Screen Printing System

Abstract

The screen printing system includes a printing device, an exchange device that supplies and collects masks from the printing device, a storage device that stores the masks and is detachable from the exchange device, an automated guided vehicle that carries the storage device into and out of the exchange device, and a management device that is capable of communicating with the exchange device and the automated guided vehicle. When the storage device carried in by the automated guided vehicle is loaded, the exchange device transmits loading completion information to the management device indicating that loading is complete, and when the management device receives the loading completion information, it transmits a separation command to the automated guided vehicle, and when the automated guided vehicle receives the separation command from the management device, it separates the storage device.

Description

[Technical Field]

[0001] The present disclosure relates to a screen printing system that uses a mask to print a paste onto a substrate. [Background technology]

[0002] A screen printing apparatus prints a paste such as solder paste on the surface of a substrate using a mask having a printing pattern. In such a screen printing apparatus, the mask to be used is changed depending on the type of substrate. Patent Document 1 discloses a screen printing apparatus in which, in order to automatically and continuously change the mask, a magazine (storage device) holding multiple masks (replacement members) horizontally is attached through an attachment opening provided on the rear surface of a housing, and a mask changer (exchange device) is provided to supply one of the multiple masks held in the magazine to the screen printing apparatus. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2022-107329 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the prior art including Patent Document 1, although replacement parts stored in a storage device can be automatically supplied to a screen printing device, the storage device cannot be automatically attached to an exchange device, and there is room for further improvement.

[0005] Therefore, an object of the present disclosure is to provide a screen printing system that can automatically transport a storage device and attach it to an exchange device. [Means for solving the problem]

[0006] The screen printing system disclosed herein is a screen printing system that prints paste on a substrate using a mask having a predetermined printing pattern, and includes: a printing device that performs a printing operation; an exchange device that supplies exchange parts to the printing device and collects the exchange parts from the printing device; a storage device that stores the exchange parts and is detachably attached to the exchange device; an automated guided vehicle that transports the storage device into the exchange device and transports it out of the exchange device; and a management device that is capable of communicating with the exchange device and the automated guided vehicle; when the storage device carried in by the automated guided vehicle is mounted, the exchange device sends mounting completion information to the management device indicating that mounting is complete; when the management device receives the mounting completion information, it sends a separation command to the automated guided vehicle; and when the automated guided vehicle receives the separation command from the management device, it separates the storage device.

[0007] Another screen printing system of the present disclosure is a screen printing system that prints paste on a substrate using a mask having a predetermined printing pattern, and includes: a printing device that performs a printing operation; an exchange device that supplies exchange parts to the printing device and collects the exchange parts from the printing device; a storage device that stores the exchange parts and is detachably attached to the exchange device; an automated guided vehicle that transports the storage device into the exchange device and transports it out of the exchange device; and a management device that is capable of communicating with the exchange device and the automated guided vehicle, wherein the exchange device transmits carry-out request information to the management device requesting the removal of the storage device, and upon receiving the carry-out request information, the management device transmits a collection command to the automated guided vehicle, and upon receiving the collection command from the management device, the automated guided vehicle transports the storage device out of the exchange device. [Effects of the Invention]

[0008] According to the present disclosure, the storage device can be automatically transported and attached to the exchange device. [Brief explanation of the drawings]

[0009] [Figure 1]1 is a diagram illustrating the configuration of a screen printing system according to an embodiment of the present disclosure. [Figure 2] 1 is a perspective view of a screen printing apparatus according to an embodiment of the present disclosure; [Figure 3] 1 is a perspective side view showing the configuration of a main part of an exchange device and a printing device to which a storage device according to an embodiment of the present disclosure is attached; [Figure 4] (a) A perspective plan view showing the configuration of the main parts of an exchange device to which a storage device of one embodiment of the present disclosure is attached, (b) A perspective rear view showing the configuration of the main parts of an exchange device to which a storage device of one embodiment of the present disclosure is attached. [Figure 5] FIG. 1A is a perspective plan view illustrating the function of an exchange device according to an embodiment of the present disclosure, and FIG. 1B is a perspective rear view illustrating the function of an exchange device according to an embodiment of the present disclosure. [Figure 6] 1A and 1B are enlarged plan views illustrating the configuration of a holding mechanism of a holding unit included in an exchange device according to an embodiment of the present disclosure. [Figure 7] (a) An oblique view showing the configuration of the main parts of the mounting part provided on an exchange device of one embodiment of the present disclosure, (b) an oblique view showing the configuration of the main parts of the mounting part provided on a storage device of one embodiment of the present disclosure. [Figure 8] 10A and 10B are explanatory diagrams illustrating a process of attaching a storage device to an exchange device according to an embodiment of the present disclosure. [Figure 9] 10A and 10B are explanatory diagrams illustrating a process in which a storage device according to an embodiment of the present disclosure is gripped by an exchange device. [Figure 10] 1 is a block diagram showing a configuration of a screen printing apparatus according to an embodiment of the present disclosure; [Figure 11] 5A and 5B are explanatory diagrams illustrating a process of recovering a mask from a printing device using an exchange device according to an embodiment of the present disclosure. [Figure 12] 1A is an explanatory diagram of a process of collecting a mask from a printing device using an exchange device according to an embodiment of the present disclosure; FIG. 1B is an explanatory diagram of a process of supplying a mask to a printing device using an exchange device according to an embodiment of the present disclosure; [Figure 13] 5A and 5B are explanatory diagrams illustrating a process of supplying a mask to a printing device by an exchange device according to an embodiment of the present disclosure. [Figure 14] 5A and 5B are explanatory diagrams illustrating a process of supplying a mask to a printing device by an exchange device according to an embodiment of the present disclosure. [Figure 15] 1 is a block diagram showing a configuration of a screen printing system according to an embodiment of the present disclosure. [Figure 16] 10A and 10B are explanatory diagrams illustrating a process of transporting a storage device to an exchange device by an automated guided vehicle according to an embodiment of the present disclosure. [Figure 17] 10A and 10B are explanatory diagrams illustrating a process of carrying out a storage device from an exchange device by an automated guided vehicle according to an embodiment of the present disclosure. [Figure 18] FIG. 10 is a flow diagram of a method for carrying in a storage device by an automated guided vehicle in the screen printing system according to the embodiment of the present disclosure. [Figure 19] FIG. 10 is a flow diagram of a method for carrying out a storage device by an automatic guided vehicle in the screen printing system according to the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present disclosure will be described in detail below with reference to the drawings. The configurations, shapes, and the like described below are examples for explanatory purposes and can be modified as appropriate depending on the specifications of the screen printing system, screen printing device, printing device, exchange device, storage device, management device, automated guided vehicle, and the like. Corresponding elements in all the drawings will be denoted by the same reference numerals below, and duplicated descriptions will be omitted. In FIG. 1 and in some of the drawings described below, two axes that are orthogonal to each other in a horizontal plane are shown: an X-axis in the substrate transport direction (the up-down direction in FIG. 1 ) and a Y-axis that is orthogonal to the substrate transport direction (the left-right direction in FIG. 1 ). In addition, in FIG. 1 and in some of the drawings described below, a Z-axis that is orthogonal to the horizontal plane (the up-down direction in FIG. 3 ) is shown.

[0011] First, the configuration of a screen printing system 100 will be described with reference to Figure 1. The screen printing system 100 is configured to include a screen printing apparatus 1 equipped with a printing apparatus 10 and an exchange apparatus 30, a management apparatus 110, and an automated guided vehicle 120 that transports a storage apparatus 70. The printing apparatus 10 and the exchange apparatus 30 are connected to the management apparatus 110, which is a computer, via a wired or wireless communication network 101. The management apparatus 110 includes a management wireless communication unit 111. The management apparatus 110 wirelessly transmits and receives information and commands to and from the automated guided vehicle 120 via the management wireless communication unit 111. In this way, the management apparatus 110 is configured to be able to communicate with the exchange apparatus 30 and the automated guided vehicle 120.

[0012] The screen printing apparatus 1 includes a printing device 10 that performs a printing operation, and an exchange device 30 that supplies exchangeable members such as masks M to the printing device 10 and collects the exchangeable members from the printing device 10. The storage device 70 includes a slot section 73 having a plurality of bottomed slots 71-72 (FIGS. 2 and 3) that store the masks M. The storage device 70 is attached to a storage space 34 provided inside the exchange device 30 through an attachment opening 33 provided on the rear side of the exchange device 30. In this way, the storage device 70 stores exchangeable members (masks M) and is detachably attached to the exchange device 30.

[0013] In FIG. 1 , a coupled portion 76 is provided at the rear side of the storage device 70. A coupling portion 121 that holds (couples) the coupled portion 76 of the storage device 70 is provided at the front side of the automated guided vehicle 120. The coupling portion 121 holds the coupled portion 76, thereby coupling the storage device 70 to the automated guided vehicle 120. In accordance with commands from the management device 110, the automated guided vehicle 120 autonomously travels on the floor F within the floor on which the screen printing apparatus 1 is installed, couples the storage device 70, detaches the coupled storage device 70, transports the storage device 70 and attaches it to the exchange device 30 (arrow a), and removes the storage device 70 that was attached to the exchange device 30 (arrow b). In this way, the automated guided vehicle 120 transports the storage device 70 to the exchange device 30 and removes it from the exchange device 30.

[0014] Next, the configuration of the screen printing apparatus 1 will be described with reference to Figures 2 and 3. An exchange device 30 is arranged behind the printing apparatus 10 to supply a mask M to the printing apparatus 10 and collect the mask M from the printing apparatus 10. A storage device 70 that stores the mask M (replacement member) is attached and detached to the exchange device 30. Details of the exchange device 30 and the storage device 70 will be described later. The mask M is configured such that a screen Ms on which a predetermined printing pattern (not shown) is formed is stretched over a frame Mf. The printing apparatus 10 has a function of printing a paste P, such as cream solder, on a substrate B using the mask M on which the predetermined printing pattern is formed.

[0015] In FIG. 3, the printing device 10 includes a substrate transport and holding unit 13 on a base 12 covered by a printing unit cover 11. The substrate transport and holding unit 13 has a conveyor 13a that transports the substrate B along the X axis. The substrate transport and holding unit 13 includes a multi-stage table 13b that is disposed on the base 12 below the center of the conveyor 13a in the X axis direction, and a substrate holding unit 13c that is supported by the multi-stage table 13b. The multi-stage table 13b moves the substrate holding unit 13c in the X axis direction and the Y axis direction (horizontal direction), and raises and lowers the substrate holding unit 13c in the Z axis direction (up and down direction). The substrate holding unit 13c receives the substrate B transported by the conveyor 13a, and lifts and holds the received substrate B from the conveyor 13a.

[0016] 3, a guide unit 14 extending along the Y axis (front-rear direction) is disposed above the substrate transport and holding unit 13. On the guide unit 14, the mask M, which is placed with the screen Ms (the main surface of the exchange member) stretched across the frame body Mf in a horizontal position, moves back and forth along the Y axis. A mask holding unit 14a is disposed in front of the guide unit 14 and above the substrate holding unit 13c.

[0017] A mask moving unit 15 is disposed above the guide unit 14 and includes a contact member 16, an elevation cylinder 17 that raises and lowers the contact member 16 up and down (arrow c), and a front-to-back movement mechanism 18 (FIG. 10) that moves the elevation cylinder 17 back and forth (arrow d) along the guide unit 14. The mask moving unit 15 brings the lowered contact member 16 into contact with the frame Mf of the mask M, and moves the mask M back and forth along the guide unit 14.

[0018] In Figure 3, a rear opening 19 is formed on the rear side of the printing unit cover 11. An opening 32 (see also Figure 5(b)) is formed on the front side of the housing 31 of the replacement device 30, through which the mask M (replacement member) can pass and which communicates with the interior of the printing device 10. The mask moving unit 15 moves the mask M between the replacement device 30 and the mask holding unit 14a via the rear opening 19 and the opening 32. The mask M that has moved to the mask holding unit 14a is held by a holding mechanism (not shown) of the mask holding unit 14a with the main surface of the mask M horizontal.

[0019] A print head 20 is disposed above the mask holding unit 14a and is moved along the Y-axis by a print head moving mechanism 24 (FIG. 10). The print head 20 extends along the X-axis and has two squeegees 20a that move up and down. With the substrate B held by the substrate holding unit 13c pressed from below against the mask M held by the mask holding unit 14a, the print head 20 lowers one of the squeegees 20a to abut on the mask M. The print head moving mechanism 24 then moves the print head 20 in the Y-axis direction and slides one of the squeegees 20a over the mask M, thereby printing the paste P supplied onto the mask M onto the substrate B via the printing pattern (openings) formed in the mask M (see FIG. 16).

[0020] 2 and 3, the printing device 10 is equipped with an air conditioning unit 81 (FIG. 10) that supplies temperature- and humidity-controlled air to the interior of the printing device 10 via a duct 80 connected to an air intake port 11a formed in the upper part of the printing unit cover 11. The printing device 10 also has an exhaust unit 82 that has a blower that exhausts air from the interior of the printing device 10 to the outside through an exhaust port 11b formed in the lower part of the printing unit cover 11. By controlling the amount of air exhausted by the exhaust unit 82 (exhaust volume), the air pressure inside the printing device 10 is maintained higher than that outside the printing device 10. This prevents air (outside air) whose temperature and humidity are not regulated from flowing into the interior of the printing device 10.

[0021] Next, the exchange device 30 and the storage device 70 will be described in detail with reference to FIGS. 2 to 9. In FIGS. 2 and 3, the rear side of the exchange device 30 is provided with an attachment opening 33 into which the storage device 70 is inserted from the rear side. The storage device 70 has a slot section 73 having a plurality of bottomed slots 71 to 72 for storing the masks M. The masks M (exchangeable members) are stored in the slots 71 to 72 with their main surfaces standing upright. The depth L1 of the slots 71 to 72 is shallower than the length L2 of the main surface of the mask M. As a result, the masks M stored in the slots 71 to 72 are partially protruding from the top of the slots 71 to 72.

[0022] A back panel 74 is disposed behind the slot portion 73, and extends at least above and to the left and right of the slot portion 73. Wheels 75 are provided on the bottom of the storage device 70. This allows the storage device 70 to be moved by a worker or an automated guided vehicle 120 on the floor F on which the printing device 10 is installed. The exchange device 30 is formed with a storage space 34 in which the slot portion 73 of the storage device 70 inserted through the mounting opening 33 is located.

[0023] In Fig. 2, a right-side mounting portion 90R is disposed on the right wall 34R of the storage space 34 of the exchange device 30. A left-side mounting portion 90L is disposed on the left wall 34L of the storage space 34 of the exchange device 30. A right-side mounted portion 91R corresponding to the right-side mounting portion 90R is disposed on the right side surface 73R of the slot portion 73 of the storage device 70 (Fig. 7(b)). A left-side mounted portion 91L corresponding to the left-side mounting portion 90L is disposed on the left side surface 73L of the slot portion 73 of the storage device 70.

[0024] The right-side mounting portion 90R has a function of gripping the right-side mounting portion 91R of the storage device 70 mounted to the exchange device 30. The left-side mounting portion 90L has a function of gripping the left-side mounting portion 91L of the storage device 70 mounted to the exchange device 30. Hereinafter, when there is no need to distinguish between the right-side mounting portion 90R and the left-side mounting portion 90L, they will be simply referred to as "mounting portion 90." When there is no need to distinguish between the right-side mounting portion 91R and the left-side mounting portion 91L, they will be simply referred to as "mounting portion 91." In this way, the exchange device 30 has a mounting portion 90 for gripping the mounted storage device 70, and the storage device 70 has a mounting portion 91 provided corresponding to the mounting portion 90.

[0025] The configurations of the mounting portion 90 and the mounted portion 91 will now be described with reference to Figure 7. The right mounting portion 90R and the left mounting portion 90L have the same configuration except that the components are arranged symmetrically, and will be described with reference to the right mounting portion 90R. The right mounting portion 91R and the left mounting portion 91L have the same configuration except that the components are arranged symmetrically, and will be described with reference to the right mounting portion 91R.

[0026] 7(a), the right-side mounting portion 90R is provided with a linear motion mechanism 92 including a guide rail 92a extending in the Y-axis direction (the direction in which the storage device 70 is attached) fixed to the right wall 34R of the storage space 34 of the exchange device 30, and a slide unit 92b that moves back and forth along the Y-axis along the guide rail 92a. The slide unit 92b moves along the Y-axis by a ball screw, a linear motor, or the like (not shown).

[0027] A gripping cylinder 93 that projects a cylinder 93a upward is disposed on an upper portion 92c of the slide unit 92b. A connecting plate 94 is disposed on the upper portion of the cylinder 93a, and a generally cylindrical shaft member 95 is fixed so as to hang down from the connecting plate 94 on the side facing the storage space 34. A tapered portion 95a that narrows downward is formed on the lower portion of the shaft member 95 that extends in the vertical direction (Z-axis direction).

[0028] In FIG. 7(a), a shaft guide member 96 is disposed on a side surface 92d of the slide unit 92b facing the storage space 34. A guide hole 96a is formed inside the shaft guide member 96, penetrating vertically. The shaft member 95 is inserted into the guide hole 96a from above. When the gripping cylinder 93 retracts the cylinder 93a, the shaft member 95 fixed to the connecting plate 94 moves vertically along the guide hole 96a. When the gripping cylinder 93 retracts the cylinder 93a, the shaft member 95 moves downward, and a portion of the shaft member 95 protrudes from a lower opening 96b of the shaft guide member 96 (see FIG. 9).

[0029] A protruding portion 96c that protrudes downward is formed on the front side of the lower surface of the shaft guide member 96, and an abutment surface 96d is formed on the rear side of the protruding portion 96c in the Y-axis direction. A front surface 91a of the right-side mounted portion 91R arranged on the storage device 70 inserted through the mounting opening 33 abuts against the abutment surface 96d (see FIG. 8(b)).

[0030] 7(b), a through-hole 91b that passes through vertically and into which a shaft member 95 is inserted is formed in the right-side mounting portion 91R that is fixed to the right side surface 73R of the slot portion 73 of the storage device 70. A dish portion 91c that widens upward is formed above the through-hole 91b. When the shaft member 95 is lowered with the front surface 91a of the right-side mounting portion 91R approximately abutting against the abutment surface 96d of the shaft guide member 96, the tapered portion 95a descends along the dish portion 91c, and the position of the right-side mounting portion 91R moves so that the center of the through-hole 91b coincides with the center of the shaft member 95.

[0031] The right-side mounting portion 91R may have a through-hole 91b that is open downward, or a bottomed recess (not shown) that is sealed downward. Alternatively, the right-side mounting portion 91R may have a shaft member 95, and the right-side mounting portion 90R may have a through-hole 91b or a recess. Thus, one of the mounting portion 90 and the mounting portion 91 has the shaft member 95, and the other of the mounting portion 90 and the mounting portion 91 has a recess or through-hole 91b into which the shaft member 95 is inserted.

[0032] In FIG. 7(b), a magnet 97 is disposed on the right side surface 73R of the slot portion 73 below the right-side mounting portion 91R. In FIG. 7(a), a magnetic sensor 98 is disposed on the right wall 34R of the storage space 34 at a position facing the magnet 97 when the storage device 70 is mounted to the exchange device 30 and the front surface 91a of the right-side mounting portion 91R abuts against the abutment surface 96d of the shaft guide member 96 (mounted state). The magnetic sensor 98 is an attachment detector that detects the attached state of the storage device 70 mounted to the exchange device 30. The attachment detector is not limited to the magnetic sensor 98 and may be a toggle switch or an optical sensor. The attachment detector may also be disposed in the storage device 70.

[0033] In an attached state in which the front surface 91a of the right-side mounted portion 91R abuts against the abutment surface 96d of the shaft guide member 96, when the gripping cylinder 93 lowers the shaft member 95, the shaft member 95 is inserted into the through-hole 91b of the right-side mounted portion 91R (FIG. 9(a)). As a result, the right-side mounted portion 91R is gripped by the right-side mounting portion 90R. The right-side mounting portion 90R is equipped with a gripping detection unit 99 (FIG. 10) that detects a gripping state in which the right-side mounting portion 90R grips the right-side mounted portion 91R after the shaft member 95 has been lowered until it is inserted into the through-hole 91b. The gripping detection unit 99 can be configured, for example, by a toggle switch or height sensor that detects the height of the connecting plate 94, or a sensor that detects the position of the cylinder 93a of the gripping cylinder 93.

[0034] Next, with reference to Figures 8 and 9, a process in which the storage device 70 is inserted into the exchange device 30 and held by the exchange device 30 will be described. Figures 8 and 9 schematically show the storage device 70, the exchange device 30, the attachment portion 90, the attached portion 91, etc. Also, the automatic guided vehicle 120 that transports the storage device 70 and attaches it to the exchange device 30 is not shown. Here, the description will be given taking as an example a storage device (hereinafter referred to as "storage device 70A") that has four slots for storing masks M (exchange components) with their main surfaces upright. The four slots are referred to as a first slot S1, a second slot S2, a third slot S3, and a fourth slot S4, from the front.

[0035] The exchange device 30 also has two take-out positions along the Y axis for taking out the masks M from the storage device 70. The two take-out positions are referred to as the first take-out position Q1 and the second take-out position Q2, from the front to the back. The distance between the first take-out position Q1 and the second take-out position Q2 is an integer multiple of the distance between adjacent slots from the first slot S1 to the fourth slot S4. In this example, the distance between the first take-out position Q1 and the second take-out position Q2 is twice the distance between the slots.

[0036] 8, when attaching storage device 70A to exchange device 30, linear motion mechanism 92 in exchange device 30 moves slide unit 92b backward to move shaft member 95 and shaft guide member 96 to attachment position R1, and gripping cylinder 93 raises shaft member 95 to place shaft guide member 96 in a standby state where it does not protrude from lower opening 96b. Storage device 70A is transported by automated guided vehicle 120 and inserted into storage space 34 through attachment opening 33 of exchange device 30 in a standby state (arrow g1 in FIG. 8(a)). Storage device 70A inserted into storage space 34 stops when front surface 91a of attachment portion 91 abuts against abutment surface 96d of shaft guide member 96 (FIG. 8(b)).

[0037] In this state, the magnet 97 of the storage device 70A is positioned opposite the magnetic sensor 98 of the exchange device 30, and the magnetic sensor 98 (mounting detection unit) detects the inserted state in which the storage device 70A is inserted into the exchange device 30. The magnet 97 and the magnetic sensor 98 are not limited to being configured to be entirely opposed to each other. For example, the magnet 97 and the magnetic sensor 98 may be configured to be at least partially opposed to each other as long as they are positioned in such a way that the inserted state can be detected. In addition, in the inserted state, the back plate 74 of the storage device 70A blocks the mounting opening 33, and the position of the rear surface 74a of the back plate 74 is approximately aligned with the position of the rear surface 31a of the housing 31 of the exchange device 30.

[0038] In FIG. 9, when the inserted state is detected, the gripping cylinder 93 lowers the shaft member 95, and the shaft member 95 is inserted into the through-hole 91b of the mounting portion 91 (arrow g2 in FIG. 9(a)). In this state, the gripping detection unit 99 detects the gripping state in which the mounting portion 90 grips the mounting portion 91. In this manner, the gripping cylinder 93 and the shaft member 95 constitute gripping means K (FIG. 15) that grips the mounting portion 91 of the storage device 70. In addition, the grip detection unit 99 detects the gripping state in which the gripping means K grips the mounting portion 91 of the storage device 70. In this state, the first slot S1 is located at the first removal position Q1, and the third slot S3 is located at the second removal position Q2.

[0039] Furthermore, when the gripped state is detected, the automatic guided vehicle 120 releases the connection of the connected part 76 by the connecting part 121. This makes it possible to collect or remove the mask M (replacement member) from the first slot S1 and the third slot S3. In this way, the storage device 70A that stores the mask M can be accurately attached to the exchange device 30 that supplies the mask M to the printing device 10.

[0040] 9(b), in the gripping state, when the linear motion mechanism 92 moves the slide unit 92b forward, the shaft member 95 and the shaft guide member 96 move forward together with the slide unit 92b (arrow g3). That is, the mounting part 90 can move the mounted part 91 in the mounting direction (Y-axis direction) of the storage device 70A while gripping the mounted part 91. As a result, the mounted part 91 gripped by the mounting part 90 moves forward, and the storage device 70A moves in the mounting direction (Y-axis direction) of the storage device 70A in conjunction with the movement of the mounted part 91 (arrow g4).

[0041] The linear motion mechanism 92 moves the slide unit 92b forward by the distance between adjacent slots, thereby moving the shaft guide member 96 to the second position R2. As a result, the second slot S2 is positioned at the first removal position Q1, and the fourth slot S4 is positioned at the second removal position Q2.

[0042] In this way, in the exchange device 30, the linear motion mechanism 92 moves the slide unit 92b back and forth between the mounting position R1 and the second position R2, thereby moving the storage device 70A back and forth. As a result, any of the first slot S1 to the fourth slot S4 moves to the first removal position Q1 or the second removal position Q2. In this state, the exchange device 30 stores the mask M (replacement member) in the first slot S1 to the fourth slot S4 or removes the mask M from the first slot S1 to the fourth slot S4.

[0043] By moving the storage device 70A to store or remove the mask M, the exchange device 30 can store or remove the exchange member (mask M) from each slot, even if the number of slots in the storage device 70A (four in this example) is greater than the number of removal positions in the exchange device 30 (two in this example).

[0044] When removing the storage device 70A from the exchange device 30, the linear motion mechanism 92 of the exchange device 30 moves the slide unit 92b to the mounting position R1, and moves the holding storage device 70A backward (FIG. 9(a)). In this state, the automatic guided vehicle 120 approaches the storage device 70A from the rear and holds the coupled part 76 with the coupling part 121.

[0045] Next, the gripping cylinder 93 of the exchange device 30 raises the shaft member 95 to release the grip of the attached portion 91, resulting in a grip-released state (FIG. 8(b)). The grip detection unit 99 detects the grip-released state in which the gripping means K (gripping cylinder 93) releases the grip of the storage device 70. In this state, the automatic guided vehicle 120 moves the storage device 70A backward, causing the storage device 70A to be carried out from the exchange device 30 (FIG. 8(a)).

[0046] Next, a detailed configuration of the exchange device 30 will be described with reference to Figures 3 to 6. Below, the exchange device 30 to which the storage device 70 is attached will be described. In addition, hereinafter, in a state in which the storage device 70 is attached to the exchange device 30, the front slot 71 of the slot portion 73 will be referred to as the "front slot Sf" and the rear slot 72 will be referred to as the "rear slot Sb."

[0047] 3 and 4, a holder 39 is disposed inside the housing 31 of the exchange device 30. The holder 39 rotatably holds the mask M (exchange member) stored in the front slot Sf or the rear slot Sb of the slot portion 73 of the storage device 70 attached to the exchange device 30, and moves the mask M along the Z axis to lift it up to a predetermined position. The holder 39 has a plurality of (two in this example) pairs of holding mechanisms that grip both side surfaces of the frame Mf of the mask M to hold the mask M, corresponding to a plurality of (two in this example) slots.

[0048] Hereinafter, the holding mechanism corresponding to the front slot Sf on the front side (the side closer to the printing device 10) will be referred to as the "front holding mechanism 40," and the holding mechanism corresponding to the rear slot Sb on the rear side will be referred to as the "rear holding mechanism 41." In addition, in the description of Figures 3 to 6, the slot portion 73 of the storage device 70 attached to the exchange device 30 may be simply referred to as the slot portion 73.

[0049] 4 and 5, the front holding mechanism 40 and the rear holding mechanism 41 are arranged side by side in the front and rear along the Y axis on a lifting plate 42. The lifting plate 42 is provided so as to be able to move up and down along a linear guide 43 that extends vertically (in the Z-axis direction) and is fixed to the housing 31. A nut 44 is fixed to the lifting plate 42. A ball screw 45 that extends vertically is engaged with the nut 44. The ball screw 45 is rotated around the Z axis by a lifting motor 46 that is fixed to the housing 31.

[0050] The lift motor 46 is controlled by an exchange control unit 60 (FIG. 10) provided in the exchange device 30. When the lift motor 46 rotates the ball screw 45, the lift plate 42 moves up and down (arrow f in FIG. 5), and the front holding mechanism 40 and the rear holding mechanism 41 move up and down. In this way, the lift motor 46, the ball screw 45, and the lift plate 42 constitute a lift mechanism E (FIG. 10) that moves the holding mechanisms (front holding mechanism 40, rear holding mechanism 41) along the Z axis.

[0051] Here, the detailed configurations and functions of the front holding mechanism 40 and the rear holding mechanism 41 will be described with reference to FIG. 6. FIG. 6(a) is an enlarged view of the vicinity of one (left) of the front holding mechanism 40 and the rear holding mechanism 41 indicated by circle A in FIG. 4(a). FIG. 6(b) is an enlarged view of the vicinity of one (left) of the front holding mechanism 40 and the rear holding mechanism 41 indicated by circle C in FIG. 5(a). FIG. 4 shows a state in which the pair of rear holding mechanisms 41 hold and lift up the mask M (replacement member) stored in the rear slot Sb of the slot portion 73. The other (right) of the front holding mechanism 40 and the rear holding mechanism 41 have the same configuration as the one (left) of the front holding mechanism 40 and the rear holding mechanism 41 except that the components are arranged symmetrically with respect to the front slot Sf and the rear slot Sb, and therefore detailed description thereof will be omitted.

[0052] 6, the front holding mechanism 40 includes a front cylinder 47 having a piston connected to a joint 49 at its tip that can be extended and retracted toward the front slot Sf. The rear holding mechanism 41 includes a rear cylinder 48 having a piston 48a connected to a joint 49 at its tip that can be extended and retracted toward the rear slot Sb. A shaft 50 extending along the X-axis is attached to each joint 49 so as to be rotatable about the X-axis. A locking portion 50a provided at the end of the shaft 50 is held in an internal space 49a of the joint 49 so as to be movable within a play G.

[0053] The shaft 50 is held by a rotary bearing 51 so as to be rotatable about the X-axis and movable back and forth along the X-axis. A pad 52 that abuts against the frame body Mf of the mask M is connected to the end of the shaft 50 opposite the locking portion 50a side. A compression spring 53, which is an elastic body, is inserted into the shaft 50 and disposed between the rotary bearing 51 and the pad 52. The elastic force of the compression spring 53 urges the shaft 50 toward the front slot Sf or the rear slot Sb. The front cylinder 47 and the rear cylinder 48 are controlled by a replacement control unit 60.

[0054] 5 and 6(b), when the rear cylinder 48 of each of the pair of rear holding mechanisms 41 protrudes the piston 48a, the shaft 50 is pushed by the joint 49 and moves toward the rear slot Sb, and the pads 52 of each shaft 50 come into contact with both side surfaces of the mask M housed in the rear slot Sb. As a result, both side surfaces of the mask M are gripped by the pair of rear holding mechanisms 41. The mask M is stably gripped by the elastic force of the compression springs 53 of the rear holding mechanisms 41.

[0055] When the mask M held by the pair of rear holding mechanisms 41 is placed in the rear slot Sb, the pistons 48a of the rear cylinders 48 are retracted, and the pair of pads 52 move away from both sides of the mask M, thereby releasing the mask M. As a result, the mask M is stored in the rear slot Sb.

[0056] In Figure 5(b), while the pair of rear holding mechanisms 41 are holding the mask M, the lifting motor 46 is operated to raise and lower the lifting plate 42 (arrow f), so that the mask M is removed from the rear slot Sb, raised and lowered within the housing 31, and stored in the rear slot Sb.

[0057] Similarly, when the front cylinders 47 of the pair of front holding mechanisms 40 extend their pistons while the mask M is stored in the front slot Sf, both end surfaces of the mask M are gripped by the pair of front holding mechanisms 40. When the mask M held by the front holding mechanisms 40 lands in the front slot Sf and each front cylinder 47 retracts its piston, the pair of pads 52 move away from both side surfaces of the mask M, releasing the mask M. When the pair of front holding mechanisms 40 grip the mask M, the lift motor 46 is operated to lift and lower the lift plate 42, whereby the mask M is removed from the front slot Sf, lifted up and down within the housing 31, and stored in the front slot Sf.

[0058] 3 to 5, a shutter unit 37 made up of a plate member or the like is disposed on the lift plate 42. When the lift plate 42 is lowered and the height of the front holding mechanism 40 and the rear holding mechanism 41 is lowered to a position where they can grip the mask M (replacement member) stored in the front slot Sf and the rear slot Sb, the shutter unit 37 disposed on the lift plate 42 covers the opening 32 (FIG. 4(b)). When the opening 32 is covered by the shutter unit 37, access from the replacement device 30 to the inside of the printing device 10 is restricted. The height of the lift plate 42 at this time is defined as the "closed position H1."

[0059] When the lifting plate 42 rises and the front holding mechanism 40 and the rear holding mechanism 41 rise to a position where the mask M (replacement member) they are holding can be removed from the front slot Sf or the rear slot Sb, the shutter unit 37 arranged on the lifting plate 42 moves above the opening 32, opening the opening 32 (FIG. 5(b)). Once the opening 32 is open, access to the inside of the printing apparatus 10 becomes possible from the replacement device 30. The height of the lifting plate 42 at this time is defined as the "open position H2."

[0060] In this way, the shutter unit 37 moves up and down integrally with the holding mechanisms (front holding mechanism 40, rear holding mechanism 41). That is, the lifting mechanism E that lifts and lowers the holding mechanisms also functions as a shutter drive unit that moves the shutter unit 37 between a closed position H1 that covers the opening 32 and an open position H2 that opens the opening 32. In other words, the exchange device 30 has a holding unit 39 that moves the mask M (exchange member) along the movement direction (Z-axis direction) of the shutter unit 37 that moves between the closed position H1 and the open position H2, and the holding mechanism of the holding unit 39 moves in the movement direction of the shutter unit 37 by the shutter drive unit (lifting mechanism E).

[0061] The exchange device 30 also includes a blockage detection unit 38 (FIG. 10) that detects whether the shutter unit 37 is located at the blockage position H1. The blockage detection unit 38 can be configured, for example, by a toggle switch, a magnetic sensor, a height sensor, or the like that detects whether the lift plate 42 is located at the blockage position H1.

[0062] 3 to 5, a gasket T made of hard rubber or the like is provided between the exchange device 30 and the printing device 10, surrounding the periphery of the opening 32 of the exchange device 30 and the periphery of the rear opening 19 of the printing device 10. By filling the gap between the exchange device 30 and the printing device 10 with the gasket T, it is possible to prevent outside air from flowing in through the rear opening 19 of the printing device 10 when the opening 32 is closed by the shutter part 37.

[0063] 3 and 4, a swinging unit 54 is disposed inside the housing 31 of the exchange device 30 (exchange device), which is a position changing unit that swings the mask M (exchange member) lifted to a predetermined position toward the printing device 10 (printing device) and places a portion of the mask M into the printing device 10. The swinging unit 54 has a swinging motor 56. The swinging motor 56 is disposed on a fixed plate 55 fixed to the housing 31, with its rotation shaft 56a facing the X-axis direction. A crank-shaped pusher 57 is connected to the rotation shaft 56a of the swinging motor 56. The swinging motor 56 is controlled by the exchange control unit 60. When the swinging motor 56 is activated, the pusher 57 rotates (arrow e in FIG. 3).

[0064] The fixed plate 55 of the swinging unit 54 and the swing motor 56 are positioned so as not to interfere with the lifting plate 42 of the holding unit 39, which moves up and down. Furthermore, the pusher 57 is shaped so as not to interfere with the lifting plate 42 of the holding unit 39, which moves up and down, when it rotates to the retracted position (see FIG. 4(a)). Furthermore, the pusher 57 extends along the X-axis to a position where it abuts against the back surface of the mask M held and lifted by the holding unit 39. When the pair of front holding mechanisms 40 or rear holding mechanisms 41 grips the mask M and lifts it up to a predetermined position, and the swing motor 56 swings the pusher 57 from the retracted position toward the printing device 10, the pusher 57 abuts against the back surface of the mask M and swings the mask M toward the printing device 10.

[0065] Next, the configuration of the control system of the printing device 10 and the exchange device 30 provided in the screen printing apparatus 1 will be described with reference to Figure 10. Here, the parts related to the mask exchange operation by the printing device 10 and the exchange device 30 will be mainly described. The print control unit 21 provided in the printing device 10 is connected to the lifting cylinder 17 and front-rear movement mechanism 18 of the mask moving unit 15, the air conditioning unit 81, the exhaust unit 82, and the receiving unit 26. The print control unit 21 includes a print processing unit 22, a print memory unit 23, and a determination unit 25. The receiving unit 26 is a communication interface and receives various information transmitted from the exchange device 30 via a signal line 59.

[0066] The print storage unit 23 is realized by, for example, a flash memory or an HDD (Hard Disk Drive). The print storage unit 23 stores information about replacement parts such as the mask M transported by the storage device 70 and supplied by the replacement device 30, and information about the substrate B on which the paste P is printed. The print processing unit 22, determination unit 25, and other processing units are realized by, for example, a memory that stores control programs executed by each processing unit, and a processor that executes the control programs. The print processing unit 22 executes a replacement process for the mask M used in the printing operation based on the various information stored in the print storage unit 23.

[0067] 10, the exchange control unit 60 provided in the exchange device 30 is connected to the touch panel 36, the lifting motor 46 of the holding unit 39, the front cylinder 47, the rear cylinder 48, the swing motor 56 of the swinging unit 54 (position changing unit), the linear motion mechanism 92 of the mounting unit 90, the gripping cylinder 93, the grip detection unit 99, the magnetic sensor 98, and the transmission unit 63. The exchange control unit 60 is equipped with an exchange processing unit 61, an exchange memory unit 62, an attachment processing unit 65, and a release processing unit 66 (FIG. 15). The transmission unit 63 is a communication interface and transmits various information to the printing device 10 via a signal line 59.

[0068] The exchange storage unit 62 is realized by, for example, a flash memory or an HDD (Hard Disk Drive), etc. The exchange storage unit 62 stores information about exchange parts such as the mask M that are transported by the storage device 70 and supplied to the printing device 10, and that are received from the printing device 10 and stored in the storage device 70. The processing units such as the exchange processing unit 61, the mounting processing unit 65, and the release processing unit 66 are realized by, for example, a memory that stores a control program executed by the processing unit, and a processor that executes the control program.

[0069] In Figure 10, the exchange processing unit 61 executes various processes, such as a supply process for supplying a mask M (exchange part) to the printing device 10 and a recovery process for recovering the mask M from the printing device 10, based on various information stored in the exchange memory unit 62.

[0070] 11 and 12, a description will be given of a replacement component recovery method (recovery process) in which the replacement device 30 recovers the mask M1 (replacement component) from the printing device 10, as well as control by the print control unit 21 and the replacement control unit 60. Here, an example will be described in which the replacement device 30 recovers the mask M1 from the printing device 10 and stores it in the front slot Sf of the storage device 70.

[0071] First, the replacement processing unit 61 of the replacement control unit 60 controls the lifting motor 46 of the holding unit 39 to move the height of the pair of front holding mechanisms 40 to the guide unit height H5 where the frame body Mf of the mask M1 being discharged from the rear opening 19 of the printing device 10 along the guide unit 14 is located (discharge height movement process) (Figure 11(a)).

[0072] 11(a), the print processing unit 22 included in the print control unit 21 then controls the front-rear movement mechanism 18 to move the lift cylinder 17 to the front side of the mask M1 (the side farther from the exchange device 30), and controls the lift cylinder 17 to lower the contact member 16 (arrow h1). Next, the print processing unit 22 controls the front-rear movement mechanism 18 to move the lift cylinder 17 toward the exchange device 30, and moves the rear frame Mf to a position where it can be held by the pads 52 of the pair of front holding mechanisms 40 (exchange member ejection step) (arrow h2).

[0073] Next, the replacement processing unit 61 controls the front cylinder 47 to protrude the piston, and holds both end surfaces of the mask M1 (replacement member) with the pair of pads 52 (replacement member holding process). In Figures 11 to 13, the states in which the pads 52 of the front holding mechanism 40 or the rear holding mechanism 41 hold both end surfaces of the mask M1 or the mask M2 are indicated by black circles.

[0074] In Figure 11(b), the replacement processing unit 61 then controls the lifting motor 46 to raise the pair of front holding mechanisms 40 to an upright height H6 at which the main surface of the mask M1 (replacement member) being held is upright (replacement member uprighting process) (arrow h3).

[0075] In Figure 12(a), when the main surface of the mask M1 is in an upright state, the replacement processing unit 61 controls the lifting motor 46 to lower the pair of front holding mechanisms 40 to a landing height H7 at which the held mask M1 (replacement member) lands in the front slot Sf (arrow h4) (replacement member landing process).

[0076] In Figure 12(b), the replacement processing unit 61 then controls the front cylinder 47 to retract the piston, causing the pair of pads 52 to move away from both end surfaces of the mask M1 and releasing the mask M1 from the front holding mechanism 40 (replacement member release process).

[0077] 12(b), 13, and 14, a description will be given of a replacement member supply method (supply process) in which the replacement device 30 supplies the mask M2 (replacement member) to the printing device 10, as well as control by the printing control unit 21 and the replacement control unit 60. Here, an example will be described in which the replacement device 30 supplies the mask M2 stored in the rear slot Sb of the storage device 70 to the printing device 10.

[0078] First, the replacement processing unit 61 of the replacement control unit 60 controls the lifting motor 46 of the holding unit 39 to move the height of the pair of rear holding mechanisms 41 to a holding height H8 at which the pads 52 of the rear holding mechanisms 41 can hold both end faces of the mask M2 stored in the rear slot Sb (holding height movement process) (Figure 12(b)).

[0079] In FIG. 12(b), the replacement processing unit 61 then controls the rear cylinder 48 to protrude the piston 48a and hold both end surfaces of the mask M2 with the pair of pads 52 (replacement member holding step).

[0080] 13(a), the replacement processing unit 61 then controls the lift motor 46 to lift the rear holding mechanism 41 to a rotation height H9 where the lower end of the rotated mask M2 enters the inside of the rear opening 19 of the printing device 10 (replacement member lifting step) (arrow i1). Next, the replacement processing unit 61 controls the swing motor 56 to move the pusher 57 toward the mask M2 (arrow i2) and bring the pusher 57 into contact with the back surface of the mask M2. In addition, the printing processing unit 22 controls the front-rear movement mechanism 18 to move the lift cylinder 17 to a position where the movement of the mask M2 starts (arrow i3).

[0081] 13(b), the replacement processing unit 61 then controls the swing motor 56 to rotate the pusher 57 to a position where the lower end of the mask M2 enters the interior of the printing device 10 (replacement member swinging step) (arrow i4). Next, the replacement processing unit 61 controls the lifting motor 46 to lower the pair of rear holding mechanisms 41 (mounting height lowering step) (arrow i5). As a result, the lower end of the mask M2 lands on the upper surface of the guide unit 14.

[0082] Next, the replacement processing unit 61 controls the swing motor 56 to rotate the pusher 57 to the retracted position (pusher retraction step). Next, the replacement processing unit 61 controls the lifting motor 46 to lower the pair of rear holding mechanisms 41 to the guide unit height H5 (mounting height lowering step). As a result, the main surface of the mask M2 becomes horizontal with a portion of the mask M2 placed on the guide unit 14.

[0083] In Figure 13(b), when the main surface of the mask M2 becomes horizontal, the printing processing unit 22 controls the lifting cylinder 17 to lower the abutment member 16 (arrow i6) and abut the abutment member 16 against the rear side of the frame body Mf on the front side of the mask M2.

[0084] 14(a), the replacement processing unit 61 then controls the rear cylinder 48 to retract the piston 48a, moving the pair of pads 52 away from both end surfaces of the mask M2 and releasing the mask M2 from the pair of rear holding mechanisms 41 (replacement member releasing step). Once the mask M2 has been released from the pair of rear holding mechanisms 41, the print processing unit 22 controls the front-rear movement mechanism 18 to move the lifting cylinder 17 toward the mask holding unit 14a and cause the abutment member 16 to press the front side of the mask M2 (arrow i7).

[0085] 14(b), the print processing unit 22 then raises the contact member 16, moves the lift cylinder 17 rearward, and lowers the contact member 16, and finally causes the contact member 16 to press the rear side of the frame body Mf on the rear side of the mask M2, moving the mask M2 to the mask holding unit 14a (arrow i8).The print processing unit 22 then controls the mask holding unit 14a to have the holding mechanism hold the mask M2 (replaceable member).

[0086] The replacement processing unit 61 included in the replacement control unit 60 controls the lift motor 46 of the holding unit 39 to move the holding mechanisms (front holding mechanism 40, rear holding mechanism 41) to the closed position H1 (arrow i9 in FIG. 14(a)). This causes the opening 32 to be covered by the shutter unit 37 (closing step). This enables the printing device 10 to perform printing operations using the mask M2.

[0087] 10, the transmitter 63 transmits shutter position information regarding the position of the shutter unit 37 to the receiver 26. The receiver 26 receives the shutter position information transmitted from the transmitter 63. The determiner 25 determines whether the shutter unit 37 is located at the closed position H1 based on the shutter position information received by the receiver 26.

[0088] The print processing unit 22 included in the print control unit 21 (control unit) controls the print operation to be executed when the determination unit 25 determines that the shutter unit 37 is located at the closed position H1. Also, the print processing unit 22 controls the print operation not to be executed when the determination unit 25 determines that the shutter unit 37 is not located at the closed position H1.

[0089] That is, the print control unit 21 (control unit) of the printing device 10 performs control based on the determination result to execute a printing operation when the shutter unit 37 is located at the closed position H1, and not to execute a printing operation when the shutter unit 37 is not located at the closed position H1. This allows the printing operation to be performed safely in the printing device 10 regardless of the state of the exchange device 30, including work on the exchange device 30 when the storage device 70 is not attached to the exchange device 30, as will be described later.

[0090] 10, when the determination unit 25 determines that the shutter unit 37 is located at the closed position H1, the print processing unit 22 controls the exhaust unit 82 to exhaust air from inside the printing device 10 at a predetermined exhaust volume. Furthermore, when the determination unit 25 determines that the shutter unit 37 is not located at the closed position H1, the print processing unit 22 stops the exhaust unit 82 or controls the exhaust volume to be reduced.

[0091] That is, the exhaust unit 82 exhausts a predetermined amount of air when the opening 32 is covered by the shutter unit 37, and stops exhausting air or reduces the amount of air exhausted when the opening 32 is opened. This prevents air (outside air) whose temperature and humidity have not been adjusted from flowing into the printing device 10 through the opening 32.

[0092] Next, the configuration of the control system of the screen printing system 100 will be described with reference to Fig. 15. Here, the description will mainly focus on the carry-in operation in which the automated guided vehicle 120 carries the storage device 70 into the exchange device 30, and the carry-out operation in which the storage device 70 is carried out from the exchange device 30. A management wireless communication unit 111 and a management wired communication unit 116 are connected to a management control unit 112 provided in the management device 110. The management control unit 112 includes a management memory unit 113, a carry-in processing unit 114, and a carry-out processing unit 115. The management wired communication unit 116 is a communication interface that transmits and receives various information and commands to and from the exchange wired communication unit 64 provided in the exchange device 30 via the communication network 101.

[0093] The management storage unit 113 is realized by, for example, a flash memory or an HDD (Hard Disk Drive). The management storage unit 113 stores information about the storage device 70, information about the automated guided vehicle 120, etc. The processing units such as the carry-in processing unit 114 and the carry-out processing unit 115 are realized by, for example, a memory that stores the control programs executed by each processing unit and a processor that executes the control programs. The carry-in processing unit 114 executes a carry-in process in which the automated guided vehicle 120 carries the storage device 70 into the exchange device 30 based on various information stored in the management storage unit 113. The carry-out processing unit 115 executes a carry-out process in which the automated guided vehicle 120 unloads the storage device 70 from the exchange device 30 based on various information stored in the management storage unit 113.

[0094] 15, a connection unit 121, a connection detection unit 122, a traveling mechanism 123, and a transportation wireless communication unit 124 are connected to a transportation control unit 125 provided in an automated guided vehicle 120. The transportation control unit 125 includes a transportation memory unit 126, a traveling processing unit 127, and a connection processing unit 128. The connection detection unit 122 is configured to include a sensor such as a toggle switch, and detects a connected state in which the connection unit 121 connects with the connected portion 76 of the storage device 70, and a disconnected state in which the connection state in which the connection unit 121 connects with the connected portion 76 of the storage device 70 is released.

[0095] The traveling mechanism 123 is configured to include a motor for driving wheels and the like, and moves the automatic guided vehicle 120 to a predetermined designated position. The transportation wireless communication unit 124 transmits and receives various information and commands to and from the management wireless communication unit 111 of the management device 110 via wireless communication.

[0096] 15, the transport storage unit 126 is realized by, for example, a flash memory or an HDD (Hard Disk Drive). The transport storage unit 126 stores information about the location of the storage device 70, information about the location of the exchange device 30, etc. The processing units such as the travel processing unit 127 and the connection processing unit 128 are realized by, for example, a memory that stores a control program executed by each processing unit, and a processor that executes the control program.

[0097] The travel processing unit 127 controls the travel mechanism 123 to execute travel processing to cause the automated guided vehicle 120 to travel to a specified position, based on various information stored in the transport storage unit 126, commands transmitted from the management device 110, etc. The connection processing unit 128 controls the connection unit 121 to execute connection processing to connect the connected parts 76 of the storage device 70, or connection release processing to release the connection of the connected connected parts 76, based on various information stored in the transport storage unit 126, commands transmitted from the management device 110, etc.

[0098] Next, a method for carrying in the storage device 70 by the automated guided vehicle 120 into the exchange device 30 in the screen printing system 100 will be described with reference to Fig. 16, following the flow in Fig. 18. In Fig. 16(a), the shutter unit 37 in the exchange device 30 is in the closed position H1, and the opening 32 is closed. The exchange device 30 is in a standby state in which the shaft member 95 and the shaft guide member 96 have moved to the mounting position R1 (Fig. 8(a)). In addition, the printing device 10 is performing a printing operation using the mask M3.

[0099] 18, first, the mounting processing unit 65 of the exchanging device 30 transmits carry-in request information to the management device 110, requesting the transport of the storage device 70 storing the mask M4 (ST1: carry-in request information transmitting step). Next, the carry-in processing unit 114 of the management device 110, having received the carry-in request information, transmits a carry-in command to the automated guided vehicle 120 to which the storage device 70 storing the mask M4 is coupled (ST2: carry-in command transmitting step). Next, the automated guided vehicle 120, having received the carry-in command, travels to the rear of the exchanging device 30 and inserts the storage device 70 into the exchanging device 30 through the mounting opening 33 (ST3: insertion step) (arrow j1 in FIG. 16(a)).

[0100] When the attached portion 91 of the storage device 70 abuts against the shaft guide member 96 of the exchange device 30 and stops (FIG. 8(b)), the connection processing unit 128 of the automatic guided vehicle 120 transmits insertion completion information to the management device 110, notifying that the insertion of the storage device 70 is complete (ST4: insertion completion information transmission step). Next, the carry-in processing unit 114 of the management device 110, which has received the insertion completion information, transmits a grip command to the exchange device 30 (ST5: grip command transmission step). Next, the attachment processing unit 65 of the exchange device 30, which has received the grip command, determines whether the magnetic sensor 98 (attachment detection unit) has detected the attached state (ST6: attachment determination step).

[0101] 18, if the magnetic sensor 98 cannot detect the mounted state (No in ST6), the mounting processing unit 65 of the exchange device 30 transmits non-mounted state detection information indicating that the mounted state cannot be detected to the management device 110 (ST7: non-mounted state detection information transmission step). Next, the carry-in processing unit 114 of the management device 110, which has received the non-mounted state detection information, transmits a position adjustment command to the automatic guided vehicle 120 (ST8: position adjustment command transmission step). Next, the connection processing unit 128 of the automatic guided vehicle 120, which has received the position adjustment command, controls the traveling mechanism 123 to adjust the stop position of the automatic guided vehicle 120 relative to the exchange device 30 (ST9: stop position adjustment step). Thereafter, the insertion completion information transmission step (ST4), the grip command transmission step (ST5), and the mounting determination step (ST6) are executed.

[0102] When the magnetic sensor 98 detects the mounted state (Yes in ST6), the mounting processing unit 65 of the exchange device 30 causes the gripping means K (the gripping cylinder 93) to grip the attached portion 91 of the storage device 70 (ST10: gripping step) (FIG. 9(a)). Next, the mounting processing unit 65 of the exchange device 30 determines whether the gripping detection unit 99 has detected the gripping state (ST11: gripping determination step).

[0103] If the grip detection unit 99 cannot detect the grip state (No in ST11), the mounting processing unit 65 of the exchange device 30 transmits grip non-detection information indicating that the grip state cannot be detected to the management device 110 (ST12: grip non-detection information transmission step). Next, the management device 110 that has received the grip non-detection information executes a position adjustment command transmission step (ST8). Thereafter, the stop position adjustment step (ST9), insertion completion information transmission step (ST4), grip command transmission step (ST5), and mounting determination step (ST6) are executed.

[0104] 18, when the gripping detection unit 99 detects the gripping state (Yes in ST11), the mounting processing unit 65 of the exchange device 30 transmits mounting completion information indicating completion of mounting to the management device 110 (ST13: mounting completion information transmitting step). Next, the carry-in processing unit 114 of the management device 110 that has received the mounting completion information transmits a separation command to the automatic guided vehicle 120 (ST14: separation command transmitting step). Next, the connection processing unit 128 of the automatic guided vehicle 120 that has received the separation command causes the connection unit 121 to release the connection of the coupled part 76 of the storage device 70 (ST15: connection release step).

[0105] Next, when the connection detection unit 122 detects a disconnected state in which the connection unit 121 has released the connection of the storage device 70 (Yes in ST16), the connection processing unit 128 of the automatic guided vehicle 120 transmits separation completion information indicating the completion of separation to the management device 110 (ST17: separation completion information transmission step). This causes the storage device 70 to be separated from the automatic guided vehicle 120. Next, the carry-in processing unit 114 of the management device 110, which has received the separation completion information, transmits an exchange start command to the exchange device 30 to start the exchange work of the exchange parts (masks M3, M4) (ST18: exchange start command transmission step).

[0106] 18, the exchange processing unit 61 of the exchange device 30, which has received the exchange start command, starts the exchange work of the exchange part (ST19: exchange work start process). When the automatic guided vehicle 120 that separated the storage device 70 receives the movement command sent by the management device 110, it starts moving toward the specified next work position (ST20: movement start process) (arrow j2 in FIG. 16(b)).

[0107] In this way, when the storage device 70 carried in by the automatic guided vehicle 120 is mounted, the exchanging device 30 transmits mounting completion information indicating the completion of mounting to the management device 110 (ST13), and when the management device 110 receives the mounting completion information, it transmits a separation command to the automatic guided vehicle 120 (ST14), and when the automatic guided vehicle 120 receives the separation command from the management device 110, it separates the storage device (ST15). In this way, the storage device 70 can be automatically transported and mounted in the exchanging device 30.

[0108] The printing device 10 may be configured to stop printing operations from the insertion step (ST3) to the separation completion information transmission step (ST17), that is, while the automated guided vehicle 120 is carrying in the storage device 70 to the exchange device 30. This makes it possible to prevent printing defects caused by vibrations generated by the carrying-in operation of the automated guided vehicle 120.

[0109] Next, a method for the unloading of the storage device 70 by the automated guided vehicle 120 from the exchange device 30 in the screen printing system 100 will be described with reference to Fig. 17, following the flow in Fig. 19. In Fig. 17(a), when the exchange operation is completed in the exchange device 30 (Yes in ST21), the shutter unit 37 moves to the closed position H1 (arrow k1), and the opening 32 is closed (Yes in ST22). This makes it possible to unload the storage device 70 storing the mask M3 from the exchange device 30. Also, in the printing device 10, a printing operation using the mask M4 is being performed.

[0110] 19, the release processing unit 66 of the exchange device 30 transmits carry-out request information to the management device 110, requesting the removal of the storage device 70 storing the mask M3 (ST23: carry-out request information transmitting step). That is, after the replacement work of the replacement member (masks M3, M4) is completed (Yes in ST21), the exchange device 30 transmits the carry-out request information to the management device 110 (ST23). Next, the carry-out processing unit 115 of the management device 110 that has received the carry-out request information transmits a collection command to the automatic guided vehicle 120 (ST24: collection command transmitting step).

[0111] Next, the automated guided vehicle 120 that has received the collection command moves to the rear of the storage device 70 attached to the exchange device 30 (ST25: movement step) (arrow k2 in FIG. 17(a)). Next, the connection processing unit 128 of the automated guided vehicle 120 connects the connected part 76 of the storage device 70 to the connecting part 121 (ST26: connection step). When the connection detection unit 122 detects a connected state in which the connecting part 121 connects the storage device 70 (Yes in ST27), the connection processing unit 128 of the automated guided vehicle 120 transmits connection completion information indicating completion of connection of the storage device 70 to the management device 110 (ST28: connection completion information transmission step).

[0112] 19, the carry-out processing unit 115 of the management device 110, which has received the connection completion information, then transmits a grip release command to the exchange device 30 (ST29: grip release command transmitting step). Next, the release processing unit 66 of the exchange device 30, which has received the grip release command, causes the gripping means K to release the grip of the storage device 70 (ST30: grip release step). Next, when the grip detection unit 99 detects a grip release state in which the gripping means K has released its grip of the storage device 70 (Yes in ST31), the release processing unit 66 of the exchange device 30 transmits grip release completion information to the management device 110 indicating that the grip release has been completed (ST32: grip release completion information transmitting step).

[0113] Next, the unloading processing unit 115 of the management device 110 that has received the grip release completion information transmits an unloading start command to the automatic guided vehicle 120 (ST33: unloading start command transmitting step). Next, the travel processing unit 127 of the automatic guided vehicle 120 that has received the unloading start command controls the travel mechanism 123 to start unloading the coupled storage device 70 from the exchange device 30 (ST34: unloading start step) (arrow k3 in FIG. 17(b)). After the storage device 70 has been unloaded, the mounting processing unit 65 of the exchange device 30 transmits carry-in request information to the management device 110 (ST1).

[0114] In this way, the exchange device 30 transmits carry-out request information requesting the removal of the storage device 70 to the management device 110 (ST23), and upon receiving the carry-out request information, the management device 110 transmits a collection command to the automatic guided vehicle 120 (ST24), and upon receiving the collection command from the management device 110, the automatic guided vehicle 120 removes the storage device 70 from the exchange device 30 (ST34). This allows the storage device 70 to be automatically transported and removed from the exchange device 30.

[0115] Although the above description has been given assuming that the exchange device 30 and the automated guided vehicle 120 transmit and receive various information and commands via the management device 110, the exchange device 30 and the automated guided vehicle 120 may transmit and receive various information and commands directly. That is, the exchange device 30 may be provided with a wireless communication unit capable of wirelessly transmitting and receiving information to the transport wireless communication unit 124 of the automated guided vehicle 120. In this case, the exchange device 30 transmits a carry-in command, a position adjustment command, a separation command, a recovery command, and a carry-out start command to the automated guided vehicle 120, and the automated guided vehicle 120 transmits a grip command, an exchange start command, and a grip release command to the exchange device 30.

[0116] In the above description, the storage device 70 equipped with wheels 75 is coupled to and towed (transported) by the automated guided vehicle 120, but the storage device 70 not equipped with wheels 75 may be held by the automated guided vehicle 120 and transported in a lifted state. Also, the storage device 70 may have a traveling function, and may travel automatically to be attached to and detached from the exchange device 30.

[0117] Furthermore, the above description has been given using the mask M as an example of the replacement member stored in the storage device 70 and supplied to the printing apparatus 10 by the replacement device 30, but the replacement member is not limited to the mask M. For example, the replacement member may be a transport jig that transports a lower support member that is attached to the upper surface of the substrate holding portion 13c in the printing apparatus 10 and holds the substrate B from below, a transport jig that transports cleaning paper that wipes off the paste P adhering to the mask M, a transport jig that transports the squeegee 20a, or a transport jig that transports a substrate for test printing. In other words, the replacement member only needs to have the same external shape as the frame Mf of the mask M.

[0118] As described above, the screen printing system 100 of this embodiment includes a printing device 10 that performs printing operations, an exchange device 30 that supplies exchange parts (masks M) to the printing device 10 and collects the exchange parts from the printing device 10, a storage device 70 that stores the exchange parts and is detachably attached to the exchange device 30, an automated guided vehicle 120 that transports the storage device 70 into the exchange device 30 and transports it out of the exchange device 30, and a management device 110 that is capable of communicating with the exchange device 30 and the automated guided vehicle 120.

[0119] Then, when the storage device 70 carried in by the automatic guided vehicle 120 is mounted, the exchange device 30 transmits mounting completion information indicating the completion of mounting to the management device 110, and when the management device 110 receives the mounting completion information, it transmits a separation command to the automatic guided vehicle 120, and when the automatic guided vehicle 120 receives the separation command from the management device 110, it separates the storage device 70. In this way, the storage device 70 can be automatically transported and mounted on the exchange device 30.

[0120] Furthermore, the exchange device 30 transmits carry-out request information requesting the removal of the storage device 70 to the management device 110, and upon receiving the carry-out request information, the management device 110 transmits a collection command to the automatic guided vehicle 120, and upon receiving the collection command from the management device 110, the automatic guided vehicle 120 removes the storage device 70 from the exchange device 30. This allows the storage device 70 to be automatically transported and removed from the exchange device 30.

[0121] This application is based on a Japanese patent application (Patent Application No. 2024-093688) filed on June 10, 2024, the contents of which are incorporated herein by reference. [Industrial Applicability]

[0122] The screen printing system of the present disclosure has the effect of being able to automatically transport a storage device and mount it on an exchange device, and is useful in the field of component mounting where components are mounted on a board. [Explanation of symbols]

[0123] 10 Printing device 30 Exchange device 70, 70A storage device 100 Screen Printing System 110 Management device 120 Automated Guided Vehicle 121 Connection section B board K Gripping means M, M1 to M4 masks (replacement parts) P Paste

Claims

1. A screen printing system that prints a paste on a substrate using a mask having a predetermined printing pattern, a printing device that performs a printing operation; an exchange device that supplies exchange parts to the printing device and collects the exchange parts from the printing device; a storage device that stores the replacement member and is detachably provided to the replacement device; an automated guided vehicle that carries the storage device into the exchange device and carries it out from the exchange device; a management device that is provided so as to be able to communicate with the exchange device and the automatic guided vehicle, When the storage device carried in by the automatic guided vehicle is installed, the exchange device transmits installation completion information indicating installation completion to the management device; When the management device receives the mounting completion information, it transmits a separation command to the automatic guided vehicle, The automatic guided vehicle separates the storage device when it receives the separation command from the management device.

2. The exchange device a gripping means for gripping the attached storage device; a gripping detection unit that detects a gripping state in which the gripping means grips the storage device, The screen printing system according to claim 1 , wherein when the gripping detection unit detects the gripped state, the replacement device transmits the mounting completion information to the management device.

3. After separating the storage device, the automated guided vehicle transmits separation completion information indicating separation completion to the management device; When the management device receives the separation completion information, the management device transmits a switching start command to the switching device; The screen printing system according to claim 1 , wherein the replacement device starts replacing the replacement member when the replacement start command is received from the management device.

4. The automated guided vehicle is a connecting portion for connecting the storage devices; a connection detection unit that detects a disconnected state in which the connection unit has released the connection to the storage device, The screen printing system according to claim 3 , wherein when the connection detection unit detects the disconnected state, the automatic guided vehicle transmits the separation completion information to the management device.

5. A screen printing system that prints a paste on a substrate using a mask having a predetermined printing pattern, a printing device that performs a printing operation; an exchange device that supplies exchange parts to the printing device and collects the exchange parts from the printing device; a storage device that stores the replacement member and is detachably provided to the replacement device; an automated guided vehicle that carries the storage device into the exchange device and carries it out from the exchange device; a management device that is provided so as to be able to communicate with the exchange device and the automatic guided vehicle, the exchange device transmits to the management device carry-out request information requesting the removal of the storage device; When the management device receives the carry-out request information, it transmits a collection command to the automatic guided vehicle; In the screen printing system, when the automatic guided vehicle receives the collection command from the management device, it carries the storage device out of the exchange device.

6. The screen printing system according to claim 5 , wherein the replacement device transmits the carry-out request information to the management device after the replacement work of the replacement member is completed.

7. The automated guided vehicle is a connecting portion for connecting the storage device; The screen printing system according to claim 5 , wherein the automatic guided vehicle that has received the collection command carries the storage device out of the exchange device when the coupling unit couples the storage device to the automatic guided vehicle.

8. The exchange device a gripping means for gripping the attached storage device; The screen printing system according to claim 7 , wherein the holding means releases the grip of the storage device when the connecting portion connects the storage device.

9. The exchange device a gripping detection unit that detects a gripping release state in which the gripping means releases the grip of the storage device; The automated guided vehicle is a connection detection unit that detects a connection state in which the connection unit is connected to the storage device; When the connection detection unit of the automated guided vehicle that has received the collection command detects the connected state, the automated guided vehicle transmits connection completion information to the management device; When the management device receives the connection completion information, the management device transmits a grip release command to the exchange device, When the exchange device receives the grip release command from the management device, the exchange device causes the gripping means to release the grip of the storage device, and when the grip detection unit detects the grip release state, transmits grip release completion information to the management device; When the management device receives the grip release completion information, it transmits a carry-out start command to the automatic guided vehicle, The screen printing system according to claim 8 , wherein the automatic guided vehicle starts unloading the storage device from the exchange device when the unloading start command is received from the management device.

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