JPS6337054A - Substrate conveyor - Google Patents

Abstract

PURPOSE:To perform substrate conveyance stably even at time by travel overrunning due to a time lag in detection, by fitting one end slidingly in a hinge shaft while installing an arm fitted with a claw in the other end. CONSTITUTION:A spring 105 acts so as to energize an arm 103 in an arrow 113 direction centering on a hinge shaft 104, and it comes to a standstill in the state that a lower end of the arm 103 comes into contact with a regulating pin 112. The claw 101 attached to a tip of the arm 103 with a bolt 102 keeps a sufficient position to check that a substrate end face comes into contact with this claw 101 and advances, to the forward direction of a substrate 27. Therefore, according to an advance in an arrow 118 direction from the previous process, even if belt rotation continues after substrate detection by a detector 29, the substrate 27 is in no case transferred to the arrow 118 direction more than the claw 101. Here, the detector 29 detecting the substrate 27 transmits a signal to a controller, thereby having the belt rotation stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application] The present invention relates to an apparatus for loading a printed circuit board onto an XY child table and used when drilling holes therein. More specifically, the present invention relates to a device that improves the positional accuracy of printed circuit boards being carried in.

[Conventional technology]

5 to 7 are perspective views of a conventional substrate transfer device. In the figure, (1) is a stand with a board loading section (2) on the upper plane.
, a substrate positioning section (3), a substrate ejecting section (4), and a processing head section (5) are placed thereon. The substrate loading section (2) and the substrate discharging section (4) are structurally the same or equivalent parts, and the configuration will be explained based on the substrate loading section (2).

(6) is a belt, (7) is a belt pulley, (8) is a dry pulley, and (9) is a motor that rotates the belt.

α0) is a movable frame that is opposed to the fixed frame αυ, and the guide shaft (2) and feed screw Q3 are kept parallel to each other.
1, and by rotating the handle circle, the feed screw (131) moves in the direction of arrow (G) αe force by the spiral movement, and the distance between the guide and the fixed frame aυ is set to a predetermined value. The shaft (2) and the feed screw α3) are supported in the radial and thrust directions on the fixed frame (11l side) and on the other side (the base plate aη).

(To) is the lower frame, and the vertical movement bearing side of the base plate is fixed to the outer surface with bolts (not shown), and the movable part of the bearing is
is integrated into the base plate aη. In addition, an air cylinder 〇〇 is installed near the inner center of the lower frame (toward), and a movable rod of this air cylinder 〇〇
is connected to the base plate surface via nuts 4, and the base plate aη is moved by the arrow (2) by the vertical movement of the air cylinder 〇〇.
(2) Move up and down in the direction. That is, the movable frame (II
The fixed frame αB will move up and down.

(2) is a distance between the fixed frame 0υ and the movable frame α [which is set to be wider than the width of the board (A).

(2) (2) is a detector located inside the substrate loading section. It also detects passing substrates.

Next, the structure of the substrate positioning section (3) will be explained. (to) is a movable frame, and 3'D is a fixed frame, which has the same function and purpose as the movable frame QOI fixed frame (Ill) of the board loading section. Although the elements of the pulley (7), drive pulley (8), motor (9) and detection WJ (a) are not shown, the structure and configuration are the same as those of the substrate loading section described above.

(32) is supported by a fixed frame (B) at one end with a ball screw, and the other end is rotatably supported by a bracket (not shown) supported by play 1- (361), which engages with the ball screw (32). The ball nut l-(37) is fixed to the frame (33) with a bolt (not shown).

(34) is a motor supported by a bracket l-(40), and a drive shaft is connected to one end of a ball screw (32) by a shaft coupling (not shown), and the amount of rotation of the drive shaft of the motor (34) is It is directly transmitted to the ball screw (32), and the rotation of the motor (34) causes the ball screw (32) to rotate, that is, the frame (33) (movable frame GO).

The fixed frame (b) can be moved by a predetermined amount in the directions of arrows (38) and (39).

(35) is the arrow (3g) of the guide frame (33) (
39) maintains straight-line accuracy in the direction.

The processing head part (5) is located on the front side (42) of the frame (41).
The head holder (44) is guided by the moving part frame (49) so that it can move straight in the direction of the arrow (52). ), the feed screw (48) is rotated via the shaft coupling (47) by the rotation of the motor (46), similar to the movement of the ball screw (32) of the board positioning part (3). It is moved and positioned in the direction of arrow (52). Further, the spatula l-(43) is directly connected (the structure is not shown) to an air cylinder (45) provided at the top of the head holder (44), and the spatula l-(43) is directly connected (the structure is not shown) to an arrow (50) by a command from a control device (not shown). ) direction, arrow (51
) direction. Next, move the substrate transport device to the fifth
This will be explained with reference to FIG. Arrow from the previous stage (53
), the detector of the substrate loading section (2) detects the entry of the substrate (5) into the substrate loading section (2). This sensing signal is received by a control device (not shown), and the belt (6) is rotated by rotation of the motor (9). At this time, fixed frame all and movable frame t1
The distance between the two passes is set to a predetermined distance gt(2) by operating the handle 041 in the preliminary setup work, and the belt (6) is in a state where it can support both ends of the board. The substrate (5) that has entered the substrate loading section (2) due to the rotation of the belt (6) is detected by the detector (2), and the signal is processed by a control device (not shown) to control the rotation of the belt (6). to stop.

On the other hand, the board positioning section (3) is mounted on the fixed frame C11l.
The movable frame 00 is moved in the direction of arrow QS (11) using the handle Q41 and set (by setup work) so that the movable frame (to) maintains the same distance from the board loading section as the board loading section. By rotating (34), the fixed frame (b) is positioned so that it is in a straight line with the fixed frame α0 of the substrate loading section (2) when viewed from above.Then, the substrate loading section (2) and the substrate discharging section (4) is lowered in the direction of the arrow by the downward movement of the air cylinder r20, and the fixed frame αυ movable frame of the substrate transport section, the fixed frame C311 movable frame of the substrate positioning section, and the substrate ejecting section fixed frame 00
The movable frame αα- forms a flush state when viewed from the side, so that the conveyance levels (heights) between the substrates are made to be the same.

Next, in response to a request from the board positioning section (3) to insert the board,
The belt (6) of the substrate loading section (2) rotates again and the substrate is guided into the substrate positioning section. At this time, the board positioning section (
The bell 1-(61 (not shown) in 2) also rotates to facilitate the board movement.The board (5) that has entered the board positioning part (3) is detected by the detector in the board positioning part (3). (2) confirms the entry, and detector (2) confirms the board (
5) is detected and the rotation of the belt (6) is stopped.

Next, after inserting the board (5) into the receiver, insert the board positioning part (3).
) is indirectly connected to the board by the rotation of the motor (34).
While positioning the substrate (a) by moving it a predetermined amount in the arrow direction or in the zero direction, the processing head (5) performs the predetermined processing on the substrate (a).
After finishing the fixing frame C (1), the board ejection part (4
) by rotating the motor (34) so that it is in a straight line with the fixed frame at> of the arrow (38) (
39) is positioned in the direction.

Next, after descending in the direction of arrow (2) by the downward movement of the air cylinder (21) of the board ejecting part (4), the belt (6) of the board positioning part (3) and the board ejecting part (4) is The processed substrate (5) in the substrate positioning section (3) is transferred to the substrate ejection section by rotating under the illustrated control. At this time,
The detector ■ of the board positioning part (3) detects the discharge destination of the board ■.
Further, the detector (2) of the substrate discharge section (4) detects the entry of the substrate (5), and the detector (2) detects the completion of the advance of the substrate (A). After completing the ejection of the substrate (5), the substrate positioning section (3) carries in the substrate (5) again from the previous substrate loading section (2), and then repeats the process a predetermined number of times.

On the bell l-(61) of (2) in the board loading section, the board (5
), or by carrying in the board (5) from the previous stage, the board is placed on the belt (6) manually, for example, by fSM contact.

In addition, the substrate loading section (2) and the substrate discharging section (4) are lowered and raised in the direction of arrow (2) (company) in order to align the substrate transport lines with the front-process machine and the post-process machine. It is.

[Problem that the invention seeks to solve]

Conventional substrate transport devices are configured as described above, and because of the time difference between when the detector detects the substrate and when the belt stops rotating, the substrate stopping position is unstable, for example, when loading the substrate. The board does not stop inside the board, and the board rushes out of the board loading part in an overhanging state. In addition, there have been problems such as uncontrollable conditions occurring due to sudden troubles such as defective detectors.

This invention was made to solve the above-mentioned problems, and its purpose is to provide a substrate transfer device that can stably transfer substrates even when the substrate travels overrun due to a detection time lag. do.

Means for solving CIL'i fi point] The substrate conveying device according to the present invention includes a belt (6) that supports and conveys the substrate (1), a motor (9) that rotates this bell I- (61), , a fixed frame (
Ill, the bearing (A) that moves this fixed frame αυ up and down, bearing 01, lower frame country, air cylinder C! In a substrate transfer device consisting of a member such as υ and a detector (2), one end is a slide on a hinge shaft (0-4') provided on the fixed frame (Ill), and the other end is a slider. An arm (103) provided with a claw (101) and this arm (
103) and the spring (105) interposed between the bearing (■)
and the set plate (114) provided on the lower frame (to).
) and a regulating pin (11) protruding from the fixed frame αB.
2).

[Effect]

The claws, arms, etc. in this invention can be brought into a state where the claws can come into contact with the end surface of the board by vertical movement when the board loading or board ejecting section transfers the board to the front or back process. The stopping position and state of the board are regulated by making it impossible to contact the board.

〔Example〕

FIG. 1 is a perspective view showing an embodiment of the present invention, and FIGS. 2(a), (b), and (71) are explanatory views of FIG. 1. Further, the present invention is used in addition to the conventional substrate transport apparatus shown in FIGS. 5 to 7 above.

In the figure, a claw (101) is fixed to the tip of an arm (103) by a bolt (102). (10
4) is a hinge shaft that connects the arm (103) to the other end of the arm (103).
103). (1 (15) is a spring, one end is fixed to the pin (107) fixed by the bearing (movable) four sides) - (toe), and the other end is fixed to the arm (103) by the neck (109). Fixed pin (1
08) and moves the arm (lO) in the direction of arrow (113).
3) is urged to pivot around the entire center of the hinge shaft (104).

(11G) is attached to the arm using a roller with a shaft, and is fixed with a nut 0υ. (114) is a set plate that is fixed onto the lower frame (to) via bolts (115), and is located directly below the shafted roller (110) 0.

(112) is a regulation pin that regulates the permissible position in which the arm (103) is biased by the spring (105) and rotates in the direction of the arrow (113), and the claw (101) suppresses or approaches the top surface of the board (5). Avoid doing that. Figure 2 (a), (
B) and (A) show the state in which the substrate loading section (2) has descended to load the substrate (5) into the substrate positioning section (3), as in FIG. 1.

That is, the shafted roller (110) provided on the arm (103) is shown to be in contact with the set plate (114) and tilted.

FIG. 13 is a perspective view of an example in which the present invention is implemented in the substrate unloading section (4), and FIGS.
It is an explanatory view of a figure. The components shown in the embodiment of FIG. 3 are the same as those of the board loading section (2) shown in FIGS. ) is biased in the direction of arrow (116), which is opposite to the above. In this connection, the positions of the regulating pin (112), the shafted roller (110), and the hinge shaft (104) are also different. The function of the regulating pin (112) is to prevent the arm (117) from turning more than necessary in the direction of the arrow (116) due to the bias of the spring (105).
Although it is different from the one shown in the figure, the regulation is the same.

The route by which the substrate □□□ is conveyed is the same as the description of the function and operation of the prior art, so the explanation will be omitted. First, in Figures 1 and 2, when the substrate (5) is to be received from the previous process into the substrate loading section (2), the substrate (a) is transferred to the substrate positioning section (3).
The operation will be explained in case of transporting.

Figure 1 shows that when receiving the substrate (5) from the previous process, the fixed frame α Roberto (6), etc., and the so-called substrate loading section are connected to the air cylinder C! It is in a state of rising in the direction of arrow (2) due to υ.

In this case, the spring (105) acts to bias the arm (103) in the direction of the arrow (113) about the hinge axis (104), and the arm (103)
3) It is stationary with the lower end touching. Arm (1
The tab (101) attached to the tip of the board (03) with a bolt (102) is such that the end surface of the board is not in the direction of the board (5) as shown in FIG. (101) and maintains a sufficient position (length) to block its progress. Therefore, the arrow from the previous process (11g
Even if the head (6) continues to rotate after the detector (a) detects the substrate as the substrate moves in the direction ), the substrate (2) will not be transferred in the direction of the arrow (118) beyond the claw (101). do not have.

Here, the detector (2) that has detected the substrate (2) sends a signal to a control device (not shown) to stop the rotation of the belt.

Next, a case will be described in which the substrate enclosure is carried from the substrate carrying section (2) to the substrate positioning section (3). The board loading section (2) receives a command from a control device (not shown) and operates the air cylinder 1.
20 descends in the direction of arrow (2), and the board positioning part (3)
The upper surfaces of the fixed frame Gυ and the substrate conveying belt (6) of the fixed frame αυ of the substrate loading section (2) are flush with each other. At this time, since the arm (1031) is rotatably attached to the fixed frame (11) by the hinge shaft (104), it descends in the direction of the arrow (■) in the same way as the fixed frame (Ill).

On the other hand, a set plate (114) protrudes above the lower frame (to) of the board attachment part (2), and comes into contact with the shafted roller (110) provided on the descending arm (103). , Relatively, the arm (103) has a shape in which the shafted roller (110) is pushed up by the set plate (114), and the arm (103) is pivoted upward in the direction of the arrow (119), and the tip of the arm (103) The claw (101) attached to the board also rises in the direction of the arrow (lio), resulting in an open state with respect to the direction of movement of the board (5) and the direction of the arrow (11g).

Next, the belts of the substrate loading section (2) and the substrate positioning section (3) rotate, and the belts of the substrate loading section (2) and the substrate positioning section (3) rotate.
3) Load the board (2) into the container. After the loading is completed, the substrate loading section (2) stops rotating the belt, and the air cylinder (2D) rises again to receive the substrate (5) from the previous process.

Next, from the board positioning part (3) to the board ejecting part (4),
The case where the substrate (5) is transported to the post-process by the substrate discharge section (4) will be explained with reference to FIGS. 3 and 4. Figure 3 shows a state in which the substrate ejecting section (4) is located above and the substrate (2) is being transported to the subsequent process. With the upper end of the arm (103) in contact with the regulating pin (112), turn in the direction of the arrow (121) since the claw (1011 and the board (A) are in the relationship shown in Figure 2 (A)). The substrate (5) can be transported.

Now, when transporting the substrate from the substrate positioning section (3) to the substrate ejection section (4), according to a command from a control device (not shown),
The air cylinder 211 of the substrate ejection part (4)
) direction. At this time, the set plate (114) moves the shafted roller (110) along the arrow (12
2) As a result of pushing up in the direction, the claw (
101) descends in the direction of arrow (123) and is positioned so as to prevent the substrate (5) from advancing in the direction of arrow (121).

As a result, the substrate (5) may be moved outside the fixed frame αD end due to poor control of rotation of the belt (6) of the substrate ejecting section (4).
) is mechanically prevented from popping out.

Further, when this transfer/receiver transfers the picked up substrate to a subsequent process, the air cylinder Q11 rises again to become the state shown in FIG. 3, and the substrate is discharged, that is, transferred.

In the above embodiment, the spring (105) was used to bias the arm (103), but an elastic body such as rubber may also be used as long as it has the same function as the spring (105).
For example, an air cylinder may be used.

Although the regulating pin (112) is shown as a cylinder in the drawing, it may be a plate-like piece, and the claw (101) at the tip of the arm (103) may be configured integrally with the arm (103) to achieve the same effect.

Further, although the substrate stopper (claw (101)) is provided on the fixed frame (b) side, it may be provided on the movable frame (to) side or both sides.

Furthermore, although the above embodiment describes the transportation of the substrate (5), parts such as plates and bars may also be transported and the same effects as in the above embodiment can be achieved.

〔Effect of the invention〕

As described above, according to the present invention, substrate stoppers (claws) are provided at the substrate loading section and the substrate discharging section, which enables more reliable conveyance, eliminates concerns regarding control, and eliminates the need for belt rotation. It also has the effect of preventing board hermits.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing one embodiment of this explanation, FIGS. 2(a), (b), and (A) are explanatory views of FIG. 1, and FIG. 3 shows another embodiment of the present invention. Perspective view, Figure 4 (a). (B) and (^) are explanatory views of FIG. 3, and FIGS. 5.6.7 are perspective views showing a conventional conveying device. In the figure, (6) is the belt, (9) is the motor, aυ is the fixed frame, (to) is the lower frame, α9. ■ is the bearing, Cυ is the air cylinder, (5) is the board, (101) is the claw, (103) is the arm, (104) is the hinge shaft, (1
05) is a spring, (112) is a regulating pin, and (114) is a set plate. In each figure, the same reference numerals indicate the same or corresponding parts. Agent Patent Attorney Masaru Sato Procedural Amendment <a'a> April 3, 1986 White

Claims (1)

[Claims] A belt (6) that supports and conveys the board (27), a motor (9) that rotates this belt (6), and this motor (
9), a bearing (21) that moves the fixed frame (11) up and down, and a bearing (19).
, a substrate transport device consisting of members such as a lower frame (18), an air cylinder (21), and detectors (28), (29), one end of which is attached to a hinge shaft (104) provided on the fixed frame (11). Along with the slide, the other end has a claw (10
1) and an arm (103) provided with this arm (103).
) and the spring (105) interposed between the bearing (21)
and a set plate (11) provided on the lower frame (18).
4); and a regulating pin (112) protruding from the fixed frame (11).