Mounting method and print-related member replacing method

Abstract

To more safely enable automatic replacement of a print-related member used in a printer.SOLUTION: A replacement unit that is used in a printer having a printing part for printing viscous fluid on a processing object using a screen mask includes: a moving part for receiving a storage rack having a plurality of shelf parts storing a print-related member used in a printer, and moving the storage rack between a replacement position where the print-related member is replaced and a stand-by position below the replacement position; and an area detection part for detecting an object existing in a predetermined first detection area around the replacement unit, when the storage rack exists outside a predetermined moving area between the stand-by position and the replacement position, on the other hand, detecting an object existing in a second detection area different from the first detection area, when the storage rack exists within the moving area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This specification discloses a replacement unit, a printing device, a mounting system, and a control method for the replacement unit. [Background technology]

[0002] Conventionally, for example, in a printing device that performs a printing process of a viscous fluid on a printing object such as a substrate using a screen mask, a device that automatically replaces printing-related components, including the screen mask used in the printing device, has been proposed (see, for example, Patent Document 1). This printing device can automatically replace printing-related components, thereby further reducing the burden on workers. Also, in a mounting system that uses such a printing device, a device has been proposed that includes a loader that replaces components used by a mounting device that mounts components on a processing object such as a substrate, identifies a work area where the worker will work, and controls the loader to prevent it from entering this identified work area (see, for example, Patent Document 2). This mounting system can reduce unnecessary operation of the loader. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 105016 [Patent Document 2] International Publication No. 2020 / 065809 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned printing device, a storage device is installed in front of the printing device and printing-related components are automatically exchanged between the printing device and the storage device, but because the storage device is located in front of the printing device, there is a problem that it is difficult for workers to work on the printing device. Furthermore, in the printing device as well, as with the above-mentioned mounting device, there is a need to ensure the safety of workers in their work areas, such as by detecting objects present in the work area.

[0005] The present disclosure has been made in consideration of these problems, and its main purpose is to provide a replacement unit, a printing device, an implementation system, and a control method for the replacement unit that can ensure greater safety when automatically replacing printing-related components used in a printing device. [Means for solving the problem]

[0006] The replaceable unit, printing device, mounting system, and replaceable unit control method disclosed in this specification employ the following means to achieve the above-mentioned main object.

[0007] The replacement unit of the present disclosure comprises: A replacement unit used in a printing device having a printing unit that performs a printing process of a viscous fluid on a processing object using a screen mask, a moving unit that receives a storage rack having a plurality of shelves that stores print-related components used in a printing device, and moves the storage rack between an exchange position where the print-related components are exchanged and a standby position that is lower than the exchange position; an area detection unit that detects an object present in a predetermined first detection area around the replacement unit when the storage rack is outside a predetermined movement area between the standby position and the replacement position, and detects an object present in a second detection area different from the first detection area when the storage rack is within the movement area; It is equipped with the following. [Effects of the Invention]

[0008] This replacement unit detects objects present in a predetermined first detection area around the replacement unit when a storage rack containing print-related components is located outside a predetermined movement area between the standby position and the replacement position, but detects objects present in a second detection area different from the first detection area when the storage rack is located within the movement area. Because this replacement unit can appropriately change the object detection area depending on the position of the storage rack, it can ensure greater safety when automatically replacing print-related components used in a printing device. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic explanatory diagram showing an example of a mounting system 10 and a printing device 11. [Figure 2] FIG. 2 is a schematic explanatory diagram of a storage rack 80. [Figure 3] FIG. 4 is an explanatory diagram showing an example of a rack moving unit 43. [Figure 4] FIG. 2 is an explanatory diagram showing an example of a printing device 11, a replacement unit 40, and a storage rack 80. [Figure 5] FIG. 2 is an explanatory diagram showing an example of a mounting device 15 and a loader 18. [Figure 6] 10 is an explanatory diagram showing how the storage rack 80 is received and moved between the standby position and the exchange position. FIG. [Figure 7] 3 is an explanatory diagram of a first detection area 91, a second detection area 92, and a warning area 93. FIG. [Figure 8] 10 is a flowchart showing an example of a detection area setting processing routine. [Figure 9] 10 is a flowchart showing an example of a printing-related component replacement processing routine. [Figure 10] FIG. 10 is an explanatory diagram of the first detection area 91 when the storage rack 80 is in the standby position. [Figure 11] FIG. 10 is an explanatory diagram of the second detection area 92 when the storage rack 80 is in the movement area. [Figure 12] 10 is an explanatory diagram of the first detection area 91 and the lower surface area 94 when the storage rack 80 is in the replacement position. FIG. [Figure 13] 10 is a flowchart showing an example of a mounting-related member replacement processing routine. [Figure 14] FIG. 10 is an explanatory diagram of another second detection area 92B when the storage rack 80 is in the movement area. DETAILED DESCRIPTION OF THE INVENTION

[0010] This embodiment will be described below with reference to the drawings. FIG. 1 is a schematic diagram illustrating an example of a mounting system 10 and a printing device 11 according to the present disclosure. FIG. 2 is a schematic diagram illustrating a storage rack 80. FIG. 3 is a diagram illustrating an example of a rack moving unit 43. FIG. 4 is a diagram illustrating an example of a printing device 11, a replacement unit 40, and a storage rack 80. FIG. 5 is a diagram illustrating an example of a mounting device 15 and a loader 18. FIG. 6 is a diagram illustrating the receiving unit 42 receiving the storage rack 80 and moving it between the standby position and the replacement position. FIG. 7 is a diagram illustrating a first detection area 91, a second detection area 92, and a security area 93 of the mounting system 10. FIG. 7A is a diagram illustrating the first detection area 91 when the storage rack 80 is in the standby position, FIG. 7B is a diagram illustrating the second detection area 92 when the storage rack 80 is in the transfer area, and FIG. 7C is a diagram illustrating the first detection area 91 when the storage rack 80 is in the replacement position. This mounting system 10 includes a printing device 11, a print inspection device 12, a storage device 13, a host computer (PC) 14, a mounting device 15, an automated guided vehicle 16, a management computer (PC) 17, a loader 18, a mounting inspection device (not shown), and a reflow device (not shown). The mounting system 10 is configured as a production line, for example, in which mounting devices 15 that mount components P on a substrate S (a processing target) are arranged downstream of the printing device 11 in the transport direction of the substrate S. In the mounting system 10, mounting-related devices related to the mounting process include a transport device that transports the substrate S, the printing device 11, the print inspection device 12, the storage device 13, the mounting device 15, the loader 18, the mounting inspection device, the reflow device, etc. In this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIGS. 1, 3 to 5, and 7.

[0011] The print inspection device 12 is a device that inspects the state of a viscous fluid such as solder paste printed on the board S by the printing device 11. The mounting inspection device is a device that inspects the state of components P mounted on the board S. The reflow device is a device that reflows the board on which solder has been printed and components P have been mounted. The management PC 17 is a device that manages information about each device in the mounting system 10. This management PC 17 manages the progress status of each device on the production line that performs mounting processing.

[0012] As shown in FIGS. 1 to 4, the printing device 11 uses a squeegee 25 to push solder on a screen mask M into pattern holes formed in the screen mask M, thereby applying (printing) the solder as a viscous fluid onto a substrate S serving as a processing object below through the pattern holes. Here, examples of the "processing object" include a substrate S on which components P are mounted and a three-dimensional base material. Examples of the "viscous fluid" include solder paste, conductive paste, and adhesive. The following description uses the substrate S and solder paste as examples. The screen mask M is fixed inside a frame 29. The frame 29 can hold screen masks M of various sizes and is sized to fit on a shelf 81 of a storage rack 80 (see FIG. 1). As shown in FIG. 4, the printing device 11 includes a print control unit 20, a printing unit 22, a mask operation unit 26, a substrate processing unit 30, a cleaning unit 33, a fluid supply unit 35, a rack detection unit 37, an operation panel 38, and a replacement unit 40.

[0013] The print control unit 20 is configured as a microprocessor centered on a CPU 21 and controls the entire printing apparatus 11. The print control unit 20 outputs signals to the printing unit 22, masking unit 26, substrate processing unit 30, cleaning unit 33, fluid supply unit 35, operation panel 38, and replacement unit 40, as well as to the management PC 17, which serves as an external device. The print control unit 20 also inputs signals from the printing unit 22, masking unit 26, substrate processing unit 30, cleaning unit 33, fluid supply unit 35, rack detection unit 37, operation panel 38, and replacement unit 40, as well as from the management PC 17, which serves as an external device. The print control unit 20 has a storage unit that stores information about the substrate S to be printed, a print processing program that performs the print processing on the substrate S, and a component replacement processing program that executes the frame 29 replacement process by the replacement unit 27.

[0014] The printing unit 22 is disposed on the upper stage of the printing device 11 and is a unit that prints a viscous fluid onto a substrate S using a screen mask M. As shown in FIGS. 1 and 4, the printing unit 22 includes a print head 23, a print moving unit 24, a squeegee lifting unit (not shown), and a squeegee 25. The print moving unit 24 moves the print head 23 in a predetermined printing direction (here, the front-to-rear direction) and includes a guide formed in the front-to-rear direction, a slider that moves along the guide, and a motor that drives the slider. The squeegee 25 is disposed below the print head 23 and is raised and lowered by the squeegee lifting unit. The printing unit 22 has two squeegees 25, one for each of the front and rear directions. As shown in FIG. 4, the mask working unit 26 is disposed between the printing unit 22 and the substrate processing unit 30 in the vertical direction and is a unit that fixes and holds the screen mask M. The mask working unit 26 includes an exchange unit 27 and a mask fixing unit 28. The replacement unit 27 is a transport rod attached to the print head 23, and is lowered by an air cylinder (not shown) to a position where it contacts the screen mask M. As the replacement unit 27 rotates, the contact portion that contacts the frame 29 also moves back and forth (see dotted lines in Figure 4). The print head 23 and replacement unit 27 engage with the frame 29 between the shelf 81 at a predetermined height of the storage rack 80 and the printing unit 22, moving the frame 29. The mask fixing unit 28 positions the screen mask M and supports and fixes it in a horizontal position. The screen mask M is pushed by the replacement unit 27 and moved back and forth along the guides of the mask working unit 26, and is fixed by the mask fixing unit 28. The substrate processing unit 30 is disposed below the mask working unit 26 and is a unit that loads the substrate S, positions and supports the loaded substrate S, and brings it into contact with and away from the screen mask M. The substrate processing unit 30 includes a substrate transport unit 31 that transports the substrate S in the left-right direction, a support member 32 that supports the substrate S from below, and a substrate lifting unit that lifts and lowers the entire substrate processing unit 30 and the support member 32. The cleaning unit 33 is disposed between the mask working unit 26 and the substrate processing unit 30 in the vertical direction, and is a unit that performs cleaning processing to clean the back surface of the screen mask M. The cleaning unit 33 has a cleaning member 34 that comes into contact with the screen mask M to clean it.The fluid supply unit 35 is a unit that supplies solder contained in a cartridge 36 onto the screen mask M. The fluid supply unit 35 is disposed in front of the print head 23. The fluid supply unit 35 applies pressure to the cartridge 36 to cause the solder to be ejected from the cartridge 36. The cleaning member 34 and cartridge 36 are consumables and are replaced as necessary. The rack detection unit 37 is a sensor that detects whether or not a storage rack 80 is present inside the front of the printing device 11. The operation panel 38 is a unit that receives input from the operator W and presents information to the operator W. The operation panel 38 includes a display unit and an operation unit that is a touch panel type and has buttons.

[0015] The storage rack 80 is a container that houses frames 29 capable of supporting screen masks M, which are printing-related components used in the printing process performed in the printing unit 22. As shown in FIGS. 1 and 2 , the storage rack 80 includes a rack body 80a, a handle 83, caster members 84, and a support fixing member 85. The rack body 80a includes multiple shelves 81 and an opening 82. The shelves 81 are vertically arranged at predetermined intervals so that frames 29 supporting screen masks M can be placed vertically. The opening 82 communicates with the outside, such as the printing unit 22, and the frames 29 are loaded and unloaded through this opening 82. This storage rack 80 only houses the frames 29 and does not include a power source, such as a drive unit for moving the frames 29 or a drive unit for raising and lowering the frames 29. This storage rack 80 can further simplify its configuration. The shelves 81 are sized to accommodate the frame sizes of various printing-related components. That is, the shelf 81 is sized to accommodate the largest frame 29. The storage rack 80 may have individual shelf sections 81 corresponding to the frame sizes of various print-related materials, or a single storage rack 80 may have multiple shelf sections 81 all of the same size. In the latter case, multiple storage racks 80 with the same external dimensions may be prepared, and the shelf sections 81 of each storage rack 80 may correspond to one of the frame sizes of various print-related materials. In this case, the number of types of storage racks 80 increases, but since the external dimensions of the storage racks 80 are the same, each storage rack 80 can share the receiving section 42 even if the corresponding frame sizes of the print-related materials are different. The handle 83 is fixed to the top of the rack body 80a. The handle 83 is composed of a rod-shaped member that the operator W grasps and a support member that secures the rod-shaped member. The caster section 84 is disposed at the bottom of the rack body 80a. The caster unit 84 is composed of a structure with a space in the center and casters with wheels arranged on the underside of the structure. The worker W can also move the storage rack 80 by holding the handle 83. In addition to the screen mask M, examples of printing-related parts include the squeegee 25, the support member 32, the cleaning member 34, and the cartridge 36.

[0016] The support and fixation members 85 are plate-shaped members fixed to the left and right ends of the front lower surface of the rack main body 80a. The support and fixation members 85 are members used when connecting to the replacement unit 40. As shown in FIG. 2 , the support and fixation members 85 have a block portion 86, a receiving portion 87, a locking hole 88, and an insertion hole 89. The block portion 86 is a member that connects the hook portion 47 provided on the replacement unit 40, and a space is provided between the two blocks into which the hook portion 47 is inserted. The receiving portion 87 is a portion that receives the cam follower 44a disposed on the lifting member 44 provided on the replacement unit 40, and has an arc-shaped notch portion. The locking hole 88 is a through hole into which the clamp lever 52 of the fixing portion 50 disposed on the lifting member 44 of the replacement unit 40 is inserted. The insertion hole 89 is a through hole into which the insertion pin 53 of the fixing portion 50 disposed on the lifting member 44 of the replacement unit 40 is inserted.

[0017] The replacement unit 40 is used in a printing apparatus 11 equipped with a printing section 22 that performs a viscous fluid printing process on a processing target using a screen mask M. The replacement unit 40 automatically replaces printing-related components used in the printing apparatus 11 between the printing apparatus 11 and the replacement unit 40. The replacement unit 40 is configured as a device that receives a storage rack 80 that stores printing-related components such as the screen mask M fixed to a frame 29 and moves the storage rack 80 up and down. The replacement unit 40 has a left unit 41 and a right unit 51. The left unit 41 is disposed on the front left side of the housing of the printing apparatus 11. The right unit 51 is disposed on the front right side of the housing of the printing apparatus 11. As shown in FIG. 4 , the left unit 41 and the right unit 51 are formed such that a length A along the movement direction of the frame 29 is shorter than a length B of the storage rack 80. The replacement unit 40 has a lifting space 49 between the left unit 41 and the right unit 51, through which the storage rack 80 moves up and down. When the storage rack 80 is in the standby position, the replacement unit 40 stores the storage rack 80 on the same surface as the front surface of the main body of the replacement unit 40 or on the inside of this front surface of the main body, and when the storage rack 80 is in the replacement position, the storage rack 80 is supported at a position protruding from the front surface of the main body of the replacement unit 40. Note that the right-side unit 51 has the same configuration as the left-side unit 41 except that it faces the left-side unit 41, and detailed description thereof will be omitted. Note that the right-side unit 51 includes a receiving section, a rack moving section, a lifting member, a cam follower, a lifting drive section, a front-rear moving section, a hook section, a front-rear drive section, a fixed section, an area detection section 56, a bottom surface detection section 58, etc.

[0018] The left unit 41 includes a receiving unit 42, a rack moving unit 43, a fixing unit 50, a region detecting unit 55, and a bottom detecting unit 57. The receiving unit 42 receives a storage rack 80 having multiple shelves 81 that house frames 29 capable of supporting print-related components used in the printing device 11, and supports the storage rack 80 from below to move it up and down. The rack moving unit 43 moves the storage rack 80 up and down and back and forth between a replacement position where the print-related components are replaced, a liftable position below the replacement position, and a standby position where the storage rack 80 enters the housing of the printing device 11. In the replacement unit 40, the area between the replacement position and the standby position, excluding the replacement position and the standby position, is referred to as the "movement region" of the storage rack 80. As shown in FIG. 3 , the rack moving unit 43 includes a lifting member 44, a lifting drive unit 45, a hook unit 47, and a front-rear drive unit 48. The lifting member 44 is a plate-like member provided on the surface of the left unit 41 facing the right unit 51. The lifting member 44 is moved up and down along the inner surface of the housing of the left unit 41 by the lifting drive unit 45. Cam followers 44a are provided on the front and rear ends of the lifting member 44. The cam followers 44a support a support fixing member 85 provided on the storage rack 80 from below, and move the storage rack 80 up and down as the lifting member 44 moves up and down. The lifting drive unit 45 may, for example, include a ball screw with a lifting shaft and a drive motor to move the lifting member 44 up and down, or may use a linear motor to move the lifting member 44 up and down. The rack moving unit 43 also has a fixing unit 50 that restricts horizontal movement and / or falling of the storage rack 80 when the storage rack 80 moves to the liftable position and becomes liftable. The fixing part 50 is a safety mechanism that prevents the storage rack 80 from unintentionally moving or falling when the storage rack 80 is raised or lowered by the rack moving part 43. The fixing part 50 includes a clamp part having a clamp lever 52 that is inserted into a locking hole 88 formed in the support fixing member 85, and a stopper part having an insertion pin 53 that is inserted into an insertion hole 89 formed in the support fixing member 85. The hook part 47 is a member that is arranged on the shaft of the front-rear drive part 48 so as to be able to rise and fall, and rises relative to a block part 86 provided on the storage rack 80 to engage with this block part 86.The front-rear drive unit 48 moves the hook portion 47 between a standby position and a liftable position. The front-rear drive unit 48 may have a ball screw and a drive motor to move the hook portion 47 back and forth, or may use a linear motor to move the hook portion 47 back and forth.

[0019] The area detection unit 55 is a sensor that detects objects present around the left unit 41. This area detection unit 55 can use, for example, a laser scanner or an infrared sensor, and can switch between multiple different detection areas to detect objects. The area detection unit 55 defines a first detection area 91 (see FIGS. 7A and 7C) as a 270° range from the sensor center, excluding the area of ​​the housing of the left unit 41, and defines a second detection area 92 (see FIG. 7B) as a 225° range obtained by cutting out a 45° range on the front of the housing of the left unit 41. The first detection area 91 can be, for example, a front area of ​​the replacement unit 40, particularly a region that includes the entire front surface. The second detection area 92 can be, for example, a narrower area than the first detection area 91, avoiding components arranged on the storage rack 80, such as the caster parts 84 (see FIG. 11, described later). The second detection area 92 is defined as a triangular blank area in front of the printing device 11. The area detection unit 55 detects objects present in the area to the left of the front of the printing device 11. The area detection unit 56 is a sensor that detects objects present around the right unit 51. This area detection unit 56 has a configuration similar to that of the area detection unit 55. It defines a 270° range excluding the area of ​​the housing of the right unit 51 as a first detection area 91 (see FIGS. 7A and 7C), and a 225° range obtained by cutting out a 45° range from the front of the housing of the right unit 51 as a second detection area 92 (see FIG. 7B). The area detection unit 56 detects objects present within these areas. The area detection unit 56 also defines a rectangular area to the side of the area detection unit 56, for example, in front of the print inspection device 12, as a security area 93, and has the function of detecting objects present in this security area 93. As shown in FIGS. 1 and 7, the security area 93 overlaps with the movement area of ​​the loader 18, and can be used as an area in which the approach of the loader 18 can be detected. The security area 93 also includes areas outside the first detection area 91 and the second detection area 92.The rack movement time is defined as the time it is estimated to take for the storage rack 80 to move from a position outside the detection area 95 to a position within the detection area 95, and the loader movement time is defined as the time it is estimated to take for the detection area 95 together with the loader 18 to move from a position outside the security area 93 to a position including the movement area. The distance of this security area 93 from the area detection unit 56 in the movement direction of the loader 18 is determined so that the rack movement time is shorter than the loader movement time. This security area 93 allows the replacement unit 40 to detect the approach of the loader 18 before it enters the first detection area 91 or the second detection area 92. As shown in FIGS. 1 and 3 , the bottom surface detection unit 57 is an area sensor used in conjunction with the bottom surface detection unit 58 disposed below the right unit 51. The bottom surface detection units 57, 58 have one or more of a plurality of linearly arranged irradiating units and a plurality of linearly arranged light receiving units, and are configured as a light curtain that detects the presence or absence of an object when light is blocked. The area detection units 55 and 56 and the bottom surface detection units 57 and 58 are sensors used to regulate the movement of the storage rack 80 when it is moved between the standby position and the replacement position, thereby ensuring the safety of the worker W and the like.

[0020] The replacement unit 40 includes a replacement control unit 59. The replacement control unit 59 is configured as a microprocessor centered on a CPU and controls the entire replacement unit 40. The replacement control unit 59 outputs signals to the lift drive unit 45, the front-rear drive unit 48, and the print control unit 20. The replacement control unit 59 also receives signals from the area detection units 55 and 56, the bottom surface detection units 57 and 58, and the print control unit 20. When the replacement control unit 59 receives a signal from the rack detection unit 37 indicating that the storage rack 80 has been received by the receiving unit 42, the replacement control unit 59 raises the hook portion 47 and engages the hook portion 47 with the block portion 86. When replacing print-related components, the replacement control unit 59 raises the storage rack 80 from the standby position, via the liftable position, to the replacement position using the rack moving unit 43. When replacement of the print-related components is completed, the replacement control unit 59 moves the storage rack 80 from the replacement position, via the liftable position, to the standby position using the rack moving unit 43.

[0021] The mounting device 15 is an apparatus for picking up components P and mounting them on a substrate S as a processing target. As shown in FIG. 5 , the mounting device 15 includes a mounting control unit 60, a substrate processing unit 61, a component supply unit 63, and a mounting unit 64. The mounting control unit 60 is configured as a microprocessor centered on a CPU 60a and controls the entire device. The mounting control unit 60 has a memory unit that stores mounting condition information (production jobs) including information on the components P, the arrangement order and positions for mounting the components P on the substrate S, and the mounting positions of the feeder F that picks up the components P. The mounting control unit 60 outputs control signals to the substrate processing unit 61, the component supply unit 63, the mounting unit 64, and an operation panel 68, while inputting signals from the substrate processing unit 61, the component supply unit 63, the mounting unit 64, and the operation panel 68. The substrate processing unit 61 loads, transports, fixes at the mounting position, and unloads the substrate S, and also supports the substrate S from below using a support member 62. The support member 62 is composed of a backup plate serving as a base and backup pins that are positioned at any position depending on the board S. The backup pins may be positioned at a predetermined position on the backup plate by the mounting unit 64. The component supply unit 63 is a unit that supplies components P to the mounting unit 64. The component supply unit 63 has one or more mounting units that mount feeders F, each of which includes a reel around which tape is wound as a holding member that holds the components P. The component supply unit 63 has upper and lower mounting units: a mounting mounting unit 63a that mounts the feeder F used in the mounting process, and a buffer mounting unit 63b that mounts a spare feeder F. Here, the mounting mounting unit 63a and the buffer mounting unit 63b are collectively referred to as the mounting unit. The feeder F is equipped with a controller (not shown). The controller stores information such as the ID of the tape contained in the feeder F, the type of component P, and the remaining number of components P. When the feeder F is mounted in the mounting unit, the controller transmits information about the feeder F to the mounting control unit 60. The component supply unit 63 may also be provided with a tray unit having a tray as a holding member on which a plurality of components P are arranged and placed.

[0022] The mounting unit 64 is a unit that picks up components P from the component supply unit 63 and places them on a board S fixed to the board processing unit 61. The mounting unit 64 includes a head moving unit 65, a mounting head 66, and a nozzle 67. The head moving unit 65 includes a slider that moves in the X and Y directions along a guide rail, and a motor that drives the slider. The mounting head 66 picks up one or more components P and is moved in the X and Y directions by the head moving unit 65. The mounting head 66 is removably attached to the slider. One or more nozzles 67 are removably attached to the underside of the mounting head 66. The nozzles 67 pick up the components P using negative pressure. Note that the picking member that picks up the components P may be a mechanical chuck that mechanically holds the components P, in addition to the nozzles 67. The operation panel 68 is a unit that receives input from the operator W and presents information to the operator W. The operation panel 68 includes a display unit and an operation unit having a touch panel and buttons.

[0023] As shown in FIG. 1 , the storage device 13 is a storage location for temporarily storing feeders F as mounting-related components used in the mounting device 15. The storage device 13 has a transport device for transporting the board S and is provided between the print inspection device 12 and the mounting device 15. The storage device 13 has a mounting unit similar to the component supply unit 63. When the feeder F is connected to this mounting unit, the controller of the feeder F outputs information about the feeder F to a host PC 14 connected to the storage device 13. In addition to being transported to the storage device 13 by an automated guided vehicle 16, the feeder F may also be transported by a worker W. The host PC 14 is configured as a device for managing the work content and work results of the storage device 13 and the loader 18. The automated guided vehicle 16 transports components used in the mounting system 10, such as printing-related components used by the replacement unit 40 and mounting-related components used by the loader 18. The automated guided vehicle 16 automatically transports, for example, printing-related materials, mounting-related materials, and the like between a warehouse (not shown) and the storage device 13. The automated guided vehicle 16 may be an AGV (Automatic Guided Vehicle) that moves along a predetermined path, or an AMR (Autonomous Mobile Robot) that senses its surroundings and moves along a free route. When the automated guided vehicle 16 moves the storage rack 80, it may move the storage rack 80 by, for example, entering the central space of the caster unit 84 and lifting a loading unit (not shown) disposed on the top surface.

[0024] The loader 18 is configured as a mobile work device that moves within a movement range around the mounting device 15 on the front side of the mounting device 15 to automatically attach, detach, collect, and supply mounting-related components used in the mounting device 15, such as feeders F. As shown in FIG. 5 , the loader 18 includes a movement control unit 70, a storage unit 73, an exchange unit 74, a movement unit 75, and an area detection unit 76. The movement control unit 70 is configured as a microprocessor centered on a CPU 71 and controls the entire device. The movement control unit 70 controls the entire device to collect feeders F from the component supply unit 63 or to supply feeders F to the component supply unit 63, and to move feeders F between the storage device 13. The storage unit 73 has a storage space that can store one or more feeders F. The storage unit 73 is configured to be able to store, for example, four feeders F. The exchange unit 74 is a mechanism that moves feeders F in and out of the storage unit 73 and moves them between upper and lower levels. The exchange unit 74 has a clamp unit that clamps the feeder F, a Y-axis slider that moves the clamp unit in the Y-axis direction (front-back direction), and a Z-axis slider that moves the clamp unit in the Z-axis direction (up-down direction). The exchange unit 74 performs the attachment and detachment of the feeder F to and from the mounting attachment unit 63a, the attachment and detachment of the feeder F to and from the buffer attachment unit 63b, and the attachment and detachment of the feeder F to and from the attachment unit of the storage device 13. The movement unit 75 is a mechanism that moves the loader 18 in the X-axis direction (left-right direction) along the X-axis rail 19 arranged in front of the mounting device 15. The area detection unit 76 is a sensor that detects whether or not an object is present around the main body of the loader 18. The area detection unit 76 detects the presence or absence of an object in a detection area 95 that includes the periphery of the loader 18 on the front side of the mounting system 10. Like the area detection unit 55, the area detection unit 76 can use a laser scanner. This area detection unit 76 is a sensor that regulates the movement of the loader 18 when it is moved, and is used to ensure the safety of the worker W and others. The loader 18 outputs its current position and the details of the work that has been performed to the host PC 14. This loader 18 is capable of automatically attaching and detaching the feeder F as a mounting-related member, but may also be configured to collect and replenish other members related to the mounting process, such as the support member 62, mounting head 66, and nozzle 67.

[0025] In this mounting system 10, the printing device 11 and the mounting device 15 are arranged so that their front faces are on the same side, and the replacement unit 40 and the loader 18, which serves as a mobile work device, are arranged on the same side. In particular, in the mounting system 10, the replacement unit 40 and the loader 18 are arranged on the front side of the printing device 11 and the mounting device 15. In this mounting system 10, the storage device 13 is arranged between the printing device 11 and the mounting device 15 so that the replacement work position is on the same side as the replacement unit 40 and the loader 18. Also, in this mounting system 10, as shown in FIG. 1 , the automated guided vehicle 16 has a travel path on the side where the replacement unit 40 and the loader 18 are arranged. The loader 18 replaces a feeder F, which serves as a mounting-related component, between the storage device 13 and the mounting device 15.

[0026] Next, an overview of the printing process of the printer 11 configured as described above will be described. When performing the printing process, the automated guided vehicle 16 transports the storage rack 80 to the replacement unit 40 (first stage in FIG. 6 ), and the replacement unit 40 receives the storage rack 80 (second stage in FIG. 6 ). After the replacement unit 40 receives the storage rack 80 via the automated guided vehicle 16, the operator W inputs a command to execute the printing process via the operation panel 38. A printing process routine for executing the printing process is stored in the memory of the printing control unit 20 and is executed by the CPU 21 of the printing control unit 20 after the operator W inputs a command to execute the printing process. When the printing process routine starts, the CPU 21 first transports, fixes, and lifts the substrate S using the substrate processing unit 30, thereby bringing the substrate S into contact with the screen mask M. At this time, the CPU 21 adjusts the position of the screen mask M using the mask working unit 26 to align the pattern holes with the substrate S. Next, the CPU 21 moves the cartridge 36 over the screen mask M and causes solder to be dispensed onto it. Next, the CPU moves the print head 23 and lowers the squeegee 25 to abut the upper surface of the screen mask M, and then moves it back and forth to print solder on the board S. In this way, the print control unit 20 performs a printing process including a board transport and fixing process, a solder supply process, and a squeegee movement process to print on the board S. Furthermore, when the use of the screen mask M is finished, the CPU 21 executes a process to replace it with the next screen mask M. First, the CPU 21 pulls out the storage rack 80 from the standby position retracted into the housing of the printing device 11 to the liftable position (third stage in FIG. 6 ), and then raises the storage rack 80 to the replacement position (fourth stage in FIG. 6 ). Then, the CPU 21 replaces the screen mask M using the replacement unit 27, and when the replacement is complete, moves the storage rack 80 to the standby position using the rack movement unit 43. The CPU 21 repeatedly performs the printing process while replacing the screen mask M until the production process for all types of boards S in the manufacturing plan is completed.

[0027] Next, an overview of the process in which the mounting device 15 mounts components P on the board S will be described. When the mounting process begins, the CPU 60a of the mounting control unit 60 first controls the board processing unit 61 to load and secure the board S. Next, the CPU 60a reads mounting condition information and, based on the mounting condition information, causes the mounting head 66 to pick up components P from the feeders F attached to the component supply unit 63 and place them on the board S. After placing the components P on the board S, the CPU 60a ejects the board S to the board processing unit 61 and repeats the above-described process. During this mounting process, the CPU 60a manages the number of components consumed from each feeder F, and when the number of remaining components falls below a predetermined warning value, sends that information to the host PC 14. Based on this information, the host PC 14 causes the loader 18 to perform a replacement operation. The loader 18 moves along the X-axis rail 19 between the storage device 13 and the mounting device 15 and performs the feeder F replacement process on the target mounting device 15. In this way, the mounting device 15 repeatedly performs the process of placing components P on the boards S while exchanging feeders F until the production process for all boards S in the manufacturing plan is completed.

[0028] Next, a specific process for ensuring safety when the storage rack 80 is moved to replace printing-related components in the replacement unit 40 will be described. First, the setting of the first detection area 91 and the second detection area 92 will be described. FIG. 8 is a flowchart showing an example of a detection area setting process routine executed by the replacement control unit 59. This routine is stored in the memory unit of the replacement control unit 59 and is executed after the printing process is started by the printing device 11. When this routine is executed, the CPU of the replacement control unit 59 determines whether the storage rack 80 is outside a predetermined movement area (S100). The movement area is set to an area through which the storage rack 80 moves between the standby position and the replacement position, excluding the standby position and the replacement position. When the storage rack 80 is outside the movement area, i.e., when the storage rack 80 is in the standby position or the replacement position, the detection area for detecting the presence of an object is set to the first detection area 91 (S110). When the storage rack 80 is outside the movement area, the replacement control unit 59 detects the presence of an object using the first detection area 91, which is a wider area, because there is no risk of falsely detecting components arranged on the storage rack 80, such as the caster unit 84. On the other hand, when the storage rack 80 is within the movement area in S100, the replacement control unit 59 sets the detection area for detecting the presence of an object to the second detection area 92 (S120). When the storage rack 80 is within the movement area, there is a possibility of falsely detecting components arranged on the storage rack 80, such as the caster unit 84, so the replacement control unit 59 detects the presence of an object using the second detection area 92, which is a narrower area. After S120 or S110, the CPU outputs the setting result to the area detection units 55 and 56 (S130). The area detection units 55 and 56 perform object detection using the detection area of ​​this setting result. The CPU then determines whether all processing has been completed (S140), and if not, executes processing from S100 onwards. On the other hand, if all processing has been completed in S140, for example, when printing processing has been completed or the power has been turned off, the CPU ends this routine. In this way, the replacement unit 40 changes the detection areas of the area detection units 55, 56 depending on the position of the storage rack 80.

[0029] Next, specific processing when moving the storage rack 80 to replace a print-related component will be described. FIG. 9 is a flowchart showing an example of a print-related component replacement processing routine executed by the replacement control unit 59. This routine is stored in the memory unit of the replacement control unit 59 and is executed when it is time to replace a screen mask M as a print-related component. When this routine starts, the storage rack 80 is in the standby position, and a first detection area 91 is set as the detection area. FIG. 10 is an explanatory diagram of the first detection area 91 when the storage rack 80 is in the standby position, FIG. 10A is a diagram of the first detection area 91, the alert area 93, and the detection area 95, and FIG. 10B is a perspective view of the surroundings of the printing device 11. FIG. 11 is an explanatory diagram of the second detection area 92 when the storage rack 80 is in the movement area, FIG. 11A is a diagram of the second detection area 92, the alert area 93, and the detection area 95, and FIG. 11B is a perspective view of the surroundings of the printing device 11. Figure 12 is an explanatory diagram of the first detection area 91 and the underside area 94 when the storage rack 80 is in the replacement position, Figure 12A is a diagram of the first detection area 91, the alert area 93 and the detection area 95, and Figure 12B is an oblique view of the surroundings of the printing device 11.

[0030] When this routine is executed, the CPU of the replacement control unit 59 determines whether an object has been detected in the detection area and whether an object has been detected in the security area 93 (S200). The CPU acquires a detection signal for the first detection area 91 from the area detection units 55 and 56 to perform this determination (see FIG. 10). When an object is detected in at least one of the first detection area 91 and the security area 93, the CPU prohibits movement of the storage rack 80 (S210) and executes the processing from S200 onward. That is, the CPU does not execute movement of the storage rack 80 until no object is detected in either the detection area or the security area 93. On the other hand, when no object is detected in either the detection area or the security area 93, the CPU executes processing to move the storage rack 80 to the replacement position (S220). At this time, the detection area is switched from the first detection area 91 to the second detection area 92 (see FIG. 11).

[0031] After S220, the CPU of the exchange control unit 59 determines whether an object has been detected in the detection area based on signals acquired from the area detection units 55 and 56 (S230). If an object has been detected in the detection area, the CPU temporarily stops the movement of the storage rack 80 (S240) and executes the processes from S230 onward. Here, the CPU determines whether an object has been detected in the second detection area 92, and may temporarily stop the movement of the storage rack 80 for a predetermined time (e.g., 3 seconds, 5 seconds, 10 seconds, etc.). On the other hand, if no object has been detected in the detection area in S230, the CPU determines whether an object has been detected in the security area 93 (S250). If an object has been detected in the security area 93, the CPU continues the movement of the storage rack 80 (S260). The object detected in the security area 93 is primarily the loader 18, and the exchange control unit 59 can detect the approach of the loader 18. As will be described in more detail below, the loader 18 temporarily stops moving along the X-axis rail 19 when an object is detected in the detection area 95. When the storage rack 80 is within the movement area, for example, the caster unit 84 may enter the detection area 95, so the exchange control unit 59 continues the movement of the storage rack 80 so that it quickly moves out of the detection area 95.

[0032] After S260, or if no object is detected in the security area 93 in S250, the CPU of the replacement control unit 59 determines whether the storage rack 80 has completed moving to the replacement position (S270). If the storage rack 80 has not completed moving to the replacement position, the CPU executes the processing from S220 onwards. That is, after the storage rack 80 starts moving, the CPU executes movement of the storage rack 80 if no object is detected in the second detection area 92, and continues moving the storage rack 80 even if an object is detected in the security area 93.

[0033] Meanwhile, when the storage rack 80 has completed moving to the replacement position in S270, the CPU of the replacement control unit 59 activates the lower surface detection units 57 and 58, causing them to begin detection (S280), and executes replacement processing for the screen mask M, which is a printing-related member (S290). At this time, the detection area switches from the second detection area 92 to the first detection area 91 (see FIG. 12). The lower surface detection units 57 and 58 also execute detection of objects in the lower surface area 94 on the lower side of the storage rack 80. In the replacement processing, for example, the replacement control unit 59 controls the lifting / lowering drive unit 45 to raise the height of the empty shelf unit 81 to the replacement position of the printing device 11, and outputs a replacement command to the printing device 11. In response to this, the printing control unit 20 drives the replacement unit 27 to move the frame 29 for discharge. Next, the replacement control unit 59 controls the lifting / lowering drive unit 45 to adjust the height of the shelf unit 81 on which the next screen mask M to be used is placed to the replacement position, and outputs a replacement command to the printing device 11. In response to this, the printing control unit 20 drives the replacement unit 27 to move the frame 29. Next, the CPU determines whether the replacement process has been completed (S300), and if the replacement process has not been completed, executes the processes from S290 onwards.

[0034] On the other hand, when the replacement process is completed in S300, the CPU of the replacement control unit 59 determines whether or not an object has been detected in the detection area, whether or not an object has been detected in the security area 93, and whether or not an object has been detected in the bottom area 94 (S310). The CPU acquires the detection signal for the first detection area 91 from the area detection units 55 and 56, the detection signal for the security area 93 from the area detection unit 56, and the detection signal for the bottom area 94 from the bottom detection units 57 and 58 to make this determination (see FIG. 12 ). If an object has been detected in one or more areas, the CPU prohibits movement of the storage rack 80 (S320) and executes the processes from S310 onwards. That is, the CPU does not move the storage rack 80 until no object is detected in any of the detection area, security area 93, and bottom area 94. On the other hand, if no object is detected in the detection area, the security area 93, or the lower surface area 94 in S310, the CPU executes a process to move the storage rack 80 to the standby position (S330). At this time, the detection area is switched from the first detection area 91 to the second detection area 92 (see FIG. 11).

[0035] After S330, the CPU of the exchange control unit 59 determines whether an object has been detected in either the detection area or the lower surface area 94 (S340). The CPU makes this determination based on the detection signals for the second detection area 92 acquired from the area detection units 55 and 56 and the detection signals for the lower surface area 94 acquired from the lower surface detection units 57 and 58. When an object is detected in either the detection area or the lower surface area 94, the CPU temporarily stops the movement of the storage rack 80 (S350) and executes the processing from S340 onwards. Here, the CPU determines whether an object has been detected in the second detection area 92 or the lower surface area 94, and may temporarily stop the movement of the storage rack 80 for a predetermined time (3 seconds, 5 seconds, 10 seconds, etc.), for example.

[0036] On the other hand, if no object is detected in the detection area in S340, the CPU determines whether or not an object has been detected in the security area 93 (S360), and if an object is detected in the security area 93, continues the movement of the storage rack 80 (S370). Objects detected in the security area 93 are mainly loaders 18, and the replacement control unit 59 can detect the approach of the loader 18. When an object is detected in the detection area 95, the loader 18 temporarily suspends its movement along the X-axis rail 19. Because, for example, the caster unit 84 may enter the detection area 95 while the storage rack 80 is within the movement area, the replacement control unit 59 continues the movement of the storage rack 80 so that it quickly moves out of the detection area 95.

[0037] After S370, or if no object is detected in the security area 93 in S360, the CPU of the exchange control unit 59 determines whether the storage rack 80 is below a predetermined lower limit height (S380). This lower limit height is set to a height that prevents components arranged on the storage rack 80, such as the caster unit 84, from entering the lower surface area 94. If the storage rack 80 is not below the predetermined lower limit height, the CPU executes the processing from S330 onwards. That is, after the storage rack 80 starts moving, the CPU moves the storage rack 80 if no object is detected in the second detection area 92 or the lower surface area 94, and continues moving the storage rack 80 even if an object is detected in the security area 93. On the other hand, if the storage rack 80 is below the lower limit height in S380, the CPU terminates object detection by the lower surface detection units 57 and 58 and also terminates the determination of whether an object is present in the lower surface area 94 (S390). The CPU then determines whether the storage rack 80 has completed moving to the standby position (S400). If the storage rack 80 has not completed moving to the standby position, the CPU executes the processes from S330 onward. At this time, the CPU omits the determination of whether an object is present in the lower surface area 94 in S340. On the other hand, if the storage rack 80 has completed moving to the standby position in S400, the CPU terminates this routine. In this manner, the replacement unit 40 executes and restricts the movement of the storage rack 80 while detecting objects present around the replacement unit 40. In particular, after the loader 18 enters the security area 93, the replacement unit 40 does not execute movement of the storage rack 80 from the replacement position or the standby position, thereby further preventing the loader 18 from stopping its movement. Furthermore, the replacement unit 40 switches between the first detection area 91 and the second detection area 92 depending on the position of the storage rack 80, thereby further reducing erroneous detection.

[0038] Next, a specific process for ensuring safety when the loader 18 moves to replace a mounting-related member will be described. FIG. 13 is a flowchart showing an example of a mounting-related member replacement process routine executed by the CPU 71 of the movement control unit 70. This routine is stored in the storage unit of the movement control unit 70 and executed after the loader 18 is started. Here, a case where the loader 18 automatically replaces a feeder F as a mounting-related member will be described. When this routine starts, the CPU 71 of the movement control unit 70 determines whether a request for replacing a mounting-related member has been received from the host PC 14 (S500). When a request for replacement processing has been received, the CPU 71 determines whether an object has been detected in the detection area 95 (S510). The CPU 71 makes this determination based on a detection signal from the area detection unit 76. Note that the CPU 71 may detect an object in the detection area 95 on the traveling direction side of the loader 18. When an object is detected in the detection area 95, the CPU 71 temporarily suspends the movement of the loader 18 and executes the processes from S510 onward. The CPU 71 may temporarily stop the movement of the loader 18 for a predetermined time (3 seconds, 5 seconds, 10 seconds, etc.), for example. On the other hand, when no object is detected in the detection area 95 in S510, the CPU 71 moves the loader 18 to a replacement position for the mounting-related components (S530). Examples of the replacement position include the front of a mounting unit to which the next feeder F to be used is mounted, or the front of a mounting unit that accumulates collected used feeders F, and specifically, the mounting unit of the storage device 13, the buffer mounting unit 63b of the mounting device 15, etc.

[0039] After S530, the CPU 71 determines whether the movement of the loader 18 has ended based on the current position of the loader 18 (S540). If the movement of the loader 18 has not ended, the CPU 71 executes the processing from S510 onward. That is, if there is an object in the detection area 95, the loader 18 temporarily stops and moves to the replacement position. When the movement of the loader 18 has ended in S540, the CPU 71 executes the replacement processing of the mounting-related member (S550). In the replacement processing, the CPU 71 uses the replacement unit 74 to carry in and out the feeder F. After S550, the CPU 71 determines whether the replacement processing has ended (S560). If the replacement processing has not ended, the CPU 71 executes the processing from S550 onward. That is, the CPU 71 continues the replacement processing. On the other hand, when the replacement processing has ended in S560 or if there was no replacement processing request in S500, the CPU 71 determines whether all processing has been completed (S570). The CPU 71 determines that all processing is complete when all mounting processing in the mounting device 15 is complete, or when the power to the mounting system 10 is turned off. If all processing is not complete, the CPU 71 executes processing from S500 onwards, and when all processing is complete in S570, ends this routine.

[0040] In the mounting system 10, when the loader 18 approaches the printing device 11, the detection area of ​​the replacement unit 40 may overlap with the detection area 95. This tendency is particularly pronounced on production lines that do not have a print inspection device 12 or a storage device 13. In this case, if the storage rack 80 enters the detection area 95 and the loader 18 enters the detection area, both devices may stop, resulting in a locked state where operation is halted. In this mounting system 10, the replacement unit 40 detects an object in the security area 93, thereby detecting the approach of the loader 18 and restricting the movement of the storage rack 80, thereby preventing this locked state.

[0041] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, the printing unit 22 corresponds to the printing unit, the rack moving unit 43 corresponds to the moving unit, the area detection units 55 and 56 correspond to the area detection unit, the area detection unit 56 corresponds to the device detection unit, the bottom surface detection units 57 and 58 correspond to the bottom surface detection unit, and the replacement control unit 59 corresponds to the control unit. Also, the first detection area 91 corresponds to the first detection area, the second detection area 92 corresponds to the second detection area, the alert area 93 corresponds to the alert area, the bottom surface area 94 corresponds to the bottom surface area, and the detection area 95 corresponds to the detection area. Also, the replacement unit 40 corresponds to the replacement unit, the printing device 11 corresponds to the printing device, the print inspection device 12, the storage device 13, the mounting device 15, etc. correspond to mounting-related devices, and the loader 18 corresponds to the mobile work device. In this embodiment, the operation of the replacement unit 40 is described to clarify an example of a control method for the replacement unit of the present disclosure.

[0042] In the replacement unit 40 of the present embodiment described above, when the storage rack 80 containing printing-related components is outside the predetermined movement area between the standby position and the replacement position of the storage rack 80, it detects objects present in a predetermined first detection area 91 around the replacement unit 40, but when the storage rack 80 is within the movement area, it detects objects present in a second detection area 92 that is different from the first detection area 91. With this replacement unit 40, the object detection area can be appropriately changed depending on the position of the storage rack 80, thereby ensuring greater safety when automatically replacing printing-related components used in the printing device 11.

[0043] Furthermore, when the storage rack 80 is within the movement area, the area detection units 55, 56 set an area that avoids components (e.g., caster unit 84) arranged on the storage rack 80 as the second detection area 92. In this replacement unit 40, erroneous detection of an object can be further prevented when the storage rack 80 is within the movement area. Furthermore, when the storage rack 80 is outside the movement area, the area detection units 55, 56 set an area including the front of the replacement unit 40 as the first detection area 91. In this replacement unit 40, object detection can be performed in an appropriate area, for example, at a replacement position or a standby position outside the movement area. Furthermore, when an object is detected in the first detection area 91 and / or the second detection area 92, the replacement unit 40 restricts movement of the storage rack 80. In this replacement unit 40, restricting the movement of the storage rack 80 in response to the detection of an object can improve safety.

[0044] The replacement unit 40 also includes bottom surface detection units 57, 58 that detect objects present in a bottom surface area 94 on the bottom side of the storage rack 80. This replacement unit 40 is capable of detecting objects present below the storage rack 80, thereby ensuring greater safety. Furthermore, the replacement unit 40 stops object detection by the bottom surface detection units 57, 58 when the storage rack 80 is in the standby position or at a height below a predetermined height, and starts object detection by the bottom surface detection units 57, 58 when the storage rack 80 is above the predetermined height. This replacement unit 40 can further prevent erroneous detection of objects present below the storage rack 80. Furthermore, the replacement control unit 59 does not lower the storage rack 80 when the storage rack 80 is above the predetermined height and an object is detected by the bottom surface detection units 57, 58. This replacement unit 40 prevents contact between the storage rack 80 and objects present below by not lowering the storage rack 80, thereby ensuring greater safety.

[0045] The replacement unit 40 is made up of a left-side unit 41 disposed on the left side of the housing of the printing device 11 and a right-side unit 51 disposed on the right side of the housing, and has a lifting space 49 between the left-side unit 41 and the right-side unit 51 through which the storage rack 80 moves up and down, and area detection units 55, 56 are disposed in the left-side unit 41 and the right-side unit 51, respectively, and detect objects present around the replacement unit 40. This replacement unit 40 can detect surrounding objects on both sides of the printing device 11, ensuring greater safety.

[0046] Furthermore, the replacement unit 40 is used in a mounting system including multiple mounting devices 15 involved in the process of mounting components P on processing objects, and a loader 18 as a mobile work device that moves around the mounting devices 15 when no objects are present within a predetermined detection area 95 and automatically replaces mounting-related components used by the mounting devices 15. The replacement control unit 59 controls the rack movement unit 43 to move the storage rack 80 between the replacement position and the standby position. Furthermore, when the area detection unit 56 as a device detection unit detects the presence of an object in the security area 93 while the storage rack 80 is not being moved, the replacement control unit 59 does not execute movement of the storage rack 80. The mounting system 10 may include a loader 18 that automatically replaces components of the mounting devices 15, and a replacement unit 40 that replaces components used in the printing device 11. The movement of the loader 18 is restricted when an object is present within the detection area 95 around it, and the movement of the replacement unit 40 is also restricted when an object is present within the detection area. For example, if the loader 18 enters the detection area of ​​the replacement unit 40 and the storage rack 80 enters the detection area 95 of the loader 18, the movement of each may be restricted and the operations may stop. In this replacement unit 40, when an object is detected in the security area 93 by the area detection unit 56, it is determined that the loader 18 has approached, and the storage rack 80 is not moved, thereby preventing the operations of both devices from stopping. Therefore, in this replacement unit 40, safety is improved and interference between the operations of each device can be minimized.

[0047] Furthermore, when the area detection unit 56 detects the presence of an object in the security area 93 while the storage rack 80 is being moved to the replacement position, the replacement control unit 59 of the replacement unit 40 moves the storage rack 80 to the replacement position, and then does not lower the storage rack 80 from the replacement position while the area detection unit 56 is detecting the object. In this replacement unit 40, by not lowering the storage rack 80, it is possible to prevent the storage rack 80 from entering the detection area 95 of the loader 18 and minimize interference between the operations of each device. Furthermore, when the area detection unit 56 detects the presence of an object in the security area 93 while the storage rack 80 is being moved to the standby position, the replacement control unit 59 moves the storage rack 80 to the standby position, and then does not move the storage rack 80 while the area detection unit 56 is detecting the object. In this replacement unit 40, by not moving the storage rack 80 from the standby position, the storage rack 80 is prevented from entering the detection area 95 of the loader 18, and interference with the operations of each device can be minimized. Furthermore, when the storage rack 80 is in the replacement position or the standby position, the storage rack 80 is outside the detection area 95, and when the storage rack 80 is in a predetermined movement area between the replacement position and the standby position, the storage rack 80 is inside the detection area 95, and when the storage rack 80 is within the detection area 95, the movement of the loader 18 is restricted. In this replacement unit 40, interference with the operations of each device can be minimized depending on the position of the storage rack 80. Furthermore, in this loader 18, movement is restricted in response to the detection of an object in the detection area 95, thereby ensuring greater safety.

[0048] Furthermore, in the replacement unit 40, the area detection unit 56 defines an area to the side of the replacement unit 40 and in front of the printing inspection device 12, the storage device 13, and the mounting device 15, which are mounting-related devices, as a security area 93. Furthermore, the security area 93 includes areas outside the first detection area 91 and the second detection area 92. In this replacement unit 40, it is possible to detect in advance a loader 18 approaching the side of the replacement unit 40. Furthermore, in the replacement unit 40, the rack movement unit 43 moves the storage rack 80 between an ascendable position where the storage rack 80 can ascend to the replacement position and a standby position where the storage rack 80 enters the housing of the printing device 11. In this replacement unit 40, because the storage rack enters the housing at the standby position, it is possible to further reduce the area occupied by the storage rack, and thereby further reduce interference with the operation of other devices. Furthermore, the rack moving section 43 receives a storage rack 80 that does not have a power source for moving printing-related components and that has a caster section 84 on its underside with casters that can run on the floor. With this replacement unit 40, the storage rack 80 can be made more compact, which in turn can further reduce interference with the operation of other devices. Furthermore, the use of the casters on the caster section 84 makes this storage rack 80 easy to move.

[0049] It goes without saying that the replacement unit, printing device, mounting system, and replacement unit control method of the present disclosure are in no way limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0050] For example, in the above-described embodiment, the replacement unit 40 is provided with the bottom surface detection units 57, 58 that detect objects present on the bottom surface side of the storage rack 80, but this is not particularly limited to this, and the bottom surface detection units 57, 58 may be omitted. Note that it is preferable for the replacement unit 40 to be provided with the bottom surface detection units 57, 58 for greater safety.

[0051] In the above-described embodiment, the replacement unit 40 is formed so that the length A along the movement direction of the frame 29 is shorter than the length B of the storage rack 80, but this is not particularly limited. Note that, because the replacement unit 40 can perform printing processing even when the storage rack 80 is removed, it is preferable that the length A is shorter than the length B, as this makes it possible to make the device more compact.

[0052] In the above-described embodiment, the replacement unit 40 includes a left unit 41 and a right unit 51, with a lifting space 49 therebetween for lifting and lowering the storage rack 80, but this is not particularly limited, and the replacement unit 40 may have an integrated structure as long as there is space to accommodate the storage rack 80. Also, while the replacement unit 40 is disposed on the front side of the printing device 11, this is not particularly limited, and the replacement unit 40 may be disposed on the rear side or side.

[0053] In the above-described embodiment, the replacement unit 40 switches the detection area between the first detection area 91 and the second detection area 92 to suppress erroneous detection of the storage rack 80, and detects the approach of the loader 18 in the security area 93, but this is not particularly limited, and either one may be omitted. In the replacement unit 40, when the detection area is switched between the first detection area 91 and the second detection area 92, erroneous detection can be further suppressed, and when the security area 93 is used, an operational lock state with the loader 18 can be prevented.

[0054] In the embodiment described above, the replacement unit 40 moves the storage rack 80 between a liftable position where the storage rack 80 can be lifted to the replacement position and a standby position where the storage rack 80 is inserted into the housing of the printing device 11, but this is not particularly limited. For example, the replacement unit 40 may use the liftable position as the standby position, and use a second detection area 92 at the standby position to avoid components arranged on the storage rack 80. This replacement unit 40 can also ensure greater safety when automatically replacing printing-related components used in the printing device 11.

[0055] In the above-described embodiment, the second detection area 92 is an area having a triangular blank area in front of the printing device 11, but is not particularly limited to this as long as it is an area different from the first detection area 91. For example, as shown in Fig. 14, the second detection area 92B may have a rectangular blank area in front of the printing device 11, or the second detection area may have a polygonal, circular, or elliptical blank area in front of the printing device 11. The shape of the second detection area can be selected appropriately according to the device configuration.

[0056] In the above-described embodiment, the area detection unit 56 is described as also serving as the device detection unit of the present disclosure, but this is not particularly limited to this, and the replacement unit 40 may be provided with a device detection unit different from the area detection unit 56. Also, in the above-described embodiment, the area detection unit 56 disposed in the right unit 51 is the device detection unit, but this is not particularly limited to this, and the area detection unit 55 may be the device detection unit depending on the arrangement of mounting-related devices.

[0057] In the above-described embodiment, the distance of the alert area 93 from the area detection unit 56 in the movement direction of the loader 18 is determined so that the rack movement time is shorter than the loader movement time, but this is not particularly limited as long as the area is one in which the approach of the loader can be detected and a mutual operation lock state can be avoided. The alert area 93 is preferably set as an area in which the loader 18 can be detected before the detection area 95 of the loader 18 overlaps the movement area of ​​the storage rack 80.

[0058] In the above-described embodiment, the storage rack 80 is described as not having a drive unit for moving the frame 29, but this is not particularly limited to this, and the storage rack 80 may also have a drive unit for moving the frame 29.

[0059] In the above-described embodiment, the printing-related member is described as the screen mask M, but is not limited to this as long as it requires replacement. In addition to the screen mask M, it may be one or more of a cartridge 36 that contains a viscous fluid, a squeegee 25, a cleaning member 34 used to clean the screen mask M, and a support member 32 that supports a substrate S as a processing target. Also, while the processing target is the substrate S, it is not particularly limited to this and may be a three-dimensional object as long as the viscous fluid is printed on it. Also, while the viscous fluid is described as solder paste, it may be a conductive paste, adhesive, or the like.

[0060] In the above-described embodiment, the present disclosure is described as a printing device 11 equipped with a replacement unit 40, but the present disclosure is not particularly limited to this, and the present disclosure may also be the replacement unit 40. If the replacement unit 40 is distributed and connected to the printing device 11, the same effects as those of the above-described embodiment can be achieved. Furthermore, in the above-described embodiment, the present disclosure is described as a printing device 11 equipped with a replacement unit 40, but the present disclosure is not particularly limited to this, and the present disclosure may also be a control method for the replacement unit 40.

[0061] The replacement unit, printing device, mounting system, and replacement unit control method of the present disclosure may be configured as follows: For example, the replacement unit of the present disclosure is a replacement unit used in a printing device equipped with a printing unit that performs a printing process of a viscous fluid on a processing target using a screen mask, and includes: a movement unit that receives a storage rack having a plurality of shelves that stores printing-related members used in the printing device, and moves the storage rack between a replacement position where the printing-related members are replaced and a standby position below the replacement position; and an area detection unit that detects an object present in a predetermined first detection area around the replacement unit when the storage rack is outside a predetermined movement area that is between the standby position and the replacement position, and that detects an object present in a second detection area that is different from the first detection area when the storage rack is within the movement area.

[0062] This replacement unit detects objects present in a predetermined first detection area around the replacement unit when a storage rack containing print-related components is located outside a predetermined movement area between the standby position and the replacement position, but detects objects present in a second detection area different from the first detection area when the storage rack is located within the movement area. Because this replacement unit can appropriately change the object detection area depending on the position of the storage rack, it can ensure greater safety when automatically replacing print-related components used in a printing device.

[0063] Alternatively, the replacement unit of the present disclosure is used in a mounting system including a plurality of mounting-related devices related to the process of mounting components on a processing object, and a mobile work device that moves between the plurality of mounting-related devices and automatically replaces members used by the mounting-related devices when no object is present within a predetermined detection area, and is used in a printing device equipped with a printing unit that performs a viscous fluid printing process on a processing object using a screen mask, and is equipped with: a moving unit that receives a storage rack having a plurality of shelves that store print-related members used in the printing device, and moves the storage rack between a replacement position where the print-related members are replaced and a standby position below the replacement position; a device detection unit that detects objects present in a predetermined security area through which the mobile work device moves; and a control unit that controls the moving unit to move the storage rack between the replacement position and the standby position, and the control unit may be configured not to move the storage rack when the device detection unit detects the presence of an object in the security area when the storage rack is not being moved.

[0064] A mounting system may include a mobile work device that automatically replaces components of a mounting-related device and a replacement unit that replaces components used in a printing device. The mobile work device's movement is restricted when an object is present in its surrounding detection area, while the replacement unit's movement is also restricted when an object is present in its detection area. For example, if the mobile work device enters the detection area of ​​the replacement unit and the storage rack enters the detection area of ​​the mobile work device, their movements may be restricted and they may stop operating. When the device detection unit detects an object in its alert area, the replacement unit determines that the mobile work device is approaching and does not move the storage rack, thereby preventing this mutual stoppage of operation. Therefore, the replacement unit improves safety and minimizes interference between the operations of each device.

[0065] The printing device disclosed herein includes a printing unit that performs a viscous fluid printing process on a processing target using a screen mask, and any of the replacement units described above. Because this printing device includes any of the replacement units described above, it is possible to ensure safety and minimize interference between the operations of each device, just like the replacement units described above. Furthermore, this printing device can achieve effects according to the type of replacement unit used.

[0066] The mounting system disclosed herein includes the printing device described above, multiple mounting-related devices related to the process of mounting components on processing objects, and a mobile work device that moves between the multiple mounting-related devices when no objects are present within a predetermined movement area and automatically replaces components used by the mounting-related devices. Because this mounting system includes a printing device equipped with any of the replacement units described above, it is possible to ensure safety and minimize interference between the operations of each device, similar to the replacement units described above. Furthermore, this mounting system can achieve effects according to the type of replacement unit used.

[0067] The control method of the replacement unit of the present disclosure includes: A control method for a replacement unit used in a printing device having a printing unit that performs a printing process of a viscous fluid on a processing target using a screen mask, the control method including a moving unit that receives a storage rack having a plurality of shelves that store printing-related members used in the printing device and moves the storage rack between a replacement position where the printing-related members are replaced and a standby position below the replacement position, the method comprising: (a) detecting an object present in a predetermined first detection area around the replacement unit when the storage rack is outside a predetermined movement area between the standby position and the replacement position, and detecting an object present in a second detection area different from the first detection area when the storage rack is within the movement area; (b) restricting movement of the storage rack when an object is detected in the first detection area and / or the second detection area; It includes:

[0068] Similar to the replacement unit described above, this replacement unit control method can appropriately change the object detection area depending on the position of the storage rack, thereby ensuring greater safety when automatically replacing print-related components used in a printing device. Note that this replacement unit control method may include various aspects of the replacement unit described above, or may include various additional steps executed by the replacement unit described above.

[0069] Alternatively, the control method of the replacement unit of the present disclosure includes: A control method for a replacement unit used in a mounting system including a plurality of mounting-related devices related to a process of mounting components on a processing object, and a mobile work device that moves between the plurality of mounting-related devices and automatically replaces members used by the mounting-related devices when no object is present within a predetermined detection area, the control method being used in a printing device equipped with a printing unit that performs a printing process of a viscous fluid on a processing object using a screen mask, the control method including a moving unit that receives a storage rack having a plurality of shelf units that store printing-related members used in the printing device, and moves the storage rack between a replacement position where the printing-related members are replaced and a standby position below the replacement position, (c) detecting an object present in a predetermined security area in which the mobile work device moves; (d) controlling the moving unit to move the storage rack between the exchange position and the standby position, while not moving the storage rack when the device detection unit detects the presence of an object in the security area while the storage rack is not being moved; It includes:

[0070] Similar to the replacement unit described above, this replacement unit control method determines that a mobile work device has approached when an object is detected in the security area by the device detection unit, and does not execute movement of the storage rack, thereby preventing the operation of each device from being stopped. Therefore, this replacement unit control method can ensure greater safety and minimize interference between the operations of each device. Note that this replacement unit control method may include various aspects of the replacement unit described above, and various steps executed by the replacement unit described above may be added. [Industrial Applicability]

[0071] The present disclosure is applicable to the technical field of devices for mounting components. [Explanation of symbols]

[0072] 10 Mounting system, 11 Printing device, 12 Printing inspection device, 13 Storage device, 14 Host PC, 15 Mounting device, 16 Automatic guided vehicle, 17 Management PC, 18 Loader, 19 X-axis rail, 20 Printing control unit, 21 CPU, 22 Printing unit, 23 Print head, 24 Printing movement unit, 25 Squeegee, 26 Mask work unit, 27 Replacement unit, 28 Mask fixing unit, 29 Frame, 30 Substrate processing unit, 31 Substrate transport unit, 32 Support member, 33 Cleaning unit, 34 Cleaning member, 35 Supply unit, 36 Cartridge, 37 Rack detection unit, 38 Operation panel, 40 Replacement unit, 41 Left unit, 42 Receiving unit, 43 Rack movement unit, 44 Lifting member, 44a Cam follower, 45 Lifting drive unit, 47 Hook unit, 48 Front-rear drive unit, 49 Lifting space, 50 fixing part, 51 right side unit, 52 clamp lever, 53 insertion pin, 55, 56 area detection part, 57, 58 bottom surface detection part, 59 replacement control part, 60 mounting control part, 60a CPU, 61 board processing part, 62 support member, 63 component supply part, 63a mounting attachment part, 63b buffer attachment part, 64 mounting part, 65 head movement part, 66 mounting head, 67 nozzle, 68 operation panel, 70 movement control part, 71 CPU, 73 storage part, 74 replacement part, 75 movement part, 76 area detection part, 80 storage rack, 80a rack body, 81 shelf part, 82 opening, 83 handle, 84 caster part, 85 support fixing member, 86 block part, 87 receiving part, 88 locking hole, 89 insertion hole, 91 First detection area, 92, 92B Second detection area, 93 Warning area, 94 Bottom area, 95 Detection area, A, B Length, M Screen mask, S Board, P Part, W Worker.

Claims

1. A replacement unit used in a printing device having a printing unit that performs a printing process of a viscous fluid on a processing object using a screen mask, a moving unit that receives a storage rack having a plurality of shelves that stores print-related components used in a printing device, and moves the storage rack between an exchange position where the print-related components are exchanged and a standby position that is lower than the exchange position; an area detection unit that detects an object present in a predetermined first detection area around the replacement unit when the storage rack is outside a predetermined movement area between the standby position and the replacement position, and detects an object present in a second detection area different from the first detection area when the storage rack is within the movement area; Replacement unit with.

2. 2. The replacement unit according to claim 1, wherein the area detection unit sets an area that avoids members arranged on the storage rack as the second detection area when the storage rack is within the movement area.

3. 3. The replacement unit according to claim 1, wherein the area detection unit determines an area including a front surface of the replacement unit as the first detection area when the storage rack is outside the movement area.

4. A replacement unit according to any one of claims 1 to 3, a control unit that restricts movement of the storage rack when an object is detected in the first detection area and / or the second detection area.

5. A replacement unit according to any one of claims 1 to 4, a bottom surface detection unit that detects an object present in a bottom surface area on the bottom side of the storage rack; Replacement unit with.

6. 6. A replacement unit according to claim 5, a control unit that controls the moving unit, stops the detection of objects by the bottom surface detection unit when the storage rack is at the standby position or below a predetermined height, and executes the detection of objects by the bottom surface detection unit when the storage rack is above the predetermined height.

7. The replacement unit according to claim 6 , wherein the control unit does not lower the storage rack when the storage rack is above the predetermined height and an object is detected by the bottom surface detection unit.

8. the replacement unit is composed of a left unit disposed on the left side of a housing of the printing device and a right unit disposed on the right side of the housing, and a lifting space is provided between the left unit and the right unit in which the storage rack can be raised and lowered; The replacement unit according to any one of claims 1 to 7, wherein the area detection unit is disposed in each of the left unit and the right unit, and detects an object present around the replacement unit.

9. a mounting system including one or more mounting-related devices related to a process of mounting components on a processing object, and a mobile work device that moves around the mounting-related devices and automatically replaces members used by the mounting-related devices when no object is present within a predetermined detection area, a device detection unit that detects objects present in a predetermined security area within which the mobile work device moves; a control unit that controls the moving unit to move the storage rack between the exchange position and the standby position, The replacement unit according to any one of claims 1 to 8, wherein the control unit does not move the storage rack when the device detection unit detects the presence of an object in the security area while the storage rack is not being moved.

10. a replacement unit used in a printing device having a printing unit that performs a printing process of a viscous fluid on a processing object using a screen mask, the replacement unit being used in a mounting system including a plurality of mounting-related devices related to a process of mounting components on a processing object, and a mobile work device that moves between the plurality of mounting-related devices and automatically replaces members used by the mounting-related devices when no object is present within a predetermined detection area, a moving unit that receives a storage rack having a plurality of shelves that stores print-related components used in a printing device, and moves the storage rack between an exchange position where the print-related components are exchanged and a standby position that is lower than the exchange position; a device detection unit that detects objects present in a predetermined security area within which the mobile work device moves; a control unit that controls the moving unit to move the storage rack between the exchange position and the standby position, The control unit does not move the storage rack when the device detection unit detects the presence of an object in the security area while the storage rack is not being moved.

11. The replacement unit according to claim 9 or 10, wherein when the device detection unit detects the presence of an object in the security area while the storage rack is being moved to the replacement position, the control unit moves the storage rack to the replacement position and then does not lower the storage rack from the replacement position while the object is detected by the device detection unit.

12. The replacement unit according to any one of claims 9 to 11, wherein when the device detection unit detects the presence of an object in the security area while the storage rack is being moved to the standby position, the control unit moves the storage rack to the standby position, and then does not move the storage rack while the object is detected by the device detection unit.

13. An exchange unit according to any one of claims 9 to 12, wherein when the storage rack is in the exchange position and the standby position, the storage rack is outside the detection area, when the storage rack is in a predetermined movement area between the exchange position and the standby position, the storage rack is within the detection area, and when the storage rack is within the detection area, movement of the mobile work device is restricted.

14. The replacement unit according to any one of claims 9 to 13, wherein the device detection unit sets an area on the side of the replacement unit and in front of the mounting-related device as the alert area.

15. The replacement unit according to any one of claims 1 to 14, wherein the moving unit moves the storage rack between a liftable position where the storage rack can be lifted to the replacement position and the standby position where the storage rack is inserted into the housing of the printing device.

16. The replacement unit according to any one of claims 1 to 15, wherein the moving unit receives the storage rack that does not have a power source for moving the printing-related components and has casters on its underside that can run on a floor.

17. a printing unit that performs printing processing of a viscous fluid on a processing object using a screen mask; A replacement unit according to any one of claims 1 to 16; A printing device comprising:

18. a printing device according to claim 17; a plurality of mounting-related devices related to a process of mounting components onto a processing object; a mobile work device that moves among the plurality of mounting-related devices when no object is present within a predetermined movement area and automatically exchanges members used by the mounting-related devices; An implementation system comprising:

19. A control method for a replacement unit used in a printing device having a printing unit that performs a printing process of a viscous fluid on a processing target using a screen mask, the control method including a moving unit that receives a storage rack having a plurality of shelves that store printing-related members used in the printing device and moves the storage rack between a replacement position where the printing-related members are replaced and a standby position below the replacement position, the method comprising: (a) detecting an object present in a predetermined first detection area around the replacement unit when the storage rack is outside a predetermined movement area between the standby position and the replacement position, and detecting an object present in a second detection area different from the first detection area when the storage rack is within the movement area; (b) restricting movement of the storage rack when an object is detected in the first detection area and / or the second detection area; A method for controlling an exchange unit, comprising:

20. A control method for a replacement unit used in a mounting system including a plurality of mounting-related devices related to a process of mounting components on a processing object, and a mobile work device that moves between the plurality of mounting-related devices and automatically replaces members used by the mounting-related devices when no object is present within a predetermined detection area, the control method being used in a printing device equipped with a printing unit that performs a printing process of a viscous fluid on a processing object using a screen mask, the control method including a moving unit that receives a storage rack having a plurality of shelf units that store printing-related members used in the printing device, and moves the storage rack between a replacement position where the printing-related members are replaced and a standby position below the replacement position, (c) detecting an object present in a predetermined security area in which the mobile work device moves; (d) controlling the moving unit to move the storage rack between the exchange position and the standby position, while not moving the storage rack when the device detection unit detects the presence of an object in the security area while the storage rack is not being moved; A method for controlling an exchange unit, comprising:

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