Printing apparatus and printing method

Abstract

To appropriately perform reprinting on a warped substrate.SOLUTION: A method includes: a carry-in step (ST1) of carrying a substrate into a transport position; a lower receiving step (ST2) of supporting the carried-in substrate by a lower receiving member and lifting the substrate to a lower receiving position; a pressing step (ST5) of pressing an upper surface of the lifted substrate by a pressing member; a determination step (ST4) of determining whether the substrate is a printed substrate before the pressing step (ST5); and a printing step (ST9) of printing paste on the substrate. Then, when it is determined in the determination step (ST4) that the substrate is the printed substrate (Yes), the printing step (ST9) is executed without executing the pressing step (ST5), and when it is determined in the determination step (ST4) that the substrate is not the printed substrate (No), the printing step (ST9) is executed after the pressing step (ST5) is executed.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present disclosure relates to a printing apparatus and a printing method for printing a paste on a substrate using a mask. [Background technology]

[0002] When printing paste on a thin substrate such as a flexible substrate that is prone to warping, a printing device is known that prints the paste by pressing the substrate on a substrate suction jig from above with a substrate pressure plate (pressing member) while sucking the substrate with the substrate suction jig to correct the warp (for example, Patent Document 1). Also known is a method in which, when there is insufficient paste printed on a substrate, the printed substrate is re-inserted into the printing device and the paste is re-printed (for example, Patent Document 2). Patent Document 2 discloses a printing method in which, when re-printing on a printed substrate, the speed at which the re-printed substrate is raised relative to the mask is slower than usual, thereby preventing bleeding of the printed pattern. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-305884 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-245435 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while conventional technologies including Patent Documents 1 and 2 can print paste on warped substrates, there is a problem in that when the printed substrate is pressed with a substrate pressure plate, the paste from the printed substrate adheres to the substrate pressure plate, leaving room for further improvement.

[0005] Therefore, an object of the present disclosure is to provide a printing apparatus and a printing method that can appropriately reprint on a warped substrate. [Means for solving the problem]

[0006] The printing apparatus disclosed herein is a printing apparatus that prints paste on a substrate using a mask, and includes a transport unit that transports a target substrate to be printed with paste from upstream to a transport position and transports it downstream from the transport position, a lower support mechanism that supports the target substrate that has been transported to the transport position from below using a lower support member and lifts it from the transport position to the lower support position, a pressing unit that presses the upper surface of the target substrate that has been lifted to the lower support position using a pressing member, a discrimination means that determines whether the target substrate is a printed substrate on which paste has been printed, a printing mechanism that prints paste using the mask on the target substrate supported by the lower support member, and a control unit that controls at least the pressing unit and the printing mechanism, wherein the control unit does not cause the pressing unit to press the target substrate to be printed if the discrimination means determines that the target substrate is a printed substrate, and causes the pressing unit to press the substrate if the discrimination means determines that the target substrate is not a printed substrate.

[0007] The printing method disclosed herein is a printing method for printing paste on a substrate using a mask, and includes: a carrying step of carrying a target substrate to be printed with the paste from upstream to a transport position; a support step of supporting the target substrate carried to the transport position from below with a support member and lifting it from the transport position to the support position; a pressing step of pressing the upper surface of the target substrate lifted to the support position with a pressing member; a determination step of determining, before the pressing step, whether the target substrate is a printed substrate on which paste has been printed; and a printing step of printing paste on the target substrate supported by the support member using the mask; if it is determined in the determination step that the target substrate is a printed substrate, the printing step is carried out without carrying out the pressing step; and if it is determined in the determination step that the target substrate is not a printed substrate, the printing step is carried out after carrying out the pressing step. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to appropriately reprint on a warped substrate. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating the configuration of a printing system according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a side view illustrating a configuration of a main part of a printing device according to an embodiment of the present disclosure. [Figure 3] FIG. 1 is a plan view showing a structure of a main part of a printing device according to an embodiment of the present disclosure. [Figure 4] 1A and 1B are a plan view and a side view showing a structure of a main part of a substrate holding unit provided in a printing apparatus according to an embodiment of the present disclosure; [Figure 5] 1A and 1B are side views illustrating the function of a pressing unit included in a printing device according to an embodiment of the present disclosure. [Figure 6] FIG. 1 is a block diagram illustrating a configuration of a control system of a printing apparatus according to an embodiment of the present disclosure. [Figure 7] 1A, 1B, and 1C are explanatory diagrams illustrating a process of holding a substrate in a substrate holding unit included in a printing apparatus according to an embodiment of the present disclosure. [Figure 8] 1A, 1B, and 1C are explanatory diagrams illustrating a process of holding a substrate in a substrate holding unit included in a printing apparatus according to an embodiment of the present disclosure. [Figure 9] (a) (b) (c) is an explanatory diagram of a process for printing a paste on a substrate using a printing device according to an embodiment of the present disclosure. [Figure 10] (a) (b) (c) is an explanatory diagram of a process for reprinting paste on a printed substrate using a printing device according to an embodiment of the present disclosure. [Figure 11] 1 is a flow diagram of a printing method according to an embodiment of the present disclosure; [Figure 12] 10 is a flow diagram of a second example of a printing method according to an embodiment of the present disclosure. [Figure 13] 10 is a flow diagram of a third example of a printing method according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, with reference to the accompanying drawings, detailed descriptions of embodiments that specifically disclose the configuration and operation of a printing device and a printing method according to the present disclosure will be provided. However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims.

[0011] The configurations, shapes, etc. described below are examples for explanation purposes and can be changed as appropriate depending on the specifications of the printing system, substrate feeding device, and printing device. In the following, the same reference numerals are used for corresponding elements in all drawings, and duplicate explanations will be omitted. Hereinafter, the substrate transport direction (left-right direction in FIG. 1) is defined as the X-axis, the direction perpendicular to the X-axis in the horizontal plane (left-right direction in FIG. 2) as the Y-axis, and the direction perpendicular to the horizontal plane (up-down direction in FIG. 1) as the Z-axis.

[0012] First, the configuration of a printing system 1 will be described with reference to Fig. 1. Fig. 1 is a diagram illustrating the configuration of a printing system 1 according to an embodiment of the present disclosure. The printing system 1 is configured by connecting a board loading device M1 and a printing device M2 in series from upstream (left side of the paper) to downstream (right side of the paper) in the board transport direction. The board loading device M1 and the printing device M2 are connected to a management computer 3 via a communication network 2.

[0013] Management computer 3 stores the control programs used by each device, information about the boards on which paste is printed by printing device M2, and the like, and transmits information between board input device M1 and printing device M2, as well as with other devices. Printing system 1 is located upstream of the mounting board production line where components are mounted on boards, and boards on which paste has been printed by printing device M2 are transported downstream to a print inspection device and a component mounting device. Hereinafter, the target board on which paste is printed by printing device M2 may be simply referred to as "board B" (see Figure 2).

[0014] 1, board loading device M1 functions as a buffer that transports boards B transported from upstream on a conveyor, temporarily stores them inside, and hands them over to printing device M2. An inlet 4 is provided at the top of board loading device M1, allowing an operator to manually load boards B. Board loading device M1 is also provided with an inlet cover 5 that enables the inlet 4 to be opened and closed, and an inlet opening / closing sensor 6 such as a microswitch that detects the opening and closing of inlet cover 5. The detection result of the inlet opening / closing sensor 6 is sent to board loading device control unit 7 provided in board loading device M1.

[0015] Inside the substrate loading device M1, there is provided a substrate loading device camera 8 that captures images of substrate identification marks (not shown), such as barcodes or two-dimensional codes, attached to the top surface of the substrate B being transported by the substrate loading device M1, as well as electrodes Ba (FIG. 3) on the substrate B where paste is printed. The image captured by the substrate loading device camera 8 is sent to the substrate loading device control unit 7, which then recognizes the image and recognizes the substrate identification marks and the state of the top surface of the substrate B. The substrate loading device control unit 7 then transmits the recognition results of the substrate identification marks to the management computer 3 or the printing device M2. An operation unit 9, such as a touch panel and buttons, is arranged on the front of the substrate loading device M1. The operation unit 9 is connected to the substrate loading device control unit 7.

[0016] 1, the substrate input device control unit 7 determines whether the substrate B that the substrate input device M1 passes to the printing device M2 is an unprinted substrate on which no paste has been printed, or a printed substrate on which paste has been printed. If the substrate input device control unit 7 determines that a printed substrate has been input into the substrate input device M1, or if it determines that there is a possibility that a printed substrate has been input, it transmits a message to that effect to the management computer 3 or the printing device M2.

[0017] For example, the substrate loading device control unit 7 recognizes the state of substrate B imaged by the substrate loading device camera 8 and determines whether the loaded substrate B is a printed substrate. Furthermore, when the substrate loading device control unit 7 detects from the detection result of the loading port opening / closing sensor 6 that the loading port cover 5 has been opened or closed by an operator, it determines that there is a possibility that substrate B is a printed substrate. Furthermore, when the operator performs the loading operation of substrate B using the operation unit 9, the substrate loading device control unit 7 determines that there is a possibility that substrate B is a printed substrate.

[0018] In FIG. 1, the printing device M2 uses a mask with multiple openings to print paste on a substrate B carried in from upstream. An access port 10 is provided on the front of the printing device M2, through which an operator manually inserts the substrate B. The printing device M2 also has an access port cover 11 that allows the access port 10 to be opened and closed, and an access port opening / closing sensor 12 (detection unit) such as a microswitch that detects whether the access port cover 11 is open or closed. The detection result of the access port opening / closing sensor 12 is sent to a print control unit 13 provided in the printing device M2. A touch panel 14 that functions as both a display unit and an input unit is provided on the front of the printing device M2. The touch panel 14 is connected to the print control unit 13.

[0019] When an operator manually loads a substrate B into the printing device M2, the operator operates the touch panel 14, then opens the access cover 11, and places the substrate B at a transport position P1 (FIG. 3) of the transport section, which will be described later, or at a position upstream of the transport position P1. In this way, the printing device M2 is equipped with a cover (access cover 11) that is configured to be able to open and close the access 10 formed so that an operator can load the substrate to be printed (substrate B) from the outside into the transport position P1 of the transport section or a position upstream of the transport position P1, and a detection section (access opening / closing sensor 12) that detects whether the cover is open or closed.

[0020] Next, the structure of the main parts of the printing device M2 will be described with reference to Figures 2 to 4. Figure 2 is a side view showing the structure of the main parts of the printing device M2 according to an embodiment of the present disclosure. Figure 3 is a plan view showing the structure of the main parts of the printing device M2 according to an embodiment of the present disclosure. Figure 4(a) is a plan view showing the structure of the main parts of the substrate holding unit 20 provided in the printing device M2 according to an embodiment of the present disclosure. Figure 4(b) is a side view showing the structure of the main parts of the substrate holding unit 20 provided in the printing device M2 according to an embodiment of the present disclosure.

[0021] In Figure 2, a substrate positioning mechanism 16 is installed on a base 15. In the substrate positioning mechanism 16, an XY table 17, a θ table 18, and a substrate lifting mechanism 19 are installed in this order from bottom to top, all of which are controlled by the print control unit 13. The XY table 17 moves the θ table 18 in a horizontal plane (X-axis direction, Y-axis direction). The θ table 18 rotates the substrate lifting mechanism 19 by θ around the Z axis. A substrate holding unit 20 is installed above the substrate lifting mechanism 19. The substrate lifting mechanism 19 supports the substrate holding unit 20 from below and raises and lowers it.

[0022] 3, a pair of transport conveyors 21 extending along the X-axis are installed on base 15. The pair of transport conveyors 21 are controlled by print control unit 13. The pair of transport conveyors 21 transport substrate B (substrate to be printed) received from substrate input device M1 arranged upstream of printing device M2 from upstream along the X-axis to transport position P1 set near the center of transport unit 22 in the X-axis direction, and constitute transport unit 22 that transports substrate B printed with paste from transport position P1 downstream. Substrate holding unit 20 is installed near the center of transport unit 22 in the X-axis direction.

[0023] Here, the detailed structure of the substrate holding unit 20 will be described with reference to Figure 4. Figure 4(a) is a plan view of the main parts of the substrate holding unit 20 seen from above, with the substrate B not shown for convenience. Figure 4(b) is a side view of the main parts of the substrate holding unit 20 seen from the side. The substrate holding unit 20 is configured to include a support mechanism 23, a suction mechanism 24 (Figure 6), and a clamp mechanism 25. The substrate holding unit 20 has a flat base 26 extending in the XY plane that is raised and lowered by the substrate lifting mechanism 19 of the substrate positioning mechanism 16.

[0024] 4(b), the support mechanism 23 is configured to include a support member 27 that supports the substrate B that has been brought into the transport position P1 from below, and a support member lifting mechanism 28 that is disposed above and near the center of the base portion 26 and raises and lowers the support member 27 (arrow c1). The support member lifting mechanism 28 is controlled by the print control unit 13. The support mechanism 23 supports the substrate B that has been brought into the transport position P1 from below using the support member 27, and lifts it from the transport position P1 to the support position P2.

[0025] The suction mechanism 24 is controlled by the print control unit 13. The suction mechanism 24 applies vacuum suction through a plurality of suction ports 27a (FIG. 4(a)) that open on the upper surface of the lower support member 27, and vacuum-sucks the back surface of the substrate B supported by the lower support member 27.

[0026] In FIG. 4(b), the clamp mechanism 25 includes a pair of clamp members 29 extending along the X-axis, a clamp member support unit 30 supporting the pair of clamp members 29, and a clamp member opening / closing mechanism 30a that opens and closes the pair of clamp members 29 along the Y-axis (arrow c2). The clamp member support units 30 are disposed above the base unit 26 on both sides of the support member lifting mechanism 28 in the Y-axis direction and extend upward. The clamp member opening / closing mechanism 30a is controlled by the print control unit 13. The clamp mechanism 25 holds the side surfaces of the substrate B by closing the pair of clamp members 29 while the support mechanism 23 has lifted the substrate B to the support position P2. That is, the clamp mechanism 25 holds the side surfaces of the substrate B with the pair of clamp members 29 at the support position P2.

[0027] In Fig. 2, a mask 31 is disposed above the substrate holding unit 20. The mask 31 has a rectangular flat plate shape extending across the XY plane, and its periphery is supported by a mask frame 32. The mask 31 has a plurality of opening patterns 31a formed therein for transferring (printing) a paste Pt (Fig. 9(b)) such as cream solder, in accordance with the shapes and positions of the electrodes Ba to be printed on the substrate B. The paste Pt is supplied onto the mask 31 by a paste supply mechanism (not shown).

[0028] In Figure 2, a print head 34 is installed above the mask 31 and is moved along the Y axis (arrow a1) by a print head moving mechanism 33. The print head 34 is equipped with a moving base 35 that is moved along the Y axis by the print head moving mechanism 33. Two squeegee holding units 36 are arranged side by side in the Y axis direction on the moving base 35. Each squeegee holding unit 36 holds a squeegee 37 at its lower end, which extends along the X axis, and is raised and lowered by a squeegee lifting mechanism 38 provided on the moving base 35 (arrow a2).

[0029] The print head moving mechanism 33 and the squeegee lifting mechanism 38 are controlled by the print control unit 13. The print head 34, the print head moving mechanism 33, and the paste supply mechanism constitute a print mechanism 39 that prints paste Pt using a mask 31 on a substrate B supported by the support mechanism 23.

[0030] 2 and 3, a camera head unit 40 is installed below the mask 31. The camera head unit 40 is mounted on an X-axis table 41 extending along the X-axis so as to be movable along the X-axis. The camera head unit 40 is moved along the X-axis by an X-axis movement mechanism provided in the X-axis table 41 (arrow b in FIG. 3). The X-axis table 41 is coupled to a Y-axis table 42 extending along the Y-axis so as to be movable along the Y-axis. The X-axis table 41 is moved along the Y-axis by a Y-axis movement mechanism provided in the Y-axis table 42 (arrow a3 in FIG. 2).

[0031] 3, X-axis table 41 and Y-axis table 42 constitute a camera movement mechanism 43 that moves camera head unit 40 along the X-axis and Y-axis. Camera movement mechanism 43 is controlled by print control unit 13. Print control unit 13 controls camera movement mechanism 43, causing camera head unit 40 to move within a horizontal plane (X-axis direction, Y-axis direction).

[0032] 2, the camera head unit 40 includes a substrate recognition camera 44 that images the substrate B from above, and a mask recognition camera 45 that images the mask 31 from below. The substrate recognition camera 44 is moved by a camera movement mechanism 43 to capture images of alignment reference marks MB (see FIG. 3) and electrodes Ba formed on the substrate B. The focal position of the substrate recognition camera 44 is set to coincide with the top surface of the substrate B at the lower support position P2.

[0033] The mask recognition camera 45 is moved by the camera movement mechanism 43 to capture an image of a mask mark (not shown) for alignment formed on the mask 31 in correspondence with the reference mark MB. The focal position of the mask recognition camera 45 is set to coincide with the rear surface of the mask 31.

[0034] In this way, the board recognition camera 44, the mask recognition camera 45, and the camera movement mechanism 43 constitute an imaging unit 46 that captures images of the top surface of the board B and the back surface of the mask 31. The imaging unit 46 is set so that the focal position of the imaging unit 46 is aligned with the top surface of the board B and the back surface of the mask 31 at the receiving position P2. The imaging results obtained by the imaging unit 46 are sent to the print control unit 13.

[0035] 2 and 3, a pressing unit 47 is installed behind the camera head unit 40 in the Y-axis direction. The pressing unit 47 is attached near the center in the X-axis direction of a pressing unit table 48 that extends along the X-axis. The pressing unit table 48 is connected to a Y-axis table 42 that extends along the Y-axis so as to be able to move along the Y-axis. The pressing unit table 48 moves along the Y-axis by a Y-axis movement mechanism provided in the Y-axis table 42 (arrow a3 in FIG. 2).

[0036] The pressing unit 47 includes a flat pressing member 49 that presses the upper surface of the substrate B from above, and a pressing member lifting mechanism 50 that is attached to the pressing unit table 48 and raises and lowers the pressing member 49 (arrow a4 in FIG. 2). The pressing member lifting mechanism 50 is controlled by the print control unit 13. The pressing member 49 moves in the Y-axis direction by the Y-axis movement mechanism of the Y-axis table 42 to above the substrate B at the lower support position P2, and is then lowered by the pressing member lifting mechanism 50 to press the upper surface of the substrate B. In this way, the pressing unit 47 and the Y-axis table 42 constitute a pressing section 51 that uses the pressing member 49 to press the upper surface of the substrate B that has been raised to the lower support position P2.

[0037] Next, the function of the pressing unit 51 will be described with reference to Fig. 5. Fig. 5(a) and Fig. 5(b) are side views illustrating the function of the pressing unit 51 provided in the printing device M2 according to an embodiment of the present disclosure.

[0038] 5(a) shows a state in which warped substrate B1 is carried into transfer position P1 by transfer unit 22 and then lifted to transfer position P2 by support mechanism 23 (arrow d1). The back surface of substrate B1 is raised above support member 27 due to the warp. Also, in FIG. 5(a), pressing member 49 is moved above substrate B1 by the Y-axis movement mechanism of Y-axis table 42.

[0039] 5(b), when the pressing member lifting mechanism 50 lowers the pressing member 49 (arrow d2) and the pressing member 49 presses the upper surface of the substrate B1, the warp is corrected and the back surface of the substrate B1 abuts against the lower support member 27. When the suction mechanism 24 is operated with the back surface of the substrate B1 abutting against the lower support member 27, the substrate B1 is sucked onto the lower support member 27. Furthermore, when the clamp member opening / closing mechanism 30a closes the pair of clamp members 29 with the substrate B1 sucked onto the lower support member 27 (arrow d3), the side surfaces of the substrate B1 are held by the pair of clamp members 29.

[0040] When the pressing member lifting mechanism 50 raises the pressing member 49 (arrow d4) while the pair of clamp members 29 are holding the side surfaces of the substrate B1, the substrate B1 is held by the lower support member 27 and the pair of clamp members 29 with the warp corrected to a horizontal state. In this way, the pressing unit 51 presses the upper surface of the substrate B1 with the pressing member 49, so that the substrate B1 can be held on the lower support member 27 with the warp corrected.

[0041] Next, the configuration of the control system of the printing device M2 will be described with reference to FIG. 6. FIG. 6 is a block diagram showing the configuration of the control system of the printing device M2 according to an embodiment of the present disclosure. The printing control unit 13, which controls each unit of the printing device M2, includes a memory unit 60, a holding operation processing unit 61, a printing operation processing unit 62, a first discrimination unit 63, a second discrimination unit 64, a condition determination unit 65, a detection unit 66, and a receiving unit 67. The memory unit 60 is a storage device and stores printing condition data 60a, board information data 60b, and the like. The printing condition data 60a stores printing conditions for printing paste Pt on the board B for each type of board B. The printing condition data 60a also stores XY coordinates used when the imaging unit 46, described below, captures an image of the board B.

[0042] 6, a first discrimination unit 63 (discrimination unit) discriminates whether or not the paste Pt is printed on the substrate B (substrate to be printed) based on the image of the top surface of the substrate B captured by the imaging unit 46. That is, the imaging unit 46 and the first discrimination unit 63 constitute a first discrimination means 68 (discrimination means) that discriminates whether or not the substrate B is a printed substrate on which the paste Pt has been printed. The discrimination result by the first discrimination means 68 is stored in the memory unit 60 as substrate information data 60b.

[0043] When the first determination means 68 determines that the substrate B is a printed substrate, it causes the touch panel 14 to display that fact. In other words, the touch panel 14 is a notification unit that notifies the worker when the substrate B (substrate to be printed) is determined to be a printed substrate. The notification unit is not limited to the touch panel 14 provided in the printing device M2, but may be a display unit provided in the management computer 3 or an information terminal carried by the worker. In this case, the first determination means 68 transmits to the management computer 3 or the information terminal that the substrate B is a printed substrate.

[0044] In Figure 6, the holding work processing unit 61 controls the conveying unit 22, the substrate holding unit 20 (under-support mechanism 23, suction mechanism 24, clamp mechanism 25), the imaging unit 46, and the pressing unit 51 to hold the substrate B at the under-support position P2 of the substrate holding unit 20.

[0045] Here, the details of the holding operation of the substrate B by the holding operation processing unit 61 will be described with reference to Figures 7, 8, and 10. Figures 7(a), 7(b), and 7(c) are explanatory diagrams of the process of holding the substrate B in the substrate holding unit 20 provided in the printing apparatus M2 according to an embodiment of the present disclosure. Figures 8(a), 8(b), and 8(c) are explanatory diagrams of the process of holding the substrate in the substrate holding unit 20 provided in the printing apparatus M2 according to an embodiment of the present disclosure. Figures 10(a), 10(b), and 10(c) are explanatory diagrams of the process of reprinting the paste Pt on a printed substrate by the printing apparatus M2 according to an embodiment of the present disclosure.

[0046] First, the holding operation processing unit 61 controls the transport unit 22 to transport the substrate B to the transport position P1 (FIG. 7(a)). Next, the holding operation processing unit 61 controls the lower support mechanism 23 (lower support member lifting mechanism 28) of the substrate holding unit 20 to raise the lower support member 27 (arrows e1, g1), and the substrate B is supported from below by the lower support member 27, thereby lifting it from the transport position P1 to the lower support position P2 (FIG. 7(b), FIG. 10(a)).

[0047] Next, the holding operation processing unit 61 controls the camera movement mechanism 43 of the imaging unit 46 to move the board recognition camera 44 above the electrodes Ba of the board B (arrows e2 and g2) and capture an image of the top surface (electrodes Ba) of the board B (FIGS. 7(b) and 10(a)). The first discrimination unit 63 of the first discrimination means 68 processes the image of the image and determines whether the board B is a printed board.

[0048] If substrate B is not a printed substrate, that is, if substrate B is a substrate before printing, the holding operation processing unit 61 controls the Y-axis movement mechanism of Y-axis table 42 to move pressing member 49 above substrate B (arrow e3 in FIG. 7(c)). Next, the holding operation processing unit 61 controls the pressing member lifting / lowering mechanism 50 to lower pressing member 49 (arrow e4), causing the pressing member 49 to press against the upper surface of substrate B (FIG. 8(a)). Next, the holding operation processing unit 61 controls the suction mechanism 24 of the substrate holding unit 20 to suction the back surface of substrate B to the lower support member 27 (FIG. 8(b)).

[0049] Next, the holding operation processing unit 61 controls the clamp member opening / closing mechanism 30a of the clamp mechanism 25 to close the pair of clamp members 29 (arrow e5), causing the side surfaces of the substrate B to be held by the pair of clamp members 29 (FIG. 8(b)). Next, the holding operation processing unit 61 controls the pressing member lifting / lowering mechanism 50 to raise the pressing members 49 (arrow e6 in FIG. 8(b)). Next, the holding operation processing unit 61 controls the camera moving mechanism 43 and the Y-axis moving mechanism of the Y-axis table 42 to retract the imaging unit 46 and pressing unit 51 from between the substrate holding unit 20 and the mask 31 to a position where they will not interfere with the printing operation (arrow e7 in FIG. 8(c)).

[0050] If substrate B is a printed substrate, the holding operation processing unit 61 does not perform pressing by the pressing unit 51. That is, the holding operation processing unit 61 controls the suction mechanism 24 of the substrate holding unit 20 to cause the lower support member 27 to suck the back surface of substrate B (FIG. 10(b)). Next, the holding operation processing unit 61 controls the clamp member opening / closing mechanism 30a of the clamp mechanism 25 to close the pair of clamp members 29 (arrow g3), and the side surfaces of substrate B are held by the pair of clamp members 29 (FIG. 10(b)).

[0051] Next, the holding operation processing unit 61 controls the camera movement mechanism 43 and the Y-axis movement mechanism of the Y-axis table 42 to retract the imaging unit 46 and the pressing unit 51 from between the substrate holding unit 20 and the mask 31 to a position where they do not interfere with the printing operation (arrow g4 in FIG. 10(b)). In this way, the pressing member 49 is not brought into contact with the upper surface of the substrate B, so that the paste Pt on the substrate B is prevented from adhering to the pressing member 49.

[0052] In Figure 6, the printing work processing unit 62 controls the substrate positioning mechanism 16 and the printing mechanism 39 to abut the substrate B supported by the lower support member 27 of the substrate holding unit 20 against the back surface of the mask 31, and prints the paste Pt on the substrate B using the mask 31.

[0053] 9 and 10(c), details of the printing work on the substrate B by the printing work processing unit 62 will be described. Figures 9(a), 9(b), and 9(c) are explanatory diagrams of the process of printing the paste Pt on the substrate B by the printing device M2 according to an embodiment of the present disclosure.

[0054] First, the printing operation processing unit 62 controls the substrate positioning mechanism 16 to raise the substrate holding unit 20 (arrows f1 and g5), and brings the substrate B supported by the lower support member 27 into contact with the back surface of the mask 31 (FIGS. 9(a) and 10(c)). Next, the printing operation processing unit 62 controls the printing mechanism 39 to supply paste Pt to the upper surface of the mask 31, and lowers the squeegee 37 to bring it into contact with the upper surface of the mask 31 (arrow f2 in FIG. 9(b)).

[0055] Next, the printing operation processing unit 62 controls the printing mechanism 39 to move the squeegee 37 (arrow f3) and transfer the paste Pt onto the substrate B through the mask 31 (FIG. 9(c)). Next, the printing operation processing unit 62 controls the substrate positioning mechanism 16 to lower the substrate holding unit 20 (arrow f4) and separate the substrate B supported by the lower support member 27 from the back surface of the mask 31 (FIG. 9(c)). This causes the paste Pt to be printed on the substrate B.

[0056] In this way, when the first determination means 68 determines that the substrate B (substrate to be printed) is not a printed substrate, the holding operation processing unit 61 of the printing control unit 13 causes the pressing unit 51 to press the substrate B, and the printing operation processing unit 62 of the printing control unit 13 causes the printing mechanism 39 to print the paste Pt on the substrate B. Also, when the first determination means 68 determines that the substrate B is a printed substrate, the holding operation processing unit 61 of the printing control unit 13 does not cause the pressing unit 51 to press the substrate B, and the printing operation processing unit 62 of the printing control unit 13 causes the printing mechanism 39 to print the paste Pt on the substrate B.

[0057] In the above description, the board recognition camera 44 of the imaging unit 46 captures an image of the board B at the receiving position P2, and the first discrimination means 68 (discrimination means) discriminates whether or not the board B is a printed board. That is, the first discrimination means 68 discriminates whether or not the board B (board to be printed) at the receiving position P2 is a printed board, but this is not limited to this example. For example, the board recognition camera 44 of the imaging unit 46 may capture an image of the board B at the transport position P1, and the first discrimination means 68 may discriminate whether or not the board B is a printed board. That is, the first discrimination means 68 may discriminate whether or not the board B at the transport position P1 is a printed board.

[0058] Next, another embodiment of the discrimination means (hereinafter simply referred to as "second discrimination means 69") will be described with reference to Fig. 6. The second discrimination means 69 is configured to include a second discrimination unit 64 and a condition determination unit 65. The condition determination unit 65 determines whether a predetermined condition, which will be described later, is satisfied, and the second discrimination unit 64 (discrimination unit) determines that the substrate B (substrate to be printed) is a printed substrate when the condition determination unit 65 determines that the predetermined condition is satisfied. The discrimination result by the second discrimination means 69 is stored in the memory unit 60 as substrate information data 60b.

[0059] For example, the condition determination unit 65 determines that a predetermined condition is met when the work opening / closing sensor 12 (detection unit) detects the opening or closing of the work opening cover 11 (cover). The detection unit 66 detects work on the printing device M2 by an operator. For example, the detection unit 66 detects that the operator has worked on the printing device M2 from operation information on the touch panel 14 by the operator. Then, the condition determination unit 65 determines that a predetermined condition is met when the detection unit 66 detects the operator's work. The receiving unit 67 receives a signal transmitted from the board loading device M1 or the management computer 3. Then, the condition determination unit 65 determines that a predetermined condition is met when the receiving unit 67 receives a signal that a printed board has been loaded into the board loading device M1.

[0060] Next, a first example of a printing method for printing a paste Pt on a substrate B using a mask 31 will be described with reference to Figures 7 to 10, following the flow of Figure 11. Figure 11 is a flow diagram of a printing method according to an embodiment of the present disclosure.

[0061] First, the holding operation processing unit 61 controls the transport unit 22 to transport the substrate B (printing target substrate) onto which the paste Pt is to be printed from upstream to the transport position P1 (ST1: transport step) (FIG. 7(a)). Next, the holding operation processing unit 61 controls the support mechanism 23 to support the substrate B transported to the transport position P1 from below with the support member 27 and lift it from the transport position P1 to the support position P2 (ST2: support step) (arrow e1 in FIG. 7(b), arrow g1 in FIG. 10(a)).

[0062] Next, the holding operation processing unit 61 controls the imaging unit 46 to have the board recognition camera 44 capture an image of the top surface of board B (ST3: imaging step) (FIGS. 7(b) and 10(a)). Next, the first discrimination unit 63 of the first discrimination means 68 performs a recognition process on the image capture result to discriminate whether board B is a printed board or a pre-printed board (ST4: first discrimination step).

[0063] In FIG. 11, if the substrate B is determined to be a pre-printed substrate (not a printed substrate) in the first determination step (ST4) (No), the holding operation processing unit 61 controls the pressing unit 51 to cause the pressing member 49 to press the upper surface of the substrate B lifted to the lower support position P2 (ST5: pressing step) (arrow e4 in FIG. 8(a)). Next, the holding operation processing unit 61 controls the suction mechanism 24 to suction the substrate B to the lower support member 27 (ST6: suction step) (FIG. 8(b)). Next, the holding operation processing unit 61 controls the clamping mechanism 25 to cause the pair of clamping members 29 to hold the side surfaces of the substrate B (ST7: clamping step) (arrow e5 in FIG. 8(b)). Note that the suction step (ST6) may be performed after the clamping step (ST7).

[0064] Next, the holding operation processing unit 61 controls the imaging unit 46 and the pressing unit 51 to retract the imaging unit 46 and the pressing unit 51 from between the substrate holding unit 20 and the mask 31 (ST8: retraction step) (arrow e7 in FIG. 8(c)). Next, the printing operation processing unit 62 controls the substrate positioning mechanism 16 to raise the substrate holding unit 20 to abut the substrate B against the back surface of the mask 31, and controls the printing mechanism 39 to print the paste Pt onto the substrate B supported by the lower support member 27 using the mask 31 (ST9: printing step) (arrow f3 in FIG. 9(c)).

[0065] In Figure 11, the printing work processing unit 62 then controls the substrate positioning mechanism 16 to lower the substrate holding unit 20 to separate the substrate B from the mask 31, and the holding work processing unit 61 transfers the substrate B from the substrate holding unit 20 to a pair of transport conveyors 21 of the transport unit 22, thereby transporting the substrate B downstream of the printing device M2 (ST10: transport process).

[0066] If it is determined in the first determination step (ST4) that substrate B is a printed substrate (Yes), the first determination means 68 causes the touch panel 14 (notification unit) to notify that substrate B is a printed substrate (ST11: notification step). Next, the holding operation processing unit 61 executes the suction step (ST6) and clamping step (ST7) without executing the pressing step (ST5) (arrow g3 in Figure 10(b)). Next, the printing step (ST9) and carrying out step (ST10) are executed. Note that after the notification step (ST11), the work may be stopped until a release operation is performed by the worker. Also, the carrying out step (ST10) may be executed without executing the printing step (ST9).

[0067] In this way, in the printing method of this embodiment, if it is determined in the first determination step (ST4) that the substrate B is a printed substrate (Yes), the printing step (ST9) is performed without performing the pressing step (ST5), and if it is determined in the first determination step (ST4) that the substrate B is not a printed substrate (No), the printing step (ST9) is performed after performing the pressing step (ST5). This prevents the paste Pt on the printed substrate from adhering to the pressing member 49, and allows appropriate reprinting on the warped substrate B.

[0068] Next, a second embodiment of the printing method for printing paste Pt on substrate B using mask 31 will be described with reference to the flow chart in FIG. 12. FIG. 12 is a flow chart of the second embodiment of the printing method according to an embodiment of the present disclosure. The second embodiment of the printing method differs from the first embodiment of the printing method in that a second determination means 69 determines whether substrate B is a printed substrate based on whether access opening cover 11 is open or closed. Hereinafter, the same steps as those in the first embodiment of the printing method will be assigned the same reference numerals, and detailed description thereof will be omitted.

[0069] In FIG. 12, first, the condition determination unit 65 of the second determination means 69 determines whether the access opening open / close sensor 12 (detection unit) has detected the opening or closing of the access opening cover 11 (cover) (ST21: second determination step).

[0070] If it is determined in the second determination step (ST21) that the access opening cover 11 is not opened or closed (No), the board B is determined not to be a printed board, and the carrying-in step (ST1), the support step (ST2), and then the pressing step (ST5) are executed. Thereafter, the suction step (ST6), clamping step (ST7), retraction step (ST8), printing step (ST9), and carrying-out step (ST10) are executed. In this way, the printing step (ST9) is executed after the pressing step (ST5).

[0071] If it is determined in the second determination step (ST21) that the access opening cover 11 has been opened or closed (Yes), the board B is determined to be a printed board, and the notification step (ST11), carry-in step (ST1), and support step (ST2) are executed. Thereafter, the pressing step (ST5) is not executed, and the suction step (ST6), clamping step (ST7), printing step (ST9), and carry-out step (ST10) are executed. In this way, the printing step (ST9) is executed without executing the pressing step (ST5).

[0072] Next, a third embodiment of a printing method for printing paste Pt on a substrate B using a mask 31 will be described with reference to FIG. 13. FIG. 13 is a flow diagram of the third embodiment of a printing method according to an embodiment of the present disclosure. The third embodiment of the printing method differs from the first embodiment of the printing method in that a second determination means 69 determines whether or not the substrate B is a printed substrate based on information about the substrate B transmitted from a substrate input device M1 disposed upstream of the printing device M2. Hereinafter, the same steps as those in the first embodiment of the printing method will be assigned the same reference numerals, and detailed description thereof will be omitted.

[0073] 13, first, the receiving unit 67 acquires information about the substrate B (substrate to be printed) on which the paste Pt is printed by the printing device M2 (ST31: information acquisition step). Next, the carrying-in step (ST1) and the receiving step (ST2) are executed. Next, the condition determination unit 65 of the second determination means 69 determines whether the receiving unit 67 has received a signal that a printed substrate has been input into the substrate input device M1 (ST32: third determination step).

[0074] If it is determined in the third determination step (ST32) that the receiving unit 67 has not received a signal indicating that a printed board has been inserted into the board insertion device M1 (No), the board B is determined to be not a printed board, and the pressing step (ST5) is executed. Thereafter, the suction step (ST6), clamping step (ST7), retraction step (ST8), printing step (ST9), and carry-out step (ST10) are executed. In this way, the printing step (ST9) is executed after the pressing step (ST5) is executed.

[0075] If it is determined in the third determination step (ST32) that the receiving unit 67 has received a notification that a printed board has been loaded into the board loading device M1 (Yes), the board B is determined to be a printed board, and the notification step (ST11) is executed. Thereafter, the pressing step (ST5) is not executed, and the suction step (ST6), clamping step (ST7), printing step (ST9), and carrying-out step (ST10) are executed. In this way, the printing step (ST9) is executed without executing the pressing step (ST5).

[0076] As described above, the printing device M2 of this embodiment includes a transport section 22 that transports the substrate B (printing target substrate) onto which the paste Pt is to be printed from upstream to the transport position P1, a lower support mechanism 23 that supports the substrate B transported to the transport position P1 from below using a lower support member 27 and lifts it to the lower support position P2, a pressing section 51 that presses the upper surface of the substrate B lifted to the lower support position P2 using a pressing member 49, a discrimination means (first discrimination means 68, second discrimination means 69) that discriminates whether the substrate B is a printed substrate on which the paste Pt has been printed, a printing mechanism 39 that prints the paste Pt using a mask 31 on the substrate B supported by the lower support member 27, and a control section (printing control section 13) that controls at least the pressing section 51 and the printing mechanism 39.

[0077] When the discrimination means determines that substrate B is a printed substrate, the control unit does not cause the pressing unit 51 to press substrate B, and when the discrimination means determines that substrate B is not a printed substrate, the control unit causes the pressing unit 51 to press substrate B. This allows appropriate reprinting on warped substrate B.

[0078] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that those skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0079] The printing apparatus and printing method disclosed herein have the effect of enabling appropriate reprinting on warped substrates, and are useful in the field of mounting components on substrates. [Explanation of symbols]

[0080] 11 Work port cover (cover) 12 Work door opening / closing sensor (detection unit) 13 Printing control unit (control unit) 14 Touch panel (notification section) 22 Conveyor 23 Lower support mechanism 25 Clamping mechanism 27 Lower support member 29 Clamping member 31 Mask 39 Printing mechanism 46 Imaging unit 49 Pressing member 51 Pressing section B, B1 board (printing target board) M1 board loading device M2 printing device P1 Transfer position P2 lower receiving position Pt paste

Claims

1. A printing apparatus that prints a paste on a substrate using a mask, a transport unit that transports a substrate to be printed with the paste from an upstream side to a transport position and transports the substrate from the transport position to a downstream side; a support mechanism that supports the substrate to be printed that has been carried into the transfer position from below using a support member and lifts it from the transfer position to a support position; a pressing unit that presses the upper surface of the printing target substrate raised to the support position with a pressing member; a determining means for determining whether the substrate to be printed is a printed substrate on which paste has been printed; a printing mechanism that uses the mask to print paste on the printing target substrate supported by the lower support member; a control unit that controls at least the pressing unit and the printing mechanism, The control unit When the determining means determines that the substrate to be printed is a printed substrate, the determining means does not cause the pressing unit to press the substrate to be printed, When the determining means determines that the printing target board is not a printed board, the determining means causes the pressing unit to press the board. Printing device.

2. The printing apparatus further includes a clamping mechanism that holds the side surface of the substrate to be printed at the support position using a pair of clamping members. The printing device of claim 1 .

3. The control unit When the determining means determines that the substrate to be printed is a printed substrate, the determining means does not cause the pressing unit to press the substrate to be printed, printing the paste onto the printing target substrate by the printing mechanism; The printing device of claim 1 .

4. Further, a notification unit is provided which notifies an operator when the substrate to be printed is determined to be a printed substrate. The printing device of claim 1 .

5. The determination means an imaging unit that images an upper surface of the printing target substrate; and a determination unit that determines whether or not paste has been printed on the printing target board based on the imaging result by the imaging unit. The printing device according to any one of claims 1 to 4.

6. the determining means determines whether the substrate to be printed at the support position is a printed substrate; The printing device according to claim 5 .

7. the determining means determines whether the substrate to be printed at the transport position is the printed substrate; The printing device according to claim 5 .

8. the imaging unit is set so that a focal position of the imaging unit is aligned with the upper surface of the substrate to be printed at the lower support position; The printing device according to claim 5 .

9. The determination means a condition determination unit that determines whether a predetermined condition is satisfied; a determination unit that determines that the printing target board is a printed board when the condition determination unit determines that the predetermined condition is satisfied, The printing device according to any one of claims 1 to 4.

10. a cover configured to be able to open and close an access opening formed in the printing device so that an operator can input the substrate to be printed from the outside into the transport position of the transport section or a position upstream of the transport position; a detection unit that detects whether the cover is open or closed, the condition determination unit determines that the predetermined condition is satisfied when the detection unit detects opening or closing of the cover. The printing device of claim 9.

11. a detection unit that detects an operation on the printing device by an operator; the condition determination unit determines that the predetermined condition is satisfied when the detection unit detects an operation by a worker. The printing device of claim 9.

12. a receiving unit that receives a signal transmitted from a board input device that is disposed upstream of the printing device; the condition determination unit determines that the predetermined condition is satisfied when the receiving unit receives a notification that the printed board has been input into the board input device. The printing device according to claim 9.

13. A printing method for printing a paste on a substrate using a mask, comprising: a carrying-in process of carrying a substrate to be printed with the paste from upstream to a transfer position; a support step of supporting the substrate to be printed, which has been carried into the transport position, from below with a support member and lifting it from the transport position to a support position; a pressing step of pressing the upper surface of the substrate to be printed that has been raised to the support position with a pressing member; a determining step of determining, before the pressing step, whether the substrate to be printed is a printed substrate on which a paste has been printed; a printing step of printing a paste using the mask on the printing target substrate supported by the lower support member, When the determination step determines that the substrate to be printed is a printed substrate, the printing step is performed without performing the pressing step; When it is determined in the determining step that the substrate to be printed is not a printed substrate, the pressing step is performed and then the printing step is performed. Printing method.

Images