JPH06211333A - Printed board positioning device - Google Patents

Abstract

PURPOSE:To provide a printed board positioning device wherein vertically moving a stopper and board pressing action can be performed by a simple mechanism. CONSTITUTION:A printed board is carried in by a conveyer belt in a guide rail 1a. In a cylinder 2b-1, a press stopper supported to a supporter 2b is overhung in a conveying path in the opposite side, invisible in the guide rail 1a, to stop the in-carried board. A reference stopper is lifted and positioned behind the board. A stopper drive motor 3a drives a nut bass stand 2c by a feed screw 3b. The nut base stand 2c is moved in a direction of the reference stopper along the guide rail 1a. A front stopper 2a is stopped by pressing the board into contact when a distance from the reference stopper leads to a length of the board, and the nut base stand 2c is further moved by alphamm and stopped by narrowing a space 2bc-1 from the supporter 2b by alphamm. In a helical spring 2bc, energizing force of alphamm length is applied to the press stopper through the supporter 2b, thus to fix the board between the reference stopper and the press stopper.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a substrate positioning device that determines a stop position of a substrate to be transported in the transport direction.

[0002]

2. Description of the Related Art Conventionally, there is a board unit manufacturing line including a board (printed board) supply device, a dispenser, a component mounting device, a reflow furnace and the like. The above-mentioned dispenser carries in the substrate supplied from the substrate supply device in the preceding stage, applies solder to a predetermined position on the substrate, and sends it to the component mounting device in the subsequent stage. The component mounting device automatically mounts a large number of chip-shaped electronic components such as ICs, resistors and capacitors on the substrate delivered from the dispenser and delivers them to the reflow furnace of the latter stage device.

Each of the above-mentioned devices has a belt conveyor for carrying the substrate. The belts of the belt conveyor are slidably arranged below the fixed rails and the movable rails, which are provided on both sides of the board transport path, so as to look into the board support part having a width of several millimeters. . The movable rail is automatically width-adjusted so as to maintain a distance corresponding to the width of the substrate between the movable rail and the fixed rail. The board is guided by its fixed rails and movable rails at its both ends, and is conveyed while being supported by the board supporting portions of the conveyor belt from below at the widths of several millimeters of the back surfaces at its guided both ends.

The substrate that has been conveyed and entered the apparatus comes into contact with a front stopper in the front of the traveling direction and stops, and then is pushed back by a reference stopper rising from the rear of the substrate from below to stop at a fixed position.

The front stopper is composed of a stopper and a stopper support. The stopper support is rotated downward so as to stop the substrate when the substrate is carried into the stopper support, and the stopper is extended into the transport path. Two cylinders are provided, a stopper up-and-down moving cylinder that rotates the stopper upward to open the path of the substrate when the substrate is unloaded, and a pressing cylinder that presses the substrate against the reference stopper.

[0006]

However, since the two cylinders are arranged in the front stopper portion as described above, in addition to complicating the mechanism due to the arrangement of the cylinders, the pneumatic pressure for driving the cylinders is also added. There is a problem that it takes time to dispose the tubes, the cylinder drive program becomes complicated, and the design is complicated throughout. Therefore, maintenance is troublesome and troublesome, and there is also a problem that work efficiency is reduced.

In addition, the above-mentioned cylinder has a precise mechanism and is therefore expensive, which increases the cost of the entire apparatus.

The object of the present invention is to solve the above-mentioned conventional problems.
It is an object of the present invention to provide a substrate positioning device capable of vertically moving a stopper and pressing a substrate with a simple mechanism.

[0009]

SUMMARY OF THE INVENTION The present invention is directed to a front stopper that abuts a front portion of a substrate carried in by a conveyor belt in the transport direction and temporarily stops the transport of the substrate, and a rear portion of the substrate temporarily stopped by the front stopper. The present invention is applied to a substrate positioning device having a reference stopper that rises close to the.

The means of the present invention are as follows. The present invention provides a support means for slidably supporting a front stopper, and a moving means for moving the support means in the reference stopper direction.
An urging force that pulls the front stopper and the moving means toward each other engages the front stopper and the moving means so that the moving means pulls the front stopper in the reference stopper direction. The control means controls the moving means to move the supporting means in the reference stopper direction so as to position the front stopper at a position where the distance from the stopper is shorter than the length of the substrate to be loaded by a predetermined percentage.

[0011]

The operation of the means of the present invention is as follows. In the substrate positioning apparatus of the present invention, the front stopper abuts the front portion in the transport direction of the substrate carried in by the conveyor belt to temporarily stop the transport of the substrate, and the reference stopper moves up close to the rear portion of the temporarily stopped substrate. After that, by the control of the control means, the moving means moves the supporting means in the reference stopper direction so as to position the front stopper at a position where the distance from the reference stopper becomes a predetermined percentage shorter than the length of the substrate to be loaded. At this time, the front stopper stops moving due to the resistance of the substrate at the position of the length of the substrate, the supporting member further moves a predetermined percentage of the length of the substrate and stops at the predetermined position, and the spring member moves to the position of the substrate. The biasing force corresponding to the length corresponding to a predetermined percentage of the length is increased to bias the front stopper toward the reference stopper.

Accordingly, it is possible to provide a substrate positioning device capable of vertically moving the stopper and pressing the substrate with a simple mechanism.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 (a) shows a plan view of a substrate positioning device on a main body device base according to one embodiment, and FIG. 1 (b) shows a side view thereof.

In FIGS. 1A and 1B, the substrate positioning device comprises a substrate transfer section 1, a substrate stopping section 2 and a stopper driving section 3. First, the board transfer unit 1 of the board positioning apparatus has two board guide rails 1a and 1a 'extending in parallel in the left-right direction at the center of the main body apparatus base.
A pair of conveyor belts 1b and 1b 'which are respectively held in a loop by a plurality of rotating rollers (not shown) provided on the board guide rails 1a and 1a', and a pair of conveyor belts 1b and 1b '. And belt drive motors 1c and 1c 'for driving the motors.

The pair of conveyor belts 1b and 1b '
Is driven by belt drive motors 1c and 1c '.
The substrate is transported by sliding from right to left as indicated by arrow A in (a). The two board guide rails 1a and 1a 'guide the board to be conveyed.

The board guide rail 1a is provided with a board sensor 1d for detecting a board that has been carried in and stopped, and a board sensor 1e for detecting a processed board that is carried out.
Next, the substrate stop portion 2 of the substrate positioning device is capable of sliding the front stopper 2a that stops the substrate that is carried in, the stopper support 2b that rotatably supports the front stopper 2a, and the stopper support 2b. On the outside of the board guide rail 1a, a feed screw nut base 2c that is slidably engaged with the board guide rail 1a, a stopper origin projection 2e that is attached to the front side of the stopper support body 2b in the board loading direction. Attached to the origin sensor 2f for detecting the stopper origin protrusion 2e, the front stopper 2
It is composed of a reference stopper 2g, etc., which comes close to the rear part of the substrate temporarily stopped by a and ascends from below, contacts the substrate pushed back by the front stopper 2a, and stops the substrate at the reference position.

The stopper drive unit 3 of the substrate positioning apparatus is a stopper drive motor 3a for moving the front stopper 2a forward and backward in the substrate transfer direction via the feed screw nut base 2c and the stopper support 2b, and its stopper. The drive motor 3a is driven by the feed screw nut base 2 described above.
It is composed of a feed screw 3b which is transmitted to c.

FIG. 2 shows an enlarged side view of the substrate stopping portion 2 and the stopper driving portion 3. In the figure, the stopper drive motor 3a of the stopper drive unit 3 is provided with a toothed belt pulley 3a-1 fixed to the tip of the rotary shaft thereof. Further, the feed screw 3b also includes a toothed belt pulley 3b-1 at the end portion near the stopper drive motor 3a. The toothed belt pulleys 3a-1 and 3b-1 are connected by a toothed belt 3c that meshes with them. The stopper drive motor 3a drives the feed screw 3b via the toothed belt pulley 3a-1, the toothed belt 3c, and the toothed belt pulley 3b-1.

A disk-type encoder 3a-2 is fixed to the tip of the rotary shaft of the stopper drive motor 3a. The encoder 3a-2 has a large number of slits around it. The encoder slit sensor 3a is provided at a position where the slit portion around the encoder 3a-2 is sandwiched from both sides.
-3 is provided (see FIG. 1 (a)). The encoder slit sensor 3a-3 detects the slit of the encoder 3a-2 and outputs a detection pulse signal.

Next, the feed screw nut base 2c of the board stopping portion 2 shown in the same figure is such that the upper part thereof is slidable on the board guide rail 1a by a feed rail 1a-1 provided outside the board guide rail 1a. , And the lower portion is screwed with the feed screw 3b of the stopper drive unit 3 by the feed screw nut 2c-2 provided on the lower portion. Therefore, when the stopper drive motor 3a of the stopper drive unit 3 rotates forward and backward, the feed screw nut base 2c moves forward and backward in the substrate transfer direction.

The feed screw nut base 2c slidably supports the stopper support 2b by a support rail 2c-1 provided on the back surface of the intermediate portion thereof. Further, the stopper support 2b and the feed screw nut base 2c are
The board guide rail 1 is connected to each other by the spiral spring 2bc.
It is urged to attract each other in the direction parallel to a. Due to the urging force, there is a sliding gap 2bc-1 between the stopper support 2b and the feed screw nut base 2c, and the stopper support 2b and the feed screw nut base 2c move above the gap 2bc-1 at the time of floating. Move as one while holding it. Therefore, the stopper drive motor 3a of the stopper drive unit 3 rotates forward and backward, so that the stopper support 2b moves forward and backward in the substrate transfer direction together with the feed screw nut base 2c.

The stopper support 2b is a vertically moving cylinder 2b-1 for rotating the front stopper 2a up and down.
Is equipped with. This vertical movement cylinder 2b-1 is provided with a stopper support 2b located on the back side of the feed screw nut base 2c.
On the other hand, the feed screw nut base 2c is disposed so as to be located outside the feed screw nut base 2c. This vertical movement cylinder 2b-1
Will be described later.

The stopper origin projection 2e attached to the stopper support 2b moves from the right to the left as indicated by arrow B in the figure when the stopper support 2b starts the substrate stopping operation. , Enters the detection unit gap of the origin sensor 2f. The origin sensor 2f has a “U” -shaped detection unit composed of a light emitting unit made of a light emitting diode and a light receiving unit made of a phototransistor, and enters the “U” shaped detection unit gap. The stopper origin protrusion 2e is detected and an origin detection signal is output.

The substrate sensor 1d shown in FIG. 1 (a)
And 1e and the configuration of the encoder slit sensor 3a-3 are the same as the configuration of the origin sensor 2f. Next, FIG. 3 (a) is an enlarged plan view showing an engaged state of the stopper support 2b of the substrate stopping portion 2 and the feed screw nut base 2c shown in FIG. 2 and FIG. 3 (b). An enlarged side view is shown. It should be noted that the vertical movement cylinder 2b-1 of the stopper support 2b is not shown in FIG. 6A, and the feed screw nut 2c-2 of the feed screw nut base 2c is not shown in FIG.

Further, FIG. 4 (a) is a view taken along the line AA 'in FIG. 3 (a), FIG. 4 (b) is a view taken along the line BB' in FIG. 3 (b), and FIG.
FIG. 3 (c) shows the CC ′ arrow view of FIG. 3 (b). Figure 3
In the state of the front stopper 2a shown in (a), the substrate is stopped. Therefore, as shown by an arrow F in FIG. 4 (a), the front stopper 2a is moved downward from a position parallel to the upper surface of the substrate guide rail 1a to a position at a right angle. It is a state in which the substrate is rotated once and overhangs in the substrate transport path.

From this state, the piston 2b-1-2 is attached to the barrel 2b-1-1 of the vertically moving cylinder 2b-1 shown in FIG. 3 (b).
When is retracted, the fan-shaped body 2b-2, which engages with the tip of the piston 2b-1-2 at one point, rotates 90 degrees from below toward the left centering on the fulcrum 2b-2-1. By this rotation, the rod-shaped body 2b-3 whose one end engages with the other point of the fan-shaped body 2b-2 moves to the lower left as shown by an arrow C in the figure. By this movement, the other rod-shaped body 2b-4 that engages with the other end of the rod-shaped body 2b-3 becomes a right angle from a position parallel to the upper surface of the board guide rail 1a about the fulcrum 2b-4-1. Rotate 90 degrees to the position as shown by arrow D in the figure. By this rotation, the fulcrum 2b-4-1 is rotated by 90 degrees, and the other end of the fulcrum 2b-4-1 which cannot be seen in FIG. 2B (the tip protruding inside the board guide rail 1a, The front guide 2a fixed to the fulcrum 2b-4-1) shown in FIG. 4 (a) is extended from the position projecting into the board conveying path shown in FIGS. 4 (a) and 4 (b) to the board guide rail 1
It is rotated to a position parallel to the upper surface of a to open the substrate transfer path. In this way, the front stopper 2a is vertically rotated by the vertical movement cylinder 2b-1 of the stopper support 2b.

The stopper support 2b is independent of the board guide rail 1a, and has a feed screw nut base 2c.
Only engage with. FIGS. 4B and 4C show this state. In FIG. 3C, the feed screw nut 2c-2 of the feed screw nut base 2c which is not shown in FIG. 3B is indicated by a chain double-dashed line. Further, FIGS. 2B and 2C also show a conveyor belt 1b for conveying the substrate, a top plate 1f serving as a reference for the vertical position of the substrate, and a rail support member 1g.

As shown in FIG. 3C, the stopper support 2
b is the board guide rail 1a (and the rail support member 1g)
And the feed screw nut base 2c, and is slidably fitted to the support rail 2c-1 of the feed screw nut base 2c. The above-mentioned vertical movement cylinder 2 of the stopper support 2b
b is arranged on the outside of the feed screw nut base 2c, and the feed screw nut base 2c is sandwiched from the outside by the stopper support 2
It is attached to b.

In this state, the stopper support 2b and the feed screw nut base 2c are urged by the spiral spring 2bc so as to attract each other, and have a sliding gap 2bc-1 and are integrally engaged.

The rotation of the feed screw 3b shown in FIG. 2 causes the feed screw nut base 2c to move from left to right as shown by arrow E in FIG. 3, that is, in the direction of the reference stopper 2g shown in FIG. Front stopper 2a supported by 2b
When the feed screw nut base 2c moves so as to contact the substrate and further press the substrate, the front stopper 2a, that is, the stopper support 2b is stopped, and only the feed screw nut base 2c continues to move a little. The gap 2bc-1 with the support 2b is narrowed and stopped. Since the feed screw nut base 2c continues to move and narrows the gap 2bc-1, the biasing force of the spiral spring 2bc is applied to the substrate via the stopper support 2b and the front stopper 2a in the direction of arrow E in FIG. The reference stopper 2g shown in FIG.
The substrate is fixed between the front stopper 2a and the front stopper 2a.

As a result, even if there is a variation in the length of the board, if the distance is within the gap 2bc-1, the movement error of the feed screw nut base 2c caused by the variation, that is, the pushing back of the board is caused. Distance error can be absorbed. Therefore, it is not necessary to finely adjust the movement corresponding to the variation in the length of the substrate by providing another moving cylinder or the like.

Next, FIG. 5 is a block diagram showing the configuration of a control unit for controlling the substrate positioning device. In the figure, the CPU 10 comprises a microprocessor or the like. The CPU 10 includes a memory unit 11 including a RAM (Random Access Memory) and the like, a key input unit 12 including an input key for inputting various data, and an interface 13 that mediates input / output of various input / output devices. Are connected.

A detection signal of the carried-in board which has stopped by contacting the front stopper 2a is input to the interface 13 from the board detection sensor 1d shown in FIG. 1 (a), and is carried out from another board sensor 1e. The detection signal of the processed substrate is input, and the pulse signal which is the slit detection signal of the encoder 3a-2 is input from the encoder slit sensor 3a-3. Further, a detection signal of the stopper origin protrusion 2f (origin positioning signal of the front stopper 2a) is input from the origin sensor 2f shown in FIG. 1 (b) and FIG.

On the other hand, the interface 13 is the CPU 10
A lighting or blinking instruction signal input from the CPU is output to an abnormality display lamp 4 (not shown), and a drive control signal input from the CPU 10 is also used to move the stopper drive motor 3a, the belt drive motor 1c (1c '), and the reference stopper 2g up and down. It is output to a drive motor (not shown) for driving. The CPU 10 is
The above-mentioned units are controlled based on a program stored in a built-in ROM (Read Only Memory).

Next, the operation of the substrate processing performed by the CPU 10 of the control unit for controlling the substrate positioning apparatus having the above-mentioned configuration will be described with reference to the operation flowcharts shown in FIGS. 6 to 9. In addition, this process is C
The PU 10 stores the stopper drive motor 3a described with reference to FIGS. 1 (a) and 1 (b) or FIG. 2 based on the program stored in the memory unit 11 shown in FIG. Drive control to move the stopper support 2b (that is, the front stopper 2a) in the opposite direction (rearward in the loading direction) shown in FIG. 1 (a) through the feed screw 3b and the feed screw nut base 2c. It is realized by (moving backward). Further, this processing is activated by a key input instructing the start of the substrate processing by the key input unit 12 shown in FIG. 5 or by a program. The distance between the two board guide rails 1a and 1a 'is adjusted and set in advance according to the width of the board to be processed.
It is assumed that a is rotated downward by 90 degrees as shown in FIGS. 3 (a) and 4 (a) and projects into the substrate transfer path.

First, in the general flow chart shown in FIG. 6, it is determined whether or not there is a carry-in substrate by a substrate sensor (not shown) (step S1). If there is a substrate in the above determination, a front stopper starting process described later is performed (step S2).

Subsequently, the belt drive motor 1c is driven to drive the conveyor belts 1b and 1b 'shown in the figure from the loader side (the substrate supply device side of the preceding stage) in the substrate conveying direction indicated by the arrow A in FIG. 1 (a). , A drive signal is output to 1c 'and the substrate is carried in (step S3).

Then, the output of the substrate sensor 1d shown in FIG. 1A is monitored for a predetermined period, and it is determined whether the substrate sensor 1d is turned on (substrate detection) (step S4). As a result, it is determined whether or not the loaded substrate is in contact with the front stopper 2a and stopped.

When the substrate sensor 1d is turned on in the above determination, the reference stopper 2f is raised (step S
5). As a result, the reference stopper 2f is set at the stop reference position of the substrate in the substrate transport path.

Next, a positioning process is performed (step S).
6). As will be described later in detail, this process is a process of stopping and fixing the temporarily stopped substrate at the stop reference position. Subsequently, other processing is performed (step S7). This process is, for example, a solder coating process, an electronic component mounting process, or the like, although it differs depending on the main body device.

Next, referring to the output of the substrate sensor 1e shown in FIG. 1 (a), it is determined whether or not the carry-out path is open (step S8). In this process, the substrate processed last time is
This is a process for confirming that it has not been discharged and is not stuck in the transport path.

According to the above determination, the output of the substrate sensor 1e is OK.
If it is (OFF), then a substrate discharging process described later is performed (step S9). Then, it is determined whether or not the processing of the predetermined number of substrates has been completed (step S10), and if the processing has been completed, the processing ends.

If the processing of the predetermined number of substrates has not been completed in the above determination, the process returns to step S3 and the processes of steps S3 to S10 are repeated. If the output of the substrate sensor 1e is NO (ON) in step S8, the process proceeds to step S11 to perform a process of notifying an abnormality by lighting or blinking the abnormality display lamp 4 shown in FIG. And immediately terminates the processing.

In step S4, the substrate sensor 1
If d is off, or if the substrate sensor (not shown) is off in step S1, the process immediately proceeds to step S11. Next, the front stopper starting process of step S2 will be described with reference to the flowchart shown in FIG.

In the front stopper starting process shown in the same figure, first, it is judged whether or not it is the origin check process before starting the rearward movement of the front stopper 2a (step S21).
This processing uses, for example, the register F incorporated in the CPU 10 as the origin check processing mode with the value “0” (flag F = 0) of the register F initialized at start-up, and after completion of the origin check processing, the register F Is set to "1" (flag F = 1) to determine whether the value of this register F (flag F) is "0" or "1" as the processing mode of the backward movement start (board positioning start). This is the process of determining.

Subsequently, a drive signal is output to the stopper drive motor 3a via the interface 13 to move the stopper support 2b (that is, the front stopper 2a) to the front in the substrate loading direction (forward movement) (step S22). As a result, the front stopper 2a moves in a direction away from the reference stopper 2g.

Next, the output of the origin sensor 2f is monitored for a predetermined period, and it is determined whether or not the origin sensor 2f is turned on (step S23). As a result, the position where the origin sensor 2f is turned on (the origin protrusion 2e enters the U-shaped detection portion gap of the origin sensor 2f to block the light emitted from the light emitting portion to the light receiving portion of the origin sensor 2f. The stopper support body 2b (that is, the front stopper 2a) moves forward to the position where the stopper support body 2b moves.

When it is detected in this determination that the origin sensor 2f is turned on, the drive signal output to the stopper drive motor 3a is switched to "stop", and then the value of the register F (flag F ) Is set to "1" and the process returns to step S21. As a result, the front stopper 2a stops at the origin before the start of the backward movement, and the preparation for properly moving backward the moving distance calculated for the backward movement is completed.

Then, in step S21, the flag F =
It is confirmed that the value is 1, and in this case, the process proceeds to step S24. In step S24, the board size data is read from the program data of the board processing which is read in advance based on the key input (or program) from the key input unit 12, and based on the read board size data,
The length “L” is calculated by adding the length “α” to the length of the board, and the front stopper 2a is stopped from the origin so that the front stopper 2a is stopped at the position “L” from the position of the reference stopper 2g. The required rotation number of the stopper drive motor 3a for moving the front stopper 2a to the stop position (the number of pulse signals of the slit detection of the encoder 3a-2 by the encoder slit sensor 3a-3) is further calculated, and the calculated encoder Set the number of pulses in the internal register.

As a result, the number of encoder pulses that correctly corresponds to the distance that the front stopper 2a moves from the origin to the position where the substrate is temporarily stopped is set. The encoder pulse number may be set in the subtraction counter instead of the built-in register.

Subsequently, the stopper drive motor 3a is started so that the front stopper 2a moves toward the reference stopper 2g (step S25). As a result, the front stopper 2a starts moving from the origin to the position for temporarily stopping the substrate.

Next, the encoder slit sensor 3a-3
The encoder pulses input from are counted, and it is determined whether or not the number of predetermined pulses set in the built-in register matches. If they do not match, the counting and the determination are repeated (step S26). In addition, instead of the built-in register,
When the number of encoder pulses is set in the subtraction counter, the carry signal of the subtraction counter is detected.
As a result, the front stopper 2a continues to move to a predetermined temporary stop position.

In step S26, when the front stopper 2a reaches a predetermined temporary stop position and the counted encoder pulse number matches the encoder pulse number set in the built-in register, a stop signal is output. Output to stop the stopper drive motor 3a (step S2
7). As a result, the front stopper 2a stops at a predetermined temporary stop position.

Then, it is determined whether or not the stopper drive motor 3a is overrun (step S2).
8). This process is a process in which after the stop drive motor 3a is instructed to stop, the encoder pulse number is further referred to and it is determined whether or not a new encoder pulse after the stop instruction is input in an allowable number or more. is there.

If the number of new encoder pulses is equal to or less than the permissible number in this determination, it is determined that overrun has not occurred, and in this case, the process proceeds to step S29. Step S29
Then, a process of notifying the completion of the automatic stopper position setting is performed by a display device (not shown) or the like, and the front stopper 2
The process of setting a to the substrate temporary stop position is completed.

If it is determined in step S28 that the stopper drive motor 3a is overrunning, step S30
5, the abnormality indicating lamp 4 shown in FIG. 5 is turned on or blinked to notify the abnormality, and the processing is immediately terminated. As described above, since the overrun of the stopper variable drive motor 3a is monitored and the abnormality is notified when the overrun occurs, there is no fear of causing trouble by proceeding to the next work while the front stopper 2a is set at an incorrect position.

Further, in the above-mentioned determination in step S23,
If the output of the origin sensor 2f is not turned on even after the elapse of the predetermined period, the process proceeds to step S30. Next, the positioning process of step S6 shown in the general flowchart will be described with reference to the flowchart shown in FIG.

In the positioning process shown in the figure, first,
Based on the key input (or program) from the key input unit 12, the substrate size data is read from the program data of the substrate processing which is read in advance, and the length of the substrate is further increased based on the read substrate size data. The length "L '" is calculated by subtracting "α'" from the position of the reference stopper 2g to the position at a distance "L '" (the position "α'" shorter than the length of the substrate) at the present time. The required rotation number of the stopper drive motor 3a for moving the front stopper 2a from the stop position (the number of pulse signals of the slit detection of the encoder 3a-2 by the encoder slit sensor 3a-3) is calculated, and the calculated encoder pulse number Is set in the built-in register (step S61).
As the coefficient α'used for the subtraction in the above processing, a numerical value smaller than the sliding gap 2bc-1 shown in FIGS. 2 and 3B is preset.

Subsequently, the stopper drive motor 3a is started so that the front stopper 2a moves toward the reference stopper 2g (step S62). As a result, the substrate is moved from the temporary stop position to the reference stopper 2 by the front stopper 2a.
Pushed back in g direction.

Next, the encoder slit sensor 3a-3
The number of encoder pulses input from is counted, and it is determined whether or not the number of predetermined pulses set in the built-in register matches. If they do not match, the counting and the determination are repeated (step S63). As a result, the front stopper 2a,
That is, the feed screw nut base 2c that slidably holds the stopper support 2b continues to move to a predetermined temporary stop position.

Then, in step S63, when the counted number of encoder pulses matches the number of encoder pulses set in the built-in register, a stop signal is output to stop the stopper drive motor 3a (step S63).
64). As a result, the feed screw nut base 2c reaches and stops at a position where the front stopper 2a should originally move backward to a position shorter than the length of the board.

As a result, the feed screw nut base 2c
The front stopper 2 moved in the direction of the reference stopper 2g together with
a (that is, the stopper support 2b) comes into contact with the substrate and stops, the feed screw nut base 2c further moves to the stop position, and the gap 2bc-1 with the stopper support 2b is separated by the distance (length) α '. Narrow. An urging force of the spiral spring 2bc having a length α'where the gap 2bc-1 is narrowed is applied to the substrate via the stopper support 2b and the front stopper 2a, whereby the substrate is pressed against the reference stopper 2g,
The position is fixed between the front stopper 2a and the reference stopper 2g.

Subsequently, it is determined whether or not the stopper drive motor 3a is overrun (step S6).
5). This process is a process in which after the stop drive motor 3a is instructed to stop, the encoder pulse number is further referred to and it is determined whether or not a new encoder pulse after the stop instruction is input in an allowable number or more. is there.

If the number of new encoder pulses is equal to or less than the allowable number in this determination, it is determined that the overrun is not performed, and in this case, the process proceeds to step S66, and the process of notifying the completion of the substrate positioning by the display device or the like is performed. Ends the process.

In step S65, if the stopper drive motor 3a is overrunning, step S67.
Then, the processing for notifying the abnormality is performed by turning on or blinking the abnormality display lamp 4 and immediately ends the processing.

As described above, also in the substrate positioning process, the overrun of the stopper drive motor 3a is monitored and the abnormality is notified when the overrun occurs, so that the front stopper 2a presses the substrate more than necessary. Even in this case, appropriate measures can be taken immediately.

Next, the substrate discharging process of step S9 shown in the general flow chart will be described with reference to the flow chart shown in FIG. In the substrate discharge process shown in the figure, first, a drive signal is output to the stopper drive motor 3a, and the stopper drive motor 3a is rotated in the reverse direction by the number of encoder pulses set in the internal register in step S61 of the substrate positioning process. Then, the front stopper 2a is moved forward so as to be pulled back (step S91). As a result, the front stopper 2a is separated from the front part of the substrate.

Next, the encoder slit sensor 3a-3
The encoder pulses input from are counted, and it is determined whether or not the number of predetermined pulses set in the built-in register matches. If they do not match, the counting and determination are repeated (step S92). As a result, the front stopper 2
a (that is, the stopper support 2b) moves backward to the temporary stop position in the substrate transport direction.

In step S92, when the counted number of encoder pulses matches the number of encoder pulses set in the built-in register, a stop signal is output to stop the stopper drive motor 3a, and the front stopper is stopped. 2a is stopped (step S93). This allows
The front stopper 2a retracts and stops at the position where the carry-in substrate is temporarily stopped. Therefore, in the next positioning process, the process can be performed immediately from the pause position without performing the origin positioning.

Subsequently, it is determined whether or not the stopper drive motor 3a is overrun (step S9).
4). This process is also a process in which after the stop drive motor 3a is instructed to stop, the number of encoder pulses is further referred to and it is determined whether or not a new number of encoder pulses after the stop command is input in an allowable number or more. is there.

If the number of new encoder pulses is equal to or smaller than the allowable number in this determination, it is determined that overrun is not performed, and in this case, the reference stopper 2g is lowered (step S95). As a result, the reference stopper 2g moves out of the substrate transport path.

Further, although omitted in the flow of FIG. 9, the positioning stopper 2a is rotated downward by 90 degrees from the one projecting downward shown in FIGS. 3 (a) and 4 (a) and returned to the upper side. Move out of the transport route.

Subsequently, a drive signal is output to the belt drive motors 1c and 1c 'to drive the conveyor belts 1b and 1b' shown in the figure in the substrate conveying direction indicated by the arrow A in FIG. S96). As a result, the unloading of the substrate is started.

Then, the output of the substrate sensor 1e shown in FIG. 1A is monitored for a predetermined period, and it is determined whether or not the substrate sensor 1e is turned on (substrate detection) (step S97). As a result, it is determined whether or not the carry-out substrate is passing through the transport path at a predetermined speed.

When the substrate sensor 1e is turned on in the above determination, it is determined that the substrate has been carried out without any trouble, and in this case, processing such as notifying the completion of substrate discharge by the display device or the like is performed. After that (step S98), the process ends.

If the substrate sensor 1e is not turned on in step S97, or if the stopper drive motor 3a is overrun in step S94, the abnormality display lamp 4 is immediately turned on or blinked in any case. Then, the process of notifying the abnormality is performed (step S9
9), the process ends.

[0077]

As described above in detail, according to the present invention, since the vertical movement of the stopper and the pressing operation of the substrate are performed by a simple mechanism, the complexity of the mechanism due to the arrangement of a plurality of cylinders can be eliminated. Therefore, the arrangement of the pneumatic tube for driving the cylinder is also simplified, and the configuration of the cylinder drive program is also facilitated. Therefore, the overall design is facilitated and the design efficiency is improved. Further, since the mechanism is not complicated, maintenance is facilitated and work efficiency is improved. Furthermore, since expensive cylinders can be eliminated, the cost of the entire device can be reduced.

[Brief description of drawings]

FIG. 1A is a plan view of a substrate positioning device according to an embodiment, and FIG. 1B is a side view thereof.

FIG. 2 is an enlarged side view of a substrate stopping portion and a stopper driving portion of the substrate positioning device.

FIG. 3A is an enlarged plan view showing an engagement state between a stopper support of a substrate stopping portion and a feed screw nut base, and FIG. 3B is a side enlarged view thereof.

4A is a view taken along the line AA ′ in FIG. 3A, and FIG.
3B is a view taken along the line BB ′ of FIG. 3B, and FIG. 3C is a view taken along the line CC ′ of FIG.

FIG. 5 is a configuration block diagram of a control unit that controls the substrate positioning apparatus.

FIG. 6 is a general flowchart for explaining the operation of the substrate processing performed by the CPU of the control unit that controls the substrate positioning apparatus.

FIG. 7 is a flowchart illustrating a front stopper starting process of substrate processing.

FIG. 8 is a flowchart illustrating a substrate positioning process of the substrate processing.

FIG. 9 is a flowchart illustrating a substrate discharging process of the substrate processing.

[Explanation of symbols]

 1 Substrate Transfer Section 1a, 1a 'Substrate Guide Rail 1a-1 Feed Rail 1b, 1b' Conveyor Belt 1c, 1c 'Belt Drive Motor 1d, 1e Substrate Sensor 1f Top Plate 1g Rail Support Member 2a Front Stopper 2b Stopper Support 2b- 1-1 Body 2b-1-2 Piston 2b-2 Fan-shaped body 2b-2-1, 2b-4-1 Support point 2b-3, 2b-4 Rod-shaped body 2bc Spiral spring 2bc-1 Sliding gap 2c Feed screw nut base 2c-1 Support rail 2c-2 Feed screw nut 2b-1 Vertical movement cylinder 2e Stopper origin protrusion 2f Origin sensor 2g Reference stopper 3 Stopper drive part 3a Stopper drive motor 3a-1 Toothed belt pulley 3a-2 Encoder 3a-3 Encoder Slit sensor 3b Feed screw 3b-1 Toothed belt pulley 3c Toothed belt 4 Abnormality display lamp 10 CPU 11 Memory section 12 Key input section 13 Interface

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location H05K 13/04 P 8509-4E

Claims (2)

[Claims] 1. A front stopper that abuts on a front portion of a substrate carried in by a conveyor belt in the transport direction and temporarily stops the transport of the substrate, and a reference that rises close to the rear portion of the substrate temporarily stopped by the front stopper. A substrate positioning apparatus having a stopper, comprising: support means for slidably supporting the front stopper, moving means for moving the support means in the reference stopper direction, and the front stopper and the moving means for mutual movement. A biasing force that engages and biases the front stopper and the moving means such that the moving means pulls the front stopper in the reference stopper direction by the moving means; The support means to position the front stopper at a position where the distance is less than the length of the substrate to be loaded by a predetermined percentage. Board positioning device, characterized in that it comprises a control means for controlling said moving means to move the stopper direction. 2. The control means controls the moving means to position the front stopper at a position where the distance from the reference stopper is shorter than the length of the substrate to be loaded by a predetermined percentage. When moved in the direction of the reference stopper, the front stopper stops moving due to the resistance of the substrate at a position of the length of the substrate, and the support member further moves a predetermined percentage of the length of the substrate to a predetermined distance. 2. The substrate according to claim 1, wherein the substrate is stopped at the position, and the spring member increases an urging force corresponding to a length corresponding to a predetermined percentage of the length of the substrate to urge the front stopper toward the reference stopper. Positioning device.