Mask exchange device and mask transfer system having the same

Abstract

The mask handover device (2) of the present application is a device for transferring a mask (120) used when a substrate is printed with solder, with respect to a housing portion (100) that houses the mask (120). The mask handover device (2) includes a moving mechanism (11) including a guide (21) extending in a prescribed direction, and a moving body (23) that moves along the guide (21), the prescribed direction being along one surface of the housing portion (100) having an opening for the mask (120) to enter and exit, and a multi-joint robot (12) supported to the moving body (23) and transferring the mask (120) between the housing portion (100) and a placement portion that is apart from the housing portion (100).

Description

Technical Field

[0001] The present invention relates to a mask transfer device and a mask conveying system having the mask transfer device, the mask transfer device being used for transferring masks used in printing solder on a substrate. Background Technology

[0002] On a substrate where electronic components are mounted, a paste-like solder, known as solder paste, is pre-applied to the areas where the electronic components will be mounted. Solder paste printers are known devices for applying this solder paste to the substrate. In a solder paste printer, a sheet-like mask with openings corresponding to a specified printing pattern is generally used. That is, solder paste is supplied from above the mask, which is stacked on the surface of the substrate, and a squeegee spreads the supplied solder paste, thereby printing the solder paste onto the substrate through the mask openings.

[0003] In the substrate manufacturing process, multiple types of masks are typically used depending on the type of substrate being manufactured. For example, storage racks are prepared to hold various masks, and the required masks are retrieved from these racks for use in the solder paste printer. In this case, after being removed from the storage rack, the masks pass through the solder paste printer, cleaning area, inspection area, etc., before returning to the storage rack. The more types of masks there are, the higher the frequency of masks entering and leaving the storage rack. Therefore, a technology capable of efficiently transferring masks from the storage rack is required.

[0004] Here, although not related to the technology of mask transfer, Patent Document 1 discloses a plate cylinder replacement device for replacing the printing cylinder used in gravure printing. Specifically, the printing cylinder replacement device of Patent Document 1 includes: a storage rack (storage section) for storing the printing cylinder; a pallet transport mechanism for transporting a pallet carrying the printing cylinder between the inlet / outlet of the storage rack and a designated transfer station; a printing cylinder replacement trolley that can move along a track passing through a standby position on the side of the printing press; and a printing cylinder transfer elevator for transferring the printing cylinder between the pallet at the transfer station and the printing cylinder replacement trolley.

[0005] Assuming that the same device as described in Patent Document 1 is used to transfer the mask, that is, when a transfer elevator or a changing trolley with a fixed direction of movement is used to transfer the mask, the degree of freedom in setting the transfer route of the mask is low, and it may not be possible to transfer the mask efficiently.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Publication No. 6-87205 Summary of the Invention

[0009] The present invention was made in view of the above-described circumstances, and its object is to provide a mask transfer device and a mask conveying system having the mask transfer device, which are capable of efficiently transferring masks to a receiving portion containing a mask.

[0010] As a technical solution to the aforementioned problem, one aspect of the present invention relates to a mask transfer device for transferring a mask used in accommodating a mask for printing solder on a substrate, and includes: a moving mechanism comprising a guide extending in a specified direction and a moving body moving along the guide, the specified direction being along a surface in the accommodating portion having an opening for the mask to enter and exit; and a multi-joint robot supported on the moving body and transferring the mask between the accommodating portion and a placement point away from the accommodating portion.

[0011] Another aspect of the present invention relates to a mask conveying system comprising: the aforementioned mask transfer device; a conveying body having a mask mounting portion capable of mounting the mask as the placement location and being movable; and a conveying control unit that, when the mask is transferred from the receiving portion to the mask mounting portion by the mask transfer device, moves the conveying body to a designated target position.

[0012] The mask transfer device and mask conveying system according to the present invention can efficiently transfer masks to a receiving part containing masks. Attached Figure Description

[0013] Figure 1 This is a perspective view illustrating a mask conveying system according to one embodiment of the present invention.

[0014] Figure 2 This is a top view of the mask conveying system.

[0015] Figure 3 It is a three-dimensional diagram representing the structure of the mask.

[0016] Figure 4 This refers to the situation during the mask transfer process by the mask transfer device. Figure 1 The image.

[0017] Figure 5 This is an enlarged front view of the storage rack.

[0018] Figure 6 This is a side view of an AGV (Automated Guided Vehicle).

[0019] Figure 7 This is a block diagram representing the control system of the mask conveying system.

[0020] Figure 8 This is a flowchart illustrating an example of the control for transferring a mask between a receiving rack and an AGV.

[0021] Figure 9A It is a top view showing the situation of moving a multi-jointed robot to the designated receiving position of the mask.

[0022] Figure 9B This is a top view showing the mask being removed from the receiving rack.

[0023] Figure 9C This is a top view showing the process of transferring the mask to the AGV.

[0024] Figure 10 This is a top view showing an example of a layout in which the AGV is in standby mode, with the area adjacent to the far end of the base of the moving mechanism in the axial direction.

[0025] Figure 11 This is a top view showing an example of a layout in which the AGV is in standby mode in the side area of ​​the base of the moving mechanism.

[0026] Figure 12 This is equivalent to a variant that changes the type of multi-joint robot. Figure 1 The image. Detailed Implementation

[0027] [Overall structure of the mask conveying system]

[0028] Figure 1 and Figure 2 This is a perspective view and a top view illustrating a mask transport system 1 according to one embodiment of the present invention. The mask transport system 1 shown in this figure is a system for transporting a mask 120 used in a solder paste printer (hereinafter referred to as "printer") (not shown). The printer is a device that pre-applies a paste-like solder, i.e., solder paste (hereinafter referred to as "solder"), to a substrate on which electronic components are mounted by printing. Furthermore, the mask 120 used in this printer is a sheet-like tool having mask openings corresponding to a specified printing pattern. That is, in the printer, by stacking the mask 120 on the surface of the substrate and supplying solder from above the mask 120 and allowing the solder to spread, the solder is printed onto the substrate through the mask openings. In this embodiment, the mask transport system 1 is used to transport the mask 120 for this purpose.

[0029] like Figure 3 As shown, the mask 120 has a mask body 121 and a frame 122 for holding the mask body 121. The mask body 121 is a sheet of metal (metal mask) with the mask openings formed thereon. The frame 122 is a frame surrounding the mask body 121 and is formed to have a thickness greater than that of the mask body 121.

[0030] like Figure 1 and Figure 2 As shown, the mask conveying system 1 includes a mask transfer device 2 and an AGV 3. The mask transfer device 2 is a device for transferring the mask 120 between the receiving rack 100 that holds the mask 120 and the AGV 3. The AGV 3 is an unmanned transport vehicle capable of moving between the mask transfer device 2 and the printing press, etc. Furthermore, the receiving rack 100 corresponds to the "receiving part" in this invention, and the AGV 3 corresponds to the "transfer body" in this invention.

[0031] The receiving rack 100 is a rack with multiple (in this case, two) levels of storage space divided vertically, which is set on the floor surface where the AGV3 travels. For example... Figure 1 As shown, the receiving rack 100 includes a pair of left and right side plates 101, a top plate 102 connecting the upper ends of the two side plates 101 to each other, a bottom plate 103 connecting the lower ends of the pair of side plates 101 to each other, and a frame plate 104 connecting the pair of side plates 101 to each other at the height between the top plate 102 and the bottom plate 103. The side plates 101, top plate 102, and frame plate 104 form an upper receiving space with a rectangular opening P1, and the side plates 101, bottom plate 103, and frame plate 104 form a lower receiving space with a rectangular opening P2. Each opening P1, P2 faces the side where the mask transfer device 2 is disposed, i.e., a front opening. In other words, the receiving rack 100 has a front surface 110 with the upper and lower openings P1 and P2 formed thereon.

[0032] Multiple masks 120 are accommodated in a horizontally arranged manner within the upper and lower accommodating spaces of the accommodating frame 100. The masks 120 can enter and exit each accommodating space through openings P1 and P2 on the front surface 110 of the accommodating frame 100. Channel members 105, specifying the accommodating positions of the masks 120, are respectively installed on the upper surfaces of the base plate 103 and the frame plate 104. Each channel member 105 has multiple channels L1, each channel L1 having a groove corresponding to the width of the mask 120 (specifically, the width of the frame 122), i.e., a groove capable of accommodating one edge of the mask 120. The masks 120 are accommodated in the accommodating frame 100 in a left-right equidistant arrangement by being positioned according to the specified positions based on these channels L1.

[0033] The mask transfer device 2 includes: a moving mechanism 11, including an orthogonal robot configured adjacent to the front surface 110 of the receiving frame 100; and a multi-joint robot 12 supported by the moving mechanism 11.

[0034] Here, the direction parallel to the vertical axis is defined as the Z-axis direction, the direction parallel to the front surface 110 of the housing 100 and orthogonal to the Z-axis direction is defined as the X-axis direction, and the direction orthogonal to both the X-axis and Z-axis directions is defined as the Y-axis direction. The moving mechanism 11 includes: a base 21 disposed on the floor near the front (+Y side) of the housing 100 and extending along the X-axis direction; a first slider 22 supported on the base 21 in a manner capable of moving along the X-axis direction; a tower 23 fixed to the first slider 22 and extending along the Z-axis direction (vertical direction); and a second slider 24 supported on the tower 23 in a manner capable of moving along the Z-axis direction. That is, the moving mechanism 11 is an orthogonal robot capable of moving in the XZ plane near the front of the housing 100.

[0035] Although detailed illustrations are omitted, the base 21 includes a guide rail that slidably supports the first slider 22 along the X-axis, and a first actuator M1 that moves the first slider 22 along the guide rail. Figure 7 The base 21 includes a housing that accommodates the first actuator M1, etc. The first actuator M1 may be, for example, an actuator that includes an electric motor that drives a ball screw mechanism, or an actuator that utilizes a linear motor. The first slider 22 is capable of moving within a specified range in the X-axis direction of the upper surface of the base 21 according to the drive of the first actuator M1 within the base 21.

[0036] The structure of the tower 23 is similar to that of the base 21. That is, the tower 23 includes a guide rail that supports the second slider 24 slidably along the Z-axis, and a second actuator M2 that moves the second slider 24 along the guide rail. Figure 7 The second slider 24 can move within a specified range in the Z-axis direction of the side surface (+X side surface) of the tower 23, driven by the second actuator M2 inside the tower 23.

[0037] The multi-joint robot 12 is a so-called three-axis selective compliant assembly robot, which includes a fixed part 31 fixed to a second slider 24 of a moving mechanism 11, a first arm 32 supported on the fixed part 31, a second arm 33 supported on the first arm 32, a third arm 34 supported on the second arm 33, and a gripper 35 mounted on the distal end of the third arm 34.

[0038] The first arm 32, the second arm 33, and the third arm 34 are each capable of rotating about an axis parallel to the Z-axis (vertical direction). That is, the first arm 32 can rotate relative to the fixed part 31 with the first vertical axis AX1 as the center, the second arm 33 can rotate relative to the first arm 32 with the second vertical axis AX2 as the center, and the third arm 34 can rotate relative to the second arm 33 with the third vertical axis AX3 as the center.

[0039] As will be described later Figure 7 As shown, the multi-joint robot 12 has a drive source for rotating the first arm 32 to the third arm 34, namely a first motor M3 to a third motor M5. The first motor M3 is a motor that rotates the first arm 32 about the first axis AX1, the second motor M4 is a motor that rotates the second arm 33 about the second axis AX2, and the third motor M5 is a motor that rotates the third arm 34 about the third axis AX3.

[0040] The gripper 35 is a holder that holds the mask 120 as it moves in and out of the receiving frame 100. The gripper 35 can be of any type as long as it can hold the mask 120, but in this embodiment, it is also as follows: Figure 4 As shown, a gripper 35 is used to clamp and hold the mask 120 from above and below. That is, the gripper 35 includes a pair of upper and lower retaining plates 35a that can move apart and closer to each other, and an actuator M6 that changes the distance between the two retaining plates 35a. Figure 7 ).

[0041] A first camera 51 is mounted on the distal end of the multi-joint robot 12. The first camera 51 is used to capture the ID code (mask code Q1 and frame code Q2) described later. In this embodiment, the first camera 51 is mounted on the side of the third arm 34, adjacent to the gripper 35.

[0042] Furthermore, in the mask transfer device 2 described above, the tower portion 23 supporting the multi-joint robot 12 is equivalent to the "moving body" in this invention. In addition, the base 21 that supports the tower portion 23 in a way that allows it to move along the X-axis is equivalent to the "guide" in this invention.

[0043] Figure 5This is an enlarged front view of the receiving rack 100. As shown in this figure, ID codes (Q1, Q2) are affixed to the receiving rack 100 and the mask 120 contained within it. Specifically, rack codes Q2 are affixed to the receiving rack 100 at positions corresponding to each channel L1, and mask codes Q1 are affixed to the peripheral surfaces of the masks 120 positioned in each channel L1. Specifically, mask codes Q1 are affixed to one side of the frame 122 of the mask 120, i.e., the side exposed on the front surface 110 (+Y side) of the receiving rack 100. Additionally, rack codes Q2 are affixed to the top plate 102 and the front surface of the rack plate 104 of the receiving rack 100 at positions corresponding to each channel L1. Mask codes Q1 are affixed according to the type of mask 120 to identify it, while rack codes Q2 are affixed to each channel L1 of the receiving rack 100 to determine the receiving position of the mask 120. Furthermore, the types of masks 120 referred to here are, for example, those in which masks 120 are classified according to the differences in the patterns of mask openings formed in the mask body 121.

[0044] Figure 6 This is a side view of an AGV3. (As shown...) Figure 6 and the previous Figure 1 , Figure 2 As shown, the AGV3 includes a vehicle body 41, multiple wheels 42 that movably support the vehicle body 41, a mask mounting part 43 mounted on the upper part of the vehicle body 41, and a travel motor 44 that drives the wheels 42. Figure 7 ), and a locking mechanism 45 installed at the front of the vehicle body 41. Furthermore, in this embodiment, the AGV3 will be viewed from the side. Figure 6 The left side of the AGV3 is defined as the "front," and its opposite side is defined as the "rear." Additionally, it will be related to... Figure 6 The direction orthogonal to the paper is defined as the width direction of AGV3.

[0045] The mask mounting section 43 is a placement area for the mask 120 transferred to the AGV3, and is a component for holding the mask 120 in an upright state (see reference). Figure 6 The mask mounting portion 43 is an L-shaped component when viewed from the side. It has a bottom portion 43a fixed to the upper front surface of the vehicle body 41 and an upright portion 43b extending upward from the rear end of the bottom portion 43a. Multiple channels L2, each having a groove corresponding to the width of the mask 120 (more specifically, the width of the frame 122), are formed on the bottom portion 43a at equal intervals along the width direction of the AGV3. One edge of the mask 120 is accommodated in any one of the channels L2, thereby holding the mask 120 in an upright state at a designated position on the mask mounting portion 43.

[0046] The locking mechanism 45 is a mechanism for locking the mask 120 mounted on the mask mounting portion 43. Specifically, the locking mechanism 45 includes a fixing portion 45a fixed to the front end face 41a of the vehicle body 41, a locking plate 45b slidably supported on the fixing portion 45a, and an actuator (not shown) that causes the locking plate 45b to slide up and down relative to the fixing portion 45a. When the mask 120 is locked by the locking mechanism 45, the locking plate 45b is slidably driven upward relative to the fixing portion 45a, thereby locking the mask 120 on the mask mounting portion 43 (bottom 43a) between the locking plate 45b and the upright portion 43b.

[0047] like Figure 1 and Figure 2 As shown, when the mask 120 is transferred between the AGV3 and the housing 100, the AGV3 waits at one end of the base 21 near the moving mechanism 11. Specifically, the AGV3 waits in a region on the floor surface adjacent to the distal end 21a in the axial direction, which is the end of the base 21 located on the +X side extending along the X-axis. In this waiting position, the AGV3 stops with the front end face 41a of the vehicle body 41 facing the distal end 21a of the base 21, bringing the mask mounting portion 43 close to the distal end 21a of the base 21.

[0048] like Figure 1 As shown, a second camera 52 is disposed above the AGV3 in the standby position. The second camera 52 is used to confirm the emptying status of the mask mounting part 43 by photographing the mask mounting part 43 of the AGV3.

[0049] [Control System]

[0050] Figure 7 This is a block diagram illustrating the control system of the mask conveying system 1 according to this embodiment. As shown in this figure, the mask transfer device 2 includes a robot controller C1 that controls the movement of the moving mechanism 11 and the multi-joint robot 12. Additionally, the mask conveying system 1 includes a conveying controller C2 that controls the movement of the AGV 3. The robot controller C1 corresponds to the "robot control unit" in this invention, and the conveying controller C2 corresponds to the "conveying control unit" in this invention.

[0051] Robot controller C1 and conveyor controller C2 are control devices that primarily utilize microcomputers. These microcomputers include a processor (CPU, Central Processing Unit), ROM (Read-Only Memory), and RAM (Random Access Memory), as well as various input / output buses. Robot controller C1 and conveyor controller C2 are electrically connected wirelessly or via a wired connection, enabling them to communicate with each other. Furthermore, in... Figure 7 Although the box representing the transport controller C2 is shown outside the box of AGV3, the transport controller C2 can also be a controller built into AGV3.

[0052] The robot controller C1 is electrically connected to various parts of the mobile mechanism 11 and the articulated robot 12. Specifically, the robot controller C1 is electrically connected to the first actuator M1 and the second actuator M2 of the mobile mechanism 11, and to the first motor M3, the second motor M4, the third motor M5, and the actuator M6 of the articulated robot 12. The robot controller C1 controls these devices to cause the mobile mechanism 11 and the articulated robot 12 to perform desired actions. For example, the robot controller C1 controls each actuator M1 and M2, causing the first slider 22 and the second slider 24 of the mobile mechanism 11 to move to desired positions. Furthermore, the robot controller C1 controls each motor M3 to M5, causing the first arm 32, the second arm 33, and the third arm 34 of the articulated robot 12 to rotate by desired angles, and controls the actuator M6, causing the gripper 35 to perform desired actions such as holding the mask 120.

[0053] The robot controller C1 is also electrically connected to the first camera 51 and the second camera 52. The video data from each camera 51 and 52 is input to the robot controller C1.

[0054] The transport controller C2 is electrically connected to the travel motor 44 and locking mechanism 45 of the AGV3. That is, the transport controller C2 controls the travel motor 44, causing the AGV3 to travel along the desired route or stop at the desired position. In addition, the transport controller C2 controls the actuator built into the locking mechanism 45, causing the locking plate 45b of the locking mechanism 45 of the AGV3 to move up and down appropriately.

[0055] [Control Example]

[0056] The mask conveying system 1 configured as described above is used in a housing 100 that includes a housing 120. Figure 1The mask 120 is transported between multiple locations, including the printer that uses the mask 120 to print solder. Furthermore, as part of the transport of the mask 120, control is performed to transfer the mask 120 between the receiving rack 100 and the AGV3. For example, control is performed to remove the mask 120 from the receiving rack 100 and move it to the AGV3 using the mask transfer device 2, or control is performed to remove the mask 120 from the AGV3 and move it to the receiving rack 100. Figure 8 This is a flowchart illustrating an example of the transfer control of the mask 120 between the housing 100 and the AGV3. Specifically, Figure 8 This indicates the sequence of control performed by the robot controller C1 and the transfer controller C2 when transferring the mask 120 from the receiving rack 100 to the AGV3. The control for transferring the mask 120 from the AGV3 to the receiving rack 100 is essentially just a matter of changing the transfer start point and destination; therefore, its description is omitted here.

[0057] like Figure 8 Once the control shown begins, the robot controller C1 determines whether an instruction has been issued to move the mask 120 from the receiving rack 100 to a designated target location (step S1). This moving instruction can be issued, for example, through a production management application that centrally manages the production of substrates, including solder printing and component mounting. Furthermore, while the destination of the mask 120, i.e., the target location, is typically the printing press that actually uses the mask 120, the inspection point for checking the mask 120 or the cleaning point for cleaning the mask 120 can also be the target location.

[0058] If step S1 determines "yes" and confirms that a mask transport instruction has been issued, robot controller C1 determines whether AGV3 is in standby mode (step S2). That is, robot controller C1 determines whether AGV3 has moved to the designated location based on communication with the transport controller C2 that controls AGV3. Figure 1 and Figure 2 The standby area is shown.

[0059] If step S2 determines "no" and confirms that AGV3 is in standby mode, the transport controller C2 moves AGV3 to the standby position (step S3).

[0060] On the other hand, if step S2 determines "yes" and confirms that the AGV3 is in standby mode, the robot controller C1 moves the articulated robot 12 to the rack position associated with the specified type of mask 120, that is, to the channel L1 within the receiving rack 100 that contains the specific type of mask 120, which is designated as the transport object based on the instruction in step S1 (step S4). This control is performed based on the relationship between the mask code Q1 and the rack code Q2 pre-stored in the storage unit of the robot controller C1.

[0061] That is, the storage section of the robot controller C1 stores the... Figure 5 The mapping data associated with mask code Q1 and rack code Q2 shown is used to determine which type of mask 120 is accommodated in which channel L1 of the accommodating rack 100. Default data set at the start of production is appropriately updated and used as this mapping data. In step S4, the robot controller C1, based on the mapping data, determines the channel L1 within the accommodating rack 100 that accommodates the specified type of mask 120, and moves the articulated robot 12 towards that channel L1. Specifically, the robot controller C1, according to the mapping data, determines the rack code Q2 associated with the mask code Q1 corresponding to the specified type of mask 120, and determines the channel L1 corresponding to the determined rack code Q2 as the channel accommodating the specified type of mask 120. Then, the articulated robot 12 is moved to the determined channel L1. For example, if the determined channel L1 is the nth channel from the left in the upper (or lower) layer of the housing 100, the articulated robot 12 is moved to the position of that nth channel. Furthermore, if there are multiple masks 120 of the same type, that is, if there are multiple channels L1 accommodating the specified type of mask 120, one channel is appropriately selected, and the articulated robot 12 is moved to the position of the selected channel. Hereinafter, this channel that becomes the moving destination of the articulated robot 12 will be appropriately referred to as the "accommodating channel of the specified mask 120" or the "accommodating channel of the moving destination," etc.

[0062] Figure 9A This is a top view showing the state of moving the articulated robot 12 to the designated receiving channel of the mask 120. As shown in this figure, the robot controller C1 controls the position of the sliders 22 and 24 of the moving mechanism 11 and the angle of each arm 32 to 33 of the articulated robot 12, so that the gripper 35 of the articulated robot 12 moves to the designated receiving channel of the mask 120.

[0063] Next, the robot controller C1 acquires the ID codes of the mask 120 and its receiving channels (step S5). That is, the robot controller C1 controls the first camera 51, mounted on the distal end of the articulated robot 12, to capture (acquire) the rack code Q2 attached to the receiving channel at the moving destination. Figure 5 ), and the mask code Q1 attached to the mask 120 contained in the receiving channel.

[0064] Next, the robot controller C1 compares the mask code Q1 and the rack code Q2 obtained in step S5 to determine whether the type of the mask 120 at the moving destination is consistent with the specified type (step S6). That is, based on the obtained rack code Q2, the robot controller C1 confirms that the gripper 35 has actually moved to the receiving channel of the specified mask 120, and based on the obtained mask code Q1, determines whether the type of the mask 120 in the receiving channel is consistent with the specified type.

[0065] Furthermore, in this embodiment, the movement of the mask 120 into and out of the receiving rack 100 is not only performed by the mask transfer device 2, but may also be performed by, for example, an operator. This means that the receiving position of the mask 120 may vary within a range that the robot controller C1 has not yet grasped. Therefore, the robot controller C1 needs to compare the ID code in step S6 to confirm the type of mask 120 at the moving destination, etc.

[0066] If step S6 determines "yes" and confirms that the type of mask 120 matches the specified type, robot controller C1 uses the second camera 52 to photograph the mask mounting portion 43 of AGV3 (step S7). That is, robot controller C1 uses the second camera 52 to photograph the bottom 43a of the mask mounting portion 43 from above (step S7). Figure 1 The images obtained from the photographs are used to confirm the empty space of the mask mounting part 43.

[0067] Next, the robot controller C1 determines whether there is an empty space in the mask mounting section 43 (step S8). That is, based on the image captured in step S8, the robot controller C1 determines whether at least one of the multiple channels L2 at the bottom 43a of the mask mounting section 43 is empty.

[0068] If step S8 determines "No" and confirms that there are no empty spaces in the mask mounting section 43, that is, all channels L2 of the mask mounting section 43 are occupied by the mask 120, the robot controller C1 issues a specified error notification (step S9). This error notification may, for example, include displaying information on a screen notifying the operator that there are no empty spaces in the mask mounting section 43, or prompting the operator to take necessary measures.

[0069] On the other hand, if step S8 determines "yes" and confirms that there is an empty space in the mask mounting section 43, the robot controller C1 determines the position of mounting the mask 120 in the mask mounting section 43 (step S10). For example, if there are multiple empty channels L2 in the mask mounting section 43, the robot controller C1 selects an appropriate channel L2 as the mounting position of the mask 120.

[0070] Next, the robot controller C1 uses the articulated robot 12 to remove the mask 120 from the receiving rack 100 (step S11). That is, as... Figure 9B As shown, the robot controller C1 uses grippers 35 to hold the mask 120 of the mask code Q1 acquired in step S5, and controls each arm 32-34 of the multi-joint robot 12 so that the mask 120 held in the grippers 35 moves outward from the receiving frame 100. For example, controlling each arm 32-34 so that the grippers 35 move towards the +Y side, thereby removing the mask 120 from the receiving frame 100.

[0071] Next, the robot controller C1 mounts the mask 120 to the mounting position determined in step S10 (step S12). Figure 9C This figure shows the state in which the mask 120 is mounted on the mask mounting section 43. As shown in this figure, the robot controller C1 controls the moving mechanism 11 and the multi-joint robot 12, so that the mask 120 moves toward a specific channel L2 on the mask mounting section 43, which is determined to be the mounting position, and mounts the mask 120 onto the channel L2.

[0072] Through the control described in step S12 above, the transfer from the receiving rack 100 to the mask 120 of the AGV3 is completed. The robot controller C1 sends a signal indicating that the transfer is complete to the transport controller C2. Then, the transport controller C2 executes control to move the AGV3 to the target position (step S13). Specifically, the transport controller C2 engages the locking mechanism 45 of the AGV3... Figure 6 The AGV3 operates by locking the mask 120 onto the mask mounting part 43, and in this state, driving the travel motor 44 to move the AGV3. Under the control of this transport controller C2, the AGV3 automatically moves to the designated target position such as the printing press.

[0073] Next, the control procedure will be explained when the determination in step S6 is "No," i.e., when it is confirmed that the type of mask 120 is inconsistent. A determination of "No" here means that the mask code Q1 obtained in the previous step S5 is not the specified type of mask code, or that mask code Q1 could not be obtained because the receiving channel of the moving destination is empty. In this case, the robot controller C1 updates the association between mask code Q1 and rack code Q2 (step S15). That is, the robot controller C1 updates the mapping data that associates mask code Q1 and rack code Q2 to reflect the new relationship determined based on the data obtained in step S5.

[0074] Next, the robot controller C1 sends a specified error notification (step S16). For example, the robot controller C1 notifies the operator that the type of the mask 120 at the moving destination is different from the specified type, and therefore the mapping data needs to be updated, by displaying information on the display.

[0075] Next, the robot controller C1 moves the articulated robot 12 to the next candidate position (step S17). That is, the robot controller C1 determines another hold code Q2 associated with the mask code Q1 corresponding to the specified type of mask 120, and moves the gripper 35 of the articulated robot 12 to the channel L1 corresponding to that other hold code Q2. After the movement, the process returns to step S5 to compare the ID code, and the subsequent processing is repeated.

[0076] [Effects]

[0077] As described above, in this embodiment, the articulated robot 12 is supported by a movement mechanism 11 that includes an orthogonal robot disposed on the front (+Y side) of the housing 100, and the articulated robot 12 is used to transfer the mask 120 between the housing 100 and the AGV3. This configuration has the advantage of being able to efficiently transfer the mask 120 between the housing 100 and the AGV3.

[0078] That is, in this embodiment, a multi-jointed robot 12, which is movably supported along the front surface 110 of the receiver 100, is used to transfer the mask 120. Therefore, for example, after the mask 120 is removed from the front surface 110 of the receiver 100, the mask 120 can be appropriately rotated to change its posture, such that the mask 120 moves along an X-axis parallel to the front surface 110 of the receiver 100 (see reference 100). Figure 4 and Figure 9CIn this state, the mask 120 can be moved to the AGV3. Therefore, compared to the case where the mask 120 is moved to the AGV3 without this rotational action (posture change), that is, compared to the case where the mask 120 is in a posture along the Y-axis orthogonal to the front surface 110 of the housing 100 (see reference...), Figure 9B Compared to the case where the mask 120 is moved to the AGV 120, the projected area of ​​the mask 120 along the X-axis can be reduced, thus decreasing the possibility of interference between the mask 120 and obstacles that may exist near the housing 100. Furthermore, even if interference with obstacles cannot be avoided solely through the rotation of the mask 120, the movement path of the mask 120 can be set with a high degree of freedom by controlling each arm 32-34 of the articulated robot 12. Therefore, interference with obstacles can be avoided, and the mask 120 can be moved to the AGV 3 along the shortest possible route. In other words, according to this embodiment, the transfer of the mask 120 between the housing 100 and the AGV 3 can be performed along the shortest possible route, reducing the time required for the transfer and improving operational efficiency.

[0079] Furthermore, in this embodiment, when the mask 120 is removed from the receiving rack 100, the first camera 51 mounted on the multi-joint robot 12 captures the mask code Q1 and the rack code Q2 to determine the position and type of the mask 120 within the receiving rack 100. With this configuration, it is possible to prevent the removal of masks other than the designated mask 120, or to prevent failure to remove the mask 120, and to accurately remove the designated mask 120 from the receiving rack 100 and transfer it to the AGV 3.

[0080] In addition, in this embodiment, after the mask 120 is transferred from the receiving rack 100 to the AGV3 by the multi-joint robot 12, the AGV3 is controlled to automatically walk to the designated target position such as the printing press. Therefore, the mask 120 can be properly transported between the receiving rack 100 and the target position.

[0081] In addition, in this embodiment, when the mask 120 is transferred from the receiving rack 100 to the AGV3, the mask mounting part 43 of the AGV3 is photographed by the second camera 52. Therefore, based on the photographed image, the empty space of the mask mounting part 43 (the channel L2 without the mask 120) can be identified, and the mask 120 can be appropriately mounted in the empty space.

[0082] In addition, in this embodiment, since the AGV3 has a locking mechanism 45 for locking the mask 120 mounted on the mask mounting part 43, it is possible to prevent the mask 120 from falling off the mask mounting part 43 when the mask 120 is transported by the AGV3, and the mask 120 can be transported stably.

[0083] Furthermore, in this embodiment, the standby portion of the AGV3 for receiving the mask 120 from the articulated robot 12 is located in a region axially adjacent to the distal end 21a of the base 21 of the moving mechanism 11 extending along the X-axis direction. Therefore, the space occupied by the device, including the standby portion of the AGV3, can be reduced in the width direction (Y-axis direction) orthogonal to the extending direction (X-axis direction) of the base 21, thus achieving device compactness. Therefore, for example, as... Figure 10 As shown, the working space W for operator V is easily ensured in the area behind (-Y side) of the receiving frame 100 on the opposite side of the base 21. In other words, in this embodiment, it is possible to facilitate coordinated work with operator V and to suppress the size of the equipment in the Y-axis direction.

[0084] [Variation Example]

[0085] In the described embodiment, the AGV3 receiving the mask 120 is placed in standby mode in the region axially adjacent to the distal end 21a of the base 21 of the moving mechanism 11 including the orthogonal robot; however, the standby position of the AGV3 is not limited to this. For example, as... Figure 11 As shown, the AGV3 can also be kept in standby mode in the lateral area of ​​the +Y side of the base 21 (opposite to the housing 100). In other words, in Figure 11 In a modified example, a receiving rack 100 is arranged in a region on one side of the base 21 on the floor surface, and the AGV3 is idle in a region on the other side of the base 21 on the floor surface. In this way, multiple AGV3s can be idled at the same time, and congestion of AGV3s can be avoided.

[0086] In the described embodiment, a three-axis selective compliant assembly robot was used as the joint robot 12, but the types of joint robots that can be used in this invention are not limited to this. Figure 12This illustrates an example of a change in the type of articulated robot. The mask transfer device 202 shown in this figure includes: an articulated robot 212, having six axes; and a moving mechanism 211, having a single-axis robot that supports the articulated robot 212 movable along the X-axis direction. The moving mechanism 211 includes: a base 221 (guide) identical to the base 21 in the described embodiment; and a slider 222 (moving body) movable along the X-axis direction and supported on the base 221. The multi-joint robot 212 includes: a fixed part 231 fixed to a slider 222; a first arm link 232 rotatable relative to the fixed part 231 about a first axis AX11; a second arm link 233 oscillating relative to the first arm link 232 about a second axis AX12; a third arm link 234 oscillating relative to the second arm link 233 about a third axis AX13; a fourth arm link 235 rotatable relative to the third arm link 234 about a fourth axis AX14; a fifth arm link 236 oscillating relative to the fourth arm link 235 about a fifth axis AX15; a sixth arm link 237 rotatable relative to the fifth arm link 236 about a sixth axis AX16; and a gripper 238 fixed to the sixth arm link 237 as a holder for holding the mask 120. Using the mask transfer device 202 that includes the multi-joint robot 212, the transfer of the mask 120 between the housing 100 and the AGV3 can also be carried out efficiently, just like in the embodiment described above.

[0087] In the described embodiment, a mask transfer device 2 is used to transfer the mask 120 between the receiving rack 100 and the AGV3. However, the mask transfer device of the present invention can be widely used in cases where a mask is transferred between a location where the mask is received (receiving section) and a location away from that location (placement location). The receiving rack 100 and AGV3 are just one example. For example, the AGV may be the receiving section and the receiving rack may be the placement location. Furthermore, the transfer destination when transferring a mask taken from the receiving rack is not limited to the AGV. For example, a second receiving rack located at the location away from the receiving rack may be used as the transfer destination, or the work location of the next process where the mask is to be specifically processed may be used as the transfer destination.

[0088] [Summarize]

[0089] The embodiments and variations thereof include the following inventions.

[0090] One aspect of the present invention relates to a mask transfer device for transferring a mask used in accommodating a substrate for solder printing, and includes: a moving mechanism comprising a guide extending in a specified direction and a moving body moving along the guide, the specified direction being along a surface in the accommodating portion having an opening for the mask to enter or exit; and a multi-joint robot supported on the moving body and transferring the mask between the accommodating portion and a placement point away from the accommodating portion.

[0091] According to the present invention, a multi-jointed robot, which is supported and movable along one surface of the receiving portion, is used to transfer the mask. Therefore, for example, after the mask is removed from one surface of the receiving portion, it can be appropriately rotated, or the characteristics of the multi-jointed robot can be used to set the movement path of the mask with a high degree of freedom. Thus, interference with obstacles can be avoided, and the mask can be transferred between the receiving portion and the placement location along the shortest possible route, thereby reducing the time required for the transfer and improving work efficiency.

[0092] Preferably, the mask transfer device further includes: a first camera mounted on the multi-joint robot; and a robot control unit, which, upon receiving a request to transfer the mask from the receiving part to the placement location, causes the first camera to photograph the receiving part and the mask inside therein, and controls the multi-joint robot to remove the designated mask from the receiving part.

[0093] This technical solution can prevent the removal of a mask other than the designated mask, or the failure to remove the mask, and can remove the designated mask from the receiving part with high precision and transfer it to the placement location.

[0094] Another aspect of the present invention relates to a mask conveying system comprising: the aforementioned mask transfer device; a conveying body having a mask mounting portion capable of mounting the mask as the placement location and being movable; and a conveying control unit that, when the mask is transferred from the receiving portion to the mask mounting portion by the mask transfer device, moves the conveying body to a designated target position.

[0095] According to the present invention, by moving a conveyor that houses the mask in the mask mounting section between the receiving section and the target position, the mask can be properly conveyed.

[0096] Preferably, the mask transport system further includes a second camera for capturing images of the mask mounting portion in the transport body, which is waiting at a predetermined position near the guide. Based on the images captured by the second camera, the robot control unit controls the articulated robot to mount the mask, retrieved from the receiving portion, into an empty space within the mask mounting portion.

[0097] In this technical solution, the empty space of the mask mounting part can be identified based on the video image captured by the second camera, and the mask can be appropriately mounted in the empty space.

[0098] Preferably, the conveyor also has a locking mechanism for locking the mask mounted on the mask mounting portion.

[0099] This technical solution can prevent situations such as the mask falling off the mask mounting part when the mask is transported by the conveyor, and can stably transport the mask.

[0100] Preferably, the guide is configured to extend along the floor surface that the conveyor moves along, the receiving portion is disposed in a region on one side of the guide on the floor surface, and the conveying control unit enables the conveyor to receive the mask transferred from the receiving portion to stand by a region axially adjacent to one end of the guide.

[0101] In this technical solution, the space occupied by the equipment, including the standby part of the conveyor, can be reduced in the width direction orthogonal to the extension direction of the guide, thereby achieving equipment compactness.

[0102] The conveying control unit can also make the conveyor body that receives the mask transferred from the receiving part standby in the area on the other side of the guide.

[0103] This technical solution enables multiple conveyors to be on standby simultaneously and avoids congestion among the conveyors.

[0104] Explanation of symbols

[0105] 1. Mask conveying system

[0106] 2. Mask transfer device

[0107] 3 AGV (carrying vehicle)

[0108] 11. Mobile mechanism

[0109] 12 multi-joint robots

[0110] 21. Base (Guide)

[0111] 23. Tower (Moving Component)

[0112] 43 Mask mounting section

[0113] 45 Locking mechanism

[0114] 51 First Camera

[0115] 52 Second Camera

[0116] 100 Storage racks (storage sections)

[0117] 120 mask

[0118] C1 Robot Controller (Robot Control Unit)

[0119] C2 Conveying Controller (Conveying Control Unit)

[0120] 202 Mask Transfer Device

[0121] 211 Mobile Agency

[0122] 212 Multi-joint robot

[0123] 221 Base (Guide)

[0124] 222 Sliding component (moving body)

Claims

1. A mask transfer device, characterized in that, For a receiving portion that holds a mask used during solder printing on a substrate, the mask is transferred, and includes: A moving mechanism includes a guide extending in a horizontal direction and a moving body moving along the guide, the guide having a surface along the receiving portion having an opening for the mask to enter and exit; A multi-jointed robot, supported by the moving body, transfers the mask between the receiving portion and a mounting point away from the receiving portion; and The robot control unit controls the multi-joint robot in such a way that the mask taken out from the receiving part is rotated to change the posture of the mask to the extension direction of the guide, and then the mask is moved toward the mounting point.

2. The mask transfer device according to claim 1, characterized in that... Also includes: The first camera is mounted on the multi-jointed robot, wherein... Upon receiving a request to transfer the mask from the receiving part to the placement location, the robot control unit causes the first camera to photograph the receiving part and the mask inside it, and controls the multi-joint robot to remove the designated mask from the receiving part.

3. The mask transfer device according to claim 2, characterized in that, The robot control unit instructs the first camera to photograph the mask code attached to the mask and the rack code attached to the channel containing the mask, and compares the two photographed codes.

4. A mask conveying system, characterized in that... include: The mask transfer device as described in claim 1 or 2; The conveyor has a mask mounting portion capable of mounting the mask as the placement point, and is movable; as well as The transport control unit moves the transport body to a designated target position when the mask is transferred from the receiving part to the mask mounting part by the mask transfer device.

5. The mask conveying system according to claim 4, characterized in that... Also includes: A second camera captures images of the mask-mounted portion within the conveyor body, which is positioned at a predetermined location near the guide member. The robot control unit controls the multi-joint robot based on the video images captured by the second camera, so as to mount the mask taken from the receiving part into the empty space within the mask mounting part.

6. The mask conveying system according to claim 4 or 5, characterized in that, The conveyor also has a locking mechanism for locking the mask mounted on the mask mounting portion.

7. The mask conveying system according to claim 4 or 5, characterized in that, The guide is configured to extend along the floor surface that moves along the conveyor body. The receiving portion is disposed in a region on one side of the guide on the floor surface. The conveying control unit enables the conveyor body that receives the mask being transferred from the receiving part to stand by in the region axially adjacent to one end of the guide.

8. The mask conveying system according to claim 4 or 5, characterized in that, The guide is configured to extend along the floor surface that moves along the conveyor body. The receiving portion is disposed in a region on one side of the guide on the floor surface. The conveying control unit receives the conveyor body of the mask transferred from the receiving part and waits in the area on the other side of the guide.

Images