Work device and confirmation method

Abstract

This work device is capable of automatically replacing a support block for supporting a substrate to be worked on and includes: a jig conveyance part for carrying a conveyance jig, which detachably holds the support block, into and out from an upper position of a support base where the support block is disposed; a lifting / lowering part for lifting and lowering the support base relative to the conveyance jig in the upper position so that the support base is in a position, together with the conveyance jig, enabling the support block to be replaced; an imaging part capable of imaging the conveyance jig; and a control unit that, when conveyance processing to carry out the support block from the support base is to be performed, executes confirmation processing for confirming an empty state in which the support block is not attached to the conveyance jig, by using a confirmation image obtained by the imaging part imaging a prescribed confirmation position within a support-block holding range in the conveyance jig and a reference image obtained by the imaging part imaging a plurality of positions that are possible confirmation positions in advance, before the carry-out processing and in a state where the support block is not present.

Description

Work equipment and verification method

[0001] The present specification discloses a work device and a verification method.

[0002] Conventionally, there have been proposed working devices that perform work on a substrate supported by a support block. For example, Patent Document 1 describes a device that automatically loads, removes, and replaces the support block using a transport jig that can attach and detach the support block.

[0003] International Publication No. 2018 / 105016

[0004] In the above-described working device, if an operator forgets to remove a support block from the transport jig, the support block will remain on the transport jig. If the transport jig is then used to transport another support block, the support block remaining on the transport jig will collide with the other support block.

[0005] The main object of the present disclosure is to appropriately confirm that a support block is not attached to a transport jig.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The gist of the working device disclosed herein is a working device capable of automatically replacing a support block that supports a substrate to be worked on, and includes: a jig transport unit that transports a transport jig that detachably holds the support block in and out to a position above a support base on which the support block is placed; a lifting unit that raises and lowers the support base relative to the transport jig in the upper position so that the support block can be replaced between the transport jig and the jig; an imaging unit that can image the transport jig; and a control unit that, when performing a carry-out process to transport the support block from the support base, performs a confirmation process to confirm that the transport jig is empty and the support block is not attached, using a confirmation image captured by the imaging unit of a predetermined confirmation position within the holding range of the support block on the transport jig, and reference images captured in advance by the imaging unit of a plurality of positions that can serve as the confirmation positions without the support block before the carry-out process, with the support block not being present.

[0008] In the working device disclosed herein, when a support block removal process is performed, a confirmation process is performed to confirm that the transport jig is empty and no support blocks are attached, using a confirmation image captured by an imaging unit of a predetermined confirmation position within the support block holding range of the transport jig and a reference image captured by the imaging unit in advance of the removal process of multiple positions that could serve as confirmation positions without a support block. In this way, the confirmation process is performed using a reference image captured in advance, thereby eliminating the time required to capture a reference image in the confirmation process. Furthermore, because the reference image is an image of multiple positions that could serve as confirmation positions, the presence or absence of a support block can be properly confirmed regardless of the location of the confirmation position. Therefore, it is possible to properly confirm that no support blocks are attached to the transport jig used in the removal process.

[0009] 1 is a diagram showing an outline of the configuration of a printing system 10. A diagram showing an outline of the configuration of a printing device 20. A perspective view showing an outline of the main configuration of the printing device 20. A block diagram showing an outline of the configuration of the printing device 20. A perspective view of a support block 70 and a transport jig 90. A flowchart showing an example of a collection processing routine. An explanatory diagram showing an example of a plurality of imaging positions Ip. A flowchart showing an example of a confirmation processing. An explanatory diagram showing an example of a confirmation position Cp. An explanatory diagram showing an example of a time chart of the collection processing of this embodiment. An explanatory diagram showing a time chart of the collection processing of a comparative example.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a configuration diagram showing an outline of the configuration of a printing system 10. FIG. 2 is a configuration diagram showing an outline of the configuration of a printing device 20. FIG. 3 is a perspective view showing an outline of the main configuration of the printing device 20. FIG. 4 is a block diagram showing an outline of the configuration of the printing device 20. In this embodiment, the left-right direction (X-axis), front-rear direction (Y-axis), and up-down direction (Z-axis) are as shown in FIGS. 1 to 3.

[0011] The printing system 10 includes a printing device 20 that prints solder paste as a viscous fluid onto a substrate S, and a management device (PC) 100 that manages information related to the printing process. The printing system 10 may also be configured as a mounting system that further includes other board work devices, such as a mounting device (not shown) that mounts electronic components on the substrate S. Examples of viscous fluids include solder paste, conductive paste, and adhesive. The printing device 20 is configured as a dual lane with two substrate fixing units that fix the transported substrate S. Furthermore, the printing device 20 is capable of automatically replacing the screen mask M used in the printing process and the support blocks 70 and support pins P that support the substrate S when changing the printing target to a different type of substrate S.

[0012] The printing device 20 includes a control unit 21, a memory unit 22, a print processing unit 25, a mask work unit 30, a first substrate fixing unit 40, a second substrate fixing unit 50, an image capturing processing unit 60, and a storage unit 80. The printing device 20 also includes an operation panel on which a display screen is displayed and on which an operator can perform various input operations, and a communication unit that communicates with devices connected to a LAN.

[0013] The control unit 21 is configured as a microprocessor centered on a CPU, and includes a ROM for storing processing programs, a RAM used as a working area, etc. The storage unit 22 is, for example, an HDD or SSD, and stores the processing programs and various data.

[0014] The printing processing unit 25 is disposed on the upper stage of the printing device 20. This printing processing unit 25 prints the solder paste on the substrate S below by using a squeegee 28 to push the solder paste on the screen mask M into the pattern holes 11 and 12 of the screen mask M. As shown in FIG. 4 , the printing processing unit 25 includes a print head 26, a head moving unit 27, the squeegee 28, and a transport rod 29. The print head 26 applies pressure to the solder paste onto the screen mask M. The head moving unit 27 moves the print head 26 in a predetermined printing direction (front-to-back direction) and includes a guide formed in the front-to-back direction, a slider that moves along the guide, and a motor that drives the slider. The squeegee 28 is a plate-shaped member extending in a predetermined direction (the X-axis direction in FIG. 1 ) and is disposed on the print head 26 so as to be movable up and down by, for example, an air cylinder. The transport rod 29 is a rod-shaped member disposed on the print head 26 so as to be movable up and down by, for example, an air cylinder. With the transport rod 29 protruding below the squeegee 28, the print head 26 is moved back and forth by the head moving unit 27, thereby pushing and transporting the screen mask M and the transport jig 90 back and forth.

[0015] The mask working unit 30 is disposed between the printing processing unit 25 and the first and second substrate fixing units 40 and 50 in the vertical direction and fixes and holds a screen mask M. The screen mask M is a metal plate with pattern holes 11 and 12 formed therein for forming wiring patterns on the substrates S in the first and second lanes of the printing process. An identification portion (e.g., a mark) for position recognition is formed on the underside of the screen mask M. The mask working unit 30 includes a mask fixing unit 32, a position adjustment unit 34 (see FIG. 4), and a transport rail 36 (see FIG. 4). The mask fixing unit 32 positions the screen mask M fitted into the frame and supports and fixes it in a horizontal orientation. The position adjustment unit 34 adjusts the position of the mask fixing unit 32 in the X and Y directions so that the pattern holes 11 and 12 are positioned appropriately for the substrate S fixed to the first or second substrate fixing unit 40 or 50. The transport rails 36 are a pair of left and right rails extending in the front-rear direction, and guide the screen mask M and transport jig 90 pushed by the transport rod 29 so that they move in the front-rear direction.

[0016] The first substrate fixing unit 40 is disposed below the mask working unit 30 and serves to load the substrate S, position and support the loaded substrate S, and bring the substrate S into contact with and away from the screen mask M. The first substrate fixing unit 40 constitutes the first lane of the printing process. The first substrate fixing unit 40 includes a transport conveyor 41, a substrate guide 42, a guide moving unit 43 (see FIG. 4 ), a support table lifting unit 45, a fixing unit lifting unit 46, a support table 47, a Y-axis pressing unit 48, and a Z-axis clamping unit 49.

[0017] As shown in FIG. 2 , the transport conveyor 41 includes a conveyor belt provided on each of the pair of side frames 40 b and a belt rotation device that rotates the conveyor belt. Although not shown, the printing device 20 also includes an inlet conveyor and an outlet conveyor on the upstream and downstream sides (left and right sides in FIG. 1 ) of the board transport path of the transport conveyor 41. The board guide 42 is a plate-like member provided on the upper surface of each of the pair of side frames 40 b and guides the board S transported by the transport conveyor 41. The guide movement unit 43 is a mechanism that moves the pair of side frames 40 b in the front-to-rear direction to move them closer to or farther away from each other. This causes the transport conveyor 41 and the board guide 42 to also move in the front-to-rear direction, sandwiching and fixing the board S with the top surface of the board guide 42 flush with the top surface of the board S. The support table lifting unit 45 is a mechanism for raising and lowering the support table 47 relative to the main body 40a of the first substrate fixing unit 40, and includes a support column that guides and supports the support table 47 in the vertical direction, and a drive motor that moves the support column up and down. The support table 47 is a member on whose upper surface a support block 70 and support pins P can be arranged. The support block 70 and support pins P are replaced depending on the substrate S.

[0018] The support block 70 is disposed on the support base 47, is connected to a pressure reducing device (not shown) via piping, and is a member that supports and fixes the substrate S from the underside by suction using negative pressure. As shown in Fig. 5, the support block 70 includes a substantially rectangular parallelepiped main body 70a, a pair of cylindrical protrusions 71, 71 arranged to protrude from the left and right sides of the main body 70a, a pair of protrusions 72, 72 arranged forward of the protrusions 71, a plurality of suction ports 73 opening on the top surface of the main body 70a, and a clamped portion 74 having a sloped top surface and protruding rearward of the main body 70a. Furthermore, an identification portion 75 (e.g., a mark) for position recognition and a barcode 76 for identifying the type of support block 70 are formed on the top surface of the main body 70a.

[0019] The fixture lifting unit 46 is a mechanism for raising and lowering the entire first substrate fixture 40 relative to the device body. It includes a support column that guides and supports the body of the first substrate fixture 40 in the vertical direction, and a drive motor that moves the support column up and down. The Y-axis pressing unit 48 (see FIG. 2 ) is a mechanism used to position the support block 70 and is disposed on the support base 47. The Y-axis pressing unit 48 includes a block-shaped body that is movable in the front-rear direction and presses the support block 70 backward to move it, and a drive mechanism such as an air cylinder that moves the body forward and backward. The Y-axis pressing unit 48 also serves as a mechanism for supplying negative pressure to the support block 70. A suction port connected to a pressure reducing device by a pipe is disposed at the rear of the body. When the body of the Y-axis pressing unit 48 is pressed against the support block 70, a path from the pressure reducing device to a suction port 73 is formed, and negative pressure is supplied to the suction port 73. The Z-axis clamp 49 is a mechanism used to secure the support block 70 and is disposed on the rear side frame 40b. The Z-axis clamp 49 includes a block-shaped main body that can move vertically and a drive mechanism, such as a cylinder, that moves the main body vertically. When the main body of the Z-axis clamp 49 moves downward, it clamps the clamped portion 74 of the support block 70 together with the support base 47, thereby securing the support block 70. A support plate 49a is disposed in front of the Z-axis clamp 49, extending in the vertical and horizontal directions. When the side frame 40b moves forward and backward by the guide movement unit 43, the Z-axis clamp 49 and the support plate 49a also move forward and backward. This allows the fixed position of the support block 70 in the longitudinal direction to be changed. The support block 70 is fixed with its center aligned with the center of the width (front-rear direction) of the first and second lanes.

[0020] The second substrate fixing unit 50 is provided adjacent to the first substrate fixing unit 40 and is a unit that transports and fixes the substrate S in the same manner as the first substrate fixing unit 40. The second substrate fixing unit 50 constitutes the second lane of the printing process. The second substrate fixing unit 50 has a main body 50a and a side frame 50b, and is equipped with a transport conveyor 51, a substrate guide 52, a guide moving unit 53, a support table lifting unit 55, a fixation unit lifting unit 56, a support table 57, a Y-axis pressing unit 58, and a Z-axis clamping unit 59. The support table 57 can also accommodate support blocks 70 and support pins P. The second substrate fixing unit 50 has a similar configuration to the first substrate fixing unit 40, and therefore its description will be omitted. The support pins P are placed in a pin holder 54 (see FIG. 3 ) provided on the outer surface of the side frame 50b of the second substrate fixing unit 50, and are picked up by a picker 67 (described later) and placed on the support tables 47 and 57. A pin holder may be provided on the outer surface of the side frame 40 b of the first substrate fixing portion 40 .

[0021] The imaging processing unit 60 performs imaging processing to capture various images, including identification features for position recognition (e.g., marks, notches, irregularities, characters, etc.) formed on the substrate S. The imaging processing unit 60 includes a carriage 61, a carriage moving unit 62, and an imaging unit 65. The carriage 61 is provided with the imaging unit 65 and is moved in the X and Y directions by the carriage moving unit 62. The carriage moving unit 62 includes an X-axis slider 63 and a Y-axis slider 64. The Y-axis slider 64 is a plate-shaped member whose longitudinal direction is in the X-axis direction and is moved by a movement motor along a support rail 68 formed in the Y-axis direction (front-rear direction) of the device. The X-axis slider 63 is provided with the carriage 61 and is moved by a movement motor along a guide formed on the Y-axis slider 64 in the X-axis direction. The carriage 61 is movable between the area above the first substrate fixing portion 40, which is the first lane, the area above the second substrate fixing portion 50, which is the second lane, and an area outside these (see FIGS. 1 to 3). The imaging unit 65 has its lower and upper surfaces as imaging areas. The imaging unit 65 is capable of capturing images of the identification portions formed on the substrate S, the identification portions formed on the lower surface of the screen mask M, and the identification portions 75 of the support blocks 70. The control unit 21 is capable of acquiring position information of these from the images captured by the imaging unit 65. The imaging unit 65 is also capable of capturing images of the upper surface of the support base 57. The control unit 21 is capable of checking the presence or absence of the support blocks 70 and the support pins P from the images captured by the imaging unit 65.

[0022] The imaging processing unit 60 further includes a board stopper 66 and a picker 67. The board stopper 66 is, for example, a rod-shaped member and is disposed on the carriage 61 so as to be movable up and down by, for example, an air cylinder. The board stopper 66, protruding below the support rails 68 above the first and second board fixing units 40 and 50, contacts the board S transported above the support block 70 by the transport conveyors 41 and 51, thereby stopping the board S at a predetermined position in the left-right direction. The picker 67 is, for example, a cylindrical member and is disposed on the carriage 61 so as to be movable up and down by, for example, an air cylinder. The picker 67 has a central hole at its lower end into which the upper part of a support pin P can be inserted, and can hold and release the support pin P whose upper part is inserted into the central hole. The picker 67 can move in the X and Y directions by the carriage 61 while holding the support pin P.

[0023] The storage unit 80 is disposed behind the main body of the printing device 20 and stores items to be replaced, such as the screen mask M and support block 70, that are to be automatically replaced. The storage unit 80 includes a storage box 81 that is open at the front and an elevator unit 83 that raises and lowers the storage box 81. A pair of transport conveyors 82 that transport the items to be replaced in the forward and backward directions are arranged vertically in multiple levels (four levels in this embodiment) within the storage box 81. Three of the four levels of the transport conveyors 82 are pre-loaded by an operator with the screen mask M to be loaded, a transport jig 90 to which the support block 70 to be loaded is attached, and a transport jig 90 for attaching the support block 70 to be removed (removed). The remaining level of the transport conveyor 82 is left empty so that the screen mask M to be removed can be stored. The storage section 80 uses the lifting section 83 to bring the upper surface of one of the transport conveyors 82 to the same height as the upper surface of the transport rail 36, and operates the transport conveyor 82 in that state to move the item to be replaced in and out of the mask work section 30.

[0024] The transport jig 90 is a member for detachably holding and transporting the support block 70. As shown in FIG. 5 , the transport jig 90 has first to fourth holders 91 to 94 arranged in this order from rear to front inside a frame 95. The first to fourth holders 91 to 94 are arranged in pairs in the left-right direction and are disposed at the ends of arms extending downward from the frame 95. As shown in FIG. 2 , the transport jig 90 can attach one support block 70 using the first and second holders 91 and 92, and one support block 70 using the third and fourth holders 93 and 94. Recesses slightly larger than the outer diameters of the protrusions 71 and 72 of the support block 70 are formed on the top surfaces of the first to fourth holders 91 to 94. The protrusions 71 and 72 are placed in these recesses, allowing the transport jig 90 to hold and transport the support block 70. There are several types of support blocks 70 depending on the type of substrate S to be supported, but all have the same outer diameter of the protrusions 71, 72. The second and fourth holding portions 92, 94 are adjustable in their front-to-rear positions, allowing them to hold several types of support blocks 70 with different sizes (distance between the protrusions 71, 72). That is, within the frame 95, the rectangular area formed by the first and second holding portions 91, 92 and the rectangular area formed by the third and fourth holding portions 93, 94 are the holding areas of the support blocks 70. The transport jig 90 has a width in the left-to-right direction that is approximately the same as that of the mask fixing portion 32 of the screen mask M. This allows the transport jig 90 to be transported along the same transport rail 36 as the screen mask M. Since the same storage portion 80 can be used for the transport jig 90 and the screen mask M, it is preferable that the transport jig 90 and the screen mask M have similar lengths in the front-to-rear direction. There may be multiple types of transport jig 90, each with a different frame 95 and different sizes of each holding portion. A barcode 96 for identifying the type of transport jig 90 is attached to the top surface of the frame 95.

[0025] Next, a process for recovering components such as the screen mask M and the support block 70 when these components are automatically replaced during a changeover of the printing device 20 configured as described above will be described. Figure 6 is a flowchart showing an example of a recovery process routine. This process is executed by the CPU of the control unit 21. The control unit 21 determines whether or not component replacement is necessary based on, for example, information related to the printing process obtained from the management device 100.

[0026] Here, when replacement processing is required, it is assumed that the operator has previously stored in the storage unit 80 the screen mask M to be carried in, the transport jig 90 to which the support block 70 to be carried in is attached, and the recovery (transport) transport jig 90 for attaching the support block 70 to be removed (transported). If necessary, the operator may read the barcode 76 or the barcode 96 with a barcode reader to verify that the correct components are stored in the storage unit 80, or adjust the positions of the second holding portion 92 and the fourth holding portion 94 on the recovery transport jig 90. However, the operator may forget to perform these tasks or forget to remove the recovered support block 70 recovered during the previous changeover from the transport jig 90. In such cases, a different (recovered) support block 70 may be mistakenly attached to the recovery transport jig 90, causing the support blocks 70 to collide with each other during the recovery process. In this embodiment, a confirmation process, described below, is performed to avoid such collisions.

[0027] In the collection process routine of FIG. 6 , the control unit 21 starts the mask collection process (S100) and the support pin collection process (S110). The mask collection process involves transporting the screen mask M from the mask work unit 30 and storing it in the storage unit 80 by operating the transport rod 29 (print head 26), the transport conveyor 82, and the elevator unit 83. Because the screen mask M must be removed temporarily to replace the support block 70, the control unit 21 performs the mask collection process even if the screen mask M is not to be replaced. The support pin collection process involves using the picker 67 (carriage 61) to pick up each support pin P from the support bases 47, 57 and storing them in the pin storage area 54. The control unit 21 also confirms that no support pins P remain based on images of the locations of the support pins P captured by the imaging unit 65. The control unit 21 can execute the processes of S100 and S110 in parallel.

[0028] Next, the control unit 21 waits for the collection of the screen mask M started in S100 to be completed (S120). When the control unit 21 determines that the collection of the screen mask M is completed, the control unit 21 determines whether this is the first member collection process since the printing device 20 was started (S130). The reference image is used as a comparison image showing a state in which the support block 70 is not attached when confirming that the support block 70 is not attached to the transport jig 90 for collecting (transporting) the support block 70. In this embodiment, in the first member collection process since the printing device 20 was started, the timing before the transport jig 90 for collection is carried in is set as the timing for capturing (acquiring) the reference image.

[0029] If the control unit 21 determines in S130 that this is the first time the component retrieval process is being performed, it causes the imaging unit 65 to capture reference images at multiple imaging positions Ip without the transport jig 90 being carried in, and stores the captured images in the storage unit 22 (S140). On the other hand, if the control unit 21 determines in S130 that this is not the first time the component retrieval process is being performed, it skips S140 and proceeds to S150. Therefore, once the control unit 21 has captured a reference image, it skips capturing the reference image in S140 every time, which allows the retrieval process to be performed more quickly than if the reference image were captured every time.

[0030] FIG. 7 is an explanatory diagram showing an example of multiple imaging positions Ip, each indicated by a circle. In FIG. 7 , the transport conveyors 41 and 51 are shown with dotted lines to indicate the positional relationship between the first lane transport conveyor 41 and the second lane transport conveyor 51 and the imaging positions Ip. However, the reference image is an image of the upper side captured by the imaging unit 65 at each imaging position Ip without the transport jig 90 being loaded, so the transport conveyors 41 and 51 are not actually captured. The transport width W of the transport conveyors 41 and 51 can be changed depending on the width of the board S. Furthermore, the support block 70 is positioned (fixed) with its center aligned with the center of the transport width W of the transport conveyors 41 and 51 (first and second lanes). Therefore, as the transport width W changes, the center position (positioning position) of the support block 70 changes to multiple positions, generating a linear trajectory L (see FIG. 7 ). Furthermore, the center position (holding position) of the support block 70 held by the transport jig 90 is directly above the placement position. Therefore, the holding position also changes to multiple positions in accordance with changes in the placement position, and becomes a position on the trajectory L. In this embodiment, multiple imaging positions Ip are defined at predetermined intervals along the trajectory L so that any placement position (holding position) can be accommodated, and a reference image is captured for each imaging position Ip. The reference images are stored in the memory unit 22. Furthermore, the control unit 21 executes the confirmation process of S160 using these reference images until the printing device 20 is powered off.

[0031] Next, the control unit 21 executes a carry-in process to carry the recovery transport jig 90 to a position above the support tables 47, 57 by operating the transport rod 29 (print head 26), transport conveyor 82, and elevator 83 (S150). The control unit 21 then executes a confirmation process to confirm that the support block 70 has not been mistakenly attached to the recovery transport jig 90 (S160). Figure 8 is a flowchart showing an example of the confirmation process.

[0032] In the confirmation process shown in FIG. 8 , the control unit 21 first sets a confirmation position Cp corresponding to the center position of the conveying width W of the conveyor 41, 51 (first and second lanes) (S200). FIG. 9 is an explanatory diagram showing an example of the confirmation position Cp. As shown in the figure, the confirmation position Cp is located at the center position of the conveying width W on the trajectory L. In this way, each imaging position Ip on the trajectory L can be considered a position that can serve as the confirmation position Cp. However, because the imaging positions Ip are determined at predetermined intervals, it is rare for the confirmation position Cp and the imaging position Ip to coincide. Therefore, the control unit 21 uses a reference image captured in advance to derive a reference brightness B0 at the confirmation position Cp by linear interpolation (S210). In S210, the control unit 21 selects two imaging positions Ip1, Ip2 (see the enlarged view in FIG. 9 ) that are near the confirmation position Cp, and derives the reference brightness B0 by linear interpolation using the brightness in the reference images at those imaging positions Ip1, Ip2.

[0033] Next, with the retrieval transport jig 90 loaded above the support bases 47 and 57, the control unit 21 causes the imaging unit 65 to capture a confirmation image of the upper confirmation position Cp (S220). The control unit 21 then processes the confirmation image to obtain a brightness B1 at the confirmation position Cp (S230). Based on the reference brightness B0 derived in S210 and the brightness B1 obtained in S230, the control unit 21 confirms that the transport jig 90 is in an empty state, i.e., that no support block 70 is attached, and terminates the confirmation process (S240). The brightness B1 significantly differs between the presence and absence of the support block 70 (empty state). Therefore, in S240, if the reference brightness B0 and brightness B1 are the same brightness or differ by an allowable margin of error, the control unit 21 confirms that the support block 70 is not attached, i.e., that the transport jig 90 is in an empty state, as in the case of capturing the reference image.

[0034] In the recovery process routine of FIG. 6, the control unit 21 determines whether the availability of the transport jig 90 was confirmed in the confirmation process of S160 (FIG. 8) (S170). If it determines that the availability was not confirmed, the control unit 21 executes error processing (S180) and terminates this process. Error processing is performed, for example, by displaying an error code or error message on the display screen of the operation panel of the printing device 20, sounding an alarm, or turning on an alarm lamp to indicate that an error has occurred. An operator who notices the error can take action such as removing the support block 70 from the recovery transport jig 90 and then resuming the recovery process routine.

[0035] On the other hand, if the control unit 21 determines in S170 that the empty state has been confirmed, it waits for the support pin retrieval process started in S110 to end, i.e., for a determination that retrieval of the support pins P has been confirmed (S190). If the control unit 21 determines that retrieval of the support pins P has been confirmed, it executes a carry-out process to transport the support block 70 using the transport jig 90 (S195), and then ends this process. In S195, the control unit 21 first controls the support platform lifting unit 45 and the fixed unit lifting unit 46 to raise the support block 70 on the support platforms 47, 57 to a position where the protrusions 71, 72 are higher than the first to fourth holding units 91-94 of the transport jig 90, which are in the upper position. Next, the control unit 21 moves the transport jig 90 using the transport rod 29, so that the first to fourth holding units 91-94 are respectively positioned directly below the protrusions 71, 72. In this state, the control unit 21 lowers the support tables 47, 57, thereby holding the support block 70 on the transport jig 90. Then, the control unit 21 moves the transport jig 90 using the transport rod 29 to transport the support block 70 out. After the recovery process is completed, the control unit 21 performs the process of transporting the support block 70, the process of arranging the necessary support pins P, and the process of transporting the screen mask M. This completes the setup changeover, and the printing process can be performed.

[0036] FIG. 10 is an explanatory diagram showing an example of a time chart of the collection process of this embodiment. FIG. 11 is an explanatory diagram showing a time chart of the collection process of a comparative example. FIG. 10 shows a case where a reference image has been captured in advance and is not captured during the collection process. The comparative example of FIG. 11 differs from this embodiment in that a reference image is captured each time. In either case, when the collection process starts, the mask collection process of S100 (such as operation of the mask working unit) and the support pin collection process of S110 (such as operation of the image capturing unit) start in parallel (times t0 and t10), and mask collection ends at times t1 and t11.

[0037] In the comparative example, the reference image must be captured from time t12, when the retrieval of the support pins P (hereinafter, including confirmation that the support pins P are not present) is completed. Here, the reference image must be captured when the support block 70 is not present at the confirmation position Cp. Furthermore, if the transport jig 90 is not loaded, the support block 70 is definitely not present. Therefore, in the comparative example, the transport jig 90 is not loaded immediately at time t11, when the mask retrieval is completed, but is loaded from time t13, when the capture of the reference image is completed. In other words, the mask work unit 30 waits from time t11 to time t13. Then, when the transport jig 90 is loaded at time t14, a confirmation image is captured to confirm the availability (times t14 to t15). Once the availability is confirmed, the support block 70 is attached to the transport jig 90 and retrieved (times t15 to t16).

[0038] As described above, in the comparative example, a waiting time occurs for the mask work unit 30, and it is not possible to carry out the loading of the transport jig 90 (times t13 to t14) and the collection of the support pins P in parallel. Note that while Fig. 11 illustrates an example in which the reference image is captured after the collection of the support pins P, it is also possible to capture the reference image in between the collection of the support pins P. However, even if this is done, the start of the loading of the transport jig 90 is not significantly accelerated, so the time for the parallel processing of the loading of the transport jig 90 and the collection of the support pins P is relatively short.

[0039] On the other hand, in the present embodiment shown in FIG. 10 , when mask retrieval is completed at time t1, the transport jig 90 begins to be loaded immediately without any waiting time for the mask work unit 30. Then, when the transport jig 90 is loaded at time t2, a confirmation image is captured to confirm the availability (time t2 to time t3). Note that FIG. 10 illustrates an example in which the retrieval of the support pins P and the transport jig 90 are both completed at time t2, but this is not limited to this. For example, if the transport jig 90 is loaded first and the retrieval of the support pins P is not yet completed, the capture of a confirmation image can be started after the retrieval is completed. Alternatively, a confirmation image can be captured between the retrieval of the support pins P. Once the availability of the transport jig 90 is confirmed, the support block 70 is attached to the transport jig 90 and the transport jig 90 is retrieved (time t3 to time t4). Note that the period from time t2 to time t4 is equivalent to the period from time t14 to time t16 in the comparative example.

[0040] As described above, in this embodiment, the transport jig 90 can be loaded immediately after the mask is collected, eliminating the need for a waiting time until the reference image is captured and the time required for capturing the reference image (the time from time t11 to time t13 in the comparative example). Also, unlike the comparative example, the time required for the parallel processing of loading the collection transport jig 90 and collecting the support pins P can be extended. For these reasons, in this embodiment, processing efficiency is improved and the collection process of the support block 70 can be quickly performed.

[0041] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The mask work unit 30 that carries in and out the transport jig 90 of this embodiment corresponds to the jig transport unit of this disclosure, the support platform lifting units 45, 55 and the fixed unit lifting units 46, 56 correspond to the lifting units, the imaging processing unit 60 (imaging unit 65) corresponds to the imaging unit, and the control unit 21 that executes the recovery processing routine of FIG. 6 (the confirmation process of FIG. 8) corresponds to the control unit. The transport conveyors 41, 51 correspond to the board transport unit. The picker 67 corresponds to the pin transport unit. Note that in this embodiment, an example of a confirmation method of the present disclosure is also clarified by explaining the operation of the printing device 20.

[0042] When the printing device 20 of the present embodiment described above executes the support block 70 removal process, it performs a confirmation process to confirm whether the transport jig 90 is empty and the support block 70 is not attached, using a confirmation image captured by the imaging unit 65 of the confirmation position Cp and reference images captured by the imaging unit 65 in advance of the removal process at multiple positions (image positions Ip) that could serve as the confirmation position Cp without the support block 70. In this way, the confirmation process is performed using a reference image captured in advance, thereby eliminating the time required to capture a reference image in the confirmation process. Furthermore, because the reference image is an image captured at multiple image positions Ip that could serve as the confirmation position Cp, the presence or absence of the support block 70 can be properly confirmed regardless of the location of the confirmation position Cp. Therefore, it is possible to properly confirm that the support block 70 is not attached to the transport jig 90 in a shorter time.

[0043] In addition, the confirmation process checks the availability based on the reference brightness B0 of the confirmation position Cp derived from the reference image and the brightness B1 (actual brightness) of the confirmation position Cp derived from the confirmation image. Therefore, the confirmation process can be completed in a short time based on the brightness B1 at one confirmation position Cp and the reference brightness B0.

[0044] Furthermore, in the confirmation process, the luminance at imaging positions Ip1 and Ip2 near the confirmation position Cp is obtained from the reference image, and the reference luminance B0 for the confirmation position Cp is derived by linear interpolation using the luminance at imaging positions Ip1 and Ip2. Therefore, even if there is no imaging position Ip that matches the confirmation position Cp, the reference luminance B0 for the confirmation position Cp can be easily derived and appropriately confirmed.

[0045] The control unit 21 also determines a plurality of imaging positions Ip at predetermined intervals along the trajectory L of the center position of the support block 70, which shifts as the conveying width W changes, and causes the imaging unit 65 to capture reference images at each of the imaging positions Ip. Furthermore, with the conveying jig 90 in the upper position, the control unit 21 also causes the imaging unit 65 to capture a confirmation image at a confirmation position Cp that is within the holding range directly above the center position (holding position). Therefore, since the confirmation process is performed at the confirmation position Cp that corresponds to the center position of the support block 70, which shifts as the conveying width W changes, the availability can be confirmed more appropriately.

[0046] Furthermore, when the support block 70 is loaded or unloaded for the first time after the printing device 20 is started, the control unit 21 acquires a reference image by having the imaging unit 65 capture an image of the area above the support tables 47, 57 while the transport jig 90 is not in the upper position, and uses the acquired reference image in the subsequent confirmation process. This allows the reference image to be captured without the support block 70 being present. Furthermore, once the reference image is acquired, the time required to capture the reference image can be reliably omitted, allowing for confirmation in a shorter time.

[0047] Furthermore, when recovering (transporting out) the support pins P together with the support block 70, the control unit 21 causes the picker 67 to transport the support pins P, and then causes the imaging unit 65 to capture an image of the upper surfaces of the support tables 47, 57, and uses the captured image to confirm that no support pins P are present, while transporting the transport jig 90. Because there is no need to capture a reference image, it is possible to quickly capture an image to confirm that no support pins P are present. Furthermore, the recovery of the support pins P and the transport jig 90 can be efficiently processed in parallel.

[0048] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0049] In the above-described embodiment, the case where the support pins P (second support members replaced without using a transport jig) are placed on the support bases 47 and 57 together with the support block 70 (first support members replaced using a transport jig) has been exemplified. However, this is not limiting, and the support pins P may not be placed on the support bases 47 and 57. In such a case, steps S110 and S190 may be omitted. Furthermore, if the support pins P are not placed on the support bases 47 and 57, instead of step S110 of the recovery process routine, the imaging unit 65 may capture an image of the pin storage area 54 from above to below to confirm whether or not there are support pins P placed in the pin storage area 54. Even in this case, the transport jig 90 can be loaded immediately after recovering the mask without waiting for the imaging unit 65 to finish confirming whether or not there are support pins P placed in the pin storage area 54. This allows the recovery process of the support block 70 to be quickly performed.

[0050] In the embodiment, the reference image is acquired when the support block 70 is loaded or unloaded for the first time after the printing device 20 is started, but this is not limited to this. The reference image may be acquired before the support block 70 is loaded or unloaded for the first time after the printing device 20 is started. For example, the reference image may be acquired during the startup process of the printing device 20. Furthermore, although the reference image once acquired is used until the power of the printing device 20 is turned off, this is not limited to this, and the reference image may be updated by being periodically captured.

[0051] In the embodiment, a plurality of imaging positions Ip are set at predetermined intervals along the trajectory L of the center position of the support block 70, which displaces with changes in the transport width W, and reference images are captured at these positions. However, this is not limited to this. For example, a plurality of possible center positions of the support block 70 may be set according to the transport width W for each type (size) of substrate S, and reference images may be captured at these center positions. Furthermore, in the confirmation process, if there is a reference image in which the imaging position Ip matches the confirmation position Cp, confirmation is performed using the reference brightness B0 of that reference image. If there is no matching reference image, confirmation may be performed using the reference brightness B0 derived from the reference image as in the embodiment.

[0052] In the embodiment, the reference brightness B0 of the confirmation position Cp is derived by linear interpolation using the brightness of the two imaging positions Ip1 and Ip2, but this is not limited to this, and the reference brightness B0 may be derived by other methods such as polynomial interpolation.

[0053] In the embodiment, the availability is confirmed based on the reference luminance B0 and the luminance B1 (actual luminance) of one confirmation position Cp, but this is not limited to this, and the availability may be confirmed based on the reference luminance B0 and the luminance B1 (actual luminance) of two or more confirmation positions Cp. Furthermore, the confirmation position Cp is not limited to a position on the linear locus L, and may be a plurality of positions within the holding range.

[0054] In the embodiment, the storage unit 80 is disposed behind the printing device 20, but this is not limited thereto. When performing a component replacement process, a movable storage unit may be disposed in front of the printing device 20, for example. Furthermore, in the embodiment, the printing device 20 is exemplified as the board work device of the present disclosure, but this is not limited thereto, and any work device that can automatically replace a support block that supports a board to be worked on, such as a mounting device, may be used.

[0055] The present disclosure may be configured as follows. For example, a confirmation method of the present disclosure is a confirmation method for confirming an empty state in which a support block that supports a substrate to be worked on is not attached to a transport jig that detachably holds the support block, the confirmation method including: (a) a step of causing an imaging unit to capture an image of a predetermined confirmation position within a holding range of the support block on the transport jig when performing a carry-out process for carrying the support block out of a support stand, and (b) a step of performing a confirmation process for confirming an empty state in which the support block is not attached to the transport jig, using the confirmation image captured in step (a) and reference images captured in advance by the imaging unit before the carry-out process of a plurality of positions that can serve as the confirmation position in a state in which the support block is not present, the confirmation image captured in step (a) and reference images of a plurality of positions that can serve as the confirmation position, the reference images captured in advance by the imaging unit before the carry-out process, in a state in which the support block is not present.

[0056] The confirmation method of the present disclosure, like the working device of the present disclosure described above, can appropriately confirm that a support block is not attached to the transport jig used in the carry-out process. This confirmation method may employ various aspects of the working device of the present disclosure described above, or may include additional steps that realize each function of the working device of the present disclosure.

[0057] This specification also discloses the technical idea of ​​changing the "working device according to claim 1 or 2" in claims 4 to 6 as originally filed to "a working device according to any one of claims 1 to 3" in claim 4, "a working device according to any one of claims 1 to 4" in claim 5, and "a working device according to any one of claims 1 to 5" in claim 6.

[0058] The present disclosure is applicable to work devices that perform work on boards, such as mounting devices that mount components on boards and printing devices that print on boards.

[0059] 10 Printing system, 11, 12 Pattern holes, 20 Printing device, 21 Control unit, 22 Memory unit, 25 Print processing unit, 26 Print head, 27 Head moving unit, 28 Squeegee, 29 Transport rod, 30 Mask working unit, 32 Mask fixing unit, 34 Position adjustment unit, 36 Transport rail, 40 First substrate fixing unit, 40a, 50a Main body, 40b, 50b Side frame, 41, 51 Transport conveyor, 42, 52 Substrate guide, 43, 53 Guide moving unit, 45, 55 Support table lifting unit, 46, 56 Fixing unit lifting unit, 47, 57 Support table, 48, 58 Y-axis pressing unit, 49, 59 Z-axis clamp unit, 49a, 59a Support plate, 50 Second substrate fixing unit, 60 Imaging processing unit, 61 Carriage, 62 Carriage moving unit, 63 X-axis slider, 64 Y-axis slider, 65 Imaging unit, 66 Board stopper, 67 Picker, 68 Support rail, 70 Support block, 70a Main body, 71, 72 Protrusion, 73 Suction hole, 74 Clamped portion, 75 Identification unit, 76, 96 Barcode, 80 Storage unit, 81 Storage box, 82 Transport conveyor, 83 Lifting unit, 90 Transport jig, 91 to 94 First to fourth holding units, 95 Frame, 100 Management PC, M Screen mask, P Support pin, S Board.

Claims

1. A working device capable of automatically replacing a support block that supports a substrate to be worked on, comprising: a jig transport unit that transports a transport jig that detachably holds the support block in and out to a position above a support base on which the support block is placed; a lifting unit that raises and lowers the support base relative to the transport jig in the upper position so that the support block can be replaced between the transport jig and the jig; an imaging unit that can image the transport jig; and a control unit that, when performing a carry-out process to transport the support block from the support base, performs a confirmation process to confirm that the transport jig is empty and the support block is not attached, using a confirmation image captured by the imaging unit of a predetermined confirmation position within the holding range of the support block on the transport jig, and reference images captured in advance by the imaging unit of a plurality of positions that can serve as the confirmation positions without the support block before the carry-out process.

2. The work device described in claim 1, wherein the control unit causes the imaging unit to capture one or more reference images so that the brightness of each of the multiple positions can be obtained, and in the confirmation process, the availability status is confirmed based on the reference brightness of the confirmation position derived from the reference image and the brightness of the confirmation position derived from the confirmation image.

3. The work device according to claim 2, wherein the control unit, in the confirmation process, acquires the luminance of a position near the confirmation position from the reference image, and derives the reference luminance of the confirmation position by linear interpolation using the acquired luminance of the nearby position.

4. A working device as described in claim 1 or 2, comprising a substrate transport unit configured to change the transport width according to the width of the substrate, wherein the support block is placed on the support table with its center position aligned with the center of the transport width, and the control unit determines the multiple positions at predetermined intervals along the trajectory of the center position of the support block which displaces as the transport width is changed, and causes the imaging unit to capture the reference image respectively, and when the transport jig is in the upper position, causes the imaging unit to capture the confirmation image with a position directly above the center position as the confirmation position.

5. The working device according to claim 1 or 2, wherein the control unit acquires the reference image by having the imaging unit capture an image of the area above the support table when the transport jig is not in the upper position after the working device is started and before the support block is loaded or unloaded for the first time, and uses the acquired reference image in the subsequent confirmation process.

6. A working device as described in claim 1 or 2, wherein support pins that support the substrate together with the support blocks may be arranged on the support table, and the device is provided with a pin transport unit that can transport the support pins in and out of the support table and arrange them thereon, and the imaging unit is configured to move in the vertical direction between the support table and the jig transport unit and be able to capture images of the transport jig above and the support table below, and when transporting the support pins together with the support blocks from the support table, the control unit causes the pin transport unit to transport the support pins, and transports the transport jig to the upper position while causing the imaging unit to capture an image of the support table and using the captured image to confirm that the support pins are not present.

7. A method for confirming that a transport jig that detachably holds a support block that supports a substrate to be worked on is in an empty state with the support block not attached, comprising: (a) a step of having an imaging unit capture an image of a predetermined confirmation position within the holding range of the support block on the transport jig when performing a carry-out process to carry the support block out of a support stand; and (b) a step of performing a confirmation process to confirm that the transport jig is in an empty state with the support block not attached, using the confirmation image captured in step (a) and reference images of multiple positions that could be the confirmation positions that are captured in advance by the imaging unit without the support block before the carry-out process.

Images