JP-7856535-B2 - PCB transport device

JP7856535B2JP 7856535 B2JP7856535 B2JP 7856535B2JP-7856535-B2

Inventors

今西聡
清水利律

Assignees

株式会社FUJI

Dates

Publication Date: 20260511
Application Date: 20220921

Claims (15)

A first sensor that detects whether or not the substrate is present at the first position in the substrate transport path, A second sensor that detects whether or not the substrate is present at a second position downstream of the first position in the transport path, A first calculation unit transports the substrate along the transport path, causing one of the first and second sensors to detect the front or rear end of the substrate, then transports the substrate again, causing the other of the first and second sensors to detect the front or rear end of the substrate, and calculates a first separation distance between the first and second positions based on the transport distance the substrate travels between the two detections. A substrate transport device equipped with the following features.
The substrate transport device is A moving member that moves along the transport path while holding the substrate and allowing it to slide in the transport direction, The system includes a transport drive unit for moving the aforementioned moving member, The first calculation unit controls the transport drive unit to move the moving member and transport the substrate, and determines the transport distance of the substrate based on the distance traveled by the moving member. The substrate transport apparatus according to claim 1.
The substrate transport apparatus according to claim 2, wherein the first calculation unit moves the moving member at a slow speed that makes it difficult for the substrate to slip, and the distance the moving member moves is defined as the transport distance of the substrate.
The substrate transport apparatus according to claim 2, wherein the first calculation unit uses a measuring jig having the same dimensions as the substrate and having a slip-preventing portion to reduce slippage, and the movement distance of the moving member is used as the transport distance of the measuring jig.
The moving member is a conveyor belt that moves along the transport path while rotating, The transport drive unit is a pulse motor that rotates the conveyor belt by control using drive pulses, The first calculation unit determines the travel distance of the conveyor belt based on the number of pulses of the drive pulse. A substrate transport apparatus according to any one of claims 2 to 4.
The first calculation unit transports the substrate in the forward direction, passes it through the first position, then transports the substrate in the reverse direction, causes the first sensor to detect the rear end of the substrate, and then transports the substrate in the forward direction, causing the second sensor to detect the front or rear end of the substrate. A substrate transport apparatus according to any one of claims 1 to 4.
The substrate transport apparatus according to claim 6, wherein the first calculation unit causes the first sensor to detect the rear end of the substrate and the second sensor to detect the front end of the substrate, and calculates the first separation distance by adding the length dimension of the substrate in the transport direction to the transport distance of the substrate between the two detections.
The substrate transport device according to claim 6, wherein the first calculation unit causes the first sensor to detect the rear end of the substrate and the second sensor to detect the rear end of the substrate, and the transport distance of the substrate between the two detections is defined as the first separation distance.
The system includes a detection unit that controls a detection unit capable of detecting the substrate located along the transport path, causing the second sensor to detect the position of the substrate when it detects the front or rear end of the substrate, and a second calculation unit that calculates a second separation distance between a predetermined stopping position for stopping the substrate and the second position based on the detection result. The substrate transport apparatus according to claim 1.
A moving member that moves along the transport path while holding the substrate, A transport drive unit that moves the aforementioned moving member, A transport control unit controls the transport drive unit based on the first separation distance and the second separation distance to move the moving member and stop the substrate at the stop position, A substrate transport apparatus according to claim 9, comprising:
The moving member allows the substrate it holds to slide in the transport direction, When the transport control unit transports the substrate in the forward direction and stops it at the stop position, it adjusts the distance the transport member moves after the second sensor detects the front end of the substrate, based on the difference between the actual distance the moving member travels from the time the first sensor detects the rear end of the substrate until the second sensor detects the front end of the substrate, and the theoretical distance traveled by subtracting the length dimension of the substrate in the transport direction from the first separation distance. The substrate transport apparatus according to claim 10.
The transport control unit calculates the difference distance by multiplying the moving speed of the moving member by the difference time between the time when the second sensor detects the front end of the substrate and the time when the moving member has moved by the theoretical distance. The substrate transport apparatus according to claim 11.
The substrate transport apparatus according to any one of claims 9 to 12, wherein the detection unit is an image processing device that detects the position of the substrate by performing predetermined image processing on an image acquired by imaging the substrate.
A substrate transport apparatus according to any one of claims 10 to 12, wherein the first calculation unit and the second calculation unit operate for the first of a plurality of substrates of the same type, and the transport control unit operates for the second and subsequent substrates.
The first position is set at the loading end of the transport path, allowing for positional errors. The second position is set to a predetermined stopping position on the transport path that stops the substrate in the transport direction, allowing for a positional error. A substrate transport apparatus according to any one of claims 1 to 4 or 9 to 12.

Description

This specification relates to a substrate transport apparatus for transporting substrates along a transport path. The technology for mass-producing circuit board products by performing board-to-board (BORDER) operations on substrates with pre-formed circuit patterns is becoming widespread. Generally, BORDER machines used for these operations are equipped with a BORDER transport device that handles substrate loading, positioning to a stopping position, and unloading. Many BORDER transport devices are equipped with sensors that detect the position of the substrate during transport, and stop the substrate at a predetermined stopping position based on the sensor's detection results. If the stopping position error is large, the BORDER transport device re-transports the substrate to correct the stopping position. This enables the BORDER operation to be performed. One example of this type of BORDER transport device is disclosed in Patent Document 1. The substrate conveyor control device described in Patent Document 1 comprises a first substrate sensor and a second substrate sensor installed in the transport path of a substrate conveyor that is rotated by the operation of an electric motor to detect specific parts (front and rear ends) of the substrate; a command unit that commands the amount of operation of the electric motor based on the detection result of either substrate sensor; and an estimation unit that estimates the stopping position of the substrate based on the elapsed time between the detection of the substrate sensor and the stopping of the electric motor, or the amount of operation of the electric motor between the detections of the two substrate sensors. According to this, by detecting the substrate with two substrate sensors, the stopping position of the substrate can be estimated inexpensively, and the estimation results can be utilized in various ways. Japanese Patent Publication No. 2012-99668 This is a schematic plan view showing the overall configuration of a component mounting machine to which the substrate transport device of this embodiment is applied.This is a front cross-sectional view of the substrate transport device near its stopping position.This is a side view of the substrate transport device.This is a schematic plan view showing the first position, second position, and stop position set for the substrate transport device.This is a block diagram showing the control configuration for a substrate transport device.This is a diagram illustrating the main operation flow of the substrate transport device.This is a sub-operation flow diagram illustrating the details of the operation of the first calculation unit in step S3 of Figure 6.This is a schematic diagram illustrating the operation of the first calculation unit through the transport of a circuit board.This is a schematic diagram illustrating a modified example of steps S16 and S17 in Figure 7.This is a sub-operation flow diagram illustrating the details of the operation of the second calculation unit in step S4 of Figure 6.This is a schematic diagram illustrating the operation of the second calculation unit.This is a diagram of the time chart that the stop position adjustment unit sets initially.This is a schematic diagram showing the position of the circuit board corresponding to the time chart in Figure 12.This is a sub-operation flow diagram illustrating the details of the operation of the stop position adjustment unit in step S8 of Figure 6.This is a diagram illustrating the adjustment time chart that shows the stopping position adjustment operation by the stopping position adjustment unit.This diagram shows the position of the circuit board corresponding to the adjustment time chart in Figure 15, and also schematically explains the adjustment operation of the stopping position.This is a view of the back of the measuring jig used in place of the circuit board. 1. Overall Configuration of Component Mounting Machine 1 As a substrate handling machine to which the substrate transport device 2 of the embodiment is applied, the component mounting machine 1 will be given as an example and explained with reference to Figure 1. The component mounting machine 1 performs the mounting work of mounting components onto a substrate K. In Figure 1, the horizontal direction from the left to the right of the paper is the X-axis direction for transporting the substrate K, the horizontal direction from the bottom (front) to the top (rear) of the paper is the Y-axis direction, and the vertical direction is the Z-axis direction. The component mounting machine 1 is configured by assembling the substrate transport device 2, component supply device 3, component transfer device 4, and a control device (not shown) etc. on a base 10. The substrate transport device 2 has a pair of guide rails 21 that serve as the transport path for the substrate K. The substrate transport device 2 transports the substrate K, which has been loaded into the loading end of the