JP5656324B2 - Stopper device - Google Patents

Description

  The present invention relates to a stopper device, and more particularly to a stopper device that stops a circuit board conveyed by a substrate conveyor.

  As described in Patent Document 1 below, there is an apparatus in which a stopper member is moved between an operating position and a retracted position by a stopper member driving device. The stopper member abuts against the circuit board at the operating position and stops, and retracts from the operating position at the retracted position to allow the circuit board to be conveyed. The stopper member driving device described in Patent Document 1 is composed of a rotary air cylinder, and is supplied with compressed air from an air source provided in the main body of the substrate conveyor and operated.

JP 2008-166402 A

However, the stopper device described in Patent Document 1 still has room for improvement. For example, the operation of the stopper member driving device is controlled by the supply and cut-off of compressed air from the outside, and the connection by the connecting member between the stopper device and the external device is necessary for the control. There is.
The present invention has been made against the background of the above circumstances, and it is an object of the present invention to provide an improved stopper device that does not require an external connection by a connecting member for controlling the stopper member driving device. And

And, according to the present invention, a stopper device fixed to the support member for stopping the circuit board conveyed by the substrate conveyor, comprising: (a) the apparatus main body; and (b) the apparatus main body conveyed by the substrate conveyor. And a stopper member that is movably held between a working position that abuts on the circuit board or the board holding member that holds the circuit board, and a retracted position that is retracted from the working position, and (c) the stopper member A stopper member driving device that moves between the position and the retracted position; and (d) is held by the device main body, receives a control command via wireless communication, operates , and controls the stopper member driving device according to the control command. a controller having a stopper control unit for, (e) provided on a side of the support member of the apparatus main body, and a fixing device for fixing the device body to the support member, (f) said instrumentation Look containing a battery as a power source housed within the body, wherein the battery stopper device is obtained, characterized in that disposed on the opposite side of the support member across the fixing device.
As the support member, a support plate for supporting a support member such as a support pin for supporting the circuit board from the back side is suitable, but a dedicated support member can be provided separately from the support plate.
As a board | substrate holding member, the pallet in which a circuit board is accommodated is employable, for example.

The stopper member driving device is controlled without the stopper device being connected to the external device by the signal line. Thereby, it is possible to install the stopper device on the support member without considering the connection of the signal line, interference between the signal line and the component member of the substrate conveyor or the peripheral member, and the degree of freedom of installation is improved. An easy-to-use stopper device can be obtained.
Further, the fixing of the apparatus main body prevents the stopper member from moving when the circuit board is in contact, and the circuit board can be accurately stopped at the target position.
Furthermore, it is easy to use a battery arranged at an appropriate position as a power source.

Aspects of the Invention

  In the following, the invention which is recognized as being claimable in the present application (hereinafter, referred to as “claimable invention”. The claimable invention is a subordinate concept invention of the present invention which is the invention described in the claims) And may include inventions of a superordinate concept or another concept of the present invention). As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combinations of the constituent elements constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description accompanying each section, the description of the embodiment, the prior art, the common general technical knowledge, and the like. An aspect in which a constituent element is added and an aspect in which the constituent element is deleted from the aspect of each section can be an aspect of the claimable invention.

In addition, in each of the following items, the item (1) added with the invention-specific matters related to “fixing device” and “battery” corresponds to claim 1, and claim 1 relates to “permanent magnet included in fixing device”. The invention-specific matter is added to claim 2, the claim 1 or 2 is added to the invention-specific matter of (3), claim 3 is added to claim 3, and the limitation on "electromagnet" is added to claim 3. Is added to the claim 4 with a limitation on the “relation between electromagnets and permanent magnets” added to the claim 4, and the invention specific matter of the item (6) is added to any one of the claims 1 to 5 The invention specified in claim 6 is added to the invention specifying matter of (8) in any of claims 1 to 6, and the invention specifying of (14) is added in claim 7. The items to which items are added correspond to claim 8 respectively.

(1) A stopper device fixed to a support member to stop a circuit board conveyed by a board conveyor,
The device body;
A stopper member that is movably held at a working position that abuts on a circuit board conveyed by a board conveyor or a board holding member that holds the circuit board, and a retreat position that is retreated from the working position, on the apparatus body;
A stopper member driving device for moving the stopper member to the operating position and the retracted position;
A control device that is held by the device main body and operates in response to a control command by wireless communication, and the control device includes a stopper control unit that controls the stopper member driving device in accordance with the control command. Stopper device.
(2) The stopper device according to (1), wherein the stopper member driving device includes an electric actuator as a driving source.
The stopper member drive device can move the stopper member linearly back and forth between the operating position and the retracted position, or move the stopper member between the operating position and the retracted position by rotating around the rotation axis. It is. In either case, a fluid pressure actuator can be used as the drive source, but an electric actuator is suitable, and an electric motor or solenoid can be used as the electric actuator.
(3) Furthermore, the apparatus includes a fixing device that fixes the device body to the support member, and the control device fixes the device body to the support member according to the control command, and the device body. The stopper device according to the item (1) or (2), further including a fixing device control unit that switches the fixing device to a non-actuated state in which the fixing to the support member is released.
By fixing the apparatus main body, there is no fear that the stopper member moves when the circuit board comes into contact, and the circuit board is accurately stopped at the target position. Moreover, the position of the stopper device can be changed by releasing the fixation. If the switching between the operation state and the non-operation state of the fixing device is performed based on a control command by wireless communication, the fixing device can be operated without requiring connection with an external device. In addition, the changeover of the fixing device is automatically performed, so that the setup changeability is improved.
However, the fixing device may be a device that can be switched between an operating state and a non-operating state by an operator.
(4) The fixing device includes an electromagnet, and the fixing device control unit switches the fixing device between the working state and the non-working state by switching the electromagnet between an excited state and a demagnetizing state. Including the stopper device according to item (3).
As the fixing device, a device that fixes the device main body by mechanically engaging a part of the support member can be employed. Further, for example, it is possible to include a suction cup that forms a sealed chamber with the support member, and a negative pressure generator that makes the suction cup have a negative pressure or an atmospheric pressure. However, it is simple to include an electromagnet. In any case, if the apparatus main body is fixed to the support surface of the support member by suction, the stopper device can be easily fixed at an arbitrary position on the support surface.
(5) The stopper device according to any one of (1) to (4), further including a battery as a power source.
A contactless power receiving device that receives electrical energy from the outside, such as a stopper member driving device, a fixing device, and a control device, can be used as a power source. However, it is easy to use a battery as a power source.
(6) The stopper device according to any one of (1) to (5), further including a held portion that is held by a holding device to be moved to an arbitrary position.
The stopper device can be installed on the support member by the operator. However, it is desirable that the stopper device can be installed at an arbitrary position on the support member by holding the held portion by the holding device and moving the holding device by the moving device. The automatic arrangement of the stopper device improves setup changeability. The held portion can be provided on the stopper member, or a held member fixed to the apparatus main body can be used as the held portion separately from the stopper member.
When the stopper device is installed by an operator, it is desirable that the installation position is taught by the teaching means.
(7) The stopper device according to any one of (1) to (6), further including a relative movement device that is held by the device main body and moves the device main body relative to the support member.
In an embodiment in which this item is dependent on item (6), for example, the holding device is held by the holding device, the stopper device is placed on the support member, and then the position of the stopper device is adjusted by the relative movement device. It is possible, and manpower is unnecessary. In addition, the position of the stopper device can be adjusted with or without the need for manpower, the holding device, and the holding device moving device after placement.
It is desirable that the relative movement device can move the stopper device to an arbitrary position on the XY plane parallel to the circuit board conveyed by the substrate conveyor. However, it may be movable only in one of the direction parallel to the conveyance direction of the substrate conveyor and the direction perpendicular thereto.
(8) The relative movement device includes a drive wheel held by the device main body and a drive wheel drive device that includes a drive source and drives the drive wheel, and the control device responds to the control command. The stopper device according to item (7), including a movement control unit that controls the driving wheel driving device and moves the stopper device to a command position included in the control command.
(9) The relative movement device includes a steering device that changes the direction of the drive wheel by rotating a drive wheel holding member that rotates the drive wheel about the rotation axis about the rotation axis. The stopper device according to (8), wherein the control device includes a steering control unit that controls the steering device in accordance with the control command and controls a moving direction of the stopper device.
(10) The stopper device according to (8) or (9), wherein the relative movement device includes a plurality of the drive wheels.
If there are a plurality of driving wheels, it is possible to determine the moving direction of the stopper device by changing the direction of the driving wheels. If a steering device is provided in which three or more wheels are provided and the directions of the wheels are simultaneously changed by the same amount, the movement direction of the stopper device can be controlled more reliably. In that case, at least one of the wheels may be a drive wheel.
(11) The stopper device according to any one of (8) to (10), wherein the relative movement device includes one or more driven rotating bodies.
The driven rolling element is preferably a caster wheel or a sphere, for example.
(12) Further, at least one of the drive wheel and the driven rotating body is urged by an urging force to an action position protruding downward from the bottom surface of the apparatus main body, and the attachment of the apparatus in the direction toward the support member is applied to the apparatus main body. The stopper device according to item (11), including a biasing device that allows the device main body to come into contact with the support member and to be in a fixed state when a force greater than the force is applied.
It is possible to use all the rotating bodies that support the apparatus main body as wheels. In that case, the urging device may urge at least one of the plurality of wheels to the operating position.
(13) a magnet device including at least an electromagnet and held by the device main body so as to be movable up and down;
A magnet device control unit that switches the magnet device between a working state in which a magnetic attraction force acts between the supporting member made of a magnetic material and a non-working state in which the magnet device does not act by switching the electromagnet between an excited state and a demagnetized state; ,
A biasing device that biases the magnet device to a retracted position above a lower end of the device main body, and allows the magnet device to be attracted to the support member when the magnet device is in the working state; The stopper device according to any one of (7) to (11).
In a state where the magnet device is attracted to the support member, the stopper device cannot move relative to the support member. A fixing device is constituted by the magnet device, the magnet device controller, and the biasing device.
(14) The stopper device according to any one of (1) to (13), further including a recognition mark recognized by a recognition device to detect the position of the stopper device.
One recognition mark or a plurality of recognition marks may be provided. The recognition mark is desirably provided on the stopper member. When the held portion described in the above item (6) is provided, it is desirable that a recognition mark is provided on both the held portion and the stopper member. The plurality of recognition marks may have the same shape and dimensions, or at least one of them may be different.
By recognizing the recognition mark, for example, the position of the stopper device can be confirmed. If a plurality of recognition marks are provided, the posture and orientation of the stopper device can be acquired. Accordingly, when the stopper member is brought into contact with the circuit board at a determined phase, or when the stopper device itself is used at the determined phase, or the stopper device is a component of the substrate conveyor or the substrate support device. If the posture of the stopper device is limited, the stopper device can be installed in the set posture and orientation.
Note that the “direction of the stopper device” means, for example, whether the stopper member is positioned on the upstream side or the downstream side in the transport direction with respect to the held portion when the held portion is provided. The “position of the stopper device” means a state determined by the arrangement direction of a plurality of recognition marks, and means a rotation posture regardless of the direction.

It is a top view which shows the electronic circuit component mounting machine provided with the stopper apparatus which is one Embodiment of claimable invention. It is a front view which shows one side frame and guide rail of the board | substrate conveyor of the said electronic circuit component mounting machine with a board | substrate holding | maintenance apparatus. It is a top view which shows roughly the board | substrate support apparatus which comprises the said board | substrate holding apparatus. It is a side view (partial cross section) which shows the support pin of the said board | substrate support apparatus. It is a side view (partial cross section) which shows the support pin holding device which hold | grips the said support pin. It is a side view (partial cross section) which shows the state which the said support pin holding device hold | gripped the support pin. It is a front view (partial cross section) which shows the said stopper apparatus with the said support pin. It is a top view which shows the said stopper apparatus. It is a block diagram which shows notionally the control apparatus of the said electronic circuit component mounting machine. It is a block diagram which shows notionally the control apparatus of the said stopper apparatus. It is a front view (partial cross section) which shows the stopper apparatus which is another embodiment. It is a side view (partial cross section) of the stopper device shown in FIG. It is a top view of the stopper apparatus shown in FIG.

  Hereinafter, several embodiments of the claimable invention will be described with reference to the drawings. In addition to the following embodiment, the claimable invention can be implemented in various modifications based on the knowledge of those skilled in the art, including the aspects described in the above [Aspect of the Invention] section.

  FIG. 1 shows an electronic circuit component mounting machine, which is a kind of circuit board working machine. The electronic circuit component mounting machine includes a bed 8 as a work machine body, a substrate conveyor 10, a stopper device 12, a substrate holding device 14, a component supply device 16, a mounting device 18, a reference mark imaging device 20, a component imaging device 22, and a control device. 24 (see FIG. 9).

  In the present embodiment, the substrate conveyor 10 is a belt conveyor, and each of the pair of side frames 30, 32 has a drive pulley 34 as shown in FIG. A plurality of guide pulleys 36 are rotatably mounted, and an endless conveyor belt 38 is wound around.

  The pulleys 34 and 36 are timing pulleys, and the conveyor belt 38 is a timing belt. A drive pulley 34 provided on each of the side frames 30 and 32 is rotated by a common electric motor 40, whereby a pair of conveyors The belts 38 are circulated at the same time, and the circuit boards 42 supported by the conveyor belts 38 from the lower side at both side ends parallel to each other are conveyed in a horizontal posture. The drive pulley 34, the guide pulley 36, and the electric motor 40 constitute a belt rotating device 44, and the moving path on the upper surface of the conveyor belt 38 constitutes a conveying path for the circuit board 42. The electric motor 40 is a pulse motor in this embodiment.

  The movement of the circuit board 42 is guided on both sides in the width direction by guide rails 46 as guide members provided on the side frames 30 and 32. The width direction is a plane parallel to the mounting surface, which is the work surface of the circuit board 42, and is a direction orthogonal to the transport direction in one horizontal plane. In the present embodiment, the conveyance direction of the circuit board 42 is the X-axis direction, and the width direction is the Y-axis direction. The side frame 32 is movable, and the board conveyance width of the board conveyor 40 is changed according to the width of the circuit board 42.

  As shown in FIG. 1, an inflow detection sensor 60 that detects the carry-in of the circuit board 42 is provided at a position upstream from the upstream end in the transport direction of the substrate conveyor 10. In the present embodiment, the inflow detection sensor 60 is constituted by a transmissive photoelectric sensor that is a photoelectric sensor that is a kind of a non-contact sensor, and includes a light emitting unit 62 and a light receiving unit 64, and an ON signal when the light receiving unit 64 receives light. Is output, and an OFF signal is output in a state where no light is received.

  The mounting device 18 as a working device includes a mounting head 80 as a working head and a head moving device 82 as shown in FIG. The head moving device 82 includes an X-axis direction moving device 84 and a Y-axis direction moving device 86, and moves the mounting head 80 to an arbitrary position in the horizontal plane. The X-axis direction moving device 84 includes an X-axis slide 90 and an X-axis slide moving device 92 as movable members. The X-axis slide moving device 92 includes an electric motor 94 and a feed screw mechanism 98 including a feed screw 96 and a nut (not shown). The feed screw 96 is preferably a ball screw, and the electric motor 94 is preferably an electric motor capable of controlling the rotation angle, such as a servo motor. The same applies to the feed screw and the electric motor described below.

  In this embodiment, the Y-axis direction moving device 86 is provided on the X-axis slide 90, and includes a Y-axis slide 100 and a Y-axis slide moving device 102 as movable members. The Y-axis slide moving device 102 includes an electric motor 104 and a feed screw mechanism (not shown). The mounting head 80 holds electronic circuit components by a suction nozzle that is a component holder, and is mounted on the Y-axis slide 100. The reference mark imaging device 20 is mounted on the Y-axis slide 100 and moved by the head moving device 82 to image the reference mark 110 provided on the mounting surface of the circuit board 42. The head moving device may be a device in which an X-axis direction moving device is provided on the Y-axis slide and a mounting head is mounted on the X-axis slide.

The substrate holding device 14 will be described.
As shown in FIG. 1, the substrate holding device 14 is provided at a central portion in the transport direction of the substrate conveyor 10, and in this embodiment, includes a substrate support device 120 and a clamp member 122 as shown in FIG. 2. The substrate support device 120 includes a support pin 130 and a support plate 132 that are support members. The support pin 130 is described in the same manner as the support pin described in WO2005 / 081611, and will be briefly described.

  As shown in FIG. 4, the support pin 130 is detachably fixed by pressing the base 138 against the support plate 132 based on the magnetic force of the permanent magnet 136, and is supported by a pin member 140 supported by the base 138. The circuit board 42 is supported. The tip of the pin member 140 forms a flat surface perpendicular to the axis of the support pin 130, forms a support surface 142, and supports the circuit board 42 from below. In addition, an annular groove 144 is provided in an intermediate portion in the axial direction of the pin member 140, and a neck portion 146 and an annular engagement portion 148 having a circular cross section are provided.

  The support plate 132 constitutes a support member that supports the support pin 130. As shown schematically in FIGS. 2 and 3, the plate has a rectangular cross-sectional shape, and is a horizontal pin support constituted by the upper surface thereof. A support pin 130 is placed on the surface 154. Therefore, at least the pin support surface 154 of the support plate 132 is made of a magnetic material such as steel, and the support pin 130 can be supported at an arbitrary position of the pin support surface 154.

  The support plate 132 is supported by a support plate lifting / lowering device 156 as a support member moving device so that the support surface 142 of the support pin 130 is the lower surface of the pressing portion 158 provided on the guide rail 46 as shown by a two-dot chain line in FIG. As shown by the solid line, the rising end position is located in the same plane as the lower end position, and the support pin 130 is moved to the retracted position where the support pin 130 is retracted downward in the transport path. The support plate lifting / lowering device 156 is configured using, for example, an air cylinder as a fluid pressure cylinder, which is a kind of fluid actuator, as a drive source.

  The support pin 130 is automatically installed at an arbitrary position of the support plate 132 by the support pin automatic installation device 160. The support pin automatic installation device 160 includes a support pin gripping device 162 shown in FIG. 5 and a support pin gripping device moving device as a relative movement device. The support pin gripping device 162 and the support pin gripping device moving device are also configured similarly to the support pin gripping device and the support pin gripping device moving device described in WO2005 / 081611, and will be described briefly.

  The support pin gripping device 162 is mounted on the Y-axis slide 100 as shown in FIG. 1 and is moved to an arbitrary position in the horizontal plane by the head moving device 82. The head moving device 82 also serves as a support pin gripping device moving device. The support pin gripping device 162 is also moved up and down by a support pin gripping device lifting device 164 (see FIG. 9) provided on the Y-axis slide 100. The support pin gripping device lifting / lowering device 164 is configured using, for example, an air cylinder as a drive source. The support pin gripping device 162 is guided by a guide device (not shown), and has a preset ascending end position and descending end. Moved to position.

  As shown in FIG. 5, the support pin gripping device 162 includes a gripping device main body 170, a gripping claw group 172 as a gripping member group, an advance / retreat member 174 as an operation member, and a switching device 176. The pair of gripping claws 178 and 180 of the gripping claw group 172 is rotated by the relative movement in the axial direction with respect to the support pin 130, and the support pin 130 is gripped and released. This relative movement is provided in the center of the advance / retreat member 174 so as to open downward, the pin member 140 is fitted into the bottomed fitting hole 182 extending in the axial direction, and the support surface 142 is the bottom surface 184 of the fitting hole 182. This is caused by preventing the advancing / retreating member 174 from descending.

  When the support pin 130 is gripped, the support pin gripping device 162 is lowered, and the pin member 140 is fitted into the fitting hole 182. When the gripping device main body 170 is lowered with respect to the advance / retreat member 174, the gripping claws 178 and 180 are moved by the springs 194 and 196 by the action of the action lever 192 constituting the motion conversion mechanism 190 of the switching device 176 as shown in FIG. It closes against the biasing force and grips the neck 146 of the support pin 130. In this gripping state, the rotation locking member 200 constituting the locking device 198 of the switching device 176 is engaged with the locked member 202 provided on the advance / retreat member 174, and the advance / retract member of the gripping device main body 170 is engaged. The rise relative to 174 is maintained by limiting the operating lever 192 to a range that does not disengage from the gripping claws 178 and 180. The support surface 142 is kept in contact with the bottom surface 184. The gripping claws 178 and 180 are provided with recesses 204 and 206 at a portion facing the engaging portion 148 in a state where the neck portion 146 is gripped, so that the neck portion 146 can be gripped without interfering with the engaging portion 148. Has been. The support pin 130 is lifted by the lift of the support pin gripping device 162 and lifted from the support plate 132.

  When the support pin 130 is released, the support pin gripping device 162 is lowered, and after the support pin 130 is placed on the support plate 132, the gripping device main body 170 is lowered with respect to the advance / retreat member 174, thereby rotating. The engagement between the locking member 200 and the locked member 202 is released. Therefore, when the support pin gripping device 162 is lifted, the gripping device main body 170 is lifted with respect to the advancing / retracting member 174, the action lever 192 is disengaged from the gripping claws 178, 180, and the gripping claws 178, 180 is opened and the support pin 130 is released. In this embodiment, the support pin gripping device 162 is provided on the Y-axis slide 100 in a direction in which the gripping claws 178 and 180 are opened and closed in a plane parallel to the Y-axis direction. The support pin 130 is held, released, and moved by the support pin gripping device 162 in a state where the support plate 132 is positioned at the rising end position, and the support pin 130 is automatically arranged at a position that supports the circuit board 42. .

The stopper device 12 will be described.
As shown in FIG. 7, the stopper device 12 includes a device main body 220, a stopper member 222, a stopper member lifting device 224 as a stopper member driving device, a pin 226 as a held member, a battery 228 as a power source, a fixing device 230, and a control device. 232 and is mounted on the support plate 132 and fixed. The pin 226 is fixed to the center in the width direction of the apparatus main body 220 on the upper surface of one end portion in the longitudinal direction of the apparatus main body 220. The pin 226 is formed in the same manner as the pin member 140 of the support pin 130, and includes a contact surface 240 corresponding to the support surface 142, an annular groove 242, a neck portion 244, and an annular engagement portion 246. The pin 226 is provided so as to be positioned at the same height as the pin member 140 in a state where the stopper device 12 is placed on the support plate 132. The pin 226 is held, released and held and released by the support pin gripping device 162 in the same manner as the support pin 130, and the support pin gripping device 162 is moved, so that the stopper device 12 can be moved to an arbitrary position on the support plate 132. Moved to and installed. In the present embodiment, the pin 226 constitutes a held portion, and the support plate 132 also serves as a support member to which the stopper device 12 is fixed. Further, the support pin gripping device 162 also serves as a holding device, the head moving device 82 also serves as a holding device moving device, and these constitute a stopper device automatic installation device. The support pin automatic installation device 160 also serves as the stopper device automatic installation device. The engaging portion 246 has a diameter larger than that of the engaging portion 148 of the pin member 140, and two portions on the outer peripheral surface are notched parallel to the longitudinal direction of the apparatus main body 220, as shown in FIG. In other words, restricting surfaces 248 and 250 are formed.

  As shown in FIG. 7, the stopper member elevating device 224 is provided at the other end in the longitudinal direction of the apparatus main body 220, and includes an electric motor 260 as a drive source, and a feed screw mechanism 266 including a feed screw 262 and a nut 264. Including. Electric motor 260 includes a stator 268 and a rotor 270. In the present embodiment, the rotor 270 has a cylindrical shape, the nut 264 is fixed on the inside thereof, and the stopper device 12 is placed on the support plate 132. It is a right angle and rotated around a vertical axis. The feed screw 262 is held in the apparatus main body 220 so as to be relatively movable in the axial direction and not to be relatively rotatable, and is screwed into the nut 264, and is raised and lowered by the rotation of the nut 264. The relative rotation of the feed screw 262 is such that a protrusion 274 serving as an engaging portion provided in the apparatus main body 220 is formed in a groove 272 that is formed in an axially extending state and that forms an engaging portion. The feed screw 262 is blocked by being fitted in the axial direction so as to be relatively movable.

  A screw is not provided at the upper end portion of the feed screw 262, and the cylindrical cross section is a circular columnar portion, and this columnar portion constitutes a stopper member 222. It is provided at a position that is separated in a direction parallel to the direction. The stopper member 222 is moved to the operating position that is the rising end position and the retracted position that is the falling end position by raising and lowering the feed screw 262. As shown by the solid line in FIG. 2, the operation position is the circuit board that is transported by the board conveyor 10 when the stopper member 222 is located in the transport path of the circuit board 42 in the state where the support plate 132 is located at the lower end position. 42. The retreat position is a position where the stopper member 222 is positioned below the transport path in a state where the support plate 132 is positioned at the descending end position, and retracts from the transport path to allow passage of the circuit board 42. 7, the upper end surface of the stopper member 222 is positioned slightly below the support surface 142 of the support pin 130 placed on the support plate 132, and the circuit by the support pin 130 is used. The stopper member 222 is prevented from contacting the circuit board 42 when the board 42 is supported. A stopper member separate from the feed screw may be concentrically fixed to the feed screw. It can also be considered that the stopper member includes a stopper portion and a screw portion.

  Each movement of the stopper member 222 to the operating position and the retracted position is detected by sensors 276 and 278 (see FIG. 10). In this embodiment, the sensors 276 and 278 are constituted by transmission photoelectric sensors, and are provided in the apparatus main body 220 at a distance in the vertical direction, and detect the lower end edge of the feed screw 262, respectively. When the signal of the upper sensor 276 changes from OFF to ON, the arrival of the stopper member 222 is detected, and when the signal of the lower sensor 278 changes from ON to OFF, the arrival of the stopper position is detected. The electric motor 260 is stopped based on each detection.

  As shown in FIG. 8, recognition marks 280 and 282 are provided on the upper end surfaces, which are the front end surfaces of the stopper member 222 and the pin 226, respectively. These recognition marks 280 and 282 have different shapes in the present embodiment and can be identified.

  As shown in FIG. 7, the fixing device 230 includes an electromagnet 290 and a permanent magnet 292, and is accommodated in a recess 294 provided to be open on the lower surface of the device main body 220. In the present embodiment, the permanent magnet 292 has a cylindrical shape, the magnetic poles are positioned vertically, and the lower surface is accommodated in the central portion of the recess 294 in a posture that is in the same plane as the lower surface of the apparatus main body 220. Etc., and are fixed by appropriate means. A coil of an electromagnet 290 is wound around the permanent magnet 292. The electromagnet 290 generates a magnetic flux in a direction that cancels the magnetic flux of the permanent magnet 292 by excitation. In the present embodiment, the apparatus main body 220 is made of a nonmagnetic material, for example, an aluminum alloy.

  In a state where the electromagnet 290 is demagnetized, the permanent magnet 292 is magnetically attracted to the support plate 132 by the magnetic force acting between the permanent magnet 292 and the pin support surface 154, and the apparatus main body 220 is fixed to the support plate 132. . The fixing device 230 is put into an operating state. When the electromagnet 290 is excited, the magnetic flux of the permanent magnet 292 is canceled, the attraction force is extinguished, and the fixing of the apparatus main body 220 to the support plate 132 is released. The fixing device 230 is deactivated. The electric energy is supplied to the electromagnet 290 only when the fixing of the stopper device 12 is released, and the energy consumption can be reduced.

  At least one battery 228 is accommodated in the battery accommodating portion 296 provided in the apparatus main body 220, at least one in the present embodiment, for example, two. The battery housing part 296 includes a housing hole 298, and when the battery 228 is inserted, electric energy is supplied to the control device 232 and electric energy is supplied to the electric motor 260 and the electromagnet 290.

  As shown in FIG. 10, the control device 232 is arranged mainly in the stopper device control computer 300, and controls the electric motor 260 and the electromagnet 290 via the drive circuit 302. A transmission / reception device 304 for wireless communication is also connected to the stopper device control computer 300, and the control device 232 receives a control command by wireless communication from the control device 24 of the electronic circuit component mounting machine.

  As shown in FIG. 9, the control device 24 is mainly composed of a mounting control computer 310 and controls the electric motor 40 and the like via the drive circuit 312. Connected to the mounting control computer 310 are an image processing computer 314 for processing data obtained by imaging by the reference mark imaging device 20 and the component imaging device 22 and a transceiver device 316 for wireless communication. The imaging devices 22 and 24 include, for example, a CCD camera or a CMOS camera as a surface imaging device which is a kind of imaging device. The imaging device may be a device including a line sensor.

  In this electronic circuit component mounting machine, the circuit board 42 is stopped at a position where the center in the direction parallel to the transport direction is located at the center in the direction parallel to the transport direction of the component supply device 16. The stopper member 222 is the front end of the circuit board 42 and contacts the center in the width direction among the downstream ends in the transport direction to stop the circuit board 42. Therefore, the stopper device 12 is installed at a position corresponding to the dimension of the circuit board 42 in the transport direction and the width direction. Further, as shown in FIG. 3, the stopper device 12 has a stopper member 222 and a pin 226 arranged in parallel to the transport direction, the regulating surfaces 248 and 250 are parallel to the X-axis direction, and the stopper member 222 is a pin. It is used in a direction positioned upstream in the transport direction from H.226, and the pins 226 are detached from the circuit board 42 when the circuit board 42 is supported by the support pins 130 so as not to interfere with the circuit board 42.

  The stopper device 12 is installed on the support plate 132 in a state where the stopper member 222 is located at the retracted position and the support plate 132 is located at the rising end position as shown by a two-dot chain line in FIG. First, the current position of the stopper device 12 is confirmed. Therefore, the reference mark imaging device 20 is moved, and the recognition marks 280 and 282 are imaged. The position of the stopper device 12 is set at the center of the stopper member 222 and the center of the recognition mark 280 in this embodiment, and the position where the stopper device 12 should currently be located is stored in the RAM of the mounting control computer 310. It is stored in a current position memory that is provided and constitutes a storage means. The position of the recognition mark 282 is obtained by the position of the recognition mark 280 and the design distance between the marks 280 and 282. The stopper device 12 is on the support plate 132 and raised, and the reference mark imaging device 20 can image the recognition marks 280 and 282 in a focused state. The actual positions of the stopper device 12 and the pin 226 are obtained by imaging.

  Based on this actual position, the support pin gripping device 162 is moved, moved up and down to grip the pin 226, lift the stopper device 12 from the support plate 132, and then to the target position where the circuit board 42 is stopped. Move. The target position is calculated based on the dimensions of the circuit board 42. The type of the circuit board 42 on which the electronic circuit component is mounted is obtained from, for example, a mounting program, whereby the dimensions of the circuit board 42 are obtained.

  When the support pin gripping device 162 grips the pin 226, the electromagnet 290 is excited in the stopper device 12, and the stopper device 12 is released from being fixed. When moving the support pin gripping device 162, the mounting control computer 310 transmits a fixing release command to the stopper device control computer 300 by wireless communication, and the electromagnet 290 is excited based on the command. The support pin gripping device 162 is raised to the raised end position, and the stopper device 12 is lifted from the support plate 132.

  In a state where the pin 226 is gripped by the support pin gripping device 162, the recesses 204 and 206 of the gripping claws 178 and 180 face the regulating surfaces 248 and 250 with a slight gap therebetween, and the axis of the pin 226 of the stopper device 12 is around the axis. Is restricted. Therefore, the stopper device 12 is maintained in a posture and orientation in which the stopper member 222 and the pin 226 are aligned in a direction parallel to the transport direction, and the stopper member 222 is located upstream of the pin 226.

  The support pin gripping device 162 is lowered with the stopper member 222 positioned at the target position, and the stopper device 12 is placed on the support plate 132. After placement, the support pin gripping device 162 is raised and the stopper device 12 is released, the reference mark imaging device 20 is moved to image the recognition marks 280 and 282, and the positions of the stopper device 12 and the pin 226 are acquired. Is done. If the stopper device 12 is displaced from the target position and the amount of displacement exceeds the set range, the stopper device 12 is again grasped by the support pin grasping device 162 and placed on the pin support surface 154. If there is no deviation in the position of the stopper device 12 and it is within the set range, the electromagnet 290 is demagnetized based on a command by wireless communication, and the device main body 220 is fixed to the support plate 132. Thereafter, the support plate 132 is lowered to the lowered end position. The position of the stopper device 12 obtained based on the imaging of the recognition mark 280 is stored in the current position memory. The position of the pin 226 may also be stored in the memory and used to move the reference mark imaging device 20 at the time of imaging the next recognition mark 282.

  When the circuit board 42 is carried into the board conveyor 10, the support plate 132 is positioned at the lowered end position. Then, the stopper device control computer 300 is instructed to rise to the operating position of the stopper member 222 by wireless communication, the electric motor 260 is activated, and the stopper member 222 is raised to the operating position. When the circuit board 42 is carried in, the electric motor 40 required until the circuit board 42 is stopped based on the detection of the rear edge of the circuit board 42 by the inflow detection sensor 60 (the upstream edge in the conveying direction of the circuit board 42). , Here, the number of drive pulses is commanded to the drive circuit 312, the electric motor 40 is controlled to decelerate before the circuit board 42 abuts against the stopper member 222, and the circuit board 42 is moved at a low speed while the stopper member 222 is moved. Is stopped by abutting. The number of drive pulses is set to a number that allows the circuit board 42 to reliably abut against the stopper member 222 even if relative movement occurs between the circuit board 42 and the conveyor belt 38. Excessive movement of the conveyor belt 38 is allowed by slipping with the circuit board 42. The control of the belt circulating device 44 based on the detection of the inflow detection sensor 60 and the stop of the circuit board 42 by the stopper device 12 improve the stop position accuracy. Therefore, after the circuit board 42 is stopped, the reference mark 110 is imaged to acquire the positional deviation of the circuit board 42, and when there is a positional deviation exceeding the set range, the belt circulator 44 is activated to set the stop position of the circuit board 42. Compared to the correction, the time required to carry in the circuit board 42 is shortened. Note that the circuit board may be detected by the sensor immediately before contact with the stopper member, and the electric motor may be stopped.

  After the stop, the stopper device control computer 300 is instructed to retract the stopper member 222 by wireless communication, the electric motor 260 is activated, the stopper member 222 is lowered to the retracted position, and the circuit board 42 is allowed to be unloaded. The Thereafter, the support plate 132 is raised, and the support pins 130 support the circuit board 42 from below, and the clamp member 122 pushes the circuit board 42 up from the conveyor belt 38 and holds the edge of the circuit board 42 between the holding part 158. The circuit board 42 is held in a horizontal posture with the portion interposed therebetween. The support plate 132 is lowered to the lowered end position after the electronic circuit components are mounted on the circuit board 42. Thereby, the holding of the circuit board 42 by the board holding device 14 is released, and the circuit board 42 is supported from below by the conveyor belt 38 and is brought out. The stopper member 222 is located at the retracted position and allows the circuit board 42 to be carried out.

  Note that the posture and orientation of the stopper device 12 can be acquired by imaging the recognition marks 280 and 282 having different shapes. In the present embodiment, in the state where the pin 226 is gripped by the gripping claws 178 and 180, the rotation of the stopper device 12 is restricted. Thus, if the pin 226 is located upstream from the stopper member 222, an alarm may be issued and the direction of the stopper device 12 may be corrected by the operator.

  As is clear from the above description, in this embodiment, the reference mark imaging device 20 constitutes a recognition device, and the head moving device 82 also serves as the recognition device moving device, and controls the electric motor 260 of the control device 232. Constitutes a stopper control unit, and a portion for controlling the electromagnet 290 constitutes an electromagnet control unit.

The stopper device may include a relative movement device and may be a self-propelled device. The embodiment will be described with reference to FIGS.
As shown in FIG. 11, the stopper device 350 according to the present embodiment includes a device body 352 made of a non-magnetic material, a stopper member 354, a stopper member lifting device 356, a battery 358, a fixing device 360, a relative movement device 362, and a control device 364. including. The stopper device 350 is configured in the same manner as the stopper device 12 except for the fixing device 360, the relative movement device 362, and the control device 364. The description is omitted.

  In this embodiment, the relative movement device 362 includes two drive wheels 370, a drive wheel drive device 372 that drives the drive wheels 370, and a steering device 374 and a ball plunger 376 that simultaneously change the directions of the two drive wheels 370. including. As shown in FIG. 13, the two drive wheels 370 and the drive wheel drive device 372 are provided at one end in the longitudinal direction of the device main body 352 at a distance in the width direction. As shown in FIG. 12, an electric motor 380 as a drive source and a rotation transmission device 382 that transmits the rotation of the electric motor 380 to the drive wheels 370 are included.

  The rotation transmission device 382 includes a plurality of gears including bevel gears 384 and 386, and a casing 388 for rotatably holding the gears is perpendicular to the pin support surface 154 by a bearing 390 on the device main body 352. And is supported so as to be rotatable about a vertical axis. An electric motor 380 is fixed to the casing 388 in a state where the rotation axis thereof coincides with the rotation axis of the casing 388. Further, the drive wheel 370 is parallel to the pin support surface 154 by the casing 388 and is rotatable around a horizontal axis, and the rotation axis and the rotation axis of the casing 388 rotate the drive wheel 370. It is held by the casing 388 in a state orthogonal to the center in the direction parallel to the axis. The casing 388 constitutes a driving wheel holding member.

  As shown in FIG. 12, the steering device 374 includes an electric motor 400 as a drive source provided in a vertical posture in a portion between the two drive wheels 370 of the device main body 352, and rotation of the electric motor 400 to the casing 388. A rotation transmission device 402 for transmission. In the present embodiment, the electric motor 400 is shared by the two steering devices 374. A plurality of steering device drive sources may be provided in each of the steering devices. The two rotation transmission devices 402 are respectively a pulley 406 fixed to the output shaft 404 of the electric motor 400, a pulley 408 fixed to each casing 388 of the two drive wheel drive devices 372, and a pulley 406. And a belt 410 wound around 408. The pulleys 406 and 408 are timing pulleys, and the belt 410 is a timing belt. When the electric motor 400 is activated, the two casings 388 are rotated in the same direction by the same amount, and the directions of the two drive wheels 370 are simultaneously changed in the same direction by the same amount. The electric motor 400 and the electric motor 380 are capable of controlling the rotation angle, such as a step motor or a servo motor with an encoder.

  As shown in FIG. 13, the ball plunger 376 is provided at the end opposite to the side where the two drive wheels 370 are provided in the longitudinal direction of the apparatus main body 352 and at the center in the width direction of the apparatus main body 352. ing. As shown in FIG. 11, the ball plunger 376 protrudes from the downward opening 420 of the casing 414 through the shoe 418 and the ball 416 accommodated in the casing 414 so as to be movable in the vertical direction and rotatable. And a compression coil spring 422 as an elastic member as an urging means for urging in the direction. A part of the ball 416 protrudes from the opening 420 and rolls on the pin support surface 154. In the present embodiment, the ball 416 constitutes a sphere that is a kind of driven rotator.

  As shown in FIG. 11, the fixing device 360 includes at least one magnet device 428 and a plurality of magnet devices 428 housed in a recess 426 provided in the lower surface near the center of the device main body 352. The configuration includes three compression coil springs 430 (one is shown in FIG. 11). The magnet device 428 includes a permanent magnet 432 and an electromagnet 434, and is detachably fixed in the recess 426 and fitted in a holding member 436 made of a non-magnetic material constituting the device main body 352 so as to be movable up and down. The holding member 436 has a circular cross-sectional shape, and a stepped hole 438 is formed through the inside in the vertical direction. The stepped hole 438 includes a small-diameter hole 440 opened on the opening side of the recess 426 and a large-diameter hole 442 opened on the bottom side of the recess 426.

  The permanent magnet 432 has a columnar shape, and a coil of an electromagnet 434 is wound around the permanent magnet 432, and guide members 446 and 448 are fixed to both ends in the axial direction by bonding, which is a kind of fixing means. The guide members 446 and 448 have a circular cross-sectional shape, and the guide member 446 and the small diameter portion 450 of the stepped guide member 448 are fitted to the small diameter hole portion 440 so that the magnet device 428 can move up and down. invite. The guide members 446 and 448 are made of a magnetic material, constitute a part of the guide device, and constitute a magnet device 428 together with the permanent magnet 432 and the electromagnet 434.

  The large-diameter portion 452 of the guide member 448 is accommodated in the large-diameter hole portion 442 so as to be movable up and down, and is urged upward by three compression coil springs 430 disposed between the guide member 448 and the holding member 436. These springs 430 are provided at an appropriate interval around the center line of the holding member 436, and at an equal angular interval in this embodiment. The rise of the guide member 448 due to the bias of the spring 430 is restricted by the large diameter portion 452 coming into contact with the bottom surface of the recess 426. In this state, as shown in FIG. 11, the guide member 446 is retracted into the holding member 436 and separated from the pin support surface 154, and the magnet device 428 is positioned at the retracted position above the lower surface which is the lower end of the device main body 352. It is done. The large-diameter portion 452 is fitted with a protrusion 454 that protrudes from the holding member 436 and forms an engaging portion so as to be relatively movable in the vertical direction, and the rotation of the magnet device 428 relative to the holding member 436 is prevented. .

  In the magnet device 428, when the electromagnet 434 is demagnetized, a magnetic attractive force acts on the support plate 132 by the magnetic force of the permanent magnet 432, so that the magnet device 428 is in an activated state. Accordingly, the magnet device 428 is moved downward against the urging force of the spring 430 and is attracted to the support plate 132. Then, the guide member 446 is protruded downward from the lower surface of the apparatus main body 352 and pressed against the pin support surface 154, and the magnet device 428 is positioned at the operation position or the fixed position, so that the stopper device 350 is fixed to the support plate 132. The When the electromagnet 434 is excited, the magnetic flux of the permanent magnet 432 is canceled and the magnet device 428 is brought into a non-operating state. As a result, the magnet device 428 is moved upward by the bias of the spring 430 and is retracted to the retracted position, whereby the stopper device 350 is released from being fixed to the support plate 132.

  As shown in FIG. 13, a recognition mark 460 is provided on the upper end surface of the stopper member 354, and another mark is provided on the apparatus main body 352 at a position separated from the stopper member 354 in a direction parallel to the longitudinal direction of the apparatus main body 352. A recognition mark 462 is provided. The recognition mark 462 is provided on the upper end surface of the protrusion 464 that protrudes from the upper surface of the apparatus main body 352, has a different shape from the recognition mark 460, and the recognition mark 460 is in a state where the stopper member 354 is located at the retracted position. It is provided so that it may be located in the same plane.

  The control device 364 is configured mainly by a computer, includes a transmission / reception device, performs wireless communication with the control device 24, and controls the electric motors 260, 380, 400 and the electromagnet 434 based on a transmitted control command.

  The stopper device 350 can be moved to an arbitrary position on the pin support surface 154 when the drive wheel 370 is rotated by the drive wheel drive device 372 while being placed on the pin support surface 154. The change of the position of the stopper member 354 by changing the type of the circuit board 42 is performed in the same manner as the change of the position of the stopper device 12 except that the stopper device 350 is self-propelled. First, the recognition marks 460 and 462 are displayed. An image is taken, and the position, orientation and orientation of the stopper device 350 are acquired. Then, a command including the actual position, the target position, and the movement of the stopper member 354 to the target position is transmitted from the control device 24 to the control device 364. The stopper device 350 has a posture in which the longitudinal direction of the apparatus main body 352 is parallel to the transport direction, and a stopper member 354 provided on one side from the center of the longitudinal direction of the apparatus main body 352 is positioned on the upstream side in the transport direction. The circuit board 42 is stopped in the direction so that the arrangement of the support pins 130 on the support plate 132 is prevented as much as possible.

  In the stopper device 350, for example, the stopper member 354 is linearly moved from the actual position to the target position, and the direction of the driving wheel 370 and the moving distance of the stopper device 350 are acquired based on both positions, and the steering device The casing 388 is rotated by 374 and the drive wheel 370 is directed in the set direction. Then, the drive wheel 370 is rotated by the drive wheel drive device 372, and the stopper device 350 is moved to the target position. At this time, the ball 416 rolls on the pin support surface 154 to allow the stopper device 350 to move. The stopper device 350 has a posture in which the longitudinal direction of the device body 352 is parallel to the substrate transport direction and the stopper member 354 has It is moved while maintaining the direction positioned on the upstream side in the transport direction. The movement distance of the stopper device 350 is obtained, for example, by the amount of rotation of the electric motor 380 detected by the encoder. Further, stop information of the stopper device 350 is transmitted from the control device 364 to the control device 24 by wireless communication, the recognition marks 460 and 462 are imaged, the position of the stopper member 354 and the like are confirmed, and corrected if necessary. . In the present embodiment, the two electric motors 380 are rotated in the same direction by the same angle. However, if necessary, the rotation angles of the two electric motors 380 are different from each other, or the rotation directions are reversed. Thus, the posture and orientation of the stopper device 350 can be changed. Further, the direction and moving distance of the drive wheel 370 may be commanded from the control device 24 to the control device 364.

  As is clear from the above description, in the present embodiment, the part that controls the drive wheel drive device 372 of the control device 364 constitutes a movement control unit, and the part that controls the steering device 374 constitutes a steering control unit. ing. In addition, the portion of the control device 364 that controls the electromagnet 434 constitutes a magnet device control unit, and together with the spring 430 that constitutes the magnet device 428 and the biasing device, constitutes the fixing device 360.

  When the stopper device includes a relative movement device, the target position of the stopper device may be indicated based on recognition of the recognition mark by the recognition device. For example, when the reference mark image pickup device picks up the recognition mark and is moved together with the stopper device while acquiring the position, and the recognition mark reaches the set position, a stop command is transmitted to the control device of the stopper device, and the stopper The device should be stopped.

  The fixing device may not include a permanent magnet, and may be a device in which a magnetic attraction force acts on a support member made of a magnetic material by excitation of an electromagnet so that the device main body is fixed to the support member and is fixed by demagnetization. Good.

  12: Stopper device 222: Stopper member 224: Stopper member lifting device 230: Fixing device 232: Control device 350: Stopper device 360: Fixing device 362: Relative movement device

Claims (8)

A stopper device fixed to the support member to stop the circuit board conveyed by the substrate conveyor,
The device body;
A stopper member that is movably held at a working position that abuts on a circuit board conveyed by a board conveyor or a board holding member that holds the circuit board, and a retreat position that is retreated from the working position, on the apparatus body;
A stopper member driving device for moving the stopper member to the operating position and the retracted position;
A control device that is held in the device main body and operates in response to a control command by wireless communication, and has a stopper control unit that controls the stopper member driving device in accordance with the control command ;
A fixing device that is provided on the support member side of the device main body and fixes the device main body to the support member;
Look containing a battery as a power source accommodated in the apparatus main body,
A stopper device , wherein the battery is disposed on the opposite side of the support member with the fixing device interposed therebetween . The apparatus main body is placed on the upper surface of the support member,
2. The fixing device according to claim 1, wherein the fixing device includes a permanent magnet that is magnetically attracted to the support member, and the permanent magnet is disposed such that a lower surface thereof is located in the same plane as a lower surface of the device main body. The stopper device described. Fixing the front Symbol controller switches the working state of fixing the device body to the support member in response to said control command, said fixing device in a non-operating state for releasing the fixation to the support member of the apparatus main body The stopper device according to claim 1 , comprising a device control unit. The fixing device includes an electromagnet, and the fixing device control unit includes an electromagnet control unit that switches the fixing device between the operation state and the non-operation state by switching the electromagnet between an excited state and a demagnetization state. The stopper device according to 3. The fixing device includes a permanent magnet that is magnetically attracted to the support member, and the electromagnet control unit switches the electromagnet between an excited state and a demagnetized state, thereby canceling the magnetic flux of the permanent magnet. The stopper device according to claim 4, wherein the stopper device is configured to switch between a state in which a failure occurs and a state in which the failure does not occur, and to switch the fixing device between the operation state and the non-operation state. Furthermore, the stopper apparatus in any one of Claim 1 thru | or 5 containing the to-be-held part hold | maintained by the holding | maintenance apparatus in order to move to arbitrary positions. And a relative movement device that is held by the device main body and moves the device main body relative to the support member.
The relative movement device includes a drive wheel held in the device main body and a drive wheel drive device that includes a drive source to drive the drive wheel, and the control device responds to the control command with the drive wheel. The stopper device according to any one of claims 1 to 6, further comprising a movement control unit that controls the driving device and moves the stopper device to a command position included in the control command. Furthermore, the stopper apparatus in any one of Claim 1 thru | or 7 containing the recognition mark recognized by the recognition apparatus in order to detect the position of the said stopper apparatus.

Images