Substrate work device

Abstract

To change the position of pins that position a substrate can be changed.SOLUTION: A substrate work device 10 operates on a substrate T on which electronic components are mounted, and includes a transport unit 20 that transports the substrate T, a placement unit 30, a movement mechanism 40, and a control unit 50. The placement unit 30 is provided below the transport unit 20, and includes a plurality of positioning pins P1, P2 that position the substrate T transported by the transport unit 20. The movement mechanism 40 is a mechanism that moves and positions the positioning pins P1, P2 relative to the placement unit 30. The plurality of positioning pins P1, P2 include a first positioning pin P1 and a second positioning pin P2. The control unit 50 controls the placement of the second positioning pin P2 on the front side of the substrate work position in the substrate transport direction, in order to position the substrate T transported by the transport unit 20 in the substrate transport direction at the substrate work position.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a substrate processing apparatus. [Background technology]

[0002] The board working device has a transport unit for transporting the board. Patent Document 1 below is a document that discloses technology related to the transport unit used in the board working device. Patent Document 1 discloses that the board is stopped by a stopper installed on the conveyor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-273591 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 has a problem in that, because stoppers are installed on the conveyor, it is difficult to change the position of the stoppers for each type of board. [Means for solving the problem]

[0005] (1) The board work device according to the present invention is a board work device for working on a board on which electronic components are mounted, and includes a transport unit for transporting the board, a placement unit, a movement mechanism, and a control unit.

[0006] The placement unit is located below the transport unit and has a plurality of positioning pins arranged thereon to position the substrate transported by the transport unit. The movement mechanism is a mechanism that moves and positions the positioning pins relative to the placement unit. The plurality of positioning pins include a first positioning pin and a second positioning pin.

[0007] The control unit controls the positioning of the second positioning pin on the front side of the substrate work position in the substrate transport direction in order to position the substrate transported by the transport unit in the substrate transport direction at the substrate work position. In (1), any configuration other than the above is optional and any configuration may be used.

[0008] According to the configuration (1), the second positioning pins used to position the board at the work position are placed on the placement unit, so there is no need to install stoppers on the conveyor, camera axis, etc. In addition, by controlling the movement mechanism with the control unit, the position of the second positioning pins can be freely changed for each type of board, making it possible to place the stoppers (second positioning pins) in the optimal position for each type.

[0009] (2) In the board working device described in (1) above, the control unit may arrange a plurality of the second positioning pins on the front side of the board working position in the board transport direction. In (2), any configuration other than the above is optional and any configuration may be used.

[0010] According to the configuration (2), since the substrate is positioned by a plurality of second positioning pins, there is an advantage that the posture of the substrate is more likely to be stable when it comes into contact with the second positioning pin, compared to when only one pin is used.

[0011] (3) In the substrate working device described in (2) above, when the periphery of the substrate working position is divided into a first region and a second region with the center of the width direction of the transport unit as the boundary, the control unit may arrange some of the plurality of second positioning pins in the first region and the remaining plurality of second positioning pins in the second region. In (3), any configuration other than the above is optional and may be used. According to the configuration of (3), since the second positioning pins are arranged in both the first region and the second region, there is an advantage that the posture of the substrate is easily stabilized when it comes into contact with the second positioning pins.

[0012] (4) In the substrate working device described in (2) above, the control unit may cause the transport unit to further transport the substrate in the substrate transport direction after the substrate comes into contact with some of the plurality of second positioning pins. In (4), any configuration other than the above is optional and may be used.

[0013] According to the configuration (4), the substrate that has come into contact with the second positioning pin is further sent in the substrate transport direction, thereby making it possible to correct the tilt of the substrate.

[0014] (5) In the substrate working device described in any one of (1) to (4) above, the control unit may cause the transport unit to perform a first transport operation and a second transport operation. The first transport operation may be an operation of transporting the substrate to the vicinity of the second positioning pin. The second transport operation may be an operation of transporting the substrate from a position to which it has been transported by the first transport operation to the second positioning pin at a speed slower than that of the first transport operation. In (5), any configuration other than the above is optional and may be any configuration.

[0015] According to the configuration (5), the impact when the substrate comes into contact with the second positioning pin can be alleviated.

[0016] (6) In the board working device described in any one of (1) to (5) above, the control unit may cause the transport unit to transport the board until it contacts the second positioning pin arranged ahead of the board working position in the board transport direction, and then reverse the board transport direction and return the board to the board working position and stop it. In (6), any configuration other than the above is optional and may be used. According to the configuration of (6), the board can be accurately stopped at the board working position.

[0017] (7) The substrate working device according to any one of (1) to (6) above may be a screen printing machine to which a mask used for screen printing is attached. In (7), any configuration other than the above is optional and may be any configuration.

[0018] (8) In the substrate working device described in (7) above, the second positioning pin may be configured to include a fixed portion having an opening at its upper end and fixed to the placement portion, and a protruding portion that protrudes from the opening of the fixed portion by a spring built into the fixed portion. The protruding portion may come into contact with the mask and be pushed into the opening of the fixed portion when the mask and the substrate are aligned. In (8), any configuration other than the above is optional and may be used. The configuration of (8) can prevent the second positioning pin from colliding with the mask and damaging it during alignment. The same applies to the mask.

[0019] (9) In the substrate processing device described in (8) above, the protruding portion may have a shade that covers the opening of the fixing portion. In (9), any configuration other than the above is optional and may be used. The configuration of (9) can prevent dust and foreign matter from entering the interior through the opening of the fixing portion. [Effects of the Invention]

[0020] According to the present invention, the second positioning pins used to position the board at the work position are placed on the placement unit, eliminating the need to install stoppers on the conveyor, camera axis, etc. Furthermore, by controlling the movement mechanism with the control unit, the position of the second positioning pins can be freely changed for each type of board, making it possible to place the stoppers (second positioning pins) in the optimal position for each type. [Brief explanation of the drawings]

[0021] [Figure 1] Conceptual diagram of the board processing device [Figure 2] Plan view of the base and conveyor rail [Figure 3] A diagram showing the extension and retraction movement of the second positioning pin [Figure 4] Explanation of how to stop the board [Figure 5] Illustration of how to stop the board [Figure 6] Illustration of how to stop the board [Figure 7] Explanation of how to stop the board [Figure 8] Explanation of how to stop the board [Figure 9] A diagram showing the operation of aligning the substrate with the mask. [Figure 10] A diagram showing the operation of aligning the substrate with the mask. [Figure 11] FIG. 10 is a plan view showing a state in which the substrate is stopped at the substrate work position. [Figure 12] A diagram showing the state in which the second positioning pin is positioned at the front end of the board work position. [Figure 13] Perspective view of a screen printing machine [Figure 14] Figure 13 viewed from direction A [Figure 15] View of Figure 13 from direction B [Figure 16] Plan view of the printing stage [Figure 17] Cross section of the printing stage [Figure 18] Side view of the pin station [Figure 19] Perspective view of the inspection unit [Figure 20] Moving head plan view [Figure 21] Perspective view of the chuck mechanism [Figure 22] FIG. 10 is a perspective view showing a state in which the positioning pin is held by the chuck mechanism. [Figure 23] Explanation of how to stop the board [Figure 24] Explanation of how to stop the board [Figure 25] Explanation of how to stop the board [Figure 26] Explanation of how to stop the board [Figure 27] Explanation of how to stop the board DETAILED DESCRIPTION OF THE INVENTION

[0022] <Embodiment 1> An embodiment of the invention will now be described. The board working apparatus 10 is an apparatus that performs predetermined operations on a board T on which electronic components are mounted. As shown in FIG. 1, the board working apparatus 10 includes a transport unit 20, a placement unit 30, a movement mechanism 40, and a control unit 50 as mechanisms for transporting and positioning the board T. In the following description, the board transport direction is defined as the X direction, and the direction perpendicular to the X direction is defined as the Y direction. The Y direction (the vertical direction in FIG. 2) is the width direction of the transport unit 20.

[0023] 1 and 2, the transport unit 20 includes a pair of conveyor rails 21A and 21B extending in the X direction, and a conveyor motor 23. The conveyor rails 21A and 21B are positioned a certain distance apart in the Y direction. The conveyor rails 21A and 21B have a transport surface 22 formed by a conveyor belt.

[0024] By driving the conveyor motor 23, the transport surface 22 moves in the X direction (from the right to the left in FIG. 1), so that the substrate T can be transported in the X direction.

[0025] 1 and 2, the placement unit 30 is installed below the transport unit 20. The placement unit 30 includes a base 31 and an elevating device 32.

[0026] The base 31 is flat and has a plurality of positioning pins P1 and P2 arranged thereon, as shown in Fig. 1. In this embodiment, the plurality of positioning pins P1 and P2 can be arranged in a matrix, as shown in Fig. 2.

[0027] The lifting device 32 is a motor-driven device that raises and lowers the base 31. The lifting device 32 adjusts the height position (position in the Z direction) of the base 31 to three levels: a lowering end height position H1, a substrate stop height position H2, and a substrate fixing height position H3.

[0028] The moving mechanism 40 is a mechanism that moves and positions the positioning pins P1 and P2 on the base 31. An example of the moving mechanism 40 is a chuck mechanism that grips the positioning pins P1 and P2 with two gripping claws 41 and 42.

[0029] The control unit 50 includes a CPU 51, a memory 52, etc., and performs the controls (a) to (c). (a) Control to make the transport unit 20 transport the substrate T in the X direction (b) Control of the lifting device 32 to lift and lower the base 31 (c) Control to cause the moving mechanism 40 to move and position the positioning pins P1 and P2 on the base 31

[0030] The memory 52 stores data necessary for controlling the stopping of the substrate T at the substrate work position. The data includes a movement distance ΔX, which will be described later. The CPU 51 and the memory 52 are only shown in FIG. 1 and are omitted from other figures.

[0031] The multiple positioning pins P1, P2 include a first positioning pin P1 and a second positioning pin P2. The first positioning pin P1 is used for backing up (positioning in the Z direction) the substrate T. The overall length of the first positioning pin P1 is invariable.

[0032] The second positioning pin P2 is used to stop the board at a work position (for positioning in the X direction). As shown in Fig. 3, the second positioning pin P2 has a two-axis structure consisting of a large-diameter fixed portion 61 and a small-diameter protruding portion 62. The fixed portion 61 is hollow and has an opening 61A at its upper end. The protruding portion 62 is fitted to the fixed portion 61 so as to be able to move up and down.

[0033] In this embodiment, the protruding portion 62 is biased to protrude from the fixed portion 61 by the force of a spring built into the fixed portion 61. When a force is applied from above, the protruding portion 62 is pushed into the fixed portion 61, and the second positioning pin P2 expands or contracts (the amount of change in the overall length is indicated by ΔZ in FIG. 3). The spring may be of any type as long as it can bias the protruding portion 62.

[0034] Furthermore, an umbrella portion 63 is provided on the outer periphery of the protruding portion 62. The umbrella portion 63 has a conical curved surface shape. When the protruding portion 62 is pushed in, the umbrella portion 63 is configured to overlap the fixed portion 61 and cover the opening (gap for expansion and contraction) 61A. The umbrella portion 63 prevents foreign matter such as dust from entering the interior through the opening 61A.

[0035] A method for stopping the substrate T at the substrate work position will be described below. The substrate work position is a position where the work head of the substrate work device 10 performs a predetermined operation (printing operation or mounting operation) on the substrate T. In this embodiment, as shown in Fig. 4, the position where the reference point (for example, the center point) O2 of the substrate T coincides with the reference point (for example, the center point) O1 of the base 31 is defined as the substrate work position.

[0036] In FIG. 4, TF indicates the leading end position of the substrate T that stops at the substrate working position, and TR indicates the trailing end position of the substrate T that stops at the substrate working position.

[0037] Before the substrate transfer starts, the base 31 is at the lowermost height position H1 as shown in Figure 1. The control unit 50 controls the movement mechanism 40 to position the first positioning pin P1 and the second positioning pin P2 on the base 31.

[0038] Specifically, the first positioning pin P1 is placed in a position directly below the substrate T that stops at the substrate work position (a position in the TW range shown in FIG. 4). The second positioning pin P2 is placed in a position forward of the leading edge TF of the substrate T that stops at the substrate work position (to the left in FIG. 4; downstream in the substrate transport direction).

[0039] The first positioning pin P1 may be held relative to the base 31 by fitting a protrusion 65 (see FIG. 22) formed on the bottom of the first positioning pin P1 into a hole 31A (see FIG. 11) formed in the base 31, or by another method such as providing a locking structure for the pin. In this embodiment, fitting of a hole and a protrusion is used. The second positioning pin P2 is also held relative to the base 31 in a similar manner.

[0040] Thereafter, as shown in FIG. 5, the control unit 50 controls the lifting device 32 to lift the base 31 from the lowering end height position H1 to the substrate stopping height position H2.

[0041] At the substrate stopping height position H2, the first positioning pin P1 is located below the height position of the transport surface 22. On the other hand, the tip of the second positioning pin P2 protrudes above the transport surface 22.

[0042] Next, the control unit 50 sends the substrate T in the X direction (from the right side to the left side in Figure 6) using the two conveyor rails 21A and 21B, and temporarily stops the substrate T at the substrate work position by controlling the rotation amount of the conveyor motor 23 as shown in Figure 6 (first transport operation).

[0043] Thereafter, the control unit 50 drives the conveyor motor 23 to transport the stopped board T from the board work position forward in the board transport direction (to the left in FIG. 6) at a low speed (second transport operation).

[0044] When the substrate T transported from the substrate working position moves to the second positioning pin P2 as shown in FIG. 7, the front end of the substrate comes into contact with the second positioning pin P2 and stops at that position (pin contact position).

[0045] Thereafter, as shown in Fig. 8, the control unit 50 reverses the conveying direction by rotating the conveyor motor 23 in the reverse direction (switching the conveying direction from the left side to the right side in Fig. 8), and moves the board T back by the difference ΔX between the two positions and stops it. This makes it possible to stop the board T at the original board work position.

[0046] The work performed on the substrate T at the substrate work position varies depending on the type of substrate work apparatus 10. For example, in the case of a screen printing machine using a mask 80, as shown in Figures 9 and 10, the relative distance between the mask 80 and the substrate T is adjusted so that the substrate T overlaps the underside of the mask 80, and the substrate T is aligned with the mask 80. Thereafter, the solder paste on the mask 80 is scraped and spread with a squeegee, thereby printing the solder paste on the substrate T.

[0047] In this embodiment, when the substrate T is aligned with the mask 80, the second positioning pin P2 is pushed by the mask 80 to expand and contract, and the protruding portion 62 is pushed into the fixed portion 61, as shown in FIG.

[0048] By doing so, it is possible to prevent the second positioning pin P2 from colliding with and damaging the mask 80 during plate alignment. The same applies to the mask 80.

[0049] Next, a method for calculating the movement distance ΔX when returning the position of the substrate T will be described. The moving distance ΔX can be calculated from equation (1) based on A, B, and r. ΔX = (Ar) - B (1) A is the distance from the base reference point O1 to the center of the second positioning pin P2. B is half the length of the substrate T in the X direction. r is the radius of the protrusion 62 of the second positioning pin P2 FIG. 11 is a plan view of the base and the substrate, showing data A and B required to calculate the movement distance ΔX.

[0050] According to the above-described board working apparatus 10, the board T is stopped at the board working position using the second positioning pin P2 arranged on the base 31, so there is no need to install stoppers for stopping the board on the conveyor rails 21A, 21B. Furthermore, by controlling the movement mechanism 40 using the control unit 50, the position (position on the base) of the second positioning pin P2 can be freely changed for each type of board T, making it possible to position the stopper (second positioning pin P2) in the optimal position for each type.

[0051] Furthermore, since the substrate T is positioned by contacting the second positioning pin P2 and then returned to the substrate working position, the distance traveled for positioning is short, and therefore the substrate T can be stopped accurately at the substrate working position.

[0052] The arrangement of the second positioning pin P2 relative to the base 31 is not limited to the above, and for example, as shown in Fig. 12, the second positioning pin P2 may be arranged at the front end TF of the substrate work position, and the second positioning pin P2 may stop the substrate T directly at the substrate work position. Also, the number of second positioning pins P2 provided relative to the base 31 may be one or more.

[0053] Next, an example in which the present technology is applied to a screen printing machine 100 will be described. The screen printing machine 100 is a device that prints solder on a substrate T, and as shown in Figures 13 to 15, includes a base 110, a transport unit 120, a printing stage 130, a mask 140, a squeegee unit 150, a cleaner unit 160, and an inspection unit 170. Note that the mask 140 is not shown in Figures 13 and 14.

[0054] As shown in FIG. 14, the transport section 120 includes three conveyors (an upstream conveyor 120A, a main conveyor 120B, and a downstream conveyor 120C) aligned in the X direction.

[0055] The upstream conveyor 120A and the downstream conveyor 120C are provided on the base 110, and the main conveyor 120B is provided on the printing stage .

[0056] The mask 140 is a stencil (metal mask) held in a metal frame. The mask 140 is located above the printing stage 130 and is held by a mask holder 145, as shown in FIG.

[0057] The squeegee unit 150 includes a squeegee head 151, and is supported by a pair of guide rails 152 on the base 110 so as to be slidable in the Y direction. The squeegee head 151 is a working head that performs printing work.

[0058] The squeegee unit 150 is driven by a motor to move back and forth in the Y direction, and the solder paste supplied onto the mask is scratched and spread by the squeegee head 151, thereby printing the solder paste onto the substrate T aligned with the mask 140.

[0059] 15, the cleaner unit 160 is located below the mask 140. The cleaner unit 160 includes a sheet roll 161, a cleaning head 162, and a take-up roll 163.

[0060] The cleaning unit 160 is movable back and forth in the Y direction relative to the base 110. The cleaning unit 160 includes a cleaning sheet wound around the sheet roll 161, and a cleaning head 162 cleans the underside of the mask using the cleaning sheet. The take-up roll 163 takes up the used cleaning sheet. The cleaner unit 160 is movable back and forth in the Y direction relative to the base 110.

[0061] 16 is a plan view of the printing stage 130, and FIG. 17 is a cross-sectional view of the printing stage 130. The printing stage 130 is provided on a base 110.

[0062] The printing stage 130 includes a printing table 131, a substrate fixing unit 132, a backup unit 133, a pin station 137, and the like.

[0063] The substrate fixing unit 132 fixes the substrate T, which has been transported onto the printing table 131, at a predetermined height.

[0064] 17, the backup unit 133 includes a base 134 and an elevator device 135. The elevator device 135 may be, for example, a motor-driven screw mechanism. The backup unit 133 corresponds to the "arrangement unit 30" of the present invention.

[0065] The pin stations 137 are located on both sides of the backup unit 133 in the X direction. The pin stations 137 are storage locations for the first positioning pins P1 and the second positioning pins P2, and can store the pins in an upright position on a pin base 138 as shown in Figure 18. The pin stations 137 can be raised and lowered relative to the printing table 131 by motor drive.

[0066] 19 is a perspective view of the inspection unit 170. The inspection unit 170 is located between the print stage 130 and the mask 140 in the height direction (Z direction).

[0067] The inspection unit 170 includes a camera head 180, a moving head 190, and a drive shaft 250. The drive shaft 250 supports the two heads 180, 190 so that they can move back and forth in the X direction, and is also motor-driven to move on the base 110 along a guide member 260 in the Y direction.

[0068] The camera head 180 is equipped with a mask camera and a substrate camera, and can capture images of any location on the lower surface of the mask 140 and the upper surface of the substrate T, respectively.

[0069] The moving head 190 is movable above the backup unit 133 and the pin station 137. The moving head 190 includes a base 191 and a chuck mechanism 200 that is supported so as to be movable up and down relative to the base 191. The moving head 190 corresponds to the "moving mechanism 40" of the present invention.

[0070] 20 is a plan view of the moving head 190. In this embodiment, two chuck mechanisms 200 are mounted on a base 191 side by side in the X direction.

[0071] 21 and 22, the chuck mechanism 200 includes an air-driven cylinder unit 201 and two gripping jaws 203 and 204 that can be opened and closed by the cylinder unit 201. The first positioning pin P1 can be gripped by clamping the tip of the pin with the two gripping jaws 203 and 204. The second positioning pin P2 can also be gripped in the same way.

[0072] As a result of the above, the first positioning pin P1 can be removed from the pin station 137 and placed on the base 134 of the backup unit 133. Similarly, the second positioning pin P2 can be placed.

[0073] The drive shaft 250 also has a hook (not shown) that engages with the cleaner unit 160. With the hook engaged, the drive shaft 250 is driven to move the cleaner unit 160 back and forth in the Y direction along the underside of the mask, thereby cleaning the mask 140.

[0074] The screen printing machine 100 positions the substrate T at the substrate work position using the second positioning pin P2 on the base 134. Therefore, it is possible to use the drive shaft 250 while the substrate T is being carried into the substrate work position, which has the advantage that the mask 140 can be cleaned by the cleaner unit 160 at the same time as the substrate is being carried in.

[0075] <Embodiment 2> To prevent clogging during transport, a gap may be provided between the conveyor rails 21A, 21B and the substrate T. When a gap is provided, as shown in Figure 23, due to vibration or snagging during transport, the substrate T may become inclined with respect to the traveling direction (X direction) when the substrate stops (angle θ in Figure 23).

[0076] When fixing the substrate T transported to the substrate work position, the base 31 is raised and the underside of the substrate is supported by the first positioning pin P1, but the arrangement of the first positioning pin P1 is based on the premise that the orientation of the substrate T is parallel to the direction of travel.

[0077] Therefore, if components are already mounted on the back surface of the board, when trying to support the tilted board T, the first positioning pin P1 may interfere with the components on the back surface of the board, as shown in part A of Figure 24.

[0078] In the second embodiment, in order to solve the above problem, the control unit 50 controls the movement mechanism 40 to arrange two or more second positioning pins P2 in the Y direction on the base 31 as shown in FIG.

[0079] In this embodiment, the two second positioning pins P2, P2A and P2B, are positioned at the same position in the X direction and are spaced apart in the Y direction on the base 31. Specifically, one second positioning pin P2A is positioned in a first region F1, and the other second positioning pin P2B is positioned in a second region F2. The first region F1 and the second region F2 are two regions in the Y direction separated by the center line L0 of the conveyor rails 21A and 21B. Alternatively, the two positioning pins P2A and P2B may be positioned equidistant in the Y direction from the center line L0 of the conveyor rails 21A and 21B.

[0080] As in the first embodiment, when stopping the substrate T at the substrate work position, the control unit 50 first sends the substrate T in the X direction using the two conveyor rails 21A and 21B and stops it once at the substrate work position. Thereafter, the control unit 50 controls the conveyor motor 23 to transport the stopped substrate T forward at a low speed from the substrate work position.

[0081] If the substrate T is tilted, one end of the substrate T will first come into contact with the first second positioning pin P2A, as shown in Figure 26. After that, the conveyor rail 21A on the contacting side will idle, and only the other end of the substrate T will be sent in the X direction by the conveyor rail 21B on the opposite side. This will correct the tilt of the substrate T.

[0082] As shown in FIG. 27, when both ends of the front end of the substrate abut against the two second positioning pins P2A and P2B, the substrate T assumes a posture parallel to the substrate transport direction (X direction).

[0083] Thereafter, the control unit 50 reverses the rotation of the conveyor motor 23 to reverse the transport direction, returning the substrate T by the difference ΔX between the two positions. This makes it possible to stop the substrate T at its original substrate work position. Note that these controls can be performed by controlling the amount of rotation of the conveyor motor 23, without providing a sensor to detect contact between the second positioning pin P2 and the substrate.

[0084] In the second embodiment, the two second positioning pins P2A and P2B are used to correct the tilt of the substrate T while stopping the substrate T at the substrate working position. Therefore, when backing up the substrate T stopped at the substrate working position, it is possible to prevent the first positioning pin P1 from interfering with components on the back surface of the substrate.

[0085] Furthermore, even when the substrate T is transported without tilting, the use of the two second positioning pins P2A and P2B has the advantage that the posture of the substrate T is easily stabilized when it comes into contact with the second positioning pins.

[0086] The arrangement of the second positioning pins P2A, P2B relative to the base 31 is not limited to the above. The second positioning pins P2A, P2B may be arranged at the front end TF of the substrate work position, and the two second positioning pins P2A, P2B may directly stop the substrate T at the substrate work position. Two or more second positioning pins P2 may also be arranged on the base 31. For example, three or four pins may be arranged. In this case, some of the multiple pins may be arranged in the first region F1, and the remaining pins may be arranged in the second region F2.

[0087] <Other embodiments> The technology disclosed in this specification is not limited to the embodiments described above and illustrated in the drawings, and also includes various aspects such as those described below.

[0088] (1) In the above embodiment, the present technology is applied to the screen printing machine 100, but it may also be applied to a surface mounter or a dispenser. The surface mounter is a device that mounts components on a substrate T and is equipped with a mounting head (working head) for mounting the components. The dispenser is a device that applies a coating liquid to the substrate T and is equipped with a coating head (working head).

[0089] (2) In the above embodiment, the substrate T is temporarily stopped at the substrate work position, and then the substrate T is transported and positioned until it contacts the second positioning pin P2. The position where the substrate T is temporarily stopped is not limited to the substrate work position, and may be another position as long as it is near the second positioning pin P2 (within a predetermined distance from the second positioning pin).

[0090] Furthermore, the speed at which the substrate T, which has been temporarily stopped, is transported to the second positioning pins P2 may be the same as the speed at which the substrate T is transported to the vicinity of the second positioning pins P2. [Explanation of symbols]

[0091] 10: PCB working device 20:Transport unit 30: Placement section 40: Movement mechanism 50: Control unit 61: Fixed part 62:Protrusion 63: Umbrella part P1: First positioning pin P2: Second positioning pin

Claims

1. A board working device that works on a board on which electronic components are mounted, a transport unit that transports the substrate; a placement unit; A moving mechanism; a control unit; the placement unit is located below the transport unit, and has a plurality of positioning pins arranged thereon to position the substrate transported by the transport unit; the moving mechanism is a mechanism that moves and positions the positioning pin relative to the positioning section, the plurality of positioning pins include a first positioning pin and a second positioning pin; The control unit controls the positioning of the second positioning pin in front of the substrate transport direction of the substrate work position in order to position the substrate transported by the transport unit in the substrate transport direction at the substrate work position.

2. 2. The substrate working device according to claim 1, The control unit disposes the second positioning pins on the front side of the substrate work position in the substrate transport direction.

3. 3. The substrate working device according to claim 2, When the periphery of the substrate work position is divided into a first region and a second region with the center of the width direction of the transport section as the boundary, The control unit is configured to position some of the second positioning pins in the first area and position the remaining second positioning pins in the second area.

4. 3. The substrate working device according to claim 2, The control unit controls the transport unit to further transport the substrate in the substrate transport direction after the substrate comes into contact with some of the second positioning pins.

5. 2. The substrate working device according to claim 1, the control unit causes the transport unit to perform a first transport operation and a second transport operation; the first transport operation is an operation of transporting the substrate to a position near the second positioning pin, The second transport operation is an operation of transporting the substrate from a position to which the substrate was transported by the first transport operation to the second positioning pin at a speed slower than that of the first transport operation.

6. 2. The substrate working device according to claim 1, The control unit transports the substrate until it contacts the second positioning pin located in front of the substrate work position in the substrate transport direction, and then reverses the substrate transport direction and returns the substrate to the substrate work position and stops it.

7. 2. The substrate working device according to claim 1, The substrate working device is a screen printing machine to which a mask used for screen printing is attached.

8. 8. The substrate working device according to claim 7, The second positioning pin is a fixing portion having an opening at an upper end and fixed to the placement portion; a protrusion that protrudes from the opening of the fixing portion due to a spring built into the fixing portion, The substrate working device, wherein the protruding portion comes into contact with the mask and is pushed into the opening of the fixing portion when the mask and the substrate are aligned.

9. 9. The substrate working device according to claim 8, The protruding portion has an umbrella portion that covers the opening of the fixing portion.

Images