CN107889365A - A kind of substrate rotating device and substrate alignment method - Google Patents
A kind of substrate rotating device and substrate alignment method Download PDFInfo
- Publication number
- CN107889365A CN107889365A CN201711228325.5A CN201711228325A CN107889365A CN 107889365 A CN107889365 A CN 107889365A CN 201711228325 A CN201711228325 A CN 201711228325A CN 107889365 A CN107889365 A CN 107889365A
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- module
- straight line
- driven
- workbench
- rotating device
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Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/0008—Apparatus or processes for manufacturing printed circuits for aligning or positioning of tools relative to the circuit board
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/01—Tools for processing; Objects used during processing
- H05K2203/0104—Tools for processing; Objects used during processing for patterning or coating
- H05K2203/013—Inkjet printing, e.g. for printing insulating material or resist
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/01—Tools for processing; Objects used during processing
- H05K2203/0147—Carriers and holders
- H05K2203/0165—Holder for holding a Printed Circuit Board [PCB] during processing, e.g. during screen printing
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/16—Inspection; Monitoring; Aligning
- H05K2203/166—Alignment or registration; Control of registration
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Machine Tool Units (AREA)
- Automatic Assembly (AREA)
Abstract
A kind of substrate rotating device, it includes：Pedestal；Workbench, the workbench are used for supporting substrate；The drive device of at least one driving workbench motion is provided between the bottom surface of the top surface of the pedestal and the workbench, the drive device includes drive mechanism and guiding mechanism；The guiding mechanism includes the straight line guiding mechanism and support rotary mechanism for guiding the workbench to move in the horizontal plane, the support rotary mechanism connects the straight line guiding mechanism and the workbench, and rectilinear translation and/or rotation and/or pivot offset are carried out by the control workbench that is applied in combination of the drive device.Substrate rotating device provided by the invention, structural complexity is reduced, while also improve production efficiency and control accuracy.
Description
Technical field
The present invention relates to pcb board manufacturing technology field, and in particular to a kind of substrate rotating device and substrate alignment method.
Background technology
The contraposition of pcb board generally includes two kinds at present：A kind of is the movement for being realized by X and Y-direction biaxial movement pcb board；
Another kind is to increase the movement that rotating device realizes tri- directions of X, Y, θ on the basis of biaxial movement.And twin shaft mobile device
Pcb board can not be fully achieved automatically to align, therefore practical efficiency is relatively low；And θ axles of pcb board mobile device in the prior art
Mostly directly rotate or realized using modes such as belts, it is complicated, it is necessary to which multistage linking, multistage linking or transmission cause mechanism
Complexity, aligning accuracy is relatively low, and device volume is larger；Multiple bearing is needed to can be only achieved the requirement of pcb board spray printing (or printing),
Thus greatly reduce the efficiency of automated production.
Such as Chinese patent CN203901916U discloses a kind of stage correction system of full-automatic stencil printing machine, including
Supporting plate, working plate is installed in supporting plate, platen drive device is installed in supporting plate；Peace is fixed in one end of working plate
Equipped with a pair of transport guide rails support meanss, the other end of working plate is slidably fitted with a transport guide rails connecting plate, and transport is led
The both ends of rail connecting plate are provided with a pair of transport guide rails support meanss, be provided with working plate connecting plate slide transmission device and
Servo drive；Chain-wales are provided with above working plate, at least three groups are provided between working plate and chain-wales and is led
To support meanss and platform arrangement for adjusting height；Platen drive device can be such that working plate is transported around realizing with rotation
It is dynamic, so as to the alignment realized pcb board Yu bite template.
But the correction system architecture in above-mentioned patent document is complicated, because it employs hinge, lever in transmission process
Etc. attachment structure, the bearing capacity of its workbench is limited, and because the frequency of use for correcting system is big compared with high workload intensity,
Therefore easily occur damage of components in use or cause whole device retard motion because of some component movement clamping stagnation,
Use and maintenance probability is high, and the correction system in above-mentioned patent document is also relatively complicated because of complicated maintenance.
In addition, the contraposition of pcb board word ink jet printer is typically by connecting firmly on shower nozzle before spray printing in the prior art
CCD camera captures successively spray printing coordinate system is adjusted after calculating and analyzing after the mark points on pcb board after could carry out
Spray printing, thus have impact on spray printing efficiency, precision and the production capacity of pcb board.
The content of the invention
Therefore, the technical problem to be solved in the present invention is to overcome that the spray printing efficiency of pcb board of the prior art is low, precision
The defects of poor, so as to provide a kind of substrate rotating device and substrate alignment method.
Therefore, technical scheme is as follows：
A kind of substrate rotating device, it includes：
Pedestal；
Workbench, the workbench are used for supporting substrate；
At least one driving workbench is provided between the bottom surface of the top surface of the pedestal and the workbench
The drive device of motion, the drive device include drive mechanism and the guiding mechanism being attached thereto；
The guiding mechanism includes the straight line guiding mechanism for guiding the workbench to move in the horizontal plane and support is revolved
Rotation mechanism, the support rotary mechanism connect the straight line guiding mechanism and the workbench, pass through the drive device
The control workbench is applied in combination and carries out rectilinear translation and/or rotation and/or pivot offset.
Further, the guiding mechanism also includes lubricating structure, and the lubricating structure lubricates the guiding mechanism.
Further, the straight line guiding mechanism includes the straight line priming module of orthogonal setting in the horizontal plane, institute
It is bearing to state support rotary mechanism.
Further, the straight line priming module includes two X-axis straight lines reference modules arranged in parallel, Yi Jiyi
It is individual to quote the vertically disposed Y-axis straight line priming module of module with the X-axis straight line.
Further, the straight line priming module includes module pedestal, screw mandrel and guide assembly, the screw mandrel respectively with institute
State drive mechanism to connect with the guide assembly, each part of straight line priming module, the mould described in the module base supports
Group pedestal is fixedly connected with the pedestal of rotating device, and the guide assembly is connected with the bearing.
Further, the guide assembly include the first rail portion for being be arranged in parallel with the screw mandrel and with the screw mandrel
Vertically disposed second rail portion, first rail portion are connected with the screw mandrel, and second rail portion is respectively with described
One rail portion connects with the bearing.
Further, first rail portion includes the first guide rail and the first matched sliding block, second guide rail
Portion includes the second guide rail and the second matched sliding block, and first guide rail is arranged on the module pedestal, and described first
Sliding block is connected with the screw mandrel, and second guide rail is arranged on first sliding block, and the bearing connects second sliding block
With the workbench.
Further, the rotating device also includes driven guide device, and the driven guide device is straight line from dynamic model
Group, the driven module of straight line are set parallel to the Y-axis straight line priming module.
Further, the driven module of the straight line includes driven module pedestal and driven guide assembly, the driven module
Driven guide assembly described in base supports, the driven module pedestal are fixedly connected with the pedestal of rotating device, the set of rails
Part is connected with the bearing.
Further, the driven guide assembly includes the mutually perpendicular first driven rail portion and the second driven guide rail
Portion, the first driven rail portion are connected with the driven module pedestal, and the second driven rail portion is respectively with described first
Driven rail portion connects with the bearing.
Further, the described first driven rail portion includes the first driven guide rail and the first matched driven sliding block,
The second driven rail portion includes the second driven guide rail and the second matched driven sliding block, and the first driven guide rail is set
Put on the driven module pedestal, the second driven guide rail is arranged in first driven sliding block, the bearing connection
Second driven sliding block and the workbench.
Further, the straight line priming module also includes position sensor and locating part.
Further, the position sensor is photoelectric sensor, and the locating part includes being arranged at the module group substrates
On the limited block positioned at the first sliding block both sides.
Further, the bearing is sized cross roller bearings.
Further, the lubricating structure includes guide rail lubricating structure and bearing-lubricating mechanism.
Further, the guide rail lubricating structure includes guide rail oil nozzle and guide rail oil duct in communication, the rail oil
Road connects with first guide rail and second guide rail.
Further, the bearing-lubricating mechanism includes bearing oil nozzle and bearing oil duct in communication, the bearing oil
Road connects with the bearing.
A kind of substrate adjusting apparatus, it includes：
Detection means, the initial position of the detection means detection substrate,
Data analysis set-up, it is connected with the detection means and the initial position message of detection means collection is divided
Analysis and comparison processing；
Control device, it is connected with the data analysis set-up, and it sends control instruction according to data results；
Also include the rotating device described in above-mentioned any one, the rotating device is connected with the control device, described
Rotating device performs correspondingly adjustment according to the control instruction of the control device and acted.
A kind of method for carrying out aligning adjustment to substrate using substrate adjusting apparatus described above, it includes：
S1:Substrate initial position is detected by detection means, and the positional information detected is sent to data
Analytical equipment；
S2:The initial position that the data analysis set-up gathers to the detection means is carried out to score with precalculated position
Analysis, and analysis result is sent to control device；
S3：The control device carries out contraposition adjustment operation to the substrate according to the result of comparative analysis；
The step of contraposition adjustment, includes：
Start one or more straight line priming modules, driving workbench rectilinear movement；And/or start multiple straight line primings
Module, driving workbench rotate；And/or start multiple straight line priming modules, drive workbench pivot offset.
Further, the step of driving workbench rectilinear movement includes：
A. workbench is made along the step of X-direction displacement：
Start two groups of X-axis straight lines simultaneously and quote module, Y-axis straight line priming module does not start, X-axis straight line described in two of which
The moving direction of reference module is identical, and the displacement that two X-axis straight lines quote modules is equal；
And/or
B. workbench is made along the step of Y direction displacement：
Start Y-axis straight line priming module, X-axis straight line is quoted module and do not started, and the workbench moves along Y direction straight line
It is dynamic；
And/or
C. make workbench along straight line tiltedly move the step of：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, X-axis straight line described in two of which is quoted
The moving direction of module is identical, and the displacement that two X-axis straight lines quote module is equal.
Further, the step of driving workbench horizontally rotates includes：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, X-axis straight line described in two of which is quoted
The moving direction of module on the contrary, and two X-axis straight lines displacement for quoting modules it is equal.
Further, driving the step of workbench pivot offset includes：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, X-axis straight line described in two of which is quoted
The moving direction of module is identical, and two X-axis straight lines quote the displacement of module.
A kind of Method of printing of pcb board, it includes：
S1：Automatic aligning operation is carried out to pcb board using the method for the substrate contraposition adjustment as described in above-mentioned any one；
S2：Pcb board input printing equipment is subjected to printing after the completion of contraposition.
Further, the printing of previous pcb board and the alignment operation of the latter pcb board are carried out simultaneously.
Technical solution of the present invention, have the following advantages that：
1. substrate rotating device provided by the invention, can be in two rectilinear direction independently movings or combination by being provided with
The straight line guiding module of motion, meet the tune of the rectilinear movement, rotation and the rotation offset that are needed during substrate contraposition adjustment
Whole demand, reduce the θ axle electric rotating machines for the control platform rotation for needing individually additionally to set in the prior art, thus reduce knot
Structure complexity, while also reduce rotating device and taken up space.
2. substrate rotating device provided by the invention, each straight line guides module by setting ball-screw, guide rail and friendship
Fork ball bearing improves the precision of rectilinear movement and Turning matched, is convenient for accurate contraposition control.
3. substrate contraposition provided by the invention and substrate Method of printing, it can realize that substrate contraposition and the automation of spray printing are grasped
Make, realize pcb board spray printing (or printing) automation, improve production efficiency, reduce production cost.
4. substrate contraposition provided by the invention and substrate Method of printing so that contraposition process departs from sprayed printed system, can incite somebody to action
Pcb board be sent into automatic contraposition device to completion contraposition be sent to inkjet printing position by the modes such as PLC or software control can 3~
Completed in 5 seconds, this time is considerably less than the process time of the inkjet printing of pcb board.Therefore it is complete when a upper pcb board prints
The automatic aligning of pcb board can be completed entirely, it is thus achieved that the automated production that pcb board uninterruptedly prints, so as to greatly improve
Operating efficiency, reduces production cost.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the substrate rotating device of the present invention；
Fig. 2 is the explosive view of substrate rotating device shown in Fig. 1；
Fig. 3 is that the X-axis straight line of the present invention quotes the structural representation of module and Y-axis straight line priming module；
Fig. 4 is the structural representation of the lubricating structure of the present invention；
Fig. 5 is the magnified partial view of the table spindle bearing bore shown in Fig. 2；
Fig. 6 is the installation sectional view of the sized cross roller bearings shown in Fig. 2；
Fig. 7 is the structural representation of the driven module of straight line shown in Fig. 1-2.
Description of reference numerals：
1- pedestals；2- workbenches；21- table spindle bearing bore；211- first steps hole；212- second steps hole；213-
Bearing upper cover hole 213；
3- straight line guiding mechanisms；31-X axles straight line quotes module；32-Y axle straight line priming modules；The driven module of 33- straight lines；
4- module pedestals；5- motors；6- ball screws；
7- guide assemblies；The rail portions of 71- first；The guide rails of 711- first；The sliding blocks of 712- first；The rail portions of 72- second；721-
Second guide rail；The sliding blocks of 722- second；
8- shaft couplings；
9- sized cross roller bearings；91- bearing upper covers；92- bearings；93- bearing glands；94- bearing upper cover lock screws；
95- bearing gland lock screws；
The driven module pedestals of 10-；The driven guide assemblies of 11-；The first driven rail portions of 111-；The first driven guide rails of 1111-；
The driven sliding blocks of 1112- first；The second driven rail portions of 112-；The second driven guide rails of 1121-；The driven sliding blocks of 1122- second；
12- stroke limit blocks；13- photoelectric sensors；131-U type opening sensors；132- sensing chips；
14- lubricating structures；141- guide rail lubricating structures；1411- guide rail oil filler points；1412- guide rail oil ducts；142- bearings moisten
Sliding mechanism；1421- bearing oil nozzles；1422- bearing oil ducts.
15- steady pins；16- central support shafts.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It is be combined with each other into conflict can.
Embodiment 1
As shown in Figure 1-2, the invention discloses a kind of substrate adjusting apparatus, it include detection means, data analysis set-up,
Control device and substrate rotating device, wherein detection means are used for the initial position for detecting substrate, data analysis set-up and detection
Device connects, and the initial position message that data analysis set-up collects detection means is analyzed and enters itself and precalculated position
Row is compared, and control device is connected with data analysis set-up and substrate rotating device respectively, and it sends according to data results
Control instruction control base board rotating device carries out correspondingly adjustment and acted, and most substrate is adjusted to reach precalculated position at last.
The substrate rotating device of the present invention, it includes pedestal 1, workbench 2, drive device and driven guide device, its
Middle workbench 2 is used for supporting substrate (being not shown).Set between the top surface of pedestal 1 and the bottom surface of workbench 2
There are the drive devices that multiple driving workbenches 2 move, the drive device in the present embodiment is provided with three, driven guide device
One is provided with, wherein being integrated with drive mechanism, guiding mechanism and lubricating structure 33 in each drive device, guiding mechanism connects
Pedestal 1 and workbench 2 are connect, lubricating structure 33 is used to lubricate guiding mechanism, starts by the various combination of three drive devices
Workbench is controlled to carry out rectilinear translation and/or rotation and/or rotation offset.
Wherein as shown in figs. 1 and 3, the drive mechanism in the present embodiment uses motor 5.Guiding mechanism includes guiding work and put down
The intersection that the straight line guiding mechanism 3 and support working platform 2 that platform 2 moves in the horizontal plane rotate relative to straight line guiding mechanism 3
Roller bearing 9, wherein sized cross roller bearings 9 connection straight line guiding mechanism 3 and workbench 2.
Specifically, straight line guiding mechanism 3 includes two X-axis straight lines reference module arranged in parallel in the horizontal plane
31, and one and the X-axis straight line reference vertically disposed Y-axis straight line priming module 32 of module 31.Referring to accompanying drawing 3, two of which X-axis
Straight line, which quotes module 31 and a Y-axis straight line priming module 32, includes module pedestal 4, ball screw 6 and guide assembly 7.Mould
Group pedestal 4 supports above-mentioned ball screw 6 and guide assembly 7 in X-axis, Y-axis straight line priming module, ball screw 6 and motor 5
Output end is connected by shaft coupling 8, wherein as shown in Fig. 2 module pedestal 4 is corresponding respectively with the pedestal 1 of substrate rotating device
Ground is provided with through hole, and X-axis, the module pedestal 4 of Y-axis straight line priming module pass through steady pin 15 and the base of substrate rotating device respectively
Seat 1 is fixedly connected.
Referring to accompanying drawing 3, the guide assembly 7 in the present embodiment includes the first rail portion 71 and the second rail portion 72, wherein
First rail portion 71 and the second rail portion 72 include sliding block and the guide rail coordinated with sliding block.Specifically, the first rail portion 71 is wrapped
The first guide rail 711 and the first sliding block 712 being slidably matched are included, wherein the first guide rail 711 be arranged in parallel with ball screw 6.First
Guide rail 711 is fixedly installed on module pedestal 4, and the first sliding block 712 can slide along the first guide rail 711 is horizontal, ball screw 6 and the
One sliding block 712 is threadedly coupled, and one end of ball screw 6 is driven by shaft coupling 8 by motor 5, and motor 5 can drive ball screw 6
Rotation is so that the first sliding block 712 being connected with ball screw 6 is moved horizontally along the first guide rail 711.Second rail portion 72
Including the second guide rail 721 and the second sliding block 722 being slidably matched, wherein the second guide rail 721 is fixedly installed on the first sliding block 712
On, the second guide rail 721 is vertically arranged with screw mandrel 6, i.e., the second guide rail 721 is similarly with the first guide rail 711 and is vertically arranged, and second slides
Block 722 can slide along the second guide rail 721 is horizontal, at the same the upper surface of the second sliding block 722 be fixed with it is vertical with its upper surface in
Heart support shaft 16, central support shaft 16 are pivotally connected by sized cross roller bearings 9 and workbench 2.
As shown in Fig. 2 sized cross roller bearings 9 in the present embodiment include bearing upper cover 91, bearing 92, bearing gland 93,
Bearing upper cover lock screw 94 and bearing gland lock screw 95, wherein as shown in figures 2 and 5, bearing 92 is fixedly installed to work
In the table spindle bearing bore 21 being correspondingly arranged on platform 2, specifically, as shown in figure 5, table spindle bearing bore 21 includes first step
Hole 211, second step hole 212 and bearing upper cover hole 213.As seen in figs. 5-6, wherein bearing gland 93 is installed to first step hole
In 211, the part and the step surface in first step hole 211 of its upper surface abut against, and pass through bearing gland lock screw 95
Bearing gland 93 is fixedly connected with workbench 2.Bearing 92 is fixedly installed in second step hole 212, and the one of its upper surface
Step surface of the part in second step hole 212 abuts against, while bearing 92 is set in the center branch being arranged on the second sliding block 722
Hold on axle 16, the upper end of bearing 92 is compressed by bearing upper cover 91, and bearing upper cover 91 is installed in bearing upper cover hole 213 and and axle
Hold 92 to abut against, bearing upper cover 91 is fixedly connected by bearing upper cover lock screw 94 with central support shaft 16.From there through friendship
Workbench 2 is pivotally mounted X-axis, on Y-axis straight line priming module by fork roller bearing 9.Due to being slided in workbench 2 and second
Sized cross roller bearings 9 are provided between block 722, therefore allow to relatively rotate between the sliding block 722 of workbench 2 and second,
Simultaneously because being provided with straight line guiding mechanism also allows workbench 2 by the way that straight line occurs between first, second sliding block and pedestal 1
It is mobile.
Substrate rotating device in the present embodiment also includes the driven module 33 of straight line, the driven module of straight line in the present embodiment
33 are set parallel to Y-axis straight line priming module 32, and thus 33, two X-axis straight lines of the driven module of straight line quote module 31 and Y-axis is straight
Line priming module 32 is respectively distributed on the four edges of rectangle.The driven module 33 of straight line and X-axis, the area of Y-axis straight line priming module
It is not not needing external drive mechanism, i.e. the driven module 33 of straight line need not connect motor, and it includes X-axis, Y-axis straight line priming
Remaining all part outside screw mandrel are removed in module.
As shown in fig. 7, specifically, the driven module 33 of straight line includes driven module pedestal 10 and driven guide assembly 11, from
Dynamic model group pedestal 10 supports driven guide assembly 11.Wherein, driven module pedestal 10 is fixed again by steady pin 15 and pedestal 1
Connection, driven guide assembly 11 include the mutually perpendicular first driven 111 and second driven rail portion 112 of rail portion.First from
Dynamic rail portion 111 includes the first driven guide rail 1111 and the first matched driven sliding block 1112, the second driven rail portion 112
Including the second driven guide rail 1121 and the second matched driven sliding block 1122, the first driven guide rail 1111 is arranged on from dynamic model
On group pedestal 10, the second driven guide rail 1121 is connected with the first driven sliding block 1112, while the upper table of the second driven sliding block 1122
Face is pivotally connected by sized cross roller bearings 9 and workbench 2, and its concrete structure and the intersecting roller bearing 9 of connected mode connect
It is identical with mode to connect X-axis, the structure of Y-axis straight line priming module.
As shown in figure 3, each straight line priming module in the present embodiment also includes position sensor and locating part, it is used for
Detect and limit the movement position of each straight line priming module.Wherein locating part is to be set along the direction of motion of the first sliding block 712
Stroke limit block 12 in the first guide rail 711 and the both ends of the first sliding block 712, position sensor are photoelectric sensor 13, wherein light
Electric transducer 13 further comprises U-shaped opening sensor 131 and sensing chip 132, and wherein U-shaped opening sensor 131 is fixedly mounted
In on module pedestal 4, sensing chip 132 is fixedly installed in the side side on the first sliding block 712, and sensing chip 132 by screw
Along the direction lineal layout parallel with ball screw 6, the opening of itself and U-shaped opening sensor 131 is arranged in correspondence with.The present embodiment
In, it is as shown in figs. 1 and 3, equidistant on each straight line guiding module to be provided with three U-shaped opening sensors 131, it is and wherein adjacent
Two U-shaped opening sensors 131 be accordingly provided with two sensing chips 132, the distance between two sensing chips 132 and phase
The distance between adjacent two U-shaped opening sensors 131 are equal, when two sensing chips 132 reach adjacent two U-shaped openings sensing
During device 131, the output signal of U-shaped opening sensor 131, control device controlled motor 5 is stopped, therefore straight line guiding module
Effective travel is between two U-shaped opening sensors 131 positioned at both ends.Certainly also can by only set a sensing chip and
The mode of two U-shaped opening sensors is defined to the effective exercise stroke of each straight line priming module.
As shown in figure 4, the lubricating structure 14 in the present embodiment includes guide rail lubricating structure 141 and bearing-lubricating mechanism 142.
Its middle guide lubricating structure 141 includes being respectively used to the first guide rail lubricating structure for lubricating the first guide rail 711 and the second guide rail 721
With the second guide rail lubricating structure, wherein first, second guide rail lubricating structure includes note guide rail oil filler point 1411 and in communication
Guide rail oil duct 1412, guide rail oil filler point 1411 is used to inject lubricating oil, guide rail oil duct 1412 respectively with guide rail oil filler point 1411
Connected with first, second guide rail.Bearing-lubricating mechanism 142 also includes note bearing oil nozzle 1421 and bearing oil duct in communication
1422, wherein bearing oil duct 1422 connects with sized cross roller bearings 9.Guide rail lubricating structure in the present embodiment by setting respectively
141 and bearing-lubricating mechanism 142 guide rail and bearing can be lubricated respectively, reduce and worn caused by long-term work.
The number of assembling steps of the substrate rotating device of the present invention is as follows：
First, each module base 4 of each straight line guiding mechanism 3 is fixedly installed to substrate rotating device by steady pin 15
Pedestal 1 on；Secondly, bearing 92 and bearing gland 93 are sequentially loaded into the second step emptying aperture 212 of workbench bearing hole 21
Bearing gland 93 is fixedly connected with workbench 2 in first step hole 211, and by bearing gland lock screw 95.So
Afterwards, the bearing 92 being fixedly installed on workbench 2 is aligned to the central support shaft 16 for covering and being attached in each straight line guiding mechanism 3
On；Finally, the bearing upper cover 91 of each sized cross roller bearings 9 is sequentially loaded into the bearing upper cover of corresponding table spindle bearing bore 21
In hole 213, and bearing upper cover 91 and central support shaft 16 are fixed by bearing upper cover lock screw 94.
Embodiment 2
The present embodiment is the substrate alignment method aligned using the rotating device in embodiment 1 to substrate, and its is main
Comprise the following steps：
S1:The initial position of substrate is detected by detection means first；Such as it can be captured successively by CCD camera
By the initial position message of calculating analytic substrate after mark points on substrate.
S2:The substrate initial position message detected by CCD camera is sent to data analysis set-up, data analysis dress
Put to the initial position of substrate is analyzed with precalculated position, and analysis result is sent to control device, such as PLC
Control device.
S3:Control device carries out contraposition adjustment operation to substrate according to the result of data analysis set-up comparative analysis, by base
Plate is adjusted to reach precalculated position by contraposition.
The step of adjustment is aligned in wherein step S3 may include any one set-up procedure in following steps (1)~(3), or
The combination of any several set-up procedures in person (1)~(3)：
(1), wherein drive workbench rectilinear movement the step of comprise the following steps in abc any one or it is several
Combination：
A. when substrate initial position and precalculated position have the deviation of X-direction, workbench is controlled along X-direction position
The step of shifting：
Starting two groups of X-axis straight lines simultaneously and quote module, the moving direction that two of which X-axis straight line quotes module is identical, and
The displacement that two X-axis straight lines quote module is equal；Now, workbench 2 moves along X-direction horizontal linear.
B. when substrate initial position and precalculated position have the deviation of Y direction, workbench is made along Y direction displacement
The step of：
Start Y-axis straight line priming module, workbench moves linearly along Y direction；Now, workbench 2 is along Y direction
Horizontal linear moves.
C. when substrate initial position and precalculated position have the straight line variation between X-axis and Y direction, work is made
Platform along straight line tiltedly move the step of：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, two of which X-axis straight line quotes mould
The moving direction of group is identical, and the displacement that two X-axis straight lines quote module is equal.Now, workbench 2 is along positioned at X-axis
Straight horizontal rectilinear movement between Y-axis.
(2) and when angular deviation be present in substrate initial position and precalculated position, step that driving workbench horizontally rotates
Suddenly include：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, two of which X-axis straight line quotes mould
The moving direction of group on the contrary, and two X-axis straight lines quote modules displacement it is equal.Now, because two X-axis straight lines are quoted
Module move distance is equal and the direction of motion is on the contrary, workbench 2 horizontally rotates.
(3), when substrate initial position and precalculated position had not only had angular deviation but also during existence position deviation, driving work is put down
The step of platform rotation offset, includes：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, two of which X-axis straight line quotes mould
The moving direction of group is identical, and two X-axis straight lines quote the displacement of module.Now, because two X-axis straight lines are quoted
The displacement of module, workbench 2 not only rotate but also position occur and move in the horizontal plane.
Embodiment 3
Embodiment 3 is a kind of Method of printing of pcb board, and it comprises the following steps：
S1：Automatic aligning operation is carried out to pcb board using the substrate alignment method in such as embodiment 2；
S2：Pcb board input printing equipment is subjected to printing after the completion of contraposition.
And the printing of previous pcb board and the alignment operation of the latter pcb board are carried out simultaneously, thus can be improved
The efficiency of PCB productions improves the production capacity of production line.
Substrate rotating device provided by the invention, it can be transported by being provided with two rectilinear direction independently movings or combination
Dynamic straight line priming module, meet the adjustment of the rectilinear movement, rotation and the rotation offset that are needed during substrate contraposition adjustment
Demand, reduce the θ axle electric rotating machines for the control platform rotation for needing individually additionally to set in the prior art, thus reduce structure
Complexity, while also reduce rotating device and taken up space.
Substrate contraposition provided by the invention and substrate Method of printing simultaneously so that contraposition process departs from sprayed printed system, can
By pcb board be sent into automatic contraposition device be sent to that inkjet printing position controlled by modes such as PLC or softwares to completion contraposition can be 3
Completed in~5 seconds, this time is considerably less than the process time of the inkjet printing of pcb board.Therefore when a upper pcb board prints
The automatic aligning of pcb board can be completed completely, it is thus achieved that the automated production that pcb board uninterruptedly prints, so as to carry significantly
High operating efficiency, reduces production cost
Obviously, above-described embodiment is only intended to clearly illustrate example, and is not the restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (24)
1. a kind of substrate rotating device, it includes：
Pedestal；
Workbench, the workbench are used for supporting substrate；
At least one driving workbench motion is provided between the bottom surface of the top surface of the pedestal and the workbench
Drive device, the drive device includes drive mechanism and the guiding mechanism that is attached thereto；
It is characterized in that：
The guiding mechanism includes the straight line guiding mechanism for guiding the workbench to move in the horizontal plane and support whirler
Structure, the support rotary mechanism connect the straight line guiding mechanism and the workbench, pass through the combination of the drive device
Rectilinear translation and/or rotation and/or pivot offset are carried out using the workbench is controlled.
2. rotating device according to claim 1, it is characterised in that：The guiding mechanism also includes lubricating structure, described
Lubricating structure lubricates the guiding mechanism.
3. rotating device according to claim 2, it is characterised in that：The straight line guiding mechanism includes mutual in the horizontal plane
The straight line priming module of perpendicular setting, the support rotary mechanism are bearing.
4. rotating device according to claim 3, it is characterised in that：The straight line priming module is parallel to each other including two
The X-axis straight line of setting quotes module, and one is quoted the vertically disposed Y-axis straight line priming module of module with the X-axis straight line.
5. the rotating device according to claim 3 or 4, it is characterised in that：The straight line priming module include module pedestal,
Screw mandrel and guide assembly, the screw mandrel are connected with the drive mechanism and the guide assembly respectively, the module base supports
Each part of the straight line priming module, the module pedestal are fixedly connected with the pedestal of rotating device, the set of rails
Part is connected with the bearing.
6. rotating device according to claim 5, it is characterised in that：The guide assembly includes set parallel with the screw mandrel
The first rail portion for putting and connect with vertically disposed second rail portion of the screw mandrel, first rail portion with the screw mandrel
Connect, second rail portion is connected with first rail portion and the bearing respectively.
7. rotating device according to claim 6, it is characterised in that：First rail portion is including the first guide rail and therewith
The first sliding block coordinated, second rail portion include the second guide rail and the second matched sliding block, and first guide rail is set
Put on the module pedestal, first sliding block is connected with the screw mandrel, and second guide rail is arranged on first sliding block
On, the bearing connects second sliding block and the workbench.
8. according to the rotating device described in claim 1-7 any one, it is characterised in that：The rotating device also includes driven
Guide device, the driven guide device are the driven module of straight line, and the driven module of straight line is parallel to the Y-axis straight line priming
Module is set.
9. rotating device according to claim 8, it is characterised in that：The driven module of straight line includes driven module pedestal
With driven guide assembly, driven guide assembly described in the driven module base supports, the driven module pedestal and rotating dress
The pedestal put is fixedly connected, and the guide assembly is connected with the bearing.
10. rotating device according to claim 9, it is characterised in that：The driven guide assembly includes mutually perpendicular
First driven rail portion and the second driven rail portion, the first driven rail portion is connected with the driven module pedestal, described
Second driven rail portion is connected with the described first driven rail portion and the bearing respectively.
11. rotating device according to claim 10, it is characterised in that：It is driven that the first driven rail portion includes first
Guide rail and the first matched driven sliding block, the second driven rail portion include the second driven guide rail and matched the
Two driven sliding blocks, the first driven guide rail are arranged on the driven module pedestal, and the second driven guide rail is arranged on institute
State in the first driven sliding block, the bearing connects second driven sliding block and the workbench.
12. according to the rotating device described in claim 3-11 any one, it is characterised in that：The straight line priming module also wraps
Include position sensor and locating part.
13. rotating device according to claim 12, it is characterised in that：The position sensor is photoelectric sensor, institute
State the limited block positioned at the first sliding block both sides that locating part includes being arranged on the module group substrates.
14. according to the rotating device described in claim 3-13 any one, it is characterised in that：The bearing is decussation roller axle
Hold.
15. according to the rotating device described in claim 1-14 any one, it is characterised in that：The lubricating structure includes guide rail
Lubricating structure and bearing-lubricating mechanism.
16. rotating device according to claim 15, it is characterised in that：The guide rail lubricating structure include guide rail oil nozzle and
Guide rail oil duct in communication, the guide rail oil duct connect with first guide rail and second guide rail.
17. the rotating device according to claim 15 or 16, it is characterised in that：The bearing-lubricating mechanism includes bearing oil
Mouth and bearing oil duct in communication, the bearing oil duct connect with the bearing.
18. a kind of substrate adjusting apparatus, it includes：
Detection means, the initial position of the detection means detection substrate,
Data analysis set-up, its be connected with the detection means and to detection means collection initial position message carry out analysis and
Comparison is handled；
Control device, it is connected with the data analysis set-up, and it sends control instruction according to data results；
It is characterized in that：
Also including the rotating device described in above-mentioned any one claim, the rotating device is connected with the control device,
The rotating device performs correspondingly adjustment according to the control instruction of the control device and acted.
19. a kind of method for carrying out aligning adjustment to substrate using substrate adjusting apparatus as claimed in claim 18, it includes：
S1:Substrate initial position is detected by detection means, and the positional information detected is sent to data analysis
Device；
S2:The initial position that the detection means gathers and precalculated position are analyzed the data analysis set-up, and
Analysis result is sent to control device；
S3：The control device carries out contraposition adjustment operation to the substrate according to the result of comparative analysis；
It is characterized in that：
The step of contraposition adjustment, includes：
Start one or more straight line priming modules, driving workbench rectilinear movement；And/or start multiple straight line priming moulds
Group, driving workbench rotate；And/or start multiple straight line priming modules, drive workbench pivot offset.
20. the method for contraposition adjustment according to claim 19, it is characterised in that：Drive the step of workbench rectilinear movement
Suddenly include：
A. workbench is made along the step of X-direction displacement：
Start two groups of X-axis straight lines simultaneously and quote module, Y-axis straight line priming module does not start, and X-axis straight line described in two of which is quoted
The moving direction of module is identical, and the displacement that two X-axis straight lines quote module is equal；
And/or
B. workbench is made along the step of Y direction displacement：
Start Y-axis straight line priming module, X-axis straight line is quoted module and do not started, and the workbench moves linearly along Y direction；
And/or
C. make workbench along straight line tiltedly move the step of：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, X-axis straight line described in two of which quotes module
Moving direction it is identical, and the displacement that two X-axis straight lines quote modules is equal.
21. the method for the contraposition adjustment according to claim 19 or 20, it is characterised in that：Driving workbench horizontally rotates
The step of include：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, X-axis straight line described in two of which quotes module
Moving direction on the contrary, and two X-axis straight lines displacement for quoting modules it is equal.
22. the method for the contraposition adjustment according to claim 19-21 any one, it is characterised in that：Drive workbench
The step of pivot offset, includes：
Start whole X-axis straight lines simultaneously and quote module and Y-axis straight line priming module, X-axis straight line described in two of which quotes module
Moving direction it is identical, and two X-axis straight lines quote the displacement of module.
A kind of 23. Method of printing of pcb board, it is characterised in that including：
S1：It is automatic right that pcb board is carried out using the method for the substrate contraposition adjustment as described in any one in claim 19-22
Bit manipulation；
S2：Pcb board input printing equipment is subjected to printing after the completion of contraposition.
A kind of 24. Method of printing of pcb board as claimed in claim 23, it is characterised in that：The printing of previous pcb board
Carried out simultaneously with the alignment operation of the latter pcb board.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711228325.5A CN107889365B (en) | 2017-11-29 | 2017-11-29 | Substrate rotating device and substrate alignment method |
| PCT/CN2018/091466 WO2019105005A1 (en) | 2017-11-29 | 2018-06-15 | Substrate rotating apparatus and substrate alignment method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711228325.5A CN107889365B (en) | 2017-11-29 | 2017-11-29 | Substrate rotating device and substrate alignment method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107889365A true CN107889365A (en) | 2018-04-06 |
| CN107889365B CN107889365B (en) | 2020-02-28 |
Family
ID=61776105
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711228325.5A Expired - Fee Related CN107889365B (en) | 2017-11-29 | 2017-11-29 | Substrate rotating device and substrate alignment method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107889365B (en) |
| WO (1) | WO2019105005A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531548A (en) * | 2018-12-28 | 2019-03-29 | 燕山大学 | A kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform |
| CN109732299A (en) * | 2019-01-09 | 2019-05-10 | 深圳福瑞特自动化有限公司 | Position adjusting mechanism and positioning device |
| WO2019105005A1 (en) * | 2017-11-29 | 2019-06-06 | 南京协辰电子科技有限公司 | Substrate rotating apparatus and substrate alignment method |
| CN110977949A (en) * | 2019-12-30 | 2020-04-10 | 昆山希盟自动化科技有限公司 | Plane coordinate adjusting mechanism |
| CN111604867A (en) * | 2020-05-21 | 2020-09-01 | 张营国 | Four-axis coplanar correction platform and origin regression method |
| TWI727821B (en) * | 2020-06-05 | 2021-05-11 | 瑞統科技股份有限公司 | Positioning correction device and positioning method of printed circuit board |
| CN113188737A (en) * | 2021-04-13 | 2021-07-30 | 西安航天动力技术研究所 | Two-dimensional earthquake simulation shaking table |
| CN114459406A (en) * | 2022-01-18 | 2022-05-10 | 武汉华星光电半导体显示技术有限公司 | Alignment mechanism, alignment method based on alignment mechanism and readable storage medium |
| CN115122285A (en) * | 2022-07-18 | 2022-09-30 | 深圳市易天自动化设备股份有限公司 | UVW (ultraviolet light source) alignment platform and control method thereof |
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| CN101284365A (en) * | 2007-04-13 | 2008-10-15 | 奇美电子股份有限公司 | Rotary device, edging device of baseplate and edging method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019105005A1 (en) * | 2017-11-29 | 2019-06-06 | 南京协辰电子科技有限公司 | Substrate rotating apparatus and substrate alignment method |
| CN109531548A (en) * | 2018-12-28 | 2019-03-29 | 燕山大学 | A kind of orthogonal branches redundant drive heavy duty planar three freedom motion platform |
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| CN111604867B (en) * | 2020-05-21 | 2023-06-23 | 张营国 | Four-axis coplanar correction platform and origin regression method |
| TWI727821B (en) * | 2020-06-05 | 2021-05-11 | 瑞統科技股份有限公司 | Positioning correction device and positioning method of printed circuit board |
| CN113188737A (en) * | 2021-04-13 | 2021-07-30 | 西安航天动力技术研究所 | Two-dimensional earthquake simulation shaking table |
| CN113188737B (en) * | 2021-04-13 | 2022-09-02 | 西安航天动力技术研究所 | Two-dimensional earthquake simulation shaking table |
| CN114459406A (en) * | 2022-01-18 | 2022-05-10 | 武汉华星光电半导体显示技术有限公司 | Alignment mechanism, alignment method based on alignment mechanism and readable storage medium |
| CN115122285A (en) * | 2022-07-18 | 2022-09-30 | 深圳市易天自动化设备股份有限公司 | UVW (ultraviolet light source) alignment platform and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107889365B (en) | 2020-02-28 |
| WO2019105005A1 (en) | 2019-06-06 |
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