Material receiving device of full-automatic exposure machine

Abstract

The invention discloses a full-automatic exposure machine material receiving device in the technical field of exposure machines, and the full-automatic exposure machine material receiving device comprises a workbench, a material receiving base, a material receiving box and a vacuum pump, the material receiving base is fixedly connected to the left side of the top of the workbench, and the material receiving box is fixedly connected to the right side of the top of the workbench; the vacuum pump is fixedly connected to the bottom of the workbench through bolts, and supporting legs are fixedly connected to the four corners of the bottom of the workbench. According to the full-automatic exposure machine material receiving device, the phenomena that the surface of a circuit board is scratched and the like are avoided, and normal use and finished product efficiency of the circuit board are ensured; compared with traditional manual taking, the circuit board carrying device grabs the circuit boards through the adsorption force of the vacuum suction cups so as to achieve the operation purpose of carrying the circuit boards, meanwhile, the circuit boards can be collected and automatically stacked, manual processing is not needed, the follow-up manual participation operation content is effectively reduced, and the working efficiency is improved. And the fatigue degree of workers is reduced to the greatest extent.

Description

Technical Field

[0001] The invention relates to the technical field of exposure machines, and in particular to a material receiving device for a full-automatic exposure machine. Background Art

[0002] An exposure machine is a machine that turns on a light to emit UVA wavelength ultraviolet light, and uses ultraviolet light to transfer image information on a film or other transparent object to a surface coated with a photosensitive substance. The exposure process implemented by the exposure machine is one of the most critical steps in the entire printed circuit board manufacturing process.

[0003] During the operation of a traditional fully automatic exposure machine, a gripping device is usually used to take out the circuit board after exposure, and place it on a storage platform to wait for manual collection. This process step can easily cause the surface of the circuit board to be bumped due to free fall, thereby scratching the surface of the circuit board, greatly increasing the scrap rate of the product. On the other hand, the edge of the circuit board can easily scratch the hands of the staff, resulting in too low efficiency in manual handling of the circuit board, which cannot meet normal production needs. On the other hand, the placement of circuit boards on traditional storage platforms is often messy, and the staff needs to collect and stack the circuit boards, and then carry the stacked circuit boards, which greatly increases the operating steps for collecting the circuit boards and increases the labor intensity of the staff, thereby causing a certain impact on the staff's work efficiency, thereby reducing the production efficiency of the product. For this reason, we propose a material receiving device for a fully automatic exposure machine. Summary of the invention

[0004] The object of the present invention is to provide a fully automatic exposure machine material receiving device to solve the problem proposed in the above background technology that the surface of the circuit board is easily affected by free falling and thus causes bumps, thereby causing scratches on the surface of the circuit board. On the other hand, the edge of the circuit board is easy to scratch the hands of the staff. On the other hand, the placement of circuit boards on traditional storage platforms is often messy. The staff needs to collect and stack the circuit boards, and then move the stacked circuit boards, which greatly increases the problem of the operation steps for collecting the circuit boards.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a material receiving device for a fully automatic exposure machine, comprising a workbench, a material receiving base, a material receiving box and a vacuum pump, wherein the material receiving base is fixedly connected to the left side of the top of the workbench, the material receiving box is fixedly connected to the right side of the top of the workbench, the vacuum pump is fixedly connected to the bottom of the workbench by bolts, the four corners of the bottom of the workbench are fixedly connected with legs, the right side wall of the workbench is fixedly connected with a connecting table, the top of the connecting table is fixedly connected with a controller by bolts, the front and rear side walls of the workbench are fixedly connected with linear guides by bolts, the connecting ends of the two linear guides are fixedly connected with support rods by bolts, and the tops of the two support rods are fixedly connected with The mounting plate, the bottom of the mounting plate and the electric slide rail are fixedly connected by bolts between the two support rods, the electric slide rail is slidably connected to a slide seat inside, the connecting end of the slide seat is fixedly connected to an electric push rod by bolts, the connecting end of the electric push rod is fixedly connected to a joint by bolts, the bottom of the joint is threadedly connected with a vacuum suction cup equidistantly from left to right, the top of the inner cavity of the material receiving base is clamped with a top plate, positioning holes are opened equidistantly from left to right inside the top plate, a sliding rod is slidably connected inside the positioning hole, a rubber contact is sleeved on the top of the sliding rod, the end of the sliding rod and the inner cavity of the material receiving base is fixedly connected with a pressure plate, and springs are arranged equidistantly from left to right on the bottom of the inner cavity of the material receiving base.

[0006] Preferably, the connecting end of the connector is fixedly connected to a laser locator by means of bolts, and the output end of the laser locator is electrically connected to the input end of the controller.

[0007] Preferably, the connecting end of the spring is connected to the connecting end of the pressing plate, the bottom of the pressing plate and the bottom of the inner cavity of the material receiving base are both provided with limiting rings, and the spring is located between the two limiting rings.

[0008] Preferably, a pressure gauge is provided on the front side wall of the vacuum pump, an air pipe is plugged into the connecting end of the vacuum pump, and an end of the air pipe away from the vacuum pump is plugged into the input end of the vacuum suction cup.

[0009] Preferably, the inner cavity of the material receiving box is provided with a supporting plate, a cylinder is fixedly connected to the bottom of the inner cavity of the material receiving box, and the connecting end of the cylinder is fixedly connected to the bottom of the supporting plate by bolts, and the supporting plate is slidably connected to the inside of the material receiving box through the cylinder.

[0010] Preferably, both left and right side walls of the inner cavity of the material receiving box are provided with card slots.

[0011] Preferably, both left and right side walls of the carrying plate are fixedly connected with pulleys, and the pulleys are slidably connected inside the slots.

[0012] Preferably, placement grooves are provided on the upper sides of the front and rear side walls of the inner cavity of the material receiving box, photoelectric sensors are fixedly connected inside the two placement grooves, and the output ends of the photoelectric sensors are electrically connected to the input ends of the controller.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The material receiving device of the fully automatic exposure machine is provided with a material receiving base on the top left side of the workbench. The circuit board is moved to the top of the material receiving base under the drive of the external grasping device. When the grasping device releases the grasping action of the circuit board, the circuit board falls to the surface of the rubber contact on the material receiving base under the action of gravity. While the rubber contact is in contact with the circuit board, the rubber contact is driven by the force to press the slide rod downward. At this time, the downward pressure on the slide rod is absorbed by the cooperation of the pressure plate and the spring, so as to absorb the downward pressure instantly to ensure the falling stability of the circuit board. At the same time, the softness of the material of the rubber contact is used to support the bottom of the circuit board, so as to avoid scratches on the surface of the circuit board and ensure the normal use of the circuit board and the efficiency of the finished product.

[0015] 2. The material receiving device of the fully automatic exposure machine sets a vacuum suction cup above the workbench and uses a vacuum pump to control the working state of the vacuum suction cup. Driven by linear guides, electric slides and electric push rods, the working position of the vacuum suction cup is adjusted in all directions. At the same time, a laser locator is used to ensure the uniform position between the vacuum suction cup and the circuit board. Compared with traditional manual picking, this device uses the adsorption force of the vacuum suction cup to grab the circuit board to achieve the operational purpose of transporting the circuit board. While ensuring the safety of the staff's hands, it effectively improves the transportation efficiency and production efficiency of the circuit board.

[0016] 3. The material receiving device of the fully automatic exposure machine uses a material receiving box to collect and process the circuit boards. At the same time, the supporting plate at the bottom of the material receiving box supports the bottom of the circuit boards. By starting the photoelectric sensors on both sides of the inner cavity of the material receiving box, an infrared network is formed above the material receiving box. When the placement height of the circuit board on the supporting plate is greater than the horizontal height of the infrared light, the photoelectric sensor cannot receive the infrared light. The photoelectric sensor instantly transmits this working information to the controller, thereby starting the cylinder to push the supporting plate upward and move the circuit boards collected on the supporting plate out of the material receiving box. The staff can carry the collected circuit boards on the supporting plate. The device can automatically stack the collected circuit boards without manual processing, effectively reducing the subsequent manual operation content, and minimizing the fatigue of the staff, thereby improving the work efficiency of the staff and further improving the production efficiency of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the main structure of the present invention;

[0019] Figure 3 This is a schematic diagram of the internal structure of the material receiving base of the present invention;

[0020] Figure 4 It is a schematic diagram of the connection structure between the mounting plates of the present invention;

[0021] Figure 5 It is a schematic diagram of the internal structure of the material receiving box of the present invention.

[0022] In the figure: 100, workbench; 110, support leg; 120, connecting table; 130, controller; 140, linear guide; 150, support rod; 160, mounting plate; 170, electric slide rail; 171, slide seat; 180, electric push rod; 190, joint; 191, vacuum suction cup; 192, laser locator; 200, material receiving base; 210, top plate; 211, positioning hole; 220, sliding rod; 230, rubber contact; 240, pressure plate; 250, spring; 251, limit ring; 300, material receiving box; 310, placement slot; 320, photoelectric sensor; 330, cylinder; 340, load-bearing plate; 350, pulley; 360, slot; 400, vacuum pump; 410, barometer; 420, gas pipe. DETAILED DESCRIPTION

[0023] Embodiment 1:

[0024] See also Figure 1-5The present invention provides a technical solution: a material receiving device for a fully automatic exposure machine, comprising a workbench 100, a material receiving base 200, a material receiving box 300 and a vacuum pump 400, wherein the material receiving base 200 is fixedly connected to the left side of the top of the workbench 100, the material receiving box 300 is fixedly connected to the right side of the top of the workbench 100, the vacuum pump 400 is fixedly connected to the bottom of the workbench 100 by bolts, the four corners of the bottom of the workbench 100 are fixedly connected with supporting legs 110, the right side wall of the workbench 100 is fixedly connected with a connecting platform 120, the top of the connecting platform 120 is fixedly connected with a controller 130 by bolts, and the inner cavity of the material receiving base 200 A top plate 210 is clamped on the top, and positioning holes 211 are equidistantly provided inside the top plate 210 from left to right. A sliding rod 220 is slidably connected inside the positioning hole 211, and a rubber contact 230 is sleeved on the top of the sliding rod 220. A pressure plate 240 is fixedly connected to the end of the sliding rod 220 and located in the inner cavity of the material receiving base 200. Springs 250 are equidistantly provided at the bottom of the inner cavity of the material receiving base 200 from left to right, and the connecting end of the spring 250 is connected to the connecting end of the pressure plate 240. Limiting rings 251 are provided at the bottom of the pressure plate 240 and the bottom of the inner cavity of the material receiving base 200, and the spring 250 is located between the two limiting rings 251.

[0025] In this embodiment, the circuit board in the exposure machine is taken out by an external gripping device, and the circuit board is moved to the top of the receiving base 200, and the gripping action of the circuit board is released. The circuit board falls to the top of the rubber contact 230 under the action of gravity. When the rubber contact 230 is in contact with the circuit board, the rubber contact 230 is driven by the force to press the slide rod 220 downward. At this time, the downward pressure on the slide rod 220 is absorbed by the cooperation of the pressure plate 240 and the spring 250, so as to absorb the downward pressure instantly to ensure the falling stability of the circuit board. At the same time, the softness of the material of the rubber contact 230 is used to support the bottom of the circuit board, so as to avoid scratches on the surface of the circuit board, thereby ensuring the normal use of the circuit board and the efficiency of the finished product.

[0026] Embodiment 2:

[0027] See also Figure 1-5The present invention provides a technical solution: a material receiving device for a fully automatic exposure machine, comprising a workbench 100, a material receiving base 200, a material receiving box 300 and a vacuum pump 400, wherein the material receiving base 200 is fixedly connected to the left side of the top of the workbench 100, the material receiving box 300 is fixedly connected to the right side of the top of the workbench 100, the vacuum pump 400 is fixedly connected to the bottom of the workbench 100 by bolts, the four corners of the bottom of the workbench 100 are fixedly connected with supporting legs 110, the right side wall of the workbench 100 is fixedly connected with a connecting platform 120, the top of the connecting platform 120 is fixedly connected with a controller 130 by bolts, the front and rear side walls of the workbench 100 are fixedly connected with linear guide rails 140 by bolts, the connecting ends of the two linear guide rails 140 are fixedly connected with support rods 150 by bolts, and the tops of the two support rods 150 are fixedly connected with The mounting plate 160 has an electric slide rail 170 fixedly connected to the bottom thereof and located between the two support rods 150 by bolts. The electric slide rail 170 is internally slidably connected to a slide seat 171. The connecting end of the slide seat 171 is fixedly connected to an electric push rod 180 by bolts. The connecting end of the electric push rod 180 is fixedly connected to a joint 190 by bolts. The bottom of the joint 190 is threadedly connected to a vacuum suction cup 191 equidistantly from left to right. The connecting end of the joint 190 is fixedly connected to a laser locator 192 by bolts, and the output end of the laser locator 192 is electrically connected to the input end of the controller 130. A pressure gauge 410 is provided on the front side wall of the vacuum pump 400. An air pipe 420 is plugged into the connecting end of the vacuum pump 400, and the end of the air pipe 420 away from the vacuum pump 400 is plugged into the input end of the vacuum suction cup 191.

[0028] In this embodiment, the staff starts the linear guide rails 140 on both sides through the controller 130, so that it drives the support rod 150 to move horizontally left and right. At this time, the laser locator 192 is started to collect the falling position information of the circuit board on the rubber contact 230, and the position information of the circuit board is transmitted back to the controller 130 for processing. At the same time, the processed data is converted into corresponding electrical signals, and the electrical signals are input in sequence through the controller 130. First, driven by the linear guide rails 140, the vacuum suction cup 191 under the joint 190 is moved to the top of the material receiving base 200, and then the electric push rod 180 is started to drive the vacuum suction cup 191 to move horizontally back and forth until the vacuum suction cup 191 is moved to the top of the circuit board on the rubber contact 230, and then the electric push rod 180 is started to drive the vacuum suction cup 191 to move downward. At this moment, Start the vacuum pump 400 to adjust the air pressure in the joint 190 through the air pipe 420, so that an adsorption force is generated inside the vacuum suction cup 191. When the vacuum suction cup 191 contacts the surface of the circuit board under the drive of the electric push rod 180, the circuit board is grasped and processed by utilizing the adsorption force in the vacuum suction cup 191. Driven by the electric push rod 180, the vacuum suction cup 191 adsorbs the circuit board and moves it out from the top of the rubber contact 230. Finally, the circuit board is placed in the receiving box 300 through the coordinated use of the electric push rod 180, the electric slide rail 170 and the linear guide rail 140. Compared with traditional manual picking, the present device utilizes the adsorption force of the vacuum suction cup 191 to grab the circuit board to achieve the operational purpose of transporting the circuit board. While ensuring the safety of the staff's hands, it effectively improves the transportation efficiency and production efficiency of the circuit board.

[0029] Embodiment three:

[0030] See also Figure 1-5The present invention provides a technical solution: a material receiving device for a fully automatic exposure machine, comprising a workbench 100, a material receiving base 200, a material receiving box 300 and a vacuum pump 400, wherein the material receiving base 200 is fixedly connected to the left side of the top of the workbench 100, the material receiving box 300 is fixedly connected to the right side of the top of the workbench 100, the vacuum pump 400 is fixedly connected to the bottom of the workbench 100 by bolts, the four corners of the bottom of the workbench 100 are fixedly connected with supporting legs 110, the right side wall of the workbench 100 is fixedly connected with a connecting platform 120, the top of the connecting platform 120 is fixedly connected with a controller 130 by bolts, the inner cavity of the material receiving box 300 is provided with a bearing plate 340, and the material receiving box 300 is fixedly connected to the bottom of the workbench 100 by bolts. 0, a cylinder 330 is fixedly connected to the bottom of the inner cavity of the material receiving box 300, and the connecting end of the cylinder 330 is fixedly connected to the bottom of the supporting plate 340 by bolts, and the supporting plate 340 is slidably connected to the inside of the material receiving box 300 through the cylinder 330, and the left and right side walls of the inner cavity of the material receiving box 300 are provided with card slots 360, and the left and right side walls of the supporting plate 340 are fixedly connected with pulleys 350, and the pulleys 350 are slidably connected to the inside of the card slots 360, and the upper sides of the front and rear side walls of the inner cavity of the material receiving box 300 are provided with placement grooves 310, and the insides of the two placement grooves 310 are fixedly connected with photoelectric sensors 320, and the output ends of the photoelectric sensors 320 are electrically connected to the input ends of the controller 130.

[0031] In this embodiment, the circuit board is placed into the material receiving box 300 under the drive of the vacuum suction cup 191. The device uses the material receiving box 300 to collect and process the circuit boards. At the same time, the supporting plate 340 at the bottom of the material receiving box 300 supports the bottom of the circuit board. By starting the photoelectric sensors 320 on both sides of the inner cavity of the material receiving box 300, an infrared network is formed above the material receiving box 300. When the placement height of the circuit board on the supporting plate 340 is greater than the horizontal height of the infrared network, the photoelectric sensor 320 cannot receive the infrared rays. The photoelectric sensor 320 instantly transmits this working information to the controller 130, and the supporting plate is started by the controller 130. The cylinder 330 at the bottom of 340 pushes the supporting plate 340 upwards under the drive of the cylinder 330, thereby moving the circuit boards collected on the supporting plate 340 out of the material receiving box 300. The staff transports the collected circuit boards on the supporting plate 340. After the transportation is completed, the cylinder 330 is started by the controller 130 to drive the supporting plate 340 to move back into the material receiving box 300. The device can automatically stack the collected circuit boards without manual processing, effectively reducing the subsequent manual operation content, and minimizing the fatigue of the staff, thereby improving the work efficiency of the staff and further improving the production efficiency of the product.

[0032] During specific use, the technical personnel in this field first assemble the device with the external circuit board grabbing device, then connect the external power supply with the controller 130, take out the circuit board in the exposure machine through the external grabbing device, and move the circuit board to the top of the receiving base 200, release the grabbing action of the circuit board, and the circuit board falls to the top of the rubber contact 230 under the action of gravity. When the rubber contact 230 contacts the circuit board, the rubber contact 230 is forced to drive the sliding rod 220 to press downward. At this time, the pressing plate 240 and the spring 250 are used in combination to absorb the downward pressure on the sliding rod 220, thereby instantly absorbing the downward pressure to ensure the falling stability of the circuit board. The staff starts the linear guide rails 140 on both sides through the controller 130, so that it drives the support rod 150 to move horizontally left and right. At this time, the laser locator 192 is started to collect the falling position information of the circuit board on the rubber contact 230, and the position information of the circuit board is transmitted back to the controller 130 for processing. At the same time, the processed data is converted into corresponding electrical signals, and the electrical signals are input in sequence through the controller 130. First, driven by the linear guide rails 140, the vacuum suction cup 191 under the joint 190 is moved to the top of the material receiving base 200, and then the electric push rod 180 is started to drive the vacuum suction cup 191 to move horizontally back and forth until the vacuum suction cup 191 is moved to the top of the circuit board on the rubber contact 230. Then, the electric push rod 180 is started to drive the vacuum suction cup 191 to move downward. At this moment, the vacuum pump 400 is started to adjust the air pressure in the joint 190 through the air pipe 420, so that an adsorption force is generated inside the vacuum suction cup 191. When the vacuum suction cup 191 contacts the surface of the circuit board driven by the electric push rod 180, the adsorption force in the vacuum suction cup 191 is used to grab the circuit board. Driven by the electric push rod 180, the vacuum suction cup 191 adsorbs the circuit board and moves it out from the top of the rubber contact 230. Finally, the circuit board is stably placed on the top of the carrier plate 340 in the receiving box 300 through the coordinated use of the electric push rod 180, the electric slide rail 170 and the linear guide rail 140. As the above placement process is repeated, the circuit boards are effectively stacked on the top of the carrier plate 340. Since the interior of the receiving box 300 is affected by the operation of the photoelectric sensor 320, an infrared network is generated inside it. When the placement height of the circuit board on the carrier plate 340 is greater than the horizontal height of the infrared network, the photoelectric sensor 320 cannot receive the infrared rays. The photoelectric sensor 320 instantly transmits this working information to the controller 130, and the cylinder 330 at the bottom of the carrier plate 340 is activated by the controller 130. The carrier plate 340 is pushed upward under the drive of the cylinder 330, so that the circuit boards collected on the carrier plate 340 are moved out of the receiving box 300, and the staff carry the circuit boards collected on the carrier plate 340.After the transport is completed, the cylinder 330 is activated by the controller 130 to drive the carrying plate 340 to move back into the material receiving box 300, thus completing the entire use process of the device.

Claims

1. A material receiving device for a fully automatic exposure machine, characterized in that: The invention comprises a workbench (100), a material receiving base (200), a material receiving box (300) and a vacuum pump (400), wherein the material receiving base (200) is fixedly connected to the left side of the top of the workbench (100), the material receiving box (300) is fixedly connected to the right side of the top of the workbench (100), the vacuum pump (400) is fixedly connected to the bottom of the workbench (100) by bolts, and legs (110) are fixedly connected at the four corners of the bottom of the workbench (100). The right side wall of the workbench (100) is fixedly connected to a connecting platform (120), the top of the connecting platform (120) is fixedly connected to a controller (130) by bolts, the front and rear side walls of the workbench (100) are fixedly connected to linear guide rails (140) by bolts, the connecting ends of the two linear guide rails (140) are fixedly connected to support rods (150) by bolts, the tops of the two support rods (150) are fixedly connected to mounting plates (160), the bottom of the mounting plates (160) and the two sides are fixedly connected to the two support rods (150). An electric slide rail (170) is fixedly connected between the support rods (150) by bolts, the electric slide rail (170) is slidably connected to a slide seat (171) inside, the connecting end of the slide seat (171) is fixedly connected to an electric push rod (180) by bolts, the connecting end of the electric push rod (180) is fixedly connected to a joint (190) by bolts, the bottom of the joint (190) is threadedly connected to a vacuum suction cup (191) equidistantly from left to right, and the inner cavity top of the material receiving base (200) is fixedly connected to the vacuum suction cup (191) by bolts. A top plate (210) is clamped on the top plate (210), and positioning holes (211) are equidistantly provided inside the top plate (210) from left to right. A sliding rod (220) is slidably connected inside the positioning hole (211), and a rubber contact (230) is sleeved on the top of the sliding rod (220). A pressure plate (240) is fixedly connected to the end of the sliding rod (220) and located in the inner cavity of the material receiving base (200), and springs (250) are equidistantly provided at the bottom of the inner cavity of the material receiving base (200) from left to right.

2. The material receiving device of a fully automatic exposure machine according to claim 1, characterized in that: The connection end of the joint (190) is fixedly connected to a laser locator (192) by means of bolts, and the output end of the laser locator (192) is electrically connected to the input end of the controller (130).

3. The material receiving device of a fully automatic exposure machine according to claim 1, characterized in that: The connecting end of the spring (250) is connected to the connecting end of the pressing plate (240), and the bottom of the pressing plate (240) and the bottom of the inner cavity of the material receiving base (200) are both provided with limiting rings (251), and the spring (250) is located between the two limiting rings (251).

4. The material receiving device of a fully automatic exposure machine according to claim 1, characterized in that: A pressure gauge (410) is provided on the front side wall of the vacuum pump (400), an air supply pipe (420) is plugged into the connection end of the vacuum pump (400), and an end of the air supply pipe (420) away from the vacuum pump (400) is plugged into the input end of the vacuum suction cup (191).

5. The material receiving device of a fully automatic exposure machine according to claim 1, characterized in that: The inner cavity of the material receiving box (300) is provided with a bearing plate (340), and the bottom of the inner cavity of the material receiving box (300) is fixedly connected to a cylinder (330), and the connecting end of the cylinder (330) is fixedly connected to the bottom of the bearing plate (340) by bolts, and the bearing plate (340) is slidably connected to the inside of the material receiving box (300) through the cylinder (330).

6. The material receiving device of a fully automatic exposure machine according to claim 5, characterized in that: The left and right side walls of the inner cavity of the material receiving box (300) are both provided with card slots (360).

7. The material receiving device of a fully automatic exposure machine according to claim 6, characterized in that: The left and right side walls of the bearing plate (340) are both fixedly connected with pulleys (350), and the pulleys (350) are slidably connected inside the clamping slot (360).

8. The material receiving device of a fully automatic exposure machine according to claim 1, characterized in that: The upper sides of the front and rear side walls of the inner cavity of the material receiving box (300) are provided with placement grooves (310), and the insides of the two placement grooves (310) are fixedly connected with photoelectric sensors (320), and the output end of the photoelectric sensor (320) is electrically connected to the input end of the controller (130).

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