JP5275131B2 - Substrate transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a board conveyance apparatus capable of surely checking the presence/absence of a printed board even if the printed board has an opening. <P>SOLUTION: When a printed board P exists on a feed conveyor 8A, the feed conveyor 8A and a first positioning portion 8B begin board conveyance. Then, a timer 29 starts timing, data stored in a RAM 21 and expressing the presence of a board is erased, and data expressing the absence of a board is stored. When the printed board P is conveyed and a light receiving device 33 can not receive light by being hindered by the printed board P during moving before the time being counted by the timer 29 is up, arrival of the printed board to a position where a light emitting device 32 and the light receiving device 33 are arranged is detected. Then, the RAM 21 is controlled to store data expressing the presence of a board, and a drive motor of the first positioning portion 8B is controlled to stop the driving so that board conveyance is to be stopped. After slight advance, the printed board P is brought into contact with a board stopper 31 to be locked, and normal operation is completed. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a substrate transport apparatus that transports a printed circuit board on which a predetermined operation is performed and detects the presence or absence of the printed circuit board.

  For example, Patent Document 1 discloses a substrate transport apparatus that transports a printed circuit board on which a predetermined operation is performed. In such a substrate transport apparatus, the presence of the printed circuit board is confirmed, and then a predetermined operation, for example, an operation of mounting an electronic component on the printed circuit board, for example, is performed with an electronic component mounting apparatus equipped with the substrate transport apparatus. Like to do.

JP 2009-88040 A

  However, for example, a transmission type photoelectric sensor is used, for example, when light is directed toward the printed circuit board from an oblique lower side of the printed circuit board and the light is received obliquely above the printed circuit board, the printed circuit board is not used. If there is an opening in the printed circuit board, it may be erroneously detected that there is no printed circuit board.

  Accordingly, an object of the present invention is to provide a substrate transport device that can surely check the presence or absence of a printed circuit board even if the printed circuit board has an opening.

For this reason, the first invention is a board transport device for transporting a printed board on which a predetermined operation is performed and detecting the presence or absence of the printed board, and a light emitting device for emitting light toward the printed board And a substrate presence / absence detection device that detects the presence / absence of the printed circuit board, and an opening that has been conveyed to a position where the substrate presence / absence detection device is disposed. When the substrate presence / absence detecting device detects an existing printed circuit board, a storage device that stores substrate presence information and the substrate presence information stored in the storage device when transport of the printed circuit board having an opening is completed And a control device for determining that the printed circuit board having the opening is present .

According to a second aspect of the present invention, the substrate presence / absence detection device includes: the light emitting device that emits light toward the printed circuit board from obliquely above or obliquely below; and the light receiving device disposed to face the light emitting device. The printed circuit board is detected when the light receiving device cannot receive light from the light emitting device by the printed circuit board configured and conveyed.

According to a third aspect of the present invention, when the substrate presence / absence detecting device is disposed above or below the printed circuit board being conveyed and emits light toward the printed circuit board and receives the reflected light, the presence of the printed circuit board exists. characterized in that it consists of a light reflecting type sensor for detecting a.

The fourth invention is the any one of the first to third aspects, the control device, the printed circuit board, which has been conveyed to a position where the substrate presence detection device is disposed said substrate presence detecting device When detected, control is performed such that the conveyance of the printed circuit board is stopped.

When the conveyance of the printed circuit board is completed, the controller so judges that the printed circuit board is present, based on substrate presence information stored in the storage device, even if the opening in the printed circuit board, the transport of the printed circuit board When the process is completed, it is possible to provide a board transfer device that can surely check the presence or absence of a printed board.

It is a top view of an electronic component mounting apparatus. It is a control block diagram of an electronic component mounting apparatus. It is a top view for demonstrating a board | substrate conveyance apparatus. It is a right view of a 1st positioning part. It is a flowchart figure which concerns on board | substrate conveyance. It is a flowchart figure which concerns on board | substrate width setup operation. It is a flowchart figure which concerns on the return operation | work when a board | substrate width setup cannot be performed. It is a right side view of the 1st positioning part for showing other embodiments of a substrate existence detecting device.

  Hereinafter, as a printed circuit board assembly apparatus, there are an adhesive application apparatus that applies an adhesive on a printed circuit board, a screen printing machine that applies cream solder on the printed circuit board, an electronic component mounting apparatus that mounts electronic components on the printed circuit board, and the like. Of these, an electronic component mounting apparatus will be described in detail as an embodiment.

  FIG. 1 is a plan view of an electronic component mounting apparatus 1, and component supply devices 3A, 3B, 3C, and 3D are divided into four blocks on the front and rear of the apparatus main body 2 of the electronic component mounting apparatus 1, and a plurality of them are arranged in parallel. It is installed. The component supply device 3A has a lane number (component supply unit arrangement number) in the 100s, the component supply device 3B has a lane number in the 200s, and the component supply device 3C has a lane number in the 300s. 3D has lane numbers in the 400s.

  Each of the component supply devices 3A, 3B, 3C, and 3D has a large number of component supply units 5 arranged in parallel on a feeder base of a cart base that is a mounting base. When the cart base is properly attached to the apparatus main body 2, power is supplied to the component supply unit 5 mounted on the cart base so as to face the road. Further, when the connector is released and the handle is pulled, it can be moved by a caster provided on the lower surface.

  Each of the component supply devices 3A, 3B, 3C, and 3D is disposed so that the tip of the component supply side faces the pickup area of the mounting head 6, and each component supply unit 5 is freely rotatable on the cart table. Rotate a feed sprocket whose teeth are fitted into feed holes opened at predetermined intervals to a storage tape that is sequentially wound in a state of being wound around a supply reel placed on the supply reel, and the storage tape is picked up and picked up by electronic components. A tape feed mechanism that intermittently feeds to a position by a feed motor, and a cover tape peeling mechanism for peeling the cover tape from the carrier tape before the suction removal position by driving the peeling motor. The electronic parts that have been peeled off and loaded in the carrier tape storage part are sequentially supplied to the part suction / extraction position, and the suction part to be described later is supplied from the tip part. It can be taken out by Le.

  Between the front-side component supply devices 3B and 3D and the rear-side component supply devices 3A and 3C, a supply conveyor 8A, a first positioning unit 8B, an intermediate conveyor 8C, and a second component constituting the substrate transfer device 8 are provided. A positioning portion 8D and a discharge conveyor 8B are provided. Then, the supply conveyor 8A conveys the printed circuit board P received from the upstream to the first positioning unit 8A, and after mounting electronic components on the substrate P positioned by a positioning mechanism (not shown) in each positioning unit 8A, the intermediate conveyor The printed circuit board P received from the intermediate conveyor 8C is positioned by the positioning mechanism by the second positioning unit 8D and mounted with the electronic components, then transported to the discharge conveyor 8E, and then transported to the downstream apparatus. .

  Each beam 10 that moves along the guide rail 9 by the Y-axis drive motor 11 in the Y direction is provided with a mounting head 6 that is moved by the X-axis drive motor 13 in the longitudinal direction, that is, in the X direction. Is provided with a suction nozzle which is a plurality of holding members. The mounting head 6 is equipped with a vertical axis drive motor 14 for moving the suction nozzle up and down, and a θ-axis drive motor 15 for rotating around the vertical axis. Therefore, the suction nozzle of the mounting head 6 can move in the X direction and the Y direction, can rotate about the vertical axis, and can move up and down.

  Reference numeral 12 denotes a component recognition camera that captures an image of the electronic component in order to recognize the position of the electronic component in the XY direction and the rotation angle to determine how much the electronic component is displaced and held with respect to the suction nozzle.

  Next, the control block diagram of FIG. 2 will be described. The electronic component mounting apparatus 1 includes a CPU (Central Processing Unit) 20 as a control apparatus that performs overall control of the mounting apparatus 1, and a bus line connected to the CPU 20. A RAM (Random Access Memory) 21 and a ROM (Read Only Memory) 22 are provided.

  The CPU 20 controls the operation related to the component mounting operation of the electronic component mounting apparatus 1 according to the program stored in the ROM 22 based on the data stored in the RAM 21. That is, the CPU 20 controls driving of the Y-axis drive motor 11, the X-axis drive motor 13, the vertical axis drive motor 14, the θ-axis drive motor 15, and the like via the interface 24 and the drive circuit 27.

  In FIG. 2, for convenience of explanation, even though there are a plurality of them, for example, the mounting head 6 is omitted as one. The RAM 21 stores mounting data for each type of printed circuit board P related to component mounting. For each mounting order (step number), the X direction (indicated by X) in the printed circuit board P, Y Information on the direction (indicated by Y) and angle (indicated by Z), the arrangement number information of each component supply unit 5, and the like are stored.

  The RAM 21 stores information on the types (component IDs) of electronic components corresponding to the component supply unit arrangement numbers (lane numbers) of the component supply units 5 for each type of the printed circuit boards P, that is, component arrangement information. This component arrangement information is data relating to which component supply unit 5 is mounted at which position on the cart table. Furthermore, component library data relating to the characteristics of the electronic component is stored for each component ID.

  A recognition processing device 23 is connected to the CPU 20 via the interface 24. The recognition processing device 23 performs recognition processing of an image captured by the component recognition camera 12, and the processing result is sent to the CPU 20. Is sent out. That is, the CPU 20 outputs an instruction to the recognition processing device 23 so as to perform recognition processing (calculation of misalignment amount) on the image captured by the component recognition camera 12 and receives the recognition processing result from the recognition processing device 23. It is.

  Reference numeral 25 denotes a monitor for displaying a part image and a screen for setting various data. The monitor 25 is provided with various touch panel switches 26 as input means. Can be set.

  Next, based on FIG. 3, the second positioning unit 8 </ b> D of the substrate transfer apparatus 8 will be described below with a focus on the same first positioning unit 8 </ b> B.

  The first positioning portion 8B includes a pair of conveyance chutes 30A and 30B that can be moved from each other by each drive source and convey and guide the printed circuit board P. The printed circuit boards P are placed on the conveyance chutes 30A and 30B, respectively. In this embodiment, for example, both the conveying conveyors or a clamp mechanism (not shown) is raised with respect to the pair of conveying chutes 30A and 30B, and the position restriction provided on the conveying chutes 30A and 30B is provided. In this configuration, the printed circuit board P is pressed from below to position the printed circuit board P in the height direction.

  However, the pair of transport chutes 30A and 30B may be lowered with respect to both transport conveyors to position the printed circuit board P in the height direction. Alternatively, a backup base (not shown) in which a plurality of backup pins are inserted may be raised to support the printed circuit board P horizontally from the lower surface.

  Reference numeral 31 denotes a substrate stopper, and the printed circuit board P conveyed to the substrate stopper 31 comes into contact with and is locked. Reference numeral 32 denotes a light emitting device constituting a printed circuit board presence / absence detecting device, which is fixed to the conveyance chute 30A and arranged to emit light from an obliquely downward direction toward the front-rear central portion of the surface of the printed circuit board P (FIG. 4). For example, it may be arranged so as to emit light from an obliquely upward direction toward the central portion in the front-rear direction of the back surface of the printed circuit board P. Similarly, a light receiving device 33 that constitutes the presence / absence detecting device is fixed to the conveyance chute 30B and disposed so as to face the light emitting device 32, and receives light from the light emitting device 32.

  The light emitting device 32 is composed of a light emitting element and an optical fiber, and the light receiving device 33 is composed of a light receiving element and an optical fiber, but an optical fiber is not necessarily used.

  The printed board P is a divided board having a plurality of divided board portions P1, P2, and P3 on which electronic components are mounted in a repetitive pattern, and an opening is provided between each divided board portion P1, P2, and P3. PK1 and PK2 are established.

  With the above configuration, the operation will be described below based on the flowchart relating to the substrate conveyance in FIG. First, when the printed circuit board P is inherited from the upstream device (not shown) and exists on the supply conveyor 8A, the substrate conveyance of the supply conveyor 8A and the first positioning unit 8B (conveyance conveyor) is started and supplied from the CPU 20. A rotation command is issued to each drive motor of the conveyor 8A and the first positioning unit 8B (step S1), and the printed board P on the supply conveyor 8A is conveyed to the first positioning unit 8B.

  Further, after issuing the rotation command, the CPU 20 controls the timer 29 to start counting (step S2), and further erases the board presence data stored in the RAM 21 and sets the board absence data (OFF). Control is performed to store the data (step S3).

  Then, if the printed circuit board P is conveyed by the supply conveyor 8A and the first positioning unit 8B and time is not counted up by the timer 29, if the light receiving device 33 cannot receive light by the moving printed circuit board P, the printed circuit board P Is detected to have reached the position where the light emitting device 32 and the light receiving device 33 are disposed (step S4).

  Accordingly, the presence / absence detecting device detects that the printed circuit board P has reached the light emitting device 32 and the light receiving device 33, and controls to store the substrate presence (ON) data in the RAM 21 and performs the first positioning. Control is performed to stop the drive motor of the section 8B (conveyance conveyor), and the substrate conveyance is stopped (step S5). The supply conveyor 8A is controlled to stop after the expected time when the time required for the printed circuit board P to be transferred to the first positioning portion 8B elapses.

  For this reason, even if the driving of the drive motor of the first positioning portion 8B is stopped, the printed circuit board P is slightly abutted and locked to the circuit board stopper 31, and the normal operation ends. And since this latching printed circuit board P has the opening part PK2, and this opening part PK2 corresponds with the position of the optical path of the light-emitting device 32, the light which the light-emitting device 32 light-emitted from diagonally downward is a printed circuit board. The light receiving device 33 receives light through the opening PK2 of P (no substrate). However, as described above, since the substrate presence data (ON) is stored in the RAM 21, the CPU 20 prints the printed circuit board P. Even if the printed circuit board P is a split substrate, it can be reliably confirmed that there is the printed circuit board P locked to the substrate stopper 31.

  Therefore, after that, the transport belt or the clamp mechanism of the first positioning unit 8B is raised by an elevating device (not shown), and the printed circuit board P is placed on each position regulating portion of the pair of transport chutes 30A and 30B. By pressing from below, the printed circuit board P is positioned in the height direction and positioned in the horizontal direction. Further, the suction nozzle that picks up and holds the electronic component from the component supply unit 5 on the positioned printed circuit board P is moved in the horizontal direction, moved above the component mounting position of the printed circuit board P, and lowered. In this manner, electronic components are sequentially mounted on the printed circuit board P.

  When all the chip components have been mounted on the printed circuit board P, the transport belt or the clamp mechanism of the first positioning unit 8B is lowered, and the printed circuit board P on the transport belt is transferred to the intermediate conveyor 8C and the supply conveyor. The printed circuit board P on 8A is conveyed to the first positioning unit 8B.

  In addition, before the printed circuit board P is conveyed by supply conveyor 8A and the 1st positioning part 8B, and time-up is carried out by the timer 29, the presence detection apparatus will detect that the printed circuit board P reached | attained. If the time is up before the presence / absence detection device detects the printed circuit board P (step S6), the process ends abnormally.

  In this case, the CPU 20 controls to stop the mounting operation of the electronic component mounting apparatus 1 (including stopping the driving motor of the first positioning unit 8B) and causes the monitor 25 to display that a printed board conveyance abnormality has occurred. And control to notify that it is abnormal. This notification may be notified using a visual notification device other than the monitor 25 or other audible notification device.

  As described above, since presence / absence of the printed circuit board P is stored in the RAM 21, various controls are possible depending on the storage status. That is, based on the flowchart relating to the board width setup operation shown in FIG.

  When the operation of mounting the electronic component on the printed circuit board P is stopped, when the operator presses the touch panel switch displayed on the monitor 25 in an attempt to set up the board width, the CPU 20 is first stored in the RAM 21. The board presence / absence data in the first positioning unit 8B is read to determine whether or not the printed board P is present.

  When the CPU 20 determines that there is no printed board P in the first positioning portion 8B, the CPU 20 reads out the width data (width data in the direction orthogonal to the carrying direction) of the selected printed board from the RAM 21, and the carrying chute 30A. , 30B are controlled to move the transport chutes 30A, 30B away from or close to each other according to the width of the selected printed circuit board.

  Further, when the board width is set up, the CPU 20 reads the board presence / absence data in the first positioning unit 8B stored in the RAM 21, and determines that the printed board P is present. Control is performed so as not to drive, and control is performed so that a warning that the printed board P is present in the first positioning portion 8B and the board width cannot be set up is displayed on the monitor 25. This notification may be notified using a visual notification device other than the monitor 25 or other audible notification device.

  An operator who understands that it is necessary to perform a return operation by warning notification that the board width cannot be set up. This return operation will be described below based on the flowchart shown in FIG. .

  First, the operator visually checks whether or not the printed board P is present in the first positioning portion 8B. If the board width is set when the printed board P is present, the printed board and the first positioning portion 8B are damaged or broken. Accordingly, when the operator visually confirms that the printed circuit board P is present, the operator performs an operation of removing the printed circuit board P from the first positioning portion 8B.

  Further, when the operator visually confirms whether or not the printed board P is present in the first positioning portion 8B, and the operator operates the menu operation screen displayed on the monitor 25 when the printed board P is not present, The CPU 20 controls to erase the printed circuit board presence data and store the printed circuit board absent data in the first positioning unit 8B stored in the RAM 21.

  Therefore, since the operator visually confirms at the first positioning portion 8B and the printed circuit board absence data is stored in the RAM 21 when the printed circuit board P is not actually present, the operator tries to set up the substrate width again. When the touch panel switch displayed on the monitor 25 is pressed, the CPU 20 reads the substrate presence / absence data in the first positioning unit 8B stored in the RAM 21, and determines whether or not the printed circuit board P is present. Since it is determined that there is no printed board P, as described above, the transport chutes 30A and 30B can be moved away from or closer to each other according to the width of the selected printed board.

  As the substrate presence / absence detection device, in the above embodiment, the light emitting device 32 that emits light toward the printed circuit board P from obliquely below or obliquely above, and the light emitting device 32 that is disposed so as to face the light emitting device 32 and that emits light. Although it comprised from the light-receiving device 33 which receives the light which the apparatus 32 emits, it is not restricted to such embodiment, The board | substrate presence / absence detection apparatus of various forms can be considered.

  That is, as shown in FIG. 8, as a substrate presence / absence detection device, when the reflected light is received by irradiating light toward the printed circuit board P and being disposed above or below the printed circuit board P being conveyed. The light reflection type sensor 34 that detects the presence of the printed board P may be used. In this case, when light is irradiated to the part other than the opening of the printed circuit board P that is being transported and the reflected light of the printed circuit board P is received, the presence of the printed circuit board P is detected, and in a stopped state When light is irradiated to the opening of the printed circuit board P, the absence of the printed circuit board is detected. When the presence of the printed circuit board P is already detected, the printed circuit board P is detected in the RAM 21. Will be stored.

  Furthermore, as a substrate presence / absence detecting device, a sensor (a light emitting source and a light receiving sensor) including a light emitting element and a light receiving element is provided on one side of the conveyance path of the printed board P, and a mirror is provided on the other side so as to face the sensor. You may make it the structure which provided. In this case, if light is irradiated to the part other than the opening of the printed circuit board P that is being transported, the light receiving element cannot receive the light that passes through the mirror, so the presence of the printed circuit board is detected. If the light receiving element receives light passing through the opening of the printed circuit board P in a state where P is stopped, the detection device detects that there is no printed circuit board. When the presence of the printed board is detected, the fact that the printed board has been detected is stored in the RAM 21.

  In the above embodiment, the first positioning portion 8B of the board transfer device 8 of the electronic component mounting apparatus 1 as the printed circuit board assembly apparatus is used as an embodiment. The present invention can also be applied to a substrate transfer device and a substrate transfer device of other printed circuit board assembly devices.

  Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations can be made by those skilled in the art based on the above description, and the present invention is not limited to the various embodiments described above without departing from the spirit of the present invention. It encompasses alternatives, modifications or variations.

DESCRIPTION OF SYMBOLS 1 Electronic component mounting apparatus 8A Supply conveyor 8B 1st positioning part 20 CPU
21 RAM
31 Substrate stopper 32 Light emitting device 33 Light receiving device

Claims (4)

A substrate transport apparatus that transports a printed circuit board on which a predetermined operation is performed and detects the presence or absence of the printed circuit board, and a light emitting device that emits light toward the printed circuit board and light emitted from the light emitting device a substrate presence detecting device for detecting the presence or absence of the printed circuit board and a light receiving device for receiving the substrate whether the printed circuit board opening, which has been conveyed to the location to which the substrate presence sensing device is arranged wherein an opening is present on the basis of the substrate there information detecting apparatus is stored and a storage device for storing substrates presence information when detecting, in the storage device when the conveyance of the printed circuit board opening is present is completed A substrate transfer device, comprising: a control device that determines that there is a printed circuit board. The substrate presence / absence detecting device is configured by the light emitting device that emits light toward the printed circuit board from obliquely above or below and the light receiving device disposed to face the light emitting device, and is conveyed. 2. The substrate transfer device according to claim 1, wherein the printed circuit board is detected when the light receiving device cannot receive light from the light emitting device by the printed circuit board. The substrate presence / absence detection device is disposed above or below the printed circuit board being conveyed, irradiates light toward the printed circuit board, and receives the reflected light to detect the presence of the printed circuit board. the substrate transport apparatus of claim 1, characterized in that consists from the sensor.   The control device controls to stop the conveyance of the printed circuit board when the printed circuit board detection device detects the printed circuit board conveyed to the position where the circuit presence / absence detection device is disposed. The substrate transfer apparatus according to any one of claims 1 to 3.

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