JP4199854B2 - Adhesive application method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an adhesive application method for applying an adhesive to a substrate.
[0002]
[Prior art]
In recent years, with the diversification of production models, adhesive application apparatuses are frequently set with programs, and are required to be able to create programs without errors.
[0003]
The configuration of a general adhesive application device will be described with reference to FIG. In FIG. 1, B is an application part, which is provided with a syringe 2 for supplying an adhesive 3 to an application nozzle 1 and a recognition camera 4, and is supported by a linear robot 5 as an X direction driving means for driving in the X direction. Yes. Moreover, it has a mechanism (not shown) for rotating each coating nozzle 1 and syringe 2 in the Z direction and a mechanism for rotating the coating nozzle 1.
[0004]
C is a substrate leveling unit having the substrate transport means 6. The substrate setting section C is supported on a Y table 7 which is a Y direction driving means, and is configured to be positioned in the Y direction with respect to the coating nozzle 1. The coating nozzle C cooperates with the linear motion robot 5. Positioning in the XY direction with respect to 1 is possible.
[0005]
Next, the application | coating operation | movement which apply | coats an adhesive agent to the board | substrate 8 is demonstrated. When the adhesive is applied to the substrate 8, the substrate 8 is transported by the substrate transport means 6 to be positioned and supported by the substrate support unit 10. Next, the coating part B and the substrate setting part C are positioned in the XY direction by the linear motion robot 5 and the Y table 7, the target mark provided on the substrate 8 is recognized by the recognition camera 4, and the coating position is corrected. .
[0006]
After the recognition operation by the recognition camera 4, the application nozzle 1 is positioned at the application position designated by the NC program on the substrate 8 by the application unit B and the substrate setting unit C, and the application nozzle 1 and the syringe 2 are moved up and down, An adhesive is applied to the substrate 8. However, the target mark recognition operation can be canceled.
[0007]
[Problems to be solved by the invention]
However, in the configuration as described above, the application position where the adhesive 3 is applied to the substrate 8 is specified as a dead space outside the substrate 8 or where the application nozzle 1 interferes with the substrate transport means 6 in the NC program. Even in the worst case, since the application operation to the application position is performed, in the worst case, as shown in FIG. 1 (d), the application nozzle 1 is placed on the transfer rail 9 of the substrate transfer means 6 in the substrate setting section C. There was a problem that the coating nozzle 1 was damaged due to collision. In addition, there was a problem that an error in specifying the coordinates could not be notified.
[0008]
In view of the above-described conventional problems, the present invention provides an adhesive that prohibits application operation and prevents damage to the application nozzle when the application position is designated as a dead space outside the substrate or when the application nozzle interferes with the substrate conveying means. The object is to provide a coating method .
[0009]
[Means for Solving the Problems]
The adhesive coating method according to the present invention includes a substrate size data and a coating nozzle in an adhesive coating method in which a substrate transported by a substrate transporting means and a coating nozzle are positioned based on an NC program and an adhesive is applied to the substrate. The dead space data that the coating nozzle interferes with the substrate transport means is calculated from the size and rotation direction of the film, and the correctness of the specified coordinates of the NC program is determined based on the dead space data and the specified position for applying the adhesive. And a step of prohibiting the application operation to the wrong coordinates. When the designated coordinates of the NC program are incorrect, the application operation of the application nozzle is prohibited, and the collision between the application nozzle and the substrate transport means It is possible to reliably prevent the coating nozzle from being damaged.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In addition, since the mechanical whole structure of an adhesive agent coating device is the same as the prior art example demonstrated with reference to FIG. 1, the description is used.
[0015]
2 shows the positional relationship between the transport rail of the substrate transport means and the application nozzle. FIG. 2A shows a case where the substrate is larger than Ys described below, and FIG. 2B shows a case where the substrate is smaller than Ys. Show.
[0016]
In FIG. 2, 9 a is a fixed side rail of the substrate transport rail 9, and 9 b is a movable side rail of the substrate transport rail 9. The board transfer means 6 moves and adjusts the movable side rail 9b while fixing the fixed side rail 9a according to the sizes of various boards 8. Ys is a distance between the center of each application nozzle 1 and the fixed rail 9a when the Y table 7 is at the origin, and is a constant. Yd is the distance between the limit position where the coating nozzle 1 collides with the substrate transport rail 9 and the substrate transport rail 9 when the coating operation is performed, and is determined by the size of the coating nozzle 1 and the rotation direction of the coating nozzle 1. Is done. Yp is the length of the substrate 8 in the Y direction.
[0017]
Hereinafter, a method for determining whether the designated coordinates of the NC program are correct, or whether the position outside the substrate or a dead space where the coating nozzle interferes with the substrate transporting unit will be described with reference to FIGS.
[0018]
If the amount of movement from the origin of the Y table when positioning to the designated coordinates of the NC program is ΔY, the coordinate designation of the NC program is designated as a position outside the substrate 8 or a position where the coating nozzle 1 interferes with the substrate transport rail 9 The judgment formula of whether or not is as follows.
[0019]
First, it is divided into two types according to the size of the substrate.
[0020]
As shown in FIG. 2A, the first is a case where the Y-direction length Yp of the substrate is larger than the distance Ys from the fixed side rail 9a to the origin position, and 2 in the moving direction of the Y table. Divide into streets.
[0021]
(1) When the Y table moves in the minus direction from the origin and the application nozzle 1 relatively moves from the origin position toward the fixed side rail 9a, the following formula (1) is used as a judgment formula.
[0022]
ΔY <− (Ys−Yd) (1)
(2) When the Y table moves in the plus direction from the origin and the application nozzle 1 relatively moves in the direction of the movable rail 9b from the origin position, the following formula (1) is used as a judgment formula.
[0023]
ΔY> Yp−Ys−Yd (2)
The second is a case where the Y-direction length Yp of the substrate is less than the distance Ys from the fixed-side rail 9a to the origin position as shown in FIG. 2B, and this is also the direction in which the Y table moves. There are two ways.
[0024]
(3) When the Y table moves in the minus direction from the origin and the application nozzle 1 relatively moves in the direction of the fixed side rail 9a from the origin position, the following equation (3)-(a) or (3)- Equation (b) is used as a judgment equation.
[0025]
ΔY <− (Ys−Yd) (3)-(a)
ΔY> − (Ys−Yp + Yd) (3) − (b)
(4) When the Y table moves in the plus direction from the origin and the coating nozzle 1 moves relatively in the direction opposite to the fixed side rail 9a from the origin position, the following formula (4) is used as a judgment formula.
[0026]
ΔY> 0 (4)
In each of the above equations, it is determined during execution of the NC program, and ΔY corresponding to the condition of the equation is determined as an incorrect coordinate, the application operation to this ΔY position is prohibited, the adhesive application device is stopped, and the coordinate is Notify the specification error. The above operation flow is shown in FIG.
[0027]
In addition, the judgment during the execution of the NC program is to set a soft limit value based on the formulas (1) to (4), and when the operation exceeding this soft limit value is performed on the Y table, the coordinates are immediately set to the wrong coordinates. It is.
[0028]
In the above description, an example in which it is determined whether or not the coordinates are incorrect during execution of the NC program has been described. At the time of creating the NC program, the designated coordinates corresponding to the above formula are displayed and a warning is obtained to obtain correction data. You may do it.
[0029]
The board data can also be used as data when the conveyance rail is automatically shifted when switching the model.
[0030]
In the above description, the application nozzle is mounted on the linear motion robot that is the X direction driving means, and the substrate setting unit is mounted on the Y table that is the Y direction driving means. What is necessary is just to be able to position in a predetermined position. For example, a configuration of a substrate that is positioned by a fixed coating nozzle and driving means in the XY directions may be used, or a configuration of a coating nozzle that is positioned by driving means in the XY directions and a fixed substrate may provide the same effect. It is done.
[0031]
【The invention's effect】
According to the adhesive application method of the present invention, when the designated coordinates of the NC program are incorrect, the application operation of the application nozzle is prohibited, and the application nozzle can be reliably prevented from being damaged due to the collision between the application nozzle and the substrate conveying means. .
[Brief description of the drawings]
FIG. 1 shows a schematic configuration of an embodiment of the present invention and a conventional adhesive application device, where (a) is an overall perspective view, (b) is an enlarged perspective view of an application portion, and (c) is a substrate setting portion. (D) is a perspective view in case an application nozzle and a conveyance rail interfere.
FIG. 2 is an explanatory diagram showing a positional relationship between a substrate transport rail and a coating nozzle in the same embodiment.
FIG. 3 is an operation flowchart of the embodiment.
[Explanation of symbols]
1 Coating nozzle 5 Linear motion robot (X direction drive means)
6 Substrate conveying means 7 Y table (Y direction driving means)
8 Substrate B Application part C Substrate adjustment part

Claims (1)

  In an adhesive coating method in which a substrate transported by a substrate transport means and a coating nozzle are positioned based on an NC program and an adhesive is applied to the substrate, coating is performed from the size data of the substrate, the size of the coating nozzle and the rotation direction. A step of calculating dead space data in which the nozzle interferes with the substrate transfer means, judging whether the designated coordinates of the NC program are correct based on the dead space data and the designated position for applying the adhesive, And a step of prohibiting a coating operation.

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