JP7252844B2 - Work machine for board - Google Patents

Description

The present specification relates to a board-to-board work machine provided with a board transfer device for loading and unloading a board.

2. Description of the Related Art A technology for mass-producing substrate products by carrying out work on a substrate on which a circuit pattern is formed has become widespread. 2. Description of the Related Art As a representative example of a working machine for working with a board, there is a component mounting machine for mounting a component. Generally, a component mounting machine includes a board transfer device that carries in and out a board along a transfer path, and a component mounting tool that picks up and mounts components. Here, the board may be inserted into the transport path by the operator due to sampling inspection or other circumstances. Further, there are cases where an operator inserts a jig plate having a shape similar to that of the board into the transport path for the purpose of measuring the accuracy of the mounting position of the component. Japanese Patent Application Laid-Open No. 2002-200001 discloses a technical example regarding the posture of the substrate in the transport path.

The component mounting machine disclosed in Patent Document 1 recognizes the orientation of the board after stopping the conveyance when an abnormality occurs in the conveyance of the board while the board is being conveyed by the conveyor. After correcting the posture of the substrate by running one of the transport belts in the opposite direction, transport is restarted. According to this, it is possible to reliably eliminate substrate transfer abnormalities and improve the productivity of substrates.

JP 2017-157651 A

By the way, there is a possibility that a human error may occur when the object to be transferred corresponding to the substrate or jig plate is inserted into the transfer path not by the substrate transfer device but by the operator. If the work with the board or the accuracy measurement work proceeds while the posture of the transported object remains abnormal, the work may not be performed accurately or the component mounting tool may accidentally collide with the transported object.

On the other hand, according to the technique disclosed in Patent Document 1, when a minor abnormality occurs such that the substrate becomes oblique with respect to the transport path, the abnormality can be automatically corrected by the operation of the substrate transport device. However, in many cases, the abnormal posture of the transported object caused by human error cannot be resolved by the operation of the substrate transport apparatus. Therefore, it is necessary to detect an abnormality in the posture of the transported body, suspend the work, and perform the work after correcting the posture of the transported body. This problem is not limited to component mounting machines, but is common to various board-to-board working machines equipped with board transfer devices.

SUMMARY OF THE INVENTION An object of the present specification is to provide a work machine for a substrate that can determine an abnormality in the posture of a transported object inserted into a transport path by an operator.

The present specification includes a board transfer apparatus that carries a board along a transfer path to and from a work execution position, a work execution apparatus that performs a predetermined work on the board that has been carried into the work execution position, and the board. Alternatively, when an object to be transferred, which is a jig plate having a shape similar to the substrate, is inserted into the transfer path by an operator, a moving unit for moving the object to be transferred by the operation of the substrate transfer device; A pair comprising: a detector that detects a transported body; and a regulating part that restricts the movement of the transported body accompanying the operation of the substrate transport device when the posture of the transported body with respect to the transport path is abnormal. A board working machine is disclosed.

According to the board-to-board work machine disclosed in this specification, the substrate transport device moves the transported object inserted into the transport path by the operator, and the detector detects that the transported object has been inserted. I can confirm. Here, when the posture of the inserted transported body is abnormal, the regulating section restricts the movement of the transported body. is determined.

BRIEF DESCRIPTION OF THE DRAWINGS It is a top view which shows the whole structure of the components mounting machine which is an example of the working machine for board|substrates of 1st Embodiment. It is a top view of a board|substrate conveying apparatus. It is a side view of a board|substrate conveying apparatus. It is a block diagram which shows the structure of control of a component mounting machine. FIG. 4 is a back view of a jig plate provided with a friction material as a regulating portion; FIG. 4 is a side view of a jig plate inserted in a conveying path in a normal posture; FIG. 10 is a side view of a jig plate inserted into a conveying path in an abnormal posture; FIG. 8 is a side view showing a state in which the positioning device operates from the state shown in FIG. 7; FIG. 11 is a side view showing a state in which the positioning device operates when the jig plate is not originally inserted; FIG. 11 is a plan view of a substrate transfer device showing a rail guide provided with a friction material as a regulating portion in the second embodiment; FIG. 11 is a side view of the substrate transfer device corresponding to FIG. 10; FIG. 11 is a plan view of a board transfer device showing a rail guide provided with a convex portion as a restricting portion in a third embodiment; FIG. 13 is a side view of the substrate transfer device corresponding to FIG. 12;

1. Overall Configuration of Component Mounting Machine 1 (Work Machine for Board) As a work machine for board of the first embodiment, the component mounting machine 1 shown in FIG. 1 will be described as an example. The component mounting machine 1 performs a mounting operation of mounting components on the board K. FIG. The direction from the left side to the right side of FIG. 1 is the X-axis direction for transporting the substrate K, and the direction from the bottom side (front side) to the top side (rear side) of the page is the Y-axis direction. The component mounting machine 1 is constructed by assembling a board conveying device 2 , a plurality of feeders 3 , a component transfer device 4 , a component camera 5 , a positioning device 6 , a control device 7 and the like on a base 10 .

The board transfer device 2 carries the board K along the transfer path 2A (see FIG. 3) to the work execution position and carries it out. The positioning device 6 positions the substrate K carried into the work execution position. FIG. 1 depicts the board K in the work execution position. The configurations of the substrate transfer device 2 and the positioning device 6 will be detailed later.

A plurality of feeders 3 are detachably mounted in a plurality of groove-shaped slots provided in the pallet member 11 on the base 10 . A reel 39 is loaded on the front side of the body portion 31 of the feeder 3 . A predetermined supply position 32 for supplying components is set in the upper portion near the rear side of the body portion 31 . A carrier tape is wound around the reel 39, each containing a component in each of a large number of cavities. The feeder 3 intermittently feeds the carrier tape by a tape feeding mechanism (not shown) to set the component at the supply position 32 . As a result, the feeder 3 performs a component supply operation.

The component transfer device 4 is arranged above the board transfer device 2 and the feeder 3 . The component transfer device 4 picks up a component from the feeder 3 and mounts it on the board K. The component transfer device 4 includes a head driving mechanism 40, a moving table 44, a mounting head 45, a suction nozzle 46, a mark camera 47, and the like. The head drive mechanism 40 includes a pair of Y-axis rails 41 and 42, a Y-axis slider 43, and a drive motor (not shown). The Y-axis rails 41 and 42 extend in the Y-axis direction and are spaced apart from each other and arranged in parallel. A Y-axis slider 43 that is long in the X-axis direction is mounted across both Y-axis rails 41 and 42 and moves in the Y-axis direction. The moving table 44 is mounted on the Y-axis slider 43 and moves in the X-axis direction. The head driving mechanism 40 drives the Y-axis slider 43 in the Y-axis direction, and drives the moving table 44 on the Y-axis slider 43 in the X-axis direction.

A moving table 44 holds a mounting head 45 and a mark camera 47 . The mounting head 45 holds one or more suction nozzles 46 on its lower side, and is driven by the head drive mechanism 40 to move horizontally in two directions. The suction nozzle 46 is driven by an elevation driving unit (not shown) to move up and down. The suction nozzle 46 descends from above the supply position 32 and performs a suction operation of sucking and picking up components by supplying negative pressure. Also, the suction nozzle 46 is driven above the substrate K, and performs a mounting operation for mounting components by supplying positive pressure. There are multiple types of mounting heads 45 and suction nozzles 46, and they are replaced automatically or manually. The mark camera 47 picks up an image of the position mark attached to the positioned substrate K to detect the accurate work execution position of the substrate K. FIG.

The component camera 5 is provided facing upward on the upper surface of the base 10 between the board transfer device 2 and the feeder 3 . The component camera 5 captures an image of the component that is being sucked by the suction nozzle 46 while the carriage 44 is moving from the feeder 3 to the substrate K. The image processing unit of the component camera 5 performs image processing on the acquired image data to determine the presence or absence of the component and whether the component is correct or incorrect, and further acquires the pickup posture of the component. The image processing result is reflected in the attachment operation of the suction nozzle 46 . The feeder 3, the component transfer device 4, and the component camera 5 correspond to work execution devices that carry out the component mounting work.

The control device 7 is assembled to the base 10, and its arrangement position is not particularly limited. The control device 7 is composed of a computer device having a CPU and operated by software. Note that the control device 7 may be configured by distributing a plurality of CPUs inside the machine. The control device 7 controls the component mounting work according to pre-stored job data. The job data differs for each type of board product to be produced.

2. Configurations of Substrate Transfer Device 2 and Positioning Device 6 Next, configurations of the substrate transfer device 2 and the positioning device 6 will be described in detail. As shown in FIGS. 2 and 3, the board transfer device 2 includes a pair of side plates 21 and 22, a pair of rail guides 23 and 24, a pair of transfer belts 25 and 26, and two board passing sensors 27 and 28. etc. A pair of side plates 21 and 22 are erected in parallel on the base 10 and extend in the X-axis direction. The pair of rail guides 23 and 24 are plate-shaped and are provided horizontally above the side plates 21 and 22 . The pair of rail guides 23 and 24 extend in the X-axis direction and protrude inward facing each other.

A pair of conveyor belts 25 and 26 are provided between the rail guides 23 and 24 and the base 10, respectively. A transport path 2A for transporting the substrate K is formed between the transport belts 25 and 26 and the rail guides 23 and 24 . The pair of transport belts 25 and 26 transports the substrate K in the X-axis direction along the transport path 2A by rotating with the side edges KS and KT of the rectangular substrate K placed thereon. The pair of transport belts 25 and 26 can transport the substrate K in the opposite transport direction by rotating in opposite directions.

A work execution position is set at the center of the transport path 2A in the Y-axis direction. A first substrate passage sensor 27 is provided near the carry-in end 2B of the transport path 2A. A second substrate passage sensor 28 is provided near the unloading end 2C of the transport path 2A. As the two substrate passing sensors 27 and 28, a light shielding detection sensor combining a light projecting portion for projecting the detection light L and a light receiving portion for receiving the detection light L can be exemplified. The shading detection sensor detects the arrival and passage of the leading edge KF and trailing edge KR of the substrate K since the detection light L is blocked by the substrate K. FIG.

One rail guide 23 is slidable in the direction of arrow M (Y-axis direction) as indicated by the broken line in FIG. When one rail guide 23 slides and moves away from the other rail guide 24, the transport path 2A is opened. Therefore, the operator can directly insert the substrate K into the transport path 2A without going through the loading end 2B and the unloading end 2C. Also, the operator can directly take out the substrate K from the transport path 2A. Such an operator's operation occurs, for example, when performing a sampling inspection of the board K. FIG.

Furthermore, there is a jig plate Z (see FIG. 5) as a member that is directly inserted into the transport path 2A. The jig plate Z has a rectangular shape similar to the substrate K. FIG. The jig plate Z is used for measuring the accuracy of the component mounting position, but is not limited to this. In the following description, as a name including the substrate K and the jig plate Z, the term "transported object" is used as necessary.

The object to be transferred inserted into the transfer path 2A is moved by the operation of the substrate transfer device 2 . At least one of the two substrate passage sensors 27 and 28 is also used as a detection section for detecting the transferred object that has moved. In the first embodiment, the board passage sensor 27 near the carry-in end 2B is also used as the detection section.

The positioning device 6 is arranged below the work execution position. The positioning device 6 has a device main body 61, a plurality of clamp rods 62, and a rod elevation detector 63 (see FIG. 4). A plurality of clamp rods 62 synchronously move up from the apparatus main body 61 to push up the substrate K and clamp it between the rail guides 23 and 24 . As a result, the substrate K is positioned so as not to move from the work execution position. The lift amount of the clamp rod 62 is detected by a rod lift detector 63 .

3. Configuration of Control of Component Mounting Machine 1 Next, the configuration of control of the component mounting machine 1 will be described in detail. As shown in FIG. 4 , the control device 7 controls the transport belts 25 and 26 of the substrate transport device 2 and receives detection signals from the substrate passage sensors 27 and 28 . Also, the control device 7 controls the plurality of feeders 3 , the component transfer device 4 , and the component camera 5 . Further, the control device 7 controls the clamp rod 62 of the positioning device 6 and receives a detection signal from the rod elevation detection section 63 .

Further, the control device 7 includes a moving section 71, a confirming section 72, and a determining section 73 as functional sections related to detection of the presence and orientation of the transported object. These functional units execute the control of the control device 7 described above and refer to the detection signal described above. Note that the confirmation unit 72 and the determination unit 73 may be omitted (details will be described later).

The moving part 71 operates when the transported object is inserted into the transport path 2A by the operator. The fact that the transported object has been inserted is input to the control device 7 by the operator. The moving part 71 moves the object to be transferred by the operation of the substrate transfer device 2 . Specifically, the moving unit 71 rotates the conveying belts 25 and 26 in the opposite direction, and moves the object to be conveyed in the opposite conveying direction toward the board passage sensor 27 which also serves as the detecting unit.

When the substrate passing sensor 27 detects the trailing edge of the object to be conveyed, the moving section 71 immediately stops the conveying belts 25 and 26 . This clarifies the position of the transported object on the transport path 2A. After that, the substrate transport device 2 transports the object to be transported to the work execution position. Subsequently, when the object to be transferred is the substrate K, the component mounting operation is performed, and when the object to be transferred is the jig plate Z, the accuracy measurement operation is performed.

Here, the continuation of the rotation of the conveying belts 25 and 26 in the opposite direction is set to the upper limit of a predetermined time. When the substrate passing sensor 27 does not detect the trailing edge of the object to be conveyed even after a predetermined time has passed, the moving section 71 stops the conveying belts 25 and 26 . At this time, the control device 7 can determine that some kind of abnormality has occurred. Two cases are conceivable as specific examples of abnormality. In other words, there are two possible cases: the transported object with an abnormal posture does not actually move due to the action of the regulating portions 81 and 82 (details will be described later), and the abnormal case where the transported object is not originally inserted.

The confirming unit 72 confirms the presence or absence of the transported object by the operation of the positioning device 6 when the substrate passing sensor 27 does not detect the transported object. Specifically, the confirmation unit 72 drives the clamp rod 62 upward and confirms the presence or absence of the transported object based on the detection signal from the rod elevation detection unit 63 .

The determination unit 73 makes a determination based on the detection signal of the substrate passage sensor 27 and the confirmation result of the confirmation unit 72 . Specifically, when the board passage sensor 27 detects the transported object, the determination unit 73 determines that the posture of the transported object is normal. Further, when the substrate passing sensor 27 does not detect the transported object and the confirming unit 72 confirms the presence of the transported object, the determination unit 73 determines that the posture of the transported object is abnormal. Furthermore, when the substrate passing sensor 27 does not detect the transported object and the confirming unit 72 confirms the absence of the transported object, the determination unit 73 determines that the transported object has not been originally inserted.

4. Form and Action of Regulating Portions 81 and 82 Next, the form and action of the regulating portions 81 and 82 provided on the jig plate Z will be described. As shown in FIG. 5, the back surface of the jig plate Z is provided with two restricting portions 81 and 82 . More specifically, the restricting portions 81 and 82 are arranged over substantially the entire length of both side edges ZS and ZT of the jig plate Z, respectively. The restricting portions 81 and 82 are friction members that generate a large frictional force with other members to restrict the movement of the jig plate Z. As shown in FIG. A rubber sheet can be exemplified as the friction material, but is not limited to this.

When the operator correctly inserts the jig plate Z into the transport path 2A, the normal state shown in FIG. 6 is established. As shown, both side edges ZS, ZT of the jig plate Z are properly positioned under the rail guides 23, 24 when the jig plate Z is in a normal orientation. Therefore, the two restricting portions 81 and 82 of the jig plate Z are placed on the conveyor belts 25 and 26, respectively. Therefore, the jig plate Z is moved by the moving part 71 operating the substrate transfer device 2 . As a result, the board passage sensor 27 detects the jig plate Z, and the determination unit 73 determines that the posture of the jig plate Z is normal.

On the other hand, if a human error occurs when the operator inserts the jig plate Z into the transport path 2A, the abnormal state shown in FIG. 7 will occur. As shown in the figure, when the jig plate Z is in an abnormal orientation, one side edge ZS of the jig plate Z is correctly positioned under the rail guide 23, while the other side edge ZT is positioned on the rail. Incorrectly positioned above the guide 24 . Therefore, the other restricting portion 82 of the jig plate Z and the upper surface of the rail guide 24 come into contact with each other, generating a large frictional force. This frictional force restricts the movement of the jig plate Z. Therefore, even if the moving part 71 operates the substrate transfer device 2, the jig plate Z does not move. As a result, the substrate passage sensor 27 does not detect the jig plate Z, and the confirmation unit 72 starts operating.

A second abnormal condition can also occur in which one side edge ZS of the jig plate Z is erroneously positioned above the rail guide 23 and the other side edge ZT is correctly positioned below the rail guide 24. . Furthermore, it cannot be said that there is no third abnormal state in which both side edges ZS, ZT of the jig plate Z are erroneously positioned above the rail guides 23, 24. FIG. Even in the second and third abnormal states, the jig plate Z does not move, and the confirmation unit 72 starts operating.

Note that if the operator does not insert the jig plate Z and does not consider the input error of erroneously inputting "the jig plate Z has been inserted" to the control device 7, the confirmation unit 72 and the determination unit 73 are not required. . In this case, since the board passage sensor 27 does not detect the jig plate Z, the control device 7 can immediately determine that the jig plate Z has an abnormal posture.

When considering the above-described input error, the control device 7 cannot determine whether the jig plate Z has an abnormal posture or whether the jig plate Z has not been inserted from the beginning. In this case, determination can be made by operating the confirmation unit 72 and the determination unit 73 .

The confirmation part 72 drives the clamp rod 62 of the positioning device 6 upward as shown in FIG. Then, the clamp rod 62 pushes up the jig plate Z that has not moved from the inserted position, and clamps the one side edge ZS and the restricting portion 81 between the rail guide 23 and the jig plate Z. At this time, the rod elevation detector 63 detects the distance D between the tip of the clamp rod 62 and the rail guides 23 and 24 . As a result, the confirmation unit 72 can confirm the existence of the jig plate Z based on the existence of the separation dimension D. The determination unit 73 determines that the posture of the jig plate Z is abnormal.

Next, it is assumed that the operator erroneously inputs "the jig plate Z has been inserted" to the control device 7 without inserting the jig plate Z. FIG. In this case, even if the moving unit 71 operates the substrate transfer device 2, the substrate passing sensor 27 cannot detect the jig plate Z, and the confirming unit 72 starts operating. Then, as shown in FIG. 9, the clamp rod 62 rises and comes into contact with the rail guides 23,24. At this time, the rod lift amount detection unit 63 detects that the separation dimension D does not exist. As a result, the confirmation unit 72 can confirm the absence of the jig plate Z based on the absence of the separation dimension D. The determination unit 73 determines that the jig plate Z was not originally inserted.

When the posture of the jig plate Z is abnormal or when the jig plate Z is not inserted from the beginning, the control device 7 issues an alarm to the effect that an abnormality has occurred to the operator, and the subsequent accuracy measurement is performed. Suspend the execution of work. The operator corrects the jig plate Z on the transport path 2A to the correct posture, or inserts the jig plate Z correctly into the transport path 2A, and inputs to the controller 7 to that effect. Then, the movement unit 71 and the determination unit 73 operate again, and it can be determined that the posture of the jig plate Z is normal this time.

If the jig plate Z were not provided with the regulating portions 81 and 82, the jig plate Z would be moved by being driven only by one of the conveyor belts 25 even if the posture of the jig plate Z was abnormal. Therefore, the accuracy measurement work is started while the posture of the jig plate Z remains abnormal. Then, the accuracy measurement work cannot be performed correctly. Further, there is a possibility that the moving suction nozzle 46, the sucked component, the mark camera 47, and the like collide with the portion of the jig plate Z with an abnormal posture that protrudes upward from the conveying path 2A.

In contrast, in the first embodiment, the abnormal posture of the jig plate Z can be reliably resolved before the accuracy measurement work is started. As a result, the accuracy measurement work using the jig plate Z is performed correctly. Furthermore, the risk of collision mentioned above is reliably avoided.

Further, since the jig plate Z is provided with the regulating portions 81 and 82 , a large frictional force is generated between the regulating portions 81 and 82 and the conveyor belts 25 and 26 . Therefore, the jig plate Z does not slip on the conveyor belts 25 and 26, and high positional accuracy is maintained. In addition, the clamp rod 62 of the positioning device 6 positions the jig plate Z via the regulating portions 81 and 82 made of rubber sheets. Therefore, aging wear is suppressed even if the jig plate Z is used repeatedly.

According to the component mounting machine 1 of the first embodiment, the operator moves the jig plate Z inserted into the conveying path 2A by the substrate conveying device 2 and detects the jig plate Z by the substrate passage sensor 27. You can confirm that it has been inserted. Here, when the posture of the inserted jig plate Z is abnormal, since the regulating portions 81 and 82 regulate the movement of the jig plate Z, the board passage sensor 27 does not detect the jig plate Z. , an abnormality in the posture of the jig plate Z is discriminated.

5. Forms and Actions of Regulating Parts 83 and 84 of Second Embodiment Next, in the second embodiment, both the substrate K and the jig plate Z can be used as objects to be transferred. In the second embodiment, the overall configuration of the component mounting machine 1 is the same as in the first embodiment, and the forms of the restricting portions 83 and 84 are different from those in the first embodiment. As shown in FIG. 10, the restricting portions 83 and 84 of the second embodiment are provided on the upper surfaces of the pair of rail guides 23 and 24, respectively. More specifically, the restricting portions 83 and 84 are provided on the upper surfaces of the rail guides 23 and 24 on the inner sides of the rail guides 23 and 24 and extend from above the positioning device 6 to the vicinity of the board passage sensor 27 . The restricting portions 83 and 84 are friction members that generate a large frictional force with the transported object to restrict the movement of the transported object. The material of the friction material may be the same rubber sheet as in the first embodiment, or may be a different material.

If the substrate K or the jig plate Z has an abnormal posture, the side edge KT or the side edge ZT is erroneously positioned above the restricting portion 84 of the rail guide 24, as shown in FIG. 11, for example. Therefore, a large frictional force is generated between the back surface of the substrate K or jig plate Z and the restricting portion 84 . This frictional force restricts the movement of the substrate K and jig plate Z. FIG. Therefore, even if the moving part 71 operates the substrate transfer device 2, the substrate K and the jig plate Z do not move. Hereinafter, the same actions and effects as in the first embodiment are produced.

6. Forms and Actions of Regulating Portions 85 and 86 of Third Embodiment Next, in the third embodiment, both the substrate K and the jig plate Z can be used as objects to be transferred. In the third embodiment, the overall configuration of the component mounting machine 1 is the same as in the first embodiment, and the forms of the restricting portions 85 and 86 are different from those in the first and second embodiments. As shown in FIG. 12, the restricting portions 85 and 86 of the third embodiment are provided on the upper surfaces of the pair of rail guides 23 and 24, respectively. More specifically, the restricting portions 85 and 86 are arranged on the inner sides of the upper surfaces of the rail guides 23 and 24 facing each other at locations slightly closer to the work execution position than the board passage sensor 27 . Moreover, the restricting portions 85 and 86 are formed as convex portions projecting upward from the upper surfaces of the rail guides 23 and 24 .

The projection-shaped restricting portions 85 and 86 are provided to block the movement paths of the substrate K and the jig plate Z. As shown in FIG. The convex-shaped restricting portions 85 and 86 are preferably arranged at the locations described above, and preferably have a minimum height that can reliably block the movement path. As a result, it is possible to avoid interference between the moving suction nozzle 46, the sucked component, the mark camera 47, and the like with respect to the protrusion-shaped restricting portions 85 and 86. FIG.

If the substrate K or the jig plate Z has an abnormal posture, the side edge KT or the side edge ZT is erroneously positioned above the rail guide 24 as shown in FIG. 13, for example. Therefore, when the moving portion 71 operates the substrate transfer device 2 , the substrate K and the jig plate Z move until they come into contact with the regulating portions 85 and 86 , but do not reach the substrate passing sensor 27 . Therefore, the board passage sensor 27 does not detect the board K or the jig plate Z. FIG. Hereinafter, the same actions and effects as in the first embodiment are produced.

7. Applications and Modifications of the Embodiments Although the substrate passage sensor 27 on the carry-in side is also used as a detection unit, the substrate passage sensor 28 on the carry-out side can also be used as a detection unit. In this case, the positions of the regulating portions 83 to 86 described in the second and third embodiments are changed to the substrate passage sensor 28 side. Further, the first to third embodiments can be applied to work machines for substrates other than the component mounting machine 1, such as a solder printing machine and a board inspection machine provided with the board transfer device 2. FIG. Various other applications and modifications are possible for the first to third embodiments.

1: component mounting machine 2: board transfer device 21, 22: side plate 23, 24: rail guide 25, 26: transfer belt 27, 28: board passage sensor 2A: transfer path 4: component transfer device 6: positioning device 61: Apparatus main body 62: Clamp rod 63: Rod elevation detection unit 7: Control device 71: Moving unit 72: Confirmation unit 73: Judging unit 81 to 86: Regulating unit K: Substrate KS, KT: Side edge Z: Jig plate ZS , ZT: lateral edge

Claims (8)

a substrate transport device for loading and unloading a substrate along a transport path to a work execution position;
a work execution device for performing a predetermined work on the board carried into the work execution position;
a moving unit that moves the object to be transferred by the operation of the substrate transfer device when the object to be transferred, which is the substrate or a jig plate having a shape similar to the substrate, is inserted into the transfer path by an operator;
a detection unit that detects the transported object that has moved;
a regulating unit that regulates the movement of the transported object accompanying the operation of the substrate transport device when the posture of the transported object with respect to the transport path is abnormal;
A working machine for board. 2. The board-to-board work machine according to claim 1, wherein said detection unit is provided near at least one end of the carry-in end and the carry-out end of said transport path, and also serves as a board passage sensor for detecting passage of said board. . a positioning device that positions the board carried into the work execution position;
a confirmation unit that confirms the presence or absence of the transported object by the operation of the positioning device when the detection unit does not detect the transported object;
The board-to-board working machine according to claim 1 or 2, further comprising: when the detection unit detects the transported object, the posture of the transported object is normal;
when the detection unit does not detect the transported object and the confirming unit confirms the presence of the transported object, the posture of the transported object is abnormal;
When the detection unit does not detect the transported object and the confirmation unit confirms the absence of the transported object, the transported object is not inserted,
4. The working machine for board according to claim 3, further comprising a determination unit that determines that the The transport path is formed between a pair of transport belts that rotate while both side edges of the substrate are placed thereon, and a pair of rail guides that are respectively arranged above the transport belts,
The abnormal posture of the transported object is the posture in which one side edge of the transported object is correctly positioned below the rail guide and the other side edge is incorrectly positioned above the rail guide. be,
The work machine for board according to any one of claims 1 to 4. 6. The board-facing working machine according to claim 5, wherein said restricting portion is provided on the back surface of said jig plate and is a friction material whose movement is restricted by a frictional force with said rail guide. 6. The board-to-board working machine according to claim 5, wherein said restricting portion is provided on an upper surface of said rail guide and is a friction material that restricts movement of said transported object by means of a frictional force. 6. The board-oriented working machine according to claim 5, wherein said restricting portion is a convex portion provided on an upper surface of said rail guide and blocking a movement path of said transported object.

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