JPS60157419A - Aligning machine - Google Patents

Abstract

PURPOSE:To align a transported article moving on a conveyer, which is disarranged in direction and position, by combination of a stopper portion, the first aligning portion, the second aligning portion and a transported article detecting sensor. CONSTITUTION:The leading end of a transported article A disarranged in direction and position on a conveyer is brought into contact with a stopper portion 70, whereby the direction of the disarranged transported article A is corrected. Subsequently, the first aligning portion 80 is horizontally moved to push one biased end of the transported article A toward the center of the conveyer, and then the first aligning portion 80 is returned to its designated position. The second aligning portion 85 is horizontally moved to turn the other biased end of the transported article A toward the center of the conveyer and push the article until a sensor portion 90 detects one biased end of the transported article A. When the sensor portion 90 detects one biased end of the transported article A, the second aligning portion 85 is returned to its designated position. The alignment of the article A is thus completed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an alignment machine used to align conveyed objects moving on a conveyor line.

When an object moves on a conveyor line, the direction or position of the object may be disturbed due to passing through a curve of the conveyor line, processing steps, or the like. If the direction or position of the transported object is disturbed, it is inconvenient to automate the handling process of the transported object.

In the first place, the purpose of introducing a conveyor line is to streamline the work process, and in many cases automation of the work process is the ultimate goal. For this reason, aligning the disordered orientations and positions of the conveyed objects on the conveyor line has been an important problem to be solved.

This invention was made to solve this problem.
The object is to sequentially restrict the front end and both side ends of the conveyed objects moving on the conveyor to align the disordered orientation and position of the conveyed objects.

That is, the alignment machine according to the present invention has a stopper part (7o) provided on the top surface of the center in the width direction of the conveyor so as to be able to appear and retract, and a stopper part (70) provided on one side of the conveyor in front of the stopper part (70) in the direction of movement of the conveyor. The first part can be moved horizontally in the width direction.
an alignment part (8o), a second alignment part (85) that is provided on the other side of the conveyor opposite to the first alignment part (80) and is movable horizontally in the width direction on the upper surface of the conveyor; and the first alignment part (8
0) and a sensor section (80) that detects conveyed objects (A) that are closer to the center of the conveyor than the first alignment section (80).

In other words, in the alignment machine according to the present invention, the front end of the conveyed object (A) whose direction and position are disordered while moving on the conveyor as shown in FIG. In this way, the conveyed object (A) comes into contact with a portion of the stopper (70), and the disordered orientation of the conveyed object (A) is corrected.

Next, as shown in FIG. 1(c), the first alignment section (80) moves horizontally to push one side end of the conveyed objects (A) toward the center of the conveyor to a predetermined position, and then aligns the objects in the first alignment. Department (80)
returns to the predetermined position as shown in FIG. 1(d).

Next, as shown in FIG. 1 (e), the second alignment section (85)
moves horizontally to direct the other side edge of the conveyed object (A) toward the center of the conveyor, and pushes until the sensor section (80) detects one side edge of the conveyed object (A). When one side edge of the transported object (A) is detected, the second alignment section (85)
returns to the predetermined position, and the alignment of the conveyed objects (A) is completed.

In this way, the present invention can align irregularities in the orientation of objects moving on a conveyor using a simple mechanism.

Next, using a printed circuit board as an example of a conveyed object, we will explain how it is applied to a printed circuit board receiving and loading machine that takes out a printed circuit board that is moving on a conveyor from the conveyor and then inserts a new printed circuit board onto the conveyor. do.

In FIGS. 2 to 8, (1) is a printed circuit board receiving and inserting machine, in which a board inserting machine (2) and a board receiving device 41 (3) are connected and arranged. (10) is a base frame that supports a transfer unit (20) (20) that overhangs and moves horizontally on a conveyor line (C) that transfers substrates. In this example, the base frame (10) is formed into a box shape, and a conveyor part (15) inserted into the middle of the conveyor line (C) is provided at the middle stage.

This conveyor section (15) is a conveyor line (
C). In addition, height-adjustable legs (12) are provided at the lower end of the base frame (10), and the height of the conveyor line <G) and the rolls (lea) of the conveyor section (15) are 1. and (16b)-(1
8b). As shown in FIG. 5, the conveyor section (15) on the side of the substrate receiver (3) includes a part of a stopper (70), a first alignment section (80), a second alignment section (85), and a sensor section (80). An alignment machine (60) is provided.

A portion of the stopper (70) is connected to the adjacent rolls (18b) (1
8b) It is a plate-shaped thing that appears from below and is driven by an air cylinder (71). The first alignment part (80) has a part of the stopper (
It is composed of three alignment rods (81) provided on the negative side of the conveyor section (15) in front of the conveyor section (15). These alignment rods (81) are erected on the support stand (83) in a straight line parallel to the conveyor section (15) at appropriate intervals. Moreover, these alignment rods (81) are horizontally movable in the width direction by a support stand (83) driven by an air cylinder (82), with their heads sticking out between adjacent rolls (lfib) (18b). be.

The second alignment section (85) is composed of three wooden alignment rods (8B) provided symmetrically to the other side of the conveyor section (15), facing the first alignment section (80), and is parallel to the conveyor section. They are arranged in a straight line and erected on a support stand (88). This 3
The wooden alignment rod (8B) is also connected to the alignment rod (8B) of the first alignment section (80).
Similarly to 1), the adjacent rolls (18b) (ll
llb: It is horizontally movable in the width direction with the head sticking out by a support stand (88) driven by an air cylinder (87).

Two sensors (81) are erected on a support stand (83) in a straight line parallel to the conveyor part (15) between the three alignment rods (81) of the first alignment part (80). There is. These sensors (+11) (1111) are located between the adjacent rolls (18b)' (16b), protrude higher than the alignment rod (81), and are located slightly in the center of the conveyor section (15) than the alignment rod (81). It is fixed to the support stand (83) so that it becomes . This sensor (91) can detect the conveyed object using light, ultrasonic waves, etc., and these two sensors (91) constitute a sensor section (θO).

The support stands (83) and (88) are each supported by two common guide rods (8111) (H) and are slidably guided to move horizontally.

On the other hand, the base frame (10) on the minus side of the conveyor section (15) is provided with a substrate table section on which stacked substrates are placed for use in a substrate input a (2) and a substrate receiving device (3), respectively. In this example, this substrate table part (
30) is a table (31) and an elevating shaft (32) that move up and down depending on the number of substrates placed thereon.

Lifting motor (33), guide channel (34) (
34).

It consists of a substrate position sensor (not shown), etc.

This upright vertical shaft (32) is formed into a male screw, and is connected to a vertically rotating vertical motor (33). In addition, the lifting shaft (32) is perpendicularly penetrated and engaged with the table (31), and the rotation of the lifting shaft (32) lifts the table (31).
goes up and down. Furthermore, this table (31) has a lifting axis (3
Guide channels (34) (3) installed in parallel with 2) in between
4) and is supported in sliding contact.

Note that a substrate position sensor (not shown) is provided on the base frame (10) to maintain the top surface of the substrates stacked on the table (31) at a constant height. is the set height of the top surface of the board. Microswitches (not shown) i A microswitch (not shown) is also provided in the middle of the lifting range of the frame (10), and the table (
31) Provided for advance notice of a decrease or increase in the number of mounted substrates.

Transfer parts (20) provided for the substrate loading machine (2) and the substrate receiving machine (3) respectively support the suction pad so as to be movable in vertical and horizontal directions. In this example, the transfer unit (20) includes a car frame (21) that runs on its own along rails (11) (II) that are provided parallel and horizontally opposite to each other towards the top of the base frame (1o); It is composed of a suspension frame (22a) or a suspension frame (22b) suspended from the vehicle frame (21).

This vehicle frame (21) is provided with an axle (23) and a travel motor (24) for self-propulsion. Also, the car frame (21
), the hanging frame (22a) or hanging frame (22b) is connected to the air cylinder (25) and the guide cylinder (2B) (2B).
It is suspended so that it can be raised and lowered freely. The guide cylinders (26) (26) are supported by the air cylinder (25) and prevent horizontal swing of the hanging frame (22a) or hanging frame (22b) which moves up and down.

The suspension frame (22a) of this board loading machine (2) is used to attach a suction pad (40a), and the suction pad (40a) is connected to a vacuum pump to ensure that stacked printed circuit boards can be handled one by one. There are several.

The plurality of suction pads (40a)...(40a) are mounted on a support with four suction pad fixtures (41a) attached to form a hanging frame (22a) so that the interval can be adjusted. Two rods (27a) are provided in parallel. This support rod (27a) (2?a) is supported at both ends so that horizontal movement can be adjusted.
27a) Mutual separation can be adjusted.

Further, the support rod (27a) is formed of two mutually parallel wooden rods (28a) (28a), as shown in FIG.

The guide hole (4) provided in the suction pad fixture (41a)
2a) (43a). One of the guide holes (43a) is connected to the suction pad attachment (43a) as shown in FIG.
A notch groove (44a) is provided which is cut out to the side end of 41a). In other words, the suction pad fixture (41a) is slidable on the support rod (2?a), and the suction pad fixture (41a) is inserted into the support rod (27a) at predetermined intervals, and one guide hole (43a) is inserted into the suction pad fixture (41a). Secure the notch groove (44a) with the fixing screw (4
5a) to reduce the diameter of the guide hole (43a) and fix the suction pad fixture (41a) to the support rod (27a).

This suction pad fixture (41a) has a connecting pipe (51
a), a suction pad (40a) is screwed to the tip of this connecting pipe (51a), and a hose (40a) is screwed to the base end of the connecting pipe (51a).
52a) are connected.

The suction pad (aOa) is a circular suction cup that can be used for different diameters depending on the thickness and size of the board, and is communicated with the connecting pipe (51a) through a ventilation hole provided in the center of the suction cup. .

Further, the hose (52a) is connected to a branch pipe (not shown) provided on the vehicle frame (21). This branch pipe communicates with a vacuum pump (50a) via a vacuum hose (53a), and has a plurality of hoses (52a)...(52
a) and a vacuum pump (5Oa).

On the other hand, since the substrate receiving device (3) of this example handles one substrate on the conveyor, a suction pad (40b) communicating with the blower (50b) is provided on the hanging frame (22b). This hanging frame (22b) is a plate-shaped suction pad attachment (
41b) and a connecting pipe (51b) vertically installed on the suction pad fixture (41b). A suction pad (40b) is screwed onto the tip of this connecting pipe (51b), and a hose (52b) is connected to the center of the side wall. The suction pad (4ob) is a circular suction cup that can be used for different diameters depending on the thickness and size of the board, and is communicated with the connecting pipe (51b) through a ventilation hole provided in the center of the suction cup. .

The mata hose (52b) is connected to the air hose (52b) on the vehicle frame (21).
53b), and communicates with the prower (50b) at the proximal end of the air hose (53b).

In addition, hoses (52a) (52b), vacuum port (5
3a), the hose and air hose
) is movable, so it is made of flexible material.

Also, a vacuum gauge (not shown) is attached to the vacuum hose and air hose.
is provided.

The vacuum pump (50a) is composed of an electric motor and a pump, and the floor (50b) is composed of an electric motor and a fan.

The automatic control unit (not shown) includes an alignment machine (lltO), a substrate loading machine (2), and a substrate receiving machine 1! (3) is a normal type that automatically controls the sequence, and has an operation section (not shown).

Next, the operation of this alignment machine (60) will be explained. In the printed circuit board receiving machine (3) of this example, the alignment machine (60) is used for receiving printed circuit boards. When the substrate receiving machine (3) is automatically operated via the automatic control unit, a portion of the stopper (70) is driven by the air cylinder (71) and protrudes from between the adjacent rollers (18b) (leb).

The printed circuit board moving on the conveyor line (C) collides with a part of the stopper (70) via the conveyor section (5) and stops. However, the rollers (
18b)...(1θb) is rotating, so even if the printed circuit board (A) is oriented incorrectly, the front end will be partially connected to the stopper (7
0).

Next, the first alignment section (80) moves horizontally together with the sensor section (80) and pushes the printed circuit board (A) toward the second alignment section (85) to a predetermined position. If only one of the sensors (91) (+11) of the sensor section (80) detects the printed circuit board (A) even after pushing it to a predetermined position, push the button further until both sensors (91) (91) detect the printed circuit board. Printed circuit board (first alignment part (80
λ returns to the predetermined alignment position together with the sensor section (80). In this alignment position, the detection position of the sensor (Elf) (91) is the side edge of the printed circuit board (A) that requires positioning.

Next, the second alignment section (85) horizontally directs the printed circuit board (A) toward the first alignment section (80) and the sensor (91).
) (91) until both detect the printed circuit board (A), and when finished pressing the first alignment part (80) and the second alignment part (
85) returns to the initial position and the alignment of the printed circuit boards (^) is completed.

The aligned printed circuit boards (A) are sucked by the suction pad (40b) of the board receiver (3) that has moved upward and are taken out from the conveyor line.

Next, receive this board +13! The operation (3) will be explained.

Traveling motor (24) of the vehicle frame (21) of the transfer section (20)
rotates the axle (23) (23), the axle (23)
rolls on the rails (11) (11) of the base frame (lO), and the transfer section (20) stops above the conveyor section (15).

The stop position is designated by a limit switch (not shown). When the vehicle frame (21) stops, the air cylinder (25)
) is activated, the hanging frame (22b) is lowered, and the suction pad (
40b) comes into contact with the printed circuit boards arranged on the conveyor section (15), the blower (50b) is activated, and the printed circuit boards are sucked by the suction pad (40b).

Next, the air cylinder (25) operates and the hanging frame (2
2b) rises and sucks up the printed circuit board. With the printed circuit board suspended, the vehicle frame (21) is attached to the board table section (3).
0b) move upwards to the table (31b). This is also “
The traveling motor (24) of frame 19 (21) is the axle (23)
, so that the axle (23) aligns with the rail (1) of the base frame (10).
1) It rolls on (11), and the stop position is also specified by a limit switch (not shown). Car frame (21
) stops, the air cylinder C25) operates, the hanging frame (22b) lowers, the blower (50b) stops,
The printing plate is separated from the suction pad (40b). The printed circuit board further away from the suction pad (40b) is placed on another printed circuit board placed on the table (31b). The table (31b) moves up and down depending on the number of printed circuit boards stacked on top of each other. In other words, the lifting motor (33b) rotates forward and backward so that the top surface of the printed circuit boards stacked on the table (31b) is at the same height as the board position sensor, and the lifting shaft (32b) rotates. , the table (31b), which is screwed together with the lifting shaft (32b), is raised and lowered.

Finally, the air cylinder (25) operates and the hanging frame (22)
b) is raised and the car frame (21) is moved above the conveyor section (15), and the above series of operations is repeated again with the printed circuit boards aligned in alignment m, (EIO).

Note that the suction pad (page 40b) attaches the substrate to the table (31b).
When placed on the table (31b), the top surface of the substrate on the table (31b) becomes one substrate higher, so the substrate position sensor is activated to drive the lifting motor (33b) and lower the top surface of the substrate on the table (31b).
) is lowered by one board.

On the other hand, the board input a (, 2) is used when inserting a different type of printed circuit board to replace the printed circuit board removed from the conveyor section (15) via the alignment machine (80) and the board receiving machine (3). It is. Next, the operation of this substrate loading a(2) will be explained.

When automatically operated via an automatic control section (not shown), the vacuum pump (50a) and the rotating loafs (113a)...(lea) of the conveyor section (15) are driven, and the substrate table section (30a) is driven. The table (31a) moves up and down to a predetermined position according to the number of printed circuit boards placed thereon. In other words, the lifting motor (33a) rotates forward and backward so that the top surface of the printed circuit boards stacked on the table (31a) is at the same height as the board position sensor.
32a) is rotated to raise and lower the table (31a) which is threadedly engaged with the lifting shaft (32a).

Next, the vehicle frame (21) of the transfer section (20) is moved to the substrate table section (
30a) Move upwards. This is because the traveling motor (24) of the vehicle frame (21) rotates the axle (23), and the axle (23)
The rollers roll on the rails (11) (11) of the base frame (10), and the stop position is designated by a limit switch (not shown). When the vehicle frame (21) stops, the air cylinder (25) is activated, the hanging frame (22a) is lowered, and the suction pads (40a)... (40a) are attached to the table (31a).
) makes contact with the top substrate, a solenoid valve (not shown) opens, and the air vent of the suction pad (aOa) and the vacuum pump (5
0a), and the substrate is connected to the suction pad (40a)...
(40a).

Next, the air cylinder (25) operates and the hanging frame (2
2a) rises and picks up one board. The car frame (21) moves to the center of the conveyor section (15) with the board suspended. In this case, the traveling motor (24) of the vehicle frame (21) rotates the axle (23), and the axle (23) rolls on the rail (11) (II) of the base frame (10), and the stopping position is also fixed. specified by a limit switch (not shown). When the vehicle frame (21) stops, the air cylinder (25) is activated, the suspension frame (22a) is lowered, the electromagnetic valve (not shown) is closed, and the ventilation hole of the suction pad (40a) and the vacuum pump (5OA) are closed. ) is cut off, and the board is attached to the suction pad (
40a) ...Move away from (40a) and place the suction pad (4
0a) =・The substrate further away from (40a) is placed on the conveyor part (15), and the rotating roller (lea)...(
18a) to the conveyor line (C). Note that when the suction pad (4Oa) (40a) adsorbs the substrate and lifts the substrate by operating the air cylinder (25), the top surface of the substrate on the table (31a) will be lowered by one substrate. , the substrate position sensor operates and drives the lifting motor (33a) to move the table (31a) to the substrate 1.
Raise it by one piece.

Finally, the air cylinder (25) operates and the hanging frame (22)
a) is raised and the car frame (21) is placed on the board table part (aO
a) Move to Nika and repeat the above series of operations again.

When the board on the table (31a) runs out, the table (31a)
31a) actuates an upper limit microswitch (not shown), and the table (31a) lowers to a position where it actuates a lower limit microswitch (not shown).
a) is lowered, the table (31a) stops, and automatic operation also stops.

When performing automatic operation again, place the board on the board table section (3O
All you have to do is stack them on the table (31a) in a) and restart.

Needless to say, the transfer section (20), substrate table section (30a), vacuum pump (50a), conveyor section (15), etc. can also be operated individually by manual operation.

As described above, the alignment a (80) according to the present invention can align the disordered orientation and position of the conveyed objects moving on the conveyor using a simple mechanism, so it is useful for automating the work process. It's very convenient. Moreover, the front end and both sides of the conveyed object (^) are stopped by a part (70).
, the 1st!1 row section (80), and the second alignment section (85) are provided with a sensor section that sequentially regulates from three directions and performs non-contact detection, so the conveyed object (A) is not pinched by the alignment machine. . Therefore, even objects that would be inconvenient and require careful handling if pressure is applied to them can be easily aligned.

[Brief explanation of the drawing]

The drawings each explain the operation of the alignment machine according to the present invention, and are shown in Figure 1 (a) (b) (/\) (d) (e) (f).
are a schematic plan view showing the operating principle of this invention, and the second
Figures 8 to 8 show a printed circuit board receiving machine to which the alignment machine of the present invention is applied, in which Figure 2 is a partially omitted front view of the whole, and Fig. 3 is a left side view of the whole, partially omitted. , Figure 4 is a partially omitted right side view of the whole, Figure 5 is a schematic plan view of the alignment machine, Figure 6 is a schematic front view of the substrate table section, Figure 7 is a schematic side view of the suction pad, FIG. 8 is a schematic perspective view of the suction pad fixture. l Printed circuit board receiving machine 2 Board feeding machine 3 Board receiving machine 1O base frame 11 Rail 12 legs 15 Conveyor part lea, 18b TFF -ra 20 Transfer part 21 Car frame 22a, 22b suspension frame 23 Axle 24 Travel motor 25 Air cylinder 26 Guide Cylinder 27a Support rod 28a Rondo 30 Board table part 31 Table 32 Lifting shaft 33 Lifting motor 34 Guide channels 40a, 40b Suction hats 41a, 41b Suction pad fixture 42a Guide hole 43a Guide hole 44a Notch groove 45a Fixing screw 50a Vacuum pump 50b Blower 51a, 51b connecting pipe 52a hose 53a vacuum hose 53b air hose 60 alignment machine 70 stopper part 71 air cylinder 80 first alignment section 81 alignment rod 82 air cylinder 83 support stand 85 second alignment section 86 alignment rod 87 air cylinder 88 support stand 89 Guide rod 90 Sensor section 91 Sensor 85 Figure 1 (e) Figure 4 2 Figure 6 Procedural amendment (method) March 1, 1985 1, Indication of the case 1984 Patent Application No. 184247 2 , Invention name arrangement Machine 3, Relationship with the M-correction case Patent applicant 1 N To 1 I V + u Representative Masahiro Ando 4, Agent Address 1-15-2 Nagasumi-cho, Gifu Miyazaki Bill 6, subject of amendment (1) "Brief explanation of drawings" column 7 of the specification, contents of amendment (1) In the specification of the present application, page 21, lines 16 to 17
In line 1, ``Figure 1 (a) (b) (c) (d) (e) (he)'' means ``Figure 1 (a) (b) (c) (d) ( ``H)''that's all

Claims (1)

[Claims] A part of the stopper is provided on the top surface of the center in the width direction of the conveyor so as to be freely retractable; a second alignment section that is provided on the other side of the conveyor, facing the first alignment section, and is movable horizontally in the width direction on the upper surface of the conveyor; An alignment machine characterized by comprising a sensor section that detects objects.