Printing apparatus and printing method

Abstract

To provide a printing apparatus and a printing method capable of appropriately printing paste on a front surface and a rear surface of a substrate.SOLUTION: A printing method of printing paste on a substrate using a mask includes a carry-in step (ST1) of carrying the substrate from upstream to a first transport position by a transport conveyor, and a recognition step (ST2) of recognizing whether an upper surface of the substrate carried in the first transport position is a first surface (front surface) or a second surface (back surface). When the upper surface of the substrate is recognized as the second surface (No in ST2), the substrate is moved to the second transport position by the transport conveyor (ST8).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] A printing device is known that, when printing paste on the backside of a substrate with components mounted on its front side, supports the substrate, which is loaded face-down, on a support plate having recesses formed in positions corresponding to the components mounted on the substrate, and prints the paste on the backside, which is facing up (see, for example, Patent Document 1). Another printing device is known that uses a mask with two pattern formation areas, one for the front side and one for the back side, arranged side by side, to print paste on the front side of the substrate using the pattern formation area for the front side, and then flips the substrate over and loads it again, and prints paste on the back side of the substrate using the pattern formation area for the back side (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-114521 [Patent Document 2] Japanese Patent Application Laid-Open No. 2015-83364 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the prior art including Patent Documents 1 and 2, although a single printing device can print paste on both the front and back surfaces of a substrate, there are some substrates for which the transport position for loading the substrate needs to be changed depending on whether the paste is printed on the front surface or the back surface, and if the transport position is incorrect, the components attached to the underside of the substrate will not fit into the recesses in the support plate, resulting in damage to the components.

[0005] Therefore, an object of the present disclosure is to provide a printing device and a printing method that can appropriately print paste on the front and back surfaces of a substrate. [Means for solving the problem]

[0006] The printing device disclosed herein is a printing device that prints paste on a substrate using a mask, and includes a transport unit that transports the substrate from upstream to a transport position using a transport conveyor and transports it downstream from the transport position, a recognition means that recognizes whether the top surface of the substrate transported to the transport position is the first surface or the second surface, and a control unit that controls the transport unit based on the recognition result by the recognition means.

[0007] The printing method disclosed herein is a printing method for printing paste on a substrate using a mask, and includes a transport step of transporting the substrate from upstream to a transport position using a transport conveyor, and a recognition step of recognizing whether the top surface of the substrate transported to the transport position is the first surface or the second surface. [Effects of the Invention]

[0008] According to the present disclosure, paste can be printed appropriately on the front and back surfaces of a substrate. [Brief explanation of the drawings]

[0009] [Figure 1] 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 2] FIG. 1 is a side view illustrating a structure of a main part of a printing device according to an embodiment of the present disclosure. [Figure 3] 1A and 1B are plan and side views illustrating 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 4] FIG. 1 is a plan view of a mask provided in a printing apparatus according to an embodiment of the present disclosure. [Figure 5] 1A is a plan view showing an example of a front surface of a substrate on which a paste is printed by a printing device according to an embodiment of the present disclosure; FIG. 1B is a plan view showing an example of a back surface of the substrate; [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] (a) (b) (c) are side views illustrating a process of holding a substrate carried in with its front surface facing up in a substrate holding section included in a printing apparatus according to an embodiment of the present disclosure. [Figure 8] 1A and 1B are partial cross-sectional front views illustrating a process of holding a substrate carried in with its front surface facing up in a substrate holding unit included in a printing apparatus according to an embodiment of the present disclosure. [Figure 9] (a) (b) (c) are partial cross-sectional front views illustrating a process of holding a substrate that has been carried in with its back surface facing up in a substrate holding section included in a printing apparatus according to an embodiment of the present disclosure. [Figure 10] (a) (b) (c) are side views illustrating a process of printing a paste on a substrate that has been carried in with its front surface facing up by 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; 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 explanatory purposes and can be modified as appropriate depending on the specifications of the printing device, mask, and substrate. In the following, the same reference numerals are used to designate corresponding elements in all drawings, and redundant 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 (up-down direction in FIG. 1) as the Y-axis, and the direction perpendicular to the horizontal plane (up-down direction in FIG. 2) as the Z-axis.

[0012] First, the structure of the printing apparatus 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is a plan view showing the structure of a main part of the printing apparatus 1 according to an embodiment of the present disclosure. FIG. 2 is a side view showing the structure of a main part of the printing apparatus 1 according to an embodiment of the present disclosure. In FIG. 1, the printing apparatus 1 includes a base 2 on which an input conveyor 3, a substrate holding unit 4, and an output conveyor 5 are arranged along the X-axis. The input conveyor 3 conveys a substrate B received from the upstream side of the printing apparatus 1 (the left side in the X-axis direction) along the X-axis and delivers it to the substrate holding unit 4. The substrate holding unit 4 carries the received substrate B to a predetermined transport position and holds it in a receiving position. The output conveyor 5 conveys the substrate B received from the substrate holding unit 4 along the X-axis and delivers it to the downstream side of the printing apparatus 1 (the right side in the X-axis direction). A mask 6 having pattern formation regions (a first pattern formation region R1 and a second pattern formation region R2) in which a plurality of openings for printing paste on the substrate B are formed is installed above the substrate holding unit 4.

[0013] The structure of the mask 6 will now be described with reference to FIG. 4. FIG. 4 is a plan view of the mask 6 provided in the printing apparatus 1 according to an embodiment of the present disclosure. The mask 6 has a rectangular flat plate shape extending across the XY plane, and its periphery is supported by a frame member 6w. A first pattern formation region R1 and a second pattern formation region R2 are formed side by side along the Y axis on the mask 6 so that screen printing can be performed on two different types of substrates B or on the front surface Bt and back surface Bb (see FIG. 5) of the same substrate B. Here, the front side in the Y axis direction is the first pattern formation region R1, and the rear side in the Y axis direction is the second pattern formation region R2.

[0014] In the first pattern formation region R1, a first plurality of apertures PT1 and a pair of first mask-side marks 6m1 are formed. In the second pattern formation region R2, a second plurality of apertures PT2 and a pair of second mask-side marks 6m2 are formed. Hereinafter, unless distinction is necessary, the first pattern formation region R1 and the second pattern formation region R2 will be simply referred to as "pattern formation regions R." Furthermore, the first plurality of apertures PT1 and the second plurality of apertures PT2 will be simply referred to as "plurality of apertures PT." Furthermore, the first mask-side mark 6m1 and the second mask-side mark 6m2 will be simply referred to as "mask-side marks 6m."

[0015] Next, with reference to FIG. 5, the structure of a substrate B having a surface Bt and a back surface Bb on which paste is printed will be described. FIG. 5(a) is a plan view showing an example of a surface of a substrate B on which paste is printed by a printing device 1 according to an embodiment of the present disclosure. FIG. 5(b) is a plan view showing an example of a back surface of a substrate B on which paste is printed by a printing device 1 according to an embodiment of the present disclosure. In FIG. 5(a), a first plurality of electrodes Bet, which are bonded to terminals of components mounted on the substrate B by the printed paste, and a pair of first board-side marks Bmt are formed on the front surface Bt (first surface). In FIG. 5(b), a second plurality of electrodes Beb, which are bonded to terminals of components mounted on the substrate B by the printed paste, and a pair of second board-side marks Bmb are formed on the back surface Bb (second surface) of the substrate B.

[0016] Due to factors such as the shape of the substrate B and the positions of the first plurality of electrodes Bet or the second plurality of electrodes Beb, the positions of the first substrate-side marks Bmt and the second substrate-side marks Bmb are shifted by a shift amount ΔX relative to the front end Bf of the substrate B. Hereinafter, unless distinction is necessary, the first plurality of electrodes Bet and the second plurality of electrodes Beb will be simply referred to as "plural electrodes Be." Furthermore, the first substrate-side marks Bmt and the second substrate-side marks Bmb will be simply referred to as "substrate-side marks Bm."

[0017] In Figure 2, a substrate positioning mechanism 7 is installed on the base 2. The substrate positioning mechanism 7 is provided with an XY table 8, a θ table 9, and a substrate lifting mechanism 10, arranged in this order from bottom to top. The XY table 8 moves the θ table 9 in a horizontal plane (X-axis direction, Y-axis direction). The θ table 9 rotates the substrate lifting mechanism 10 by θ around the Z axis. The substrate lifting mechanism 10 supports the substrate holder 4 from below and raises and lowers it. A control unit C is installed on the base 2. The control unit C controls the carry-in conveyor 3, the substrate holder 4, the carry-out conveyor 5, the XY table 8, the θ table 9, and the substrate lifting mechanism 10.

[0018] Here, the detailed structure of the substrate holding unit 4 will be described with reference to FIG. 3. FIG. 3(a) is a plan view showing the structure of a main part of the substrate holding unit 4 provided in the printing apparatus 1 according to an embodiment of the present disclosure. FIG. 3(b) is a side view showing the structure of a main part of the substrate holding unit 4 provided in the printing apparatus 1 according to an embodiment of the present disclosure. FIG. 3(a) is a plan view showing the main part of the substrate holding unit 4 from above, with the substrate B not shown for convenience. FIG. 3(b) is a side view showing the main part of the substrate holding unit 4 from the side. The substrate holding unit 4 is configured to include a transport unit 11, a support mechanism 12, and a clamp mechanism 13. The substrate holding unit 4 includes a flat base 14 extending in the XY plane that is raised and lowered by a substrate lifting mechanism 10 of the substrate positioning mechanism 7.

[0019] 3(b), the transport section 11 is configured to include a pair of transport conveyors 15 extending along the X-axis and a transport conveyor support section 16 that supports the pair of transport conveyors 15. The transport conveyor support section 16 is disposed on top of the base section 14 and extends upward. The pair of transport conveyors 15 are controlled by the control section C. The transport section 11 receives the board B from the upstream carry-in conveyor 3, transports it to a transport position P1 set near the center of the transport section 11 in the X-axis direction by the pair of transport conveyors 15, and hands over the board B to the downstream carry-out conveyor 5. That is, the transport section 11 transports the board B from the upstream to the transport position P1 by the pair of transport conveyors 15, and transports it downstream from the transport position P1.

[0020] In FIG. 3(b), the lower support mechanism 12 is configured to include a lower support member 17, a lower support member holding portion 18, and a lower support member lifting mechanism 19. The lower support member lifting mechanism 19 is disposed at the top near the center of the base portion 14, and lifts and lowers the lower support member holding portion 18 (arrow b1). The lower support member 17 is held on the top of the lower support member holding portion 18. The lower support member lifting mechanism 19 is controlled by the control portion C. When the lower support member lifting mechanism 19 lifts and lowers the lower support member holding portion 18, the lower support member 17 held by the lower support member holding portion 18 is lifted and lowered.

[0021] The support mechanism 12 supports the board B, which has been carried into the transfer position P1, from below using the support member 17 and lifts it from the transfer position P1 to the support position P2. The support member 17 is a substantially cubic block, and a plurality of recesses 17b are formed in the upper part of the support member 17 so that the components D mounted on the front surface Bt of the board B, which has been carried into the transfer position P1 with the back surface Bb facing up, do not interfere with the lower support upper surface 17a of the support member 17 (see also FIG. 9). Note that the support member 17 is not limited to a block having a plurality of recesses 17b formed therein, and may be a flat plate with a plurality of pins erected at positions that avoid interference with the components D mounted on the front surface Bt of the board B. The support member 17 is prepared in advance to correspond to the board B to be supported.

[0022] 3(b), the clamp mechanism 13 is configured to include a pair of clamp members 20 extending along the X-axis, a clamp member support portion 21 that supports the pair of clamp members 20, and a clamp member opening / closing mechanism 22 that opens and closes the pair of clamp members 20 along the Y-axis (arrow b2). The clamp member support portions 21 are disposed above the base portion 14 on both sides of the support member lifting mechanism 19 in the Y-axis direction and extend upward. The clamp member opening / closing mechanism 22 is controlled by the control portion C. The clamp mechanism 13 holds the side surfaces of the substrate B by closing the pair of clamp members 20 while the support mechanism 12 has lifted the substrate B to the support position P2. That is, the clamp mechanism 13 holds the side surfaces of the substrate B with the pair of clamp members 20 at the support position P2.

[0023] 2, the substrate holding unit 4 receives the substrate B from the upstream carry-in conveyor 3 at a delivery position Qc near the center in the Y-axis direction, and delivers the substrate B to the downstream carry-out conveyor 5. The substrate holding unit 4, which holds the substrate B with its front surface Bt (first surface) facing up at the delivery position Qc, is moved by the substrate positioning mechanism 7 to a first printing position Q1 below a first pattern formation region R1 of the mask 6 (arrow a1). Furthermore, the substrate holding unit 4, which holds the substrate B with its back surface Bb (second surface) facing up at the delivery position Qc, is moved by the substrate positioning mechanism 7 to a second printing position Q2 below a second pattern formation region R2 of the mask 6 (arrow a2).

[0024] 2, a camera unit 23 incorporating a camera for substrate recognition and a camera for mask recognition is provided below the mask 6. The camera unit 23 moves in a horizontal plane (arrow a3) by a camera unit moving mechanism 24 controlled by the control unit C. The camera unit 23 moves between the substrate B and the mask 6 to capture images of the substrate-side marks Bm (first substrate-side marks Bmt, second substrate-side marks Bmb) for alignment formed on the substrate B or the mask-side marks 6m (first mask-side marks 6m1, second mask-side marks 6m2) for alignment formed on the mask 6.

[0025] When aligning the substrate B and the mask 6, the focus of the substrate recognition camera that images the substrate side marks Bm on the upper surface of the substrate B supported at the lower support position P2 is arranged to be focused on the upper surface of the substrate B, and the focus of the mask recognition camera that images the mask side marks 6m on the lower surface of the mask 6 is arranged to be focused on the lower surface of the mask 6. In this way, the camera unit 23 and the camera unit moving mechanism 24 constitute an imaging section 25 that images the substrate side marks Bm (marks) on the upper surface of the substrate B and the mask side marks 6m on the lower surface of the mask 6.

[0026] 2, the control unit C recognizes the positions of the mask-side marks 6m and the substrate-side marks Bm based on the image captured by the camera unit 23, and controls the substrate positioning mechanism 7 to correct the position of the substrate B held by the substrate holder 4 so that it abuts against the mask 6 from below. Specifically, the control unit C calculates the relative positional relationship in the X and Y directions between the substrate B and the mask 6, i.e., the positional deviation, from the recognition results (the positions of the mask-side marks 6m and the substrate-side marks Bm).

[0027] Next, the control unit C controls the XY table 8 and the θ table 9 of the substrate positioning mechanism 7 based on the positional deviation obtained by the calculation, to correct the position and orientation of the substrate B so that the positions of the multiple openings PT in either the first pattern formation region R1 or the second pattern formation region R2 coincide with the positions of the multiple electrodes Be formed on the substrate B held by the substrate holding unit 4. Next, the control unit C controls the substrate lifting mechanism 10 of the substrate positioning mechanism 7 to lift the substrate holding unit 4 and bring the substrate B into contact with the mask 6 from below.

[0028] In FIG. 2, paste Pt (see FIG. 10) is supplied onto the mask 6 by a paste supply mechanism (not shown). A print head 27 is disposed above the mask 6 and is moved along the Y axis (arrow a4) by a print head movement mechanism 26. The print head 27 is equipped with a movement base 28 that is moved along the Y axis by the print head movement mechanism 26. Two squeegee holders 29 are disposed on the movement base 28, side by side in the Y axis direction. Each squeegee holder 29 holds a squeegee 30 at its lower end, which extends along the X axis, and is raised and lowered by a squeegee lifting mechanism 31 provided on the movement base 28 (arrow a5).

[0029] The print head moving mechanism 26 and the squeegee lifting mechanism 31 are controlled by the control unit C. The print head 27, the print head moving mechanism 26, and the paste supply mechanism constitute a printing mechanism 32 that prints paste Pt using a mask 6 on a substrate B supported by the support mechanism 12.

[0030] Next, the configuration of the control system of the printing device 1 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 1 according to an embodiment of the present disclosure. The control unit C, which controls each unit of the printing device 1, includes a memory unit 40, a holding operation processing unit 41, a printing operation processing unit 42, and a recognition processing unit 43. The memory unit 40 is a storage device and stores printing condition data 40a and the like. The printing condition data 40a stores printing conditions for printing paste Pt on the substrate B for each type of substrate B. The printing condition data 40a also stores information regarding the transport position P1 of the substrate B on the transport conveyor 15 of the substrate holding unit 4, the position (XY coordinates) at which the imaging unit 25 (described later) captures an image of the top surface of the substrate B transported to the transport position P1, and the like, for each type of substrate B and each surface (front surface Bt, back surface Bb) on which the paste Pt is printed.

[0031] 6, the recognition processing unit 43 determines (recognizes) whether the top surface of the substrate B is the front surface Bt or the back surface Bb based on the image capturing result of the imaging unit 25 capturing the top surface of the substrate B carried into the transfer position P1. For example, the recognition processing unit 43 determines whether the top surface of the substrate B is the front surface Bt or the back surface Bb based on the position of the substrate side mark Bm provided on the substrate B, the presence or absence of the substrate side mark Bm, etc. Note that the focus of the camera for substrate recognition in the imaging unit 25 is positioned so that it is focused on the top surface of the substrate B supported at the lower support position P2, but deviation in the focus of the camera does not cause any problems in the process of capturing an image of the top surface of the substrate B at the transfer position P1 and determining whether the top surface of the substrate B is the front surface Bt or the back surface Bb.

[0032] In this way, the imaging unit 25 and the recognition processing unit 43 constitute a recognition means 44 that recognizes whether the top surface of the board B brought into the transfer position P1 is the first surface or the second surface by recognizing the marks (first board-side mark Bmt, second board-side mark Bmb) provided on the first surface (front surface Bt) or the second surface (back surface Bb) of the board B. Note that the recognition means that recognizes whether the top surface of the board B brought into the transfer position P1 is the first surface or the second surface may be configured to include the imaging unit 25 that captures the board-side mark Bm, or may be configured to include a camera that recognizes the components D mounted on the board B from the bottom surface or side surface of the board B.

[0033] In Figure 6, the holding work processing unit 41 controls the loading conveyor 3, the substrate holding unit 4 (transporting unit 11, under-support mechanism 12, clamping mechanism 13), the unloading conveyor 5, and the imaging unit 25 to perform the holding work of holding the substrate B at the under-support position P2 of the substrate holding unit 4.

[0034] Here, with reference to FIGS. 7 to 9, the details of the holding operation of the substrate B by the holding operation processing unit 41 will be described. FIGS. 7(a), 7(b), and 7(c) are side views illustrating the process of holding the substrate B, which has been loaded with its front surface facing up, in the substrate holding unit 4 provided in the printing apparatus 1 according to an embodiment of the present disclosure. FIGS. 8(a) and 8(b) are partial front cross-sectional views illustrating the process of holding the substrate B, which has been loaded with its front surface facing up, in the substrate holding unit 4 provided in the printing apparatus 1 according to an embodiment of the present disclosure. FIGS. 9(a), 9(b), and 9(c) are partial front cross-sectional views illustrating the process of holding the substrate B, which has been loaded with its back surface facing up, in the substrate holding unit 4 provided in the printing apparatus 1 according to an embodiment of the present disclosure.

[0035] The printing device 1 has a function of printing a paste Pt on a front surface Bt (first surface) and a back surface Bb (second surface) of a substrate B. The substrate B, on whose front surface Bt the paste Pt has been printed by the printing device 1, has components D mounted thereon by a component mounting device (not shown), and the paste Pt is melted by a reflow device, so that the terminals of the components D are joined (soldered) to the first plurality of electrodes Bet of the substrate B.

[0036] The printing device 1 prints paste Pt on the boards B in a batch processing mode in which paste Pt is printed on the front surfaces Bt of a predetermined number of boards B, and then prints paste Pt on the back surfaces Bb of a predetermined number of boards B on which components D are mounted, as well as in a random mode in which paste Pt is printed randomly on the front surfaces Bt and back surfaces Bb of the boards B. Below, an example of printing paste Pt on the board B in the random mode in the printing device 1 will be described.

[0037] First, the holding work processing unit 41 controls the carry-in conveyor 3 to transfer the substrate B received from upstream of the printing device 1 to the transport unit 11 of the substrate holding unit 4. Next, the holding work processing unit 41 controls the transport conveyor 15 of the transport unit 11 to transport the substrate B to the first transport position P1a where the substrate B is transported when printing the paste Pt on the front surface Bt (first surface) of the substrate B (arrow d1 in Figure 7(a) and Figure 8(a) and arrow e1 in Figure 9(a)).

[0038] Next, the holding operation processing unit 41 controls the camera unit moving mechanism 24 of the imaging unit 25 to move the camera for board recognition in the camera unit 23 to a position where the center of the captured image is expected to coincide with the first board-side mark Bmt (arrow c1 in FIG. 7(a), FIGS. 8(a) and 9(a)), and capture an image of the top surface of the board B. The recognition processing unit 43 of the recognition means 44 processes the image captured result and determines (recognizes) whether the top surface of the board B is the front surface Bt or the back surface Bb.

[0039] Specifically, when the substrate-side mark Bm is located near the center of the captured image, the recognition processing unit 43 determines that the top surface of the substrate B is the front surface Bt (first surface) (FIGS. 7(a) and 8(a)). Also, when the substrate-side mark Bm is located at a position away from the center of the captured image by the shift amount ΔX, the recognition processing unit 43 determines that the top surface of the substrate B is the back surface Bb (second surface) (FIG. 9(a)).

[0040] In this way, the recognition means 44 (imaging unit 25, recognition processing unit 43) captures an image of the top surface of the board B carried into the first transfer position P1a, and recognizes whether the top surface of the board B is the first surface (front surface Bt) or the second surface (back surface Bb). Note that the recognition means is not limited to a configuration that captures an image of the board-side mark Bm on the top surface of the board B. For example, the recognition means may be configured to recognize components D mounted on the board B, and if there are no components D on the bottom surface of the board B, determine that the top surface of the board B is the front surface Bt (first surface), and if there are components D on the bottom surface of the board B, determine that the top surface of the board B is the back surface Bb (second surface).

[0041] Once the determination of the front and back sides of substrate B is completed, the holding operation processing unit 41 then controls the camera unit moving mechanism 24 of the imaging unit 25 to retract the camera unit 23 from between the substrate holding unit 4 and the mask 6 to a position where it will not interfere with the printing operation (arrow c2 in Figure 7(b)).

[0042] If it is determined that the upper surface of the substrate B is the back surface Bb (second surface), the holding operation processing unit 41 controls the transport conveyor 15 of the transport unit 11 to move (transport) the substrate B to the second transport position P1b, which is the transport position when printing the paste Pt on the back surface Bb (second surface) of the substrate B. That is, the holding operation processing unit 41 controls the transport conveyor 15 to move the substrate B along the X axis by the shift amount ΔX (arrow e2 in FIG. 9(b)).

[0043] As a result, the component D mounted on the front surface Bt of the board B moves above the recess 17b of the lower support member 17. When the top surface of the board B is recognized as the second surface (back surface Bb) in this way, the holding operation processing unit 41 of the control unit C causes the transport unit 11 to move the board B to the second transport position P1b. That is, the control unit C controls the transport unit 11 based on the recognition result by the recognition means 44. After the board B is moved to the second transport position P1b, the imaging unit 25 may again capture an image of the top surface of the board B to recognize that the top surface of the board B is the back surface Bb. If the top surface of the board B is not the back surface Bb, the printing operation may be stopped and a notification may be sent to an information terminal carried by the worker.

[0044] Next, the holding work processing unit 41 controls the lower support mechanism 12 (lower support member lifting mechanism 19) of the substrate holding unit 4 to raise the lower support member 17 (arrow c3 in Figure 7(b), arrow d2 in Figure 8(b), arrow e3 in Figure 9(c)).

[0045] That is, when the upper surface of the substrate B is the front surface Bt (first surface), the lower support member 17 is raised without shifting the substrate B. As a result, the back surface Bb (second surface) of the substrate B comes into contact with the lower support upper surface 17a of the lower support member 17, and the substrate B is raised to the lower support position P2 (FIGS. 7(b) and 8(b)). In this way, the lower support member 17 has a shape that can support the substrate B that has been carried into the first transfer position P1a with the first surface (front surface Bt) facing upward.

[0046] Furthermore, when the top surface of board B is the back surface Bb (second surface), board B is shifted by shift amount ΔX, and then lower support member 17 is raised. As a result, components D mounted on the front surface Bt (first surface) of board B fit into recesses 17b of lower support member 17, and the other front surface Bt (first surface) abuts against lower support upper surface 17a of lower support member 17, and board B is raised to lower support position P2 (FIG. 9(c)). In this way, lower support member 17 has a shape that allows it to support board B without interfering with components D mounted on the first surface (front surface Bt) of board B that has been transported to second transport position P1b with the second surface (back surface Bb) facing up.

[0047] The recognition means 44 recognizes whether the upper surface of the substrate B is the first surface (front surface Bt) or the second surface (back surface Bb) before the lower support member 17 supports the substrate B. As a result, even if a component D is mounted on the front surface Bt of the substrate B, the component D will not be damaged by the lower support member 17.

[0048] Next, the holding work processing unit 41 controls the clamp member opening / closing mechanism 22 of the clamp mechanism 13 to close the pair of clamp members 20 (arrow c4), causing the pair of clamp members 20 to hold the side of the substrate B at the lower support position P2 (Figure 7(c)).

[0049] In Figure 6, the printing work processing unit 42 controls the substrate positioning mechanism 7, the imaging unit 25, and the printing mechanism 32 to abut the substrate B supported by the lower support member 17 of the substrate holding unit 4 against the back surface of the mask 6, and performs a printing work in which the paste Pt is printed on the substrate B using the mask 6.

[0050] Here, with reference to FIG. 10, the details of the printing operation on the substrate B by the printing operation processing unit 42 will be described. FIGS. 10(a), 10(b), and 10(c) are side views illustrating the process of printing paste on the substrate B that has been carried in with its front surface facing up by the printing apparatus 1 according to an embodiment of the present disclosure. When the top surface of the substrate B held by the substrate holding unit 4 is the front surface Bt (first surface), the printing operation processing unit 42 controls the substrate positioning mechanism 7 to move the substrate holding unit 4 to the first printing position Q1 (arrow f1 in FIG. 10(a)). When the top surface of the substrate B held by the substrate holding unit 4 is the back surface Bb (second surface), the printing operation processing unit 42 controls the substrate positioning mechanism 7 to move the substrate holding unit 4 to the second printing position Q2 (arrow f2 in FIG. 10(a)).

[0051] Next, the printing operation processing unit 42 controls the imaging unit 25 to recognize the positions of the mask-side mark 6m and the substrate-side mark Bm (arrow f3 in FIG. 10(a)). Next, the printing operation processing unit 42 controls the substrate positioning mechanism 7 to correct the misalignment between the substrate B and the mask 6. Next, the printing operation processing unit 42 controls the camera unit moving mechanism 24 of the imaging unit 25 to retract the camera unit 23 from between the substrate holding unit 4 and the mask 6 to a position where it will not interfere with the printing operation (arrow f4 in FIG. 10(a)).

[0052] Next, the printing operation processing unit 42 controls the substrate positioning mechanism 7 to raise the substrate holding unit 4 (arrow f5), and brings the substrate B supported by the lower support member 17 into contact with the back surface of the mask 6 (FIG. 10(b)). Next, the printing operation processing unit 42 controls the printing mechanism 32 to supply paste Pt to the upper surface of the mask 6, and lowers the squeegee 30 to bring it into contact with the upper surface of the mask 6 (arrow f6 in FIG. 10(b)).

[0053] Next, the printing operation processing unit 42 controls the printing mechanism 32 to move the squeegee 30 (arrow f7) and transfer the paste Pt onto the substrate B via the mask 6 (FIG. 10(c)). Next, the printing operation processing unit 42 controls the substrate positioning mechanism 7 to lower the substrate holding unit 4 (arrow f8) and separate the substrate B supported by the lower support member 17 from the back surface of the mask 6 (FIG. 10(c)). This causes the paste Pt to be printed on the substrate B.

[0054] Next, a printing method for printing paste Pt on a substrate B using a mask 6 will be described with reference to FIGS. 7 to 10 and following the flow of FIG. 11. FIG. 11 is a flow diagram of a printing method according to an embodiment of the present disclosure. First, the holding operation processing unit 41 controls the carry-in conveyor 3 to transfer the substrate B received from upstream of the printing device 1 to the transport unit 11 of the substrate holding unit 4. Next, the holding operation processing unit 41 controls the transport conveyor 15 of the transport unit 11 to transport the substrate B from upstream to the first transport position P1a using the transport conveyor 15 (ST1: carry-in step) (arrow d1 in FIG. 7(a) and FIG. 8(a), arrow e1 in FIG. 9(a)).

[0055] Next, the holding operation processing unit 41 controls the imaging unit 25 to move it to a position where the center of the image captured by the camera for board recognition in the camera unit 23 is expected to coincide with the first board-side mark Bmt (arrow c1 in FIG. 7(a)), and capture an image of the top surface of the board B. Next, the recognition processing unit 43 of the recognition means 44 processes the image capture result and determines (recognizes) whether the top surface of the board B carried into the first transfer position P1a is the front surface Bt (first surface) or the back surface Bb (second surface) (ST2: recognition step).

[0056] 11, if the top surface of the substrate B is recognized as the front surface Bt (first surface) (Yes in ST2), then the holding operation processing unit 41 controls the support mechanism 12 to support the substrate B from below with the support members 17 and lift it to the support position P2 (ST3: support step) (arrow c3 in FIG. 7(b) and arrow d2 in FIG. 8(b)). Next, the holding operation processing unit 41 controls the clamping mechanism 13 to hold the side surfaces of the substrate B at the support position P2 with the pair of clamping members 20 (ST4: clamping step) (arrow c4 in FIG. 7(c)).

[0057] Next, the printing operation processing unit 42 controls the substrate positioning mechanism 7 to move the substrate holding unit 4 that holds the substrate B to the first printing position Q1 (ST5: first printing position movement step) (arrow f1 in FIG. 10(a)). Next, the printing operation processing unit 42 controls the imaging unit 25 to recognize the positions of the first mask-side mark 6m1 and the first substrate-side mark Bmt (arrow f3 in FIG. 10(a)), and controls the substrate positioning mechanism 7 to correct the positional deviation between the substrate B and the first pattern formation region R1 of the mask 6.

[0058] 11, the printing operation processing unit 42 then controls the substrate positioning mechanism 7 to raise the substrate holding unit 4 and bring the front surface Bt (first surface) of the substrate B into contact with the underside of the mask 6 (arrow f5 in FIG. 10(b)), and controls the printing mechanism 32 to print the paste Pt on the front surface Bt of the substrate B using the first pattern formation region R1 of the mask 6 (ST6: first surface printing step) (arrow f7 in FIG. 10(c)). Next, the printing operation processing unit 42 controls the substrate positioning mechanism 7 to lower the substrate holding unit 4 and separate the substrate B from the back surface of the mask 6 (arrow f8 in FIG. 10(c)), and moves the substrate holding unit 4 to the delivery position Qc.

[0059] Next, the holding operation processing unit 41 controls the transfer conveyor 15 of the transport unit 11, causing the transfer conveyor 15 to transfer the substrate B to the carry-out conveyor 5. Next, the holding operation processing unit 41 controls the carry-out conveyor 5 to transfer the substrate B, on which the paste Pt has been printed, downstream of the printing device 1 (ST7: carry-out step). In this way, the paste Pt is printed on the front surface Bt (first surface) of the substrate B.

[0060] In FIG. 11, if the top surface of the board B is recognized as the back surface Bb (second surface) (No in ST2), the holding operation processing unit 41 controls the transport conveyor 15 of the transport unit 11 to move (carry in) the board B to the second transport position P1b (ST8: carry-in position change process) (arrow e2 in FIG. 9(b)). Next, the support process (ST3) and clamp process (ST4) are executed. As a result, the components D mounted on the front surface Bt (first surface) of the board B fit into the recesses 17b, and the board B is held at the support position P2 without the mounted components D interfering with the support member 17 (arrow e3 in FIG. 9(c)).

[0061] Next, the printing operation processing unit 42 controls the substrate positioning mechanism 7 to move the substrate holding unit 4 holding the substrate B to the second printing position Q2 (ST9: second printing position movement step) (arrow f2 in FIG. 10(a)). Next, the printing operation processing unit 42 controls the imaging unit 25 to recognize the positions of the second mask side mark 6m2 and the second substrate side mark Bmb, and controls the substrate positioning mechanism 7 to correct the positional deviation between the substrate B and the second pattern formation region R2 of the mask 6.

[0062] 11, the printing operation processing unit 42 then controls the substrate positioning mechanism 7 to raise the substrate holding unit 4 and bring the back surface Bb (second surface) of the substrate B into contact with the underside of the mask 6, and controls the printing mechanism 32 to print the paste Pt on the back surface Bb of the substrate B using the second pattern formation region R2 of the mask 6 (ST10: second surface printing step). Next, the printing operation processing unit 42 controls the substrate positioning mechanism 7 to lower the substrate holding unit 4 to separate the substrate B from the back surface of the mask 6, and moves the substrate holding unit 4 to the delivery position Qc. Next, the carry-out step (ST7) is executed, and the substrate B on which the paste Pt has been printed is carried out downstream of the printing device 1. In this way, the paste Pt is printed on the back surface Bb (second surface) of the substrate B.

[0063] As described above, in the printing method of this embodiment, substrate B is carried into first transfer position P1a (ST1). If it is determined that the top surface of substrate B is the first surface (front surface Bt) (Yes in ST2), substrate B is supported by lower support member 17 and paste Pt is printed on the first surface of substrate B using first pattern formation region R1 of mask 6 (ST3 to ST6). If it is determined that the top surface of substrate B is the second surface (back surface Bb) (No in ST2), substrate B is moved to second transfer position P1b (ST8). Substrate B is supported by lower support member 17 and paste Pt is printed on the second surface of substrate B using second pattern formation region R2 of mask 6 (ST3 to ST4, ST9 to ST10). This allows paste to be printed appropriately on the front surface Bt (first surface) and back surface Bb (second surface) of substrate B.

[0064] As described above, the printing device 1 of this embodiment includes a transport unit 11 that transports the substrate B from upstream to the transport position P1 by the transport conveyor 15 and transports it downstream from the transport position P1, a recognition means 44 that recognizes whether the upper surface of the substrate B transported to the transport position P1 is the first surface (front surface Bt) or the second surface (back surface Bb), and a control unit C that controls the transport unit 11 based on the recognition result by the recognition means 44. This allows paste to be printed appropriately on the front surface Bt (first surface) and back surface Bb (second surface) of the substrate B.

[0065] 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]

[0066] The printing apparatus and printing method disclosed herein have the effect of being able to appropriately print paste on the front and back surfaces of a substrate, and are useful in the field of mounting components on substrates. [Explanation of symbols]

[0067] 1 Printing device 6. Mask 11 Conveyor 12 Lower support mechanism 15 Transport conveyor 17 Lower support member 25 Imaging unit 44 Recognition means B board Bb Back (Side 2) Bmb Second board side mark (mark) Bmt 1st board side mark (mark) Bt surface (first side) C control section D parts P1 Transfer position P1a First transfer position P1b Second 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 the substrate from upstream to a transport position by a transport conveyor and transports the substrate from the transport position to downstream; a recognition means for recognizing whether the top surface of the substrate carried into the transfer position is a first surface or a second surface; a control unit that controls the transport unit based on the recognition result by the recognition means, Printing device.

2. the transport conveyor is set to a first transport position where the substrate is transported when printing paste on a first surface of the substrate, and a second transport position where the substrate is transported when printing paste on a second surface of the substrate, the recognition means recognizes whether the top surface of the substrate carried into the first transfer position is the first surface or the second surface, When the upper surface of the substrate is recognized as the second surface, the control unit moves the substrate to the second transfer position by the transfer conveyor. The printing device of claim 1 .

3. a support mechanism that supports the substrate, which has been transported to the first transport position or the second transport position, from below with a support member and lifts the substrate from the transport position to a support position; the lower support member has a shape capable of supporting the board without interfering with components mounted on the first surface of the board carried into the second transport position with the second surface as an upper surface. The printing device according to claim 2 .

4. the lower support member has a shape capable of supporting the substrate carried into the first transport position with the first surface as an upper surface. The printing device according to claim 3 .

5. the recognition means recognizes whether the top surface of the substrate is the first surface or the second surface by recognizing a mark provided on the first surface or the second surface of the substrate or a component mounted on the substrate; The printing device of claim 1 .

6. a support mechanism that supports the substrate carried into the transfer position from below with a support member and lifts the substrate from the transfer position to a support position; the recognition means recognizes whether the upper surface of the substrate is the first surface or the second surface before the lower support member supports the substrate. The printing device of claim 1 .

7. a support mechanism that supports the substrate carried into the transfer position from below and lifts the substrate from the transfer position to a support position, the recognition means includes an imaging unit that is arranged so that a focal position is aligned with the top surface of the substrate supported at the lower support position and that images a mark on the top surface of the substrate. The printing device of claim 1 .

8. A printing method for printing a paste on a substrate using a mask, comprising: a carrying-in step of carrying the substrate from upstream to a transfer position by a transfer conveyor; a recognition step of recognizing whether the top surface of the substrate carried into the transfer position is a first surface or a second surface, Printing method.

Images