Replacement unit, printing apparatus, installation system, and control methods for replacement unit

Abstract

The present invention provides a replacement unit for use in a printing apparatus having a printing section for printing a viscous fluid onto a workpiece using a screen mask. The replacement unit comprises: a moving section that receives a storage rack having a plurality of shelf sections for accommodating printing-related components used in the printing apparatus, and moves the storage rack between a replacement position for replacing printing-related components and a standby position lower than the replacement position; and a region detection section that detects an object present in a predetermined first detection region located around the replacement unit when the storage rack is present outside a predetermined moving region located between the standby position and the replacement position, and detects an object present in a second detection region different from the first detection region when the storage rack is located within the moving region.

Description

Technical Field

[0001] This specification discloses a replacement unit, a printing apparatus, an installation system, and a control method for the replacement unit. Background Technology

[0002] Conventionally, for example, devices have been proposed for automatically changing printing-related components, including the screen mask used in the printing apparatus, in printing processes involving viscous fluids on substrates or other objects to be printed using a screen mask (see, for example, Patent Document 1). In such printing apparatuses, the automatic changing of printing-related components further reduces the workload of the operator. Furthermore, in installation systems using such printing apparatuses, a solution has been proposed that includes a loader equipped with components for changing the mounting devices used to mount elements onto substrates or other objects to be processed; a work area for the operator to perform the work is determined; and the loader is controlled to prevent it from entering the determined work area (see, for example, Patent Document 2). In this installation system, unnecessary movements of the loader can be reduced.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2018 / 105016

[0006] Patent Document 2: International Publication No. 2020 / 065809 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, in the aforementioned printing apparatus, a receiving device is installed in front of the printing unit, and printing-related components are automatically changed between the printing unit and the receiving device. However, because the receiving device is located in front of the printing unit, there is a problem that it is difficult for operators to work on the printing unit. In addition, similar to the installation device mentioned above, the printing apparatus is required to detect devices present in the work area to ensure the safety of operators in the work area.

[0009] This disclosure was made in view of such a problem, and its main purpose is to provide a control method for a replacement unit, printing apparatus, installation system and replacement unit that can further ensure safety when automatically replacing printing-related components used in a printing apparatus.

[0010] Technical solutions for solving the problem

[0011] The replacement unit, printing apparatus, installation system, and control method for the replacement unit disclosed in this specification employ the following methods to achieve the aforementioned main objectives.

[0012] The replacement unit disclosed herein is used in a printing apparatus having a printing unit that performs printing processing on a viscous fluid using a screen mask on a workpiece. The replacement unit comprises: a moving unit that receives a receiving rack having multiple shelves for accommodating printing-related components used in the printing apparatus, and moves the receiving rack between a replacement position for replacing the printing-related components and a standby position lower than the replacement position; and a region detection unit that detects an object present in a predetermined first detection region surrounding the replacement unit when the receiving rack is located outside a predetermined moving region between the standby position and the replacement position; and detects an object present in a second detection region different from the first detection region when the receiving rack is located within the moving region.

[0013] In this replacement unit, when a receiving rack containing printing-related components is located outside a predetermined moving area between the standby position and the replacement position, an object is detected in a predetermined first detection area surrounding the replacement unit. Conversely, when the receiving rack is within the moving area, an object is detected in a second detection area different from the first detection area. This replacement unit allows for appropriate adjustment of the object detection area based on the position of the receiving rack, thus further ensuring safety when automatically replacing printing-related components used in the printing apparatus. Attached Figure Description

[0014] Figure 1 This is a schematic diagram illustrating an example of the installation system 10 and the printing device 11.

[0015] Figure 2 This is a schematic diagram of the storage rack 80.

[0016] Figure 3 This is an explanatory diagram showing an example of the movable part 43 of the frame.

[0017] Figure 4 This is an explanatory diagram showing an example of the printing device 11, the replacement unit 40, and the storage rack 80.

[0018] Figure 5 This is an explanatory diagram showing an example of the mounting device 15 and the loader 18.

[0019] Figure 6 This is an explanatory diagram showing the receiving rack 80 moving between the standby position and the change position.

[0020] Figure 7 This is an explanatory diagram of the first detection area 91, the second detection area 92, and the warning area 93.

[0021] Figure 8 This is a flowchart illustrating an example of a detection area setting processing routine.

[0022] Figure 9 This is a flowchart illustrating an example of a routine for handling the replacement of printing-related components.

[0023] Figure 10 This is an explanatory diagram of the first detection area 91 when the housing 80 is in the standby position.

[0024] Figure 11 This is an explanatory diagram of the second detection area 92 when the housing 80 is located in the moving area.

[0025] Figure 12 This is an explanatory diagram of the first detection area 91 and the area 94 below when the storage rack 80 is in a changed position.

[0026] Figure 13 This is a flowchart illustrating an example of a routine for handling the replacement of associated components during installation.

[0027] Figure 14 This is an explanatory diagram of the other second detection area 92B when the housing 80 is located in the moving area. Detailed Implementation

[0028] Hereinafter, this embodiment will be described with reference to the accompanying drawings. Figure 1 This is a schematic diagram illustrating an example of the installation system 10 and printing apparatus 11 of this disclosure. Figure 2 This is a schematic diagram of the storage rack 80. Figure 3 This is an explanatory diagram showing an example of the movable part 43 of the frame. Figure 4 This is an explanatory diagram showing an example of the printing device 11, the replacement unit 40, and the storage rack 80. Figure 5 This is an explanatory diagram showing an example of the mounting device 15 and the loader 18. Figure 6 This is an explanatory diagram showing how the receiving unit 42 receives the housing 80 and moves it between the standby position and the replacement position. Figure 7 This is an explanatory diagram of the first detection area 91, the second detection area 92, and the warning area 93 of the installation system 10. Figure 7 (A) is an explanatory diagram of the first detection area 91 when the housing 80 is in the standby position. Figure 7 (B) is an explanatory diagram of the second detection area 92 when the housing 80 is located in the moving area. Figure 7(C) is an explanatory diagram of the first detection area 91 when the housing 80 is in the change position. The mounting system 10 includes a printing apparatus 11, a printing inspection apparatus 12, a storage apparatus 13, a main computer (PC) 14, a mounting apparatus 15, an automated guided vehicle 16, a management computer (PC) 17, a loader 18, a mounting inspection apparatus (not shown), and a reflow soldering apparatus (not shown). The mounting system 10 is configured, for example, as a production line arranging mounting apparatus 15 along the transport direction of the substrate S. The mounting apparatus 15 performs mounting processing on the substrate S, which is the object of processing, downstream of the printing apparatus 11, with component P mounted on it. In the mounting system 10, the mounting-related devices associated with the mounting process include a transport apparatus for transporting the substrate S, the printing apparatus 11, the printing inspection apparatus 12, the storage apparatus 13, the mounting apparatus 15, the loader 18, the mounting inspection apparatus, and the reflow soldering apparatus. Furthermore, in this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as follows... Figure 1 , Figures 3-5 , Figure 7 As shown.

[0029] The printing inspection device 12 is used to inspect the state of viscous fluids such as solder paste printed onto the substrate S by the printing device 11. The mounting inspection device is used to inspect the state of components P mounted on the substrate S. The reflow soldering device is used to reflow solder the substrate with printed solder and mounted components P. The management PC 17 is used to manage information about each device in the mounting system 10. The management PC 17 manages the progress of each device on the production line undergoing mounting processing.

[0030] like Figures 1-4 As shown, the printing apparatus 11 is an apparatus that uses a squeegee 25 to press solder from the screen mask M into patterned holes formed in the screen mask M, thereby applying (printing) solder, which is a viscous fluid, onto the substrate S below, which is the object to be processed, through these patterned holes. Here, "object to be processed" includes, for example, a substrate S on which mounting components P are attached, a substrate as a three-dimensional object, etc. "Viscous fluid" includes, for example, solder paste, conductive paste, and adhesive, etc. Here, the substrate S and solder paste will be used as examples for explanation. The screen mask M is fixed to the inside of the frame 29. The frame 29 can hold several sizes of screen masks M and has a shelf portion 81 that can be accommodated in the housing 80 (see reference). Figure 1 ).like Figure 4 As shown, the printing apparatus 11 includes a printing control unit 20, a printing unit 22, a mask operation unit 26, a substrate processing unit 30, a cleaning unit 33, a fluid supply unit 35, a frame detection unit 37, an operation panel 38, and a replacement unit 40.

[0031] The printing control unit 20 is configured as a microprocessor centered on the CPU 21, controlling the entire printing apparatus 11. In addition to the printing unit 22, mask handling unit 26, substrate processing unit 30, cleaning unit 33, fluid supply unit 35, operation panel 38, and changeover unit 40, the printing control unit 20 also outputs signals to the management PC 17, which is an external device. Furthermore, in addition to the printing unit 22, mask handling unit 26, substrate processing unit 30, cleaning unit 33, fluid supply unit 35, frame detection unit 37, operation panel 38, and changeover unit 40, the printing control unit 20 also receives signals from the management PC 17, which is an external device. The printing control unit 20 has a storage unit that stores information about the substrate S being printed, printing processing programs for printing the substrate S, and component changeover processing programs that execute changeover processing based on the frame 29 of the changeover unit 27.

[0032] The printing unit 22 is located in the upper section of the printing apparatus 11 and is a unit that uses a screen mask M to print viscous fluid onto a substrate S. For example... Figure 1 , Figure 4 As shown, the printing unit 22 includes a printing head 23, a printing moving part 24, a squeegee lifting part (not shown), and a squeegee 25. The printing moving part 24 moves the printing head 23 in a predetermined printing direction (here, the front-to-back direction), and includes a guide formed in the front-to-back direction, a slider that moves along the guide, and a motor that drives the slider. The squeegee 25 is disposed on the lower surface side of the printing head 23 and is raised and lowered by the squeegee lifting part. The printing unit 22 has two squeegees 25 that can be used in the front-to-back direction respectively. Figure 4 As shown, the mask processing unit 26 is disposed vertically between the printing unit 22 and the substrate processing unit 30, and is a unit for fixing and holding the screen mask M. The mask processing unit 26 includes a replacement unit 27 and a mask fixing unit 28. The replacement unit 27 is a transport rod provided on the printing head 23, which is lowered to a position abutting against the screen mask M by a cylinder (not shown), and the contact part abutting against the frame 29 is moved in the front-back direction by rotation (see reference). Figure 4(The dotted lines). The printing head 23 and the replacement part 27 engage with the frame 29 between the shelf part 81 and the printing part 22 at a predetermined height in the housing 80, causing the frame 29 to move. The mask fixing part 28 positions the screen mask M and supports and fixes it in a horizontal position. The screen mask M is pushed by the replacement part 27 and moves back and forth along the guide of the mask operation part 26, and is fixed by the mask fixing part 28. The substrate processing part 30 is a unit disposed below the mask operation part 26 for loading the substrate S, positioning and supporting the loaded substrate S, and contacting and separating it relative to the screen mask M. The substrate processing part 30 includes: a substrate transport part 31 for transporting the substrate S in a left-right direction; a support member 32 for supporting the substrate S from below; and a substrate lifting part for lifting the entire substrate processing part 30 and the support member 32. The cleaning unit 33 is disposed vertically between the mask processing unit 26 and the substrate processing unit 30, and is a unit for cleaning the back side of the screen mask M. The cleaning unit 33 has a cleaning component 34, which cleans the screen mask M by abutting against it. The fluid supply unit 35 is a unit that supplies solder contained in the cartridge 36 onto the screen mask M. The fluid supply unit 35 is disposed in front of the print head 23. The fluid supply unit 35 applies pressure to the cartridge 36 to eject solder from the cartridge 36. The cleaning component 34 and the cartridge 36 are consumables and are replaced as needed. The rack detection unit 37 is a sensor that detects the presence of a rack 80 inside the front of the printing apparatus 11. The operation panel 38 is a unit that receives input from the operator W and provides information to the operator W. The operation panel 38 includes a display section as a display, a touch panel, and an operation section with buttons.

[0033] The housing 80 is a housing that houses the frame 29, which is a printing-related component associated with the printing process performed by the printing unit 22. For example... Figure 1 , Figure 2As shown, the storage rack 80 has a main body 80a, a handle 83, casters 84, and a support and fixing component 85. The main body 80a has multiple shelf sections 81 and an opening 82. The shelf sections 81 are arranged at predetermined intervals in the vertical direction so as to be able to support the frame 29 of the screen mask M in the vertical direction. The opening 82 communicates with the external parts such as the printing section 22, and the frame 29 is moved in and out through the opening 82. The storage rack 80 only houses the frame 29 and does not have a drive unit for moving the frame 29 or a drive unit for raising and lowering the frame 29. The structure of the storage rack 80 can be further simplified. The shelf sections 81 have dimensions corresponding to the frame dimensions of various printing-related components. That is, the shelf sections 81 are formed to accommodate the largest frame 29. The storage rack 80 can have shelf sections 81 that are individually corresponding to the frame dimensions of various printing-related components, or it can have multiple shelf sections 81 of the same size as the storage rack 80. In the latter case, multiple storage racks 80 of the same size can be prepared, with the shelf portion 81 of each storage rack 80 corresponding to any one of the frame dimensions of various printing-related components. In this case, the types of storage racks 80 increase, but even if the frame dimensions of the corresponding printing-related components are different, since the storage racks 80 have the same external dimensions, each storage rack 80 can share the receiving portion 42. A handle 83 is fixed to the upper part of the frame body 80a. The handle 83 consists of a rod-shaped body for the operator W to grip and a support member for fixing the rod-shaped body. A caster portion 84 is disposed at the lower part of the frame body 80a. The caster portion 84 consists of a structure with a space in the center and casters with wheels disposed on the lower surface side of the structure. The operator W can also move the storage rack 80 by holding the handle 83. In addition, as printing-related components, besides the screen mask M, examples include, for example, a squeegee 25, a support member 32, a cleaning member 34, and a box 36.

[0034] The support and fixing component 85 is a plate-shaped component fixed to the left and right ends of the front lower surface side of the frame body 80a. This support and fixing component 85 is used when connecting to the replacement unit 40. Figure 2 As shown, the support and fixing component 85 has a block portion 86, a receiving portion 87, a locking hole 88, and an insertion hole 89. The block portion 86 connects to the hook portion 47 of the replacement unit 40, and has a space between two blocks for the hook portion 47 to be inserted. The receiving portion 87 receives the cam follower 44a of the lifting component 44 of the replacement unit 40, and has an arc-shaped notch. The locking hole 88 is a through hole for the insertion of the clamping rod 52 of the fixing portion 50 of the lifting component 44 of the replacement unit 40. The insertion hole 89 is a through hole for the insertion of the insertion pin 53 of the fixing portion 50 of the lifting component 44 of the replacement unit 40.

[0035] The replacement unit 40 is used in a printing apparatus 11 equipped with a printing section 22 that performs printing processing on a viscous fluid using a screen mask M. It is a unit that automatically replaces printing-related components used in the printing apparatus 11. The replacement unit 40 is configured to receive and move a storage rack 80 containing printing-related components such as the screen mask M, which are fixed to a frame 29. The replacement unit 40 has a left-side unit 41 and a right-side unit 51. The left-side unit 41 is located on the front left side of the housing of the printing apparatus 11. The right-side unit 51 is located on the front right side of the housing of the printing apparatus 11. Figure 4 As shown, the left unit 41 and the right unit 51 are configured such that the length A along the moving direction of the frame 29 is shorter than the length B of the housing 80. The replacement unit 40 has a lifting space 49 at the center of the left unit 41 and the right unit 51 for lifting the housing 80. When the housing 80 is in the standby position, the replacement unit 40 houses the housing 80 on the same surface as the front surface of the main body of the replacement unit 40 or inside the front surface of the main body. When the housing 80 is in the replacement position, the replacement unit 40 supports the housing 80 at a position protruding from the front surface of the main body of the replacement unit 40. In addition, the right unit 51 has the same structure as the left unit 41 except that it is opposite to the left unit 41, and its detailed description is omitted. In addition to the receiving part, the frame moving part, the lifting component, the cam follower, the lifting drive part, the forward and backward moving part, the hook part, the forward and backward drive part, and the fixing part, the right unit 51 also includes an area detection part 56, a bottom detection part 58, etc.

[0036] The left unit 41 includes a receiving section 42, a frame moving section 43, a fixing section 50, an area detection section 55, and a lower detection section 57. The receiving section 42 receives a receiving frame 80 having multiple shelf sections 81 that house a frame 29 capable of supporting printing-related components used in the printing apparatus 11, supports the receiving frame 80 from the lower surface side, and raises and lowers it. The frame moving section 43 moves the receiving frame 80 up and down and back and forth between a replacement position for changing printing-related components, a raised position below the replacement position, and a standby position for the receiving frame 80 to enter the housing of the printing apparatus 11. In the replacement unit 40, the area between the replacement position and the standby position (excluding the replacement position and the standby position) is referred to as the "moving area" of the receiving frame 80. Figure 3As shown, the frame moving part 43 includes a lifting member 44, a lifting drive part 45, a hook part 47, and a front and rear drive part 48. The lifting member 44 is a plate-shaped member provided on the surface of the left unit 41 opposite to the right unit 51. The lifting member 44 moves up and down along the inner surface of the housing of the left unit 41 via the lifting drive part 45. The lifting member 44 is provided with cam followers 44a at its front and rear ends. The cam followers 44a support the support fixing part 85 provided on the housing 80 from below, so that the housing 80 moves up and down along with the up and down movement of the lifting member 44. The lifting drive part 45 can be, for example, a ball screw with a lifting shaft and a drive motor to move the lifting member 44 up and down, or it can be a linear motor to move the lifting member 44 up and down. In addition, the frame moving part 43 has a fixing part 50 that restricts the horizontal movement and / or falling of the housing 80 when it moves to the liftable position and becomes a liftable state. The fixing part 50 is a safety mechanism that prevents the housing 80 from accidentally moving or falling when it is raised and lowered by the frame moving part 43. The fixing part 50 includes a clamping part having a clamping rod 52 that inserts into a locking hole 88 formed in the support fixing member 85, and a stop part having an insertion pin 53 that inserts into an insertion hole 89 formed in the support fixing member 85. The hook part 47 is a component that is vertically mounted on a shaft of the front and rear drive part 48 and engages with a block part 86 provided on the housing 80 when it rises. The front and rear drive part 48 moves the hook part 47 between a standby position and a raised position. The front and rear drive part 48 can have a ball screw and a drive motor to move the hook part 47 back and forth, or it can have a linear motor to move the hook part 47 back and forth.

[0037] The area detection unit 55 is a sensor that detects objects present around the left unit 41. This area detection unit 55 can use, for example, a laser scanner, an infrared sensor, etc., and can switch between multiple different detection areas to detect objects. The area detection unit 55 defines a first detection area 91 (refer to) a 270° area excluding the housing area of ​​the left unit 41, centered on this sensor. Figure 7 (A) Figure 7 (C)), the 225° range of the 45° range on the front of the housing of the left unit 41 that has been cut off is set as the second detection area 92 (refer to). Figure 7 (B) , detecting objects present in these areas. For example, the first detection area 91 can be set to include the front of the replacement unit 40, particularly the entire front. Additionally, for example, the second detection area 92 can be set to be narrower than the first detection area 91, and set to avoid components disposed on the housing 80, such as the caster portion 84 (see below). Figure 11The second detection area 92 is defined as a triangular blank area on the front of the printing device 11. The area detection unit 55 detects objects present in the area extending from the front of the printing device 11 to the left. The area detection unit 56 is a sensor that detects objects present around the right-side unit 51. This area detection unit 56 has the same structure as the area detection unit 55, and defines a 270° area excluding the area of ​​the housing of the right-side unit 51 as the first detection area 91 (see reference). Figure 7 (A) Figure 7 (C)), the 225° range of the 45° range on the front of the housing of the right unit 51 that has been cut off is set as the second detection area 92 (refer to). Figure 7 (B)) , detects objects present in these areas. Additionally, the area detection unit 56 also has the function of designating a rectangular area to its side, such as in front of the printing inspection device 12, as a warning area 93 to detect objects present in that warning area 93. For example Figure 1 , Figure 7 As shown, the warning zone 93 is an area overlapping with the movement area of ​​the loader 18, and can be configured to detect the approach of the loader 18. Furthermore, the warning zone 93 includes the area outside the first detection zone 91 and the second detection zone 92. When the time required to move the hypothetical receiving rack 80 from a position outside the detection zone 95 towards a position inside the detection zone 95 is defined as the rack movement time, and the time required to move the hypothetical detection zone 95 together with the loader 18 from a position outside the warning zone 93 to a position including the movement area is defined as the loader movement time, the distance of the warning zone 93 from the area detection unit 56 in the movement direction of the loader 18 is determined so that the rack movement time is shorter than the loader movement time. Through this warning zone 93, the replacement unit 40 can detect the approach of the loader 18 before the loader 18 enters the first detection zone 91 and the second detection zone 92. Figure 1 , Figure 3 As shown, the lower detection unit 57 is a region sensor used in pair with the lower detection unit 58 disposed at the lower part of the right-side unit 51. The lower detection units 57 and 58 have one or more of a plurality of irradiation sections arranged in a straight line and a plurality of light-receiving sections arranged in a straight line, configured as a light curtain to detect the presence or absence of an object by blocking light. The region detection units 55 and 56, and the lower detection units 57 and 58 are sensors that restrict the movement of the housing 80 when it is moved between the standby position and the change position to ensure the safety of the operator W, etc.

[0038] The replacement unit 40 includes a replacement control unit 59. The replacement control unit 59 is configured as a CPU-centric microprocessor that controls the entire replacement unit 40. In addition to the lifting drive unit 45 and the front-rear drive unit 48, the replacement control unit 59 outputs signals to the printing control unit 20. Furthermore, in addition to the area detection units 55, 56, and the bottom detection units 57, 58, the replacement control unit 59 also receives signals from the printing control unit 20. When the replacement control unit 59 receives a signal from the shelf detection unit 37 that the receiving unit 42 has received the receiving shelf 80, it raises the hook 47 to engage with the block 86. Furthermore, when replacing printing-related components, the replacement control unit 59 raises the receiving shelf 80 from the standby position to the replacement position via the shelf moving unit 43. Finally, when the replacement of printing-related components is completed, the replacement control unit 59 moves the receiving shelf 80 from the replacement position to the standby position via the shelf moving unit 43.

[0039] Mounting device 15 is a device that picks up component P and mounts it onto substrate S, which is the object to be processed. For example... Figure 5As shown, the mounting device 15 includes a mounting control unit 60, a substrate processing unit 61, a component supply unit 63, and a mounting unit 64. The mounting control unit 60 is configured as a microprocessor centered on a CPU 60a, responsible for the overall control of the device. The mounting control unit 60 has a storage unit that stores mounting condition information (production tasks) including information about the component P, the arrangement order of mounting the component P toward the substrate S, the arrangement position, and the assembly position of the feeder F that picks up the component P. The mounting control unit 60 outputs control signals to the substrate processing unit 61, the component supply unit 63, the mounting unit 64, and the operation panel 68, and on the other hand, inputs signals from the substrate processing unit 61, the component supply unit 63, the mounting unit 64, and the operation panel 68. The substrate processing unit 61 performs the loading, transporting, fixing, and unloading of the substrate S, and performs the process of supporting the substrate S from below using a support member 62. The support member 62 is composed of a support plate serving as a pedestal and support pins arranged at arbitrary positions corresponding to the substrate S. The support pin can also be positioned at a predetermined location on the support plate via the mounting section 64. The component supply section 63 is a unit that supplies components P to the mounting section 64. This component supply section 63 assembles a feeder F, including a reel with a tape wound around a holding member that holds the components P, into one or more assembly sections. The component supply section 63 has an upper and lower mounting section 63a for assembling the feeder F used for installation processing and a buffer mounting section 63b for assembling the feeder F in preparation. Here, the mounting section 63a and the buffer mounting section 63b are collectively referred to as the assembly section. The feeder F has a controller (not shown). This controller stores information such as the ID of the tape contained in the feeder F, the type of component P, and the remaining quantity. When the feeder F is assembled into the assembly section, the controller sends the feeder F information to the installation control section 60. Alternatively, the component supply section 63 may have a tray unit, which has a tray that serves as a holding member for arranging and holding multiple components P.

[0040] The mounting section 64 is a unit that picks up components P from the component supply section 63 and positions them toward the substrate S fixed to the substrate processing section 61. The mounting section 64 includes a head moving section 65, a mounting head 66, and a suction nozzle 67. The head moving section 65 includes a slider that moves in the XY direction guided by a guide rail and a motor that drives the slider. The mounting head 66 picks up one or more components P and moves in the XY direction via the head moving section 65. The mounting head 66 is detachably mounted to the slider. One or more suction nozzles 67 are detachably mounted on the lower surface of the mounting head 66. The suction nozzles 67 pick up components P using negative pressure. In addition to the suction nozzles 67, the picking component for picking up components P can also be a mechanical chuck or the like that that mechanically holds the components P. The operation panel 68 is a unit that receives input from the operator W and provides prompts to the operator W. The operation panel 68 includes a display section as a screen, a touch panel, and an operation section with buttons.

[0041] like Figure 1 As shown, the storage device 13 is a temporary storage location for the feeder F, which is used as an installation-related component in the installation device 15. The storage device 13 has a transport device for transporting the substrate S and is located between the printing inspection device 12 and the installation device 15. The storage device 13 has an assembly section similar to the component supply section 63. When the feeder F is connected to this assembly section, the controller of the feeder F outputs information about the feeder F to the host PC 14 connected to the storage device 13. Furthermore, in the storage device 13, the feeder F can be transported by an operator W in addition to being transported by the automated guided vehicle 16. The host PC 14 is configured to manage the operations and results of the storage device 13 and the loader 18. The automated guided vehicle 16 transports components used in the installation system 10, such as printing-related components used in the replacement unit 40, and installation-related components used in the loader 18. The automated guided vehicle 16 automatically transports printing-related components and installation-related components, for example, between a warehouse (not shown) and the storage device 13. The automated guided vehicle 16 can be configured as either an AGV (Automatic Guided Vehicle) that moves along a predetermined route, or an AMR (Autonomous Mobile Robot) that detects its surroundings and moves freely along a route. Furthermore, when the automated guided vehicle 16 moves the storage rack 80, for example, when it is in the space at the center of the caster section 84, the loading section (not shown) disposed on its upper surface can be raised to move the storage rack 80.

[0042] The loader 18 is configured as a mobile working device, which moves within a range of motion around the mounting device 15 located on the front side of the mounting device 15, automatically loads, unloads, retrieves, and replenishes mounting-related components used in the mounting device 15, such as the feeder F. Figure 5 As shown, the loader 18 includes a movement control unit 70, a receiving unit 73, a changing unit 74, a movement unit 75, and a zone detection unit 76. The movement control unit 70 is configured as a microprocessor centered on a CPU 71, responsible for the overall control of the device. This movement control unit 70 controls the entire device to retrieve the feeder F from or replenish the feeder F towards the component supply unit 63, causing the feeder F to move between the feeder F and the storage device 13. The receiving unit 73 has a receiving space for accommodating one or more feeders F. For example, the receiving unit 73 is configured to accommodate four feeders F. The changing unit 74 is a mechanism for moving the feeder F in and out of the receiving unit 73 and between upper and lower levels. The changing unit 74 includes a clamping part for holding the feeder F, a Y-axis slider for moving the clamping part in the Y-axis direction (front-back direction), and a Z-axis slider for moving the clamping part in the Z-axis direction (up-down direction). The replacement unit 74 performs the assembly and disassembly of the feeder F in the installation assembly unit 63a, the buffer assembly unit 63b, and the storage device 13 assembly unit. The moving unit 75 is a mechanism that moves the loader 18 along the X-axis track 19 disposed on the front of the mounting device 15 in the X-axis direction (left-right direction). The area detection unit 76 is a sensor that detects whether there are objects around the main body of the loader 18. The area detection unit 76 detects whether there are objects in the detection area 95, including the area around the loader 18 on the front side of the mounting system 10. Like the area detection unit 55, the area detection unit 76 can use a laser scanner. This area detection unit 76 is a sensor used to restrict the movement of the loader 18 while ensuring the safety of the operator W, etc. The loader 18 outputs its current position and the work being performed to the main unit PC 14. The loader 18, as an installation-related component, can automatically load and unload the feeder F. In addition, it can also be configured as a recovery and replenishment support component 62, an installation head 66, a suction nozzle 67, and other components related to the installation process.

[0043] In this mounting system 10, the printing unit 11 and the mounting device 15 are arranged such that their front surfaces are on the same side, and the replacement unit 40 and the loader 18, which serves as a moving operation device, are arranged on the same side. Specifically, in the mounting system 10, the replacement unit 40 and the loader 18 are arranged on the front side of the printing unit 11 and the mounting device 15. In this mounting system 10, the storage device 13 is arranged between the printing unit 11 and the mounting device 15 such that the replacement operation position is on the same side as the replacement unit 40 and the loader 18. Furthermore, in this mounting system 10, as... Figure 1 As shown, the automated guided vehicle 16 has a travel path on the side equipped with the replacement unit 40 and the loader 18. The loader 18 replaces the feeder F, which is an installation-related component, between the storage device 13 and the installation device 15.

[0044] Next, a summary of the printing process of the printing apparatus 11 configured as described above will be given. During the printing process, the automated guided vehicle 16 transports the receiving rack 80 to the changing unit 40. Figure 6 The first layer), to perform the operation of receiving by the replacement unit 40 ( Figure 6 (Second layer). After the replacement unit 40 receives the receiving rack 80 via the automated guided vehicle 16, the operator W inputs the execution command for the printing process from the operation panel 38. The printing process routine for executing the printing process is stored in the storage unit of the printing control unit 20, and is executed by the CPU 21 of the printing control unit 20 after the operator W inputs the execution command for the printing process. When the printing process routine starts, the CPU 21 first performs the following processing: the substrate processing unit 30 transports, fixes, and raises the substrate S, thereby bringing the substrate S into contact with the screen mask M. At this time, the CPU 21 adjusts the position of the screen mask M through the mask processing unit 26 to align the pattern holes with the substrate S. Next, the CPU 21 moves the cartridge 36 onto the screen mask M and sprays solder onto it. Next, the CPU moves the print head 23 and lowers the squeegee 25 so that the squeegee 25 comes into contact with the upper surface of the screen mask M, and moves in the back-and-forth direction to print solder onto the substrate S. Thus, the printing control unit 20 performs printing processes including substrate handling and fixing, solder supply, and squeegee movement, thereby printing on the substrate S. Additionally, when the screen mask M is no longer in use, the CPU 21 performs a process to replace it with the next screen mask M. First, the CPU 21 pulls the housing 80 from its standby position, which is inserted into the housing of the printing apparatus 11, to its raised position. Figure 6 The third layer), and raise the storage rack 80 to the replacement position ( Figure 6(The fourth layer). Then, CPU21 uses the replacement unit 27 to replace the screen mask M. When the replacement is finished, the housing 80 is moved toward the standby position by the frame moving unit 43. CPU21 repeatedly performs printing processing while changing the screen mask M until the production processing of all types of substrates S in the manufacturing plan is completed.

[0045] Next, a summary of the process by which the mounting device 15 mounts component P toward the substrate S will be described. When the mounting process begins, the CPU 60a of the mounting control unit 60 first controls the substrate processing unit 61 to load and fix the substrate S. Next, the CPU 60a reads mounting condition information and, based on this information, causes the mounting head 66 to pick up component P from the feeder F mounted on the component supply unit 63 and place it onto the substrate S. When component P is placed on the substrate S, the CPU 60a ejects the substrate S to the substrate processing unit 61, repeating the above process. During this mounting process, the CPU 60a manages the number of components consumed by each feeder F, and when the remaining number of components falls below a predetermined warning value, it sends this information to the host PC 14. Based on this information, the host PC 14 causes the loader 18 to perform a replacement operation. The loader 18 moves along the X-axis track 19 between the storage device 13 and the mounting device 15, using the mounting device 15 of the work object to perform the feeder F replacement process. Thus, the mounting device 15 repeatedly performs the following process: while changing the feeder F, it positions the component P toward the substrate S until the production process of all substrates S in the manufacturing plan is completed.

[0046] Next, the specific procedures for ensuring safety when replacing printed related parts using the movable receiving rack 80 in the replacement unit 40 will be explained. First, the settings of the first detection area 91 and the second detection area 92 will be explained. Figure 8This is a flowchart illustrating an example of a detection area setting processing routine executed by the changeover control unit 59. This routine is stored in the storage unit of the changeover control unit 59 and is executed after the printing process begins from the printing device 11. When this routine is executed, the CPU of the changeover control unit 59 determines whether the housing 80 is outside a predetermined movement area (S100). The movement area is set as the area between the standby position and the changeover position, excluding the standby position and the changeover position, for which the housing 80 can move. When the housing 80 is outside the movement area, that is, when the housing 80 is in the standby position or the changeover position, the detection area for detecting the presence of an object is set as the first detection area 91 (S110). When the housing 80 is outside the movement area, the changeover control unit 59 will not, for example, falsely detect components such as the caster 84 disposed on the housing 80, and therefore uses a wider area, namely the first detection area 91, to detect the presence of an object. On the other hand, when the housing 80 is within the movement area in S100, the detection area for detecting the presence of an object is set as the second detection area 92 (S120). When the change control unit 59 is in the moving area of ​​the housing 80, there is a possibility of erroneous detection of components such as the caster 84 disposed on the housing 80. Therefore, a narrower area, namely the second detection area 92, is used to detect the presence of the object. After S120 or S110, the CPU outputs the set result to the area detection units 55 and 56 (S130). The area detection units 55 and 56 use the detection area of ​​the set result to perform object detection. Then, the CPU determines whether all processing is complete (S140). If all processing is not complete, processing after S100 is executed. On the other hand, when all processing is completed in S140, such as when printing is completed or the power is turned off, the CPU ends the routine. In this way, in the change unit 40, the detection area of ​​the area detection units 55 and 56 is changed according to the position of the housing 80.

[0047] Next, the specific procedures for replacing the printed associated parts when using the movable storage rack 80 will be explained. Figure 9 This is a flowchart illustrating an example of a printing-related component replacement process routine executed by the replacement control unit 59. This routine is stored in the storage unit of the replacement control unit 59 and is executed when it is time to replace the screen mask M, which is a printing-related component. At the start of this routine, the receiving rack 80 is in a standby position, and a first detection area 91 is set in the detection area. Furthermore, Figure 10 This is an explanatory diagram of the first detection area 91 when the storage rack 80 is in the standby position. Figure 10 (A) is a diagram of the first detection area 91, the warning area 93, and the detection area 95. Figure 10 (B) is a perspective view of the area surrounding the printing device 11. Figure 11This is an explanatory diagram of the second detection area 92 when the containment rack 80 is located in the moving area. Figure 11 (A) is a diagram of the second detection area 92, the warning area 93, and the detection area 95. Figure 11 (B) is a perspective view of the area surrounding the printing device 11. Figure 12 This is an explanatory diagram of the first detection area 91 and the area 94 below it when the storage rack 80 is in a different position. Figure 12 (A) is a diagram of the first detection area 91, the warning area 93, and the detection area 95. Figure 12 (B) is a perspective view of the area surrounding the printing device 11.

[0048] When this routine is executed, the CPU of the replacement control unit 59 determines whether an object is detected in the detection area and whether an object is detected in the warning area 93 (S200). The CPU obtains the detection signal from the first detection area 91 of the area detection units 55 and 56 and performs the determination (see reference). Figure 10 When an object is detected in at least one of the first detection area 91 and the warning area 93, the CPU prohibits the movement of the housing 80 (S210) and executes the processing after S200. That is, the CPU does not execute the movement of the housing 80 until no object is detected in either the detection area or the warning area 93. On the other hand, when no object is detected in either the detection area or the warning area 93, the CPU executes the processing of moving the housing 80 toward a different position (S220). At this time, the detection area switches from the first detection area 91 to the second detection area 92 (see reference). Figure 11 ).

[0049] After S220, the CPU of the replacement control unit 59 determines whether an object is detected in the detection area based on signals obtained from the area detection units 55 and 56 (S230). When an object is detected in the detection area, the movement of the housing 80 is temporarily stopped (S240), and the processing after S230 is executed. Here, the CPU can also determine whether an object is detected in the second detection area 92 and temporarily stop the movement, for example, for a predetermined time (3 seconds, 5 seconds, 10 seconds, etc.). On the other hand, when no object is detected in the detection area in S230, the CPU determines whether an object is detected in the warning area 93 (S250). When an object is detected in the warning area 93, the movement of the housing 80 continues (S260). The object detected in the warning area 93 is mainly the loader 18, and the replacement control unit 59 can detect the approach of the loader 18. Details will be described later. When an object is detected in the detection area 95, the movement of the loader 18 along the X-axis track 19 is temporarily stopped. Since the storage rack 80 is in the moving area, for example, the caster part 84 sometimes enters the detection area 95, the control part 59 is replaced to continue the movement so that the storage rack 80 can quickly move out of the detection area 95.

[0050] If no object is detected in the warning area 93 after S260 or in S250, the CPU of the replacement control unit 59 determines whether the movement of the storage rack 80 toward the replacement position is complete (S270). If the movement of the storage rack 80 toward the replacement position is not complete, the CPU executes the processing after S220. That is, after the storage rack 80 starts moving, the CPU executes the movement of the storage rack 80 if no object is detected in the second detection area 92, and continues the movement of the storage rack 80 even if an object is detected in the warning area 93.

[0051] On the other hand, when the housing 80 completes its movement toward the replacement position in S270, the CPU of the replacement control unit 59 activates the lower detection units 57 and 58 to begin detection (S280), and performs the replacement process of the screen mask M, which is a printing-related component (S290). At this time, the detection area switches from the second detection area 92 to the first detection area 91 (see reference). Figure 12Additionally, the lower detection units 57 and 58 perform the detection of objects in the lower region 94 located on the lower side of the housing 80. During the replacement process, for example, the replacement control unit 59 controls the lifting drive unit 45 to make the idle shelf portion 81 the height of the replacement position of the printing device 11, and outputs a replacement command towards the printing device 11. Upon receiving this replacement command, the printing control unit 20 drives the replacement unit 27 to discharge the frame 29. Next, the replacement control unit 59 controls the lifting drive unit 45 such that the shelf portion 81 carrying the next screen mask M is aligned with the height of the replacement position, and outputs a replacement command towards the printing device 11. Upon receiving this replacement command, the printing control unit 20 drives the replacement unit 27 to insert the frame 29. Next, the CPU determines whether the replacement process is complete (S300). If the replacement process is not complete, the processing after S290 is executed.

[0052] On the other hand, when the replacement process in S300 ends, the CPU of the replacement control unit 59 determines whether an object is detected in the detection area, whether an object is detected in the warning area 93, and whether an object is detected in the lower area 94 (S310). The CPU obtains the detection signal from the first detection area 91 of the area detection units 55 and 56, the detection signal from the warning area 93 of the area detection unit 56, and the detection signal from the lower area 94 of the lower detection units 57 and 58 and executes the determination (see reference). Figure 12 When an object is detected in more than one region, the CPU prevents the movement of the housing 80 (S320) and executes the processing after S310. That is, the CPU does not execute the movement of the housing 80 until no object is detected in the detection area, the warning area 93, and the lower area 94. On the other hand, when no object is detected in the detection area, the warning area 93, and the lower area 94 in S310, the CPU executes the processing to move the housing 80 toward the standby position (S330). At this time, the detection area switches from the first detection area 91 to the second detection area 92 (see reference). Figure 11 ).

[0053] After S330, the CPU of the replacement control unit 59 determines whether an object is detected in either the detection area or the lower area 94 (S340). The CPU makes this determination based on the detection signal in the second detection area 92 obtained from the area detection units 55 and 56 and the detection signal in the lower area 94 obtained from the lower detection units 57 and 58. When an object is detected in either the detection area or the lower area 94, the CPU temporarily stops the movement of the housing 80 (S350) and executes the processing after S340. Here, the CPU may also determine whether an object is detected in the second detection area 92 and the lower area 94, and as a temporary stop, for example, it may stop the movement of the housing 80 for a predetermined time (3 seconds, 5 seconds, 10 seconds, etc.).

[0054] On the other hand, when no object is detected in the detection area in S340, the CPU determines whether an object is detected in the warning area 93 (S360). If an object is detected in the warning area 93, the movement of the housing 80 continues (S370). The object detected in the warning area 93 is mainly the loader 18, and the replacement control unit 59 can detect the approach of the loader 18. When an object is detected in the detection area 95, the loader 18 is temporarily stopped from moving along the X-axis track 19. Since the caster part 84 sometimes enters the detection area 95 when the housing 80 is in the moving area, the replacement control unit 59 continues the movement in a way that makes the housing 80 quickly move out of the detection area 95.

[0055] If no object is detected in the warning area 93 after S370 or in S360, the CPU of the switching control unit 59 determines whether the housing 80 is below a predetermined lower limit height (S380). This lower limit height is set to the height at which components installed on the housing 80, such as the caster 84, will not enter the lower area 94. When the housing 80 is not below the predetermined lower limit height, the CPU executes the processing after S330. That is, after the housing 80 starts moving, the CPU executes the movement of the housing 80 when no object is detected in the second detection area 92 and the lower area 94, and continues the movement of the housing 80 even if an object is detected in the warning area 93. On the other hand, when the housing 80 is below the lower limit height in S380, the detection of objects based on the lower detection units 57 and 58 ends, and the determination of whether an object exists in the lower area 94 also ends (S390). Then, the CPU determines whether the movement of the receiving rack 80 toward the standby position is complete (S400). If the movement of the receiving rack 80 toward the standby position is not complete, the CPU executes the processing after S330. At this time, the CPU omits the determination of whether there is an object in the area 94 below in S340. On the other hand, when the movement of the receiving rack 80 toward the standby position is completed in S400, the CPU ends the routine. In this way, the replacement unit 40 performs the movement and restriction of the receiving rack 80 while detecting objects present in the vicinity of the replacement unit 40. In particular, after the loader 18 enters the warning area 93, the replacement unit 40 does not perform the movement of the receiving rack 80 from the replacement position and the standby position, thus further suppressing the situation where the loader 18 stops moving. In addition, in the replacement unit 40, by switching the first detection area 91 and the second detection area 92 according to the position of the receiving rack 80, false detections are further suppressed.

[0056] Next, specific procedures for ensuring safety when replacing or installing associated components during the movement of the loader 18 will be explained. Figure 13This is a flowchart illustrating an example of an installation-related component replacement processing routine executed by the CPU 71 of the movement control unit 70. This routine is stored in the storage unit of the movement control unit 70 and is executed after the loader 18 is started. Here, the case where the loader 18 automatically replaces the feeder F as an installation-related component will be described. When the routine begins, the CPU 71 of the movement control unit 70 determines whether a replacement request for an installation-related component has been received from the host PC 14 (S500). When a replacement processing request is received, the CPU 71 determines whether an object is detected in the detection area 95 (S510). The CPU 71 makes this determination based on the detection signal from the area detection unit 76. Furthermore, the CPU 71 only needs to detect objects in the detection area 95 on the travel direction side of the loader 18. When an object is detected in the detection area 95, the CPU 71 temporarily stops the movement of the loader 18 and executes the processing after S510. As a temporary stop, the CPU 71 may, for example, stop the movement of the loader 18 for a predetermined time (3 seconds, 5 seconds, 10 seconds, etc.). On the other hand, when no object is detected in the detection area 95 in S510, the loader 18 is moved toward the replacement position for the installation of the associated component (S530). Examples of replacement positions include, for example, the front surface of the assembly part that assembles the feeder F to be used next, the front surface of the assembly part that collects the recycled used feeder F, etc. Specifically, examples include the assembly part of the storage device 13, the buffer assembly part 63b of the mounting device 15, etc.

[0057] After S530, CPU71 determines whether the movement of loader 18 has ended based on the current position of loader 18 (S540). If the movement of loader 18 has not ended, the processing after S510 is executed. That is, when there is an object in the detection area 95, loader 18 temporarily stops and moves towards the replacement position. When the movement of loader 18 ends in S540, CPU71 executes the replacement process of the installation associated parts (S550). In the replacement process, CPU71 uses the replacement unit 74 to perform the loading and unloading operation of feeder F. After S550, CPU71 determines whether the replacement process has ended (S560). If the replacement process has not ended, the processing after S550 is executed. That is, CPU71 continues to perform the replacement process. On the other hand, when the replacement process ends in S560, or when there is no replacement process request in S500, CPU71 determines whether all processing has been completed (S570). The CPU 71 determines that all processing is complete when the installation process in the installation device 15 is fully completed, or when the power supply to the installation system 10 is disconnected. If the processing is not fully completed, the CPU 71 executes the processing after S500. When the processing is fully completed in S570, the routine ends.

[0058] In the installation system 10, if the loader 18 approaches the printing unit 11, there is a possibility that the detection area of ​​the replacement unit 40 overlaps with the detection area 95. This tendency is particularly high in production lines where there is no printing inspection device 12 or storage device 13. In this case, if the storage rack 80 enters the detection area 95 and the loader 18 enters the detection area, a locking state may occur where both devices stop, resulting in a complete shutdown. In this installation system 10, the approach of the loader 18 is detected by detecting an object in the warning area 93 on the replacement unit 40 side, and such a locking state is prevented by restricting the movement of the storage rack 80.

[0059] Here, the correspondence between the constituent elements of this embodiment and the constituent elements of this disclosure is clarified. In this embodiment, the printing unit 22 corresponds to the printing unit, the frame moving unit 43 corresponds to the moving unit, the area detection units 55 and 56 correspond to the area detection unit, the area detection unit 56 corresponds to the device detection unit, the bottom detection units 57 and 58 correspond to the bottom detection unit, and the replacement control unit 59 corresponds to the control unit. Furthermore, the first detection area 91 corresponds to the first detection area, the second detection area 92 corresponds to the second detection area, the warning area 93 corresponds to the warning area, the bottom area 94 corresponds to the bottom area, and the detection area 95 corresponds to the detection area. Additionally, the replacement unit 40 corresponds to the replacement unit, the printing device 11 corresponds to the printing device, the printing inspection device 12, the storage device 13, the installation device 15, etc., correspond to the installation-related devices, and the loader 18 corresponds to the mobile operation device. Furthermore, in this embodiment, by describing the operation of the replacement unit 40, an example of the control method of the replacement unit of this disclosure is also clarified.

[0060] In the replacement unit 40 of this embodiment described above, when the housing 80 containing the printing-related component is located outside a predetermined moving area between the standby position and the replacement position of the housing 80, an object present in a predetermined first detection area 91 located around the replacement unit 40 is detected. On the other hand, when the housing 80 is located within the moving area, an object present in a second detection area 92 different from the first detection area 91 is detected. In this replacement unit 40, the detection area of ​​the object can be appropriately changed according to the position of the housing 80, thus making it safer to automatically replace the printing-related component used in the printing apparatus 11.

[0061] Furthermore, when the storage rack 80 is within the moving area, the area detection units 55 and 56 designate a second detection area 92 that avoids components (e.g., casters 84) disposed on the storage rack 80. In this replacement unit 40, when the storage rack 80 is within the moving area, false detection of objects can be further prevented. Furthermore, when the storage rack 80 is outside the moving area, the area detection units 55 and 56 designate a first detection area 91, including the area in front of the replacement unit 40. In this replacement unit 40, for example, in replacement positions or standby positions outside the moving area, object detection can be performed in appropriate areas. Moreover, when an object is detected in the first detection area 91 and / or the second detection area 92, the replacement unit 40 restricts the movement of the storage rack 80. In this replacement unit 40, by restricting the movement of the storage rack 80 based on object detection, safety can be further ensured.

[0062] Furthermore, the replacement unit 40 includes lower detection units 57 and 58 for detecting objects in the lower region 94 located below the storage rack 80. This replacement unit 40 can detect objects located below the storage rack 80, further ensuring safety. Moreover, the replacement unit 40 stops the detection of objects by the lower detection units 57 and 58 when the storage rack 80 is in the standby position or below a predetermined height, and performs object detection by the lower detection units 57 and 58 when the storage rack 80 is above the predetermined height. This replacement unit 40 further prevents false detection of objects located below the storage rack 80. Additionally, when the storage rack 80 is above the predetermined height and an object is detected by the lower detection units 57 and 58, the replacement control unit 59 does not lower the storage rack 80. By preventing the storage rack 80 from lowering, this replacement unit 40 prevents contact between objects located below and the storage rack 80, thus further ensuring safety.

[0063] Furthermore, the replacement unit 40 consists of a left unit 41 located on the left side of the housing of the printing apparatus 11 and a right unit 51 located on the right side of the housing. A lifting space 49 for raising and lowering the housing 80 is provided between the left unit 41 and the right unit 51. Area detection units 55 and 56 are respectively located on the left unit 41 and the right unit 51 to detect objects present around the replacement unit 40. In this replacement unit 40, objects throughout the left and right sides of the printing apparatus 11 can be detected, further ensuring safety.

[0064] Furthermore, the replacement unit 40 is used in the installation system, which includes: multiple installation devices 15 associated with the process of installing component P onto the object to be processed; and a loader 18, which acts as a mobile work device, moves around the installation devices 15 when no object is present in the predetermined detection area 95, automatically replacing the installation-related parts used by the installation devices 15. The replacement control unit 59 controls the frame movement unit 43 to move the receiving rack 80 between a replacement position and a standby position. Additionally, when the receiving rack 80 is not moved, if the area detection unit 56, which acts as a device detection unit, detects the presence of an object in the warning area 93, the replacement control unit 59 does not perform movement of the receiving rack 80. In the installation system 10, there is sometimes a loader 18 that automatically replaces the parts of the installation devices 15 and a replacement unit 40 that replaces the parts used in the printing device 11. When an object is present around the loader 18, i.e., in the detection area 95, the movement of the loader 18 is restricted; on the other hand, when an object is present in the detection area, the movement of the replacement unit 40 is also restricted. For example, when the loader 18 enters the detection area of ​​the replacement unit 40 and the housing 80 enters the detection area 95 of the loader 18, they may stop moving due to mutual restriction. In this replacement unit 40, when the area detection unit 56 detects an object in the warning area 93, it determines that the loader 18 is approaching. By not moving the housing 80, the loader 18's movement is prevented from stopping. Therefore, in this replacement unit 40, safety can be further ensured, and interference between the operation of each device can be suppressed as much as possible.

[0065] Furthermore, when the receiving rack 80 is moved to the replacement position and the area detection unit 56 detects the presence of an object in the warning area 93, the replacement control unit 59 of the replacement unit 40, after moving the receiving rack 80 to the replacement position, does not lower the receiving rack 80 from the replacement position while the area detection unit 56 is detecting the object. In this replacement unit 40, by preventing the receiving rack 80 from lowering, it is possible to prevent the receiving rack 80 from entering the detection area 95 of the loader 18, thus minimizing interference with the operation of each device. Furthermore, when the receiving rack 80 is moved to the standby position and the area detection unit 56 detects the presence of an object in the warning area 93, the replacement control unit 59, after moving the receiving rack 80 to the standby position, does not perform the movement of the receiving rack 80 while the area detection unit 56 is detecting the object. In this replacement unit 40, by preventing the receiving rack 80 from moving from the standby position, it is possible to prevent the receiving rack 80 from entering the detection area 95 of the loader 18, thus minimizing interference with the operation of each device. Furthermore, when the receiving rack 80 is in the changing position or the standby position, the changing unit 40 positions the receiving rack 80 outside the detection area 95. When the receiving rack 80 is located within a predetermined movement area between the changing position and the standby position, the changing unit 40 positions the receiving rack 80 within the detection area 95. When the receiving rack 80 is within the detection area 95, the movement of the loader 18 is restricted. In this changing unit 40, interference with the operation of each device can be suppressed as much as possible based on the position of the receiving rack 80. Additionally, in the loader 18, movement is restricted as objects within the detection area 95 are detected, thus further ensuring safety.

[0066] Furthermore, in the replacement unit 40, the area detection unit 56 designates the area on the side of the replacement unit 40 and in front of the printing inspection device 12, storage device 13, and mounting device 15, which are associated with the installation of related devices, as a warning area 93. The warning area 93 further includes the area outside the first detection area 91 and the second detection area 92. In this replacement unit 40, the loader 18 near the side of the replacement unit 40 can be detected in advance. Furthermore, in the replacement unit 40, the frame moving unit 43 moves the receiving frame 80 between a riseable position where the receiving frame 80 can rise towards the replacement position and a standby position where the receiving frame 80 enters the housing of the printing device 11. In this replacement unit 40, in the standby position, the receiving frame enters the housing, thus further reducing the area occupied by the receiving frame and further reducing interference with the operation of other devices. Furthermore, the shelf-moving unit 43 receives the storage shelf 80, which does not have the power to move the printing-related components, but instead has a caster section 84 with casters on its lower surface that allow it to travel on the ground. In this replacement unit 40, the storage shelf 80 can be made compact, thereby further reducing interference with the operation of other devices. Additionally, the storage shelf 80 is easily moved using the casters on the caster section 84.

[0067] Furthermore, the replacement unit, printing apparatus, installation system, and control method of the replacement unit disclosed herein are not limited to the above-described embodiments. As long as they fall within the technical scope of this disclosure, they can be implemented in various ways.

[0068] For example, in the above embodiment, the replacement unit 40 includes bottom detection units 57 and 58 for detecting objects present on the underside of the housing 80, but it is not particularly limited to this and the bottom detection units 57 and 58 may be omitted. Furthermore, the inclusion of bottom detection units 57 and 58 in the replacement unit 40 further ensures safety and is therefore preferred.

[0069] In the above embodiment, the replacement unit 40 is configured such that its length A along the moving direction of the frame 29 is shorter than the length B of the housing 80, but this is not particularly limiting. Furthermore, the replacement unit 40 can be printed even after the housing 80 is removed, so a shorter length A than length B allows for a more compact device, which is preferable.

[0070] In the above embodiment, the replacement unit 40 includes a left side unit 41 and a right side unit 51, with a lifting space 49 between them for raising and lowering the housing 80. However, it is not particularly limited to this; the replacement unit 40 can be constructed as an integral unit as long as there is space to accommodate the housing 80. In addition, the replacement unit 40 is disposed on the front side of the printing device 11, but it is not particularly limited to this; it can also be disposed on the rear side or the side side.

[0071] In the above embodiment, the replacement unit 40 switches the detection area to the first detection area 91 and the second detection area 92 to suppress false detections of the receiving rack 80, and detects the approach of the loader 18 in the warning area 93. However, it is not particularly limited to this, and any one of them can be omitted. In the replacement unit 40, when the detection area is switched to the first detection area 91 and the second detection area 92, false detections can be further suppressed, and when the warning area 93 is used, the movement lock-in state with the loader 18 can be prevented.

[0072] In the above embodiment, the replacement unit 40 moves the housing 80 between a riseable position in which the housing 80 can rise toward the replacement position and a standby position in which the housing 80 enters the housing of the printing apparatus 11, but is not particularly limited thereto. For example, the replacement unit 40 may also set the riseable position as the standby position, and in the standby position use a second detection area 92 that avoids the components disposed on the housing 80. In this replacement unit 40, safety can be further ensured when automatically replacing the printing-related components used in the printing apparatus 11.

[0073] In the above embodiment, the second detection area 92 is defined as a region with a triangular blank area on the front side of the printing device 11. However, it is not particularly limited to this region as long as it is different from the first detection area 91. For example, Figure 14 As shown, the second detection area 92B can also be configured as a rectangular blank area on the front side of the printing device 11, or it can be configured as a polygonal, circular, or elliptical blank area on the front side of the printing device 11. The shape of the second detection area can be selected according to the appropriate device structure.

[0074] In the above embodiments, it is described that the area detection unit 56 also serves as the device detection unit of the present invention, but it is not particularly limited to this. The replacement unit 40 may also have a device detection unit different from the area detection unit 56. In addition, in the above embodiments, the area detection unit 56 provided on the right unit 51 is set as the device detection unit, but it is not particularly limited to this. Depending on the arrangement of the mounting and associated devices, the area detection unit 55 may also be set as the device detection unit.

[0075] In the above embodiment, the distance of the warning zone 93 from the area detection unit 56 in the direction of movement of the loader 18 is determined so that the frame movement time is shorter than the loader movement time. However, it is not particularly limited to any area that can detect the approach of the loader and prevent mutual action lock-in. Preferably, the warning zone 93 is set to be an area that can detect the loader 18 before the detection zone 95 of the loader 18 reaches the movement zone of the receiving rack 80.

[0076] In the above embodiment, the case where the housing 80 does not have a drive unit for the movable frame 29 has been described, but it is not particularly limited to this, and the housing 80 may also have a drive unit for the movable frame 29.

[0077] In the above embodiment, the printing-related component is described as a screen mask M, but it is not limited to any component that needs to be replaced. Besides the screen mask M, it could be one or more of the following: a container 36 for holding viscous fluid, a scraper 25, a cleaning component 34 for cleaning the screen mask M, and a support component 32 for supporting the substrate S to be processed. Furthermore, while the substrate S is described as the processing object, it is not particularly limited to any object that prints viscous fluid; it could also be a three-dimensional object. Additionally, while solder paste is described as viscous fluid, it could also be conductive paste, adhesive, etc.

[0078] In the above embodiments, this disclosure is provided as a printing apparatus 11 equipped with a replacement unit 40, but it is not particularly limited thereto, and this disclosure may also be provided as a replacement unit 40. As long as the replacement unit 40 is connected to the printing apparatus 11 through a flow channel, the same effect as in the above embodiments can be achieved. In addition, in the above embodiments, this disclosure is provided as a printing apparatus 11 equipped with a replacement unit 40 and has been described, but it is not particularly limited thereto, and this disclosure may also be provided as a control method for the replacement unit 40.

[0079] The replacement unit, printing apparatus, installation system, and control method of the replacement unit disclosed herein can also be configured as follows. For example, the replacement unit of the present disclosure is used in a printing apparatus having a printing section that performs viscous fluid printing processing on a workpiece using a screen mask. The replacement unit includes: a moving section that receives a receiving rack having a plurality of shelf sections for accommodating printing-related components used in the printing apparatus, and moves the receiving rack between a replacement position for replacing the printing-related components and a standby position lower than the replacement position; and a region detection section that detects an object present in a predetermined first detection region located around the replacement unit when the receiving rack is present outside a predetermined moving region located between the standby position and the replacement position; on the other hand, when the receiving rack is located within the moving region, it detects an object present in a second detection region different from the first detection region.

[0080] In this replacement unit, when a receiving rack containing printing-related components is located outside a predetermined moving area between the standby position and the replacement position, an object is detected in a predetermined first detection area surrounding the replacement unit. Conversely, when the receiving rack is within the moving area, an object is detected in a second detection area different from the first detection area. This replacement unit allows for appropriate adjustment of the object detection area based on the position of the receiving rack, thus further ensuring safety when automatically replacing printing-related components used in the printing apparatus.

[0081] Alternatively, the replacement unit of this disclosure can be used in a printing apparatus for an installation system comprising: a plurality of installation-associated devices associated with a process of installing components onto a workpiece; and a moving work device that moves between the plurality of installation-associated devices and automatically replaces the components used by the installation-associated devices when no object is present in a predetermined detection area. The printing apparatus includes a printing section that performs a viscous fluid printing process on the workpiece using a screen mask. The replacement unit comprises: a moving section that receives a storage rack having a plurality of shelf sections for accommodating printing-associated components used in the printing apparatus, and moves the storage rack between a replacement position for replacing the printing-associated components and a standby position below the replacement position; a device detection section that detects an object present in a predetermined warning area for the moving work device to move; and a control section that controls the moving section to move the storage rack between the replacement position and the standby position, the control section being configured such that when the device detection section detects the presence of an object in the warning area without moving the storage rack, it does not perform the movement of the storage rack.

[0082] In installation systems, there are sometimes: a moving work device that automatically replaces components of the installation-related device; and a replacement unit that replaces components used in the printing device. When an object is present in the detection area around the moving work device, the movement of the moving work device is restricted. Similarly, when an object is present in the detection area, the movement of the replacement unit is also restricted. For example, when the moving work device enters the detection area of ​​the replacement unit, and the receiving rack enters the detection area of ​​the moving work device, they may mutually restrict movement and stop operating. In this replacement unit, if the device detection unit detects an object in the warning area, it determines that the moving work device is approaching. By not moving the receiving rack, the mutual cessation of operation can be prevented. Therefore, in this replacement unit, safety can be further ensured, and interference between the operation of each device can be suppressed as much as possible.

[0083] The printing apparatus disclosed herein includes: a printing unit for printing a viscous fluid onto a workpiece using a screen mask; and a replacement unit as described in any one of the above descriptions. In this printing apparatus, because it includes any one of the aforementioned replacement units, safety can be further ensured, and interference with the operation of each device can be suppressed as much as possible, similar to the replacement unit described above. Furthermore, this printing apparatus provides effects corresponding to the method of using the replacement unit.

[0084] The installation system disclosed herein includes: the aforementioned printing apparatus; a plurality of installation association devices associated with a process of installing components onto a workpiece; and a moving work device that, when no object is present in a predetermined moving area, moves between the plurality of installation association devices and automatically replaces the components used by the installation association devices. In this installation system, because the printing apparatus is equipped with any one of the aforementioned replacement units, safety can be further ensured, similar to the aforementioned replacement units, and interference from the operation of each device can be minimized. Furthermore, this installation system provides effects corresponding to the method of using the replacement units.

[0085] In the control method of the replacement unit disclosed herein, the replacement unit is used in a printing apparatus having a printing section for printing a viscous fluid onto a workpiece using a screen mask. The replacement unit has a moving section that receives a receiving rack having a plurality of shelf sections for accommodating printing-related components used in the printing apparatus. The receiving rack is moved between a replacement position for replacing the printing-related components and a standby position located below the replacement position. The control method of the replacement unit includes the following steps: (a) when the receiving rack is present outside a predetermined moving area located between the standby position and the replacement position, detecting an object present in a predetermined first detection area located around the replacement unit; on the other hand, when the receiving rack is located within the moving area, detecting an object present in a second detection area different from the first detection area; and (b) when an object is detected in the first detection area and / or the second detection area, restricting the movement of the receiving rack.

[0086] The control method for this replacement unit is similar to that of the replacement unit described above. It can appropriately change the detection area of ​​the object based on the position of the receiving rack, thus further ensuring safety when automatically replacing printing-related components used in the printing apparatus. Furthermore, the control method for this replacement unit can include various modes of the replacement unit described above, and can also add various steps performed by the replacement unit.

[0087] Alternatively, in the control method of the replacement unit disclosed herein, the replacement unit is used in a printing apparatus, which is used in an installation system comprising: a plurality of installation association devices associated with a process of installing components onto a workpiece; and a moving work device that moves between the plurality of installation association devices and automatically replaces the components used by the installation association devices when no object is present in a predetermined detection area. The printing apparatus has a printing section that performs a viscous fluid printing process on the workpiece using a screen mask. The replacement unit has a moving section that receives a receiving rack having a plurality of shelf sections for accommodating printing association components used in the printing apparatus, and moves the receiving rack between a replacement position for replacing the printing association components and a standby position below the replacement position. The control method of the replacement unit includes the steps of: (c) detecting an object present in a predetermined warning area for the moving work device to move; and (d) controlling the moving section in such a way that the receiving rack moves between the replacement position and the standby position. On the other hand, when the receiving rack is not moved, if the device detection section detects the presence of an object in the warning area, it does not perform the movement of the receiving rack.

[0088] The control method for this replacement unit is similar to that of the replacement unit described above. When the device detection unit detects an object in the warning area, it determines that a mobile work device is approaching. By not moving the receiving rack, the operation of both devices can be prevented from stopping. Therefore, in this control method for the replacement unit, safety can be further ensured, and interference between the operation of each device can be suppressed as much as possible. Furthermore, this control method for the replacement unit can include various modes of the replacement unit described above, and various steps performed by the replacement unit can be added.

[0089] Industrial applicability

[0090] This disclosure can be applied to the technical field of apparatus for mounting components.

[0091] Explanation of reference numerals in the attached figures

[0092] 10: Installation System 11: Printing Unit 12: Printing Inspection Unit 13: Storage Unit 14: Main PC 15: Installation Device 16: Automated Guided Vehicle 17: Management PC 18: Loader 19: X-axis Track 20: Printing Control Unit 21: CPU 22: Printing section 23: Print head 24: Printing moving section 25: Squeegee 26: Mask working section 27: Changing section 28: Mask fixing section 29: Frame 30: Substrate processing section 31: Substrate transport section 32: Support component 33: Cleaning section 34: Cleaning component 35: Supply section 36: Box 37: Shelf detection section 38: Operation panel 40: Changing unit 41: Left side unit 42: Receiving section 43: Shelf moving section 44: Lifting component 44a: Cam follower 45: Lifting drive section 47: Hook 48: Front and rear drive section 49: Lifting space 50: Fixing section 51: Right side unit 52: Clamping rod 53: Insertion pin 55, 56: Area detection section 57, 58: Bottom detection section 59: Changing control section 60: Installation control section 60a: CPU 61: Substrate processing unit 62: Support component 63: Component supply unit 63a: Mounting assembly unit 63b: Buffer assembly unit 64: Mounting unit 65: Head moving part 66: Mounting head 67: Nozzle 68: Operation panel 70: Movement control unit 71: CPU 73: Storage unit 74: Replacement unit 75: Moving part 76: Area detection unit 80: Storage rack 80a: Rack body 81: Shelf part 82: Opening part 83: Handle 84: Caster part 85: Support fixing component 86: Block part 87: Receiving part 88: Locking hole 89: Insertion hole 91: First detection area 92: 92B: Second detection area 93: Warning area 94: Lower area 95: Detection area A, B: Length M: Screen mask S: Substrate P: Component W: Operator

Claims

1. A replacement unit for use in a printing apparatus, the printing apparatus comprising a printing section for printing a viscous fluid onto a workpiece using a screen mask, wherein, The replacement unit includes: The moving part receives a storage rack having multiple shelf sections for accommodating printing-related components used in the printing apparatus, and moves the storage rack between a replacement position for replacing the printing-related components and a standby position lower than the replacement position. as well as The area detection unit detects objects in a predetermined first detection area surrounding the replacement unit when the storage rack is located outside a predetermined movement area between the standby position and the replacement position; on the other hand, it detects objects in a second detection area different from the first detection area when the storage rack is located within the movement area.

2. The replacement unit according to claim 1, wherein, When the storage rack is located within the moving area, the area detection unit designates the area that avoids the components disposed on the storage rack as the second detection area.

3. The replacement unit according to claim 1, wherein, When the receiving rack is located outside the moving area, the area detection unit designates the area including the front of the replacement unit as the first detection area.

4. The replacement unit according to claim 2, wherein, When the receiving rack is located outside the moving area, the area detection unit designates the area including the front of the replacement unit as the first detection area.

5. The replacement unit according to any one of claims 1 to 4, wherein, The replacement unit includes a control unit that restricts the movement of the receiving rack when an object is detected in the first detection area and / or the second detection area.

6. The replacement unit according to any one of claims 1 to 4, wherein, The replacement unit includes a lower detection unit that detects objects present in the lower region on the lower side of the housing.

7. The replacement unit according to claim 6, wherein, The replacement unit includes a control unit that controls the moving unit to stop the lower detection unit from detecting objects when the receiving rack is in the standby position or below a predetermined height, and to perform object detection when the receiving rack is above the predetermined height.

8. The replacement unit according to claim 7, wherein, The control unit is configured such that when the housing is located above the predetermined height and an object is detected by the lower detection unit, the housing will not be lowered.

9. The replacement unit according to any one of claims 1 to 4, wherein, The replacement unit consists of a left-side unit disposed on the left side of the housing of the printing device and a right-side unit disposed on the right side of the housing, with a lifting space between the left-side unit and the right-side unit for raising and lowering the receiving rack. The area detection units are respectively disposed in the left unit and the right unit, and detect objects present around the replacement unit.

10. The replacement unit according to any one of claims 1 to 4, wherein, The replacement unit is used in an installation system comprising: one or more installation association devices associated with a process of installing components onto a work object; and a moving work device that, when no object is present in a predetermined detection area, moves around the installation association devices and automatically replaces the components used by the installation association devices. The replacement unit includes: The device detection unit detects objects present within a predetermined warning area for the movement of the mobile work device; and The control unit controls the moving unit in a manner that moves the housing rack between the changing position and the standby position. The control unit is configured such that when the device detection unit detects the presence of an object in the warning area without moving the storage rack, it does not move the storage rack.

11. The replacement unit according to any one of claims 1 to 4, wherein, The movable part allows the housing to move between a riseable position in which the housing can rise to the change position and a standby position in which the housing enters the housing of the printing device.

12. The replacement unit according to any one of claims 1 to 4, wherein, The movable part receives the housing rack that does not have the power to move the printing-related component, but is provided with casters on the lower surface side that enable it to travel on the ground.

13. A replacement unit for a printing apparatus used in an installation system comprising: Multiple installation-related devices are associated with the process of installing components onto the object being processed; And a mobile working device that moves among the plurality of mounting and associating devices and automatically replaces the parts used by the mounting and associating devices when no object is found in a predetermined detection area; the printing apparatus includes a printing unit that performs printing processing on the object to be processed using a screen mask for viscous fluid printing, wherein... The replacement unit includes: The moving part receives a storage rack having multiple shelf sections for accommodating printing-related components used in the printing apparatus, and moves the storage rack between a replacement position for replacing the printing-related components and a standby position lower than the replacement position. The device detection unit detects objects present within a predetermined warning area for the movement of the mobile work device; and The control unit controls the moving unit in a manner that moves the housing rack between the changing position and the standby position. The control unit is configured such that when the device detection unit detects the presence of an object in the warning area without moving the storage rack, it does not move the storage rack.

14. The replacement unit according to claim 13, wherein, The control unit is configured such that when the device detection unit detects the presence of an object in the warning area while the storage rack is moved to the change position, the storage rack is moved to the change position, and then the storage rack is not lowered from the change position while the object is being detected by the device detection unit.

15. The replacement unit according to claim 13, wherein, The control unit is configured such that when the storage rack is moved to the standby position, the device detection unit detects the presence of an object in the warning area, moves the storage rack to the standby position, and then does not move the storage rack while the device detection unit is detecting the object.

16. The replacement unit according to claim 14, wherein, The control unit is configured such that when the storage rack is moved to the standby position, the device detection unit detects the presence of an object in the warning area, moves the storage rack to the standby position, and then does not move the storage rack while the device detection unit is detecting the object.

17. The replacement unit according to any one of claims 13 to 16, wherein, When the storage rack is located in the change position and the standby position, the storage rack is outside the detection area; when the storage rack is located in a predetermined movement area between the change position and the standby position, the storage rack is within the detection area; when the storage rack is present in the detection area, the movement of the mobile working device is restricted.

18. The replacement unit according to any one of claims 13 to 16, wherein, The device detection unit designates the area on the side of the replacement unit and the front side of the installation associated device as the warning zone.

19. The replacement unit according to any one of claims 13 to 16, wherein, The movable part allows the housing to move between a riseable position in which the housing can rise to the change position and a standby position in which the housing enters the housing of the printing device.

20. The replacement unit according to any one of claims 13 to 16, wherein, The movable part receives the housing rack that does not have the power to move the printing-related component, but is provided with casters on the lower surface side that enable it to travel on the ground.

21. A printing apparatus comprising: The printing department uses screen masks to print viscous fluids onto the object being processed; and The replacement unit according to any one of claims 1 to 20.

22. An installation system, comprising: The printing apparatus according to claim 21; Multiple mounting devices are associated with the process of mounting components onto the object being processed; and A mobile working device that moves between multiple installation association devices when no object is present in a predetermined moving area, and automatically replaces the components used by the installation association devices.

23. A method for controlling a replacement unit used in a printing apparatus, the printing apparatus comprising a printing section for printing a viscous fluid onto a workpiece using a screen mask, the replacement unit comprising a moving section receiving a receiving rack having a plurality of shelf sections for accommodating printing-related components used in the printing apparatus, the receiving rack being moved between a replacement position for replacing the printing-related components and a standby position located below the replacement position, wherein... The control method for the replacement unit includes the following steps: (a) When the receiving rack is located outside a predetermined movement area between the standby position and the replacement position, an object is detected in a predetermined first detection area around the replacement unit; on the other hand, when the receiving rack is located within the movement area, an object is detected in a second detection area different from the first detection area. as well as (b) When an object is detected in the first detection area and / or the second detection area, the movement of the housing is restricted.

24. A method for controlling a replacement unit used in a printing apparatus, the printing apparatus being used in an installation system, the installation system comprising: Multiple installation-related devices are associated with the process of installing components onto the object being processed; The printing apparatus includes a mobile working device that, when no object is found in a predetermined detection area, moves between the plurality of mounting and associating devices and automatically replaces the components used in the mounting and associating devices. The printing apparatus includes a printing section that performs printing processing on a viscous fluid onto a workpiece using a screen mask. The replacement unit includes a moving section that receives a receiving rack having a plurality of shelf sections for accommodating printing associating components used in the printing apparatus. The receiving rack moves between a replacement position for replacing the printing associating components and a standby position lower than the replacement position. The control method for the replacement unit includes the following steps: (c) Detecting objects present in a predetermined warning area for the movement of the mobile work device; and (d) The moving unit is controlled in such a way that the housing moves between the change position and the standby position. On the other hand, when the housing is not moved, the device detection unit does not move the housing when it detects the presence of an object in the warning area.

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