JP4860446B2 - Printed circuit board delivery device - Google Patents

Description

  The present invention relates to a printed circuit board delivery device that receives a printed circuit board from a substrate carry-in device and supplies the printed circuit board to a processing machine.

  There existed what was described in patent document 1 and patent document 2 as a prior art. In Patent Document 1, a receiving clamp portion having a large number of clamps arranged in parallel on the left and right is provided so as to be pivotable about a vertical axis, and a reference point is recognized in a processing portion that moves to the left and right to form a horizontal groove in a plate material. And a reference point recognition unit for recognizing (measuring) the left and right reference holes of the plate member sandwiched by the receiving clamp unit, and based on the recognized signal, the receiving clamp unit The direction of the plate material clamped by the receiving clamp portion is corrected by adjusting the rotation around the center.

  According to Patent Document 1, when the receiving clamp portion is rotated, the plate material sandwiched by the receiving clamp portion is rotated about the vertical axis that is deviated from the center of the plate material. For this reason, the plate material that has been rotationally adjusted by the receiving clamp portion is shifted back and forth with respect to the movement axis line even though its planned machining line is parallel to the movement axis line of the machining portion. In order to solve this problem, it is necessary to adjust the movement of the receiving clamp portion in the front-rear direction after rotating the receiving clamp portion, which requires complicated control.

  In Patent Document 2, position display marks provided at both ends of a multilayer printed wiring board body are detected by an X-ray fluoroscope, and image processing is performed to obtain coordinates of the position display marks, and the multilayer printed wiring is calculated from the coordinates. The cutting position of the plate element is calculated, and the calculated cutting position data is sent to the control means as a signal for moving the clamper holding the X, Y, Q table and the multilayer printed wiring board element. is there.

In Patent Document 2, a heavy-weight table is moved to position a multilayer printed wiring board body, which requires a large and robust driving device and is expensive.
Japanese Patent No. 3683803 Japanese Patent Laid-Open No. 7-231175

  SUMMARY OF THE INVENTION An object of the present invention is to obtain a novel printed circuit board delivery device that is small in size and simple in structure, and can accurately position a printed circuit board received from a substrate carry-in device and supply it to a processing machine.

In order to achieve the above object, the present invention is configured as follows. That is, the invention according to claim 1 is provided with a board loading device for placing printed circuit boards having reference marks on both left and right ends on a transfer belt and loading them into a take-out position. A movable base that is moved back and forth (Y-axis) is provided, and a suction plate that sucks the printed circuit board on the movable base and an image recognition body that recognizes a reference mark of the printed circuit board are provided. (Z-axis) provided with a rotating device that rotates about the axis and a lifting device that lifts and lowers the suction plate, and the image recognition body is moved in the left-right direction and held on the transfer belt by the image recognition body Recognizing fiducial marks on both left and right ends of the printed circuit board, calculating a position of the printed circuit board from the recognized image, and a position and orientation of the suction plate corresponding to the printed circuit board. A control device having a substrate suction operation unit that corrects and sucks the printed board by the suction plate, and a substrate supply operation unit that returns the position and orientation of the suction plate to supply the printed board to a processing machine. Is provided.

  According to the first aspect of the present invention, when the printed board on the substrate carry-in apparatus is sucked, the position and orientation of the suction plate are corrected in advance so as to correspond to the printed board on the board carry-in apparatus. Since the suctioned board is then returned to its original position and orientation and the sucked printed board is supplied to the processing machine, the printed board shifted in position on the board carry-in device is processed by the delivery device. Are positioned at the processing reference position and orientation and supplied to the processing machine. In this case, since the suction plate is light and small, a device for moving and rotating the suction plate can be a simple device.

  Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, FIG. 1 is a main part perspective view showing the measurement state of the first reference mark of the delivery device according to the present invention, and FIG. 2 is a main part perspective view showing the measurement state of the second reference mark of the delivery device according to the present invention. 3 is a block diagram of the control device according to the present invention, FIG. 4 is a flowchart of the control device, FIG. 5 is a plan view of the main part in a state where the delivery device is moved to the first reference mark measurement position, and FIG. FIG. 7 is a principal plan view showing the second reference mark measurement position of the delivery device, FIG. 8 is a principal plan view showing the correction operation state of the suction plate, and FIG. These are the principal part top views which show the return operation state of an adsorption | suction board.

  1 and 2, reference numeral 1 denotes a board carry-in device for carrying a printed board W, and 10 denotes a delivery which receives the printed board W carried by the board carry-in apparatus 1 and supplies it to a table 40 of a processing machine (cutting machine). Device. In the printed circuit board W, a large number of independent circuits are formed in parallel on the inner periphery, and reference holes (reference marks) P (P1, P2) for forming each circuit are formed in the left and right ends. The printed circuit board W is supplied to the processing machine by the delivery device 10, where the outer shape processing, that is, the outer peripheral end material is cut and removed.

  The substrate carry-in device 1 hangs a transfer belt 2 having a large number of suction holes 3 around tension rolls 4 and 5 arranged on the left and right and a drive roll 6 arranged on the lower part of the center of the left and right. By rotating with the feed motor 7, the transfer belt 2 is rotated so that the upper moving side 2a moves in the direction of arrow A (leftward). The amount of movement of the transfer belt 2 in the direction of arrow A is determined by detecting the rotation of the feed motor 7 with a rotary encoder.

  A suction box 8 is interposed between the upper and lower belts in front of the transfer belt 2. The suction box 8 has a flat box shape substantially corresponding to the width (front-rear width) of the transfer belt 2 and has a plurality of suction holes (not shown) formed on the upper surface, and a suction side of a blower (not shown) installed outside. Connected to. Further, an illuminator 9 for irradiating light upward is installed in the suction box 8.

  The board carry-in device 1 moves the printed board W placed on the upper side 2a of the transfer belt 2 to the left, and when the printed board W arrives at the left side of the transfer belt 2, that is, the take-out position. The feed motor 7 is stopped, and the printed circuit board W that has arrived at the take-out position is sucked onto the upper moving side 2a of the transfer belt 2 by the negative pressure generated in the suction box 8.

  The delivery device 10 is as follows. That is, the movable table 20 that is moved left and right (X axis) and front and rear (Y axis) by the biaxial moving device 12 is attached to the frame 11 located behind the substrate carry-in device 1. The biaxial moving device 12 has an X-axis rail 13 and an X-axis screw 14 extending in the left-right direction attached to the frame 11, and an X-axis moving table 16 is slidably mounted on the X-axis rail 13. The X-axis moving table 16 is screw-connected to the X-axis screw 14 via a nut, and the X-axis screw 14 is rotated forward and backward by an X-axis motor (servo motor) 15 to move the X-axis moving table 16 in the left-right direction. Let

Further, a Y-axis rail 17 and a Y-axis screw 18 (FIG. 5) extending in the front-rear direction are attached to the X-axis moving base 16 , and a movable base 20 is slidably mounted on the Y-axis rail 17 and movable. The base 20 is screw-connected to the Y-axis screw 18 via a nut, and the Y-axis screw 18 is rotated forward and backward by a Y-axis motor (servo motor) 19 to move the movable base 20 in the front-rear direction.

  An image recognition body (CCD) for recognizing the reference holes P1 and P2 of the printed circuit board W is attached to the right end of the movable base 20 by attaching a suction plate 25 for attracting the printed circuit board W to the left end of the movable base 20 through the holder 21. Camera) 35 is installed. The holder 21 is formed of a rectangular plate that is long on the left and right sides, and a fulcrum shaft 22 is fixed upright at the center of the left and right, and the fulcrum shaft 22 is rotatably connected to the left end of the movable base 20. An elevating cylinder (elevating device) 23 is fixed upside down on both left and right ends of the holder 21, the rod of the elevating cylinder 23 is exposed downward from the holder 21, and a rectangular suction plate that is long on the left and right at the lower end of the rod. 25 are connected horizontally. A guide rod 24 guides the suction plate 25 up and down while being held horizontally.

  A number of suction pads 26 are attached to the outer periphery of the suction plate 25. Among these, the suction pads 26a at the four corners are attached to the tip portions of the arms 27 that are connected to the four corners of the suction plate 25 so as to be rotatable inward and outward. Each of the suction pads 26 is formed in a cone shape from a soft and elastic plastic material, and is formed by connecting a suction hose to the center.

  The suction plate 25 is rotated about a vertical (Z axis) axis by a rotating device 30 via a holder 21. That is, a screw shaft 32 rotated by a rotating motor (servo motor) 31 is attached to the movable base 20 in the front-rear direction, and a leaf spring 33 is connected forward to a nut screwed to the screw shaft 32. To do. On the other hand, a connecting pin 34 is erected and fixed to the right end of the holder 21, and the tip of the leaf spring 33 is connected to the connecting pin 34. Accordingly, when the screw shaft 32 is rotated forward and backward by the rotation motor 31, the leaf spring 33 moves in the front-rear direction via the nut, and the connecting pin 34 is centered on the fulcrum shaft 22 via the leaf spring 33. Arc movement in the front-rear direction. In this case, the leaf spring 33 is elastically deformed in the left-right direction to allow the arc movement of the connecting pin 34. The holder 21 is rotated in the front-rear direction about the fulcrum shaft 22 by the arc motion of the connecting pin 34.

  The image recognizing body 35 comprises a CCD camera, is mounted downward on the movable base 20 on the substantially left-right movement axis of the fulcrum shaft 22, receives light emitted from the illuminator 9, and takes out the position. The images of the reference holes P1 and P2 of the printed circuit board W that have arrived at are recognized.

  A table 40 of the processing machine is arranged on the left side of the substrate carry-in apparatus 1 described above. The table 40 is moved in the left-right direction by the front X-axis screw 41, and adsorbs the printed circuit board W supplied by the delivery device 10 and positions it at the processing position. The printed circuit board W thus positioned is clamped and fixed by a clamping device (not shown) of a processing machine, and then each edge is cut by a cutter of the processing machine and formed into a predetermined square (outline processing). . The table 40 is moved up and down in three stages, an upper stage when the printed board W is received, a middle stage during processing, and a lower stage when unloading by a lifting device (not shown), and is rotated at an angle of 90 degrees by a rotating device (not shown). , Biaxial processing by a processing machine, that is, cutting of front and rear and left and right edges is enabled. Two tables 40 are arranged on the left and right, the right table 40-1 receives the printed circuit board W from the delivery device 10, positions it at the processing position, and the left table 40-2 is processed by a processing machine. The printed substrate W is moved to the discharge position.

  The delivery device 10 is driven and controlled by a control device 50 shown in FIG. In FIG. 3, 51 is a control unit, and 52 is a setting unit that sets a predetermined operation in the control unit 51. The control unit 51 causes the delivery device 10 to perform a measurement operation of the position and orientation of the printed circuit board W that has arrived at the take-out position by the substrate carry-in device 1, and attracts the printed circuit board W to the delivery device 10. A substrate suction operation unit 51b that performs an operation and a substrate supply operation unit 51c that performs a supply operation to the processing machine of the printed circuit board W sucked by the delivery device 10 are provided.

  FIG. 4 shows a flowchart of the control device 50. In FIG. 4, S1 to S17 are steps. In the figure, when the start switch is turned on and starts in S1, the delivery device 10 is measured in S2 and S3, that is, the X-axis motor 15 and the Y-axis motor 19 of the biaxial moving device 12 are driven and controlled. An image recognition body (CCD camera) 35 attached to the movable base 20 is positioned at the first reference hole position on the transfer belt 2 shown in FIG.

  Next, the substrate carry-in device 1 is operated in S4 and S5. That is, the printed circuit board W placed on the transfer belt 2 is driven and controlled by driving the feed motor 7 to the take-out position shown in FIG. 6, and the negative pressure generated in the suction box 8 at this position. To suck and hold on the transfer belt 2.

  Next, in S6, the image recognition body is operated, and the position of the first reference hole P1 (the eccentric amount C1 with respect to the processing reference line L1) at the left end portion of the printed board W carried into the take-out position is measured. Next, in S7 and S8, the delivery device 10 is measured, that is, the X-axis motor 15 of the biaxial moving device 12 is driven and controlled to move the movable base 20 to the right. As shown in FIG. 3, after moving to the position of the second reference hole P2 at the right end of the printed circuit board W, the image recognition body 35 is operated in S9, and the position of the second reference hole P2 (eccentric with respect to the processing reference line L1). Amount C2) and the distance L1 between the first and second reference holes P1, P2.

  Next, calculation is performed in S10, that is, the eccentric amounts C1 and C2 of the first and second reference holes P1 and P2, the eccentric amount C3 of the center point of the printed circuit board W with respect to the processing reference line L1 from the measured value of the interval L1, and the rotation The angle α1 (FIG. 8) is obtained, and the drive amount of the X-axis motor 15 and Y-axis motor 19 of the biaxial moving device 12 and the drive amount of the rotation motor 31 are obtained from the deviation amount C3 and the rotation angle α1.

  Next, the position correction operation of the suction plate 25 is performed in S11. That is, the X-axis motor 15, the Y-axis motor 19, and the rotation motor 31 are driven by the driving amount obtained by the above calculation, and the rotation center M (axis of the fulcrum shaft 22) of the suction plate 25 is set to the printed circuit board W. The suction plate 25 is moved to the center position, and the suction plate 25 is rotated α1 around the rotation center M, whereby the suction plate 25 is moved to a position corresponding to the printed circuit board W on the transfer belt 2 as shown in FIG. And correct the orientation.

  Next, in step S12, the lifting cylinder 23 is extended to lower the suction plate 25. In step S13, the printed board W on the transfer belt 2 is sucked, and in step S14, the lifting cylinder 23 is shortened to suck the suction plate 25. And the printed circuit board W is lifted (detached) from the transfer belt 2. Next, in S15, the suction plate 25 is returned, that is, the X-axis motor 15, the Y-axis motor 19 and the rotation motor 31 of the biaxial moving device 12 are driven and controlled in the opposite directions to the above-described directions via the suction plate 25. As shown in FIG. 9, the printed circuit board W is positioned on the processing reference line L1, and the printed circuit board W is moved toward the table 40 of the processing machine in S16. That is, the X-axis motor 15 of the biaxial moving device 12 is activated to move the movable base 20 to the left in FIG. 1 so that the printed circuit board W faces the upper surface of the right table 40-1, and then S17. Then, the printed board delivery operation is completed.

  According to the embodiment, when the printed board W on the substrate carry-in device 1 is sucked, the position and orientation of the suction plate 25 of the delivery device 10 correspond to the printed board W on the substrate carry-in device 1 in advance. In this way, the printed board W is sucked and the suction plate 25 is returned to its original position and orientation so that the sucked printed board W is supplied to the processing machine. The displaced printed circuit board W is positioned by the delivery device 10 so as to correspond to the processing reference position and orientation of the processing machine, and is supplied to the processing machine. For this reason, it is not necessary to confirm or correct the position and orientation of the printed circuit board W on the processing machine side, the structure is simplified, and rapid processing can be performed.

It is a principal part perspective view which shows the measurement state of the 1st reference mark of a delivery apparatus. It is a principal part perspective view which shows the measurement state of the 2nd reference | standard mark of a delivery apparatus. It is a block diagram of a control apparatus. It is a flowchart of a control apparatus. It is a principal part top view which shows a 1st reference mark measurement position on a delivery apparatus. It is a principal part top view which shows the taking-out position of a printed circuit board. It is a principal part top view which shows the 2nd fiducial mark measurement position of a delivery apparatus. It is a principal part top view which shows the correction | amendment operation state of a suction plate. It is a principal part top view which shows the reset operation state of an adsorption | suction plate.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Board | substrate carrying-in apparatus 2 Transfer belt 2a Upper moving side 3 Suction hole 4,5 Tension roll 6 Drive roll 7 Feed motor 8 Suction box 9 Illuminator 10 Delivery apparatus 11 Frame 12 Biaxial moving apparatus 13 X axis rail 14 X axis screw 15 X-axis motor 16 X-axis moving table 17 Y-axis rail 18 Y-axis screw 19 Y-axis motor 20 Movable table 21 Holder 22 Support shaft 23 Lifting cylinder 24 Guide rod 25 Suction plate 26 (26a) Suction pad 27 Arm 30 Rotating device 31 Rotation Motor 32 Screw shaft 33 Leaf spring 34 Connecting pin 35 Image recognition body (CCD camera)
40 Processing machine side table 41-1 Supply side table 40-2 Discharge side table 41 Front X-axis screw W Printed circuit board P (P1, P2) Reference mark (reference hole)

Claims (1)

A board carrying-in device (1) for placing a printed circuit board (W) having reference marks (P) on both left and right ends on the transfer belt (2) and carrying it into the take-out position is provided, and the biaxial moving device (12) A movable base (20) that is moved left and right and back and forth is provided, a suction plate (25) that sucks the printed board (W) to the movable base (20), and a reference mark (P) of the printed board (W) A rotating device (30) for rotating the suction plate (25) about the vertical axis, and a lifting device (23) for raising and lowering the suction plate (25). The image recognition body (35) is moved in the left-right direction, and the reference marks (P) on both left and right ends of the printed circuit board (W) held on the transfer belt (2) by the image recognition body (35) are provided. ) From the recognized image. A substrate measuring operation unit (51a) for calculating the position of the printed circuit board (W), and correcting the position and orientation of the suction plate (25) so as to correspond to the printed circuit board (W) by the suction plate (25). A substrate suction operation unit (51b) that sucks the printed circuit board (W), and a substrate supply operation unit that returns the position and orientation of the suction plate (25) to supply the printed circuit board (W) to a processing machine. A printed circuit board delivery device comprising a control device (50) having (51c).

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