Mask feeder and mask delivery system with such a device

Abstract

A mask feeding device (2) of the present invention is a device that transfers a mask (120), used in printing solder onto a substrate, to a receiving unit (100) which receives the mask (120). The mask feeding device (2) comprises: a mobile mechanism (11) with a guide (21) extending in a fixed direction along a surface of the receiving unit (100), which has an opening for loading and unloading the mask (120), and a mobile body (23) moving along the guide (21); and a multi-jointed robot (12) carried by the mobile body (23) to transfer the mask (120) between the receiving unit (100) and a placement location remote from the receiving unit (100).

Description

Technical field

[0001] The present invention relates to a mask supplying apparatus for supplying a mask used for printing solder onto a substrate, and a mask conveying system provided with this apparatus. Technical background

[0002] On a substrate on which electronic components are to be mounted, solder paste is pre-applied to the locations where the electronic components are to be mounted. A solder paste printer is a device for applying solder paste to a substrate. The solder paste printer generally uses a film-shaped or plate-shaped mask with mask openings that correspond to a predetermined printing pattern. This means that solder paste is supplied via the mask, which has been placed on the surface of the substrate, and the supplied solder paste is distributed with a squeegee, whereby the solder paste is printed onto the substrate through the mask openings.

[0003] In a substrate manufacturing facility, a variety of mask types are generally used depending on the type of substrate being produced. For example, a storage rack is provided to store various masks, and the required masks are unloaded from the storage rack and used in the soldering iron printer. In this case, after being removed from the storage rack, the masks pass through the solder paste printer, a washing area, and an inspection area, and are then returned to the storage rack. The greater the variety of masks, the more frequently the masks are stored and retrieved from the storage rack. Therefore, there is a need for technology that can efficiently load and retrieve masks from the storage rack.

[0004] Patent Literature 1 discloses a plate cylinder changing device for changing a plate cylinder used for gravure printing, but it is not related to mask transfer technology. Specifically, the plate cylinder changing device of Patent Literature 1 includes a storage rack (storage unit) for storing the plate cylinder, a pallet transporter for transporting pallets containing the plate cylinder between the entrance / exit of the storage rack and a predetermined transfer station, a plate cylinder changing carriage that can move along a rail through a waiting position on the side of a printer, and a plate cylinder transfer crane that transfers the plate cylinder between the pallet in the transfer station and the plate cylinder changing carriage.

[0005] When masks are transferred using a device similar to that in Patent Literature 1 described above, that is, when masks are transferred using a transfer crane or a changeover carriage with a fixed moving direction, there is a possibility that the degree of freedom in determining the mask transfer route is small and the masks may not be transferred efficiently. List of referencesPatent literature

[0006] Patent Document 1: JP H06-87205 A Description of the invention

[0007] The present invention has been made in view of the circumstances described above, and an object of the present invention is to provide a mask supplying device capable of efficiently transferring masks to a receiving unit in which the masks are received, and a mask conveying system provided with this mask supplying device.

[0008] To achieve this object, a mask supply device according to one aspect of the present invention is a device for transferring a mask used in printing solder on a substrate to a receiving unit that receives the mask, and comprises: a mobile mechanism comprising: a guide extending in a fixed direction along a surface of the receiving unit having an opening for loading and unloading the mask; and a mobile body moving along the guide; and a multi-joint robot carried by the mobile body to transfer the mask between the receiving unit and a placement location remote from the receiving unit.

[0009] A mask conveying system according to another aspect of the present invention comprises: the mask supplying device described above; a mobile conveying body having a mask mounting part as a placement location, which is capable of mounting the mask; and a conveying control unit that moves the conveying body to a predetermined target position when the mask is transferred from the receiving unit to the mask mounting part by the mask supplying device.

[0010] The mask supplying apparatus and the mask conveying system of the present invention can efficiently transfer the mask to the receiving unit in which the mask is received. Brief description of the drawings Fig. 1 is a perspective view showing a mask conveying system according to an embodiment of the present invention. Fig. Figure 2 is a top view of the mask conveying system. Fig. 3 is a perspective view showing the structure of the mask. Fig. 4 is a view that Fig. 1 and shows a state during the transfer of the mask by a mask feeding device. Fig. 5 is an enlarged front view of a receiving rack. Fig. 6 is a side view of an AGV (Automated Guided Vehicle). Fig. Figure 7 is a block diagram showing a control system for the mask conveying system. Fig. Figure 8 is a flowchart showing an example of controlling the transfer of the mask between the receiving rack and the AGV. Fig. 9A is a plan view showing a state in which a multi-joint robot is moved to a specific mask pickup position. Fig. 9B is a plan view showing a state in which the mask is unloaded from the receiving rack. Fig. 9C is a plan view showing a state in which the mask is transferred to the AGV. Fig. 10 is a plan view showing an example of an arrangement in which the AGV waits in an area axially adjacent to the tip of a base of a mobile mechanism. Fig. 11 is a plan view showing an example of an arrangement in which the AGV waits in an area to the side of the base of the mobile mechanism. Fig. 12 is a view corresponding Fig. 1, which shows a modified example where the type of multi-joint robot is a different type. Description of Embodiments[General Configuration of the Mask Conveying System]

[0011] Fig. 1 and Fig. 2 are a perspective view and a plan view illustrating a mask conveying system 1 according to an embodiment of the present invention. The mask conveying system 1 shown in these figures is a system that transfers a mask 120 used in a solder paste printer (not shown) (hereinafter simply referred to as a printer). The printer is a device that preliminarily applies solder paste, that is, solder in paste form (hereinafter simply referred to as solder), by printing on a substrate on which electronic components are mounted. The mask 120 used in the printer is a sheet-like device having a mask opening corresponding to a predetermined printing pattern. In other words, in the printer, the mask 120 is placed on the surface of the substrate, and solder is supplied and spread over the mask 120, whereby the solder is printed onto the substrate through the mask opening.In the present embodiment, the mask conveying system 1 is used to convey the mask 120 for such applications.

[0012] As in Fig. As shown in Figure 3, the mask 120 includes a mask body 121 and a frame 122 that supports the mask body 121. The mask body 121 is a metal sheet body (metal mask) on which the mask opening is formed. The frame 122 is a frame that surrounds the mask body 121 and is formed to have a greater thickness than the mask body 121.

[0013] As in the Fig. 1 and Fig. As shown in Figure 2, the mask conveying system 1 includes a mask supply device 2 and an AGV 3. The mask supply device 2 is a device that supplies the mask 120 between a receiving rack 100 in which the mask 120 is received and the AGV 3. The AGV 3 is an unmanned transport vehicle that can move between the mask supply device 2 and the printer or the like. Note that the receiving rack 100 corresponds to a "receiving unit" in the present invention, and the AGV 3 corresponds to a "conveying body" in the present invention.

[0014] The receiving rack 100 is a rack with a multi-level (here two-level) receiving space, which is divided into an upper and a lower section, and is installed on the floor surface on which the AGV 3 travels. As shown in Fig. 1, the receiving rack 100 includes a pair of left and right side plates 101, an upper plate 102 connecting the upper ends of the two side plates 101, a lower plate 103 connecting the near lower ends of one pair of side plates 101, and a shelf plate 104 connecting the one pair of side plates 101 at a height between the upper plate 102 and the lower plate 103. The side plates 101, the upper plate 102, and the shelf plate 104 form a receiving space on the upper level with a rectangular opening P1, while the side plates 101, the lower plate 103, and the shelf plate 104 form a receiving space on the lower level with a rectangular opening P2. Each of the openings P1 and P2 is open to the front, that is, to the side on which the mask supply device 2 is arranged. In other words, the receiving plate 100 has a front surface 110 with two upper and lower openings P1 and P2.

[0015] A plurality of masks 120 are accommodated side by side in each of the upper and lower accommodation spaces of the accommodation rack 100. The masks 120 can be loaded into and unloaded from each accommodation space through the openings P1 and P2 on the front surface 110 of the accommodation rack 100. A track member 105 for defining a receiving position for the mask 120 is attached to the upper surfaces of the lower plate 103 and the shelf plate 104. The track member 105 includes a plurality of tracks L1, each having a recessed groove corresponding to the width of the mask 120 (more precisely, the width of the frame 122), that is, a recessed groove that can accommodate an edge of the mask 120. The masks 120 are accommodated in the accommodation rack 100 in a state where they are aligned at equal intervals to the left and right by being arranged at the prescribed positions by each of these tracks L1.

[0016] The mask supply device 2 comprises a mobile mechanism 11 having a Cartesian robot arranged near the front surface 110 of the receiving shelf 100 and a multi-joint robot 12 carried by the mobile mechanism 11.

[0017] 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 receiving shelf 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 mobile mechanism 11 includes a base 21 extending in the X-axis direction and disposed on the floor surface near the front (+Y side) of the receiving rack 100, a first carriage 22 supported by the base 21 to be movable in the X-axis direction, a tower 23 fixed to the first carriage 22 and extending in the Z-axis direction (up and down direction), and a second carriage 24 supported by the tower 23 to be movable in the Z-axis direction.In other words, the mobile mechanism 11 is a Cartesian robot that can move in the XZ plane near the front of the receiving shelf 100.

[0018] Although detailed illustrations are omitted, the base 21 comprises a guide rail which supports the first carriage 22 displaceably in the X-axis direction, a first actuator M1 ( Fig. 7) that moves the first carriage 22 along the guide rail, and a housing that houses the first actuator M1 and the like. The first actuator M1 may, for example, comprise an electric motor that drives a ball screw mechanism or use a linear motor. The first carriage 22 is movable on the upper surface of the base 21 over a predetermined range in the X-axis direction in response to being driven by the first actuator M1 in the base 21.

[0019] The structure of the tower 23 is similar to the structure of the base 21. That is, the tower 23 comprises a guide rail which supports the second carriage 24 displaceably in the Z-axis direction, a second actuator M2 ( Fig. 7) that moves the second carriage 24 along the guide rail, and a housing that houses the second actuator M2 and the like. The second carriage 24 is movable on the side surface of the turret 23 (surface on the +X side) over a predetermined range in the Z-axis direction in response to driving by the second actuator M2 in the turret 23.

[0020] The multi-joint robot 12 is a so-called three-axis SCARA robot and includes a fixed part 31 fixed to the second carriage 24 of the mobile mechanism 11, a first arm 32 pivotally supported by the fixed part 31, a second arm 33 pivotally supported by the first arm 32, a third arm 34 pivotally supported by the second arm 33, and a clamp 35 attached to the tip of the third arm 34.

[0021] The first arm 32, the second arm 33, and the third arm 34 are each pivotable about an axis parallel to the Z-axis direction (perpendicular direction). That is, the first arm 32 pivots about a perpendicular first axis AX1 with respect to the fixed part 31, the second arm 33 pivots about a perpendicular second axis AX2 with respect to the first arm 32, and the third arm 34 pivots about a perpendicular third axis AX3 with respect to the second arm 33.

[0022] As in Fig. As shown in Fig. 7, which will be described later, the multi-joint robot 12 includes first to third motors M3 to M5, which are drive sources for swinging the above-described first to third arms 32 to 34. The first motor M3 is a motor that swings the first arm 32 around the first axis AX1, the second motor M4 is a motor that swings the second arm 33 around the second axis AX2, and the third motor M5 is a motor that swings the third arm 34 around the third axis AX3.

[0023] The clamping device 35 is a holder that holds the mask 120 during loading and unloading of the mask 120 from the receiving rack 100. The clamping device 35 can be of any type as long as the clamping device can hold the mask 120. In the present embodiment, as shown in Fig. 4, a type that holds the mask 120 by clamping the mask from above and below is used as the clamping device 35. That is, the clamping device 35 includes a pair of upper and lower holding parts 35a that can move toward and away from each other, and an actuator M6 ( Fig. 7), which changes the distance between the two holding parts 35a.

[0024] A first camera 51 is mounted on the tip of the multi-joint robot 12. The first camera 51 is a camera for capturing an image of an ID code (mask code Q1 and shelf code Q2), which will be described later. In the present embodiment, the first camera 51 is mounted on a side portion of the third arm 34 at a position adjacent to the jig 35.

[0025] Note that in the mask supply device 2 described above, the tower 23 supporting the multi-joint robot 12 corresponds to the "mobile body" in the present invention. The base 21 supporting the tower 23 movably in the X-axis direction corresponds to the "guide" in the present invention.

[0026] Fig. 5 is an enlarged front view of the receiving plate 100. As shown in this figure, ID codes (Q1, Q2) are affixed to the receiving rack 100 and the mask 120 accommodated therein, respectively. That is, the rack code Q2 is affixed at the position corresponding to each track L1 in the receiving rack 100, and the mask code Q1 is affixed to the peripheral surface of the mask 120 arranged in each track L1. Specifically, the mask code Q1 is affixed to a side surface of the frame 122 of the mask 120 and to the side surface (+Y side) opposite the front surface 110 of the receiving rack 100. The rack codes Q2 are affixed at the positions corresponding to each track L1 on the front surfaces of the top plate 102 and the shelf plate 104 of the receiving rack 100.The mask code Q1 is a code corresponding to each mask type 120 for identifying the mask type, whereas the shelf code Q2 is a code corresponding to each track L1 of the receiving shelf 100 for identifying the receiving position of the mask 120. Note that the mask type 120 mentioned here is, for example, a classification in which the mask 120 is classified according to the difference in the pattern of the mask opening formed in the mask body 121.

[0027] Fig. 6 is a side view of the AGV 3. As in Fig. 6 and the previous Fig. 1 and Fig. 2, the AGV 3 comprises a carriage body 41, a plurality of wheels 42 movably supporting the carriage body 41, a mask mounting part 43 attached to the upper part of the carriage body 41, a traction motor 44 ( Fig. 7) that drives the wheels 42, and a locking mechanism 45 that is mounted on the front of the carriage body 41. It is noted that in the present embodiment, the left side in Fig. 6, on which the FTS 3 is seen from the side, is defined as the "front side" of the FTS 3, while the opposite side is defined as the "back side". The direction orthogonal to the paper surface of Fig. 6 is defined as the width direction of the AGV 3.

[0028] The mask mounting part 43 is a placement location where the mask 120 transferred to the AGV 3 is placed, and is a member for holding the mask 120 in an upright position (see Fig. 6). The mask mounting part 43 is an L-shaped member in side view, including a lower portion 43a fixed to the front upper surface of the vehicle body 41 and an upright portion 43b extending upward from the rear end of the lower portion 43a. A plurality of tracks L2 are formed on the lower portion 43a, each having a recessed groove corresponding to the width of the mask 120 (more precisely, the width of the frame 122) and arranged at equal intervals in the width direction of the AGV 3. The mask 120 is held in an upright position at a predetermined position on the mask mounting part 43 by receiving an edge thereof in one of the tracks L2.

[0029] The securing mechanism 45 is a mechanism for securing the mask 120 attached to the mask mounting part 43. Specifically, the securing mechanism 45 includes a fixed part 45a fixed to a front end surface 41a of the vehicle body 41, a securing plate 45b slidably supported by the fixed part 45a, and an actuator (not shown) that moves the securing plate 45b up and down with respect to the fixed part 45a. When the mask 120 is secured by the securing mechanism 45, the securing plate 45b is slid upward with respect to the fixed part 45a, thereby clamping and securing the mask 120 on the mask mounting part 43 (lower portion 43a) between the securing plate 45b and the upright portion 43b.

[0030] As in the Fig. 1 and Fig. 2, when transferring the mask 120 between the AGV 3 and the receiving rack 100, the AGV 3 waits near one end of the base 21 of the mobile mechanism 11. Specifically, the AGV 3 waits in an area on the floor surface axially adjacent to a tip 21a, which is the end of the base 21 extending in the X-axis direction on the +X side. In this waiting area, the AGV 3 stops in a position where the front end surface 41a of the body 41 faces the tip 21a of the base 21, so that the mask mounting part 43 approaches the tip 21a of the base 21.

[0031] As in Fig. As shown in Figure 1, a second camera 52 is arranged above the AGV 3 located in the waiting area. The second camera 52 is a camera for capturing an image of the mask mounting part 43 of the AGV 3 to check the availability of the mask mounting part 43. [Control system]

[0032] Fig. 7 is a block diagram showing a control system of the mask conveying system 1 of the present embodiment. As shown in this figure, the mask supply device 2 includes a robot controller C1 that controls the operation of the mobile mechanism 11 and the multi-joint robot 12. The mask conveying system 1 includes a conveyance controller C2 that controls the operation of the AGV 3. The robot controller C1 corresponds to the "robot control unit" in the present invention, and the conveyance controller C2 corresponds to the "conveyance control unit" in the present invention.

[0033] Each of the robot controllers C1 and C2 is a control device with a microcomputer, which includes a processor (CPU) that performs calculations, memories such as ROM and RAM, and various input / output buses as its main part. The robot controller C1 and the conveyor controller C2 are electrically connected via a wireless or wired connection to enable communication between them. It is noted that in Fig. 7 the block representing the transport control C2 is shown outside the block of the AGV 3, but the transport control C2 can be incorporated into the AGV 3.

[0034] The robot controller C1 is electrically connected to each unit of the mobile mechanism 11 and the multi-joint robot 12. Specifically, the robot controller C1 is electrically connected to the first and second actuators M1 and M2 of the mobile mechanism 11, and is electrically connected to the first motor M3, the second motor M4, the third motor M5, and the actuator M6 of the multi-joint robot 12. The robot controller C1 causes the mobile mechanism 11 and the multi-joint robot 12 to perform the desired operations by controlling these devices. For example, the robot controller C1 controls the actuators M1 and M2 such that the first and second carriages 22 and 24 of the mobile mechanism 11 move to the desired positions, respectively.The robot controller C1 controls the motors M3 to M5 such that the first arm 32, the second arm 33, and the third arm 34 of the multi-joint robot 12 pivot to the desired angles, and controls the actuator M6 such that the clamping device 35 performs a desired operation, for example, holding the mask 120.

[0035] The robot controller C1 is also electrically connected to the first camera 51 and the second camera 52. The image data captured by the cameras 51 and 52 are each input to the robot controller C1.

[0036] The transport controller C2 is electrically connected to the travel motor 44 and the safety mechanism 45 of the AGV 3. The transport controller C2 controls the travel motor 44 so that the AGV 3 travels the desired distance or stops at the desired position. The transport controller C2 controls the actuator built into the safety mechanism 45 so that the safety plate 45b of the safety mechanism 45 of the AGV 3 moves up and down as needed. [Control example]

[0037] The mask conveying system 1 having the configuration described above is operated to transfer the mask 120 between a plurality of points, including the receiving rack 100 ( Fig. 1) that receives the mask 120 and the printer that prints solder using the mask 120. As part of the conveyance of the mask 120, control is performed to transfer the mask 120 between the receiving rack 100 and the AGV 3. For example, the mask supply device 2 is used to control the unloading of the mask 120 from the receiving rack 100 and the transfer to the AGV 3, or to control the unloading of the mask 120 from the AGV 3 and the transfer to the receiving rack 100. Fig. Fig. 8 is a flowchart showing an example of such control of the transfer of the mask 120 between the receiving rack 100 and the AGV 3. In particular, Fig. 8 shows the control procedures to be performed by the robot controller C1 and the transport controller C2 during the transfer of the mask 120 from the receiving rack 100 to the AGV 3. The control for the transfer of the mask 120 from the AGV 3 to the receiving rack 100 is not described here, since essentially only the source and destination of the transfer are swapped.

[0038] If the Fig. 8 begins, the robot controller C1 determines whether an instruction to transport the mask 120 from the receiving rack 100 to a predetermined target position has been issued (step S1). Such a transport instruction can be issued, for example, via a production management application that monitors the entire substrate production, including solder printing and component mounting on the substrate. The target position to which the mask 120 is to be transported is typically the printer in which the mask 120 is actually used, but the target position can also be an inspection station where the mask 120 is inspected or a cleaning station where the mask 120 is cleaned.

[0039] If the determination in step S1 is YES and the issuance of the mask conveyance instruction is confirmed, the robot controller C1 determines whether the AGV 3 is already waiting (step S2). That is, the robot controller C1 determines, based on the communication with the conveyance controller C2 that controls the AGV 3, whether the AGV 3 is already in the Fig. 1 and Fig. 2 shown waiting area.

[0040] If the determination in step S2 is NO and it is confirmed that the AGV 3 is already waiting, the conveyance controller C2 moves the AGV 3 to the waiting area (step S3).

[0041] On the other hand, if the determination in step S2 is YES and it is confirmed that the AGV 3 is already waiting, the robot controller C1 moves the multi-joint robot 12 to the shelf location assigned to each mask type 120, that is, to the lane L1 in the receiving shelf 100 that accommodates the specific mask type 120 determined by the above-described conveyance instruction in step S1 (step S4). This control is performed based on the relationship between the mask code Q1 and the shelf code Q2, which are stored in advance in the storage unit of the robot controller C1.

[0042] In other words, the memory unit of the robot controller C1 stores mapping data in which the mask code Q1 and the Fig. 5 are associated with each other as data for recognizing which type of mask 120 is accommodated in which lane L1 of the receiving rack 100. The standard data set at the start of production is used as this association data and updated as necessary. In the above-described step S4, the robot controller C1 identifies the lane L1 in the receiving rack 100 in which the specific mask type 120 is accommodated based on the association data and moves the multi-joint robot 12 to the lane L1. Specifically, the robot controller C1 identifies the shelf code Q2 associated with the mask code Q1 corresponding to the specific mask type 120 based on the association data and identifies the lane L1 corresponding to the identified shelf code Q2 as the lane in which the specific mask type 120 is accommodated. The multi-joint robot 12 is then moved to the identified lane L1.For example, if the identified lane L1 is the nth lane from the left on the upper (or lower) level of the receiving rack 100, the multi-joint robot 12 is moved to the position of the nth lane. If there are a plurality of masks 120 of the same type, that is, if there are a plurality of lanes L1 that receive each mask type 120, one of the lanes is selected accordingly, and the multi-joint robot 12 is moved to the position of the selected lane. Hereinafter, such a lane to which the multi-joint robot 12 moves is referred to as a "receiving lane for each mask 120" or "target receiving lane."

[0043] Fig. 9A is a plan view showing a state in which the multi-joint robot 12 is moved to the pickup track for each mask 120. As shown in this figure, the robot controller C1 controls the positions of the carriages 22 and 24 of the mobile mechanism 11 and the angles of the arms 32 and 33 of the multi-joint robot 12 such that the chuck 35 of the multi-joint robot 12 moves to the pickup track for each mask 120.

[0044] Then, the robot controller C1 acquires the ID code of the mask 120 and the pickup track (step S5). In other words, the robot controller C1 controls the first camera 51 mounted on the tip of the multi-joint robot 12 to acquire images of the shelf code Q2 attached to the target pickup track ( Fig. 5), and the mask code Q1 attached to the mask 120 recorded in the target recording track.

[0045] Subsequently, the robot controller C1 checks the mask code Q1 and the shelf code Q2 acquired in step S5 above to determine whether the type of the target mask 120 matches the specified type (step S6). That is, the robot controller C1 confirms that the jig 35 has actually been moved to the pickup lane for the respective mask 120 based on the acquired shelf code Q2, and determines whether the type of the mask 120 in the pickup lane matches the respective type based on the acquired mask code Q1.

[0046] In the present embodiment, the mask 120 can be loaded and unloaded from the receiving rack 100 not only by the mask supply device 2 but also, for example, by a worker. This means that the receiving position for the mask 120 may change outside the range detected by the robot controller C1. Therefore, the robot controller C1 needs to check the type or the like of the target mask 120 by verifying the ID codes in step S6 above.

[0047] If the determination in step S6 is YES and it is confirmed that the type of the mask 120 matches the respective type, the robot controller C1 captures an image of the mask mounting part 43 of the AGV 3 with the second camera 52 (step S7). That is, the robot controller C1 checks the availability of the mask mounting part 43 based on the image of the lower portion 43a of the mask mounting part 43 ( Fig. 1), which was taken with the second camera 52 from above.

[0048] Then, the robot controller C1 determines whether there is a vacant space in the mask mounting part 43 (step S8). That is, the robot controller C1 determines, based on the image captured in the above-described step S8, whether at least one of the plurality of tracks L2 at the lower portion 43a of the mask mounting part 43 is vacant.

[0049] If the determination in step S8 is NO and it is confirmed that there is no vacant space in the mask mounting part 43, that is, if it is confirmed that all of the plurality of tracks L2 of the mask mounting part 43 are filled with the mask 120, the robot controller C1 executes a predetermined error notification (step S9). The error notification may include, for example, the process of informing a worker that there is no more vacant space in the mask mounting part 43 and the process of displaying a message on a display prompting the worker to take necessary measures.

[0050] On the other hand, if the determination in step S8 is YES and it is confirmed that there is a vacant space in the mask mounting part 43, the robot controller C1 determines the position where the mask 120 is to be mounted on the mask mounting part 43 (step S10). For example, if there are multiple vacant tracks L2 in the mask mounting part 43, the robot controller C1 selects a suitable one of the tracks L2 and determines the selected track as the mounting position for the mask 120.

[0051] Then, the robot controller C1 causes the multi-joint robot 12 to unload the mask 120 from the receiving rack 100 (step S11). In other words, as shown in Fig. 9B, the robot controller C1 causes the chuck 35 to hold the mask 120 with the mask code Q1 acquired in step S5 and controls the arms 32 to 34 of the multi-joint robot 12 so that the mask 120 held by the chuck 35 moves outward from the receiving rack 100. For example, the mask 120 is unloaded from the receiving rack 100 by controlling the arms 32 to 34 so that the chuck 35 moves to the +Y side.

[0052] Then, the robot controller C1 mounts the mask 120 at the mounting position determined in step S10 (step S12). Fig. 9C is a view showing a state in which the mask 120 is attached to the mask mounting part 43. As shown in the figure, the robot controller C1 controls the mobile mechanism 11 and the multi-joint robot 12 such that the mask 120 moves toward the specific track L2 determined as the mounting position on the mask mounting part 43 to mount the mask 120 on the track L2.

[0053] Through the control in step S12, as described above, the transfer of the mask 120 from the receiving rack 100 to the AGV 3 is completed. The robot controller C1 sends a signal indicating the completion of the transfer to the transport controller C2. Subsequently, the transport controller C2 executes control to move the AGV 3 to the target position (step S13). More specifically, the transport controller C2 activates the safety mechanism 45 of the AGV 3 ( Fig. 6) to secure the mask 120 on the mask mounting part 43, and drives the travel motor 44 in this state to move the AGV 3. Through such control by the transport controller C2, the AGV 3 automatically travels to the predetermined target position such as the printer.

[0054] Next, the control when the determination in step S6 is NO, that is, the control when the disagreement about the type of the mask 120 is confirmed, will be described. The determination of NO here means that the mask code Q1 acquired in the previous step S5 is not of the designated type, or that the mask code Q1 was not acquired because the target pickup lane is vacant. In this case, the robot controller C1 updates the association between the mask code Q1 and the shelf code Q2 (step S15). That is, the robot controller C1 updates the association data linking the mask code Q1 to the shelf code Q2 to data reflecting the new relationship determined from the data acquired in step S5.

[0055] Then, the robot controller C1 executes a predetermined error message (step S16). For example, the robot controller C1 notifies the worker that the type of the target mask 120 differs from the designated type and that the mapping data needs to be updated accordingly by displaying messages on a display or the like.

[0056] Then, the robot controller C1 moves the multi-joint robot 12 to the next candidate position (step S17). That is, the robot controller C1 identifies another shelf code Q2 associated with the mask code Q1 corresponding to the respective mask type 120 and moves the chuck 35 of the multi-joint robot 12 to the track L1 corresponding to the other shelf code Q2. After the movement, the process returns to step S5, where the ID code is checked and the subsequent processes are repeated. [Functional effects]

[0057] As described above, in the present embodiment, the multi-joint robot 12 is supported by the mobile mechanism 11 including the Cartesian robot arranged at the front (+Y side) of the receiving rack 100, and the mask 120 is transferred between the receiving rack 100 and the AGV 3 using the multi-joint robot 12. Such a configuration has the advantage that the mask 120 can be efficiently transferred between the receiving rack 100 and the AGV 3.

[0058] That is, in the present embodiment, since the mask 120 is rotated appropriately using the multi-joint robot 12 which is movably supported along the front surface 110 of the receiving rack 100, for example, after unloading the mask 120 from the front surface 110 of the receiving rack 100, the posture of the mask 120 is changed so that it is aligned with the X-axis parallel to the front surface 110 of the receiving rack 100 (see Fig. 4 and Fig. 9C), and in this state, the mask 120 can be moved to the AGV 3. Therefore, compared to the case where the mask 120 is moved to the AGV 3 without such a turning operation (posture change), that is, compared to the case where the mask 120 is moved to the AGV 120 while maintaining the posture along the Y-axis orthogonal to the front surface 110 of the receiving shelf 100 (see Fig. 9B), the projection range of the mask 120 along the X-axis direction can be reduced, and the possibility of the mask 120 colliding with an obstacle that may be present near the receiving rack 100 can be reduced. Even in a case where the rotating operation of the mask 120 alone cannot avoid collision with an obstacle, the movement route of the mask 120 can be set with a relatively high degree of freedom by controlling the arms 32 to 34 of the multi-joint robot 12, and therefore the mask 120 can be moved to the AGV 3 via the shortest possible route while avoiding collision with an obstacle. That is, according to the present embodiment, the mask 120 can be transferred between the receiving rack 100 and the AGV 3 via the shortest possible route, and the time required for transportation can be shortened, thereby improving work efficiency.

[0059] In the present embodiment, when the mask 120 is unloaded from the receiving rack 100, images of the mask code Q1 and the rack code Q2 are captured by the first camera 51 mounted on the multi-joint robot 12, and the position and type of the mask 120 in the receiving rack 100 are identified. With such a configuration, it is possible to prevent a mask 120 other than the intended one from being unloaded or to prevent the mask 120 from being unloaded, and the intended mask 120 can be accurately unloaded from the receiving rack 100 and transferred to the AGV 3.

[0060] In the present embodiment, after the mask 120 is transferred from the receiving rack 100 to the AGV 3 by the multi-joint robot 12, the AGV 3 is controlled to automatically move to the predetermined target position such as the printer, whereby the mask 120 can be appropriately conveyed between the receiving rack 100 and the target position.

[0061] In the present embodiment, during the transfer of the mask 120 from the receiving rack 100 to the AGV 3, an image of the mask mounting part 43 of the AGV 3 is captured by the second camera 52. Therefore, by checking the vacant space in the mask mounting part 43 (lane L2 where the mask 120 is not mounted) based on the captured image, the mask 120 can be appropriately mounted in the vacant space.

[0062] In the present embodiment, the AGV 3 is provided with a securing mechanism 45 that secures the mask 120 mounted on the mask mounting part 43. This mechanism prevents the mask 120 from falling off the mask mounting part 43 while the AGV 3 is conveying the mask 120 and enables stable conveyance of the mask 120.

[0063] In the present embodiment, the waiting area for the AGV 3 for receiving the mask 120 from the multi-joint robot 12 is arranged in an area axially adjacent to the tip 21a of the base 21 of the mobile mechanism 11 extending in the X-axis direction. This arrangement makes it possible to reduce the space occupied by the device including the waiting area for the AGV 3 in the width direction (Y-axis direction) orthogonal to the extension direction of the base 21 (X-axis direction) and to make the device more compact. As shown in Fig. 10, this makes it easier to ensure, for example, a working area W for the worker V in the area of ​​the rear (Y-side) of the receiving rack 100 opposite the base 21. In other words, in the present embodiment, it is thereby possible to reduce the size of the facility in the Y-axis direction and at the same time facilitate the cooperation with the worker V. [Modified example]

[0064] In the above embodiment, the AGV 3 that comes to receive the mask 120 waits in an area axially adjacent to the tip 21a of the base 21 of the mobile mechanism 11 including the Cartesian robot, however, the waiting area for the AGV 3 is not limited to this area. As shown in Fig. 11, the AGV 3 can, for example, wait in an area to the side of the +Y side of the base 21 (opposite the receiving rack 100). In other words, in the modified example of Fig. 11, the receiving rack 100 is arranged in an area on one side of the base 21 on the floor surface, and the AGV 3 waits in an area on the other side of the base 21 on the floor surface. In this way, it is possible to have a plurality of AGVs 3 wait simultaneously and avoid overloading the AGVs 3.

[0065] In the above embodiment, the three-axis SCARA robot is used as the multi-joint robot 12, but the type of the multi-joint robot that can be used in the present invention is not limited to this type. Fig.12 shows an example in which the type of the multi-joint robot is changed. A mask supply device 202 shown in this figure includes a multi-joint robot 212 comprising a six-axis multi-joint robot, and a mobile mechanism 211 comprising a single-axis robot that supports the multi-joint robot 212 movably in the X-axis direction. The mobile mechanism 211 includes a base 221 (guide) similar to the base 21 of the above embodiment, and a carriage 222 (mobile body) movably supported by the base 221 in the X-axis direction.The multi-joint robot 212 comprises a fixed part 231 which is attached to the carriage 222, a first arm element 232 which is rotatable about a first axis AX11 with respect to the fixed part 231, a second arm element 233 which is pivotable about a second axis AX12 with respect to the first arm element 232, a third arm element 234 which is pivotable about a third axis AX13 with respect to the second arm element 233, a fourth arm element 235 which is pivotable about a fourth axis AX14 with respect to the third arm element 234, a fifth arm element 236 which is pivotable about a fifth axis AX15 with respect to the fourth arm element 235, a sixth arm element 237 which is pivotable about a sixth axis AX16 with respect to the fifth arm element 236, and a the clamping device 238 attached to the sixth arm element 237 serves as a holder for holding the mask 120.Such a mask supply device 202 with the multi-joint robot 212 also enables efficient transfer of the mask 120 between the receiving rack 100 and the AGV 3 in a similar manner to the above embodiment.

[0066] In the above embodiment, the mask supply device 2 is used to transfer the mask 120 between the receiving rack 100 and the AGV 3. The mask supply device in the present invention can be widely used for transporting the mask between the location (receiving unit) where the mask is received and a location (placing location) away from the receiving unit, and the receiving rack 100 and the AGV 3 are just one example. For example, the AGV can be the receiving unit and the receiving rack can be the placing location. The destination for transferring the mask unloaded from the receiving rack is not limited to the AGV. For example, the destination for transfer may be a second receiving rack distant from the receiving rack, or the destination for transfer may be a work station for the next process of performing a predetermined process on the mask. [Conclusion]

[0067] The above embodiment and modified example include the following inventions.

[0068] A mask supplying apparatus according to one aspect of the present invention is an apparatus for transferring a mask used in printing solder onto a substrate to a receiving unit that receives the mask, and comprises: a mobile mechanism comprising: a guide extending in a fixed direction along a surface of the receiving unit having an opening for loading and unloading the mask; and a mobile body moving along the guide; and a multi-joint robot carried by the mobile body to transfer the mask between the receiving unit and a placement location remote from the receiving unit.

[0069] Since the mask according to the present invention is transferred using the multi-joint robot movably supported along a surface of the receiving unit, the mask can be rotated appropriately, for example, after being unloaded from a surface of the receiving unit. By utilizing the characteristics of the multi-joint robot, the movement route of the mask can be adjusted with a relatively high degree of freedom. Therefore, the mask can be transferred between the receiving unit and the placement location along the shortest route without encountering any obstacle, and the time required for transportation can be shortened, thereby improving work efficiency.

[0070] Preferably, the mask supply device further comprises: a first camera mounted on the multi-joint robot; and a robot control unit that controls the multi-joint robot to unload the respective mask from the pickup unit while capturing an image of the pickup unit and the mask in the pickup unit with the first camera, upon receiving a request to transfer the mask from the pickup unit to the placement location.

[0071] According to this aspect, it is possible to prevent a mask other than the intended mask from being unloaded or not to unload the mask, and to accurately unload the intended mask from the receiving unit and to bring it to the placement location.

[0072] A mask conveying system according to another aspect of the present invention comprises: the mask supplying device described above; a mobile conveying body having a mask mounting part as a placement location, which is capable of mounting the mask; and a conveying control unit that moves the conveying body to a predetermined target position when the mask is transferred from the receiving unit to the mask mounting part by the mask supplying device.

[0073] According to the present invention, the conveying body having received the mask on the mask mounting part is moved between the receiving unit and the target position, so that the mask can be conveyed appropriately.

[0074] Preferably, the mask conveying system further comprises a second camera that captures an image of the mask mounting part of the conveying body waiting at a prescribed position near the guide. The robot control unit controls the multi-joint robot to mount the mask unloaded by the pickup unit into a vacant space in the mask mounting part based on the image captured by the second camera.

[0075] According to this aspect, it is possible to check the free space in the mask mounting part based on the image taken by the second camera to appropriately mount the mask in the free space.

[0076] Preferably, the conveying body further comprises a securing mechanism that secures the mask mounted on the mask mounting part.

[0077] According to this aspect, the mask can be prevented from falling off the mask mounting part when the conveying body transfers the mask, thereby enabling stable mask conveyance.

[0078] Preferably, the guide is arranged to extend along a floor surface on which the conveying body moves, the receiving unit is arranged in an area on one side of the guide on the floor surface, and the conveying control unit causes the conveying body, which has come to receive the mask to be transferred from the receiving unit, to wait in an area axially adjacent to one end of the guide.

[0079] According to this aspect, it is possible to reduce the space occupied by the facility including the waiting area for the conveying body in the width direction orthogonal to the extending direction of the guide and to make the facility more compact.

[0080] The conveyance control unit may cause the conveyance body that has received the mask to be transferred from the receiving unit to wait in an area on another side of the guide.

[0081] According to this aspect, it is possible to maintain a plurality of transport bodies at the same time and avoid overloading of the transport bodies. Reference symbol 1 mask transport system 2 Mask feed device 3 AGVs (transport bodies) 11 mobile mechanism 12 multi-joint robots 21 Base (Lead) 23 Tower (mobile body) 43 Mask mounting part 45 Safety mechanism 51 first camera 52 second camera 100 receiving rack (receiving unit) 120 mask C1 Robot controller (robot control unit) C2 Transport control (transport control unit) 202 Mask feed device 211 mobile mechanism 212 multi-joint robots 221 Base (Lead) 222 sled (mobile body) QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP H06-87205 A

[0006]

Claims

[1] A mask supply device for transferring a mask used in printing solder onto a substrate to a receiving unit which receives the mask, the mask supply device comprising: a mobile mechanism comprising: a guide extending in a fixed direction along a surface of the receiving unit having an opening for loading and unloading the mask; and a mobile body moving along the guide; and a multi-joint robot carried by the mobile body to transfer the mask between the receiving unit and a placement location remote from the receiving unit. [2] The mask supply device according to claim 1, further comprising: a first camera attached to the multi-joint robot; and a robot control unit that controls the multi-joint robot such that, upon receiving a request to transfer the mask from the pickup unit to the placement location, the multi-joint robot unloads the respective mask from the pickup unit while capturing an image of the pickup unit and the mask in the pickup unit with the first camera. [3] Mask conveying system, comprising: the mask supply device according to claim 1 or 2; a mobile transport body having a mask mounting part as a placement location, which is capable of mounting the mask; and a conveyance control unit that moves the conveyance body to a predetermined target position when the mask is transferred from the receiving unit to the mask mounting part by the mask supply device. [4] The mask conveying system of claim 3, further comprising a second camera that takes an image of the mask mounting part of the conveying body waiting in a prescribed position near the guide, wherein the robot control unit controls the multi-joint robot to mount the mask unloaded from the pickup unit at a vacant space in the mask mounting part based on the image captured by the second camera. [5] The mask conveying system according to claim 3 or 4, wherein the conveying body further comprises a securing mechanism that secures the mask mounted on the mask mounting part. [6] Mask conveying system according to one of claims 3 to 5, wherein the guide is arranged such that it extends along a floor surface on which the conveying body moves, the receiving unit is arranged in an area on one side of the guide on the floor surface, and the conveyance control unit causes the conveyance body, which has come to receive the mask to be transferred from the receiving unit, to wait in an area axially adjacent to one end of the guide. [7] Mask conveying system according to one of claims 3 to 5, wherein the guide is arranged such that it extends along a floor surface on which the conveying body moves, the receiving unit is arranged in an area on one side of the guide on the floor surface, and the conveyance control unit causes the conveyance body that has come to receive the mask to be transferred from the receiving unit to wait in an area on another side of the guide.

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