WO2022234650A1 - 搬送治具および作業装置 - Google Patents
搬送治具および作業装置 Download PDFInfo
- Publication number
- WO2022234650A1 WO2022234650A1 PCT/JP2021/017489 JP2021017489W WO2022234650A1 WO 2022234650 A1 WO2022234650 A1 WO 2022234650A1 JP 2021017489 W JP2021017489 W JP 2021017489W WO 2022234650 A1 WO2022234650 A1 WO 2022234650A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- support member
- support
- main body
- jig
- Prior art date
Links
- 239000000758 substrate Substances 0.000 claims abstract description 82
- 238000003825 pressing Methods 0.000 claims abstract description 31
- 238000001514 detection method Methods 0.000 claims description 4
- 230000014759 maintenance of location Effects 0.000 abstract 1
- 238000003860 storage Methods 0.000 description 22
- 230000032258 transport Effects 0.000 description 21
- 238000000034 method Methods 0.000 description 17
- 230000003028 elevating effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000004308 accommodation Effects 0.000 description 4
- 229910000679 solder Inorganic materials 0.000 description 4
- 230000000881 depressing effect Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/14—Details
- B41F15/16—Printing tables
- B41F15/18—Supports for workpieces
- B41F15/26—Supports for workpieces for articles with flat surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/08—Machines
- B41F15/0881—Machines for printing on polyhedral articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/14—Details
- B41F15/34—Screens, Frames; Holders therefor
- B41F15/36—Screens, Frames; Holders therefor flat
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F33/00—Indicating, counting, warning, control or safety devices
- B41F33/16—Programming systems for automatic control of sequence of operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/14—Details
- B41F15/40—Inking units
- B41F15/42—Inking units comprising squeegees or doctors
- B41F15/423—Driving means for reciprocating squeegees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F27/00—Devices for attaching printing elements or formes to supports
- B41F27/005—Attaching and registering printing formes to supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
- B41P2215/00—Screen printing machines
- B41P2215/10—Screen printing machines characterised by their constructional features
- B41P2215/11—Registering devices
Definitions
- This specification discloses a transport jig and a working device.
- Patent Document 1 a carrying jig to which a substrate supporting member is attached in advance is carried inside, the substrate supporting member is taken out from the carried-in carrying jig, placed on a support table (table), and the substrate supporting member is There is disclosed a printing apparatus that carries out a carrying jig after taking out the print.
- the conveying jig has a frame, a plurality of arms extending inwardly from the frame, and protrusion holding portions (recesses) provided on the top surfaces of the tips of the arms.
- the substrate supporting member is provided with a plurality of protrusions that are respectively held by corresponding protrusion holding sections of the transfer jig.
- the printing apparatus forwardly transports (carries in) the transport jig to which the substrate support member is attached so that the substrate support member is positioned above the support table. Subsequently, the printing apparatus raises the support base to float the plurality of projections of the substrate support member from the respective projection holding portions of the transfer jig. Then, the printing apparatus moves the carrier jig backward, lowers the support base, carries (carries out) the carrier jig backward, and fixes the substrate support member on the support base.
- the supporting member can be automatically replaced using the conveying jig, in order to remove the supporting member from the conveying jig, the lifting control of the support base (table) and the conveying control of the conveying jig are required. There was a problem that it was necessary to cooperate and the control was complicated.
- a main object of the present disclosure is to provide a transport jig or a working device that can easily replace the supporting member.
- a transport jig is a transport jig for loading and unloading a support member installed on a table and carrying the support member into and out of a work device that performs work on a substrate on the support member.
- a pair of arms configured to be rotatable about a driving shaft, hold the support member from both sides at a predetermined rotation position where the tip portions face each other, and release the hold of the support member by being pushed down by each other.
- the gist is to provide a member.
- the conveying jig of the present disclosure includes a pair of arm members.
- the pair of arm members are configured to be rotatable about rotation shafts extending parallel to each other.
- the pair of arm members hold the support member from both sides at a predetermined rotational position where the tip portions face each other, and release the support member by being pushed down.
- the carrier jig holding the support member on the pair of arm members is carried above the table, and the pair of arm members is pushed down to detach the support member from the carrier jig and place it on the table. It becomes possible to As a result, replacement of the support member is facilitated.
- a working device is a working device capable of performing work on a substrate on a support member installed on a table and exchanging the support member using a transfer jig, comprising: a pressing member; An elevating device for elevating a member, and an elevating device configured to be rotatable about rotation shafts extending parallel to each other as the conveying jig.
- a conveying jig including a pair of arm members that hold the support member from each other and release the holding of the support member by being pressed together is carried in above the table while holding the support member, the lifting device is lifted.
- a control device that controls and lowers the pressing member to press the pair of arm members by the pressing member to place the support member on the table.
- the work device of the present disclosure is capable of exchanging support members using a conveying jig, and includes a pressing member, an elevating member, and a control device.
- the control device controls the lifting device to lower the pressing member so that the pressing member presses the pair of arm members to place the support member on the table. place.
- the support member can be automatically replaced by simple control.
- FIG. 1 is a schematic configuration diagram of a working device of the present disclosure
- FIG. 1 is a perspective view showing an internal configuration of a working device
- FIG. FIG. 3 is a side view showing the internal configuration of the working device
- FIG. 3 is a block diagram showing the electrical connection relationship of the working device
- It is the perspective view which looked at the support member from the bottom face side.
- FIG. 4 is a schematic configuration diagram of an arm member
- FIG. 4 is a schematic configuration diagram of a pusher
- FIG. FIG. 4 is a partially enlarged view of a pusher
- FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig;
- FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig;
- FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig;
- 7 is a flow chart showing an example of a support member carry-in process;
- FIG. 1 is a schematic configuration diagram of a working device 10 of the present disclosure.
- FIG. 2 is a perspective view showing the internal configuration of the work device 10.
- FIG. 3 is a side view showing the internal configuration of the work device 10.
- FIG. 4 is a block diagram showing the electrical connection relationship of the working device. 1 to 3, the horizontal direction is the X-axis, the front-rear direction is the Y-axis, and the vertical direction is the Z-axis.
- the work device 10 performs a predetermined work on the substrate S supported by the substrate support member 90 .
- the work device 10 uses the squeegee 22 to press the solder paste on the screen mask M into the pattern holes P1 and P2 formed in the screen mask M as a predetermined work. It is configured as a printing device that applies (prints) a solder paste to the substrate S below via the .
- the work device 10 constitutes a component mounting system in combination with a mounting device that mounts electronic components on the board S on which solder is printed.
- the work apparatus 10 is capable of automatic exchange of the screen mask M and automatic exchange of the substrate support member 90 using the transfer jig 80 when performing a setup change to change the substrate S to be printed to a different type. be.
- the work device 10 includes a work device body 11, a replacement device 60, a storage rack 70, and a control device 100, as shown in FIGS.
- the working device main body 11 includes a head device 20 including a head 21, support rails 29 for supporting the screen mask M and the transfer jig 80, and first and second substrate transfer support devices for transferring and supporting the substrate S by dual lanes. 30 , 40 and a camera device 50 .
- the working device 10 is also provided with an operation panel installed in front of the working device main body 11, which displays various kinds of information and allows the operator to perform various input operations.
- the head device 20 is installed on the upper stage of the working device main body 11 .
- the head device 20 includes a head 21 and a head moving device 26 that moves the head 21 in the front-rear direction (Y-axis direction), which is the printing direction.
- the head moving device 26 has a Y-axis slider 27 that moves along a guide rail 28 extending in the front-rear direction, and a motor that drives the Y-axis slider 27 .
- the head 21 includes a squeegee 22, a squeegee lifting device 23 that lifts the squeegee 22 using, for example, an air cylinder, a pusher 24, and a pusher lifting device 25 that lifts the pusher 24 using, for example, an air cylinder.
- the squeegee 22 is a plate-like member extending in the left-right direction (X-axis direction) orthogonal to the printing direction.
- the pusher 24 is moved forward and backward by the head moving device 26 while being lowered by the pusher elevating device 25 and protruding downward, thereby pushing the screen mask M and the conveying jig 80 forward and backward on the support rail 29 and conveying them. is.
- the pusher 24 recovers the substrate support member 90 on the tables 36 and 46 to the transport jig 80 carried onto the support rail 29, It is also used to take out the substrate support member 90 from the transfer jig 80 carried onto the support rails 29 while holding the substrate support member 90 and place it on the tables 36 and 46 .
- the screen mask M is a thin metal plate and is fixed to a rectangular frame F with a predetermined tension.
- the screen mask M is formed with pattern holes P1 and P2 for printing solder on the substrate S conveyed and supported by the first and second substrate conveying and supporting devices 30 and 40, respectively.
- the support rails 29 are a pair of left and right rails extending in the front-rear direction (Y-axis direction), and are installed between the head device 20 and the first and second substrate transfer support devices 30 and 40. be.
- the support rails 29 support the screen mask M and the conveying jig 80 in a horizontal posture, and guide the screen mask M and the conveying jig 80 pushed by the pusher 24 so as to move along the front-rear direction.
- the first and second substrate transfer and support devices 30 and 40 carry in and support the substrate S, and bring the supported substrate S into contact with/separate from the screen mask M on the support rails 29 .
- the first and second substrate transfer support devices 30 and 40 include conveyor devices 31 and 41, conveyor interval changing devices 34 and 44, conveyor lifting devices 35 and 45, and tables 36 and 46. Support member lifting devices 37 and 47 are provided.
- the conveyor devices 31 and 41 have conveyor belts provided on a pair of front and rear side frames 33s and 43s, respectively, and a motor that drives the conveyor belts to rotate.
- the pair of side frames 33s, 43s are provided upright on the base frames 33b, 43b, and substrate guides 32, 42 are provided at the upper ends of the pair of side frames 33s, 43s.
- the conveyor interval changing devices 34 and 44 change (adjust) the interval between the conveyor belts by moving one or both of the pair of side frames 33s and 43s toward or away from each other. Thereby, the first and second substrate transfer support devices 30 and 40 can transfer and support substrates S of different sizes.
- the conveyor lifting devices 35 and 45 lift and lower the conveyor devices 31 and 41 (conveyor belts) by lifting and lowering columns that support the base frames 33b and 43b.
- the tables 36 and 46 are support bases having an installation surface on the upper surface on which the substrate support member 90 can be installed.
- the supporting member elevating devices 37 and 47 raise and lower the substrate supporting members 90 installed on the tables 36 and 46 by raising and lowering the columns that support the tables 36 and 46 .
- the substrate support member 90 supports the substrate S from the lower surface side, and is replaced according to the substrate S. As shown in FIG. 5, the bottom surface of the substrate supporting member 90 is formed with positioning marks 91 for positioning the substrate supporting member 90 with respect to the tables 36 and 46 when the substrate supporting member 90 is replaced.
- the camera device 50 includes a camera body 51 and a camera moving device 55 that moves the camera body 51 forward, backward, left and right (XY directions).
- the camera moving device 55 has an X-axis slider 56 , a motor that drives the X-axis slider 56 , a Y-axis slider 58 , and a motor that drives the Y-axis slider 58 .
- the Y-axis slider 58 is an elongated member that extends left and right and spans a pair of left and right Y-axis guide rails 59 , and moves back and forth along the Y-axis guide rails 59 .
- the X-axis slider 56 moves left and right along an X-axis guide rail 57 provided on the Y-axis slider 58 .
- the camera body 51 is fixed to an X-axis slider 56 and has two imaging fields (upper reading section 52 and lower reading section 53) above and below.
- the camera device 50 acquires the position of the substrate S by imaging the mark formed on the upper surface of the substrate S carried in and supported by the first and second substrate transport and support devices 30 and 40 with the lower reading unit 53 .
- the camera device 50 captures an image of a mark (positioning mark 91) formed on the bottom surface of the board support member 90 that has been carried in on the support rail 29 together with the transport jig 80 by the upper reading unit 52, and detects the position of the board support member 90. Get position.
- the exchange device 60 receives a storage rack 70 containing replacement members such as the screen mask M and the transport jig 80, and transports the replacement members between the storage rack 70 and the working device main body 11.
- the replacement device 60 includes a left unit 61 a installed on the left side of the front surface of the working device main body 11 and a right unit 61 b installed on the right side of the front surface of the working device main body 11 .
- the left unit 61a and the right unit 61b have a rack support member 62 that receives the accommodation rack 70 and supports the lower surface of the storage rack 70 from both left and right sides, and a rack lifting device 63 that lifts and lowers the rack support member 62 .
- the rack lifting device 63 is composed of, for example, a combination of a ball screw mechanism and a motor, or a linear motor.
- the storage rack 70 supported by the rack support member 62 is lifted up and down together with the rack support member 62 by the rack lifting device 63 .
- the left unit 61a and the right unit 61b have a frame forward/rearward moving device 64 that feeds the frame of the replacement member in the storage rack 70 forward and backward from both left and right sides by means of belts, rollers, or the like.
- the storage rack 70 is a storage body that has a pair of left and right support rails 71 in a plurality of stages, and each support rail 71 can store a replacement member. Further, openings 72 and 73 are formed in the working device main body 11 and the front and rear surfaces of the storage rack 70 .
- the replacement member is loaded/unloaded by an operator or the like through the opening 72 on the front side, and loaded/unloaded by the frame forward/backward moving device 64 through the opening 73 on the back side.
- the frame back-and-forth movement device 64 moves the storage rack 70 to substantially the same height as the support rails 29 of the working device main body 11 by means of the rack lifting device 63 among the support rails 71 of the multiple stages of the storage rack 70 in a state where the storage rack 70 is received by the exchange device 60 .
- the replacement member supported by the support rail 71 positioned at the bottom is delivered to the working device main body 11 .
- the frame back-and-forth moving device 64 feeds the replacement member supported by the support rail 29 of the working device main body 11 into the support rail 71 of the storage rack 70 positioned at substantially the same height as the support rail 29 .
- the accommodation rack 70 may be transported to the receiving position of the exchanging device 60 by an operator, or may be mounted on an automatic transport device (AGV) and automatically transported to the receiving position of the exchanging device 60 by the automatic transport device. good.
- AGV automatic transport device
- the conveying jig 80 is a jig used for loading/unloading the substrate support member 90, and as shown in FIGS. and a pair of arm members 82 fixed to and holding the substrate support member 90 from both sides.
- the transfer jig 80 has two sets of a pair of arm members 82 that hold the substrate support members 90, and the substrate support members 90 used in the first and second substrate transfer support devices 30 and 40 are respectively provided. It can be transported at once.
- Each arm member 82 has a base member 821, an arm plate 822, a holding member 823, a side plate 825, a lock plate 826 and a lock block 827, as shown in FIG.
- the base member 821 is fixed to the frame 81 .
- the base end of the arm plate 822 is rotatably supported by the base member 821 , and a holding member 823 is rotatably attached to the tip of the arm plate 822 .
- Side plates 825 are provided on both sides of the arm plate 822 .
- the base end of the side plate 825 is rotatably supported by the base member 821 , and the holding member 823 is rotatably attached to the tip of the side plate 825 . Furthermore, the side plate 825 receives the biasing force of a torsion coil spring 824 provided on the rotation shaft on the side of the base member 821 and biases the arm plate 822 upward. Also, the side plate 825 is set in a substantially horizontal posture by a stopper formed on the base member 821, and holds the arm plate 822 in a substantially horizontal posture.
- the holding member 823 constitutes the tip portion of the arm member 82 and abuts on the short side portion of the outer edge of the bottom surface of the substrate supporting member 90 to hold the substrate supporting member 90 .
- the substrate support member 90 is held from both sides by the tip portions (holding members 823 ) of the pair of arm members 82 .
- the substrate support member 90 held by the pair of arm members 82 is separated from the transfer jig 80 by being pushed apart by the arm plates 822 of the pair of arm members 82 above the tables 36 and 46 . , are placed on the tables 36 , 46 .
- the lock plate 826 locks the arm plate 822 so that it cannot be pushed down.
- the lock plates 826 are arranged on both sides of the arm plate 822 , and a lock block 827 is fixed between the lock plates 826 so as to be positioned below the arm plate 822 .
- the lock plate 826 is rotatably attached at the base member 821 at a position eccentric to the rotation axis on the proximal end side of the arm plate 822 , and the lock plate 826 is mounted at the distal end side from the proximal end. and the arm plate 822 are pulled toward the arm plate 822 by the biasing force of a tension spring 828 locked to the arm plate 822 .
- the lock block 827 engages with a notch 822c formed on the lower surface of the arm plate 822 to lock the arm plate 822 so that it cannot be pushed down. Further, the distal ends of both lock plates 826 protrude upward from the arm plate 822 when the lock block 827 is engaged with the notch 822c of the arm plate 822 .
- the arm plate 822 is locked so that it cannot be pushed down by the lock block 827 engaging with the notch 822c of the arm plate 822 due to the biasing force of the tension spring 828 . Therefore, even if an unintended force acts on the substrate support member 90 or the arm plate 822, the arm member 82 (arm plate 822) is not pushed down, and the substrate support member 90 is prevented from coming off. .
- the locking of the lock plate 826 can be released by pressing the tip of the lock plate 826 that protrudes upward from the arm plate 822 .
- the pusher 24 includes a pair of front and rear pusher plates 241 arranged on the left and right with an interval corresponding to the interval between the pair of arm members 82, and each pair of front and rear pusher plates 241. and a pusher roller 242 disposed therebetween.
- the pusher 24 is lowered by the pusher lifting device 25 above the pair of arm members 82 , the lower ends of the pair of pusher plates 241 abut against the tip of the lock plate 826 , and the tip of the lock plate 826 touches the pusher plate 241 . is pressed (see FIG. 11).
- the control device 100 is configured as a microprocessor centering on a CPU, and is equipped with ROM, RAM, input/output ports, etc. in addition to the CPU.
- the control device 100 exchanges signals with the head device 20, the first and second substrate transfer/support devices 30 and 40, the camera device 50, the exchange device 60, and the like.
- the control device 100 is also communicably connected to a management device 200 that manages the entire work system including the work device 10 .
- the management device 200 manages the progress of the line including the work device 10 and the like.
- the operation of the work device 10 configured in this manner will be described.
- the changeover operation for exchanging the screen mask M and the substrate support member 90 will be described.
- the changeover is performed by executing a mask carry-out process, a support member carry-out process, a support member carry-in process, and a mask carry-in process in this order while the storage rack 70 is set in the exchange device 60 .
- the mask carry-out process is a process of carrying out the screen mask M supported by the support rails 29 of the working device main body 11 and storing it in the storage rack 70 .
- the control device 100 controls the rack lifting device 63 so that the empty support rail 71 of the storage rack 70 is at approximately the same height as the support rail 29 of the working device main body 11 .
- the control device 100 controls the head moving device 26 so that the screen mask M supported by the support rails 29 is pushed forward by the pusher 24 and carried out from the working device main body 11 .
- the control device 100 controls the frame forward/backward moving device 64 so that the transported screen mask M is stored in the storage rack 70 . Since the mask carrying-in process is basically executed by the operation opposite to that of the mask carrying-out process, the explanation thereof will be omitted.
- the supporting member unloading process is a process of unloading the substrate supporting members 90 from the tables 36 and 46 of the work apparatus main body 11 using the transporting jig 80 and storing them in the storage rack 70. 80 is used to load the board support member 90 from the storage rack 70 and set it on the tables 36 and 46 of the working apparatus main body 11 .
- FIG. 14 is a flowchart showing an example of the support member loading process executed by the control device 100. As shown in FIG. In addition, since the supporting member unloading process is basically executed by the reverse operation of the supporting member loading process, the explanation thereof will be omitted.
- the controller 100 first moves the transfer jig 80 holding the two substrate support members 90 to be replaced above the tables 36 and 46 of the first and second substrate transfer support devices 30 and 40. (step S100). Specifically, the control device 100 controls the rack so that the storage rack 70 rises until the support rail 71 supporting the transport jig 80 to be carried in from now becomes substantially the same height as the support rail 29 of the working device main body 11 . It controls the lifting device 63 . Subsequently, the control device 100 controls the frame forward/backward moving device 64 so that the conveying jig 80 is sent out from the accommodation rack 70 to the support rail 29 . Then, the control device 100 controls the head moving device 26 so that the pusher 24 is lowered by the pusher lifting device 25 and the transfer jig 80 on the support rail 29 is pushed backward by the pusher 24 to carry in.
- the control device 100 controls the camera device 50 so that the upper reading section 52 of the camera body 51 reads the positioning mark 91 of the board support member 90 held by the conveying jig 80 (step S110). Then, the controller 100 adjusts the position of the transport jig 80 so that the two substrate support members 90 held by the transport jig 80 are positioned directly above the tables 36 and 46 based on the read positions of the positioning marks 91 . is corrected (step S120). That is, the control device 100 finely adjusts the position of the carrier jig 80 by controlling the head moving device 26 and pushing the carrier jig 80 forward or backward by the pusher 24 .
- the control device 100 controls the support member lifting device 37 or 47 so that the table 36 or 46 rises to the printing height (step S130). Subsequently, the control device 100 controls the pusher lifting device 25 so that the pusher 24 is lowered just above the elevated table (step S140), and waits for a predetermined time to pass (step S150).
- the predetermined time is the waiting time until the substrate support member 90 is detached from the transfer jig 80 and placed on the table 36 or 46 .
- the pair of left and right pusher plates 241 first come into contact with the corresponding lock plates 826 of the arm members 82 to push them down, and the arm plates 822 are unlocked.
- the control device 100 reads the positioning mark 91 with the camera device 50 and corrects the position of the substrate support member 90, so that the substrate support member 90 is placed on the table. It is possible to more reliably prevent the substrate supporting member 90 from being displaced when placed.
- the control device 100 controls the support member lifting device 37 or 47 so that the table 36 or 46 is lowered to the initial position (step S160).
- the control device 100 places the other substrate support member 90 held by the transfer jig 80 on the other table by the same control.
- the control device 100 unloads the transport jig 80 from which the two substrate support members 90 have been taken out to the storage rack 70 (step S170), and ends the support member loading process. That is, the control device 100 controls the head moving device 26 and the frame so that the conveying jig 80 supported by the support rails 29 is pushed forward by the pusher 24 to be carried out of the working device main body 11 and accommodated in the accommodation rack 70 . It controls the forward/backward movement device 64 .
- the substrate supporting member 90 corresponds to the supporting member
- the working device 10 corresponds to the working device
- the transfer jig 80 corresponds to the transfer jig
- the pair of arm members 82 corresponds to the pair of arm members.
- the arm plate 822 corresponds to the arm member main body
- the notch 822c of the arm plate 822, the lock plate 826, the lock block 827, and the tension spring 828 correspond to the lock mechanism.
- the lock plate 826 and the lock block 827 correspond to the lock piece, the tension spring 828 to the biasing member, and the notch 822c of the arm plate 822 to the engaged portion.
- the pusher 24 corresponds to the pressing member
- the pusher lifting device 25 corresponds to the lifting device
- the control device 100 corresponds to the control device.
- the pusher plate 241 corresponds to the first pressing portion
- the pusher roller 242 corresponds to the second pressing portion.
- the head moving device 26 corresponds to a moving device
- the camera device 50 corresponds to a position detecting device.
- the work device 10 is provided with two lanes for transporting and supporting the substrate S, but may be provided with only one lane.
- the working device of the present disclosure is applied to a printing device, but the working device is not limited to this. can be applied to any working device as long as it is a working device that can automatically replace the supporting member.
- the conveying jig of the present disclosure includes a pair of arm members.
- the pair of arm members are configured to be rotatable about rotation shafts extending parallel to each other.
- the pair of arm members hold the support member from both sides at a predetermined rotational position where the tip portions face each other, and release the support member by being pushed down.
- the carrier jig holding the support member on the pair of arm members is carried above the table, and the pair of arm members is pushed down to detach the support member from the carrier jig and place it on the table. It becomes possible to As a result, replacement of the support member is facilitated.
- each of the pair of arm members includes an arm member main body that is rotatable about the rotation shaft and holds the support member at the predetermined rotation position; and a locking mechanism that locks the arm member main body at a predetermined rotational position. In this way, even if an unintended force acts on the support member or the arm member main body, it is possible to prevent the support member from being released.
- the lock mechanism includes a lock piece that can rotate independently with respect to the arm member main body, and an urging member that urges the lock piece to one side in the rotation direction. and locking the arm member body by engaging the lock piece with an engaged portion formed on the arm member body by the biasing force of the biasing member, and the engagement of the lock piece is performed.
- the lock of the arm member body may be released by pressing the lock piece in the other direction in the rotating direction against the biasing force of the biasing member so as to be released.
- the arm member main body can be pushed down to release the support member from being held by the arm member main body, while the lock piece is pushed down to release the locking of the arm member main body by the lock piece.
- a working device is capable of replacing a supporting member using a conveying jig, and includes a pressing member, an elevating member, and a control device.
- the control device controls the lifting device to lower the pressing member so that the pressing member presses the pair of arm members to place the support member on the table. place.
- the support member can be automatically replaced by simple control.
- each of the pair of arm members includes an arm member main body that is rotatable about the rotation shaft and holds the support member at the predetermined rotation position; a lock mechanism for locking the arm member main body at the rotational position of , wherein the lock mechanism includes a lock piece that can be rotated independently with respect to the arm member main body, and a lock piece that rotates in the rotation direction and an urging member that urges the arm member main body to The lock of the arm member main body is released by pressing the lock piece against the biasing force of the biasing member in the other direction in the rotating direction so that the engagement of the lock piece is released.
- the pressing member has a first pressing portion that presses down the lock piece and a second pressing portion that presses down the arm member main body.
- the lock piece may be pushed down by and further lowered by the lifting device, thereby pushing down the arm member main body by the second pushing-down portion. In this way, by depressing the depressing member, it is possible to depress the lock piece to release the lock of the arm member body by the lock piece and depress the arm member body to release the holding of the support member by the arm member body. can.
- the work apparatus includes a moving device that relatively moves the table and the conveying jig, and a position detection device that detects the position of the support member, wherein the control device controls the support after positioning the support member and the table by controlling the moving device based on the position of the support member detected by the position detection device when the transport jig holding the member is carried in,
- the pressing member may be lowered by controlling the lifting device so that the supporting member is placed on the table. By doing so, it is possible to more reliably suppress the displacement of the support member placed on the table.
- the moving device may move the transport jig or may move the table.
- the present disclosure can be used in the manufacturing industry of transfer jigs and working devices.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Automatic Assembly (AREA)
Abstract
Description
Claims (6)
- テーブルに設置される支持部材上の基板に対して作業を行なう作業装置に前記支持部材を搬入出するための搬送治具であって、
互いに平行に延在する回動軸を中心に回動可能に構成され、互いの先端部が向かい合う所定の回動位置において前記支持部材を両側から保持し、互いに押下されることで前記支持部材の保持を解除する一対のアーム部材を備える、
搬送治具。 - 請求項1に記載の搬送治具であって、
前記一対のアーム部材は、それぞれ、前記回動軸を中心に回動可能であると共に前記所定の回動位置で前記支持部材を保持するアーム部材本体と、前記所定の回動位置で前記アーム部材本体をロックするロック機構と、を有する、
搬送治具。 - 請求項1または2に記載の搬送治具であって、
前記ロック機構は、前記アーム部材本体に対して独立して回動可能なロック片と、前記ロック片を回動方向における一方に付勢する付勢部材と、を有し、前記付勢部材の付勢力により前記ロック片が前記アーム部材本体に形成された被係合部に係合することで該アーム部材本体をロックし、前記ロック片の係合が解除されるように前記ロック片が前記付勢部材の付勢力に抗して前記回動方向における他方に押下されることで前記アーム部材本体のロックを解除する、
搬送治具。 - テーブルに設置される支持部材上の基板に対して作業を行なうと共に搬送治具を用いた前記支持部材の交換が可能な作業装置であって、
押下部材と、
前記押下部材を昇降させる昇降装置と、
前記搬送治具として、互いに平行に延在する回動軸を中心に回動可能に構成され、互いの先端部が向かい合う所定の回動位置において前記支持部材を両側から保持し、互いに押下されることで前記支持部材の保持を解除する一対のアーム部材を含む搬送治具が前記支持部材を保持した状態で前記テーブルの上方に搬入されたとき、前記昇降装置を制御して前記押下部材を下降させることで、前記押下部材により前記一対のアーム部材を押下して前記支持部材を前記テーブル上に載置する制御装置と、
を備える作業装置。 - 請求項4に記載の作業装置であって、
前記一対のアーム部材は、それぞれ、前記回動軸を中心に回動可能であると共に前記所定の回動位置で前記支持部材を保持するアーム部材本体と、前記所定の回動位置で前記アーム部材本体をロックするロック機構と、を有し、
前記ロック機構は、前記アーム部材本体に対して独立して回動可能なロック片と、前記ロック片を回動方向における一方に付勢する付勢部材と、を有し、前記付勢部材の付勢力により前記ロック片が前記アーム部材本体に形成された被係合部に係合することで該アーム部材本体をロックし、前記ロック片の係合が解除されるように前記ロック片が前記付勢部材の付勢力に抗して前記回動方向における他方に押下されることで前記アーム部材本体のロックを解除し、
前記押下部材は、前記ロック片を押下する第1押下部と、前記アーム部材本体を押下する第2押下部と、を有し、前記昇降装置により下降することで、前記第1押下部により前記ロック片を押下し、前記昇降装置により更に下降することで、前記第2押下部により前記アーム部材本体を押下する、
作業装置。 - 請求項4または5に記載の作業装置であって、
前記テーブルと前記搬送治具とを相対的に移動させる移動装置と、
前記支持部材の位置を検出する位置検出装置と、
を備え、
前記制御装置は、前記支持部材を保持した前記搬送治具が搬入されたときに前記位置検出装置により検出された前記支持部材の位置に基づいて前記移動装置を制御して前記支持部材と前記テーブルとを位置合わせした後、前記支持部材が前記テーブルに載置されるよう前記昇降装置を制御して前記押下部材を下降させる、
作業装置。
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