WO2022234651A1

WO2022234651A1 - Work device

Info

Publication number: WO2022234651A1
Application number: PCT/JP2021/017490
Authority: WO
Inventors: 良宗横井; 健太郎池田; 丈池山
Original assignee: 株式会社Fuji
Priority date: 2021-05-07
Filing date: 2021-05-07
Publication date: 2022-11-10
Also published as: DE112021007617T5; JPWO2022234651A1; CN117203058A

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

working equipment

This specification discloses a work device.

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.

WO2016/199207

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.

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.

This disclosure has taken the following means to achieve the above-mentioned main objectives.

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.

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. 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. 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.

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. 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. 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. 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;

Next, a mode for carrying out the present disclosure will be described with reference to the drawings.

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.

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.

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 . 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 .

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.

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.

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 .

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.

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.

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.

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

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.

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.

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

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.

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 .

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 .

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 .

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. 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 .

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.

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.

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.

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.

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.

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.

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.

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 .

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 .

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 .

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

The present disclosure can be used in the manufacturing industry of transport jigs, support members, and working devices.

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

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.
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.
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.
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.
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.
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.