JP3122708B2 - Paste coating machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a substrate having a desired shape formed on a substrate mounted on a table by discharging the paste from a nozzle while relatively moving the substrate and the nozzle. The present invention relates to a paste applicator that applies and draws a paste pattern, and more particularly, to a paste applicator that applies and draws a plurality of paste patterns on a same substrate in a predetermined order.

[0002]

2. Description of the Related Art A nozzle is fixed to the tip of a paste storage cylinder (also called a syringe) in which paste is stored, the nozzle is opposed to a substrate placed on a table, and paste is discharged from a paste discharge port of the nozzle. By moving at least one of the nozzle and the substrate horizontally while changing the relative positional relationship between them, an example of a paste application machine using a discharge drawing technique of applying a paste on a substrate in a desired pattern is known. For example, see JP-A-2-52742.
No., published in Japanese Unexamined Patent Publication No. This paste coater applies and draws a resistive paste in a desired pattern on an insulating substrate.

[0003]

Heretofore, when a plurality of paste patterns are to be applied and drawn on the same substrate by a paste coating machine, an operator has to apply each paste pattern onto the substrate.
It is necessary to input required data such as the position and length of the stop pattern and the drawing order. In particular, when inputting the drawing order data, it is necessary to review and re-enter the data, even with the intuition and experience of a skilled worker in determining the order, which takes a lot of time. Was.

During the required data input, the paste coater cannot be used as a matter of course. Each time the type of board changes, the operator inputs necessary data for drawing.
A so-called setup change preparation operation is required, and the more the setup change, the lower the utilization rate of the paste coating machine.

SUMMARY OF THE INVENTION An object of the present invention is to solve such a problem and to input position data of a plurality of past patterns,
An object of the present invention is to provide a paste coating machine in which the drawing order of each paste pattern is automatically determined, the preparation work for coating and drawing can be greatly reduced, and the productivity can be improved.

[0006]

In order to achieve the above object, the present invention provides a first means for inputting position data of a past pattern, and a plurality of means for inputting position data of the past pattern. Second means for storing the past pattern position data of
Third means for determining the drawing order of each paste pattern from the position data stored in the second means; and a plurality of paste patterns in accordance with the order determined by the third means. And fourth means for drawing.

The third means may be a paste pattern having an end portion closest to a position immediately below the nozzle at the time when the substrate is carried in, a paste pattern to be drawn first, or a preset paste pattern. Paste pattern
This is the paste pattern to be drawn first .

[0008] Further, the third means includes a paste pattern for drawing a paste pattern having an end at a position closest to the drawing end point of the paste pattern for which the drawing order has been determined. I do.

[0009]

The third means connects the end points such as the starting point and the ending point of each of the plurality of paste patterns with the shortest path. Regardless of the order in which the paste patterns are applied and drawn, the drawing distance of each paste pattern itself does not change. Rather than the end points of each paste pattern being connected by the shortest straight path, even if the straight path between the connected end points is not the shortest, the drawing distance of all paste patterns and each paste pattern There is a drawing order in which the total sum of the end points of the negative lines connected by a straight path is the shortest.

However, in order to determine such a drawing order, a total extension distance is calculated for a combination of numbers each connecting the end points of each paste pattern, and the total extension distance is the shortest among the total extension distances. The number of combinations must increase cumulatively as the number of paste patterns drawn on the substrate increases. Conversely, it takes a lot of time to determine and the drawing order is difficult. Will not be decided.

Therefore, in the present invention, even if the total extension distance is somewhat long, the third means is provided with an end point of a paste pattern so that the drawing order can be easily determined and the process can be promptly shifted to the drawing process. These are connected by the shortest straight path. Since the number of shortest straight paths decreases as the number of past patterns for which the rendering order has been determined increases, the rendering order can be easily determined in a short time.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic perspective view showing one embodiment of a paste coater according to the present invention, wherein 1 is a nozzle, 2 is a syringe, 3 is an optical distance meter, 4 is a Z-axis table, and 5 is an X-axis. Table, 6 is a Y-axis table, 7 is a substrate, 8 is a θ-axis table, 9 is a gantry, 10 is a Z-axis table support, 11a
Is an image recognition camera, 11b is a lens barrel, 12 is a nozzle support, 13 is a suction table, 14 is a control device, 15a to 15c are servomotors, 16 is a monitor, 17 is a keyboard, 19
Is an external storage device.

In FIG. 1, an X-axis table 5 is fixed on a gantry 9, and a Y-axis table 6 is mounted on the X-axis table 5 so as to be movable in the X-axis direction. The θ-axis table 8 is mounted on the Y-axis table 6 so as to be movable and rotatable in the Y-axis direction, and the suction table 13 is fixed on the θ-axis table 8. The substrate 7 is sucked and fixed on the suction table 13 such that each side thereof is parallel to each of the X and Y axes.

The substrate 7 mounted on the suction table 13 can be moved in each of the X and Y axis directions under the control of the control device 14. That is, when the servo motor 15b is driven by the control device 14, the Y-axis table 6 moves in the X-axis direction, and the substrate 7 moves in the X-axis direction.
When 5c is driven, the θ-axis table 8 moves in the Y-axis direction, and the substrate 7 moves in the Y-axis direction. Therefore, the control device 1
When the Y-axis table 6 and the θ-axis table 8 are respectively moved by an arbitrary distance by using 4, the substrate 7 moves by an arbitrary distance in an arbitrary direction in a plane parallel to the gantry 9.

The .theta.-axis table 8 is provided in the server shown in FIG.
The pivotal motor 15d can be rotated by an arbitrary amount in the .theta. Direction about the center position.

A Z-axis table support 10 is provided on the gantry 9, and the Z-axis table 4 is attached to the Z-axis table support 10 so as to be movable in the Z-axis direction (vertical direction). The nozzle 1, the syringe 2, and the optical distance meter 3 are mounted on the Z-axis table 4, and the control device 14 also controls and drives the Z-axis table 4 in the Z-axis direction. That is, when the servomotor 15a is driven by the control device 14, the Z-axis table 4 moves in the Z-axis direction, and accordingly, the nozzle 1, the syringe 2, and the optical distance meter 3 move in the Z-axis direction. I do.

The image recognition camera 11a is installed on the left side of the Z table 4 on the Z-axis table support 10. The image recognition camera 11a is a movable type and is provided on the right side of the Z-axis table support 10. For ease of understanding, a beam member not shown may be provided before and after along the left and right sides of the gantry 9, and the image recognition camera 11a may be installed on the beam member. 11
The installation location of a is set in accordance with the loading direction of the substrate 7 described later.
It can be moved as needed.

FIG. 2 is an enlarged perspective view showing a portion of the syringe 2 and the optical displacement meter 3 in FIG. 1, and portions corresponding to FIG. 1 are denoted by the same reference numerals.

In the figure, a triangular cut portion is formed at the lower end of the optical displacement meter 3, and a light emitting element and a light receiving element are provided in this cut portion. The lower end of the syringe 2 is provided with a nozzle support 12 extending to a lower portion of the notch of the optical displacement meter 3. The nozzle 1 is attached so as to be located below the notch.

The optical displacement meter 3 measures the distance from the tip of the nozzle 1 to the surface of the substrate 7 by non-contact triangulation. That is, the laser light L emitted from the light emitting element of the optical displacement meter 3 is irradiated to the lower part of the nozzle 1 on the substrate 7 (this irradiation point is referred to as a measurement point S), reflected at this measurement point S, and optically reflected. The light is received by the light receiving element of the displacement meter 3. When the distance between the tip of the nozzle 1 (paste discharge port) and the substrate 7 changes, the measurement point S on the substrate 7 with respect to a point directly below the nozzle 1
Is changed, thereby changing the light receiving state of the reflected light at the light receiving element. Therefore, by detecting this change, the distance from the tip of the nozzle 1 to the surface of the substrate 7, that is, the height of the nozzle 1 can be measured.

In this case, a light-emitting element and a light-receiving element are provided on different side surfaces of the notch of the optical displacement meter 3 so that the laser light L is not blocked by the nozzle support 12, so that the laser light L The light is emitted in an oblique direction and reflected in an oblique direction.

Here, the measurement point S by the laser beam L is slightly shifted by dX and dY on the substrate 7 from the position immediately below the nozzle 1, but with such a shift, the measurement point on the surface of the substrate 7 Since there is almost no difference in the irregularities on the surface of the substrate 7 between S and the position immediately below the tip of the nozzle, it is possible to measure the distance from the tip of the nozzle 1 to the surface of the substrate 7 directly therebelow with the optical displacement meter 3. it can.

FIG. 3 is a block diagram showing a specific example of the control device 14 and its controlled system shown in FIG. 1, wherein 14a is a microcomputer, 14b is a motor controller, 14e is an external interface, 14d is an image processing device, 14ca is Z
Axis driver, 14 cb is an X axis driver, 14 cc is a Y axis driver, 14 cd is a θ axis driver, 15 d is a θ axis motor, 18 is an AD converter, E is an encoder, and PP is a paste pattern, corresponding to FIG. The same reference numerals are given to the portions to be performed.

In FIG. 1, a microcomputer 14a includes a CPU
And a ROM storing a software processing program for drawing a paste pattern PP to be described later, a RAM storing processing results of the CPU and input data from the external interface 14e and the motor controller 14b, an external interface 14e and a motor controller 14b. It has an input / output unit for exchanging data with the device. This R
The AM also stores various data (such as a nozzle setting height or a threshold value) relating to a paste pattern, which will be described later, which is input from the keyboard 17 at the time of initial setting.

From a data input device such as the keyboard 17, data for desirably specifying the shape of the paste pattern to be drawn or data for desirably specifying the distance between the nozzle 1 and the substrate 7 for determining the thickness of the paste pattern. (Nozzle setting height or threshold) is input and supplied to the microcomputer 14a via the external interface 14e. In the microcomputer 14a, these data are processed using a CPU or a RAM according to a software program stored in the ROM.

The motor controller 14 according to the data designating the shape of the paste pattern thus processed.
b is controlled, the X-axis driver 14cb, the Y-axis driver 1
The X-axis motor 15b, the Y-axis motor 15c, or the θ-axis motor 15d is rotationally driven by the 4cc or θ-axis driver 14cd. An encoder E is provided on the rotation axis of each of these motors, whereby the rotation amount (drive operation amount) of each motor is detected, and the X-axis driver 14cb, the Y-axis driver 14cc, the θ-axis driver 14cd, and the motor controller 14b are controlled. The X-axis motor 15b, the Y-axis motor 15c, or the θ-axis motor 15d is controlled to rotate accurately by the rotation amount specified by the microcomputer 14a. Thereby, the predetermined paste pattern is drawn on the substrate 7.

During the drawing of the paste pattern, the measurement data of the optical displacement meter 3 is converted into digital data by the A / D converter 18, supplied to the microcomputer 14a via the external interface 14e, and stored in the RAM by the CPU. Is compared with the threshold value.

Then, if the surface of the substrate 7 has undulation,
The microcomputer 14a detects this by the above comparison, controls the motor controller 14b based on the comparison result, and drives the Z-axis motor 18 to rotate by the Z-axis driver 11cd. As a result, the Z-axis table 4 (FIG. 1) is displaced up and down, and the height of the paste discharge port of the nozzle 1 (FIG. 2) from the surface of the substrate 7 is kept at the above-mentioned nozzle set height. This Z
An encoder E is also provided on the rotating shaft of the shaft motor 18, whereby the amount of rotation of the Z-axis motor 18 is fed back to the microcomputer 14 a via the Z-axis driver 11 cd and the motor controller 14 b, so that the Z-axis motor 18 Control is performed so that the rotation is accurately performed by the rotation amount specified by the microcomputer 14a.

During this time, air pressure is applied to the syringe 2 to discharge the paste from the nozzle 1, and a paste pattern having a desired width and height is applied and drawn on the substrate 7.

Next, the application / drawing operation of the embodiment shown in FIG. 1 and the determination of the drawing order by the drawing order determination means built in the microcomputer 14a in FIG. 3 will be described.

As shown in FIGS. 4 (a) to 4 (d), there are four possible modes for carrying the substrate into the paste coater. (1) Loading from the left side of the paste coating machine as viewed from the worker OP (FIG. 4A) (2) Loading from the right side of the paste coating machine as viewed from the worker OP (FIG. 4) (B)) (3) Carrying in from the front side of the paste coating machine as viewed from the worker OP (FIG. 4 (c)) (4) Carrying in from the rear side of the paste coating machine as viewed from the worker OP (FIG. 4D).

In these cases, the suction table 1 on which the substrate 7 is placed
4 is moved to the loading side of the substrate 7 as shown in FIGS. 4A to 4D to facilitate loading. here,
The nozzle 1 is fixed without moving in the X and Y-axis directions, that is, in the left-right and front-rear directions, and the substrate 7 moves. For this reason, the nozzle of the substrate 7 closest to the nozzle 1 depends on the loading direction of the substrate 7. The side ends are different.

Incidentally, this kind of paste coating machine is installed in a production line, and the substrate 7 proceeds along the production flow of the production line. For this reason, the carrying direction of the substrate 7 does not change in the manufacturing line. Further, once the image recognition camera 11a is installed on the beam member (not shown) or the Z-axis table support unit 10 according to the loading direction, the installation position is changed unless the production line itself is changed. Never even.

Assume that six paste patterns pp1 to pp6 are applied and drawn on the same substrate 7 as shown in FIG. In this case, the drawing order determining means built in the microcomputer 14a, which is the center of this embodiment, determines that the substrate 7 has been loaded as the paste pattern pp for coating and drawing first. With the substrate 7 mounted, the paste pattern pp closest to the nozzle 1 is selected. For example, as shown in FIG. 4B, when the substrate 7 is carried in from the right side of the paste coating machine as viewed from the operator OP, the paste pattern pp1 in FIG. Paste pattern.

The start points (drawing start points) s1 to s6 and the end points (drawing end points) e1 of the respective paste patterns pp1 to pp6.
Assuming that e6 is predetermined, a past pattern
When the application / drawing of the paste pattern pp1 is completed, a paste pattern pp2 (start point s2) having a start point closest to the end point e1 of the paste pattern pp1 is selected as a paste pattern to be applied / drawn next. By repeating the process, the substrate 7 is moved to change the relative positional relationship between the nozzle 1 and the substrate 7 so that the coating and drawing are performed along the paths shown by the solid line and the dotted line in FIG.

In FIG. 5, the solid arrow indicates the drawing application path of the paste pattern, and the broken arrow indicates the moving path between the paste patterns. Here, the past patterns pp1, pp2, pp3, pp6, pp5, p
Application and drawing are performed in the order of p4. The determination of the drawing order selection will be described later in detail.

In connection with the determination of the drawing order, as shown in FIG. 6, the microcomputer 14a completes the coating order data file DF2 based on the coating data file DF1 in the RAM. , DF2
Based on the above, the application drawing operation of each paste pattern pp1 to pp6 is executed.

Next, the operation and operation of this embodiment will be specifically described based on a software chart showing a program stored in the ROM in the microcomputer 14a.

Referring to FIG. 7, when the power is turned on (step 100), the paste applicator (FIG. 1) initializes the paste applicator (step 20).
0).

In this initial setting step, as shown in FIG.
Check the origin positions of the tables 4 to 8 (step 20).
1) The pattern data of the paste film and the substrate positioning data are set (step 202), and the data of the paste discharge end position is set (step 20).
3) It is.

When the initial setting process is completed, the process proceeds to a process of determining the application order (step 300). This is shown in FIG.
This will be described below.

First, data of all coating start points (start points) is read from the paste film pattern data set in step 202 of FIG. 8 (step 301). The paste pattern to be applied to the first coating pattern, that is, the first coating pattern, is determined, and the application start point data of the pattern is set in the application order 1 in the application sequence data file DF2 shown in FIG. Column (step 30).
2). Here, the paste pattern pp1 in FIG.
Is determined as the first application pattern.

The paste pattern for which the order has been determined is not shown, but is not shown in FIG.
The order determination target is canceled by, for example, setting a flag for each paste pattern of F1, so that the pattern is not determined again. According to this, as the order is determined, the number of past patterns to be determined is reduced, so that the order is determined in a shorter time.

The determination of the first coating pattern will be described later in detail with reference to FIG.

Returning to FIG. 9, next, the end point of the pattern applied immediately before is calculated (step 303). Since this process is a preparation for determining the paste pattern to be applied next, the paste pattern to be applied immediately before is determined from the next application pattern. For the second coating pattern, the end point of the first coating pattern is determined.

The above "calculation" depends on how to set each paste pattern. When the paste pattern is set with all the paste position application data, a huge amount of data can be stored in the microcomputer 14a.
The data must be stored in the AM, and a large-capacity RAM is required. Therefore, for example, for each paste pattern in FIG. 5, when the paste pattern is set by sequentially designating the traveling direction and the traveling change position, the amount of data stored in the RAM is greatly reduced. it can. In such a case, the position data
That is, the data cannot be retrieved immediately, but is calculated and obtained.

Next, the start point of the application pattern whose start point is closest to the end point of the paste pattern applied immediately before obtained in step 303 is determined as the start point of the remaining application pattern read in step 301. Search from among (Step 3
04).

Here, the past pattern whose starting point has been searched is
The application is stored as a second application pattern corresponding to the column of application order 2 in the application sequence data file DF2 shown in FIG. 6 (step 305). In FIG. 6, FIG.
Is determined as the second coating pattern. Note that this determination processing (step 3
04) will be described later in detail with reference to FIG.

Next, it is determined whether or not the application order has been determined (finished) for all the patterns pp1 to pp6 (step 306). If not, the process returns to step 303 to continue the above determination processing. And all patterns pp1 to pp
When the application order for No. 6 is determined, the application order determination process (step 300) ends.

Here, FIG. 10 shows that the first in FIG.
(Step 30)
2) will be described.

First, as shown in FIG. 4, data indicating the direction from which the substrate 7 is carried in is input (step 302-1). Next, based on the input data, it is determined whether or not the vehicle is to be carried in from the left side (step 302-
2). If the substrate 7 is carried in from the left side, the substrate 7
Of the paste patterns applied in the first quadrant or the fourth quadrant when the center is the origin, the application pattern having the starting point closest to the nozzle 1 is selected as the first application pattern. (Determined) (step 302-3).

Next, it is determined whether or not the selection has been completed (step 302-4).
The process proceeds to -6, and if not completed, the paste pattern closest to the nozzle 1 is selected from the paste patterns applied to the second quadrant or the third quadrant (step 302-5).

As described above, when the substrate 7 is carried in from the left side, the first coating pattern is surely selected by one of the processes of Step 302-3 and Step 302-5.

If the substrate 7 is not carried in from the left side, it is determined whether or not it is carried in from the right side (step 302-).
6) If it is carried in from the right side, step 302-
The same processing is performed according to steps 7 to 302-9 to select the first coating pattern.

When the substrate 7 is not loaded from the right side,
It is determined whether or not it will be carried in from the rear side (step 302).
-10), the first application pattern is selected in steps 302-11 to 302-13, and similarly, when the first application pattern is carried in from the front side (step 302-14), step 3 is performed.
The first application pattern is selected according to 02-14 to 302-17.

Steps 302-2, 302-6, 302
If the selection is completed in any of -10, 302-14,
The one selected as the first application pattern is stored in the application sequence data file DF2 in FIG. 6 (step 302-18). In the example shown in FIG. 6, since the paste pattern pp1 is selected as being closest to the nozzle 1, the substrate 7 is loaded from the right side.

Next, the process (step 304) of searching for the coating start point of the coating pattern closest to the end point in FIG. 9 will be described with reference to FIG.

First, all the start point data of the application pattern whose application order is not determined is read (step 304-1). Taking the determination of the second application pattern in FIG. 6 as an example,
Undetermined application patterns are paste patterns pp2 to pp
6 corresponds.

Next, the paste pattern pp1 selected as the first coating pattern is obtained by using the coordinate (position) data of the starting points s2 to s6 of the undecided patterns pp2 to pp6.
(Step 304-).
2). Since this distance is a stroke in which the nozzle 1 interrupts the paste discharge and simply moves toward the next starting point, the second coating pattern is linearly moved so as to move in the shortest time. Is for selecting.

It should be noted that in step 304-2 in FIG.
X and .DELTA.Y are positional deviations on the X-axis and Y-axis of the end point e1 of the past pattern pp1 and the start points s2 to s6 of the undetermined patterns pp2 to pp6, respectively.

The pattern having the minimum value is selected from the inter-pattern moving distance S (step 304-3). Here, since it is expected that there are a plurality of undecided patterns having the minimum value, it is determined whether or not the number of undecided patterns having the minimum value is one (step 304-4). , 2
If not, an undetermined pattern having a start point at which the distance in the X-axis direction is the shortest is selected (step 304-5).

Then, it is determined whether or not the selection is valid (step 304-6). If the selection in the X-axis direction is not possible, that is, if there is no pattern to be applied in the X-axis direction, it is determined. Then, an undecided pattern having a start point at which the distance in the Y-axis direction becomes the shortest is selected, and this is set as a second coating pattern, and the process is terminated (step 304-7).

When determining the third coating pattern,
Based on the selected second application pattern as a reference, it is similarly determined according to the above-described processing of FIG. In the case of the example shown in FIG. 5, the application sequence data file DF2 is created in a form as shown in FIG.

In FIG. 11, step 304-
5 and Step 304-7 may be exchanged. FIG.
In the case of the processing shown in (1), the coating and drawing globally prioritize the shift in the horizontal direction.
In the case of the process in which -7 is replaced, the application drawing shift is performed in the vertical direction.

As described above, in this embodiment, even an inexperienced operator can obtain a skill by simply inputting data such as the position and length of each paste pattern to be applied and drawn on the substrate 7. The drawing order of these paste patterns is automatically determined without requiring the intuition and experience of the operator, and the process can immediately proceed to the coating and drawing process without the need for review and re-input of data. The replacement is easy, and the utilization rate of the paste coater is greatly improved.

Further, as described above, in the type in which the substrate 7 can be carried in from all sides of the paste coater, if the carrying direction of the substrate is set, the drawing order is automatically determined thereafter, and Even a simple operator can immediately start up the device.

As described above, when the application sequence determining process (step 300) of the paste application machine in FIG.
The process proceeds to the next substrate mounting process (step 400) in FIG.
In this process, the substrate 7 is placed on the suction table 13 (FIG. 1), and then the positioning of the substrate 7 is performed (Step 500).

The preliminary positioning of the substrate 7 will be described with reference to FIG.

In the same figure, provided on a substrate 7 and
The positioning mark in the camera view is read (that is, photographed) by the image recognition camera 11a (FIG. 1) (step 501), and the position of the center of gravity of the positioning mark in the camera view is measured (step 502). .

The position of the center of gravity is measured based on a known image recognition technique, and a description thereof will be omitted.

Next, the amount of displacement between the center of the camera field of view and the center of gravity of the positioning mark is calculated (step 503), and the amount of movement (operation) of each of the tables 6, 8 in FIG. The calculation is performed (step 504), the operation amount is set in the motor controller 14b shown in FIG. 3 (step 505), and the tables 6 and 8 are appropriately moved (step 506).

The center of the visual field of the camera and the center of gravity of the positioning mark should coincide with this movement. However, just in case, the position of the center of gravity of the positioning mark within the visual field of the camera is measured again (step 507). The amount of deviation of the center of gravity between the center and the positioning mark is calculated (step 5).
08) It is checked whether the deviation amount is within the allowable range of positioning (step 509). If it is out of the range, the process returns to step 504 to repeat the above processing, and if it is within the range, Then, the substrate positioning process (step 500) is completed, and the process proceeds to the paste film formation (step 600) in FIG.

Hereinafter, the paste film forming step (step 600) will be described with reference to FIG.

In the figure, first, the substrate 7 is moved to a coating start position (step 601). This is because the paste pattern pp1 shown in FIG. 5 is the first coating pattern as described above, but when the substrate 7 is positioned, the paste pattern pp1 is located immediately below the nozzle 1. Since there is no start point S1 of pp1, the start point S1 of the paste pattern pp1 is located immediately below the nozzle 1. Since the positioning of the substrate 7 is performed only by slightly moving the substrate 7 from the carry-in position, it can be generally regarded that the substrate 7 is moved from the carry-in place to the coating start position. Therefore, this means that the substrate 7 is moved in the shortest time, which leads to an improvement in the number of processed substrates (throughput).

Next, the nozzle height is set (step 60).
2) The discharge of the paste from the nozzle 1 and the pattern operation are started (step 603). This paste discharge is shown in FIG.
In this step, the paste of the syringe 2 is pressurized at a discharge pressure by means not shown. In the pattern operation, the nozzles 1 and the substrate 7 are relatively moved by the tables 6 and 8 according to the shape of the paste pattern pp1 shown in FIG.

By simultaneously performing the paste discharge and the pattern operation, the paste pattern pp 1 is applied and drawn on the substrate 7. Further, during the simultaneous discharge of the paste and the pattern operation, that is, during coating / drawing, the waviness of the substrate surface is measured from the distance between the nozzle 1 and the substrate surface by the optical distance meter 3 (step 604). (=
If it is equal to or less than the set height of the nozzle−the height of the paste pattern), it means that the optical distance meter 3 is measuring the distance on the paste pattern on which the coating and drawing have been performed (step 60).
5). At this time, the nozzle 1 is maintained at the height at the time of measurement, and the process proceeds to step 608 described later.

If the measured distance is not less than the predetermined value, it means that the distance has not been measured on the paste film. Therefore, Z-axis correction data is calculated according to the undulation of the substrate 7 (step 606), and the Z-axis table is calculated. 8 to correct the nozzle 1 to the set height (step 60).
7). Then, it is determined whether or not the discharge of the paste has been completed, that is, whether or not the end point e1 (FIG. 5) of the paste pattern pp1 has been reached (Step 608). If the discharge has been completed, the discharge end processing of the paste is performed (Step 609). If the discharge is not completed, the paste discharge is continued, and
4 and the above processing is repeated.

When the discharge of the paste is completed, the nozzle 1 is raised (step 610). This allows
Drawing of one paste pattern pp1 is finished,
Next, it is confirmed whether or not the drawing of all the paste patterns pp has been completed (step 611). When it is determined that the drawing has not been completed, the process returns to step 601 to draw the remaining paste patterns pp.

In this case, referring to the application sequence data file DF2 in FIG.
The start point data of p is automatically given, and based on the start point data, the step 60 is performed without bothering the operator.
The processing after 1 is automatically executed.

When the drawing of all the paste patterns pp to be applied to one substrate 7 is completed, the substrate 7 is discharged (the substrate is unloaded from the paste coating machine) in FIG. 7 (step 700). It is checked whether or not the coating operation on the substrate 7 has been completed (step 800).
If it is in a state of being carried in, the process returns to step 400 to continue the application work on a new substrate. If there is no substrate to be carried in, the paste application machine is stopped and all operations are completed.

Although the embodiment of the present invention has been described above, the present invention may have the following modes.

(1) As shown in FIG. 14, in the application order determining step (step 300), steps 302 and 303 may be interchanged.

(2) In a paste coating machine of a type in which the image recognition camera 11a is fixed to the Z-axis support portion 10 or the beam member and cannot be moved, the time when the substrate is carried in when the first coating pattern is determined. In the substrate pre-positioning step (step 500) shown in FIG. 7, the pattern closest to the nozzle is changed to the first coating pattern without using the pattern closest to the nozzle in step 1 as the first coating pattern. Is preferable in that the movement of the substrate is minimized.

(3) When the substrate is large and the number of patterns to be applied is large, addresses are appropriately assigned to the substrate and a plurality of paste patterns to be applied and drawn in each address.
The application sequence is determined for each substrate, and for the adjacent addresses, the first application and the last application are ordered to determine the application pattern of the paste pattern of the entire substrate.

(4) The nozzles are arranged in order from the pattern located farthest from the substrate unloading position,
And the one closest to the image recognition camera 11a is determined, and application is performed in order from the closest one.

(5) The order is determined by searching for the ends of the patterns at the shortest distance without being particular about the start or end of each paste pattern.

(6) In step 300 in FIG.
Since the shape of each pattern is set by relative coordinates on the substrate in order to reduce the amount of data stored in the RAM, step 3
At 03, the end point is calculated. If the number of patterns to be drawn is small, the pattern data is input in absolute coordinates of the substrate. In step 303, the end position can be obtained by searching, and the order can be determined in a shorter time. You.

(7) During the paste application, the external storage device 1
9, the input of the pattern data of another substrate to be applied next, that is, the processing of step 202 in FIG. 8 has been performed, and the data previously input from the external storage device 19 for the setup change. In order to speed up the start-up or to interrupt the paste application by reading the data, the data being executed stored in the RAM is transferred to the external storage device 19, and so on. Speed up the next startup.

(8) Regarding the order of application, the input of the direction of loading the substrate is omitted, and the skilled worker manually inputs the first application pattern from the keyboard 17 based on his / her experience. Input and setting may be performed, and the subsequent application order determination may be automatically determined according to the present invention.

[0091]

As described above, according to the present invention,
Just by inputting the position data of a plurality of paste patterns, the drawing order of each paste pattern is automatically determined. To improve.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing one embodiment of a paste applicator according to the present invention.

FIG. 2 is a perspective view showing an arrangement relationship between a syringe and an optical distance meter in FIG. 1;

FIG. 3 is a configuration diagram illustrating a specific example of a control device in the embodiment illustrated in FIG. 1;

FIG. 4 is a view showing a direction in which a substrate is loaded into the paste coating machine shown in FIG. 1 and a position of a nozzle when the substrate is loaded.

FIG. 5 is a view showing an example of a paste pattern on a substrate which is applied and drawn by the embodiment shown in FIG. 1;

6 is a diagram showing a configuration example of a data file in a RAM of the microcomputer shown in FIG.

FIG. 7 is a flowchart showing an overall operation of the embodiment shown in FIG. 1;

FIG. 8 is a flowchart showing the contents of a coating machine initial setting step in FIG. 7;

FIG. 9 is a flowchart showing the contents of a coating order determining step in FIG. 7;

FIG. 10 is a flowchart showing the contents of steps for determining a first coating pattern and storing the order in FIG. 9;

FIG. 11 is a flowchart showing the contents of steps of a check for starting a coating pattern closest to the end point in FIG. 9;

FIG. 12 is a flowchart showing the contents of a substrate pre-positioning step in FIG. 7;

FIG. 13 is a flowchart showing the contents of a paste film forming step in FIG. 7;

14 is a flowchart showing the contents of another specific example of the application order determining step in FIG. 7;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Nozzle 2 Piston storage cylinder (syringe) 3 Optical distance meter 4 Z-axis table 5 X-axis table 6 Y-axis table 7 Substrate 8 θ-axis table 9 Mounting part 10 Z-axis table support part 11a Image recognition camera 11b Image recognition Camera barrel 12 Nozzle support 13 Substrate suction unit 14 Controller 14a Microcomputer 14b Motor controller 14ca to 14cd Driver 14d Image processor 14e External interface 15a to 15d Servo motor 16 Monitor 17 Keyboard 18 A / D converter 19 External storage device

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Haruo Mikai 5-2-2 Koyodai, Ryugasaki-shi, Ibaraki Pref. Hitachi Techno Engineering Co., Ltd. (72) Yukihiro Kawasumi 5-2-2 Koyodai, Ryugasaki-shi, Ibaraki Hitachi (56) References JP-A-1-1883881 (JP, A) JP-A-3-106468 (JP, A) JP-A-1-145900 (JP, A) JP-A-2- 10883 (JP, A) JP-A-4-237305 (JP, A) JP-A-5-37127 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B05C 5 / 00-5 / 02 B05D 1/26 H05K 3 / 10,3 / 34

Claims (5)

(57) [Claims] A substrate is placed on a table so as to face a paste discharge port of a nozzle, and the paste filled in a paste storage tube is discharged from the discharge port onto the substrate while the nozzle and the substrate are in contact with each other. A first means for inputting position data of a paste pattern; and a plurality of input means for inputting position data of the paste pattern. second means for storing position data of the paste pattern, which determines the drawing order of each paste pattern from said position data stored in the unit of second, substrate is transportable
The field closest to the position immediately below the nozzle at the time of entry
First, draw a paste pattern that has an end
Paste pattern or a preset paste pattern
Each pace as a paste pattern to draw the
Drawing order based on the position data of the end of the pattern
End point closest to the end point of the finished paste pattern
Paste that draws a paste pattern with
Paste dispenser, wherein the third means for determining a pattern, further comprising a fourth means for drawing a plurality of paste pattern according to the order determined by means of the third. 2. The method according to claim 1, wherein the third unit is configured to determine a drawing order of the determined paste pattern.
Paste pattern with an end closest to the drawing end point
If there is more than one X or Y axis,
Priority is given to the paste pattern with the end closest to
And a paste pattern to be drawn next . 3. The method according to claim 1, wherein the third means includes a step of:
A paste coating machine having means for removing the object from a drawing object . 4. The paste according to claim 1, wherein the third means is a whole paste drawn on the substrate.
Patterns can be arbitrarily divided based on their positional relationship on the substrate
And, with a plurality of paste patterns that belong in each category
Te, paste dispenser, characterized in that a paste pattern drawing a paste pattern in the following their having ends on the outermost <br/> close location from the drawing end point of the drawing order Determined paste pattern. 5. The paste pattern according to claim 4 , wherein the third means is a last paste pattern in a section.
When the drawing of the final paste pattern is completed,
Has an end closest to the end point of the image, and
Paste pattern in a section other than the section to which the
A paste applicator characterized by a paste pattern for drawing a turn first .