Work device and confirmation method

Abstract

A work device capable of automatically replacing a support block that supports a substrate as a work object includes: a jig conveying section that conveys a conveying jig that holds the support block in a detachable manner relative to an upper position of a support table on which the support block is arranged; a lifting section that lifts the support table relative to the conveying jig in the upper position to a position at which the support block can be replaced between the lifting section and the conveying jig; a photographing section that can photograph the conveying jig; and a control section that, when performing a removal process that removes the support block from the support table, performs a confirmation process that confirms, using a confirmation image and a reference image, an empty state in which the support block is not mounted on the conveying jig, the confirmation image being an image obtained by causing the photographing section to photograph a predetermined confirmation position within a holding range of the support block in the conveying jig, and the reference image being an image obtained by causing the photographing section to photograph, in advance in a state in which the support block is not present, a plurality of positions that can be the confirmation position before the removal process.

Description

Technical Field

[0001] This manual discloses the operating device and verification method. Background Technology

[0002] Previously, work devices for operating on substrates supported by support blocks have been proposed. For example, Patent Document 1 describes a technique that uses a transport jig capable of detaching and removing support blocks to automatically move support blocks in and out for replacement.

[0003] Existing technical documents

[0004] Patent Document 1: International Publication No. 2018 / 105016 Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] In the aforementioned working device, if the operator forgets to remove the support block from the conveying clamp, the support block remains in the conveying clamp. If the conveying clamp is used directly to remove other support blocks, the support block remaining in the conveying clamp will collide with other support blocks.

[0007] The main purpose of this disclosure is to properly identify when the support block is not installed on the conveyor fixture.

[0008] Methods for solving problems

[0009] The following means are employed in this disclosure to achieve the aforementioned principal objectives.

[0010] The working apparatus disclosed herein is capable of automatically changing the support block supporting the substrate to be worked on. The main feature of the aforementioned working apparatus is that it includes: The clamp conveying unit moves the conveying clamp that holds the support block in a detachable manner into and out of the support platform on which the support block is arranged. The lifting unit allows the support platform to be raised and lowered relative to the conveying clamp located at the above position, so that the position of the support block can be changed between the lifting unit and the conveying clamp. The camera unit is capable of photographing the aforementioned conveyor clamps; and When the control unit performs the removal process of the support block from the support platform, it performs a confirmation process to confirm the empty state of the transport fixture where the support block is not installed, using a confirmation image and a reference image. The confirmation image is an image obtained by the imaging unit capturing a predetermined confirmation position within the holding range of the support block in the transport fixture. The reference image is an image obtained by the imaging unit capturing multiple positions that may become the confirmation position in advance, before the removal process, in a state where the support block is not present.

[0011] In the operating apparatus of this disclosure, a confirmation process is performed to confirm an empty state where no support block is installed on the transport fixture, using a confirmation image and a reference image. The confirmation image is obtained by capturing images of predetermined confirmation positions within the holding range of the support block in the transport fixture during the support block removal process. The reference image is obtained by capturing images of multiple possible confirmation positions before the removal process, in a state where no support block is present. By using the pre-captured reference images to perform the confirmation process, the time spent capturing the reference images can be omitted during the confirmation process. Furthermore, since the reference image is obtained by capturing images of multiple possible confirmation positions, the presence or absence of a support block can be appropriately confirmed regardless of the confirmation position. Therefore, it is possible to appropriately confirm that no support block is installed on the transport fixture used in the removal process. Attached Figure Description

[0012] Figure 1 A schematic structural diagram showing the structure of the printing system 10.

[0013] Figure 2 A schematic structural diagram showing the structure of the printing apparatus 20.

[0014] Figure 3 A perspective view showing the general structure of the printing apparatus 20.

[0015] Figure 4 A schematic block diagram illustrating the structure of the printing apparatus 20.

[0016] Figure 5 This is a perspective view of the support block 70 and the conveying fixture 90.

[0017] Figure 6 This is a flowchart illustrating an example of a garbage collection routine.

[0018] Figure 7 This is an illustrative diagram representing an example of multiple camera location IPs.

[0019] Figure 8 This is a flowchart illustrating an example of the confirmation process.

[0020] Figure 9 This is an explanatory diagram illustrating an example of confirming the location Cp.

[0021] Figure 10 This is an explanatory diagram illustrating an example of the timing diagram for the recycling process in this embodiment.

[0022] Figure 11 An explanatory diagram illustrating the timing of the recycling process for the comparative example. Detailed Implementation

[0023] The embodiments of this disclosure are described using the accompanying drawings. Figure 1 A schematic structural diagram showing the structure of the printing system 10. Figure 2 A schematic structural diagram showing the structure of the printing apparatus 20. Figure 3 A perspective view showing the general structure of the printing apparatus 20. Figure 4 This is a schematic block diagram showing the structure of the printing apparatus 20. Furthermore, in this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as follows: Figures 1-1 As shown in Figure 3.

[0024] The printing system 10 includes: a printing apparatus 20 for printing solder paste, a viscous fluid, onto a substrate S; and a management device (PC) 100 for managing information related to the printing process. Alternatively, the printing system 10 can also be configured as a mounting system that includes other substrate handling devices, such as a mounting device (not shown) for mounting electronic components onto the substrate S. Besides solder paste, examples of viscous fluids include conductive paste and adhesives. The printing apparatus 20 is configured as a dual-channel system with two substrate holding sections for fixing the transported substrate S. Furthermore, when changing production to a different type of substrate S, the printing apparatus 20 can automatically change the screen mask M used for printing, the support block 70 supporting the substrate S, and the support pin P.

[0025] The printing apparatus 20 includes: a control unit 21, a storage unit 22, a printing processing unit 25, a mask processing unit 30, a first substrate fixing unit 40, a second substrate fixing unit 50, an image processing unit 60, and a storage unit 80. Additionally, the printing apparatus 20 includes: an operation panel displaying images, allowing the operator to perform various input operations; and a communication unit for communicating with devices connected to a LAN.

[0026] The control unit 21 is configured as a microprocessor centered on a CPU, and includes ROM for storing processing programs and RAM for use as an operating area. The storage unit 22 is, for example, an HDD or SSD, which stores processing programs and various data.

[0027] A printing processing unit 25 is disposed on the upper layer of the printing apparatus 20. This printing processing unit 25 uses a squeegee 28 to press solder paste from the screen mask M into the pattern holes 11, 12 of the screen mask M, thereby printing the solder paste onto the substrate S below. Figure 4As shown, the printing processing unit 25 includes: a printing head 26, a head moving part 27, a squeegee 28, and a conveying rod 29. The printing head 26 pressurizes and supplies solder paste onto the screen mask M. The head moving part 27 moves the printing head 26 along a predetermined printing direction (front-back direction) and includes a guide formed along the front-back direction, a slider moving along the guide, and a motor driving the slider. The squeegee 28 moves along the predetermined direction (front-back direction). Figure 1 A plate-shaped component extending along the X-axis direction is provided on the print head 26, for example, in a manner that allows it to be raised and lowered by a cylinder. A conveyor rod 29 is a rod-shaped component, also provided on the print head 26, for example, in a manner that allows it to be raised and lowered by a cylinder. With the conveyor rod 29 protruding downwards from the squeegee 28, the print head 26 moves back and forth via the head moving part 27, thereby pushing the screen mask M or the conveyor fixture 90 forward and backward for transport.

[0028] The mask working unit 30 is disposed vertically between the printing processing unit 25 and the first substrate fixing unit 40 and the second substrate fixing unit 50 to fix and hold the screen mask M. The screen mask M is a metal plate with pattern holes 11 and 12 formed on the substrate S of the first and second channels of the printing process, respectively, for forming wiring patterns. A position identification part (e.g., a mark) is formed on the lower surface of the screen mask M. The mask working unit 30 includes: a mask fixing part 32 and a position adjustment part 34 (see reference). Figure 4 ) and conveyor track 36 (refer to) Figure 4 The mask fixing part 32 positions and supports the screen mask M embedded in the frame in a horizontal position. The position adjustment part 34 adjusts the position of the mask fixing part 32 in the XY direction so that the pattern holes 11, 12 are arranged in appropriate positions relative to the substrate S fixed to the first substrate fixing part 40 or the second substrate fixing part 50. The transport track 36 is a pair of left and right tracks extending in the front-back direction, which guides the screen mask M or the transport fixture 90 pushed by the transport rod 29 in the front-back direction.

[0029] The first substrate fixing part 40 is disposed below the mask working part 30. It loads in the substrate S, positions and supports the loaded substrate S, and allows it to contact and separate from the screen mask M. The first substrate fixing part 40 constitutes the first channel for the printing process. The first substrate fixing part 40 includes: a conveyor 41, a substrate guide 42, and a guide moving part 43 (see reference). Figure 4 ), support platform lifting part 45, fixed part lifting part 46, support platform 47, Y-axis pressing part 48 and Z-axis clamping part 49.

[0030] like Figure 2As shown, the conveyor 41 includes conveyor belts respectively disposed on a pair of side frames 40b and a belt winding device for driving the conveyor belts to rotate. Additionally, although not shown in the figures, the printing apparatus 20 is located upstream and downstream of the substrate transport path of the conveyor 41. Figure 1 On the left and right sides, there are also infeed conveyors and outfeed conveyors. The substrate guide 42 is a plate-shaped component provided on the upper surface of each of the pair of side frames 40b, guiding the substrate S conveyed by the conveyor 41. The guide moving part 43 is a mechanism that moves the pair of side frames 40b in the front-back direction to approach and separate them. Thus, the conveyor 41 and the substrate guide 42 also move in the front-back direction, clamping and fixing the substrate S in a state where the upper surface of the substrate S is coplanar with the upper surface of the substrate guide 42. The support platform lifting part 45 is a mechanism that raises and lowers the support platform 47 relative to the main body 40a of the first substrate fixing part 40, and includes a column that guides and supports the support platform 47 in the vertical direction and a drive motor that moves the column vertically. The support platform 47 is a component on which a support block 70 and a support pin P can be arranged. The support block 70 and the support pin P are replaced according to the substrate S.

[0031] The support block 70 is mounted on the support platform 47 and connected to a pressure-reducing device (not shown) via piping. It is a component that uses negative pressure to support and hold the substrate S in place from the lower surface. Figure 5 As shown, the support block 70 includes: a generally rectangular parallelepiped main body 70a; a pair of cylindrical protrusions 71, 71, disposed protruding from the left and right sides of the main body 70a; a pair of protrusions 72, 72, disposed in front of the protrusions 71; a plurality of suction ports 32 opening on the upper surface of the main body 70a; and a clamping portion 74 having an inclined upper surface and protruding towards the rear of the main body 70a. Additionally, a position identification portion 75 (e.g., a mark) and a barcode 76 for category identification of the support block 70 are formed on the upper surface of the main body 70a.

[0032] The lifting unit 46 is a mechanism that raises and lowers the first substrate fixing unit 40 relative to the main body of the device. It includes a support column that guides and supports the main body of the first substrate fixing unit 40 in the vertical direction and a drive motor that moves the support column vertically. Y-axis pressing unit 48 (see reference) Figure 2The Y-axis pressing part 48 is a mechanism for positioning the support block 70 and is disposed on the support platform 47. The Y-axis pressing part 48 has: a block-shaped main body that can move in the front-back direction, pressing the support block 70 backward to move it; and a drive mechanism such as a cylinder to move the main body back and forth. Additionally, the Y-axis pressing part 48 also functions as a mechanism for supplying negative pressure to the support block 70, and a suction port connected to a pressure reducing device via a pipe is disposed at the rear of the main body. By pressing the main body of the Y-axis pressing part 48 against the support block 70, a path is formed from the pressure reducing device to the suction port 73, supplying negative pressure to the suction port 73. The Z-axis clamping part 49 is a mechanism for fixing the support block 70 and is disposed on the rear side frame 40b. The Z-axis clamping part 49 has a block-shaped main body that can move in the vertical direction and a drive mechanism such as a cylinder to move the main body up and down. The main body of the Z-axis clamping part 49, moving downward, clamps the clamped portion 74 of the support block 70 together with the support platform 47 to fix the support block 70. Additionally, a support plate 49a extending along the vertical and horizontal directions is provided in front of the Z-axis clamping part 49. When the side frame 40b moves back and forth via the guide moving part 43, the Z-axis clamping part 49 and the support plate 49a also move back and forth. This allows the fixed position of the support block 70 in the front-back direction to be changed. Furthermore, the support block 70 is fixed in such a way that its center position is aligned with the center of the width direction (front-back direction) of the first and second channels.

[0033] The second substrate fixing part 50 is arranged side by side with the first substrate fixing part 40 and is a unit that transports and fixes the substrate S in the same way as the first substrate fixing part 40. The second substrate fixing part 50 constitutes a second channel for the printing process. The second substrate fixing part 50 has a main body 50a, a side frame 50b, and includes a conveyor 51, a substrate guide 52, a guide moving part 53, a support platform lifting part 55, a fixing part lifting part 56, a support platform 57, a Y-axis pressing part 58, and a Z-axis clamping part 59. In addition, a support block 70 and a support pin P can be arranged on the support platform 57. The second substrate fixing part 50 has the same structure as the first substrate fixing part 40, so the description is omitted. In addition, the support pin P is placed at the pin placement location 54 (see reference) provided on the outer surface of the side frame 50b of the second substrate fixing part 50. Figure 3 The pickup 67 (described later) picks up the material and positions it on the support platforms 47 and 57. Alternatively, a pin placement area may be provided on the outer surface of the side frame 40b of the first substrate fixing part 40.

[0034] In addition to capturing images of identification features (such as marks, notches, embossing, and text) formed on the substrate S, the image processing unit 60 also performs image capture processing for various other images. This image processing unit 60 includes a carriage 61, a carriage moving part 62, and an image capturing part 65. The carriage 61 is equipped with the image capturing part 65 and moves in the XY direction via the carriage moving part 62. The carriage moving part 62 includes an X-axis slider 63 and a Y-axis slider 64. The Y-axis slider 64 is a plate-shaped member with the X-axis direction as its length direction and moves along a support track 68 formed in the Y-axis direction (front-back direction) of the device via a moving motor. The X-axis slider 63 is equipped with the carriage 61 and moves along a guide formed in the X-axis direction via a moving motor on the Y-axis slider 64. The carriage 61 can move to the region above the first substrate fixing part 40 (which serves as a first channel), the region above the second substrate fixing part 50 (which serves as a second channel), and regions offset from them (see reference). Figures 1-3 The lower and upper surfaces of the imaging unit 65 form the imaging area. The imaging unit 65 can capture images of the identification portion formed on the substrate S, the identification portion formed on the lower surface of the screen mask M, and the identification portion 75 of the support block 70. The control unit 21 can obtain their position information from the images captured by the imaging unit 65. Additionally, the imaging unit 65 can capture images of the upper surface of the support stage 57. The control unit 21 can determine the presence or absence of the support block 70 and the support pin P based on the images captured by the imaging unit 65.

[0035] Furthermore, the imaging processing unit 60 includes a substrate stop 66 and a pickup 67. The substrate stop 66 is, for example, a rod-shaped component, and is mounted on the carriage 61 in a manner that allows it to be raised and lowered by a cylinder. The substrate stop 66 protrudes downwards above the first and second substrate fixing portions 40 and 50, beyond the support rail 68, and abuts against the substrate S conveyed by the conveyors 41 and 51 to the support block 70, thereby stopping the substrate S at a predetermined position in the left-right direction. The pickup 67 is, for example, a cylindrical component, and is mounted on the carriage 61 in a manner that allows it to be raised and lowered by a cylinder. The pickup 67 has a central hole at its lower end into which a support pin P can be inserted, allowing for holding and releasing the support pin P inserted into the central hole. The pickup 67 can move in the XY direction via the carriage 61 while holding the support pin P.

[0036] The storage section 80 is located at the rear of the main body of the printing apparatus 20, and stores replacement items such as the automatically replaceable screen mask M and support block 70. The storage section 80 includes a storage box 81 with a front opening and a lifting section 83 for raising and lowering the storage box 81. Inside the storage box 81, a pair of conveyors 82 with multiple layers (four layers in this embodiment) are arranged vertically to transport the replacement items along the front-back direction. On three of the four layers of conveyors 82, the operator pre-stores the screen mask M as the object to be transported in, the conveyor clamp 90 with the support block 70 as the object to be transported in, and the conveyor clamp 90 for mounting the support block 70 as the object to be retrieved (removed). The remaining layer of conveyors 82 is left empty so that the screen mask M as the object to be retrieved can be stored. The storage unit 80 uses the lifting unit 83 to bring the upper surface of a certain conveyor 82 to the same height as the upper surface of the conveyor track 36, and in this state, the conveyor 82 is activated to pick up and put away replacement objects between itself and the mask operation unit 30.

[0037] The conveying clamp 90 is a component used to hold and convey the support block 70 in a detachable manner. For example... Figure 5 As shown, the conveying clamp 90 has first to fourth holding portions 91 to 94 arranged sequentially from rear to front on the inner side of the frame 95. Each of the first to fourth holding portions 91 to 94 has a pair arranged in the left-right direction, located at the front end of the arm extending downwards from the frame 95. Figure 2As shown, the transport clamp 90 can mount a support block 70 via the first and second holding portions 91 and 92, and can mount another support block 70 via the third and fourth holding portions 93 and 94. A recess slightly larger than the outer diameter of the protrusions 71 and 72 of the support block 70 is formed on the upper surface of the first to fourth holding portions 91 to 94. By placing the protrusions 71 and 72 in these recesses, the transport clamp 90 can hold and transport the support block 70. Furthermore, the support block 70 can vary depending on the type of substrate S it supports, but the outer diameters of the protrusions 71 and 72 are all the same. Additionally, the second holding portion 92 and the fourth holding portion 94 can be adjusted in the front-rear direction, thereby allowing the holding of various support blocks 70 of different sizes (the distance between the protrusions 71 and 72). That is, within the frame 95, the rectangular area formed by the first holding portion 91 and the second holding portion 92, and the rectangular area formed by the third holding portion 93 and the fourth holding portion 94, constitute the holding range of the support block 70. The width of the conveyor clamp 90 in the left-right direction is approximately the same as that of the mask fixing portion 32 of the screen mask M. Therefore, the conveyor clamp 90 can be conveyed along the same conveyor track 36 as the screen mask M. Furthermore, since the conveyor clamp 90 and the screen mask M can use the same storage portion 80, it is preferable that the length of the conveyor clamp 90 in the front-back direction is close to that of the screen mask M. Additionally, the conveyor clamp 90 can exist in various sizes, such as the frame 95 or the sizes of the various holding portions. A barcode 96 for category identification of the conveyor clamp 90 is mounted on the upper surface of the frame 95.

[0038] Next, the process of recycling these components during the changeover adjustment of the printing apparatus 20 configured in this way will be explained. When the screen mask M, support block 70 and other components are automatically replaced, the process of recycling these components will be explained. Figure 6 This is a flowchart illustrating an example of a recycling process. This process is executed by the CPU of the control unit 21. The control unit 21, for example, determines whether component replacement is necessary based on information related to the printing process obtained from the management device 100.

[0039] Here, the structure is configured as follows: When a replacement process is required, the operator pre-stores in the storage section 80 a screen mask M (the object to be moved in), a conveyor 90 (the object to be moved in), and a recycling (removal) conveyor 90 (the object to be recycled / removed) for mounting the support block 70 (the object to be recycled / removed). Furthermore, the operator pre-checks whether the correct component is stored in the storage section 80 by reading barcodes 76 and 96 using a barcode reader, and adjusts the positions of the second holding part 92 and the fourth holding part 94 in the recycling conveyor 90, etc. However, the operator sometimes forgets these operations, or forgets to remove the recycled support block 70 from the conveyor 90 during the last production changeover adjustment. In this case, another (recycled) support block 70 is incorrectly installed in the recycling conveyor 90, causing the support blocks 70 to collide with each other during recycling. In this embodiment, to avoid such collisions, a confirmation process described later is performed.

[0040] exist Figure 6 In the recycling process, the control unit 21 starts the mask recycling process (S100) and the support pin recycling process (S110). The mask recycling process involves moving the screen mask M from the mask operation unit 30 and storing it in the storage unit 80 by the operation of the conveyor rod 29 (print head 26), the conveyor 82, and the lifting unit 83. In addition, the screen mask M needs to be temporarily moved out for the replacement of the support block 70. Therefore, even if the screen mask M is not to be replaced, the control unit 21 performs the mask recycling process. The support pin recycling process involves picking up each support pin P from the support tables 47 and 57 by the pick-up device 67 (carriage 61) and storing it in the pin placement area 54. The control unit 21 also checks whether each support pin P is left behind by taking an image of the placement position of each support pin P by the imaging unit 65. In addition, the control unit 21 can execute the processes of S100 and S110 in parallel.

[0041] Next, the control unit 21 waits for the completion of the screen mask M retrieval that began in S100 (S120). When the control unit 21 determines that the screen mask M retrieval is complete, it determines whether this is the first component retrieval process after the printing apparatus 20 has been started (S130). The reference image is used as a comparison image to show the state where the support block 70 is not installed when it is confirmed that the support block 70 is not installed on the transport jig 90 used for retrieval (removal). In this embodiment, in the first component retrieval process after the printing apparatus 20 has been started, the time point before the transport jig 90 for retrieval is set as the time point for taking the reference image (acquisition time point).

[0042] When the control unit 21 determines in S130 that it is the first time for component recycling, it causes the imaging unit 65 to capture reference images at multiple shooting positions Ip and store them in the storage unit 22 (S140) before the component is loaded into the transport fixture 90. On the other hand, when the control unit 21 determines in S130 that it is not the first time for component recycling, it skips S140 and proceeds to S150. Therefore, once the control unit 21 has captured a reference image, it skips capturing the reference image in S140 each time, thus enabling faster recycling processing compared to capturing reference images each time.

[0043] Figure 7 This is an illustrative diagram representing an example of multiple camera location IPs, with each camera location IP represented by a circle. Figure 7 In the diagram, conveyors 41 and 51 of the first channel and the second channel are shown with dashed lines to represent their positional relationship to the shooting position Ip. However, the reference image is an image obtained by shooting from above at each shooting position Ip with the shooting unit 65 shooting at the top when the conveyor fixture 90 is not in place; therefore, conveyors 41 and 51 are not actually being photographed. Here, the conveyor width W of conveyors 41 and 51 can be changed according to the width of the substrate S. In addition, the support block 70 is configured (fixed) so that its center position is aligned with the center of the conveyor width W of conveyors 41 and 51 (first and second channels). Therefore, as the conveyor width W changes, the center position (configuration position) of the support block 70 changes to multiple positions, generating a straight trajectory L (see reference). Figure 7 Furthermore, the center position (holding position) of the support block 70 held in the transport fixture 90 becomes directly above the configuration position. Therefore, the holding position also changes to multiple positions corresponding to the change in the configuration position, becoming a position on the trajectory L. In this embodiment, multiple shooting positions Ip are determined at predetermined intervals along the trajectory L, and a reference image is captured for each shooting position Ip, so that it can be handled regardless of the configuration position (holding position). In addition, the reference images are stored in the storage unit 22. Furthermore, the control unit 21 uses these reference images to perform the confirmation process of S160 until the printing device 20 is powered off.

[0044] Next, the control unit 21 performs a loading process (S150) by moving the recycling conveyor 90 into the position above the support tables 47 and 57 via the conveyor rod 29 (print head 26), the conveyor 82, and the lifting unit 83. Furthermore, the control unit 21 performs a confirmation process (S160) to ensure that the support block 70 is not incorrectly installed on the recycling conveyor 90. Figure 8 This is a flowchart illustrating an example of the confirmation process.

[0045] exist Figure 8In the confirmation process, the control unit 21 first sets the confirmation position Cp (S200) corresponding to the center position of the conveying width W of the conveyors 41 and 51 (first and second channels). Figure 9 This is an explanatory diagram illustrating an example of a confirmed position Cp. As shown, the confirmed position Cp is the center position of the transport width W on the track L. Thus, each shooting position Ip on the track L can be considered a possible position for the confirmed position Cp. However, since the shooting positions Ip are determined at predetermined intervals, the cases where the confirmed position Cp coincides with the shooting position Ip are rare. Therefore, the control unit 21 uses a pre-captured reference image to derive the reference brightness B0 at the confirmed position Cp through linear interpolation (S210). In S210, the control unit 21 selects two shooting positions Ip1 and Ip2 (see reference) as nearby positions of the confirmed position Cp. Figure 9 (Enlarged image), using the brightness from the reference images at shooting positions Ip1 and Ip2, the reference brightness B0 is derived by linear interpolation.

[0046] Next, with the recovery transport fixture 90 positioned above the support tables 47 and 57, the control unit 21 causes the imaging unit 65 to capture a confirmation image of the confirmation position Cp above (S220). Then, the control unit 21 processes the confirmation image to obtain the brightness B1 of the confirmation position Cp (S230). Based on the reference brightness B0 derived in S210 and the brightness B1 obtained in S230, it confirms that the transport fixture 90 is in an empty state without the support block 70 installed (S240) and ends the confirmation process. The brightness B1 varies significantly depending on whether the support block 70 is present or absent (empty state). Therefore, in S240, if the reference brightness B0 and brightness B1 are the same brightness or differ by an acceptable margin, the control unit 21 confirms that the transport fixture 90 is in an empty state without the support block 70, similar to when the reference image was captured.

[0047] exist Figure 6 In the recycling process, control unit 21 determines that in S160 ( Figure 8 In the confirmation process, it is determined whether the empty state of the conveyor clamp 90 is confirmed (S170). If it is determined that the empty state is not confirmed, error handling is performed (S180), and the process ends. Error handling is performed, for example, by displaying an error code or error message on the display screen of the operation panel of the printing device 20, reporting a warning sound, or illuminating a warning light. The operator who notices the error takes action such as removing the support block 70 from the recycling conveyor clamp 90 and restarting the recycling process routine.

[0048] On the other hand, when the control unit 21 determines in S170 that the idle state has been confirmed, it waits for the support pin retrieval process that started in S110 to end, that is, it determines that the retrieval of support pin P has been confirmed (S190). When the control unit 21 determines that the retrieval of support pin P has been confirmed, it executes the removal process of support block 70 by conveying clamp 90 (S195) and ends this process. In S195, the control unit 21 first controls the support platform lifting unit 45 and the fixing unit lifting unit 46 to raise the support block 70 on the support platforms 47 and 57 to a position where the protrusions 71 and 72 are above the first to fourth holding parts 91 to 94 of the conveying clamp 90 located above. Then, the control unit 21 moves the conveying clamp 90 by conveying rod 29 so that the first to fourth holding parts 91 to 94 are respectively located directly below the protrusions 71 and 72. In this state, the control unit 21 lowers the support tables 47 and 57 to hold the support block 70 in the conveyor fixture 90. Furthermore, the control unit 21 moves the conveyor fixture 90 via the conveyor rod 29 to remove the support block 70. Additionally, when the recycling process is complete, the control unit 21 performs the loading process of the support block 70, the configuration process of the required support pin P, and the loading process of the screen mask M. Thus, the changeover adjustment is completed, and printing can be performed.

[0049] Here, Figure 10 This is an explanatory diagram illustrating an example of the timing diagram for the recycling process in this embodiment. Additionally, Figure 11 This is an explanatory diagram showing the timing of the recycling process for the comparative example. Figure 10 The image shows a case where a reference image has been taken beforehand, but no reference image is taken during the recycling process. Figure 11 The comparative example differs from this embodiment in that a reference image is captured each time. In any case, when the retrieval process begins, the mask retrieval process of S100 (the operation of the mask working unit, etc.) and the support pin retrieval process of S110 (the operation of the shooting processing unit, etc.) begin in parallel (time t0, time t10), and the mask retrieval ends at time t1, time t11.

[0050] In the comparative example, a reference image needs to be taken from time t12, after the retrieval of the support pin P (hereinafter, including confirmation that the support pin P is not present). Here, it is required that the reference image be taken when the support block 70 is not present at position Cp. Furthermore, if the transport fixture 90 is not moved in, it reliably becomes a state without the support block 70. Therefore, in the comparative example, at time t11, after the mask retrieval ends, the transport fixture 90 is not immediately moved in, but is moved in from time t13, after the reference image is taken. That is, the mask operation unit 30 has a waiting period from time t11 to time t13. And, when the moving of the transport fixture 90 ends at time t14, a confirmation image is taken to confirm the empty state (times t14 to t15). When the empty state is confirmed, the support block 70 is installed on the transport fixture 90 and retrieved (times t15 to t16).

[0051] Thus, in the comparative example, a waiting time occurs in the mask operation unit 30, making it impossible to perform the loading of the transport fixture 90 (times t13~t14) and the retrieval of the support pin P in parallel. Furthermore, in Figure 11 The example shown illustrates the case where a reference image is captured after the support pin P is retrieved, but reference images can also be captured during the intervals of retrieving the support pin P. However, even so, the start of the loading of the transport fixture 90 is not significantly advanced, so the time for parallel processing of the loading of the transport fixture 90 and the retrieval of the support pin P is relatively short.

[0052] On the other hand, Figure 10 In this embodiment, when the mask retrieval ends at time t1, the loading of the transport fixture 90 begins immediately without a waiting time for the mask operation unit 30. Furthermore, when the loading of the transport fixture 90 ends at time t2, a confirmation image is taken to confirm the idle state (times t2 to t3). Additionally, in Figure 10 In the example shown, the retrieval of support pin P and the loading of conveyor fixture 90 both end at time t2, but this is not a limitation. For example, if the loading of conveyor fixture 90 ends first, but the retrieval of support pin P does not end, then wait for it to end, and then begin taking confirmation images, etc. Alternatively, confirmation images can be taken during the interval of retrieval of support pin P. When the empty state of conveyor fixture 90 is confirmed, support block 70 is installed on conveyor fixture 90 and retrieval is performed (times t3 to t4). In addition, the time periods t2 to t4 are the same as the time periods t14 to t16 in the comparative example.

[0053] Thus, in this embodiment, the mask can be immediately loaded into the transport fixture 90 after retrieval, eliminating the waiting time and shooting time until the reference image is captured (times t11 to t13 in the comparative example). Furthermore, unlike the comparative example, the time for parallel processing of loading the transport fixture 90 and retrieving the support pin P can be extended. Therefore, in this embodiment, the retrieval process of the support block 70 can be performed quickly with improved processing efficiency.

[0054] Here, the correspondence between the constituent elements of this embodiment and the constituent elements of this disclosure is clarified. The mask operation section 30 of the loading / unloading conveying fixture 90 of this embodiment corresponds to the fixture conveying section of this disclosure; the support platform lifting sections 45, 55 and the fixing section lifting sections 46, 56 correspond to the lifting sections; and the imaging processing section 60 (imaging section 65) corresponds to the imaging section. Figure 6 Recycling routines ( Figure 8 The control unit 21 (for the confirmation process) corresponds to the control unit. Conveyors 41 and 51 correspond to the substrate transport unit. Pickup 67 corresponds to the pin transport unit. Furthermore, in this embodiment, by explaining the operation of the printing apparatus 20, an example of the confirmation method of this disclosure is made clear.

[0055] In the above-described embodiment of the printing apparatus 20, when performing the removal process of the support block 70, a confirmation process is performed to confirm the empty state of the transport fixture 90 where the support block 70 is not installed, using a confirmation image and a reference image. The confirmation image is an image obtained by the imaging unit 65 capturing the confirmation position Cp, and the reference image is an image obtained by the imaging unit 65 capturing multiple positions (capturing positions Ip) that may become the confirmation position Cp before the removal process, in a state where the support block 70 is not present. By using the pre-capturing reference image to perform the confirmation process, the time spent capturing the reference image can be omitted during the confirmation process. Furthermore, since the reference image is an image obtained by capturing multiple capturing positions Ip that may become the confirmation position Cp, the presence or absence of the support block 70 can be appropriately confirmed regardless of the confirmation position Cp. Therefore, it is possible to appropriately confirm that the support block 70 is not installed on the transport fixture 90 in a shorter time.

[0056] Furthermore, in the confirmation process, the idle state is confirmed based on the reference brightness B0 at the confirmation position Cp derived from the reference image and the brightness B1 (actual brightness) at the confirmation position Cp derived from the confirmation image. Therefore, the confirmation process can be performed in a short time based on the brightness B1 at a confirmation position Cp and the reference brightness B0.

[0057] Furthermore, in the confirmation process, the brightness of shooting positions Ip1 and Ip2 near the confirmation position Cp is obtained from the reference image, and the reference brightness B0 of the confirmation position Cp is derived by using linear interpolation of the brightness of shooting positions Ip1 and Ip2. Therefore, even if there is no shooting position Ip that coincides with the confirmation position Cp, the reference brightness B0 of the confirmation position Cp can be easily derived and confirmation can be performed appropriately.

[0058] Furthermore, the control unit 21 determines multiple shooting positions Ip at predetermined intervals along the trajectory L of the center position of the support block 70, which shifts with the change of the conveying width W, and causes the shooting unit 65 to capture reference images for each position. Additionally, when the conveying fixture 90 is in the upper position, the control unit 21 designates a position within the holding range directly above the center position (the holding position) as the confirmation position Cp and causes the shooting unit 65 to capture a confirmation image. Therefore, by performing confirmation processing at the confirmation position Cp corresponding to the center position of the support block 70, which shifts with the change of the conveying width W, the idle state can be more appropriately confirmed.

[0059] Furthermore, when the control unit 21 initially loads and unloads the support block 70 after the printing apparatus 20 is started, it acquires a reference image by having the imaging unit 65 photograph the area above the support tables 47 and 57, with the transport fixture 90 not in the upper position. This reference image is then used in subsequent verification processing. Therefore, it is possible to reliably capture a reference image even without the support block 70. Additionally, once a reference image is acquired, the time required for capturing the reference image can be reliably reduced, allowing for verification in a shorter time.

[0060] Furthermore, when the control unit 21 retracts (removes) the support pin P along with the support block 70, after the pickup 67 removes the support pin P, the imaging unit 65 captures images of the upper surfaces of the support tables 47 and 57 and uses the captured images to confirm the absence of the support pin P, while simultaneously moving the device into the transport fixture 90. Since it is not necessary to capture a reference image, it is possible to quickly capture images to confirm the absence of the support pin P. In addition, the retraction of the support pin P and the moving into the transport fixture 90 can be performed in parallel and efficiently.

[0061] Furthermore, this disclosure is not limited to any of the above-described embodiments. It is self-evident that it can be implemented in various ways as long as it falls within the technical scope of this disclosure.

[0062] In the above embodiment, the example shows the support pin P (a second support component replaced without using a transport clamp) and the support block 70 (a first support component replaced using a transport clamp) arranged together on the support tables 47 and 57. However, this is not a limitation, and the support pin P may not be arranged. In such a case, S110 and S190 can be omitted. Alternatively, if the support pin P is not arranged on the support tables 47 and 57, the imaging unit 65 can take a picture of the pin placement location 54 from above and below, thereby confirming whether the support pin P is placed in the pin placement location 54. Even in this case, the transport clamp 90 can be moved in immediately after the mask is retracted without waiting for the imaging unit 65 to finish confirming whether the support pin P is placed in the pin placement location 54, thus enabling rapid retraction of the support block 70.

[0063] In this embodiment, a reference image is acquired during the initial loading and unloading of the support block 70 after the printing apparatus 20 is started, but this is not a limitation. The reference image can be acquired as long as it is acquired before the initial loading and unloading of the support block 70 is performed after the printing apparatus 20 is started. For example, the reference image can also be acquired during the start-up process of the printing apparatus 20. Furthermore, the temporarily acquired reference image is used until the power to the printing apparatus 20 is disconnected, but this is not a limitation; it can also be updated by periodically capturing reference images.

[0064] In this embodiment, reference images are captured at predetermined intervals along a trajectory L of the center position of the support block 70, which is displaced with changes in the transport width W. However, this is not a limitation. For example, multiple possible center positions of the support block 70 can be set according to the transport width W of each type (size) of the substrate S, and reference images can be captured at these center positions. Furthermore, in the verification process, if a reference image exists that matches the verification position Cp, the reference brightness B0 of that reference image is used for verification; if no matching reference image exists, the reference brightness B0 derived from the reference image is used for verification as in this embodiment.

[0065] In this implementation, the reference brightness B0 of the confirmation position Cp is derived by using linear interpolation of the brightness of the two shooting positions Ip1 and Ip2. However, it is not limited to this and the reference brightness B0 can also be derived by other methods such as polynomial interpolation.

[0066] In this implementation, the idle state is confirmed based on the reference brightness B0 and brightness B1 (actual brightness) of a confirmation position Cp, but it is not limited to this. The idle state can also be confirmed based on the reference brightness B0 and brightness B1 (actual brightness) of two or more confirmation positions Cp. In addition, the confirmation position Cp is not limited to a position on a straight trajectory L, but can also be multiple positions within a certain range.

[0067] In this embodiment, the storage section 80 is disposed at the rear of the printing apparatus 20, but it is not limited thereto. When performing component replacement processing, a movable storage section may also be disposed at the front of the printing apparatus 20. In addition, in this embodiment, the printing apparatus 20 is exemplified as the substrate working apparatus of this disclosure, but it is not limited thereto. For example, any working apparatus capable of automatically changing the support block supporting the substrate to be worked on, such as a mounting device, is acceptable.

[0068] This disclosure can also be configured as follows. For example, the verification method of this disclosure confirms an empty state in which the support block is not installed on a transport fixture that supports the support block in a detachable manner, and the support block supports the substrate as the work object. The main point of the verification method is that it includes the following steps: Step (a) involves, during the removal process of the support block from the support platform, capturing images of a predetermined confirmation position of the support block within the holding range of the transport fixture; and Step (b) involves performing a confirmation process that uses the confirmation image and reference image captured in step (a) to confirm the empty state where the support block is not installed on the transport fixture. The reference image is an image obtained by capturing multiple positions that may become the confirmation position before the removal process when the support block is not present.

[0069] In the verification method of this disclosure, similar to the working device of this disclosure described above, it is possible to appropriately verify that no support block is installed on the conveying clamp used in the transfer process. In this verification method, various methods of the working device of this disclosure described above can be employed, and additional steps can be added to implement the functions of the working device of this disclosure.

[0070] This specification also discloses the technical concept of changing "the working device described in claim 1 or 2" in the original claims 4 to 6 to "the working device described in any one of claims 1 to 3" in claim 4, "the working device described in any one of claims 1 to 4" in claim 5, and "the working device described in any one of claims 1 to 5" in claim 6.

[0071] Industrial applicability

[0072] This disclosure enables the use of mounting apparatus for mounting components onto a substrate and printing apparatus for printing on a substrate, as well as other work apparatuses for working on a substrate.

[0073] Explanation of reference numerals in the attached figures

[0074] 10 Printing System, 11, 12 Pattern Holes, 20 Printing Apparatus, 21 Control Unit, 22 Storage Unit, 25 Printing Processing Unit, 26 Print Head, 27 Head Moving Unit, 28 Squeegee, 29 Conveyor Rod, 30 Mask Working Unit, 32 Mask Fixing Unit, 34 Position Adjustment Unit, 36 Conveyor Track, 40 First Substrate Fixing Unit, 40a, 50a Main Body, 40b, 50b Side Frame, 41, 51 Conveyor, 42, 52 Substrate Guide, 43, 53 Guide Moving Unit, 45, 55 Support Platform Lifting Unit, 46, 56 Fixing Unit Lifting Unit, 47, 57 Support Platform, 48, 58 Y-axis Pressing Unit, 49, 59 Z-axis Clamping Unit, 49a, 59a Support Plate, 50 Second Substrate Fixing Unit, 60 Imaging Processing Unit, 61 Carriage, 62 Carriage moving part, 63 X-axis slider, 64 Y-axis slider, 65 imaging part, 66 substrate stop, 67 pickup, 68 support rail, 70 support block, 70a main body, 71, 72 protrusions, 73 suction hole, 74 clamping part, 75 identification part, 76, 96 barcode, 80 storage part, 81 storage box, 82 conveyor, 83 lifting part, 90 conveying fixture, 91~94 first~fourth holding parts, 95 frame, 100 management PC, M screen mask, P support pin, S substrate.

Claims

1. A working device capable of automatically changing a support block supporting a substrate as the object of work, the working device comprising: The clamp conveying unit moves the conveying clamp that holds the support block in a detachable manner into and out of the support platform on which the support block is arranged. The lifting unit allows the support platform to be raised and lowered relative to the conveying clamp located above it, so that the position of the support block can be changed between the lifting unit and the conveying clamp; The camera unit is capable of photographing the conveyor fixture; and When the control unit performs the removal process of the support block from the support platform, it performs a confirmation process to confirm the empty state of the transport fixture where the support block is not installed, using a confirmation image and a reference image. The confirmation image is an image obtained by having the imaging unit capture a predetermined confirmation position within the holding range of the support block in the transport fixture. The reference image is an image obtained by having the imaging unit capture multiple positions that may become the confirmation position in advance, without the support block, before the removal process.

2. The working device according to claim 1, wherein, The control unit enables the imaging unit to capture one or more reference images in a manner that allows the brightness of the plurality of locations to be acquired separately. In the confirmation process, the idle state is confirmed based on the reference brightness of the confirmation location derived from the reference image and the brightness of the confirmation location derived from the confirmation image.

3. The working device according to claim 2, wherein, In the confirmation process, the control unit obtains the brightness of a nearby location from the reference image and derives the reference brightness of the confirmation location by linear interpolation of the obtained brightness of the nearby location.

4. The working device according to claim 1 or 2, wherein, The working device includes a substrate conveying unit, which is configured to change its conveying width according to the width of the substrate. The support block is disposed on the support table such that its center position is aligned with the center of the conveying width. The control unit determines the plurality of positions at predetermined intervals along the trajectory of the center position of the support block, which is displaced with the change of the conveying width, and causes the imaging unit to capture the reference image respectively. When the conveying clamp is in the above position, the position directly above the center position is taken as the confirmation position and the imaging unit captures the confirmation image.

5. The working device according to claim 1 or 2, wherein, When the conveying clamp is not in the above position before the operation device is started and the support block is initially moved in or out, the control unit obtains the reference image by having the imaging unit photograph the top of the support platform, and uses the obtained reference image in the subsequent confirmation process.

6. The working device according to claim 1 or 2, wherein, When a support pin is provided on the support platform to support the substrate together with the support block, The working device includes a pin conveying section capable of moving and positioning the support pin relative to the support platform. The imaging unit is configured to move vertically between the support platform and the clamp conveying unit, enabling it to capture images of the upper conveying clamp and the lower support platform. When the support pin and the support block are moved out of the support platform together, the control unit moves the pin conveying unit to move out the support pin, the imaging unit captures the support platform and uses the captured image to confirm that the support pin is not there, and the conveying clamp moves into the upper position.

7. A confirmation method for confirming an empty state in which a support block is not installed on a transport fixture that holds the support block in a detachable manner, the support block supporting a substrate as the work object, the confirmation method comprising the following steps: Step (a): During the removal process of the support block from the support platform, the imaging unit captures a predetermined confirmation position of the support block within the holding range of the transport fixture; and Step (b) involves performing a confirmation process using the confirmation image and reference image captured in step (a) to confirm the empty state where the support block is not installed on the transport fixture. The reference image is obtained by pre-capturing multiple positions that may become the confirmation position with the imaging unit in a state where the support block is not present before the removal process.

Images