiment, since the transfer and swivel device 101, the first moving device 201, and the second moving device 301 are provided, the circuit board 1 is moved in the thickness direction. 4, it can be moved in any one of the orthogonal direction 5 and the axial direction 124. Also, even when a plurality of rows of transport paths are provided,
Since the transport turning device 101, the first moving device 201, and the second moving device 301 are provided, the circuit board 1 can be transported to each of the transport paths by one device configuration.
Further, since the configuration can be realized by one apparatus, the installation space of the substrate transfer apparatus can be remarkably reduced as compared with the related art. In addition, the provision of the rail shortening device 131 in the transfer / rotation device 101 makes it possible to reduce the space required for the holding / transfer device 111 to perform the above-described turn, thereby contributing to space saving of the substrate transfer device.
It is also possible to prevent interference with other devices adjacent to 01. Further, the transfer / rotation device 101, the first moving device 201, and the second moving device 301 are operated continuously or continuously and simultaneously, and the circuit board 1 is moved to an arbitrary transfer position including, for example, an upper three rows and a lower one row. And the direction change movement of the circuit board 1 can be performed. Therefore, the transport tact can be reduced as compared with the conventional case. Note that the transport turning device 101
Transfer operation, turning operation, and first moving device 201 in
, And two or more of the four movement operations of the second movement device 301 can be performed simultaneously. Therefore, the transfer tact can be reduced as compared with the conventional case.

Further, in the substrate transfer device 1001 in the above-described embodiment, the transfer turning device 101 and the first moving device 2
01, the second moving device 301 is provided, but it is also possible to configure a substrate carrying device provided with only the holding / transporting device 111 and the rail shortening device 131. For example, a so-called loader for loading a circuit board into an X, Y table movable in the X and Y directions orthogonal to each other, and a so-called unloader for unloading, which are provided in a component mounting apparatus, include the holding and conveying device 111 and the rail shortening. A substrate transfer device including only the device 131 can be employed. As described above, by adopting the substrate transfer device with the rail shortening device 131 for the loader and unloader, when the X and Y tables are moved in the X and Y directions,
By operating the rail shortening device 131, the transport rail unit 1
By shortening the length of the rail at 12, the interference with the X and Y tables can be avoided and the movable range of the X and Y tables can be secured.

In the substrate transfer device 1001 in the above-described embodiment, the first moving device 201 moves only the holding and transferring device 111 in the thickness direction 4 as shown in FIG.
As shown in (1), the transport turning device 101 including the turning device 121 can be moved in the thickness direction 4.

In the above embodiment, the substrate transfer device 100
Reference numeral 1 denotes a first board transfer conveyor section 2 as shown in FIG.
Although it is provided adjacent to the loading side of the mounting section 20 having the four substrate transport paths of the first to fourth substrate transport conveyor sections 24, as shown in FIG.
Of course, it is also possible to provide it adjacent to the loading side of the electronic component mounting apparatus 500 having 14. Hereinafter, the configuration of the electronic component mounting apparatus 500 will be described. Electronic component mounting device 50
In the center of the upper surface of the base 510, a circuit board conveyor 514 on which the circuit board 1 is mounted is provided.
From the loader unit 516 on one end side to the mounting position 518 of the electronic component
And the unloader section 52 on the other end side from the mounting position 518.
Transported to zero. Above the circuit board 1, Y tables 522, 524 are provided on both sides of the upper surface of the base 510, and an X table 526 is suspended between the two Y tables 522, 524. Further, a transfer head 528 is attached to the X table 526 so that the transfer head 528 can be moved in the XY plane.

The X table 526 and the Y table 52
The transfer head 528, which is mounted on a head moving unit composed of 2, 524 and moves freely on an XY plane (horizontal plane), from a parts feeder 530 to which electronic components such as a resistor chip and a chip capacitor are supplied, or SOP, QFP
After a desired electronic component is sucked by a suction nozzle 534 from a parts tray 532 to which a relatively large electronic component such as an IC or a connector such as a BGA or a connector is supplied, and a recognition device 536 detects the suction posture of the electronic component. , And can be mounted at a predetermined position on the circuit board 1. Further, the transfer head 528 is provided with a recognition camera 535 such as a CCD camera for detecting the position of the circuit board 1 and the like, and a length measuring sensor (not shown in detail) which is not shown. The mounting operation of such electronic components is controlled by a control device (main controller) (not shown) based on a preset mounting program. Note that data can be input to the control device from the operation panel 552.

Here, the mounting program refers to NC data which is input to the electronic component mounting apparatus 500 and has information on the electronic components to be mounted, and which is prepared by performing a process of rearranging the mounting order and the like. This is a program converted into a command form for driving the head moving unit, the nozzle of the transfer head, and the like. In creating this mounting program, an operator uses NC information in which information such as a mounting position of each electronic component is recorded and component data in which information such as an electrode shape of each electronic component is registered. Is performed with the input of The electronic component is mounted on the circuit board by executing the mounting program thus created by the control device.

A large number of parts feeders 530 are arranged at both ends of the substrate transporting conveyor section 514. Each of the parts feeders 530 has a tape-like shape in which electronic parts such as a resistor chip and a chip capacitor are accommodated. Each component roll is attached. Also, parts tray 53
2 can hold a total of two trays 532a whose direction perpendicular to the substrate transport conveyor 514 is long, and each tray 532a slides toward the substrate transport conveyor 514 in accordance with the number of supplied components. Thus, the component take-out position in the Y direction is maintained at a constant position. This tray 532
Electronic components such as a QFP and a BGA are placed on a.

The recognition device 536 is provided on the side of the board conveyor 514, detects a two-dimensional displacement (suction posture) of the electronic component sucked by the suction nozzle 534, and detects this displacement. Transfer head 5 to cancel
The camera is provided with a posture recognition camera for correcting on the 28 side. This posture recognition camera is provided on the inner bottom of the recognition device 536, and on the inner surface of the housing of the recognition device 536 around the posture recognition camera 536, a light emitting diode LED or the like for illuminating the electronic component sucked by the suction nozzle 534 is provided. A plurality of light emitting elements are provided in multiple stages. Thus, light can be emitted from a desired angle to the mounting surface of the electronic component, and an image can be taken at an appropriate illumination angle according to the type of component. The obtained imaging data is subjected to a recognition process by the control device, and the center position, the electrode position, and the like of the sucked electronic component are recognized, and provided to the mounting position and rotation angle correction data.

Further, the above-described electronic component mounting apparatus 500
Along with this, for example, a storage unit for storing the circuit board 1 and a disposal unit for disposing of a defective circuit board are arranged side by side on the loading side of the electronic component mounting apparatus 500. It is also possible to configure so as to sort the circuit board 1 into the mounting device 500 and the above-mentioned storage section. In the above description, the case where the board transfer device 1001 is arranged on the loading side of the mounting unit 20 and the electronic component mounting apparatus 500 is shown. Can be adopted, and a configuration in which both are arranged on both the loading side and the unloading side can be adopted.

[0048]

As described above in detail, according to the substrate transfer device of the first aspect of the present invention, the holding and transfer device and the rail shortening device are provided, and the total length of the transfer rail portion is reduced by the rail shortening device. In addition, the installation space of the substrate transfer device can be reduced as compared with the related art. Also, the rail shortening device can prevent interference with a device adjacent to the holding and conveying device.

Further, the apparatus is provided with a transport slewing device having a slewing device. When the holding and transporting device is rotated by the slewing device, the length of the transport rail is shortened by the rail shortening device. Space can be reduced. Therefore, the installation space of the substrate transfer device can be made smaller than before.

Further, by further comprising a first moving device,
The operation of shortening the entire length of the transfer rail portion by the rail shortening device and the operation of moving the circuit board in the thickness direction can be performed simultaneously. Therefore, a plurality of transport paths for transporting the circuit board at different positions along the thickness direction of the circuit board,
Even if they are arranged, the transport turning devices can be arranged to correspond to the respective transport paths. Therefore, the transfer tact time of the circuit board can be reduced as compared with the related art while saving space.

Further, by providing the second moving device, it is possible to perform the turning operation of the circuit board and the moving operation in the thickness direction while moving the circuit board in the orthogonal direction. Therefore, a plurality of transport paths are arranged on the same plane,
Even when the transport paths are arranged at different positions along the thickness direction of the circuit board, the transport turning devices can be arranged to correspond to the transport paths. Therefore, the transfer tact time of the circuit board can be further reduced as compared with the related art while saving space. In addition, since the transport turning device, the first moving device, and the second moving device are configured by one device, the substrate transport device is compared with the conventional case that is configured by a plurality of devices. Installation work becomes easy. In addition, the above-mentioned transport turning device,
By providing a control device for controlling the operations of the first moving device and the second moving device, the distributed transfer of the circuit boards to the plurality of rows of transfer paths is performed in a minimum installation space and with a short transfer tact. be able to.

[Brief description of the drawings]

FIG. 1 is a perspective view of a substrate transfer device according to an embodiment of the present invention.

FIG. 2 is a plan view of the substrate transfer device shown in FIG. 1, illustrating a flow of a circuit board.

FIG. 3 is a sectional view of the substrate transfer device shown in FIG.

4 is a cross-sectional view of the holding and transporting device provided in the substrate transporting device shown in FIG. 1 taken along the line AA in FIG. 5;

FIG. 5 is a plan view of the holding and conveying device shown in FIG. 4;

6 is a plan view of the turning device shown in FIG.

FIG. 7 is a cross-sectional view of a modification of the substrate transfer device shown in FIG.

FIG. 8 is a perspective view of an electronic component mounting apparatus connected to the board transfer device shown in FIG. 1;

FIG. 9 is a view for explaining a configuration of a conventional substrate transfer device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Circuit board, 3 ... Transfer direction, 4 ... Thickness direction, 5 ... Orthogonal direction, 21 ... First board transfer conveyor part, 22 ... Second board transfer conveyor part, 23 ... Third board transfer conveyor part, Reference numeral 24: fourth substrate transfer conveyor unit, 101: transfer and rotation device, 111: holding and transfer device, 112: transfer rail unit, 121: turning device, 131: rail shortening device, 20
DESCRIPTION OF SYMBOLS 1 ... 1st moving device, 301 ... 2nd moving device, 401 ... control device, 1237 ... rotation axis.

Continued on the front page (72) Inventor Mitsuo Kawate 1006 Kazuma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. 3C030 DA11 DA23 3F044 AA13 AB03 AB23 AB24 BA07 CA05 CA07 CC08 CD01 CE08 CE18 CE26 CE30 CE35 CE36 3F072 AA14 AA28 GC07 GD09 GE03 GE07 GE09 HA03 JA07 KA01 KB03 KB06 KB08 KB09 KB11 KB15 KB16 KB20 KE11 KE23 A12 DD12 CD12 DD11

Claims (5)

[Claims] A holding and conveying device (111) having a conveying rail portion (112) for holding and conveying the circuit board (1) along the conveying rail portion; A board transfer device, comprising: a rail shortening device (131) provided in the holding and transfer device for shortening the entire length of the transfer rail portion. 2. A transfer having a turning device (121) for turning the holding transfer device around a rotation axis (1237) along a thickness direction (4) of the circuit board in a direction (124) around the rotation axis. A swing device (101), wherein the rail shortening device is configured such that, when the swing device swings the holding and transporting device, one end of the transport rail portion is bent, and a total length of the transport rail portion in the transport direction of the circuit board. 2. The substrate transfer apparatus according to claim 1, wherein 3. The apparatus further comprises a first moving device (201) for moving the transport turning device along the thickness direction.
The substrate transfer device according to claim 2. 4. A second mechanism for moving the first moving device in a direction (5) orthogonal to the thickness direction and the transport direction.
The substrate transfer device according to claim 3, further comprising a moving device (301). 5. A substrate transport path (21 to 2) extending in the transport direction and arranged in a plurality in the orthogonal direction.
When the above circuit board is distributed and supplied to 4),
While turning the holding and conveying device with the turning device,
Moving the transfer turning device and the first moving device to the position of the arbitrary substrate transfer path by the second moving device;
The substrate transfer device according to claim 4, further comprising a control device (401) that operates the rail shortening device or the first moving device.