WO2022234651A1 - Work device - Google Patents

Work device Download PDF

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Publication number
WO2022234651A1
WO2022234651A1 PCT/JP2021/017490 JP2021017490W WO2022234651A1 WO 2022234651 A1 WO2022234651 A1 WO 2022234651A1 JP 2021017490 W JP2021017490 W JP 2021017490W WO 2022234651 A1 WO2022234651 A1 WO 2022234651A1
Authority
WO
WIPO (PCT)
Prior art keywords
support member
read
substrate
jig
arm
Prior art date
Application number
PCT/JP2021/017490
Other languages
French (fr)
Japanese (ja)
Inventor
良宗 横井
健太郎 池田
丈 池山
Original Assignee
株式会社Fuji
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to JP2023518583A priority Critical patent/JPWO2022234651A1/ja
Priority to PCT/JP2021/017490 priority patent/WO2022234651A1/en
Priority to DE112021007617.5T priority patent/DE112021007617T5/en
Priority to CN202180097526.4A priority patent/CN117203058A/en
Publication of WO2022234651A1 publication Critical patent/WO2022234651A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F15/00Screen printers
    • B41F15/08Machines
    • B41F15/0881Machines for printing on polyhedral articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F15/00Screen printers
    • B41F15/14Details
    • B41F15/16Printing tables
    • B41F15/18Supports for workpieces
    • B41F15/26Supports for workpieces for articles with flat surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F15/00Screen printers
    • B41F15/14Details
    • B41F15/34Screens, Frames; Holders therefor
    • B41F15/36Screens, Frames; Holders therefor flat
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F15/00Screen printers
    • B41F15/14Details
    • B41F15/40Inking units
    • B41F15/42Inking units comprising squeegees or doctors
    • B41F15/423Driving means for reciprocating squeegees
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F27/00Devices for attaching printing elements or formes to supports
    • B41F27/005Attaching and registering printing formes to supports
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F33/00Indicating, counting, warning, control or safety devices
    • B41F33/16Programming systems for automatic control of sequence of operations
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00Apparatus or processes for manufacturing printed circuits
    • H05K3/10Apparatus or processes for manufacturing printed circuits in which conductive material is applied to the insulating support in such a manner as to form the desired conductive pattern
    • H05K3/12Apparatus or processes for manufacturing printed circuits in which conductive material is applied to the insulating support in such a manner as to form the desired conductive pattern using thick film techniques, e.g. printing techniques to apply the conductive material or similar techniques for applying conductive paste or ink patterns
    • H05K3/1216Apparatus or processes for manufacturing printed circuits in which conductive material is applied to the insulating support in such a manner as to form the desired conductive pattern using thick film techniques, e.g. printing techniques to apply the conductive material or similar techniques for applying conductive paste or ink patterns by screen printing or stencil printing
    • H05K3/1225Screens or stencils; Holders therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41PINDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2215/00Screen printing machines
    • B41P2215/10Screen printing machines characterised by their constructional features
    • B41P2215/11Registering devices

Definitions

  • This specification discloses a work device.
  • Patent Document 1 a carrying jig to which a substrate supporting member is attached in advance is carried inside, the substrate supporting member is taken out from the carried-in carrying jig, placed on a support table (table), and the substrate supporting member is There is disclosed a printing apparatus that carries out a carrying jig after taking out the print.
  • the conveying jig includes a frame, a plurality of arms extending inwardly from the frame, and recessed projection holding portions (first to fourth projection holding portions) respectively arranged on the top surfaces of the tip ends of the respective arms. , has The projection holding portions are arranged in pairs in the left-right direction.
  • the substrate supporting member is provided with a pair of columnar protrusions arranged to protrude from the left and right sides of the main body.
  • the pair of projections are held by corresponding projection holding portions of the conveying jig.
  • the second projection holding portion and the fourth projection holding portion forming a pair on the left and right of the transfer jig are arranged so that their positions in the front-rear direction can be adjusted so that a plurality of types of board support members having different sizes can be attached. It's becoming The operator adjusts the positions of the second projection holding portion and the fourth projection holding portion according to the substrate supporting member to be used, attaches the substrate supporting member to the transfer jig, and stores the transfer jig in the storage portion. and set it in the printer main unit.
  • the operator reads the barcode attached to the substrate supporting member and the carrier jig with a barcode reader as necessary, and the correct member is placed in the accommodation section. Check whether it is contained or not.
  • the main body of the printing apparatus takes out the transport jig to which the substrate support member is attached so that the substrate support member is positioned above the support stand, and transports (loads) the transport jig forward. Subsequently, the main body of the printing apparatus raises the support base to float the plurality of projections of the substrate support member from the respective projection holding portions of the transfer jig. Further, the printing apparatus body moves the carrier jig backward, lowers the support table, carries the carrier jig backward (unloads), and fixes the substrate support member on the support table.
  • Patent Literature 1 describes that verification is performed by an operator reading barcodes attached to a substrate supporting member and a conveying jig with a barcode reader.
  • collation by workers is a heavy burden, and there is a possibility that the collation work may be forgotten. Therefore, it is desired to automatically determine whether or not the support member is appropriate with a simple configuration.
  • the main purpose of the present disclosure is to automatically determine whether or not a support member that supports a substrate is suitable with a simple configuration in a device that can automatically replace the support member.
  • a first working device of the present disclosure is a working device for performing work on a substrate on a support member installed on a table, wherein a conveying jig holding the support member is loaded to automatically move the support member.
  • a control device for controlling replacement and a reading device for reading a read portion provided on the support member, and the conveying jig is a first side portion supporting a first side portion of the outer edge portion of the bottom surface of the support member.
  • the support member includes, as the read portions, a first read portion provided on a third side portion adjacent to the first side portion of the bottom outer edge portion, and a first read portion provided on the third side portion of the bottom outer edge portion. and a second read portion provided on an opposing fourth side portion, wherein the control device controls the first read portion of the support member after the conveying jig holding the support member is carried in.
  • the gist is that the size of the support member is determined by reading the reading portion and the second read portion with the reading device.
  • the control device of the first working device of the present disclosure reads the first read portion and the second read portion of the support member held by the transport jig after the transport jig is loaded, and reads the transport jig. Determine the size of the support member relative to the tool.
  • the first read portion is provided on a third side adjacent to the first side supported by the first arm in the outer edge of the bottom surface of the support member, and the second read portion is provided on the outer edge of the bottom surface of the support member. is provided on a fourth side facing the third side in the above. Therefore, by reading the first read portion and the second read portion of the support member, the distance between the third side portion and the fourth side portion, that is, the size of the support member can be determined. As a result, it is possible to determine whether or not the support member for supporting the substrate is appropriate with a simple configuration in the case where the support member for supporting the substrate can be replaced automatically.
  • a second work device of the present disclosure includes a work device main body that performs work on a substrate on a support member installed on a table, and an accommodating section that can vertically accommodate a plurality of transfer jigs capable of holding the support member. and a housing lifting device for lifting and lowering the housing, wherein information identifying the conveying jig housed in the housing and the supporting member held by the conveying jig and a storage unit for pre-storing as support member information in association with information that identifies the conveying jig, and a read portion having information identifying the conveying jig written on a side surface of the conveying jig, and the working device
  • the main body has a reading section that reads the read section, and can carry in a conveying jig at a predetermined elevation position among the conveying jigs accommodated in the accommodating section.
  • the reading unit When the reading unit passes through the reading unit, the reading unit reads the portion to be read, and is held by the conveying jig based on the read information and the supporting member information stored in the storage unit.
  • the gist of the invention is to determine whether or not the support member that is in place is proper.
  • the second work device of the present disclosure includes a work device main body, a housing portion, a housing portion elevating device, and a storage portion.
  • information for identifying the conveying jig accommodated in the accommodating unit and information for identifying the supporting member held by the conveying jig are associated with each other and stored in advance as supporting member information.
  • the work apparatus main body can carry in a transport jig at a predetermined elevation position among the transport jigs accommodated in the accommodation unit.
  • the working device main body has a reading unit, and when the receiving unit is lifted by the receiving unit elevating device and the read unit provided on the side surface of the conveying jig passes through the reading unit, the reading unit moves the reading unit.
  • FIG. 1 is a schematic configuration diagram of a working device of the present disclosure
  • FIG. 1 is a perspective view showing an internal configuration of a working device
  • FIG. 3 is a side view showing the internal configuration of the working device
  • FIG. 3 is a block diagram showing the electrical connection relationship of the working device
  • It is the perspective view which looked at the support member from the upper surface side.
  • It is the perspective view which looked at the support member from the bottom face side.
  • FIG. 4 is an explanatory diagram showing the relationship between a reader and an accommodation rack
  • It is an external appearance perspective view of a conveyance jig.
  • FIG. 4 is an external perspective view of a conveying jig to which a supporting member is attached;
  • FIG. 4 is a schematic configuration diagram of an arm member;
  • FIG. 4 is a schematic configuration diagram of a pusher;
  • FIG. FIG. 4 is a partially enlarged view of a pusher;
  • FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig;
  • FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig;
  • FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig;
  • 7 is a flow chart showing an example of a support member carry-in process;
  • 7 is a flow chart showing an example of a support member carry-in process;
  • FIG. 3 is an explanatory diagram showing an example of supporting substrate information stored in a storage device;
  • FIG. 1 is a schematic configuration diagram of a working device 10 of the present disclosure.
  • FIG. 2 is a perspective view showing the internal configuration of the work device 10.
  • FIG. 3 is a side view showing the internal configuration of the work device 10.
  • FIG. 4 is a block diagram showing the electrical connection relationship of the working device. 1 to 3, the horizontal direction is the X-axis, the front-rear direction is the Y-axis, and the vertical direction is the Z-axis.
  • the work device 10 performs a predetermined work on the substrate S supported by the substrate support member 90 .
  • the work device 10 uses the squeegee 22 to press the solder paste on the screen mask M into the pattern holes P1 and P2 formed in the screen mask M as a predetermined work. It is configured as a printing device that applies (prints) a solder paste to the substrate S below via the .
  • the work device 10 constitutes a component mounting system in combination with a mounting device that mounts electronic components on the board S on which solder is printed.
  • the work apparatus 10 is capable of automatic exchange of the screen mask M and automatic exchange of the substrate support member 90 using the transfer jig 80 when performing a setup change to change the substrate S to be printed to a different type. be.
  • the work device 10 includes a work device body 11, a replacement device 60, a storage rack 70, and a control device 100, as shown in FIGS.
  • the working device main body 11 includes a head device 20 including a head 21, support rails 29 for supporting the screen mask M and the transfer jig 80, and first and second substrate transfer support devices for transferring and supporting the substrate S by dual lanes. 30 , 40 , camera device 50 and reader 65 .
  • the working device 10 is also provided with an operation panel installed in front of the working device main body 11, which displays various kinds of information and allows the operator to perform various input operations.
  • the head device 20 is installed on the upper stage of the working device main body 11 .
  • the head device 20 includes a head 21 and a head moving device 26 that moves the head 21 in the front-rear direction (Y-axis direction), which is the printing direction.
  • the head moving device 26 has a Y-axis slider 27 that moves along a guide rail 28 extending in the front-rear direction, and a motor that drives the Y-axis slider 27 .
  • the head 21 includes a squeegee 22, a squeegee lifting device 23 that lifts the squeegee 22 using, for example, an air cylinder, a pusher 24, and a pusher lifting device 25 that lifts the pusher 24 using, for example, an air cylinder.
  • the squeegee 22 is a plate-like member extending in the left-right direction (X-axis direction) orthogonal to the printing direction.
  • the pusher 24 is moved forward and backward by the head moving device 26 while being lowered by the pusher elevating device 25 and protruding downward, thereby pushing the screen mask M and the conveying jig 80 forward and backward on the support rail 29 and conveying them. is.
  • the pusher 24 recovers the substrate support member 90 on the tables 36 and 46 to the transport jig 80 carried onto the support rail 29, It is also used to take out the substrate support member 90 from the transfer jig 80 carried onto the support rails 29 while holding the substrate support member 90 and place it on the tables 36 and 46 .
  • the screen mask M is a thin metal plate and is fixed to a rectangular frame F with a predetermined tension.
  • the screen mask M is formed with pattern holes P1 and P2 for printing solder on the substrate S conveyed and supported by the first and second substrate conveying and supporting devices 30 and 40, respectively.
  • the support rails 29 are a pair of left and right rails extending in the front-rear direction (Y-axis direction), and are installed between the head device 20 and the first and second substrate transfer support devices 30 and 40. be.
  • the support rails 29 support the screen mask M and the conveying jig 80 in a horizontal posture, and guide the screen mask M and the conveying jig 80 pushed by the pusher 24 so as to move along the front-rear direction.
  • the first and second substrate transfer and support devices 30 and 40 carry in and support the substrate S, and bring the supported substrate S into contact with/separate from the screen mask M on the support rails 29 .
  • the first and second substrate transfer support devices 30 and 40 include conveyor devices 31 and 41, conveyor interval changing devices 34 and 44, conveyor lifting devices 35 and 45, and tables 36 and 46. Support member lifting devices 37 and 47 are provided.
  • the conveyor devices 31 and 41 have conveyor belts provided on a pair of front and rear side frames 33s and 43s, respectively, and a motor that drives the conveyor belts to rotate.
  • the pair of side frames 33s, 43s are provided upright on the base frames 33b, 43b, and substrate guides 32, 42 are provided at the upper ends of the pair of side frames 33s, 43s.
  • the conveyor interval changing devices 34 and 44 change (adjust) the interval between the conveyor belts by moving one or both of the pair of side frames 33s and 43s toward or away from each other. Thereby, the first and second substrate transfer support devices 30 and 40 can transfer and support substrates S of different sizes.
  • the conveyor lifting devices 35 and 45 lift and lower the conveyor devices 31 and 41 (conveyor belts) by lifting and lowering columns that support the base frames 33b and 43b.
  • the tables 36 and 46 are support bases having an installation surface on the upper surface on which the substrate support member 90 can be installed.
  • the supporting member elevating devices 37 and 47 raise and lower the substrate supporting members 90 installed on the tables 36 and 46 by raising and lowering the columns that support the tables 36 and 46 .
  • the substrate support member 90 supports the substrate S from the lower surface side, and has a size suitable for supporting the substrate S according to the substrate S as shown in FIGS. 5A, 5B, 6A and 6B.
  • the substrate support member 90 includes a support member main body 91 and an adapter 92 detachably attached to the bottom surface of the support member main body 91 .
  • a concave portion 91 a is formed on the upper surface of the support member main body 91 .
  • the concave portion 91a is formed by printing solder paste on one surface of the substrate S to mount components, and then applying solder paste to the other surface of the substrate S.
  • the supporting member main body 91 is a dedicated product for producing the substrate S, but since the adapter 92 is detachable from the supporting member main body 91, the size of the substrate S to be produced can be changed. , it is sufficient to replace only the support member main body 91, and the adapter 92 can be used as it is.
  • a recognition mark 91 b for recognizing the support member main body 91 is provided on the upper surface of the support member main body 91 .
  • the recognition mark 91b is an ID code in which unique information for identifying the support member main body 91 is written in this embodiment.
  • a pair of first arm members 82a engaged with one of the pair of arm members 82 of the transfer jig 80 that holds the substrate support member 90 is provided on the first side portion 92a at the outer edge of the bottom surface of the adapter 92.
  • a first pin member 94a (first engaged portion) is provided.
  • a second side portion 92b facing the first side portion 92a on the outer edge of the bottom surface of the adapter 92 has a pair of second arm members 82b engaged with the second arm member 82b, which is the other of the pair of arm members 82 described above.
  • a 2-pin member 94b (second engaged portion) is provided.
  • first recognition marks 93c are formed on a third side portion 92c adjacent to (perpendicular to) the first side portion 92a on the outer edge of the bottom surface of the adapter 92.
  • second recognition marks 93d are also formed on a fourth side portion 92d facing the third side portion 92c on the outer edge of the bottom surface of the adapter 92.
  • the first and second recognition marks 93c and 93d are for recognizing the position and size (width in the front-rear direction) of the board support member 90 when the work device body 11 replaces the board support member 90.
  • the camera device 50 includes a camera body 51 and a camera moving device 55 that moves the camera body 51 forward, backward, left and right (XY directions).
  • the camera moving device 55 has an X-axis slider 56 , a motor that drives the X-axis slider 56 , a Y-axis slider 58 , and a motor that drives the Y-axis slider 58 .
  • the Y-axis slider 58 is an elongated member that extends left and right and spans a pair of left and right Y-axis guide rails 59 , and moves back and forth along the Y-axis guide rails 59 .
  • the X-axis slider 56 moves left and right along an X-axis guide rail 57 provided on the Y-axis slider 58 .
  • the camera body 51 is fixed to an X-axis slider 56 and has two imaging fields (upper reading section 52 and lower reading section 53) above and below.
  • the camera device 50 acquires the position of the substrate S by imaging the mark formed on the upper surface of the substrate S carried in and supported by the first and second substrate transport and support devices 30 and 40 with the lower reading unit 53 . Further, the camera device 50 reads the marks (first and second recognition marks 93c, 93d) formed on the bottom surface of the board support member 90 (adapter 92) carried onto the support rail 29 together with the transport jig 80.
  • the position and size (width in the front-rear direction) of the substrate support member 90 are obtained by imaging with the unit 52 . Further, the camera device 50 captures the mark (recognition mark 91b) formed on the upper surface of the substrate support member 90 (support member main body 91) installed on the tables 36 and 46 with the lower reading unit 53, and the support member main body 91 to obtain the identity of
  • the exchange device 60 receives a storage rack 70 containing replacement members such as the screen mask M and the transport jig 80, and transports the replacement members between the storage rack 70 and the working device main body 11.
  • the replacement device 60 includes a left unit 61 a installed on the left side of the front surface of the working device main body 11 and a right unit 61 b installed on the right side of the front surface of the working device main body 11 .
  • the left unit 61a and the right unit 61b have a rack support member 62 that receives the accommodation rack 70 and supports the lower surface of the storage rack 70 from both left and right sides, and a rack lifting device 63 that lifts and lowers the rack support member 62 .
  • the rack lifting device 63 is composed of, for example, a combination of a ball screw mechanism and a motor, or a linear motor.
  • the storage rack 70 supported by the rack support member 62 is lifted up and down together with the rack support member 62 by the rack lifting device 63 .
  • the left unit 61a and the right unit 61b have a frame forward/rearward moving device 64 that feeds the frame of the replacement member in the storage rack 70 forward and backward from both left and right sides by means of belts, rollers, or the like.
  • the storage rack 70 is a storage body that has a pair of left and right support rails 71 in a plurality of stages, and each support rail 71 can store a replacement member. Further, openings 72 and 73 are formed in the working device main body 11 and the front and rear surfaces of the storage rack 70 .
  • the replacement member is loaded/unloaded by an operator or the like through the opening 72 on the front side, and loaded/unloaded by the frame forward/backward moving device 64 through the opening 73 on the back side.
  • the frame back-and-forth movement device 64 moves the storage rack 70 to substantially the same height as the support rails 29 of the working device main body 11 by means of the rack lifting device 63 among the support rails 71 of the multiple stages of the storage rack 70 in a state where the storage rack 70 is received by the exchange device 60 .
  • the replacement member supported by the support rail 71 positioned at the bottom is delivered to the working device main body 11 .
  • the frame back-and-forth moving device 64 feeds the replacement member supported by the support rail 29 of the working device main body 11 into the support rail 71 of the storage rack 70 positioned at substantially the same height as the support rail 29 .
  • the accommodation rack 70 may be transported to the receiving position of the exchanging device 60 by an operator, or may be mounted on an automatic transport device (AGV) and automatically transported to the receiving position of the exchanging device 60 by the automatic transport device. good.
  • AGV automatic transport device
  • the reader 65 detects the housing orientation of the transport jig 80 housed in the housing rack 70 and acquires identification information of the transport jig 80 .
  • the reader 65 is mounted on the working device main body 11 so as to face the side surface of the transport jig 80 (frame body 81) housed in the storage rack 70 in the state where the replacement device 60 receives the storage rack 70.
  • the recognition mark 83 for recognizing the transport jig 80 is provided on one side surface of the transport jig 80 .
  • the recognition mark 83 is an ID code in which unique information for identifying the transport jig 80 is described in this embodiment.
  • the storage orientation and identification information of the transport jig 80 are such that when the storage rack 70 housing the transport jig 80 is lifted by the rack lifting device 63 and the side surface of the transport jig 80 passes the front of the reader 65, the reader 65 is It is obtained by reading the recognition mark 83 . If the reader 65 can recognize the recognition mark 83, the housing orientation of the transport jig 80 is determined to be correct. is determined to be
  • the conveying jig 80 is a jig used for loading/unloading the substrate support member 90, and as shown in FIGS. and a pair of arm members 82 (a first arm member 82a and a second arm member 82b) that are fixed to and hold the substrate support member 90 from both sides.
  • the transfer jig 80 has two sets of a pair of arm members 82 that hold the substrate support members 90, and the substrate support members 90 used in the first and second substrate transfer support devices 30 and 40 are respectively provided. It can be transported at once.
  • Each arm member 82 (first arm member 82a, second arm member 82b) includes a base member 821, an arm plate 822, a holding member 823, a side plate 825, a lock plate 826, and a lock block 827, as shown in FIG. have To facilitate understanding of the configuration, the front side plate 825 and lock plate 826 are indicated by dashed lines in FIG.
  • the base member 821 is fixed to the frame 81 .
  • the base end of the arm plate 822 is rotatably supported by the base member 821 , and a holding member 823 is rotatably attached to the tip of the arm plate 822 .
  • Side plates 825 are provided on both sides of the arm plate 822 .
  • the base end of the side plate 825 is rotatably supported by the base member 821 , and the holding member 823 is rotatably attached to the tip of the side plate 825 . Furthermore, the side plate 825 receives the biasing force of a torsion coil spring 824 provided on the rotation shaft on the side of the base member 821 and biases the arm plate 822 upward. Also, the side plate 825 is set in a substantially horizontal posture by a stopper formed on the base member 821, and holds the arm plate 822 in a substantially horizontal posture.
  • the holding member 823 constitutes the tip of the arm member 82, and is attached to the pair of first pin members 94a or the second side 92b provided on the first side 92a on the outer edge of the bottom surface of the substrate support member 90.
  • the substrate support member 90 is held by engaging with the provided pair of second pin members 94b. Thereby, the substrate support member 90 is held from both sides by the tip portions (holding members 823 ) of the pair of arm members 82 .
  • the substrate support member 90 held by the pair of arm members 82 is separated from the transfer jig 80 by being pushed apart by the arm plates 822 of the pair of arm members 82 above the tables 36 and 46 . , are placed on the tables 36 , 46 .
  • the lock plate 826 locks the arm plate 822 so that it cannot be pushed down.
  • the lock plates 826 are arranged on both sides of the arm plate 822 , and a lock block 827 is fixed between the lock plates 826 so as to be positioned below the arm plate 822 .
  • the lock plate 826 is rotatably attached at the base member 821 at a position eccentric to the rotation axis on the proximal end side of the arm plate 822 , and the lock plate 826 is mounted at the distal end side from the proximal end. and the arm plate 822 are pulled toward the arm plate 822 by the biasing force of a tension spring 828 locked to the arm plate 822 .
  • the lock block 827 engages with a notch 822c formed on the lower surface of the arm plate 822 to lock the arm plate 822 so that it cannot be pushed down. Further, the distal ends of both lock plates 826 protrude upward from the arm plate 822 when the lock block 827 is engaged with the notch 822c of the arm plate 822 .
  • the arm plate 822 is locked so that it cannot be pushed down by the lock block 827 engaging with the notch 822c of the arm plate 822 due to the biasing force of the tension spring 828 . Therefore, even if an unintended force acts on the substrate support member 90 or the arm plate 822, the arm member 82 (arm plate 822) is not pushed down, and the substrate support member 90 is prevented from coming off. .
  • the locking of the lock plate 826 can be released by pressing the tip of the lock plate 826 that protrudes upward from the arm plate 822 .
  • the pushers 24 are composed of a pair of front and rear pusher plates 241 arranged on the left and right with a spacing corresponding to the spacing of the pair of arm members 82, and a pair of front and rear pusher plates 241, respectively. and a pusher roller 242 disposed therebetween.
  • the pusher 24 is lowered by the pusher lifting device 25 above the pair of arm members 82 , the lower ends of the pair of pusher plates 241 abut against the tip of the lock plate 826 , and the tip of the lock plate 826 touches the pusher plate 241 . is pressed (see FIG. 13).
  • the control device 100 is configured as a microprocessor centering on a CPU, and in addition to the CPU, it also includes a ROM, a RAM, a storage device 101, an input/output port, and the like.
  • the control device 100 exchanges signals with the head device 20, the first and second substrate transfer and support devices 30 and 40, the camera device 50, the exchange device 60, the reader 65, and the like.
  • the control device 100 is also communicably connected to a management device 200 that manages the entire work system including the work device 10 .
  • the management device 200 manages the progress of the line including the work device 10 and the like.
  • the operation of the work device 10 configured in this manner will be described.
  • the changeover operation for exchanging the screen mask M and the substrate support member 90 will be described.
  • the changeover is performed by executing a mask carry-out process, a support member carry-out process, a support member carry-in process, and a mask carry-in process in this order while the storage rack 70 is set in the exchange device 60 .
  • the mask carry-out process is a process of carrying out the screen mask M supported by the support rails 29 of the working device main body 11 and storing it in the storage rack 70 .
  • the control device 100 controls the rack lifting device 63 so that the empty support rail 71 of the storage rack 70 is at approximately the same height as the support rail 29 of the working device main body 11 .
  • the control device 100 controls the head moving device 26 so that the screen mask M supported by the support rails 29 is pushed forward by the pusher 24 and carried out from the working device main body 11 .
  • the control device 100 controls the frame forward/backward moving device 64 so that the transported screen mask M is stored in the storage rack 70 . Since the mask carrying-in process is basically executed by the operation opposite to that of the mask carrying-out process, the explanation thereof will be omitted.
  • the supporting member unloading process is a process of unloading the substrate supporting members 90 from the tables 36 and 46 of the work apparatus main body 11 using the transporting jig 80 and storing them in the storage rack 70. 80 is used to load the board support member 90 from the storage rack 70 and set it on the tables 36 and 46 of the working apparatus main body 11 .
  • 16 and 17 are flowcharts showing an example of the support member loading process executed by the control device 100. FIG.
  • the supporting member unloading process is basically executed by the reverse operation of the supporting member loading process, the explanation thereof will be omitted.
  • the control device 100 first raises the storage rack 70 until the support rails 71 that support the transport jigs 80 to be loaded are approximately the same height as the support rails 29 of the working device main body 11 .
  • the rack lifting device 63 is controlled to do so (step S100).
  • the controller 100 performs a reading operation to read the recognition mark 83 provided on the side surface of the conveying jig 80 by the reader 65 when the side surface of the conveying jig 80 (frame body 81) passes through the reader 65 (Step S110), and it is determined whether or not the reading is successful (Step S120).
  • the control device 100 determines that the reading has failed, it determines that there is a possibility that the orientation of the transportation jig 80 with respect to the storage rack 70 is incorrect. is output (step S290), and the support member carrying-in process is terminated.
  • control device 100 determines that the reading is successful, it performs a verification process of verifying the read information (step S130), and determines whether or not the verification was successful (step S140).
  • the collating process is a process of determining whether or not the substrate support member 90 held by the transfer jig 80 to be carried in is correct.
  • the substrate support member 90 held by the transport jig 80 is identified from the support member information stored in the storage device 101 based on the identification information of the transport jig 80 acquired in step S110. This is performed by determining whether or not the recognized substrate support member 90 matches the substrate support member 90 that has been requested to be replaced at the changeover. As shown in FIG.
  • the support member information is stored in the storage device 101 in association with the identification information of the transfer jig 80 and the identification information of the substrate support member 90 .
  • the support member information is obtained by reading the recognition mark 83 of the transport jig 80 and the recognition mark 91b of the substrate support member 90 using a reader. can be stored in the storage device 101 in advance.
  • control device 100 determines that the collation has failed ("NO" in step S140), it determines that the wrong substrate support member 90 is held by the transfer jig 80 to be loaded. is not carried in, an error is output to the operation panel (step S290), and the support member carrying-in process is terminated.
  • step S140 when the control device 100 determines that the collation is successful (“YES” in step S140), then the two substrate support members 90 held by the transport jig 80 are transferred to the first and second substrate transport support devices. It is controlled to be conveyed above the respective tables 36, 46 of 30, 40 (step S150). That is, the control device 100 controls the frame forward/backward moving device 64 so that the conveying jig 80 is sent out from the accommodation rack 70 to the support rail 29 . Then, the control device 100 controls the head moving device 26 so that the pusher 24 is lowered by the pusher lifting device 25 and the transfer jig 80 on the support rail 29 is pushed backward by the pusher 24 to carry in.
  • the control device 100 uses the upper reading section 52 of the camera body 51 to read the first and second recognition marks 93c and 93d provided on the bottom surface of the board support member 90 held by the carrying jig 80 in advance.
  • the camera device 50 is controlled to read at a determined position (step S160).
  • the controller 100 recognizes the front-rear width (size) of the substrate support member 90 based on the read positions of the first and second recognition marks 93c and 93d (step S170), and the recognized size is It is determined whether or not it is appropriate (step S180). This determination can be made based on the size information of the substrate S to be produced next.
  • control device 100 determines that the size of the substrate support member 90 held by the carried-in transport jig 80 is not appropriate, the control device 100 carries out the transport jig 80 to the storage rack 70 (step S190). That is, the control device 100 controls the head moving device 26 so that the pusher 24 pushes forward the conveying jig 80 on the support rail 29 to carry it out, and the conveying jig 80 moves from the support rail 29 to the storage rack 70 .
  • the frame forward/backward moving device 64 is controlled so as to be mounted. Then, the control device 100 outputs an error to the operation panel (step S290), and ends the support member loading process.
  • control device 100 determines that the size of the substrate support member 90 held by the carried-in transport jig 80 is appropriate, the control device 100 moves the support member lifting device 37 or the support member lifting device 37 or 46 so that the table 36 or 46 rises to the printing height. 47 (step S200). Subsequently, the control device 100 controls the pusher lifting device 25 so that the pusher 24 is lowered just above the raised table (step S210), and waits for a predetermined time to pass (step S220).
  • the predetermined time is the waiting time until the substrate support member 90 is detached from the transfer jig 80 and placed on the table 36 or 46 .
  • the pair of left and right pusher plates 241 first come into contact with the lock plates 826 of the pair of arm members 82 to push them down, and the arm plates 822 are unlocked. Then, when the pushers 24 are further lowered, the pair of left and right pusher rollers 242 contact and push down the corresponding arm plates 822, and the pair of arm members 82 are spread. As a result, the substrate support member 90 is separated from the pair of arm members 82 and placed on the table. In this manner, the substrate support member 90 can be removed from the transfer jig 80 and placed on the table by a simple control of lowering the pushers 24 directly above the pair of arm members 82 .
  • the control device 100 controls the support member lifting device 37 or 47 so that the table 36 or 46 is lowered to the initial position (step S230).
  • the control device 100 places the other substrate support member 90 held by the transfer jig 80 on the other table by the same control.
  • the gap between the pair of front and rear conveyor belts of the conveyor devices 31 and 41 is changed (adjusted) by the conveyor gap changing devices 34 and 44 based on the size information of the substrate S to be conveyed. Therefore, when the substrate support member 90 having a size larger than the size information of the substrate S to be transported is carried in, the substrate support member 90 interferes with the conveyor devices 31 and 41 when placed on the tables 36 and 46 .
  • the controller 100 confirms that the width (size) in the front-rear direction of the substrate support member 90 that has been carried in is appropriate, and then places the substrate support member 90 on the tables 36 and 46. It is possible to prevent the board support member 90 from interfering with the conveyor devices 31 and 41 .
  • control device 100 causes the lower reading section 53 of the camera body 51 to read the recognition mark 91b provided on the upper surface of the substrate support member 90 (support member main body 91) placed on the tables 36 and 46. 50 (step S240). Subsequently, the control device 100 performs collation processing for collating the identification information of the support member main body 91 acquired by reading the recognition mark 91b (step S250), and determines whether or not the collation is successful (step S260). . The collating process is performed by determining whether or not the support member main body 91 recognized by the acquired identification information matches the support member main body 91 requested to be replaced at the changeover.
  • the substrate support member 90 placed on the tables 36 and 46 is recovered to the transfer jig 80 on the support rail 29 (step S270).
  • This process is performed by the same process as the support member unloading process. That is, the control device 100 lowers the pusher 24 directly above the table on which the corresponding substrate support member 90 is placed, spreads the pair of arm members 82, raises the table to the printing height, and raises the pusher 24. to hold the substrate support member 90 on the pair of arm members 82 .
  • the controller 100 determines that the collation is successful, it unloads the transport jig 80 from which the substrate support member 90 has been taken out to the accommodation rack 70 (step S300), and ends the support member loading process. That is, the control device 100 controls the head moving device 26 and the frame so that the conveying jig 80 supported by the support rails 29 is pushed forward by the pusher 24 to be carried out of the working device main body 11 and accommodated in the accommodation rack 70 . It controls the forward/backward movement device 64 .
  • the board support member 90 corresponds to the support member
  • the working device 10 corresponds to the working device
  • the conveying jig 80 corresponds to the conveying jig
  • the control device 100 corresponds to the control device
  • the camera device 50 reads the first arm member 82a corresponds to the first arm member
  • the second arm member 82b corresponds to the second arm member
  • the first recognition mark 93c corresponds to the first read portion
  • the recognition mark 93d corresponds to the second read portion.
  • the support member main body 91 corresponds to the support member main body
  • the adapter 92 corresponds to the adapter.
  • the recognition mark 91b corresponds to the third read portion.
  • the pusher 24 corresponds to the pressing member
  • the pusher lifting device 25 corresponds to the pressing member lifting device.
  • the working device main body 11 corresponds to the working device main body
  • the storage rack 70 corresponds to the storage section
  • the rack lifting device 63 corresponds to the storage section lifting device
  • the storage device 101 corresponds to the storage section
  • the recognition mark 83 corresponds to the read portion.
  • the work device 10 is provided with two lanes for transporting and supporting the substrate S, but may be provided with only one lane.
  • the working device of the present disclosure is applied to a printing device, but the working device is not limited to this. can be applied to any working device as long as it is a working device that can automatically replace the supporting member.
  • the control device of the first work device of the present disclosure after the conveying jig is loaded, causes the first read portion and the second read portion of the support member held by the conveying jig to is read, and the size of the supporting member relative to the conveying jig is determined.
  • the first read portion is provided on a third side adjacent to the first side supported by the first arm in the outer edge of the bottom surface of the support member
  • the second read portion is provided on the outer edge of the bottom surface of the support member.
  • it is possible to determine whether or not the support member for supporting the substrate is appropriate with a simple configuration in the case where the support member for supporting the substrate can be replaced automatically.
  • the control device determines that the size of the support member is appropriate
  • the control device takes out the support member from the transfer jig, places the support member on the table, and If it is determined that the size of the support member is not appropriate, the support member may not be placed on the table. By doing so, it is possible to prevent interference with other members in the working device caused by placing support members of different sizes on the table.
  • the support member includes a support member main body that supports the substrate on its upper surface, and an adapter that is detachably attached to the bottom surface of the support member main body, and the first read portion is the adapter.
  • the adapter may be provided on the third side portion of the bottom surface outer edge portion, and the second readable portion may be provided on the fourth side portion of the bottom surface outer edge portion of the adapter.
  • the upper surface of the support member main body is provided with a third read portion on which information unique to the support member main body is written, and the reading device can read up and down.
  • the control device may determine whether or not the support member main body is proper by reading the third read portion with the reading device after placing the support member on the table. . This makes it possible to more reliably determine whether or not the support member main body is proper.
  • the first working device of the present disclosure includes a pressing member and a pressing member lifting device that lifts and lowers the pressing member, and the first arm member and the second arm member are arranged parallel to each other.
  • the support members are configured to be rotatable about a rotation axis, hold the support members at a predetermined rotation position where the tip portions face each other, and release the holding of the support members by being pushed down by each other,
  • the control device determines that the size of the support member is appropriate
  • the control device controls the pressing member lifting device to lower the pressing member so that the pressing member moves the first arm member and the second arm member. may be pressed to place the support member on the table. By doing so, the support member can be automatically replaced by simple control.
  • a second working device of the present disclosure includes a working device main body, a housing portion, a housing portion elevating device, and a storage portion.
  • the storage unit information for identifying the conveying jig accommodated in the accommodating unit and information for identifying the supporting member held by the conveying jig are associated with each other and stored in advance as supporting member information.
  • the work apparatus main body can carry in a transport jig at a predetermined elevation position among the transport jigs accommodated in the accommodation section.
  • the working device main body has a reading unit, and when the receiving unit is lifted by the receiving unit elevating device and the read unit provided on the side surface of the conveying jig passes through the reading unit, the reading unit moves the reading unit.
  • the present disclosure can be used in the manufacturing industry of transport jigs, support members, and working devices.

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Abstract

A control device of this work device, after a conveyance jig is loaded, reads a first scanned part and a second scanned part of a support member retained by the conveyance jig, and determines the size of the support member with respect to the conveyance jig. The first scanned part is provided in a third side part adjacent to a first side part supported by a first arm at an outer edge part of a bottom surface of the support member. The second scanned part is provided in a fourth side part facing the third side part at the outer edge part of the bottom surface of the support member.

Description

作業装置working equipment
 本明細書は、作業装置について開示する。 This specification discloses a work device.
 従来、基板を支持する基板支持部材を自動交換可能な作業装置が知られている。例えば、特許文献1には、基板支持部材が予め取り付けられた搬送治具を内部に搬入し、搬入した搬送治具から基板支持部材を取り出して支持台(テーブル)上に配置し、基板支持部材を取り出した後の搬送治具を搬出する印刷装置が開示されている。搬送治具は、枠体と、枠体から内側に延びる複数の腕部と、各腕部の先端上面部にそれぞれ配設された凹状の突起保持部(第1~第4突起保持部)と、を有する。突起保持部は、左右方向に一対ずつ配設されている。基板支持部材は、本体部の左右から突出するように配設された円柱状の一対の突起部が設けられる。一対の突起部は、搬送治具の対応する突起保持部にそれぞれ保持される。更に、搬送治具の左右に対をなす第2突起保持部および第4突起保持部は、大きさの異なる複数種の基板支持部材を取り付け可能なように、前後方向の位置を調整できるようになっている。作業者は、使用予定の基板支持部材に応じて第2突起保持部および第4突起保持部の位置を調整して基板支持部材を搬送治具に取り付け、当該搬送治具を収容部に収納して印刷装置本体にセットしておく。また、作業者は、搬送治具を収容部に収容する際に、必要に応じて基板支持部材と搬送治具とに貼り付けられたバーコードをバーコードリーダで読み取って正しい部材が収容部に収容されているかの照合を行なう。印刷装置本体は、基板支持部材が支持台の上方に位置するように当該基板支持部材が取り付けられた搬送治具を収容部から取り出して前方に搬送(搬入)する。続いて、印刷装置本体は、支持台を上昇させて基板支持部材の複数の突起部を搬送治具の各突起保持部から浮かせる。更に、印刷装置本体は、搬送治具を後方に移動させてから支持台を下降させ、搬送治具を後方に搬送(搬出)すると共に、支持台上に基板支持部材を固定する。 Conventionally, working devices capable of automatically exchanging substrate support members that support substrates have been known. For example, in Patent Document 1, a carrying jig to which a substrate supporting member is attached in advance is carried inside, the substrate supporting member is taken out from the carried-in carrying jig, placed on a support table (table), and the substrate supporting member is There is disclosed a printing apparatus that carries out a carrying jig after taking out the print. The conveying jig includes a frame, a plurality of arms extending inwardly from the frame, and recessed projection holding portions (first to fourth projection holding portions) respectively arranged on the top surfaces of the tip ends of the respective arms. , has The projection holding portions are arranged in pairs in the left-right direction. The substrate supporting member is provided with a pair of columnar protrusions arranged to protrude from the left and right sides of the main body. The pair of projections are held by corresponding projection holding portions of the conveying jig. Further, the second projection holding portion and the fourth projection holding portion forming a pair on the left and right of the transfer jig are arranged so that their positions in the front-rear direction can be adjusted so that a plurality of types of board support members having different sizes can be attached. It's becoming The operator adjusts the positions of the second projection holding portion and the fourth projection holding portion according to the substrate supporting member to be used, attaches the substrate supporting member to the transfer jig, and stores the transfer jig in the storage portion. and set it in the printer main unit. Further, when the carrier jig is accommodated in the accommodation section, the operator reads the barcode attached to the substrate supporting member and the carrier jig with a barcode reader as necessary, and the correct member is placed in the accommodation section. Check whether it is contained or not. The main body of the printing apparatus takes out the transport jig to which the substrate support member is attached so that the substrate support member is positioned above the support stand, and transports (loads) the transport jig forward. Subsequently, the main body of the printing apparatus raises the support base to float the plurality of projections of the substrate support member from the respective projection holding portions of the transfer jig. Further, the printing apparatus body moves the carrier jig backward, lowers the support table, carries the carrier jig backward (unloads), and fixes the substrate support member on the support table.
国際公開第2016/199207号WO2016/199207
 特許文献1には、作業者が基板支持部材と搬送治具とにそれぞれ貼り付けられたバーコードをバーコードリーダで読み取ることにより照合を行なうことが記載されている。しかし、作業者による照合では、負担が大きく、また、照合作業を忘れるおそれもある。このため、簡易な構成により支持部材が適正であるか否かを自動判定することが望まれる。 Patent Literature 1 describes that verification is performed by an operator reading barcodes attached to a substrate supporting member and a conveying jig with a barcode reader. However, collation by workers is a heavy burden, and there is a possibility that the collation work may be forgotten. Therefore, it is desired to automatically determine whether or not the support member is appropriate with a simple configuration.
 本開示は、基板を支持する支持部材を自動交換可能なものにおいて、簡易な構成により支持部材が適正であるか否かを自動判定することを主目的とする。 The main purpose of the present disclosure is to automatically determine whether or not a support member that supports a substrate is suitable with a simple configuration in a device that can automatically replace the support member.
 本開示は、上述の主目的を達成するために以下の手段を採った。 This disclosure has taken the following means to achieve the above-mentioned main objectives.
 本開示の第1の作業装置は、テーブルに設置される支持部材上の基板に対して作業を行なう作業装置であって、前記支持部材を保持した搬送治具を搬入して前記支持部材を自動交換するよう制御する制御装置と、前記支持部材に設けられた被読取部を読み取る読取装置と、を備え、前記搬送治具は、前記支持部材の底面外縁部における第1辺部を支持する第1アーム部材と、前記第1アーム部材と互いの先端部が向かい合うように配置され前記底面外縁部における前記第1辺部に対向する第2辺部を支持する第2アーム部材と、を含み、前記支持部材は、前記被読取部として、前記底面外縁部における前記第1辺部に隣接する第3辺部に設けられた第1被読取部と、前記底面外縁部における前記第3辺部に対向する第4辺部に設けられた第2被読取部と、を含み、前記制御装置は、前記支持部材を保持した前記前記搬送治具が搬入された後、前記支持部材の前記第1被読取部と前記第2被読取部とを前記読取装置により読み取って前記支持部材の大きさを判定することを要旨とする。 A first working device of the present disclosure is a working device for performing work on a substrate on a support member installed on a table, wherein a conveying jig holding the support member is loaded to automatically move the support member. A control device for controlling replacement and a reading device for reading a read portion provided on the support member, and the conveying jig is a first side portion supporting a first side portion of the outer edge portion of the bottom surface of the support member. 1 arm member, and a second arm member arranged so that the tip ends of the first arm member face each other and supporting a second side portion facing the first side portion in the outer edge of the bottom surface, The support member includes, as the read portions, a first read portion provided on a third side portion adjacent to the first side portion of the bottom outer edge portion, and a first read portion provided on the third side portion of the bottom outer edge portion. and a second read portion provided on an opposing fourth side portion, wherein the control device controls the first read portion of the support member after the conveying jig holding the support member is carried in. The gist is that the size of the support member is determined by reading the reading portion and the second read portion with the reading device.
 この本開示の第1の作業装置の制御装置は、搬送治具が搬入された後、搬送治具に保持された支持部材の第1被読取部と第2被読取部とを読み取り、搬送治具に対する支持部材の大きさを判定する。第1被読取部は、支持部材の底面外縁部における、第1アームに支持される第1辺部に隣接する第3辺部に設けられ、第2被読取部は、支持部材の底面外縁部における上記第3辺部に対向する第4辺部に設けられる。このため、支持部材の第1被読取部と第2被読取部とを読み取ることで、第3辺部と第4辺部との間隔、すなわち支持部材の大きさを判定することができる。この結果、基板を支持する支持部材を自動交換可能なものにおいて、簡易な構成により支持部材が適正であるか否かを判定することができる。 The control device of the first working device of the present disclosure reads the first read portion and the second read portion of the support member held by the transport jig after the transport jig is loaded, and reads the transport jig. Determine the size of the support member relative to the tool. The first read portion is provided on a third side adjacent to the first side supported by the first arm in the outer edge of the bottom surface of the support member, and the second read portion is provided on the outer edge of the bottom surface of the support member. is provided on a fourth side facing the third side in the above. Therefore, by reading the first read portion and the second read portion of the support member, the distance between the third side portion and the fourth side portion, that is, the size of the support member can be determined. As a result, it is possible to determine whether or not the support member for supporting the substrate is appropriate with a simple configuration in the case where the support member for supporting the substrate can be replaced automatically.
 本開示の第2の作業装置は、テーブルに設置される支持部材上の基板に対して作業を行なう作業装置本体と、前記支持部材を保持可能な搬送治具を上下に複数収容可能な収容部と、前記収容部を昇降する収容部昇降装置と、を備える作業装置であって、前記収容部に収容された前記搬送治具を識別する情報と該搬送治具に保持されている前記支持部材を識別する情報とを対応付けて支持部材情報として予め記憶する記憶部を備え、前記搬送治具の側面に該搬送治具を識別する情報が記された被読取部が設けられ、前記作業装置本体は、前記被読取部を読み取る読取部を備え、前記収容部に収容された搬送治具のうち所定の昇降位置にある搬送治具を搬入可能であり、前記収容部が昇降して前記被読取部が前記読取部を通過する際に該読取部で前記被読取部を読み取り、該読み取った情報と前記記憶部に記憶されている支持部材情報とに基づいて前記搬送治具に保持されている前記支持部材が適正であるか否かを判定することを要旨とする。 A second work device of the present disclosure includes a work device main body that performs work on a substrate on a support member installed on a table, and an accommodating section that can vertically accommodate a plurality of transfer jigs capable of holding the support member. and a housing lifting device for lifting and lowering the housing, wherein information identifying the conveying jig housed in the housing and the supporting member held by the conveying jig and a storage unit for pre-storing as support member information in association with information that identifies the conveying jig, and a read portion having information identifying the conveying jig written on a side surface of the conveying jig, and the working device The main body has a reading section that reads the read section, and can carry in a conveying jig at a predetermined elevation position among the conveying jigs accommodated in the accommodating section. When the reading unit passes through the reading unit, the reading unit reads the portion to be read, and is held by the conveying jig based on the read information and the supporting member information stored in the storage unit. The gist of the invention is to determine whether or not the support member that is in place is proper.
 この本開示の第2の作業装置は、作業装置本体と収容部と収容部昇降装置と記憶部とを備える。記憶部には、収容部に収容された搬送治具を識別する情報とこの搬送治具に保持されている支持部材を識別する情報とを対応付けて支持部材情報として予め記憶される。作業装置本体は、収容部に収容された搬送治具のうち所定の昇降位置にある搬送治具を搬入可能である。更に、作業装置本体は、読取部を備え、収容部昇降装置により収容部が昇降して搬送治具の側面に設けられた被読取部が読取部を通過する際に読取部で被読取部を読み取り、読み取った情報と記憶部に記憶されている支持部材情報とに基づいて搬送治具に保持されている支持部材が適正であるか否かを判定する。これにより、基板を支持する支持部材を自動交換可能なものにおいて、簡易な構成により、支持部材を保持した搬送治具を搬入する前に、支持部材が適正であるか否かを判定することができる。 The second work device of the present disclosure includes a work device main body, a housing portion, a housing portion elevating device, and a storage portion. In the storage unit, information for identifying the conveying jig accommodated in the accommodating unit and information for identifying the supporting member held by the conveying jig are associated with each other and stored in advance as supporting member information. The work apparatus main body can carry in a transport jig at a predetermined elevation position among the transport jigs accommodated in the accommodation unit. Further, the working device main body has a reading unit, and when the receiving unit is lifted by the receiving unit elevating device and the read unit provided on the side surface of the conveying jig passes through the reading unit, the reading unit moves the reading unit. It is determined whether or not the support member held by the conveying jig is appropriate based on the read information and the support member information stored in the storage unit. As a result, in a device capable of automatically exchanging the support members for supporting the substrate, it is possible to determine whether or not the support members are appropriate before carrying in the transport jig holding the support members with a simple configuration. can.
本開示の作業装置の概略構成図である。1 is a schematic configuration diagram of a working device of the present disclosure; FIG. 作業装置の内部構成を示す斜視図である。1 is a perspective view showing an internal configuration of a working device; FIG. 作業装置の内部構成を示す側面図である。FIG. 3 is a side view showing the internal configuration of the working device; 作業装置の電気的な接続関係を示すブロック図である。FIG. 3 is a block diagram showing the electrical connection relationship of the working device; 支持部材を上面側から見た斜視図である。It is the perspective view which looked at the support member from the upper surface side. 支持部材を底面側から見た斜視図である。It is the perspective view which looked at the support member from the bottom face side. 支持部材を上面側から見た斜視図である。It is the perspective view which looked at the support member from the upper surface side. 支持部材を底面側から見た斜視図である。It is the perspective view which looked at the support member from the bottom face side. リーダと収容ラックとの関係を示す説明図である。FIG. 4 is an explanatory diagram showing the relationship between a reader and an accommodation rack; 搬送治具の外観斜視図である。It is an external appearance perspective view of a conveyance jig. 支持部材が取り付けられた搬送治具の外観斜視図である。4 is an external perspective view of a conveying jig to which a supporting member is attached; FIG. アーム部材の概略構成図である。4 is a schematic configuration diagram of an arm member; FIG. プッシャの概略構成図である。4 is a schematic configuration diagram of a pusher; FIG. プッシャの部分拡大図である。FIG. 4 is a partially enlarged view of a pusher; 搬送治具から支持部材を取り出す際の動作を示す説明図である。FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig; 搬送治具から支持部材を取り出す際の動作を示す説明図である。FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig; 搬送治具から支持部材を取り出す際の動作を示す説明図である。FIG. 10 is an explanatory view showing an operation when taking out the supporting member from the conveying jig; 支持部材搬入処理の一例を示すフローチャートである。7 is a flow chart showing an example of a support member carry-in process; 支持部材搬入処理の一例を示すフローチャートである。7 is a flow chart showing an example of a support member carry-in process; 記憶装置に記憶される支持基板情報の一例を示す説明図である。FIG. 3 is an explanatory diagram showing an example of supporting substrate information stored in a storage device;
 次に、本開示を実施するための形態について図面を参照しながら説明する。 Next, a mode for carrying out the present disclosure will be described with reference to the drawings.
 図1は、本開示の作業装置10の概略構成図である。図2は、作業装置10の内部構成を示す斜視図である。図3は、作業装置10の内部構成を示す側面図である。図4は、作業装置の電気的な接続関係を示すブロック図である。図1~図3において、左右方向をX軸とし、前後方向をY軸とし、上下方向をZ軸とする。 FIG. 1 is a schematic configuration diagram of a working device 10 of the present disclosure. FIG. 2 is a perspective view showing the internal configuration of the work device 10. As shown in FIG. FIG. 3 is a side view showing the internal configuration of the work device 10. As shown in FIG. FIG. 4 is a block diagram showing the electrical connection relationship of the working device. 1 to 3, the horizontal direction is the X-axis, the front-rear direction is the Y-axis, and the vertical direction is the Z-axis.
 作業装置10は、基板支持部材90に支持された基板Sに対して所定の作業を行なうものである。本実施形態では、作業装置10は、所定の作業として、スキージ22を用いてスクリーンマスクM上のはんだペーストをスクリーンマスクMに形成されたパターン孔P1,P2に押し込むことにより当該パターン孔P1,P2を介して下方の基板Sにはんだペーストを塗布(印刷)する印刷装置として構成される。作業装置10は、はんだが印刷された基板Sに電子部品を実装する実装装置と組み合わされて部品実装システムを構成する。更に、作業装置10は、印刷対象を異なる種類の基板Sに変更する段取り替えを行なう場合に、スクリーンマスクMの自動交換や、基板支持部材90の搬送治具80を用いた自動交換が可能である。 The work device 10 performs a predetermined work on the substrate S supported by the substrate support member 90 . In the present embodiment, the work device 10 uses the squeegee 22 to press the solder paste on the screen mask M into the pattern holes P1 and P2 formed in the screen mask M as a predetermined work. It is configured as a printing device that applies (prints) a solder paste to the substrate S below via the . The work device 10 constitutes a component mounting system in combination with a mounting device that mounts electronic components on the board S on which solder is printed. Furthermore, the work apparatus 10 is capable of automatic exchange of the screen mask M and automatic exchange of the substrate support member 90 using the transfer jig 80 when performing a setup change to change the substrate S to be printed to a different type. be.
 作業装置10は、図1~図4に示すように、作業装置本体11と交換装置60と収容ラック70と制御装置100とを備える。作業装置本体11は、ヘッド21を含むヘッド装置20と、スクリーンマスクMや搬送治具80を支持する支持レール29と、デュアルレーンにより基板Sを搬送・支持する第1および第2基板搬送支持装置30,40と、カメラ装置50と、リーダ65と、を有する。また、作業装置10は、当該作業装置本体11の正面に設置され、各種情報を表示すると共に作業者による各種入力操作が可能な操作パネルも備える。 The work device 10 includes a work device body 11, a replacement device 60, a storage rack 70, and a control device 100, as shown in FIGS. The working device main body 11 includes a head device 20 including a head 21, support rails 29 for supporting the screen mask M and the transfer jig 80, and first and second substrate transfer support devices for transferring and supporting the substrate S by dual lanes. 30 , 40 , camera device 50 and reader 65 . The working device 10 is also provided with an operation panel installed in front of the working device main body 11, which displays various kinds of information and allows the operator to perform various input operations.
 ヘッド装置20は、作業装置本体11の上段に設置される。ヘッド装置20は、図1に示すように、ヘッド21と、ヘッド21を印刷方向である前後方向(Y軸方向)に移動させるヘッド移動装置26と、を備える。ヘッド移動装置26は、前後方向に延在するガイドレール28に沿って移動するY軸スライダ27と、Y軸スライダ27を駆動するモータと、を有する。ヘッド21は、スキージ22と、例えばエアシリンダによりスキージ22を昇降させるスキージ昇降装置23と、プッシャ24と、例えばエアシリンダによりプッシャ24を昇降させるプッシャ昇降装置25と、を有する。スキージ22は、印刷方向に直交する左右方向(X軸方向)に延びる板状部材である。プッシャ24は、プッシャ昇降装置25により下降して下方に突出した状態でヘッド移動装置26により前後に移動することで、支持レール29上のスクリーンマスクMや搬送治具80を前後に押して搬送するものである。また、プッシャ24は、搬送治具80を用いて基板支持部材90を交換する場合に、テーブル36,46上の基板支持部材90を支持レール29上に搬入した搬送治具80に回収したり、基板支持部材90を保持した状態で支持レール29上に搬入した搬送治具80から基板支持部材90を取り出してテーブル36,46上に載置したりするのにも用いられる。 The head device 20 is installed on the upper stage of the working device main body 11 . As shown in FIG. 1, the head device 20 includes a head 21 and a head moving device 26 that moves the head 21 in the front-rear direction (Y-axis direction), which is the printing direction. The head moving device 26 has a Y-axis slider 27 that moves along a guide rail 28 extending in the front-rear direction, and a motor that drives the Y-axis slider 27 . The head 21 includes a squeegee 22, a squeegee lifting device 23 that lifts the squeegee 22 using, for example, an air cylinder, a pusher 24, and a pusher lifting device 25 that lifts the pusher 24 using, for example, an air cylinder. The squeegee 22 is a plate-like member extending in the left-right direction (X-axis direction) orthogonal to the printing direction. The pusher 24 is moved forward and backward by the head moving device 26 while being lowered by the pusher elevating device 25 and protruding downward, thereby pushing the screen mask M and the conveying jig 80 forward and backward on the support rail 29 and conveying them. is. Further, when the substrate support member 90 is exchanged using the transport jig 80, the pusher 24 recovers the substrate support member 90 on the tables 36 and 46 to the transport jig 80 carried onto the support rail 29, It is also used to take out the substrate support member 90 from the transfer jig 80 carried onto the support rails 29 while holding the substrate support member 90 and place it on the tables 36 and 46 .
 スクリーンマスクMは、金属製の薄板であり、矩形状の枠体Fに所定のテンションで固定されている。スクリーンマスクMには、第1および第2基板搬送支持装置30,40により搬送・支持された基板Sにそれぞれはんだを印刷するためのパターン孔P1,P2が形成されている。 The screen mask M is a thin metal plate and is fixed to a rectangular frame F with a predetermined tension. The screen mask M is formed with pattern holes P1 and P2 for printing solder on the substrate S conveyed and supported by the first and second substrate conveying and supporting devices 30 and 40, respectively.
 支持レール29は、図3に示すように、前後方向(Y軸方向)に延びる左右一対のレールであり、ヘッド装置20と第1および第2基板搬送支持装置30,40との間に設置される。支持レール29は、スクリーンマスクMや搬送治具80を水平姿勢で支持すると共に、プッシャ24により押されたスクリーンマスクMや搬送治具80が前後方向に沿って移動するようにガイドする。 As shown in FIG. 3, the support rails 29 are a pair of left and right rails extending in the front-rear direction (Y-axis direction), and are installed between the head device 20 and the first and second substrate transfer support devices 30 and 40. be. The support rails 29 support the screen mask M and the conveying jig 80 in a horizontal posture, and guide the screen mask M and the conveying jig 80 pushed by the pusher 24 so as to move along the front-rear direction.
 第1および第2基板搬送支持装置30,40は、基板Sを搬入して支持すると共に、支持した基板Sを支持レール29上のスクリーンマスクMに接触・離間させるものである。第1および第2基板搬送支持装置30,40は、図2~図4に示すように、コンベア装置31,41とコンベア間隔変更装置34,44とコンベア昇降装置35,45とテーブル36,46と支持部材昇降装置37,47とを備える。コンベア装置31,41は、前後一対のサイドフレーム33s,43sにそれぞれ設けられたコンベアベルトと、コンベアベルトを周回駆動するモータと、を有する。一対のサイドフレーム33s,43sは、ベースフレーム33b,43bに立設され、一対のサイドフレーム33s,43sの上端部には、基板ガイド32,42が設けられている。コンベア間隔変更装置34,44は、一対のサイドフレーム33s,43sの一方または双方を近接・離間させることにより、コンベアベルトの間隔を変更(調整)するものである。これにより、第1および第2基板搬送支持装置30,40は、異なるサイズの基板Sを搬送・支持することができる。コンベア昇降装置35,45は、ベースフレーム33b,43bを支持する支柱を昇降させることでコンベア装置31,41(コンベアベルト)を昇降させるものである。テーブル36,46は、基板支持部材90を設置可能な設置面を上面に有する支持台である。支持部材昇降装置37,47は、テーブル36,46を支持する支柱を昇降させることでテーブル36,46に設置された基板支持部材90を昇降させるものである。 The first and second substrate transfer and support devices 30 and 40 carry in and support the substrate S, and bring the supported substrate S into contact with/separate from the screen mask M on the support rails 29 . As shown in FIGS. 2 to 4, the first and second substrate transfer support devices 30 and 40 include conveyor devices 31 and 41, conveyor interval changing devices 34 and 44, conveyor lifting devices 35 and 45, and tables 36 and 46. Support member lifting devices 37 and 47 are provided. The conveyor devices 31 and 41 have conveyor belts provided on a pair of front and rear side frames 33s and 43s, respectively, and a motor that drives the conveyor belts to rotate. The pair of side frames 33s, 43s are provided upright on the base frames 33b, 43b, and substrate guides 32, 42 are provided at the upper ends of the pair of side frames 33s, 43s. The conveyor interval changing devices 34 and 44 change (adjust) the interval between the conveyor belts by moving one or both of the pair of side frames 33s and 43s toward or away from each other. Thereby, the first and second substrate transfer support devices 30 and 40 can transfer and support substrates S of different sizes. The conveyor lifting devices 35 and 45 lift and lower the conveyor devices 31 and 41 (conveyor belts) by lifting and lowering columns that support the base frames 33b and 43b. The tables 36 and 46 are support bases having an installation surface on the upper surface on which the substrate support member 90 can be installed. The supporting member elevating devices 37 and 47 raise and lower the substrate supporting members 90 installed on the tables 36 and 46 by raising and lowering the columns that support the tables 36 and 46 .
 基板支持部材90は、基板Sを下面側から支持するものであり、図5A,図5B,図6Aおよび図6Bに示すように、基板Sに応じて当該基板Sを支持するのに適したサイズのものに交換される。基板支持部材90は、支持部材本体91と、支持部材本体91の底面に着脱可能に取り付けられるアダプタ92と、を備える。支持部材本体91の上面は、凹部91aが形成されている。凹部91aは、例えば、表裏両面に部品を実装した基板Sを生産する場合において、基板Sの一方の面にはんだペーストを印刷して部品を実装した後、基板Sの他方の面にはんだペーストを印刷する際に、実装済みの部品と干渉しないように設けられる。このため、支持部材本体91はその基板Sを生産するための専用品となるが、アダプタ92は支持部材本体91に対して着脱可能であるから、生産する基板Sを変更する場合には、サイズが適合すれば、支持部材本体91のみを交換すれば足り、アダプタ92はそのまま用いることが可能となる。また、支持部材本体91の上面には、支持部材本体91を認識する認識マーク91bが設けられている。認識マーク91bは、本実施形態では、支持部材本体91を識別するための固有の情報が記されたIDコードである。 The substrate support member 90 supports the substrate S from the lower surface side, and has a size suitable for supporting the substrate S according to the substrate S as shown in FIGS. 5A, 5B, 6A and 6B. will be exchanged for The substrate support member 90 includes a support member main body 91 and an adapter 92 detachably attached to the bottom surface of the support member main body 91 . A concave portion 91 a is formed on the upper surface of the support member main body 91 . For example, in the case of producing a substrate S having components mounted on both front and back surfaces, the concave portion 91a is formed by printing solder paste on one surface of the substrate S to mount components, and then applying solder paste to the other surface of the substrate S. It is provided so as not to interfere with mounted components when printing. Therefore, the supporting member main body 91 is a dedicated product for producing the substrate S, but since the adapter 92 is detachable from the supporting member main body 91, the size of the substrate S to be produced can be changed. , it is sufficient to replace only the support member main body 91, and the adapter 92 can be used as it is. A recognition mark 91 b for recognizing the support member main body 91 is provided on the upper surface of the support member main body 91 . The recognition mark 91b is an ID code in which unique information for identifying the support member main body 91 is written in this embodiment.
 アダプタ92の底面外縁部における第1辺部92aには、基板支持部材90を保持する搬送治具80の一対のアーム部材82のうちの一方である第1アーム部材82aに係合される一対の第1ピン部材94a(第1被係合部)が設けられている。また、アダプタ92の底面外縁部における第1辺部92aと対向する第2辺部92bには、上記一対のアーム部材82のうちの他方である第2アーム部材82bに係合される一対の第2ピン部材94b(第2被係合部)が設けられている。 A pair of first arm members 82a engaged with one of the pair of arm members 82 of the transfer jig 80 that holds the substrate support member 90 is provided on the first side portion 92a at the outer edge of the bottom surface of the adapter 92. A first pin member 94a (first engaged portion) is provided. A second side portion 92b facing the first side portion 92a on the outer edge of the bottom surface of the adapter 92 has a pair of second arm members 82b engaged with the second arm member 82b, which is the other of the pair of arm members 82 described above. A 2-pin member 94b (second engaged portion) is provided.
 また、アダプタ92の底面外縁部における第1辺部92aに隣接(直交)する第3辺部92cには、2つの第1認識マーク93cが形成されている。更に、アダプタ92の底面外縁部における第3辺部92cに対向する第4辺部92dにも、2つの第2認識マーク93dが形成されている。第1および第2認識マーク93c,93dは、作業装置本体11が基板支持部材90を交換する際に基板支持部材90の位置やサイズ(前後方向幅)を認識するためのものである。 In addition, two first recognition marks 93c are formed on a third side portion 92c adjacent to (perpendicular to) the first side portion 92a on the outer edge of the bottom surface of the adapter 92. As shown in FIG. Furthermore, two second recognition marks 93d are also formed on a fourth side portion 92d facing the third side portion 92c on the outer edge of the bottom surface of the adapter 92. As shown in FIG. The first and second recognition marks 93c and 93d are for recognizing the position and size (width in the front-rear direction) of the board support member 90 when the work device body 11 replaces the board support member 90. FIG.
 カメラ装置50は、図1および図2に示すように、カメラ本体51と、カメラ本体51を前後左右(XY方向)に移動させるカメラ移動装置55と、を備える。カメラ移動装置55は、X軸スライダ56と、X軸スライダ56を駆動するモータと、Y軸スライダ58と、Y軸スライダ58を駆動するモータと、を有する。Y軸スライダ58は、左右に延在すると共に左右一対のY軸ガイドレール59に架け渡された長尺部材であり、Y軸ガイドレール59に沿って前後に移動する。X軸スライダ56は、Y軸スライダ58に設けられたX軸ガイドレール57に沿って左右に移動する。カメラ本体51は、X軸スライダ56に固定され、上下に2つの撮像視野(上読取部52,下読取部53)を有する。カメラ装置50は、第1および第2基板搬送支持装置30,40により搬入・支持された基板Sの上面に形成されたマークを下読取部53で撮像して基板Sの位置を取得する。また、カメラ装置50は、支持レール29上に搬送治具80と共に搬入された基板支持部材90(アダプタ92)の底面に形成されたマーク(第1および第2認識マーク93c,93d)を上読取部52で撮像して基板支持部材90の位置やサイズ(前後方向幅)を取得する。更に、カメラ装置50は、テーブル36,46に設置された基板支持部材90(支持部材本体91)の上面に形成されたマーク(認識マーク91b)を下読取部53で撮像して支持部材本体91の識別情報を取得する。 The camera device 50, as shown in FIGS. 1 and 2, includes a camera body 51 and a camera moving device 55 that moves the camera body 51 forward, backward, left and right (XY directions). The camera moving device 55 has an X-axis slider 56 , a motor that drives the X-axis slider 56 , a Y-axis slider 58 , and a motor that drives the Y-axis slider 58 . The Y-axis slider 58 is an elongated member that extends left and right and spans a pair of left and right Y-axis guide rails 59 , and moves back and forth along the Y-axis guide rails 59 . The X-axis slider 56 moves left and right along an X-axis guide rail 57 provided on the Y-axis slider 58 . The camera body 51 is fixed to an X-axis slider 56 and has two imaging fields (upper reading section 52 and lower reading section 53) above and below. The camera device 50 acquires the position of the substrate S by imaging the mark formed on the upper surface of the substrate S carried in and supported by the first and second substrate transport and support devices 30 and 40 with the lower reading unit 53 . Further, the camera device 50 reads the marks (first and second recognition marks 93c, 93d) formed on the bottom surface of the board support member 90 (adapter 92) carried onto the support rail 29 together with the transport jig 80. The position and size (width in the front-rear direction) of the substrate support member 90 are obtained by imaging with the unit 52 . Further, the camera device 50 captures the mark (recognition mark 91b) formed on the upper surface of the substrate support member 90 (support member main body 91) installed on the tables 36 and 46 with the lower reading unit 53, and the support member main body 91 to obtain the identity of
 交換装置60は、スクリーンマスクMや搬送治具80といった交換部材を収容した収容ラック70を受け入れ、収容ラック70と作業装置本体11との間で交換部材を搬送するものである。交換装置60は、作業装置本体11の前面における左側に設置された左側ユニット61aと、作業装置本体11の前面における右側に設置された右側ユニット61bと、を備える。左側ユニット61aおよび右側ユニット61bは、収容ラック70を受け入れてその下面を左右両側から支持するラック支持部材62と、ラック支持部材62を昇降させるラック昇降装置63と、を有する。ラック昇降装置63は、例えばボールねじ機構とモータとの組み合わせや、リニアモータにより構成される。ラック支持部材62に支持された収容ラック70は、ラック昇降装置63よりラック支持部材62と共に昇降する。更に、左側ユニット61aおよび右側ユニット61bは、収容ラック70内の交換部材の枠をベルトやローラ等により左右両側から前後に送る枠前後移動装置64を有する。 The exchange device 60 receives a storage rack 70 containing replacement members such as the screen mask M and the transport jig 80, and transports the replacement members between the storage rack 70 and the working device main body 11. The replacement device 60 includes a left unit 61 a installed on the left side of the front surface of the working device main body 11 and a right unit 61 b installed on the right side of the front surface of the working device main body 11 . The left unit 61a and the right unit 61b have a rack support member 62 that receives the accommodation rack 70 and supports the lower surface of the storage rack 70 from both left and right sides, and a rack lifting device 63 that lifts and lowers the rack support member 62 . The rack lifting device 63 is composed of, for example, a combination of a ball screw mechanism and a motor, or a linear motor. The storage rack 70 supported by the rack support member 62 is lifted up and down together with the rack support member 62 by the rack lifting device 63 . Further, the left unit 61a and the right unit 61b have a frame forward/rearward moving device 64 that feeds the frame of the replacement member in the storage rack 70 forward and backward from both left and right sides by means of belts, rollers, or the like.
 収容ラック70は、左右一対の支持レール71を上下に複数段有し、各支持レール71に交換部材を収容可能な収容体である。また、収容ラック70の作業装置本体11と前面と背面とには開口部72,73が形成されている。交換部材は、前面側の開口部72を介して作業者等により出し入れされ、背面側の開口部73を介して枠前後移動装置64により搬入出される。枠前後移動装置64は、交換装置60に収容ラック70が受け入れられた状態で、収容ラック70の複数段の支持レール71のうちラック昇降装置63により作業装置本体11の支持レール29と略同じ高さに位置する支持レール71に支持された交換部材を作業装置本体11へ送り出す。また、枠前後移動装置64は、作業装置本体11の支持レール29に支持された交換部材を当該支持レール29と略同じ高さに位置する収容ラック70の支持レール71に送り入れる。なお、収容ラック70は、作業者により交換装置60の受け入れ位置まで搬送されてもよいし、自動搬送装置(AGV)に搭載されて自動搬送装置によって交換装置60の受け入れ位置まで自動搬送されてもよい。 The storage rack 70 is a storage body that has a pair of left and right support rails 71 in a plurality of stages, and each support rail 71 can store a replacement member. Further, openings 72 and 73 are formed in the working device main body 11 and the front and rear surfaces of the storage rack 70 . The replacement member is loaded/unloaded by an operator or the like through the opening 72 on the front side, and loaded/unloaded by the frame forward/backward moving device 64 through the opening 73 on the back side. The frame back-and-forth movement device 64 moves the storage rack 70 to substantially the same height as the support rails 29 of the working device main body 11 by means of the rack lifting device 63 among the support rails 71 of the multiple stages of the storage rack 70 in a state where the storage rack 70 is received by the exchange device 60 . The replacement member supported by the support rail 71 positioned at the bottom is delivered to the working device main body 11 . Further, the frame back-and-forth moving device 64 feeds the replacement member supported by the support rail 29 of the working device main body 11 into the support rail 71 of the storage rack 70 positioned at substantially the same height as the support rail 29 . The accommodation rack 70 may be transported to the receiving position of the exchanging device 60 by an operator, or may be mounted on an automatic transport device (AGV) and automatically transported to the receiving position of the exchanging device 60 by the automatic transport device. good.
 リーダ65は、収容ラック70に収容された搬送治具80の収容向きを検出したり搬送治具80の識別情報を取得したりするものである。リーダ65は、図7に示すように、交換装置60が収容ラック70を受け入れた状態において、収容ラック70に収容された搬送治具80(枠体81)の側面と向かい合うように作業装置本体11の前面に設けられている。搬送治具80の一つの側面には、当該搬送治具80を認識するための認識マーク83が設けられている。認識マーク83は、本実施形態では、搬送治具80を識別するための固有の情報が記されたIDコードである。搬送治具80の収容向きと識別情報は、搬送治具80を収容した収容ラック70がラック昇降装置63により昇降し、搬送治具80の側面がリーダ65の正面を通過する際にリーダ65が認識マーク83を読み取ることにより取得される。搬送治具80の収容向きは、リーダ65が認識マーク83を認識できた場合には、正しいと判定され、リーダ65が搬送治具80の認識マーク83を認識できなかった場合には、誤っていると判定される。 The reader 65 detects the housing orientation of the transport jig 80 housed in the housing rack 70 and acquires identification information of the transport jig 80 . As shown in FIG. 7, the reader 65 is mounted on the working device main body 11 so as to face the side surface of the transport jig 80 (frame body 81) housed in the storage rack 70 in the state where the replacement device 60 receives the storage rack 70. As shown in FIG. is located in front of the A recognition mark 83 for recognizing the transport jig 80 is provided on one side surface of the transport jig 80 . The recognition mark 83 is an ID code in which unique information for identifying the transport jig 80 is described in this embodiment. The storage orientation and identification information of the transport jig 80 are such that when the storage rack 70 housing the transport jig 80 is lifted by the rack lifting device 63 and the side surface of the transport jig 80 passes the front of the reader 65, the reader 65 is It is obtained by reading the recognition mark 83 . If the reader 65 can recognize the recognition mark 83, the housing orientation of the transport jig 80 is determined to be correct. is determined to be
 搬送治具80は、基板支持部材90の搬入出に用いられる治具であり、図8および図9に示すように、矩形状の枠体81と、互いの先端部が向かい合うように枠体81に固定されて基板支持部材90を両側から保持する一対のアーム部材82(第1アーム部材82a,第2アーム部材82b)と、を備える。本実施形態では、搬送治具80は、基板支持部材90を保持する一対のアーム部材82を2組有し、それぞれ第1および第2基板搬送支持装置30,40で用いられる基板支持部材90を一度に搬送可能である。 The conveying jig 80 is a jig used for loading/unloading the substrate support member 90, and as shown in FIGS. and a pair of arm members 82 (a first arm member 82a and a second arm member 82b) that are fixed to and hold the substrate support member 90 from both sides. In this embodiment, the transfer jig 80 has two sets of a pair of arm members 82 that hold the substrate support members 90, and the substrate support members 90 used in the first and second substrate transfer support devices 30 and 40 are respectively provided. It can be transported at once.
 各アーム部材82(第1アーム部材82a,第2アーム部材82b)は、図10に示すように、ベース部材821とアームプレート822と保持部材823とサイドプレート825とロックプレート826とロックブロック827とを有する。なお、構成の理解を容易にするため、図10中、手前側のサイドプレート825およびロックプレート826は破線で示した。ベース部材821は、枠体81に固定される。アームプレート822は、基端部がベース部材821に回動可能に支持され、アームプレート822の先端部には、保持部材823が回動可能に取り付けられている。サイドプレート825は、アームプレート822の両側に設けられている。サイドプレート825は、基端部がベース部材821に回動可能に支持され、サイドプレート825の先端部には、保持部材823が回動可能に取り付けられている。更に、サイドプレート825は、ベース部材821側の回動軸に設けられたねじりコイルばね824の付勢力を受けてアームプレート822を上方に付勢する。また、サイドプレート825は、ベース部材821に形成されたストッパにより略水平姿勢とされ、アームプレート822を略水平姿勢に保持する。保持部材823は、アーム部材82の先端部を構成するものであり、基板支持部材90の底面外縁部における第1辺部92aに設けられた一対の第1ピン部材94aまたは第2辺部92bに設けられた一対の第2ピン部材94bに係合して、当該基板支持部材90を保持する。これにより、基板支持部材90は、一対のアーム部材82の先端部(保持部材823)より両側から保持される。一対のアーム部材82に保持された基板支持部材90は、テーブル36,46の上方において、一対のアーム部材82の各アームプレート822が押下されて押し広げられることで、搬送治具80から脱離し、テーブル36,46に載置される。 Each arm member 82 (first arm member 82a, second arm member 82b) includes a base member 821, an arm plate 822, a holding member 823, a side plate 825, a lock plate 826, and a lock block 827, as shown in FIG. have To facilitate understanding of the configuration, the front side plate 825 and lock plate 826 are indicated by dashed lines in FIG. The base member 821 is fixed to the frame 81 . The base end of the arm plate 822 is rotatably supported by the base member 821 , and a holding member 823 is rotatably attached to the tip of the arm plate 822 . Side plates 825 are provided on both sides of the arm plate 822 . The base end of the side plate 825 is rotatably supported by the base member 821 , and the holding member 823 is rotatably attached to the tip of the side plate 825 . Furthermore, the side plate 825 receives the biasing force of a torsion coil spring 824 provided on the rotation shaft on the side of the base member 821 and biases the arm plate 822 upward. Also, the side plate 825 is set in a substantially horizontal posture by a stopper formed on the base member 821, and holds the arm plate 822 in a substantially horizontal posture. The holding member 823 constitutes the tip of the arm member 82, and is attached to the pair of first pin members 94a or the second side 92b provided on the first side 92a on the outer edge of the bottom surface of the substrate support member 90. The substrate support member 90 is held by engaging with the provided pair of second pin members 94b. Thereby, the substrate support member 90 is held from both sides by the tip portions (holding members 823 ) of the pair of arm members 82 . The substrate support member 90 held by the pair of arm members 82 is separated from the transfer jig 80 by being pushed apart by the arm plates 822 of the pair of arm members 82 above the tables 36 and 46 . , are placed on the tables 36 , 46 .
 ロックプレート826は、アームプレート822を押下不能にロックするものである。ロックプレート826は、アームプレート822の両側に配置され、両ロックプレート826の間にはアームプレート822の下方に位置するようにロックブロック827が固定される。ロックプレート826は、ベース部材821におけるアームプレート822の基端部側の回動軸に対して偏心した位置に基端部が回動可能に取り付けられ、基端部よりも先端側においてロックプレート826とアームプレート822とに係止された引っ張りばね828の付勢力によりアームプレート822側に引っ張られている。ロックブロック827は、アームプレート822の下面に形成された切り欠き822cに係合することで、アームプレート822を押下不能にロックする。更に、両ロックプレート826の先端部は、ロックブロック827がアームプレート822の切り欠き822cに係合した状態においてアームプレート822の上方へ突出する。 The lock plate 826 locks the arm plate 822 so that it cannot be pushed down. The lock plates 826 are arranged on both sides of the arm plate 822 , and a lock block 827 is fixed between the lock plates 826 so as to be positioned below the arm plate 822 . The lock plate 826 is rotatably attached at the base member 821 at a position eccentric to the rotation axis on the proximal end side of the arm plate 822 , and the lock plate 826 is mounted at the distal end side from the proximal end. and the arm plate 822 are pulled toward the arm plate 822 by the biasing force of a tension spring 828 locked to the arm plate 822 . The lock block 827 engages with a notch 822c formed on the lower surface of the arm plate 822 to lock the arm plate 822 so that it cannot be pushed down. Further, the distal ends of both lock plates 826 protrude upward from the arm plate 822 when the lock block 827 is engaged with the notch 822c of the arm plate 822 .
 こうして構成されたアーム部材82において、アームプレート822は、引っ張りばね828の付勢力によりロックブロック827がアームプレート822の切り欠き822cに係合することで、押下不能にロックされている。このため、基板支持部材90やアームプレート822に対して意図しない力が作用しても、アーム部材82(アームプレート822)が押下されることはなく、基板支持部材90の脱離が防止される。ロックプレート826のロックは、アームプレート822よりも上方に突出するロックプレート826の先端部を押下することにより解除することができる。 In the arm member 82 configured in this way, the arm plate 822 is locked so that it cannot be pushed down by the lock block 827 engaging with the notch 822c of the arm plate 822 due to the biasing force of the tension spring 828 . Therefore, even if an unintended force acts on the substrate support member 90 or the arm plate 822, the arm member 82 (arm plate 822) is not pushed down, and the substrate support member 90 is prevented from coming off. . The locking of the lock plate 826 can be released by pressing the tip of the lock plate 826 that protrudes upward from the arm plate 822 .
 ロックプレート826のロック解除とアームプレート822の押下は、1つのプッシャ24により行なわれる。図11および図12に示すように、プッシャ24は、一対のアーム部材82の間隔に対応した間隔をおいて左右にそれぞれ配置された前後一対のプッシャプレート241と、各前後一対のプッシャプレート241の間に配置されるプッシャローラ242と、を有する。プッシャ24は、一対のアーム部材82の上方においてプッシャ昇降装置25により下降すると、一対のプッシャプレート241の下端部がロックプレート826の先端部に当接し、ロックプレート826の先端部は、プッシャプレート241によって押下される(図13参照)。ロックプレート826の先端部が押下されると、ロックブロック827が下降し、ロックブロック827とアームプレート822の切り欠き822cとの係合が解除される(図14参照)。これにより、アームプレート822のロックが解除される。プッシャ24が更に下降すると、プッシャローラ242がアームプレート822に当接し、アームプレート822は、プッシャローラ242によって押下される(図15参照)。これにより、一対のアーム部材82が押し広げられ、一対のアーム部材82に保持された基板支持部材90は、アーム部材82から脱離する。 Unlocking of the lock plate 826 and pressing of the arm plate 822 are performed by one pusher 24 . As shown in FIGS. 11 and 12, the pushers 24 are composed of a pair of front and rear pusher plates 241 arranged on the left and right with a spacing corresponding to the spacing of the pair of arm members 82, and a pair of front and rear pusher plates 241, respectively. and a pusher roller 242 disposed therebetween. When the pusher 24 is lowered by the pusher lifting device 25 above the pair of arm members 82 , the lower ends of the pair of pusher plates 241 abut against the tip of the lock plate 826 , and the tip of the lock plate 826 touches the pusher plate 241 . is pressed (see FIG. 13). When the tip of the lock plate 826 is pushed down, the lock block 827 descends and the engagement between the lock block 827 and the notch 822c of the arm plate 822 is released (see FIG. 14). This unlocks the arm plate 822 . When the pusher 24 is further lowered, the pusher roller 242 contacts the arm plate 822, and the arm plate 822 is pushed down by the pusher roller 242 (see FIG. 15). As a result, the pair of arm members 82 are spread apart, and the substrate support member 90 held by the pair of arm members 82 is separated from the arm members 82 .
 制御装置100は、CPUを中心としたマイクロプロセッサとして構成され、CPUの他に、ROMやRAM、記憶装置101、入出力ポート等を備える。制御装置100は、ヘッド装置20や第1および第2基板搬送支持装置30,40、カメラ装置50、交換装置60、リーダ65等に対して信号をやり取りする。また、制御装置100は、作業装置10を含む作業システム全体を管理する管理装置200と通信可能に接続される。管理装置200は、作業装置10を含むラインの進捗状況等を管理する。 The control device 100 is configured as a microprocessor centering on a CPU, and in addition to the CPU, it also includes a ROM, a RAM, a storage device 101, an input/output port, and the like. The control device 100 exchanges signals with the head device 20, the first and second substrate transfer and support devices 30 and 40, the camera device 50, the exchange device 60, the reader 65, and the like. The control device 100 is also communicably connected to a management device 200 that manages the entire work system including the work device 10 . The management device 200 manages the progress of the line including the work device 10 and the like.
 こうして構成された作業装置10の動作について説明する。特に、スクリーンマスクMや基板支持部材90を交換する段取り替えの動作について説明する。段取り替えは、収容ラック70を交換装置60にセットした状態で、マスク搬出処理と支持部材搬出処理と支持部材搬入処理とマスク搬入処理とをこの順に実行することにより行なわれる。 The operation of the work device 10 configured in this manner will be described. In particular, the changeover operation for exchanging the screen mask M and the substrate support member 90 will be described. The changeover is performed by executing a mask carry-out process, a support member carry-out process, a support member carry-in process, and a mask carry-in process in this order while the storage rack 70 is set in the exchange device 60 .
 マスク搬出処理は、作業装置本体11の支持レール29に支持されているスクリーンマスクMを搬出して収容ラック70に収容する処理である。このマスク搬出処理では、制御装置100は、収容ラック70の空いている支持レール71が作業装置本体11の支持レール29と略同じ高さになるようにラック昇降装置63を制御する。続いて、制御装置100は、支持レール29に支持されているスクリーンマスクMがプッシャ24により前方に押されて作業装置本体11から搬出されるようヘッド移動装置26を制御する。そして、制御装置100は、搬出されたスクリーンマスクMが収容ラック70に収容されるよう枠前後移動装置64を制御する。なお、マスク搬入処理は、基本的には、マスク搬出処理と逆の動作により実行されるため、その説明は省略する。 The mask carry-out process is a process of carrying out the screen mask M supported by the support rails 29 of the working device main body 11 and storing it in the storage rack 70 . In this mask carry-out process, the control device 100 controls the rack lifting device 63 so that the empty support rail 71 of the storage rack 70 is at approximately the same height as the support rail 29 of the working device main body 11 . Subsequently, the control device 100 controls the head moving device 26 so that the screen mask M supported by the support rails 29 is pushed forward by the pusher 24 and carried out from the working device main body 11 . Then, the control device 100 controls the frame forward/backward moving device 64 so that the transported screen mask M is stored in the storage rack 70 . Since the mask carrying-in process is basically executed by the operation opposite to that of the mask carrying-out process, the explanation thereof will be omitted.
 支持部材搬出処理は、搬送治具80を用いて作業装置本体11のテーブル36,46から基板支持部材90を搬出して収容ラック70に収容する処理であり、支持部材搬入処理は、搬送治具80を用いて収容ラック70から基板支持部材90を搬入して作業装置本体11のテーブル36,46上に設置する処理である。図16および図17は、制御装置100により実行される支持部材搬入処理の一例を示すフローチャートである。なお、支持部材搬出処理は、基本的には、支持部材搬入処理と逆の動作により実行されるため、その説明は省略する。 The supporting member unloading process is a process of unloading the substrate supporting members 90 from the tables 36 and 46 of the work apparatus main body 11 using the transporting jig 80 and storing them in the storage rack 70. 80 is used to load the board support member 90 from the storage rack 70 and set it on the tables 36 and 46 of the working apparatus main body 11 . 16 and 17 are flowcharts showing an example of the support member loading process executed by the control device 100. FIG. In addition, since the supporting member unloading process is basically executed by the reverse operation of the supporting member loading process, the explanation thereof will be omitted.
 支持部材搬入処理では、制御装置100は、まず、これから搬入しようとする搬送治具80を支持した支持レール71が作業装置本体11の支持レール29と略同じ高さになるまで収容ラック70が上昇するようラック昇降装置63を制御する(ステップS100)。続いて、制御装置100は、搬送治具80(枠体81)の側面がリーダ65を通過する際にリーダ65により搬送治具80の側面に設けられた認識マーク83を読み取る読み取り動作を行ない(ステップS110)、読み取りに成功したか否かを判定する(ステップS120)。制御装置100は、読み取りに失敗したと判定すると、収容ラック70に対する搬送治具80の収容向きが誤っている可能性があると判断し、搬送治具80を搬入することなく、操作パネルにエラーを出力して(ステップS290)、支持部材搬入処理を終了する。 In the support member loading process, the control device 100 first raises the storage rack 70 until the support rails 71 that support the transport jigs 80 to be loaded are approximately the same height as the support rails 29 of the working device main body 11 . The rack lifting device 63 is controlled to do so (step S100). Subsequently, the controller 100 performs a reading operation to read the recognition mark 83 provided on the side surface of the conveying jig 80 by the reader 65 when the side surface of the conveying jig 80 (frame body 81) passes through the reader 65 ( Step S110), and it is determined whether or not the reading is successful (Step S120). When the control device 100 determines that the reading has failed, it determines that there is a possibility that the orientation of the transportation jig 80 with respect to the storage rack 70 is incorrect. is output (step S290), and the support member carrying-in process is terminated.
 一方、制御装置100は、読み取りに成功したと判定すると、読み取った情報を照合する照合処理を行ない(ステップS130)、照合が成功したか否かを判定する(ステップS140)。照合処理は、これから搬入しようとする搬送治具80に保持されている基板支持部材90が正しいものであるか否かを判定する処理である。具体的には、照合処理は、ステップS110で取得される搬送治具80の識別情報に基づいて記憶装置101に記憶された支持部材情報から搬送治具80に保持されている基板支持部材90を認識し、認識した基板支持部材90が段取り替えで交換が要求された基板支持部材90と一致するか否かを判定することにより行なわれる。支持部材情報は、図18に示すように、搬送治具80の識別情報と基板支持部材90の識別情報とが対応付けられて記憶装置101に記憶されたものである。支持部材情報は、例えば、作業者が基板支持部材90を搬送治具80にセットする際に、搬送治具80の認識マーク83と基板支持部材90の認識マーク91bとをリーダを用いて読み取ることで記憶装置101に予め記憶することができる。 On the other hand, when the control device 100 determines that the reading is successful, it performs a verification process of verifying the read information (step S130), and determines whether or not the verification was successful (step S140). The collating process is a process of determining whether or not the substrate support member 90 held by the transfer jig 80 to be carried in is correct. Specifically, in the verification process, the substrate support member 90 held by the transport jig 80 is identified from the support member information stored in the storage device 101 based on the identification information of the transport jig 80 acquired in step S110. This is performed by determining whether or not the recognized substrate support member 90 matches the substrate support member 90 that has been requested to be replaced at the changeover. As shown in FIG. 18, the support member information is stored in the storage device 101 in association with the identification information of the transfer jig 80 and the identification information of the substrate support member 90 . For example, when an operator sets the substrate support member 90 on the transport jig 80, the support member information is obtained by reading the recognition mark 83 of the transport jig 80 and the recognition mark 91b of the substrate support member 90 using a reader. can be stored in the storage device 101 in advance.
 制御装置100は、照合に失敗したと判定すると(ステップS140の「NO」)、これから搬入しようとする搬送治具80に誤った基板支持部材90が保持されていると判断し、搬送治具80を搬入することなく、操作パネルにエラーを出力して(ステップS290)、支持部材搬入処理を終了する。 If the control device 100 determines that the collation has failed ("NO" in step S140), it determines that the wrong substrate support member 90 is held by the transfer jig 80 to be loaded. is not carried in, an error is output to the operation panel (step S290), and the support member carrying-in process is terminated.
 一方、制御装置100は、照合に成功したと判定すると(ステップS140の「YES」)、次に、搬送治具80に保持された2つの基板支持部材90が第1および第2基板搬送支持装置30,40の各テーブル36,46の上方に搬送されるよう制御する(ステップS150)。すなわち、制御装置100は、収容ラック70から支持レール29へ搬送治具80が送り出されるよう枠前後移動装置64を制御する。そして、制御装置100は、プッシャ昇降装置25によりプッシャ24を下降させると共に、プッシャ24により支持レール29上の搬送治具80を後方に押して搬入するようヘッド移動装置26を制御する。 On the other hand, when the control device 100 determines that the collation is successful (“YES” in step S140), then the two substrate support members 90 held by the transport jig 80 are transferred to the first and second substrate transport support devices. It is controlled to be conveyed above the respective tables 36, 46 of 30, 40 (step S150). That is, the control device 100 controls the frame forward/backward moving device 64 so that the conveying jig 80 is sent out from the accommodation rack 70 to the support rail 29 . Then, the control device 100 controls the head moving device 26 so that the pusher 24 is lowered by the pusher lifting device 25 and the transfer jig 80 on the support rail 29 is pushed backward by the pusher 24 to carry in.
 次に、制御装置100は、カメラ本体51の上読取部52で、搬入した搬送治具80に保持された基板支持部材90の底面に設けられた第1および第2認識マーク93c,93dを予め定められた位置で読み取るようカメラ装置50を制御する(ステップS160)。続いて、制御装置100は、読み取った第1および第2認識マーク93c,93dの位置に基づいて基板支持部材90の前後方向幅(大きさ)を認識し(ステップS170)、認識した大きさが適正であるか否かを判定する(ステップS180)。この判定は、次に生産する基板Sのサイズ情報に基づいて行なうことができる。制御装置100は、搬入した搬送治具80に保持されている基板支持部材90の大きさが適正でないと判定すると、搬送治具80を収容ラック70へ搬出する(ステップS190)。すなわち、制御装置100は、プッシャ24により支持レール29上の搬送治具80を前方に押して搬出するようヘッド移動装置26を制御すると共に、当該搬送治具80が支持レール29から収容ラック70へ移載されるよう枠前後移動装置64を制御する。そして、制御装置100は、操作パネルにエラーを出力して(ステップS290)、支持部材搬入処理を終了する。 Next, the control device 100 uses the upper reading section 52 of the camera body 51 to read the first and second recognition marks 93c and 93d provided on the bottom surface of the board support member 90 held by the carrying jig 80 in advance. The camera device 50 is controlled to read at a determined position (step S160). Subsequently, the controller 100 recognizes the front-rear width (size) of the substrate support member 90 based on the read positions of the first and second recognition marks 93c and 93d (step S170), and the recognized size is It is determined whether or not it is appropriate (step S180). This determination can be made based on the size information of the substrate S to be produced next. If the control device 100 determines that the size of the substrate support member 90 held by the carried-in transport jig 80 is not appropriate, the control device 100 carries out the transport jig 80 to the storage rack 70 (step S190). That is, the control device 100 controls the head moving device 26 so that the pusher 24 pushes forward the conveying jig 80 on the support rail 29 to carry it out, and the conveying jig 80 moves from the support rail 29 to the storage rack 70 . The frame forward/backward moving device 64 is controlled so as to be mounted. Then, the control device 100 outputs an error to the operation panel (step S290), and ends the support member loading process.
 一方、制御装置100は、搬入した搬送治具80に保持されている基板支持部材90の大きさが適正であると判定すると、テーブル36または46が印刷高さまで上昇するよう支持部材昇降装置37または47を制御する(ステップS200)。続いて、制御装置100は、上昇したテーブルの真上でプッシャ24が下降するようプッシャ昇降装置25を制御すると共に(ステップS210)、所定時間が経過するのを待つ(ステップS220)。ここで、所定時間は、基板支持部材90が搬送治具80から脱離してテーブル36または46に載置されるまでの待ち時間である。上述したように、プッシャ24が下降すると、最初に左右一対のプッシャプレート241が一対のアーム部材82のロックプレート826に当接してこれらを押下し、アームプレート822のロックが解除される。そして、プッシャ24が更に下降すると、左右一対のプッシャローラ242がそれぞれ対応するアームプレート822に当接してこれらを押下し、一対のアーム部材82が押し広げられる。これにより、基板支持部材90は、一対のアーム部材82から脱離してテーブル上に載置される。このように、一対のアーム部材82の真上からプッシャ24を下降させるだけの簡易な制御により搬送治具80から基板支持部材90を脱離させてテーブル上に載置することができる。 On the other hand, when the control device 100 determines that the size of the substrate support member 90 held by the carried-in transport jig 80 is appropriate, the control device 100 moves the support member lifting device 37 or the support member lifting device 37 or 46 so that the table 36 or 46 rises to the printing height. 47 (step S200). Subsequently, the control device 100 controls the pusher lifting device 25 so that the pusher 24 is lowered just above the raised table (step S210), and waits for a predetermined time to pass (step S220). Here, the predetermined time is the waiting time until the substrate support member 90 is detached from the transfer jig 80 and placed on the table 36 or 46 . As described above, when the pusher 24 descends, the pair of left and right pusher plates 241 first come into contact with the lock plates 826 of the pair of arm members 82 to push them down, and the arm plates 822 are unlocked. Then, when the pushers 24 are further lowered, the pair of left and right pusher rollers 242 contact and push down the corresponding arm plates 822, and the pair of arm members 82 are spread. As a result, the substrate support member 90 is separated from the pair of arm members 82 and placed on the table. In this manner, the substrate support member 90 can be removed from the transfer jig 80 and placed on the table by a simple control of lowering the pushers 24 directly above the pair of arm members 82 .
 制御装置100は、基板支持部材90をテーブル36または46に載置すると、テーブル36または46が初期位置まで下降するよう支持部材昇降装置37または47を制御する(ステップS230)。なお、制御装置100は、同様の制御により搬送治具80に保持されたもう一方の基板支持部材90をもう一方のテーブルに載置する。ここで、上述したように、コンベア装置31,41の前後一対のコンベアベルトは、搬送する基板Sのサイズ情報に基づいてコンベア間隔変更装置34,44により間隔が変更(調整)される。このため、搬送する基板Sのサイズ情報に対して大きいサイズの基板支持部材90が搬入されると、テーブル36,46への載置の際に基板支持部材90がコンベア装置31,41と干渉し、基板支持部材90やコンベア装置31,41の破損を招くおそれがある。本実施形態では、制御装置100は、搬入した基板支持部材90の前後方向幅(大きさ)が適正であることを確認してから、基板支持部材90をテーブル36,46に載置するため、基板支持部材90がコンベア装置31,41と干渉するのを防止することができる。 When the substrate support member 90 is placed on the table 36 or 46, the control device 100 controls the support member lifting device 37 or 47 so that the table 36 or 46 is lowered to the initial position (step S230). Note that the control device 100 places the other substrate support member 90 held by the transfer jig 80 on the other table by the same control. Here, as described above, the gap between the pair of front and rear conveyor belts of the conveyor devices 31 and 41 is changed (adjusted) by the conveyor gap changing devices 34 and 44 based on the size information of the substrate S to be conveyed. Therefore, when the substrate support member 90 having a size larger than the size information of the substrate S to be transported is carried in, the substrate support member 90 interferes with the conveyor devices 31 and 41 when placed on the tables 36 and 46 . , the substrate support member 90 and the conveyor devices 31 and 41 may be damaged. In the present embodiment, the controller 100 confirms that the width (size) in the front-rear direction of the substrate support member 90 that has been carried in is appropriate, and then places the substrate support member 90 on the tables 36 and 46. It is possible to prevent the board support member 90 from interfering with the conveyor devices 31 and 41 .
 次に、制御装置100は、カメラ本体51の下読取部53で、テーブル36,46に載置した基板支持部材90(支持部材本体91)の上面に設けられた認識マーク91bを読み取るようカメラ装置50を制御する(ステップS240)。続いて、制御装置100は、認識マーク91bの読み取りにより取得される支持部材本体91の識別情報を照合する照合処理を行ない(ステップS250)、照合が成功したか否かを判定する(ステップS260)。照合処理は、取得した識別情報により認識される支持部材本体91が段取り替えで交換が要求された支持部材本体91と一致するか否かを判定することにより行なわれる。制御装置100は、照合に失敗したと判定すると、テーブル36,46に載置した基板支持部材90を支持レール29上の搬送治具80に回収する(ステップS270)。この処理は、支持部材搬出処理と同様の処理により行なわれる。すなわち、制御装置100は、該当する基板支持部材90を載置したテーブルの真上でプッシャ24を下降させて一対のアーム部材82を押し広げ、テーブルを印刷高さまで上昇させ、プッシャ24を上昇させて、基板支持部材90を一対のアーム部材82に保持させる。 Next, the control device 100 causes the lower reading section 53 of the camera body 51 to read the recognition mark 91b provided on the upper surface of the substrate support member 90 (support member main body 91) placed on the tables 36 and 46. 50 (step S240). Subsequently, the control device 100 performs collation processing for collating the identification information of the support member main body 91 acquired by reading the recognition mark 91b (step S250), and determines whether or not the collation is successful (step S260). . The collating process is performed by determining whether or not the support member main body 91 recognized by the acquired identification information matches the support member main body 91 requested to be replaced at the changeover. When the control device 100 determines that the collation has failed, the substrate support member 90 placed on the tables 36 and 46 is recovered to the transfer jig 80 on the support rail 29 (step S270). This process is performed by the same process as the support member unloading process. That is, the control device 100 lowers the pusher 24 directly above the table on which the corresponding substrate support member 90 is placed, spreads the pair of arm members 82, raises the table to the printing height, and raises the pusher 24. to hold the substrate support member 90 on the pair of arm members 82 .
 一方、制御装置100は、照合に成功したと判定すると、基板支持部材90を取り出した搬送治具80を収容ラック70へ搬出して(ステップS300)、支持部材搬入処理を終了する。すなわち、制御装置100は、支持レール29に支持されている搬送治具80がプッシャ24により前方に押されて作業装置本体11から搬出され、収容ラック70に収容されるようヘッド移動装置26と枠前後移動装置64とを制御する。 On the other hand, when the controller 100 determines that the collation is successful, it unloads the transport jig 80 from which the substrate support member 90 has been taken out to the accommodation rack 70 (step S300), and ends the support member loading process. That is, the control device 100 controls the head moving device 26 and the frame so that the conveying jig 80 supported by the support rails 29 is pushed forward by the pusher 24 to be carried out of the working device main body 11 and accommodated in the accommodation rack 70 . It controls the forward/backward movement device 64 .
 ここで、実施形態の主要な要素と請求の範囲に記載した本開示の主要な要素との対応関係について説明する。即ち、基板支持部材90が支持部材に相当し、作業装置10が作業装置に相当し、搬送治具80が搬送治具に相当し、制御装置100が制御装置に相当し、カメラ装置50が読取装置に相当し、第1アーム部材82aが第1アーム部材に相当し、第2アーム部材82bが第2アーム部材に相当し、第1認識マーク93cが第1被読取部に相当し、第2認識マーク93dが第2被読取部に相当する。また、支持部材本体91が支持部材本体に相当し、アダプタ92がアダプタに相当する。また、認識マーク91bが第3被読取部に相当する。また、プッシャ24が押下部材に相当し、プッシャ昇降装置25が押下部材昇降装置に相当する。また、作業装置本体11が作業装置本体に相当し、収容ラック70が収容部に相当し、ラック昇降装置63が収容部昇降装置に相当し、記憶装置101が記憶部に相当し、認識マーク83が被読取部に相当する。 Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the board support member 90 corresponds to the support member, the working device 10 corresponds to the working device, the conveying jig 80 corresponds to the conveying jig, the control device 100 corresponds to the control device, and the camera device 50 reads the first arm member 82a corresponds to the first arm member; the second arm member 82b corresponds to the second arm member; the first recognition mark 93c corresponds to the first read portion; The recognition mark 93d corresponds to the second read portion. Further, the support member main body 91 corresponds to the support member main body, and the adapter 92 corresponds to the adapter. Also, the recognition mark 91b corresponds to the third read portion. Further, the pusher 24 corresponds to the pressing member, and the pusher lifting device 25 corresponds to the pressing member lifting device. Further, the working device main body 11 corresponds to the working device main body, the storage rack 70 corresponds to the storage section, the rack lifting device 63 corresponds to the storage section lifting device, the storage device 101 corresponds to the storage section, and the recognition mark 83 corresponds to the read portion.
 なお、本開示は上述した実施形態に何ら限定されることはなく、本開示の技術的範囲に属する限り種々の態様で実施し得ることはいうまでもない。 It goes without saying that the present disclosure is by no means limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.
 例えば、上述した実施形態では、作業装置10は、基板Sを搬送・支持するレーンを2つ備えるものとしたが、レーンを1つだけ備えてもよい。 For example, in the above-described embodiment, the work device 10 is provided with two lanes for transporting and supporting the substrate S, but may be provided with only one lane.
 また、上述した実施形態では、本開示の作業装置を印刷装置に適用して説明したが、これに限定されるものではなく、例えば部品実装装置など、支持部材に支持された基板に対して作業を行なう作業装置であって当該支持部材を自動交換可能なものであれば、如何なる作業装置に適用してもよい。 Further, in the above-described embodiments, the working device of the present disclosure is applied to a printing device, but the working device is not limited to this. can be applied to any working device as long as it is a working device that can automatically replace the supporting member.
 以上説明したように、本開示の第1の作業装置の制御装置は、搬送治具が搬入された後、搬送治具に保持された支持部材の第1被読取部と第2被読取部とを読み取り、搬送治具に対する支持部材の大きさを判定する。第1被読取部は、支持部材の底面外縁部における、第1アームに支持される第1辺部に隣接する第3辺部に設けられ、第2被読取部は、支持部材の底面外縁部における上記第3辺部に対向する第4辺部に設けられる。このため、支持部材の第1被読取部と第2被読取部とを読み取ることで、第3辺部と第4辺部との間隔、すなわち支持部材の大きさを判定することができる。この結果、基板を支持する支持部材を自動交換可能なものにおいて、簡易な構成により支持部材が適正であるか否かを判定することができる。 As described above, the control device of the first work device of the present disclosure, after the conveying jig is loaded, causes the first read portion and the second read portion of the support member held by the conveying jig to is read, and the size of the supporting member relative to the conveying jig is determined. The first read portion is provided on a third side adjacent to the first side supported by the first arm in the outer edge of the bottom surface of the support member, and the second read portion is provided on the outer edge of the bottom surface of the support member. is provided on a fourth side facing the third side in the above. Therefore, by reading the first read portion and the second read portion of the support member, the distance between the third side portion and the fourth side portion, that is, the size of the support member can be determined. As a result, it is possible to determine whether or not the support member for supporting the substrate is appropriate with a simple configuration in the case where the support member for supporting the substrate can be replaced automatically.
 こうした本開示の第1の作業装置において、前記制御装置は、前記支持部材の大きさが適正であると判定すると、前記支持部材を前記搬送治具から取り出して前記テーブル上に載置し、前記支持部材の大きさが適正でないと判定すると、前記支持部材を前記テーブル上に載置しないものとしてもよい。こうすれば、異なるサイズの支持部材をテーブル上に載置することによる作業装置内の他の部材との干渉を防止することができる。 In the first working device of the present disclosure, when the control device determines that the size of the support member is appropriate, the control device takes out the support member from the transfer jig, places the support member on the table, and If it is determined that the size of the support member is not appropriate, the support member may not be placed on the table. By doing so, it is possible to prevent interference with other members in the working device caused by placing support members of different sizes on the table.
 この場合、前記支持部材は、上面で前記基板を支持する支持部材本体と、前記支持部材本体の底面に着脱可能に取り付けられたアダプタと、を含み、前記第1被読取部は、前記アダプタの底面外縁部における前記第3辺部に設けられ、前記第2被読取部は、前記アダプタの底面外縁部における前記第4辺部に設けられてもよい。アダプタを支持部材本体に対して着脱可能とすることで、生産する基板を変更する場合でも、支持部材本体のみを交換し、アダプタはそのまま用いることが可能となる。 In this case, the support member includes a support member main body that supports the substrate on its upper surface, and an adapter that is detachably attached to the bottom surface of the support member main body, and the first read portion is the adapter. The adapter may be provided on the third side portion of the bottom surface outer edge portion, and the second readable portion may be provided on the fourth side portion of the bottom surface outer edge portion of the adapter. By making the adapter detachable from the support member main body, it is possible to replace only the support member main body and use the adapter as it is even when the substrate to be produced is changed.
 さらにこの場合、前記被読取部として、前記支持部材本体の上面に、前記支持部材本体の固有の情報が記された第3被読取部が設けられ、前記読取装置は、上下に読み取りが可能であり、前記制御装置は、前記支持部材を前記テーブル上に載置した後、前記読取装置により前記第3被読取部を読み取って前記支持部材本体が適正であるか否かを判定してもよい。こうすれば、支持部材本体が適正であるか否かをより確実に判定することができる。 Further, in this case, as the read portion, the upper surface of the support member main body is provided with a third read portion on which information unique to the support member main body is written, and the reading device can read up and down. The control device may determine whether or not the support member main body is proper by reading the third read portion with the reading device after placing the support member on the table. . This makes it possible to more reliably determine whether or not the support member main body is proper.
 また、本開示の第1の作業装置において、押下部材と、前記押下部材を昇降させる押下部材昇降装置と、を備え、前記第1アーム部材および前記第2アーム部材は、互いに平行に配置される回動軸を中心に回動可能に構成され、互いの先端部が向かい合う所定の回動位置において前記支持部材を保持し、互いに押下されることで前記支持部材の保持を解除するものであり、前記制御装置は、前記支持部材の大きさが適正と判定すると、前記押下部材昇降装置を制御して前記押下部材を下降させることにより、前記押下部材により前記第1アーム部材および前記第2アーム部材を押下して前記支持部材を前記テーブル上に載置してもよい。こうすれば、簡易な制御により支持部材を自動交換することができる。 In addition, the first working device of the present disclosure includes a pressing member and a pressing member lifting device that lifts and lowers the pressing member, and the first arm member and the second arm member are arranged parallel to each other. The support members are configured to be rotatable about a rotation axis, hold the support members at a predetermined rotation position where the tip portions face each other, and release the holding of the support members by being pushed down by each other, When the control device determines that the size of the support member is appropriate, the control device controls the pressing member lifting device to lower the pressing member so that the pressing member moves the first arm member and the second arm member. may be pressed to place the support member on the table. By doing so, the support member can be automatically replaced by simple control.
 本開示の第2の作業装置は、作業装置本体と収容部と収容部昇降装置と記憶部とを備える。記憶部には、収容部に収容された搬送治具を識別する情報とこの搬送治具に保持されている支持部材を識別する情報とを対応付けて支持部材情報として予め記憶される。作業装置本体は、収容部に収容された搬送治具のうち所定の昇降位置にある搬送治具を搬入可能である。更に、作業装置本体は、読取部を備え、収容部昇降装置により収容部が昇降して搬送治具の側面に設けられた被読取部が読取部を通過する際に読取部で被読取部を読み取り、読み取った情報と記憶部に記憶されている支持部材情報とに基づいて搬送治具に保持されている支持部材が適正であるか否かを判定する。これにより、基板を支持する支持部材を自動交換可能なものにおいて、簡易な構成により、支持部材を保持した搬送治具を搬入する前に、支持部材が適正であるか否かを判定することができる。 A second working device of the present disclosure includes a working device main body, a housing portion, a housing portion elevating device, and a storage portion. In the storage unit, information for identifying the conveying jig accommodated in the accommodating unit and information for identifying the supporting member held by the conveying jig are associated with each other and stored in advance as supporting member information. The work apparatus main body can carry in a transport jig at a predetermined elevation position among the transport jigs accommodated in the accommodation section. Further, the working device main body has a reading unit, and when the receiving unit is lifted by the receiving unit elevating device and the read unit provided on the side surface of the conveying jig passes through the reading unit, the reading unit moves the reading unit. It is determined whether or not the support member held by the conveying jig is appropriate based on the read information and the support member information stored in the storage unit. As a result, in a device capable of automatically exchanging the support members for supporting the substrate, it is possible to determine whether or not the support members are appropriate before carrying in the transport jig holding the support members with a simple configuration. can.
 本開示は、搬送治具や支持部材、作業装置の製造産業などに利用可能である。 The present disclosure can be used in the manufacturing industry of transport jigs, support members, and working devices.
 10 作業装置、11 作業装置本体、20 ヘッド装置、21 ヘッド、22 スキージ、23 スキージ昇降装置、24 プッシャ、25 プッシャ昇降装置、26 ヘッド移動装置、27 Y軸スライダ、28 ガイドレール、29 支持レール、30 第1基板搬送支持装置、31,41 コンベア装置、32,42 基板ガイド、33b,43b ベースフレーム、33s,43s サイドフレーム、34,44 コンベア間隔変更装置、35,45 コンベア昇降装置、36,46 テーブル、37,47 支持部材昇降装置、40 第2基板搬送支持装置、50 カメラ装置、51 カメラ本体、52 上読取部、53 下読取部、55 カメラ移動装置、56 X軸スライダ、57 X軸ガイドレール、58 Y軸スライダ、59 Y軸ガイドレール、60 交換装置、61a 左側ユニット、61b 右側ユニット、62 ラック支持部材、63 ラック昇降装置、64 枠前後移動装置、65 リーダ、70 収容ラック、71 支持レール、72,73 開口部、80 搬送治具、81 枠体、82 アーム部材、82a 第1アーム部材、82b 第2アーム部材、83 認識マーク、90 基板支持部材、91 支持部材本体、91a 凹部、91b 認識マーク、92 アダプタ、92a 第1辺部、92b 第2辺部、92c 第3辺部、92d 第4辺部、93c 第1認識マーク、93d 第2認識マーク、94a 第1ピン部材、94b 第2ピン部材、100 制御装置、101 記憶装置、200 管理装置、241 プッシャプレート、242 プッシャローラ、821 ベース部材、822 アームプレート、822c 切り欠き、823 保持部材、824 ねじりコイルばね、825 サイドプレート、826 ロックプレート、827 ロックブロック、828 引っ張りばね、F 枠体、M スクリーンマスク、P1,P2 パターン孔、S 基板。 10 working device, 11 working device main body, 20 head device, 21 head, 22 squeegee, 23 squeegee lifting device, 24 pusher, 25 pusher lifting device, 26 head moving device, 27 Y-axis slider, 28 guide rail, 29 support rail, 30 first substrate transfer support device, 31, 41 conveyor device, 32, 42 substrate guide, 33b, 43b base frame, 33s, 43s side frame, 34, 44 conveyor interval changing device, 35, 45 conveyor lifting device, 36, 46 Table, 37, 47 Support member elevating device, 40 Second substrate transport support device, 50 Camera device, 51 Camera body, 52 Upper reading unit, 53 Lower reading unit, 55 Camera moving device, 56 X-axis slider, 57 X-axis guide Rail, 58 Y-axis slider, 59 Y-axis guide rail, 60 Replacement device, 61a Left unit, 61b Right unit, 62 Rack supporting member, 63 Rack lifting device, 64 Frame forward/backward moving device, 65 Leader, 70 Storage rack, 71 Support rail, 72, 73 opening, 80 transport jig, 81 frame, 82 arm member, 82a first arm member, 82b second arm member, 83 recognition mark, 90 board support member, 91 support member main body, 91a recess, 91b recognition mark 92 adapter 92a first side 92b second side 92c third side 92d fourth side 93c first recognition mark 93d second recognition mark 94a first pin member 94b Second pin member, 100 control device, 101 storage device, 200 management device, 241 pusher plate, 242 pusher roller, 821 base member, 822 arm plate, 822c notch, 823 holding member, 824 torsion coil spring, 825 side plate, 826 lock plate, 827 lock block, 828 tension spring, F frame, M screen mask, P1, P2 pattern holes, S substrate.

Claims (6)

  1.  テーブルに設置される支持部材上の基板に対して作業を行なう作業装置であって、
     前記支持部材を保持した搬送治具を搬入して前記支持部材を自動交換するよう制御する制御装置と、
     前記支持部材に設けられた被読取部を読み取る読取装置と、
     を備え、
     前記搬送治具は、前記支持部材の底面外縁部における第1辺部を支持する第1アーム部材と、前記第1アーム部材と互いの先端部が向かい合うように配置され前記底面外縁部における前記第1辺部に対向する第2辺部を支持する第2アーム部材と、を含み、
     前記支持部材は、前記被読取部として、前記底面外縁部における前記第1辺部に隣接する第3辺部に設けられた第1被読取部と、前記底面外縁部における前記第3辺部に対向する第4辺部に設けられた第2被読取部と、を含み、
     前記制御装置は、前記支持部材を保持した前記前記搬送治具が搬入された後、前記支持部材の前記第1被読取部と前記第2被読取部とを前記読取装置により読み取って前記支持部材の大きさを判定する、
     作業装置。
    A working device for working on a substrate on a support member installed on a table,
    a control device for carrying in a conveying jig holding the support member and automatically exchanging the support member;
    a reading device that reads a read portion provided on the support member;
    with
    The conveying jig includes a first arm member that supports a first side portion on the outer edge of the bottom surface of the support member, and the first arm member on the outer edge portion of the bottom surface that is arranged so that tip portions of the first arm member and the first arm member face each other. a second arm member that supports a second side facing the one side,
    The support member includes, as the read portions, a first read portion provided on a third side portion adjacent to the first side portion of the bottom outer edge portion, and a first read portion provided on the third side portion of the bottom outer edge portion. and a second read portion provided on the opposing fourth side,
    The control device reads the first read portion and the second read portion of the support member after the conveying jig holding the support member is carried in, and reads the first read portion and the second read portion of the support member. determine the size of
    working device.
  2.  請求項1に記載の作業装置であって、
     前記制御装置は、前記支持部材の大きさが適正であると判定すると、前記支持部材を前記搬送治具から取り出して前記テーブル上に載置し、前記支持部材の大きさが適正でないと判定すると、前記支持部材を前記テーブル上に載置しない、
     作業装置。
    The working device according to claim 1,
    When the control device determines that the size of the support member is appropriate, the control device removes the support member from the conveying jig and places the support member on the table, and determines that the size of the support member is not appropriate. , the support member is not placed on the table;
    working device.
  3.  請求項2に記載の作業装置であって、
     前記支持部材は、上面で前記基板を支持する支持部材本体と、前記支持部材本体の底面に取り付けられたアダプタと、を含み、
     前記第1被読取部は、前記アダプタの底面外縁部における前記第3辺部に設けられ、
     前記第2被読取部は、前記アダプタの底面外縁部における前記第4辺部に設けられる、
     作業装置。
    The working device according to claim 2,
    The support member includes a support member body that supports the substrate on the upper surface, and an adapter attached to the bottom surface of the support member body,
    The first read portion is provided on the third side portion of the outer edge of the bottom surface of the adapter,
    The second read portion is provided on the fourth side portion of the outer edge of the bottom surface of the adapter,
    working device.
  4.  請求項3に記載の作業装置であって、
     前記被読取部として、前記支持部材本体の上面に、前記支持部材本体の固有の情報が記された第3被読取部が設けられ、
     前記読取装置は、上下に読み取りが可能であり、
     前記制御装置は、前記支持部材を前記テーブル上に載置した後、前記読取装置により前記第3被読取部を読み取って前記支持部材本体が適正であるか否かを判定する、
     作業装置。
    The working device according to claim 3,
    As the read portion, a third read portion on which information unique to the support member main body is written is provided on the upper surface of the support member main body,
    The reading device is capable of reading up and down,
    After placing the support member on the table, the control device reads the third read portion with the reading device to determine whether the support member body is appropriate.
    working device.
  5.  請求項1ないし4いずれか1項に記載の作業装置であって、
     押下部材と、
     前記押下部材を昇降させる押下部材昇降装置と、
     を備え、
     前記第1アーム部材および前記第2アーム部材は、互いに平行に配置される回動軸を中心に回動可能に構成され、互いの先端部が向かい合う所定の回動位置において前記支持部材を保持し、互いに押下されることで前記支持部材の保持を解除するものであり、
     前記制御装置は、前記支持部材の大きさが適正と判定すると、前記押下部材昇降装置を制御して前記押下部材を下降させることにより、前記押下部材により前記第1アーム部材および前記第2アーム部材を押下して前記支持部材を前記テーブル上に載置する、
     作業装置。
    The working device according to any one of claims 1 to 4,
    a pressing member;
    a pressing member lifting device for lifting and lowering the pressing member;
    with
    The first arm member and the second arm member are configured to be rotatable about rotation shafts that are arranged parallel to each other, and hold the support member at a predetermined rotation position where the distal end portions face each other. , are to release the holding of the support member by being pressed against each other,
    When the control device determines that the size of the support member is appropriate, the control device controls the pressing member lifting device to lower the pressing member so that the pressing member moves the first arm member and the second arm member. to place the support member on the table;
    working device.
  6.  テーブルに設置される支持部材上の基板に対して作業を行なう作業装置本体と、前記支持部材を保持可能な搬送治具を上下に複数収容可能な収容部と、前記収容部を昇降する収容部昇降装置と、を備える作業装置であって、
     前記収容部に収容された前記搬送治具を識別する情報と該搬送治具に保持されている前記支持部材を識別する情報とを対応付けて支持部材情報として予め記憶する記憶部を備え、
     前記搬送治具の側面に該搬送治具を識別する情報が記された被読取部が設けられ、
     前記作業装置本体は、前記被読取部を読み取る読取部を備え、前記収容部に収容された搬送治具のうち所定の昇降位置にある搬送治具を搬入可能であり、前記収容部が昇降して前記被読取部が前記読取部を通過する際に該読取部で前記被読取部を読み取り、該読み取った情報と前記記憶部に記憶されている支持部材情報とに基づいて前記搬送治具に保持されている前記支持部材が適正であるか否かを判定する、
     作業装置。
    A work device main body for working on a substrate on a support member installed on a table, a storage section capable of vertically storing a plurality of transfer jigs capable of holding the support member, and a storage section for raising and lowering the storage section. A working device comprising a lifting device,
    a storage unit that associates information identifying the conveying jig housed in the housing unit with information identifying the supporting member held in the conveying jig and stores the information in advance as supporting member information;
    A read portion having information for identifying the transport jig is provided on a side surface of the transport jig,
    The working apparatus main body includes a reading section that reads the read portion, and can load a conveying jig at a predetermined elevation position among the conveying jigs accommodated in the accommodating portion. When the part to be read passes through the reading part, the part to be read is read by the reading part, and based on the read information and the supporting member information stored in the storage part, Determining whether the held support member is appropriate;
    working device.
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