JP6986630B2 - Side clamp device - Google Patents

Description

The present invention relates to a side clamp device that holds the substrate in the width direction, and more particularly to a side clamp device that holds the substrate by an appropriate clamping force.

In a screen printing machine, a board mounting machine, or the like, predetermined work such as printing by applying cream solder to a positioned board and mounting of parts on which electronic parts are mounted is performed. A side clamp device that holds the substrate in the width direction is used for positioning the substrate. The following Patent Document 1 discloses an example of the side clamp device. In the side clamp device, which is a conventional example, the movement amount data of the movable plate is set in advance, and when holding the substrate, the control regarding the contact of the movable plate with the substrate is performed based on the movement amount selected from the data. It has come to be.

Specifically, from the set movement amount data, the data that meets the conditions is read out from the storage device, and the movable plate moves to bring the distance to the fixed plate side closer. On the moving plate side, when the slide block hits the substrate and the movement is restricted, only the fixed block moves from that position. Therefore, the light-shielding plate in contact with the slide block rotates on the movable plate side, and the state is detected by the board positioning sensor. Then, the movable plate moves according to the movement amount data, and the substrate is held between the fixed block and the fixed block on the fixed plate side.

Japanese Unexamined Patent Publication No. 6-326498

In the side clamp device of the conventional example, the movement amount of the movable plate, that is, the fixed block that pushes the substrate toward the opposite fixed plate side is controlled based on the movement amount data set in advance. However, since the movement amount data changes the movement amount of the movable plate according to the width size of the substrate, it is not possible to adjust it in response to a subtle difference occurring in each substrate. Further, in the conventional example, the rotational output of the pulse motor is changed to the linear motion of the linear guide via the ball screw, and the substrate is held by the set stepwise (three-step) clamping force. However, in the prior art in which the clamping force for holding the substrate is adjusted by the motor output, it is always necessary to control the torque of the motor while holding the substrate.

Therefore, an object of the present invention is to provide a side clamp device that holds a substrate with an appropriate clamping force in order to solve such a problem.

In the side clamp device according to one aspect of the present invention, the pair of clamp members that move at least one of them to hold the substrate in the width direction and the movable movable side clamp member of the pair of clamp members can slide in the moving direction. The movable side support member is assembled between the movable side support member, the drive mechanism for moving the movable side support member by the output of the drive motor, and the movable side support member and the movable side clamp member, and the movable side clamp member is assembled. By detecting the urging member that urges the pair of clamp members in the approaching direction and the amount of displacement of the urging member , a constant clamping force is generated after the movable side clamp member hits the substrate. Based on the sensor for detecting that the movable side support member has reached the position to be moved and the detection signal of the sensor, the movable side support member is further moved from the position where the constant clamping force is generated to the movable side. It has a control device for stopping the support member at a predetermined position.

According to the above configuration, when at least one of the pair of clamp members is moved to hold the substrate in the width direction, the movable side support member is moved by the output of the drive motor, and the movable side clamp member is applied to the substrate. Slides relative to the movable side support in its moving direction. Therefore, the output of the drive motor is not directly transmitted to the movable side clamp member, but is transmitted via the urging member. Since the urging member is displaced in the direction in which the pair of clamp members approach to generate an urging force, the sensor detects the amount of the displacement, and the control device stops the movement of the movable side support member at a predetermined position. Be done. Then, the substrate sandwiched between the pair of clamp members is held by an appropriate clamping force due to the urging force of the urging member acting on the movable side clamp member side.

It is the figure which showed the internal structure of the screen printing machine simply. It is a figure which showed one Embodiment of the side clamp device. It is a partially enlarged view at the time of the substrate clamp by the side clamp device. It is a figure which showed the movable side sliding member of a side clamp device. It is a block diagram which showed the control system of a screen printing machine simply.

Next, an embodiment of the side clamp device according to the present invention will be described below with reference to the drawings. In this embodiment, a side clamp device incorporated in a screen printing machine will be described as an example. FIG. 1 is a diagram simply showing the internal structure of such a screen printing machine, and is shown from the machine width direction, which is the transport direction of the substrate. The screen printing machine 1 prints cream solder on the substrate 10, and the entire internal structure shown in the figure is covered with a machine body cover. The machine cover has transport ports formed on both sides in the width direction of the machine so that the board can be carried in and out. In the present embodiment, the front-rear direction of the screen printing machine 1 will be described as the Y-axis direction, the height direction of the machine body will be described as the Z-axis direction, and the width direction of the machine body will be described as the X-axis direction.

In the screen printing machine 1, the substrate 10 is conveyed under the mask 20 installed in the machine, cream solder passes through the print pattern holes from the upper surface side of the mask 20, and is applied to the lower substrate 10 to form a print pattern. Will be done. Therefore, a pair of mask holders 3 are assembled on the upper side of the machine in the width direction of the machine, and the mask 20 is held there. Then, on the lower side of the mask holder 3, a substrate transport device 5 for loading and unloading the substrate 10 in the width direction of the machine, a side clamp device 6 for clamping the board 10 in the front-rear direction of the machine, and a substrate 10 are placed at the clamping position. A backup device 7 for raising and lowering is attached to the elevating device 8.

The elevating device 8 includes an elevating table 12 that slides along a vertical guide rail 11, and the elevating table 12 is connected to the elevating motor 14 via a ball screw 13. A board transfer device 5, a side clamp device 6, and the like are mounted on the elevating table 12 via a support table 15. A pair of mask supports 21 are provided on the support base 15 in the front-rear direction (Y-axis direction) of the machine body, and a mask support plate 211 that contacts the mask 20 is fixed to the upper surface of each leg. A ball screw 22 is configured on the mask support 21 on the right side of the drawing, and the distance from the mask support 21 on the left side of the drawing can be adjusted by the mask support motor 24 (see FIG. 5).

A side clamp device 6 is provided between the pair of mask supports 21. FIG. 2 is a diagram showing the side clamp device 6 more specifically. In the side clamp device 6, the reference side side frame 31 and the movable side frame 32 are assembled on the support base 23 so as to face each other in the front-rear direction (Y-axis direction) of the machine body orthogonal to the transport direction of the substrate 10. There is. While the reference side side frame 31 is fixed, the movable side frame 32 has a structure that can move in the Y-axis direction, and the distance from the reference side side frame 31 can be adjusted.

The reference side side frame 31 is provided with a reference side clamp member 33 that is applied to the widthwise end portion of the substrate 10 at the upper end portion, and the widthwise end portion is also provided at the upper end portion of the movable side side frame 32 from the opposite side of the substrate 10. A movable side clamp member 34 to be applied to is provided. Further, while the reference side side frame 31 is a single member, the movable side side frame 32 is configured such that the movable side support member 321 and the movable side sliding member 322 are vertically overlapped with each other, and the thickness is between them. A low sliding plate 35 having a size of about 2 mm is sandwiched. Therefore, the movable side side frame 32 has a configuration in which the movable side sliding member 322 provided with the movable side clamp member 34 is relatively slidable with respect to the movable side support member 321.

The movable side support member 321 is assembled in a state of being movable in the Y-axis direction by a guide rail (not shown), and is provided with a drive mechanism capable of moving in the same direction. Specifically, a ball nut 36 is fitted into a through hole formed in the movable side support member 321 and a screw shaft 37 is screwed into the ball nut 36. The screw shaft 37 is arranged so that the center line is parallel to the Y axis, and is connected to the rotation shaft of the substrate clamping motor 39 via the coupling 38. Further, in the movable side side frame 32, the output of the substrate clamping motor 39 is not directly transmitted to the movable side clamp member 34, and the coil spring 41 which is an urging member is interposed between the movable side side frame 32.

In the movable side side frame 32, a bracket 42 is fixed to the movable side support member 321 and a coil spring 41 is attached between the bracket 42 and the movable side sliding member 322 in the Y-axis direction. The bracket 42 is attached to the opposite side of the reference side side frame 31, and a part of the L-shape extends to the upper movable side sliding member 322 side to connect the coil spring 41. Further, a photo sensor 43 is fixed to the upper end of the bracket 42, and a sensor dog 44 is attached to the movable side clamp member 34. The photo sensor 43 and the sensor dog 44 detect a constant displacement amount of the coil spring 41 due to the relative movement (displacement) of the movable side support member 321 and the movable side sliding member 322 in the Y-axis direction. It is installed in.

The deviation between the movable side support member 321 and the movable side sliding member 322 occurs when the movable side clamp member 34 is applied to the substrate 10. When the movable side support member 321 and the movable side sliding member 322 are misaligned, the coil spring 41 is in a state of being compressed by receiving a load. The side clamp device 6 uses the spring force of the compressed coil spring 41 as a force (clamping force) for sandwiching and holding the substrate 10. Therefore, the photo sensor 43 and the sensor dog 44 that detect the displacement amount of the coil spring 41 detect the position where a constant spring force is generated by the coil spring 41.

For example, in the present embodiment, a coil spring 41 having a spring constant of K (N / mm) is used, and the distance L between the photosensor 43 and the sensor dog 44 is set to 0.1 mm. Therefore, as shown in FIG. 3, when the coil spring 41 is compressed and the detection signal is transmitted from the photo sensor 43, the clamping force F with respect to the substrate 10 is 0.1 K (N). In the side clamp device 6, control is performed with this state as the minimum clamping force for the reference side clamp member 33 and the movable side clamp member 34 to hold the substrate 10. That is, when a clamping force higher than that is required, the clamping force of (0.1 + S) K (N) can be generated by further compressing the coil spring 41 by Smm.

Next, since the side clamp device 6 adjusts the clamping force by a slight change in the coil spring 41, it is required that the movable side sliding member 322 is in the correct posture. Therefore, in order to reduce the sliding resistance with the movable side support member 321, the low sliding plate 35 is sandwiched as described above. Further, as shown in FIG. 4, the movable side sliding member 322 has two protrusions 45 formed at both ends in the width direction (X-axis direction), and a groove formed along the Y-axis direction. It is inserted in the member 46.

Subsequently, returning to FIG. 1, a substrate transfer device 5 composed of a conveyor belt 28 is assembled inside the reference side side frame 31 and the movable side side frame 32, and a backup device 7 for supporting the substrate 10 is provided. .. The backup device 7 is configured such that a backup table 26 having a plurality of backup pins 25 is supported via a ball screw and is moved up and down by a backup motor 27. The support base 23 of the side clamp device 6 is supported by a ball screw and is configured to move up and down by an elevating motor 29. The support base 15 that supports the side clamp device 6 and the backup device 7 is configured so that the positions of the support base 15 can be adjusted with respect to the elevating base 12 in the X direction, the Y direction, and the θ direction on the XY plane. That is, a correction device for adjusting the position of the substrate 10 transported to and held at the working position with the mask 20 is configured.

On the other hand, the squeegee device 4 located on the upper side of the machine body is mounted in a state where a pair of squeegees can be raised and lowered with respect to the traveling table 51. The traveling table 51 is slidably assembled with respect to the guide rod 52, and is driven by a squeegee motor 54 (see FIG. 5) via a ball screw consisting of a screw shaft 53 parallel to the guide rod 52 in the front-rear direction of the machine body. It is possible to move in a straight line.

The screen printing machine 1 is equipped with a control device 9 that controls the entire drive, and drive control is performed for the drive unit of each device. FIG. 5 is a block diagram showing a simple control system of the screen printing machine 1. In the control device 9, the microprocessor (CPU) 61, ROM 62, RAM 63, and non-volatile memory 64 are connected via a bus line, and the motor and side of each device constituting the screen printing machine 1 via the I / O port 65. A photosensor 43 or the like of the clamping device 6 is connected. Further, a touch panel type operation display device 58 capable of inputting data and displaying work contents is attached to the screen printing machine 1 and connected to the I / O port 65.

The CPU 61 of the control device 9 comprehensively controls the entire control device. The ROM 62 stores system programs and control parameters executed by the CPU 61, and the RAM 63 stores temporary calculation data, display data, and the like. Stored. Further, the non-volatile memory 64 stores a side clamp program 641 or the like for setting the clamping force in the side clamping device 6 and executing the clamping of the substrate 10 according to the set value. Then, in the operation display device 58, it is possible to input the setting of the clamp force according to the side clamp program 641.

By the way, the clamping force for holding the substrate 10 differs depending on the conditions such as the size and thickness of the substrate 10. For example, when the thickness dimension of the substrate 10 is small and the clamping force is larger than necessary, the substrate 10 is bent. On the other hand, when the thickness dimension of the substrate 10 is large and the clamping force is not sufficient, the substrate 10 may shift due to its own weight. Further, even if the same type is used, a slight difference may occur in each substrate 10, and the appropriate clamping force may be slightly different. Therefore, control settings are made to hold the substrate 10 with an appropriate clamping force.

The clamp force setting screen is displayed on the operation display device 58, and for example, the size of the target substrate 10 is input as substrate data by the operator. Further, data on the clamping force Fn corresponding to the spring constant of the coil spring 41 and the dimensions of the substrate 10 is stored in the control device 9 in advance. From each of these data, a clamping force for holding the substrate 10 can be obtained. Then, the value of the clamp set value S (mm) for compressing the coil spring 41 is calculated from the equation of Fn = (0.1 + S) K (N) according to the clamping force.

In the screen printing machine 1, first, the substrate 10 is conveyed by the conveyor belt 28, the backup table 26 is raised by driving the backup motor 27, and the substrate 10 is lifted from the conveyor belt 28 by the backup pin 25. Then, the movable side frame 32 is moved by driving the substrate clamping motor 39, and the substrate 10 is sandwiched and held by the reference side clamp member 33 and the movable side clamp member 34.

When the substrate 10 is clamped, the substrate clamping motor 39 is driven, the rotation thereof is converted into the movement of the movable side support member 321 in the Y-axis direction via the ball screw, and the movable side side frame 32 becomes the reference side side frame 31. Get closer. Then, the movable side clamp member 34 is applied to the substrate 10 from one side in the width direction, and the substrate 10 is sandwiched between the substrate 10 and the reference side clamp member 33 on the opposite side. Further, when the movable side support member 321 moves with respect to the movable side sliding member 322 whose movement is restricted by the substrate 10, the coil spring 41 is compressed and its spring force holds the substrate 10. It acts as a clamping force.

From the photo sensor 43, a detection signal for detecting the sensor dog 44 is transmitted to the control device 9. At this time, the clamping force for holding the substrate 10 by the reference side clamp member 33 and the movable side clamp member 34 is the minimum. Then, the movement and positioning control of the movable side support member 321 is performed according to the clamp set value S calculated by the side clamp program 641. That is, when the substrate 10 is held with a stronger clamping force, the movable side support member 321 moves in a direction approaching the reference side side frame 31 according to the clamp set value S (mm), and the coil spring 41 further moves. It is compressed.

When the substrate 10 is held by the side clamp device 6, the reference side clamp member 33, the movable side clamp member 34, and the substrate 10 are then aligned with the height of the mask support plate 211 by driving the elevating motor 29, respectively. The top surface of is aligned. Then, each mark attached to the substrate 10 and the mask 20 is imaged by a camera (not shown), the amount of positional deviation of the relative positions in the X, Y, and θ directions with respect to the substrate 10 and the mask 20 is calculated, and the support base 15 is obtained. Positional deviation correction is performed by the correction device configured in.

After that, the elevating table 12 is raised by driving the elevating motor 14, the substrate 10 is pushed up to the height at which the substrate is moved, and the substrate 10 is positioned with respect to the mask 20. Then, the mask 20 is pressed against the substrate 10 by the squeegee device 4, and the rolled cream solder is pushed into the print pattern hole of the mask 20. After that, the plate is released by driving the elevating motor 29 to lower the substrate 10 at a predetermined speed, and the cream solder is printed on the substrate 10 according to the printing pattern.

Therefore, in the present embodiment, by inputting a predetermined value from the clamping force setting screen of the operation display device 58, the clamping force according to the type of the substrate 10 such as the difference in thickness and dimension can be easily set. Further, the side clamping device 6 can be held by an appropriate clamping force according to the individual substrate 10. For example, even if there is a dimensional error in a certain substrate 10, the minimum clamping force is generated regardless of the position where the movable side clamping member 34 hits, and the force according to the lamp set value S is applied from the holding state. It can be held with a constant clamping force regardless of the difference between the individual substrates 10.

Further, the side clamp device 6 can hold the substrate 10 by the spring force of the coil spring 41 which is an urging member. Since the clamping force can be adjusted based on the spring constant and the displacement amount by using the coil spring 41 as the urging member, it is necessary to control the torque by the substrate clamping motor 39 as in the conventional example. It disappears. Further, the minimum clamping force with respect to the substrate 10 can be easily changed depending on the position where the photo sensor 43 detects the sensor dog 44.

Although one embodiment of the present invention has been described above, the present invention is not limited to these, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above embodiment, one is a fixed structure as a reference side side frame 31 and the other is a movable movable side frame 32, but both may be configured as a movable side frame 32.
Further, although the coil spring 41 is used in the above embodiment, another spring member, a rubber member, or the like may be used as the urging member.
Further, in the above-described embodiment, the side clamp device incorporated in the screen printing machine has been described, but the side clamp device can also be used in a board mounting machine or the like.

1 ... Screen printing machine 6 ... Side clamp device 10 ... Board 31 ... Reference side side frame 32 ... Movable side side frame 33 ... Reference side clamp member 34 ... Movable side clamp member 35 ... Low sliding plate 36 ... Ball nut 37 ... Screw Shaft 39 ... Board clamp motor 41 ... Coil spring 42 ... Bracket 43 ... Photosensor 44 ... Sensor dog 321 ... Movable side support member 322 ... Movable side sliding member

Claims (5)

A pair of clamp members that move at least one to hold the substrate in the width direction,
Of the pair of clamp members, the movable side support member that slidably supports the movable movable side clamp member in the moving direction, and the movable side support member.
A drive mechanism that moves the movable side support member by the output of the drive motor,
An urging member that is assembled between the movable side support member and the movable side clamp member and urges the movable side clamp member in a direction in which the pair of clamp members approach each other.
By detecting the displacement amount of the urging member, a sensor for detecting that the movable side support member has reached a position where a constant clamping force is generated after the movable side clamp member hits the substrate. ,
Based on the detection signal of the sensor, the control device that further moves the movable side support member from the position where the constant clamping force is generated and stops the movable side support member at a predetermined position.
Side clamp device with. The urging member is a coil spring, and the sensor detects the displacement amount of the coil spring set according to the spring constant of the coil spring with reference to the position where the movable side clamp member is applied to the substrate. The side clamp device according to claim 1. The urging member is connected to the movable side clamp member via a bracket fixed to the movable side support member, and the sensor is a photosensor attached to the bracket and the movable side clamp. The side clamp device according to claim 1 or 2, wherein a sensor dog detected by the photosensor is attached to the member. The drive mechanism according to claim 1 to 3, wherein the drive mechanism is composed of a ball screw in which a screw shaft connected to the drive motor is screwed to a nut fixed to the movable side support member capable of going straight. Side clamp device described in any one The side clamp device according to any one of claims 1 to 4, wherein the movable side clamp member is assembled on the movable side support member via a low sliding plate.

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