Transfer control device and transfer control method

Abstract

To provide a transfer control device capable of attaining improvement in efficiency of substrate transfer by suppressing generation of a transfer loss, and a transfer control method.SOLUTION: A transfer control device comprises: a determination unit for determining whether or not it is necessary to temporarily retract a substrate being transferred into a machine in order to execute intra-machine work; a retraction direction setting unit for setting a retraction direction of the substrate at an upstream side or a downstream side in a transfer direction of the substrate so as to shorten a production stop time from start of the retraction of the substrate to start of the substrate work; and a retraction control unit for retracting the substrate in the retraction direction set by the retraction direction setting unit and locating the substrate at a predetermined position in the machine after end of the intra-machine work.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a conveyance control device and a conveyance control method.

Background Art

[0002] The conveyance control device controls the conveyance of substrates in a production line for producing substrate products. The production line is composed of a plurality of substrate-processing machines such as, for example, a solder printer, a component mounter (see Patent Document 1), and various inspection machines. When maintenance required for a given substrate-processing machine occurs, for example, the conveyance control device issues commands to stop or restart the substrate conveyance.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For a substrate conveyance control device, when in-machine work such as maintenance is required, efficient control of substrate conveyance is demanded so as to suppress a decrease in production efficiency.

[0005] An object of the present specification is to provide a conveyance control device and a conveyance control method capable of improving the efficiency of substrate conveyance by suppressing the occurrence of conveyance loss.

Means for Solving the Problems

[0006] This specification is applicable to a substrate-facing work machine that performs a predetermined substrate-facing operation on a substrate positioned inside the machine. When there is a requirement to perform an in-machine operation different from the substrate-facing operation, a determination unit determines whether it is necessary to temporarily retract the substrate being conveyed inside the machine for the execution of the in-machine operation. When the determination unit determines that it is necessary to retract the substrate, a retraction direction setting unit sets the retraction direction of the substrate, which is either the upstream side or the downstream side in the conveyance direction of the substrate, so as to shorten the production stop time from the start of the retraction of the substrate to the start of the substrate-facing operation. A retraction control unit retracts the substrate in the retraction direction set by the retraction direction setting unit and positions the substrate at a predetermined position inside the machine after the completion of the in-machine operation. A conveyance control device including the above is disclosed.

Effect of the Invention

[0007] According to the above configuration, when it becomes necessary to retract the substrate that has already been conveyed inside the substrate-facing work machine along with the execution of the in-machine operation, the occurrence of conveyance loss can be suppressed by appropriately setting the retraction direction. Therefore, the substrate conveyance can be made efficient so that the production stop time due to the in-machine operation is shortened, and as a result, the decrease in production efficiency can be suppressed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0009] 1. Outline of the substrate transfer control device 70 The transfer control device 70 is applied to the substrate processing machine. The transfer control device 70 controls the transfer of the substrate 91 in the production line Ln that produces substrate products. The transfer control device 70 issues commands such as stopping and restarting the substrate transfer when, for example, maintenance required for a predetermined substrate processing machine occurs. In the present embodiment, an embodiment in which the transfer control device 70 is incorporated into the component mounting machine 2 as a substrate processing machine including the substrate transfer device 10 is exemplified.

[0010] 2. Configuration of the production line Ln The above-mentioned component mounting machine 2 executes a mounting process of mounting components on the substrate 91 as a predetermined substrate process. As shown in FIG. 1, the production line Ln is configured by installing a plurality of substrate processing machines in the transfer direction of the substrate 91. Each of the plurality of substrate processing machines is communicably connected to the management device 81 and the host computer 82. The management device 81 manages the production line Ln in which it is installed. The management device 81 grasps the progress of production and necessary maintenance work in the production line Ln according to the production plan indicating the type of substrate product to be produced, the planned production quantity, and the production order thereof, and issues commands to the operator or the like as necessary.

[0011] The host computer 82 controls the overall operation of a plurality of production lines Ln. Various data such as production plans are stored in the host computer 82 and downloaded in response to requests from the management device 81. Alternatively, various data such as production plans may be stored only in the management device 81, or may be stored only in the host computer 82 and accessed from the management device 81 as needed. The production line Ln includes a plurality of printers 1 as substrate processing machines, a plurality of component mounting machines 2, a reflow furnace 3, and an inspection machine 4.

[0012] The printer 1 prints paste-like solder at the component mounting positions on the loaded substrate 91. Each of the plurality of component mounting machines 2 mounts components on the substrate 91 conveyed from the upstream side of the production line Ln. The configuration of the component mounting machine 2 will be described later. The reflow furnace 3 heats the substrate 91 conveyed from the upstream side of the production line Ln to melt the solder on the substrate 91 for soldering. The inspection machine 4 inspects whether the appearance or function of the substrate products produced by the production line Ln is normal.

[0013] In this embodiment, the production line Ln includes a buffer device 5 and a plurality of connecting conveyors 6. The buffer device 5 is configured to accommodate a plurality of substrates 91 and temporarily hold the conveyed substrates 91. The connecting conveyor 6 is installed between adjacent substrate processing machines and is a conveyor capable of conveying the substrate 91. The buffer device 5 and the connecting conveyor 6 are configured to be able to convey the substrate 91 in cooperation with the substrate conveying devices provided in each of the substrate processing machines.

[0014] In this embodiment, a plurality of production lines Ln may be configured in the substrate product factory. Note that the configuration of each of the plurality of production lines Ln can be appropriately added to or changed according to, for example, the type of substrate product to be produced. Specifically, substrate processing machines such as a substrate supply device, a substrate reversing device, various inspection devices, a shield mounting device, an adhesive application device, and an ultraviolet irradiation device can be appropriately installed in the plurality of production lines Ln.

[0015] 3. Configuration of Component Mounting Machine 2 As shown in Fig. 2, the component mounting machine 2 includes a substrate transfer device 10, a component supply device 20, a component transfer device 30, a component camera 41, a substrate camera 42, a detection camera 43, and a control device 60. In the following description, the horizontal direction and the front-rear direction of the component mounting machine 2 (the direction from the lower left to the upper right in Fig. 2) is defined as the Y direction, the horizontal direction intersecting the Y direction and the left-right direction of the component mounting machine 2 (the direction from the upper left to the lower right in Fig. 2) is defined as the X direction, and the vertical direction (the up-down direction in Fig. 2) orthogonal to the X direction and the Y direction is defined as the Z direction.

[0016] The substrate transfer device 10 is composed of a plurality of transfer mechanisms 11 arranged side by side in the Y direction. The plurality of transfer mechanisms 11 each have a pair of guide rails 12, 13 and a conveyor belt 14. The pair of guide rails 12, 13 extend in the substrate transfer direction (X direction) and support the periphery of the substrate 91 placed on and conveyed by the conveyor belt 14. At least one of the pair of guide rails 12, 13 is provided on the base 9 so as to be movable in the Y direction.

[0017] The substrate transfer device 10 sequentially transfers the substrate 91 in the transfer direction and positions the substrate 91 at a predetermined position within the machine. The substrate transfer device 10 has a backup device 15 for clamping the positioned substrate 91. The detailed configurations of the substrate transfer device 10 and the backup device 15 will be described later. After the execution of the component mounting process, the substrate transfer device 10 carries out the substrate 91 out of the component mounting machine 2.

[0018] The component supply device 20 supplies components to be mounted on the substrate 91. The component supply device 20 includes feeders 21 set side by side in the X direction. The feeder 21 feeds and moves a carrier tape in which a large number of components are stored and supplies the components so that they can be picked up. Also, the component supply device 20 may supply, for example, relatively large components in a state of being arranged on a tray placed on a pallet. In the above configuration, the component supply device 20 pulls out a predetermined pallet from a storage device that stores a plurality of pallets according to the mounting process and supplies the components.

[0019] The component transfer device 30 transfers the components supplied by the component supply device 20 to a predetermined mounting position on the substrate 91 carried into the machine by the substrate transfer device 10. The head drive device 31 of the component transfer device 30 moves the moving table 32 in the horizontal directions (X direction and Y direction) by a linear motion mechanism. A mounting head 33 is detachably fixed to the moving table 32 by a clamp member (not shown). Various holding members are detachably attached to the mounting head 33. The above-mentioned holding members hold components or backup members 50 (see FIG. 3) described later.

[0020] The suction nozzle 34 sucks and holds the components using the supplied negative pressure air. Further, a chuck for clamping the components can be attached to the mounting head 33. Furthermore, a holding tool 55 for holding the backup member 50 can be attached to the mounting head 33 by engaging with a predetermined portion of the backup member 50, for example. As described above, the component transfer device 30 is configured to be able to hold the backup member 50 and functions as a moving device for moving the backup member 50. The component transfer device 30 is used for the adjustment operation of the arrangement state of the backup member 50 (hereinafter also referred to as "arrangement operation").

[0021] The component camera 41, the substrate camera 42, and the detection camera 43 are digital imaging devices having an imaging element such as a CMOS. The component camera 41, the substrate camera 42, and the detection camera 43 perform imaging based on a control signal and send out the image data obtained by the imaging. The component camera 41 is configured to be able to image the components held by the suction nozzle 34 of the mounting head 33 from below. The substrate camera 42 is provided on the moving table 32 and moves integrally with the mounting head 33 as the moving table 32 moves. The detection camera 43 is located above the substrate transfer device 10 and is fixed to a frame (not shown) (see FIG. 7).

[0022] The substrate camera 42 and the detection camera 43 are configured to be able to image the substrate 91 from above. The substrate camera 42 is mainly used for imaging the reference marks attached to the substrate 91. The detection camera 43 is used for imaging to obtain an image of the substrate 91 and a background image, which are used for image processing to recognize the edge 92 of the substrate 91 conveyed into the machine.

[0023] The control device 60 is mainly composed of a CPU, various memories, and control circuits. The control device 60 executes a mounting process for mounting components on the substrate 91. In the mounting process, the control device 60 controls the operation of the component transfer device 30 based on information output from various sensors, the results of image processing, a control program stored in advance, etc. Thereby, the positions and angles of the plurality of suction nozzles 34 supported by the mounting head 33 are controlled. Further, the control device 60 executes an arrangement operation including adding or removing the backup member 50 used by the substrate transfer device 10 to support the substrate 91 from below in the mounting process, and changing the position of the backup member 50.

[0024] As shown in FIG. 4, the control device 60 includes a storage unit 61. The storage unit 61 is composed of an optical drive device such as a hard disk device, or a flash memory, etc. Various data such as a control program are stored in this storage unit 61. The above various data includes data indicating the arrangement position of the backup member 50 set for the next substrate operation (mounting process).

[0025] As shown in FIG. 4, the control device 60 includes a display device 62. The display device 62 is provided so that an operator can visually recognize it and displays various information. In the present embodiment, the display device 62 has a touch screen and a plurality of buttons, and is linked with an input device such as a mouse (not shown) to receive operations by the operator.

[0026] 4. Detailed configurations of the substrate transfer device 10 and the backup device 15 The substrate transfer device 10 is of a double-track conveyor type including a plurality of transfer mechanisms 11 as described above. A pair of guide rails 12, 13 constituting the transfer mechanism 11 are provided on the base 9 so as to be relatively movable in the Y direction. Thereby, the intervals of the pair of guide rails 12, 13 are adjusted corresponding to the dimension of the substrate 91 in the Y direction for the plurality of transfer mechanisms 11.

[0027] The backup device 15 brings a backup member 50 into contact with the lower surface of the positioned substrate 91 to support the substrate 91. Further, the backup device 15 clamps the substrate 91 conveyed by the transfer mechanism 11 between the pair of guide rails 12, 13. Thereby, the backup device 15 prevents the deflection of the substrate 91 by maintaining the height of the portion where the backup member 50 contacts.

[0028] As shown in FIG. 3, the backup device 15 includes a backup plate 16 and a lifting device 17. The backup plate 16 is disposed to face the lower surface of the substrate 91 positioned by the transfer mechanism 11. The backup plate 16 is provided on the base 9 so as to be liftable in the Z direction. In the present embodiment, the backup plate 16 is formed in a rectangular shape. The backup member 50 is detachably disposed on the upper surface of the backup plate 16.

[0029] The lifting device 17 raises and lowers the backup plate 16 with respect to the base 9. In the present embodiment, the lifting device 17 is constituted by a plurality of air cylinders having a rod 18 and a cylinder body 19. The rod 18 of each air cylinder is detachably fixed to the four corners of the backup plate 16. The cylinder body 19 of each air cylinder advances and retracts the rod 18 in the Z direction according to the air pressure.

[0030] When the substrate 91 is carried in or out, the elevating device 17 of the backup device 15 retracts the backup member 50 downward from the back surface of the substrate 91. Thereby, the elevating device 17 lowers the backup plate 16 to a preparatory height at which the components (rear surface components) mounted on the back surface of the substrate 91 and the backup member 50 do not interfere (indicated by the two-dot chain line in FIG. 3). Further, during the execution of the mounting process, the elevating device 17 raises the backup plate 16 to the backup height (indicated by the solid line in FIG. 3). Thereby, the backup device 15 pushes up and supports the substrate 91 from below.

[0031] 5. Detailed Configuration of the Conveyance Control Device 70 In the present embodiment, the conveyance control device 70 is configured to be incorporated into each of a plurality of substrate-facing work machines that constitute a production line Ln such as the component mounter 2 (see the upper production line Ln in FIG. 1). However, the conveyance control device 70 may be an external device of the substrate-facing work machine, and may be configured to be incorporated into, for example, a management device 81 for each production line Ln (see the lower production line Ln in FIG. 1). Further, the conveyance control device 70 may be configured to be incorporated into a host computer 82 that oversees the production line Ln.

[0032] Here, after the substrate-facing work on its own machine is completed, the substrate-facing work machine in the production line Ln sends a request to carry in the substrate 91 to the adjacent downstream substrate-facing work machine, and conveys the substrate 91 when permitted. Similar conveyance control is also executed between the substrate-facing work machine and the buffer device 5 or the connecting conveyor 6. In the production by such a production line Ln, it may be necessary to execute in-machine work different from normal substrate-facing work (for example, printing work by the printer 1 and mounting work by the component mounter 2) in a predetermined substrate-facing work machine.

[0033] The in-machine operations described above include, for example, maintenance operations such as removing errors that occur in the substrate processing machine and replacing consumables. In-machine operations also include setup operations necessary for executing substrate processing. Specifically, as a type of in-machine operation, the substrate processing machine performs an operation of acquiring a background image used for image processing executed in substrate processing. More specifically, the substrate processing machine executes image processing for recognizing the edge 92 (front edge 92f or rear edge 92b) of the substrate 91 in order to recognize the position of the substrate 91 conveyed into the machine (see FIG. 7).

[0034] In the above image processing, the edge 92 of the substrate 91 is recognized by comparing the image data acquired by imaging with the detection camera 43 and the background image acquired in advance. This background image may be required to be reacquired as needed, for example, when the imaging conditions are changed, when the type of the substrate 91 is changed, or when an error occurs in the image processing. In such a case, the substrate processing machine performs imaging using the detection camera 43 as an operation of acquiring the background image.

[0035] In addition, as a type of in-machine operation, the substrate processing machine performs an adjustment operation (arrangement operation) of the arrangement state of the backup member 50 as needed. The arrangement operation of the backup member 50 includes increasing or decreasing the backup member 50, changing its position, and changing its type (pin type) (see FIG. 8). The arrangement operation of the backup member 50 is required to be executed as needed, for example, as a setup change accompanying a change in the type of the substrate product to be produced, or as an improvement in the mounting process or error countermeasure.

[0036] Here, the backup member 50 is detachably disposed on the upper surface of the backup plate 16. The backup member 50 includes a hard pin 51 whose tip is formed of a relatively hard member (e.g., a metal member) and a soft pin 52 whose tip is formed of a relatively soft member (e.g., a rubber member). Magnets are embedded in the bases located at the lower ends of the hard pin 51 and the soft pin 52, and they are fixed to the backup plate 16 by magnetic force. Also, the hard pin 51 and the soft pin 52 form engaging portions of the same shape above the bases. The engaging portions engage with a holding tool 55 attached to the mounting head 33.

[0037] For example, when the control device 60 of the component mounting machine 2 executes the arrangement operation of the backup member 50, it exchanges the suction nozzle 34 and the holding tool 55 attached to the mounting head 33. The control device 60 drives the component transfer device 30 to appropriately move the target backup member 50 to a predetermined position. Thereby, the backup member 50 is moved to a position where it supports the substrate 91 or to a position where it is retracted as a spare and not used in the next production. Then, after the arrangement of all the backup members 50 is completed, the control device 60 removes them from the holding tool 55 and the mounting head 33 to end the arrangement operation.

[0038] Here, when in-machine work such as the above-mentioned maintenance is required, it may be necessary to temporarily retract the substrate 91 that has already been conveyed into the machine, or it may be necessary to disallow the loading of the substrate 91 from the upstream side of the production line Ln. Thus, if the conveyance of the substrate 91 in the production line Ln stops partially, there is concern about a decrease in production efficiency. Therefore, the conveyance control device 70 of the substrate 91 is required to efficiently control the substrate conveyance so that a decrease in production efficiency is suppressed when in-machine work is required in a predetermined substrate processing machine constituting the production line Ln.

[0039] Therefore, when in-machine work is required, the transfer control device 70 adopts a configuration that aims to improve the efficiency of substrate transfer by suppressing the occurrence of transfer losses. In the present embodiment, when there is a request to execute in-machine work, based on the current transfer state of the substrate 91 on the production line Ln, the transfer control device 70 sets the evacuation direction (upstream side or downstream side) of the substrate 91 that has already been transferred into the machine, and controls the transfer of the substrate 91 based on the set evacuation direction.

[0040] In addition to the current transfer state of the substrate 91, the transfer control device 70 may set the evacuation direction of the substrate 91 based on the operating states of the pair of substrate processing machines adjacent to the upstream side and the downstream side, the content of the in-machine work for which there is a request for execution, or the efficiency of the operation of transferring the substrate 91 to a predetermined position after the completion of the in-machine work. Thereby, the transfer control device 70 can improve the efficiency of substrate transfer by shortening the production stop time associated with the execution of in-machine work.

[0041] In the present embodiment, as shown in FIG. 4, the transfer control device 70 includes a determination unit 71, an evacuation direction setting unit 72, and an evacuation control unit 73. Further, the transfer control device 70 may be configured to further include a notification unit 74. Also, as shown in FIG. 5, the transfer control device 70 executes a transfer control process for the substrate 91. The determination unit 71 executes a determination process (S11 - S12). The evacuation direction setting unit 72 executes an evacuation direction setting process (S15). The evacuation control unit 73 executes an evacuation control process (S16, S18).

[0042] 5-1. Determination Unit 71 When there is a request to execute in-machine work that is different from the pair of substrate work (mounting process by the component mounter 2), the determination unit 71 determines whether it is necessary to temporarily evacuate the substrate 91 transferred into the machine for the execution of the in-machine work. As described above, a request to execute in-machine work occurs, for example, when it is necessary to re-acquire the background image required for image processing in the mounting process scheduled for execution.

[0043] Specifically, the determination unit 71 first determines whether in - machine work can be executed in the current conveyance state inside the machine (S11). Specifically, the determination unit 71 determines whether a substrate 91 has been loaded into the machine, and if so, determines whether in - machine work can be executed while maintaining the current position Pc of the substrate 91. Whether in - machine work can be executed is determined based on, as shown in FIG. 6, for example, the conveyance area Ak inside the machine where the substrate 91 is conveyed, the work area Ak inside the machine required for in - machine work, and the current position Pc and the outer - dimension Mx of the substrate 91.

[0044] That is, the determination unit 71 determines whether the work area At overlaps with the conveyance area At, or whether the work area At overlaps with the substrate - occupied area Ac (the area occupied by the substrate 91 at the current position Pc determined by the outer - dimension Mx in the conveyance area At), and based on this, determines whether in - machine work can be executed in the current conveyance state. When the substrate 91 has not been loaded into the machine, or when the loaded substrate 91 does not inhibit the execution of in - machine work, the determination unit 71 determines that in - machine work can be executed (S11: Yes).

[0045] On the other hand, when it is determined that in - machine work cannot be executed in the current conveyance state (S11: No), the determination unit 71 determines whether it is necessary to retract the substrate 91 being conveyed inside the machine so that at least a part of the substrate 91 is located outside the machine for the execution of in - machine work (S12). That is, the determination unit 71 determines whether it is sufficient to retract the substrate 91 located inside the machine to a predetermined position inside the machine, or whether it is necessary to retract the substrate 91 so that at least a part of the substrate 91 is located outside the machine, in order to enable the execution of the in - machine work for which an execution request has been made.

[0046] When it is determined that in - machine work can be executed if the substrate 91 located inside the machine is retracted to a predetermined position inside the machine (S12: Yes), the conveyance control device 70 retracts the substrate 91 to a predetermined position inside the machine (S13). As a result, the substrate occupation area Ac and the work area Ac do not overlap after the retraction. After the retraction process (S13) of the substrate 91 or when the determination unit 71 determines that in - machine work can be executed in the current conveyance state (S11: Yes), the component mounting machine 2 executes the required in - machine work (S14).

[0047] 5 - 2. Retraction Direction Setting Unit 72 When the determination unit 71 determines that it is necessary to retract the substrate 91 (S12: No), the retraction direction setting unit 72 sets the retraction direction Dv of the substrate 91, which is either the upstream side or the downstream side in the conveyance direction of the substrate 91 (S15). At this time, the retraction direction setting unit 72 sets the retraction direction Dv so that the production stop time Td from the start of the retraction of the substrate 91 to the start of the work on the target substrate becomes shorter.

[0048] The above - mentioned production stop time Td includes the retraction time Tv, the work required time Tk, and the target conveyance time Tp. The retraction time Tv is the required time to retract the substrate 91 by the retraction distance Lv required in the upstream - side or downstream - side retraction direction Dv. The work required time Tk is the required time for the in - machine work by the target substrate working machine. The target conveyance time Tp is the required time to convey the retracted substrate 91 to the specified target position Pt for executing the planned target substrate work (mounting process).

[0049] In addition, the production stop time Td may include, in addition to the above, a waiting time Tw until the start of the retraction of the substrate 91 because, depending on the operating states of adjacent target substrate working machines, immediate loading of the substrate 91 may not be permitted. Here, in order to recognize the position of the substrate 91, the component mounting machine 2 may require imaging of the edge 92 of the substrate 91 after the execution of the in - machine work and before conveying the substrate 91 to the target position Pt. In such a case, the production stop time Td may include the imaging conveyance time Tm required for conveyance to the imaging position Pm.

[0050] In this embodiment, upstream and downstream work machines capable of transporting the substrate 91 in cooperation with the component mounting machine 2 are installed adjacent to both sides in the substrate transport direction of the component mounting machine 2 (the upstream side and the downstream side of the production line Ln) as described above. The upstream and downstream work machines are, for example, in addition to the other component mounting machines 2, a printer 1, a reflow furnace 3, an inspection machine 4, a buffer device 5, or a connecting conveyor 6. These work machines, in response to a request for loading the substrate 91 from the upstream side during normal operation, send out a loading permission if they are in a state where they can load the substrate 91, and after executing the work on the substrate assigned to themselves, they unload the substrate 91 to the downstream side. The evacuation direction setting unit 72 can adopt various modes for the evacuation direction setting process so that the production stop time Td is shortened.

[0051] 5-2-1. First Mode of Evacuation Direction Setting Process The evacuation direction setting unit 72 sets the evacuation direction Dv of the substrate 91 based on the time (waiting time Tw) until each of the upstream and downstream work machines permits the loading of the substrate 91 evacuated from the substrate work machine. The above waiting time Tw includes the remaining required time based on the working state including the progress of the substrate work in each of the upstream and downstream work machines, and the preparation time until the loading of the substrate 91 from the substrate work machine that has requested the execution of in-machine work can be permitted. The remaining required time and the preparation time are obtained by calculating based on information such as the control program and the production plan.

[0052] In the first mode of the retraction direction setting process, as shown in FIG. 9, the retraction direction setting unit 72 first sets the downstream retraction direction Dv2 as the retraction direction Dv when the downstream standby time Tw2, which is the standby time Tw of the downstream working machine, is 0 (S21: Yes) (S22). Further, when the downstream standby time Tw2 is greater than 0 (S21: No) and the upstream standby time Tw1, which is the standby time Tw of the upstream working machine, is 0 (S23: Yes), the retraction direction setting unit 72 sets the upstream retraction direction Dv1 as the retraction direction Dv (S24). Further, when both the downstream standby time Tw2 and the upstream standby time Tw1 are greater than 0 (S22: No, S23: No), the retraction direction setting unit 72 sets the downstream retraction direction Dv2 as the retraction direction Dv (S22).

[0053] Based on the empirical rule that since the substrate 91 is conveyed downstream in the production line Ln, giving priority to retraction to the downstream working machine can shorten the production stop time Td in many cases, the above mode can simplify the retraction direction setting process. Further, as a modified mode of the above configuration, the retraction direction setting unit 72 may compare the upstream standby time Tw1 and the downstream standby time Tw2 and set the shorter one as the retraction direction Dv. At this time, when the upstream standby time Tw1 and the downstream standby time Tw2 are equal, the downstream retraction direction Dv2 may be set as the retraction direction Dv.

[0054] 5-2-2. Second Mode of Retraction Direction Setting Process In the second mode of the retraction direction setting process, the retraction direction setting unit 72 calculates the upstream production stop time Td1 and the downstream production stop time Td2 when assuming retraction to the upstream and downstream respectively, and sets the retraction direction Dv based on these so that the actual production stop time Td becomes shorter. As shown in FIG. 10, the retraction direction setting unit 72 first acquires the upstream standby time Tw1 and the downstream standby time Tw2 (S31). Since the acquisition of the standby time Tw is the same as in the first mode, detailed description thereof is omitted.

[0055] Next, the retreat direction setting unit 72 acquires an upstream retreat time Tv1 and a downstream retreat time Tv2, which are retreat times Tv when it is assumed that the substrate 91 is retreated upstream and downstream, respectively (S32). Here, the above-mentioned retreat time Tv is approximately proportional to the distance that the substrate 91 moves from the current position Pc to the retreat position Pv (hereinafter referred to as "retreat distance Lv"). Therefore, the retreat direction setting unit 72 calculates the minimum required retreat distances Lv on the upstream and downstream sides in the conveyance direction based on the conveyance area At, the work area Ak, the outer dimensions Mx of the substrate 91, and the current position Pc of the substrate 91.

[0056] Here, as shown in FIGS. 6 to 8, it is assumed that each area in the machine and the substrate 91 are in the first state to the third state. In the first state, as shown in the upper part of FIG. 6, the substrate 91 has already been conveyed to the target position Pt for performing the mounting process in the conveyance area At, and the target position Pt and the current position Pc coincide. In the second state and the third state, as shown in the upper part of FIG. 7 and the upper part of FIG. 8, the substrate 91 has not been conveyed to the target position Pt, and the target position Pt and the current position Pc do not coincide. Also, in each state, the work area Ak of the in-machine work for which an execution request has been made partially overlaps with the substrate occupation area Ac of the substrate 91 at the current position Pc.

[0057] Note that FIG. 7 shows the work area Ak when an operation for acquiring a background image used for image processing for recognizing the edge 92 (front edge 92f or rear edge 92b) of the substrate 91 is performed as in-machine work. For the operation of acquiring the background image, it is necessary to make a member serving as the background (for example, the backup plate 16) visible over the entire camera field of view of the detection camera 43. That is, when the substrate 91 is carried into the machine, it is necessary to retreat the substrate 91 to the outside of the work area Ak using the detection camera 43.

[0058] FIG. 8 shows a work area Ak when the operation of arranging the backup member 50 is performed as an in-flight operation. In the operation of arranging the backup member 50, it is necessary to allow the holding tool 55 to access the source and destination of the backup member 50 to be moved. That is, when the substrate 91 is carried into the machine, it is necessary to retract the substrate 91 at least to the outside of the work area Ak using the holding tool 55.

[0059] The middle and lower parts of FIGS. 6 - 8 show the upstream retraction position Pv1 and the downstream retraction position Pv2 of the substrate 91 when it is assumed that the substrate 91 is compared with the upstream side and the downstream side. When the substrate 91 is retracted to these positions, the edge 92 of the substrate 91 is separated from the work area Ak by a predetermined safety distance, and does not interfere with the in-flight operation in the work area Ak. The upstream retraction distance Lv1 is equal to the distance between the current position Pc and the upstream retraction position Pv1. Similarly, the downstream retraction distance Lv2 is equal to the distance between the current position Pc and the downstream retraction position Pv2. The retraction direction setting unit 72 acquires the respective retraction times Tv based on the respective retraction distances Lv.

[0060] Subsequently, as shown in FIG. 10, when an imaging process for imaging the edge 92 of the substrate 91 is scheduled to be executed after the in-flight operation (S33: Yes), the retraction direction setting unit 72 acquires the imaging transfer time Tm required for the transfer from the retraction position Pv to the imaging position Pm where the edge 92 of the substrate 91 is imaged (S34). Here, the imaging transfer time Tm is approximately proportional to the distance that the substrate 91 moves from the retraction position Pv to the imaging position Pm (hereinafter referred to as "imaging transfer distance Lm").

[0061] Therefore, as shown in FIG. 7, the retraction direction setting unit 72 calculates the upstream imaging conveyance distance Lm1 and the downstream imaging conveyance distance Lm2, which are the imaging conveyance distances Lm from the upstream retraction position Pv1 and the downstream retraction position Pv2 to the imaging position Pm, respectively, assuming that the substrate is retracted upstream and downstream. Note that FIG. 7 illustrates an example of imaging the front edge 92f of the substrate 91 using the detection camera 43. The retraction direction setting unit 72 obtains the respective imaging conveyance times Tm based on the respective imaging conveyance distances Lm.

[0062] In this way, when imaging processing is scheduled to be executed after in-machine work (S33: Yes), the retraction direction setting unit 72 obtains the time (Tv + Tm) required for conveyance of the substrate 91 from the current position Pc via the retraction position Pv on the upstream or downstream side in the conveyance direction to the imaging position Pm where the edge 92 of the substrate 91 is imaged. When imaging processing for imaging the edge 92 of the substrate 91 is not executed after in-machine work (S33: No), the acquisition process (S34) of the imaging conveyance time Tm is omitted, and the imaging conveyance time Tm is set to the initial value of 0.

[0063] As shown in FIG. 10, the retraction direction setting unit 72 obtains the upstream target conveyance time Tp1 and the downstream target conveyance time Tp2, which are the target conveyance times Tp when assuming retraction upstream and downstream, respectively (S35). Here, the target conveyance time Tp is generally proportional to the distance (hereinafter referred to as "target conveyance distance Lp") from the retraction position Pv (imaging position Pm when the imaging position Pm is located) to the target position Pt.

[0064] Therefore, as shown in FIGS. 6 and 8, the retraction direction setting unit 72 calculates an upstream target transfer distance Lp1 and a downstream target transfer distance Lp2, which are target transfer distances Lp from the upstream retraction position Pv1 and the downstream retraction position Pv2 to the target position Pt. Further, when the substrate 91 has been moved to the imaging position Pm in accordance with the execution of the imaging process, the retraction direction setting unit 72 calculates a target transfer distance Lp from the imaging position Pm to the target position Pt, as shown in FIG. 7. The retraction direction setting unit 72 obtains respective target transfer times Tp based on the respective target transfer distances Lp.

[0065] Subsequently, the retraction direction setting unit 72 obtains an upstream production stop time Td1 and a downstream production stop time Td2, which are production stop times Td when assuming retraction to the upstream side and the downstream side, respectively (S36). Each production stop time Td corresponds to the sum of the standby time Tw, the retraction time Tw, the imaging transfer time Tm, and the target transfer time Tp obtained as described above. Note that the time required for in-machine work and the time required for the imaging process are equal regardless of the retraction direction, and thus are omitted from the calculation of the production stop time Td.

[0066] When the upstream production stop time Td1 is shorter than the downstream production stop time Td2 (S37: Yes), the retraction direction setting unit 72 sets the upstream side Dv1 as the retraction direction Dv (S38). On the other hand, when the upstream production stop time Td1 is equal to or longer than the downstream production stop time Td2 (S37: No), the retraction direction setting unit 72 sets the downstream side Dv1 as the retraction direction Dv (S39). Note that the retraction direction setting unit 72 may simply compare the respective production stop times Td, or, for example, set the upstream side Dv1 as the retraction direction Dv when the upstream production stop time Td1 is shorter than the downstream production stop time Td2 by a predetermined time or more in accordance with the priority of the downstream side Dv1.

[0067] 5-3. Retraction control unit 73 The retraction control unit 73 retracts the substrate 91 in the retraction direction Dv set by the retraction direction setting unit 72 (S16 in FIG. 5). Specifically, the retraction control unit 73 waits until the loading of the substrate 91 from the adjacent counter substrate working machine is permitted according to the set retraction direction Dv, and after being permitted, controls the substrate 91 to retract by a predetermined retraction distance Lp. Thereby, when the substrate 91 is retracted to the outside of the working area Ak, the counter substrate working machine executes the predetermined in-machine work for which an execution request has been made (S14).

[0068] Also, after the completion of the in-machine work (S14), the retraction control unit 73 positions the substrate 91 at a predetermined position inside the machine (S17). The above-mentioned predetermined position inside the machine is the defined target position Pt for executing the counter substrate work (mounting process). In this way, the retraction control unit 73 executes a retraction control process (S16, S17) of retracting the substrate 91 in the retraction direction Dv set by the retraction direction setting unit 72 and positioning the substrate 91 at a predetermined position inside the machine after the completion of the in-machine work.

[0069] 5-4. Notification unit 74 When the determination unit 71 determines that it is necessary to retract the substrate 91 (S11: No, S12: No in FIG. 5), and the estimated production stop time Td is equal to or greater than a preset threshold value Hr (S41: Yes in FIG. 10), the notification unit 74 notifies the operator of the counter substrate working machine of the production stop time Td. The above-mentioned threshold value Hr is a time that can be freely set by the operator or the like. For example, when the waiting time Tw is very long compared to the required time for the counter substrate work of the own machine, the threshold value Hr is set so that a notification is made.

[0070] The notification unit 74 displays the remaining production stop time Td on the display device 62. In addition to the production stop time Td, the notification unit 74 may display the content of the in-machine work scheduled to be executed, the set retraction direction Dv, and the waiting time Tw. Further, in addition to or instead of the display on the display device 62, the notification unit 74 may send information such as the production stop time Td to, for example, a display terminal carried by the operator and notify the operator.

[0071] By checking the notification content, the operator can understand that the transfer control including the evacuation of the substrate 91 is executed and the extent of the production stop time Td caused thereby. Then, depending on the length of the production stop time Td, the operator can make a judgment that it is possible to maintain productivity by manually evacuating the substrate 91 outside the substrate processing machine by himself / herself and immediately performing the in-machine work, rather than evacuating the substrate 91 upstream or downstream and performing the in-machine work.

[0072] 6. Effects of the Configuration of the Embodiment According to the configuration of the transfer control device 70 and the transfer control method (FIGS. 5, 9, and 10) exemplified in the embodiment, when it becomes necessary to evacuate the substrate 91 that has already been transferred into the substrate processing machine during the execution of the in-machine work, the occurrence of transfer loss can be suppressed by appropriately setting the evacuation direction Dv. Therefore, the substrate transfer can be made efficient so that the production stop time Td due to the in-machine work is shortened, and as a result, the decrease in production efficiency can be suppressed.

Explanation of Reference Numerals

[0073] 1: Printing Machine, 2: Component Mounting Machine (Upstream Working Machine, Downstream Working Machine of Substrate Processing Machine), 3: Reflow Oven, 4: Inspection Machine, 5: Buffer Device, 6: Connecting Conveyor, 9: Base, 10: Substrate Transfer Device, 15: Backup Device, 50: Backup Member, 70: Transfer Control Device, 71: Judgment Unit, 72: Evacuation Direction Setting Unit, 73: Evacuation Control Unit, 74: Notification Unit, 91: Substrate, 92: Edge, 92f: Front Edge, 92b: Rear Edge, Td: Production Stop Time, Tw: Standby Time, Tv: Evacuation Time, Tm: Imaging Transfer Time, Tp: Target Transfer Time, Dv: Evacuation Direction, At: Transfer Area, Ak: Working Area, Ac: Substrate Occupied Area, Mx: Outer Dimension, Lv: Evacuation Distance, Lm: Imaging Transfer Distance, Lp: Target Transfer Distance, Pc: Current Position, Pv: Evacuation Position, Pm: Imaging Position, Pt: Target Position, Hr: Threshold Value

Claims

1. Applied to a substrate working machine that performs a predetermined substrate operation on a substrate positioned inside the machine, When there is a request to perform an in-machine operation different from the substrate operation, a determination unit that determines whether it is necessary to temporarily retract the substrate being conveyed inside the machine for the execution of the in-machine operation; When it is determined by the determination unit that the substrate needs to be retracted, a retraction direction setting unit that sets the retraction direction of the substrate, which is on the upstream or downstream side in the conveyance direction of the substrate, so that the production stop time from the start of the retraction of the substrate to the start of the substrate operation is shortened; A retraction control unit that retracts the substrate in the retraction direction set by the retraction direction setting unit and positions the substrate at a predetermined position inside the machine after the completion of the in-machine operation; A conveyance control device comprising:

2. The determination unit according to claim 1, which determines whether it is necessary to retract the substrate being conveyed inside the machine so that at least a part of the substrate is positioned outside the machine for the execution of the in-machine operation.

3. On both sides in the conveyance direction of the substrate of the substrate working machine, an upstream working machine and a downstream working machine capable of conveying the substrate in cooperation with the substrate working machine are adjacently installed, The retraction direction setting unit according to claim 2, which sets the retraction direction of the substrate based on the time until each of the upstream working machine and the downstream working machine permits the loading of the substrate retracted from the substrate working machine.

4. The upstream working machine and the downstream working machine are any one of the other substrate working machines, a buffer device capable of accommodating a plurality of the substrates, and a conveyor capable of conveying the substrate, according to claim 3.

5. The retraction direction setting unit according to any one of claims 1 to 4, which sets the retraction direction of the substrate based on the conveyance area inside the machine where the substrate is conveyed, the working area inside the machine required for the in-machine operation, and the outer dimensions of the substrate.

6. The retraction direction setting unit according to claim 5, which calculates the minimum required retraction distances on the upstream and downstream sides in the conveyance direction based on the conveyance area, the working area, the outer dimensions of the substrate, and the current position of the substrate, and sets the retraction direction of the substrate based on each of the retraction distances.

7. The conveyance control device according to any one of claims 1-6, wherein the in-machine operation includes an operation of acquiring a background image used for image processing for recognizing the edge of the substrate conveyed into the machine.

8. When an imaging process for imaging the edge of the substrate is scheduled to be executed after the execution of the in-machine operation, the retraction direction setting unit determines the retraction direction of the substrate based on the time required for conveying the substrate from the current position to an imaging position where the edge of the substrate is imaged via a retraction position on the upstream side or the downstream side in the conveyance direction. The conveyance control device according to any one of claims 1-7.

9. The substrate-facing work machine includes a backup device that contacts a backup member with the lower surface of the positioned substrate to support the substrate. The in-machine operation includes an operation of adjusting the arrangement state of the backup member. The conveyance control device according to any one of claims 1-8.

10. When it is determined by the determination unit that it is necessary to retract the substrate and the estimated production stop time is equal to or greater than a preset threshold, the conveyance control device according to any one of claims 1-9 further includes a notification unit that notifies the operator of the substrate-facing work machine of the production stop time.

11. Applied to a substrate-facing work machine that performs a predetermined substrate-facing operation on a substrate positioned in the machine. When there is a request to execute an in-machine operation different from the substrate-facing operation, a determination step of determining whether it is necessary to temporarily retract the substrate conveyed in the machine for the execution of the in-machine operation. When it is determined in the determination step that it is necessary to retract the substrate, a retraction direction setting step of setting the retraction direction of the substrate to be on the upstream side or the downstream side in the conveyance direction of the substrate so as to shorten the production stop time from the start of retraction of the substrate to the start of the substrate-facing operation. A retraction control step of retracting the substrate in the retraction direction set in the retraction direction setting step and positioning the substrate at a predetermined position in the machine after the completion of the in-machine operation. A conveyance control method comprising the above steps.

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