JP7526962B2 - Printing device and mask drawing method - Google Patents

Description

This disclosure relates to a printing device and a mask towing method.

Patent Document 1 discloses a screen printing device that can easily and automatically replace a screen mask in response to a change in the type of substrate. The screen printing device includes a printing unit and a storage unit (mask changer) provided to the side of the printing unit. The printing unit of the screen printing device includes a main body frame, a screen mask slidably arranged on the main body frame, and a squeegee that slides on the screen mask. The mask changer has a screen mask stocker and includes a cleaning unit that includes a moving body, a moving means for moving the moving body between the printing unit and the mask changer, a cleaning unit provided on the moving body and for cleaning the screen mask at the printing unit, a connecting member provided on the moving body so as to detachably engage with the mask frame of the screen mask, and a driving means for the connecting member.

Japanese Patent Application Publication No. 5-299812

It is desirable for screen printing devices to be able to accommodate an increased number of screen masks in order to improve the efficiency of the screen mask supply task performed by the operator and to increase productivity. However, a problem with screen printing devices equipped with a mask changer like this is that when the number of screen masks built into the mask changer is increased, the device tends to become larger.

The present disclosure has been devised in consideration of the above-mentioned conventional situation, and aims to provide a printing device and a mask pulling method that improve the efficiency of transporting masks between the printing position and the storage position, and increase the number of masks that can be stored in the mask changer.

The present disclosure provides a printing device that prints solder paste on a substrate through a mask having a predetermined print pattern, the printing device having a storage section that stores the mask, and a pulling section that draws the mask out of the storage section by adsorbing the side of a frame of the stored mask.

The present disclosure also provides a mask pulling method performed by a printing device that prints solder paste on a substrate through a mask having a predetermined print pattern, the method comprising: sucking the side of a frame of a mask stored in a storage section that stores the mask; pulling the mask out of the storage section; and pulling the mask to a printing position for the solder paste.

This disclosure makes it possible to efficiently transport masks between the printing position and the storage position, thereby increasing the number of masks that can be stored in the mask changer.

FIG. 1 is an overall perspective view of a printing device according to a first embodiment; FIG. 1 is a partial perspective view of a printing device according to a first embodiment; FIG. 1 is a perspective side view of a printing device according to a first embodiment; FIG. 1 is a partial cross-sectional side view of a printing unit according to a first embodiment; FIG. 1 is a partial plan view of a printing unit according to a first embodiment; FIG. 1 is a partial plan view of a printing unit included in a printing device according to a first embodiment; FIG. 1 is a plan view showing an example of a mask. FIG. 13 is a bottom view showing a state in which the mask is held by the mask holding portion. FIG. 1 is a front view showing a state in which a mask is guided by a mask guide; Squeegee Base FIG. 1 is a plan view of a printing unit included in a printing device according to a first embodiment; FIG. 1 is a perspective view of a state in which the printing device according to the first embodiment is blowing gas onto the upper surface of a mask pulled out from a storage body; FIG. 2 is a schematic diagram illustrating a traction mechanism of the printing device according to the first embodiment; FIG. 1 is a block diagram showing a control system of a printing apparatus according to a first embodiment. FIG. 1 is a diagram for explaining an example of a procedure for pulling out a mask from a printing device according to a first embodiment; FIG. 1 is a diagram for explaining an example of a procedure for pulling out a mask from a printing device according to a first embodiment; FIG. 1 is a diagram for explaining an example of a procedure for storing a mask in a printing device according to a first embodiment; FIG. 1 is a diagram for explaining an example of a procedure for storing a mask in a printing device according to a first embodiment; FIG. 13 is a diagram for explaining the procedure of pulling out the L-frame mask of the printing device according to the modified example of the first embodiment. FIG. 13 is a diagram for explaining the procedure of pulling out the L-frame mask of the printing device according to the modified example of the first embodiment.

Below, with reference to the drawings as appropriate, an embodiment that specifically discloses the configuration and operation of the printing apparatus and mask traction method according to the present disclosure will be described in detail. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters and duplicate explanation of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to make it easier for those skilled in the art to understand. Note that the attached drawings and the following explanation are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

First, the printing device 11 according to the first embodiment will be described with reference to FIG. 1. FIG. 1 is an overall perspective view of the printing device 11 according to the first embodiment.

The printing device 11 according to the first embodiment is an apparatus that is integrally configured with a printing unit 13 that prints a paste Pst (see FIG. 2) such as solder paste on the upper surface of a substrate KB (see FIG. 2) as a printing object, and a mask changer 15 that stores a mask 27 (see FIG. 2) that is supplied to the printing unit 13. The printing device 11 is configured to include the printing unit 13 and the mask changer 15.

The printing unit 13 has a substrate transport and holding unit 21 on a base 19 (see Figure 2) covered by a printing unit cover 17, and prints the paste Pst on the transported substrate KB.

The mask changer 15 is provided adjacent to the rear of the printing unit 13. The housing 23 of the mask changer 15 has an internal space SP (see FIG. 2) capable of storing a magazine 25, and an opening 29 is provided at the bottom of the rear side of the housing 23 to allow the magazine 25 storing masks 27 to be inserted into and removed from the internal space SP. The mask changer 15 has a mask passage opening 71 (see FIG. 2) for supplying masks 27 to the printing unit 13, and is spatially connected to the inside of the printing unit 13 through this mask passage opening 71. The housing 23 of the mask changer 15 has a touch panel 31 capable of outputting an alarm sound or alarm screen, or another lighting device (e.g., LED, etc.), at the top of the rear side.

Next, an overview of the printing unit 13 and mask changer 15 will be described with reference to Figures 2 to 4. Figure 2 is a partial perspective oblique view of the printing device 11 according to embodiment 1 of the invention. Figure 3 is a perspective side view of the printing device 11 according to embodiment 1. Figure 4 is a partial cross-sectional side view of the printing unit in embodiment 1.

A mask guide 33 is provided above the substrate transport/holding section 21. A mask holding section 35 is disposed above the mask guide 33. A print head 37, a scraper unit 39, a mask upper surface cleaner 41, and a gas blowing section 43 are provided above the mask holding section 35. In addition, two mask holding section lifting cylinders 45 on the left and right, and four cylinders 47 on the front, back, left and right are provided above the mask holding section 35. A camera movement mechanism 49, a camera 51, and a mask lower surface cleaner 53 are provided below the mask holding section 35.

The gas blowing unit 43 functions as a pre-use mask cleaner that cleans the upper surface of the mask 27 before it becomes contaminated with the paste Pst (i.e., before use or before the first paste Pst is supplied to the mask 27). The gas blowing unit 43 includes a tubular portion 55 that extends laterally above the movement path of the mask 27 and intersects with the movement direction (X-axis direction) of the mask 27, and a valve portion 57 that is connected to one end of the tubular portion 55. The tubular portion 55 is provided on the rear end side of two forward/rearward guide portions described below so as to straddle each of the two forward/rearward guide portions.

The mask underside cleaner 53 is provided so as to be movable in the Y-axis direction in the area below the mask guide 33 by a mask underside cleaner guide (not shown). The mask underside cleaner 53 is connected to the moving base 59 of the camera moving mechanism 49 by a moving base connecting part (not shown) provided on the mask underside cleaner 53, and moves in the Y-axis direction together with the moving base 59.

When the mask underside cleaner 53 is not moved in the Y-axis direction by the moving base 59, the mask 27 is transported and waits at a cleaner standby position located in front of the printing position where the paste Pst is printed (see FIG. 2). The mask underside cleaner 53 can be raised and lowered freely relative to the mask guide 33 (i.e., relative to the mask 27 transported to the printing position) by a lower surface cleaner lifting section (not shown) provided on the mask underside cleaner guide.

The camera movement mechanism 49 has a function of being able to move (transport) the mask 27 between a magazine 25 (described later) provided in the mask changer 15 and the printing position of the mask 27 in the printing unit 13. In detail, the camera movement mechanism 49 has a function of pulling out the mask 27 from the magazine 25 and moving it into the printing unit 13 to a position halfway to the printing position, or moving the mask 27 from the printing position in the printing unit 13 to a position halfway on the path to return it to the magazine 25. The camera movement mechanism 49 has a moving base 59 extending in the X-axis direction, and an adsorption unit 63 as an example of a traction unit that can be moved freely in the Y and Z directions by a YZ actuator 61 provided on the moving base 59.

The mask changer 15 is provided adjacent to the rear of the printing unit 13, and includes a housing 23, a magazine 25, an elevator 65, a lower sensor 67, an upper sensor 69, a mask passage opening 71, and an elevator 73. The elevator 65 includes a nut portion 75 provided at one end of the elevator 73, which has a shape that spreads out in a horizontal plane, a ball screw 77 that screws into the nut portion 75 and extends in the vertical direction, and an elevator lift motor 79 that rotates and drives the ball screw 77.

When the lifting body lifting motor 79 is activated, the ball screw 77 rotates, and the lifting body 73 rises and falls via the nut portion 75 attached to the ball screw 77. The lifting body 65 raises and lowers the lifting body 73 supporting the magazine 25 between the working space SP1 and the supply space SP2, thereby functioning as a storage body moving mechanism that moves the magazine 25, which has been brought in through the opening 29 of the housing 23, between the opening 29 of the housing 23 and the working space SP1, which is a position away from the opening 29.

The board transport and holding section 21 includes an input conveyor 81, an intermediate conveyor 83, an output conveyor 85, a board holding section 87, and a multi-stage table 89. The input conveyor 81, intermediate conveyor 83, and output conveyor 85 are aligned in this order in the X-axis direction (left-right direction), and the board KB is transferred and transported in the order of the input conveyor 81, intermediate conveyor 83, and output conveyor 85.

The board holder 87 forms a unit together with the intermediate conveyor 83, and supports the board KB received by the intermediate conveyor 83 from the carry-in conveyor 81 in a lifted state from the intermediate conveyor 83, while clamping and holding both sides of the board KB. The multi-stage table 89 is provided on the base 19, and moves the entire unit formed by the intermediate conveyor 83 and the board holder 87 on the XY plane and in the vertical direction (Z-axis direction) relative to the base 19.

Figure 5 is a partial plan view of the printing unit 13 in the first embodiment. The substrate transport and holding unit 21 (see Figure 4) has a mask guide 33 provided above it. The mask guide 33 has a pair of front-rear guide parts 91 extending in the Y-axis direction (front-rear direction) and arranged in parallel to face each other in the X-axis direction, and a left-right guide part 93 provided at the front end of the pair of front-rear guide parts 91 and extending in the X-axis direction. Each of the pair of front-rear guide parts 91 is formed so that its cross section is L-shaped, and has a horizontal part 95 and a vertical part 97 formed on the outside of the horizontal part 95. On the other hand, the left-right guide part 93 is configured by being connected to each of the horizontal parts 95 of the pair of front-rear guide parts 91.

Figure 6 is a partial plan view of the printing unit 13 provided in the printing device 11 according to the first embodiment. The mask guide 33 has a mask holding unit 35 disposed above it. The mask holding unit 35 has a rectangular shape in a plan view, with each of its left and right Y-axis sides positioned above each of the pair of front-rear direction guide units 91 of the mask guide 33, and each of its front X-axis sides positioned above the left-right direction guide units 93. The mask guide 33 has each of the four sides of the mask 27 held down by the mask holding units 35.

Figure 7 is a plan view showing an example of the mask 27. The mask 27 is composed of a substantially rectangular metal plate. A pattern opening 99 is formed in the center of the mask 27 in an arrangement corresponding to the arrangement of the electrode pattern (not shown) formed on the surface of the substrate KB. The outer periphery of the mask 27 is supported by a frame 101. The frame 101 of the mask 27 in the printing device 11 is composed of a front frame body 103 on the front side in the Y direction, a rear frame body 105 on the rear side in the Y direction, a right frame body 107 on the right side in the X direction, and a left frame body 109 on the left side in the X direction.

The rear end sides of the pair of front-rear guide sections 91 of the mask guide 33 extend to a position near the mask changer 15 on the horizontal plane (XY plane) (i.e., near the mask passage opening 71 where the mask 27 is pulled out and stored), and form a transport path for the mask 27 transported between the printing position of the mask 27 in the printing unit 13 and the magazine 25 of the mask changer 15. The pair of front-rear guide sections 91 have step guides 111 (see FIG. 5) formed on the upper surface extending in the Y-axis direction, and guide the left and right sides of the approximately rectangular mask 27 that moves between the printing position and the magazine 25 in the mask changer 15.

Figure 8 is a bottom view showing the state in which the mask 27 is held by the mask holding part 35. The mask 27 is in a state in which three sides are sandwiched between the mask guide 33 and the mask holding part 35. This causes the mask 27 to be held in a flat state. The gas blowing part 43 is provided with a plurality of gas ejection holes 113 arranged side by side in the X-axis direction on the underside.

Figure 9 is a front view showing the state of the mask 27 guided by the mask guide 33. Each of the two mask holder lifting cylinders 45 and each of the four cylinders 47 are fixed to the vertical parts 97 of the left and right front-rear guide parts 91 of the mask guide 33. Each of the two left and right mask holder lifting cylinders 45 is provided above the middle parts of the two left and right straight parts extending in the Y-axis direction of the mask holder 35. Each of the four cylinders 47 is provided above the four corners of the mask holder 35 or in the vicinity thereof. The frame 101 of the mask 27 is held down by the horizontal parts 95 of the front-rear guide parts 91 and the mask holder 35 pressed by the holding rods 115 of the four front-rear, left and right cylinders 47.

Figure 10 is a partial side view of the printing unit 13 in the first embodiment. The lower end of the lifting rod 117, which is the output shaft of the mask holding unit lifting cylinder 45, is fixed to the mask holding unit 35. The lifting rod 117 is connected to the middle position of the mask holding unit 35 in the Y-axis direction. The mask holding unit 35 can be raised and lowered above the mask guide 33 while maintaining a horizontal posture by synchronously driving the lifting rods 117 of the two mask holding unit lifting cylinders 45 on the left and right. Each of the four cylinders 47 can press the four corners of the mask holding unit 35 downward by driving the pressing rod 115, which is its output shaft.

The mask holding part 35 is pressed against the mask guide 33 by two mask holding part lifting cylinders 45 on the left and right. Three of the four sides of the mask 27, which is formed in a substantially rectangular shape, are sandwiched between the mask guide 33 and the mask holding part 35. This holds the mask 27 substantially horizontally.

The print head 37 includes a squeegee base 119 that extends in the X-axis direction and is movable in the Y-axis direction, two squeegees 121 that are provided below the squeegee base 119, and a squeegee lifting drive unit 123 that is provided on the upper surface side of the squeegee base 119. Each of the two squeegees 121 is disposed opposite each other in the Y-axis direction (see FIG. 11). The squeegee lifting drive unit 123 raises and lowers each of the two squeegees 121 individually below the squeegee base 119.

Figure 11 is a plan view of the printing unit 13 in the first embodiment. The squeegee base 119 has a shape extending in the Y-axis direction. The squeegee base 119 is supported at both left and right ends by two squeegee base guides 125 that extend in the Y-axis direction and are arranged in parallel to face each other in the X-axis direction. A squeegee base moving ball screw 127 extending in the Y-axis direction is provided on the outside (outside the X-axis direction) of one of the two squeegee base guides 125. The squeegee base moving ball screw 127 is screwed into a squeegee base nut 129 provided on the squeegee base 119. The squeegee base moving ball screw 127 is connected to a squeegee base driving motor 131, and when the squeegee base moving ball screw 127 rotates due to the drive of the squeegee base driving motor 131, the squeegee base 119 moves in the Y-axis direction via the squeegee base nut 129.

The scraper unit 39 functions as a paste recovery unit that recovers the paste Pst of the mask 27. As shown in FIG. 10 and FIG. 11, the scraper unit 39 includes a scraper base 133 extending in the X-axis direction, a scraper lifting cylinder 135 provided on the scraper base 133, a scraper holding portion 137 raised and lowered by the scraper lifting cylinder 135, and a scraper 139 held by the scraper holding portion 137. The scraper base 133 is supported at both left and right ends by the two squeegee base guides 125, similar to the squeegee base 119. The scraper base 133 is connected to the squeegee base 119 by a scraper unit connecting portion 141 (see FIG. 10) provided on the squeegee base 119, and moves in the Y-axis direction together with the squeegee base 119 while connected to the squeegee base 119. The scraper unit 39 raises and lowers the scraper 139 by driving the scraper lift cylinder 135 to raise and lower the scraper holder 137 (see FIG. 10).

The mask top surface cleaner 41 has the function of cleaning the top surface of the mask 27 after the paste Pst has been collected by the scraper unit 39, and is attached to the squeegee base 119 as shown in Figures 10 and 11. As a result, the mask top surface cleaner 41 moves in the Y-axis direction together with the squeegee base 119, and moves relative to the mask 27 that has been transported to the printing position together with the print head 37. The mask top surface cleaner 41 is provided on the squeegee base 119 and is attached to the squeegee base 119 via the top surface cleaner lifting unit 143, and the mask top surface cleaner 41 can be raised and lowered relative to the squeegee base 119 by operating the top surface cleaner lifting unit 143.

The moving base 59 shown in FIG. 6 is supported at both left and right ends by two moving base guides 145 arranged in parallel to extend in the Y-axis direction and face each other in the X-axis direction. One of the two moving base guides 145 has a moving base moving ball screw 147 extending in the Y-axis direction on the outside (outside the X-axis direction). The moving base moving ball screw 147 screws into a moving base nut 149 provided on the moving base 59. A moving base driving motor 151 is connected to the moving base moving ball screw 147, and when the moving base driving motor 151 is driven to rotate the moving base moving ball screw 147, the moving base 59 moves in the Y-axis direction via the rotating moving base nut 149.

Figure 12 is a perspective view showing the state of gas being blown onto the upper surface of the mask 27 by the tubular portion 55. The gas blowing portion 43 includes a tubular portion 55 that extends in a horizontal direction intersecting the movement direction (X-axis direction) of the mask 27 above the movement path of the mask 27, and a valve portion 57 connected to one end side of the tubular portion 55. The tubular portion 55 is provided on the rear end side of each of the two front-rear direction guide portions 91 so as to straddle each of the two front-rear direction guide portions 91.

The tubular portion 55 supplies high-pressure gas GS through the valve portion 57 and sprays the high-pressure gas GS from each of the multiple gas outlets 113 (see FIG. 11) toward the upper surface of the mask 27 located below. Note that the mask upper surface cleaner 41 is not limited to a device that sprays gas onto the upper surface of the mask 27 (i.e., a device that blows), but may be, for example, a device that sucks, brushes, or wipes the upper surface of the mask 27.

The camera movement mechanism 49 has the camera housing 153 of the camera 51 attached to the movement base 59. The camera housing 153 is formed in a substantially hexahedral shape. The lens barrels of the downward imaging camera 155 and the upward imaging camera 157 are attached to the bottom and top of the camera housing 153, respectively, with their optical axes aligned along the Z axis.

The camera movement mechanism 49 can move the suction part 63 in the Y-axis direction by moving the moving base 59 in the Y-axis direction. The suction part 63 can further move in the Y-axis direction and the Z-axis direction relative to the moving base 59 by the YZ actuator 61. The movement mechanism of this YZ actuator 61 may be a linear drive mechanism composed of a rack and pinion, a linear motor mechanism, etc.

The suction unit 63 is moved by the camera movement mechanism 49 to just before the mask passage opening 71. After the suction unit 63 is raised and lowered by the YZ actuator 61 to the storage height (Z-axis direction) of the mask 27 to be supplied while being moved to just before the mask passage opening 71, the suction unit 63 is moved backward by the YZ actuator 61 to enter the inside of the mask changer 15 and is moved to the position of the frame 101 (specifically, the front frame body 103) of the mask 27 stored in the magazine 25. The suction unit 63 is further moved in the Y-axis direction from this mask facing position. This allows the suction unit 63 to finely adjust the suction position relative to the frame 101. The suction unit 63 finely adjusted to the suction position can suction the side of the frame 101 (specifically, the front frame body 103) of the mask 27 stored in the magazine 25 of the mask changer 15, and pull out the mask 27 from the inside of the magazine 25 into the printing unit 13 through the mask passage opening 71.

The mask 27 is pulled out and stored by the camera movement mechanism 49 and the print head 37. The camera movement mechanism 49 pulls out the mask 27 from inside the magazine 25 to partway to the printing position in the printing unit 13. The print head 37 transports the mask 27, which is pulled out partway to the printing position in the printing unit 13, where the printing process is carried out.

The suction unit 63 is connected by piping to, for example, an air pressure circuit (not shown) provided in the printing device 11. The air pressure circuit is connected to an air pressure generating source. The air pressure generating source includes a vacuum pump and an air supply source. The suction unit 63 is connected to the air pressure generating source and a blow valve via a vacuum valve. The vacuum valve allows the suction unit 63 to switch between vacuum pressure and blow pressure by switching between an input port and an output port using the control unit 159 described later.

The mask changer 15 and the camera movement mechanism 49 constitute a material supply device 161 that can supply the mask 27 to the printing unit 13 by pulling the mask 27 stored in the magazine 25 out of the magazine 25 and transporting it to the printing position.

Next, referring to FIG. 13, the mechanisms for transporting the mask 27 between the magazine 25 and the printing position (i.e., the pull-out operation or the storage operation) will be further described. FIG. 13 is a schematic diagram of the mechanisms for performing the pull-out operation or the storage operation of the mask 27 in the first embodiment.

The print head 37 is controlled by a print operation control unit 169 (see FIG. 14) in the control unit 159 and driven in the X-axis, Y-axis and Z-axis directions. The print head 37 has a pressing rod 115 that abuts against the side of the frame 101 of the mask 27 pulled out of the magazine 25 in the mask changer 15 by the suction unit 63. The pressing rod 115 is connected to the cylinder 110 and driven in the direction along the Y-axis together with the cylinder 110. The pressing rod 115 is raised and lowered in the Z-axis direction to abut against the side of the frame 101 of the mask 27, and is driven in the direction along the Y-axis to transport the mask 27 in the forward and backward directions.

The cylinder 110 is provided on the print head 37 that prints the paste Pst on the substrate KB, and is driven integrally with the print head 37. The print head 37 has a squeegee base 119 that extends in the direction along the X-axis. The print operation control unit 169 drives the squeegee base drive motor 131, and the pressing rod 115 of the cylinder 110, which is integral with the squeegee base 119, is moved in the direction along the Y-axis. In other words, the print operation control unit 169 can transport the mask 27 to the printing position along the mask guide 33 by moving the pressing rod 115 in the direction along the Y-axis while it is in contact with the frame 101.

The print head 37 raises and lowers the two squeegees 121 individually below the squeegee base 119 using two Z-axis motors 163 provided in the squeegee lift drive unit 123. This allows the squeegee 121 to move to a retracted position above the mask 27. In other words, when the squeegee 121 moves to the retracted position, it is possible to avoid interference with the frame 101 of the mask 27.

The suction part 63 is provided on a camera moving mechanism 49 equipped with a camera 51 that captures an image of the upper surface of the substrate KB and the lower surface of the mask 27. The camera moving mechanism 49 has a moving base 59 extending in a direction along the X-axis. The camera moving mechanism 49 is provided so as to be movable relative to the moving base 59 in the extension direction of the moving base 59 (direction along the X-axis). A moving base nut 149 is fixed to this moving base 59. The moving base nut 149 is screwed with a moving base moving ball screw 147 extending in a direction along the Y-axis. The moving base moving ball screw 147 is driven by a moving base driving motor 151. When the moving base driving motor 151 is driven and the moving base nut 149 moves via the moving base moving ball screw 147, the suction part 63 provided on the moving base 59 is moved in a direction along the Y-axis together with the camera 51. As a result, the mask 27 with the frame 101 attached to the suction portion 63 is transported in the direction along the Y axis by the mask guide 33.

In addition, the printing operation control unit 169 (see FIG. 14) in the control unit 159 can drive the squeegee base drive motor 131 while the pressure rod 115 is in contact with the side of the frame 101 of the mask 27 to transport the mask 27 to the printing position (i.e., pull-out operation) or transport the mask 27 in the printing position toward the mask changer 15 (i.e., storage operation).

In addition, the mask transport/installation control unit 167 (see FIG. 14) in the control unit 159 drives the movable base drive motor 151 and the YZ actuator 61 while the suction unit 63 is in contact with the side of the frame 101, thereby pulling out the mask 27 from the magazine 25 through the mask passing opening 71, and storing the mask 27 transported behind the printing position by the pressure rod 115 into the magazine 25 through the mask passing opening 71.

Next, the control system of the printing device 11 according to the first embodiment will be described. FIG. 14 is a block diagram showing the control system of the printing device 11 according to the first embodiment.

The control unit 159 in the printing device 11 is a so-called processor, and is configured using, for example, a CPU (Central Processing Unit) or an FPGA (Field Programmable Gate Array), and performs various processes and controls in cooperation with a memory (not shown). Specifically, the control unit 159 references the programs and data stored in the memory and executes the programs to realize the functions of each unit. The various units referred to here are the substrate transport/hold control unit 165, the mask transport/installation control unit 167, the printing operation control unit 169, the imaging control unit 171, the suction control unit 173, and the elevator control unit 175, etc.

The substrate transport/holding control unit 165 controls the transport (specifically, loading control, unloading control) and holding control of the substrate KB by the substrate transport/holding unit 21. The substrate transport/holding control unit 165 also controls the alignment of the substrate KB with respect to the mask 27 based on the image of the substrate KB captured by the camera 51.

The mask transport/installation control unit 167 controls the pulling out and storing of the mask 27 by the camera moving mechanism 49. Specifically, the mask transport/installation control unit 167 controls the movement of the moving base 59 in the Y-axis direction by the moving base drive motor 151, the movement of the suction unit 63 in the Y-axis direction and Z-axis direction by the YZ actuator 61, and the suction of the suction unit 63 to the side of the frame 101.

The print operation control unit 169 controls printing by the print head 37. Specifically, the print operation control unit 169 controls the movement of the squeegee base 119 (not shown) in the Y-axis direction by the squeegee base drive motor 131, and controls the elevation of the squeegee 121 by the squeegee elevation drive unit 123.

The imaging control unit 171 controls the camera 51 to capture images of the underside of the substrate KB held by the substrate transport holding unit 21 at a predetermined substrate transport position and the upper surface of the mask 27 transported to the printing position. Specifically, the imaging control unit 171 controls the movement of the movable base 59 in the Y-axis direction by the movable base drive motor 151, controls the movement of the camera 51 in the X-axis direction along the movable base 59, controls the imaging of the upper surface of the substrate KB by the lower imaging camera 155 provided in the camera 51, and controls the imaging of the underside of the mask 27 by the upper imaging camera 157 provided in the camera 51.

The suction control unit 173 sends a port switching signal to a vacuum valve provided in the pneumatic circuit based on a control command sent from the control unit 159 to start suction of the mask, and creates a negative pressure inside the suction unit 63 with a vacuum pump, causing the suction unit 63 to suction the side of the frame 101 (specifically, the front frame body 103 of the frame 101). Also, based on a control command sent from the control unit 159 to end suction of the mask, the suction control unit 173 sends a port switching signal to a vacuum valve provided in the pneumatic circuit, switches the port of the vacuum valve to a blow valve, and releases the suction state of the suction unit 63.

The elevator control unit 175 controls the drive of the elevator body lifting motor 79 in the elevator 65, and raises and lowers the position (height) of the magazine 25 in the mask changer 15. The elevator control unit 175 also includes a safety control unit 179.

The safety control unit 179 controls the lower sensor 67 and the upper sensor 69 provided in the internal space SP of the mask changer 15, and controls the power supply to the elevator 65. Specifically, the safety control unit 179 performs the above-mentioned control by switching between the first operation mode and the second operation mode.

The first operation mode here is, in principle, a control that keeps the lower sensor 67 always on (object detection enabled) and the upper sensor 69 always off (object detection disabled), and is executed while the elevator 65 is stopped while the worker is replacing the magazine 25 or supplying masks 27 to the magazine 25. If an object is detected by the lower sensor 67 during the first operation mode, the safety control unit 179 stops the supply of power to the elevator 65 and generates an alarm via the touch panel 31 to alert the worker.

However, in the first operation mode, the safety control unit 179 may turn on the upper sensor 69 and turn off the lower sensor 67 while an operator is performing a magazine supply operation of inserting or removing the magazine 25 or the mask 27 stored in the magazine 25 through the opening 29. The switching control of the upper sensor 69 and the lower sensor 67 may be performed based on an input operation by the operator to the touch panel 31, or, when the magazine 25 replacement operation is performed by the unmanned transport device, may be performed based on a magazine 25 replacement request transmitted from the unmanned transport device.

As described above, in the first operation mode, the safety control unit 179 executes control to disable object detection by the lower sensor 67 when the magazine 25 is loaded or unloaded through the opening 29. Furthermore, when an object is detected by the upper sensor 69, the safety control unit 179 stops the supply of power to the elevator 65, thereby disabling object detection by the upper sensor 69. Furthermore, when an object is detected by the lower sensor 67, the safety control unit 179 executes control to stop the supply of power to the elevator 65.

In addition, in the second operation mode, the safety control unit 179 controls the lower sensor 67 to be always off and the upper sensor 69 to be always on, and is executed while the mask 27 is being pulled out or stored between the magazine 25 and the printing unit 13.

As a result, in the second operation mode, the safety control unit 179 controls the lower sensor 67 to be always off and the upper sensor 69 to be always on, thereby disabling object detection by the lower sensor 67 while the mask 27 is being pulled out or stored between the magazine 25 and the printing unit 13.

The control unit 159 is electrically connected to a touch panel 31 having a user interface function. The touch panel 31 is operated by an operator, converts the contents input by the operator's operation into an electrical signal, and outputs the electrical signal to the control unit 159. The touch panel 31 also outputs (displays) an image generated by the control unit 159.

(Mask pull-out operation)
Next, a procedure for pulling out the mask 27 of the printing device 11 according to embodiment 1 will be described with reference to Fig. 15A and Fig. 15B. Fig. 15A is a diagram for explaining an example of a procedure for pulling out the mask 27 of the printing device 11 according to embodiment 1. Fig. 15B is a diagram for explaining an example of a procedure for pulling out the mask 27 of the printing device 11 according to embodiment 1.

When the mask 27 is to be pulled out from the mask changer 15, the mask transport/installation control unit 167 in the printing device 11 moves the camera movement mechanism 49 in a direction along the Y axis and in a direction approaching the mask changer 15. The camera movement mechanism 49 stops when the suction unit 63 is at a position immediately before the mask passage opening 71. The YZ actuator 61 is controlled by the mask transport/installation control unit 167 to raise the position (height) of the suction unit 63 in the direction along the Z axis to a position (height) at which the mask 27 can be pulled out from the mask passage opening 71, and moves the position of the suction unit 63 in the direction along the Y axis to a position where it abuts against the frame 101 of the mask 27 stored in the magazine 25. As shown in FIG. 15A(a), when the suction unit 63 abuts against the side of the frame 101 of the mask 27 to be pulled out, the suction control unit 173 drives the vacuum valve to cause the suction unit 63 to suction the side of the frame 101.

The mask transport and installation control unit 167 moves the camera movement mechanism 49 in a direction along the Y axis and in a direction away from the mask changer 15 to pull the mask 27 that is in a state of being adsorbed by the adsorption unit 63. As shown in FIG. 15A (b), the mask transport and installation control unit 167 pulls the mask 27 that is adsorbed by the adsorption unit 63 to the movement limit of the moving base 59. After executing the pulling control to the movement limit, the mask transport and installation control unit 167 retreats the camera movement mechanism 49 to avoid interference (collision) between the mask 27 and the print head 37 and the camera movement mechanism 49. Specifically, as shown in FIG. 15B (c), the mask transport and installation control unit 167 drives the YZ actuator 61 to lower the position (height) of the adsorption unit 63 in the Z axis direction to retreat the camera movement mechanism 49 from the transport trajectory of the mask 27 to the printing position. Note that the retreat method is not limited to this. The mask transport and installation control unit 167 may, for example, move the camera movement mechanism 49 itself down in the Z-axis direction, thereby retracting the camera movement mechanism 49 from the transport trajectory of the mask 27 to the printing position.

After the mask transport/installation control unit 167 retracts the camera movement mechanism 49, the printing operation control unit 169 moves the squeegee base 119 to move the print head 37 in the direction along the Y axis and toward the mask changer 15, as shown in FIG. 15B(c). The printing operation control unit 169 moves the position of the pressing rod 115 of the cylinder 110 until it is positioned behind the frame 101 of the mask 27 (specifically, the rear frame 105), and then lowers the pressing rod 115 by the cylinder 110 to abut against the rear side of the rear frame 105 (i.e., hooks the pressing rod 115 on the rear side of the rear frame 105). The printing operation control unit 169 may move the pressing rod 115 until it is positioned behind the rear frame 105, lower the print head 37, and then move the print head 37 in a direction along the Y axis and away from the mask changer 15 to abut the pressing rod 115 against the rear side of the rear frame 105.

As shown in FIG. 15B(d), with the pressing rod 115 abutting against the rear side of the rear frame 105, the print operation control unit 169 moves the print head 37 in a direction along the Y axis and away from the mask changer 15 to transport the mask 27 to the printing position. After moving the mask 27 to the printing position, the print operation control unit 169 raises the print head 37 and moves the pressing rod 115 away from the rear frame 105, thereby completing the operation of pulling out the mask 27.

After performing the mask 27 pull-out operation, the printing operation control unit 169 drives the print head 37 to scrape up the paste Pst supplied by the squeegee 121. The printing operation control unit 169 slides the squeegee 121 over the mask 27 to fill the pattern openings 99 of the mask 27 with the paste Pst. As a result, the paste Pst passes through the pattern openings 99 and is printed on the electrodes of the substrate KB.

(Mask storage operation)
Next, a mask storage operation procedure of the printing device 11 according to the first embodiment of the invention will be described with reference to Fig. 16A and Fig. 16B. Fig. 16A is a diagram for explaining an example of a storage operation procedure of the mask 27 of the printing device 11 according to the first embodiment. Fig. 16B is a diagram for explaining an example of a storage operation procedure of the mask 27 of the printing device 11 according to the first embodiment.

When storing the mask 27 in the mask changer 15, the printing operation control unit 169 in the printing device 11 moves the squeegee base 119 to move the print head 37 in the direction along the Y axis and in the direction approaching the mask changer 15, as shown in FIG. 16A (a). The printing operation control unit 169 lowers the pressing rod 115 by the cylinder 110, and causes the pressing rod 115 of the cylinder 110 to abut against the front side of the rear frame 105. The printing operation control unit 169 may move the pressing rod 115 until it is positioned in front of the rear frame 105, and after lowering the pressing rod 115, move the printing head 37 in the direction along the Y axis and in the direction approaching the mask changer 15 to abut against the front side of the rear frame 105. At this time, the camera movement mechanism 49 is waiting in the retracted position.

As shown in FIG. 16A (b), with the pressure rod 115 in contact with the front side of the rear frame 105, the print operation control unit 169 moves the print head 37 in a direction along the Y axis of the squeegee base 119 and in a direction approaching the mask changer 15. The print operation control unit 169 moves the mask 27 against which the pressure rod 115 is in contact, to the movement limit of the squeegee base 119.

After transporting the mask 27 to the movement limit of the squeegee base 119, the printing operation control unit 169 raises the pressure rod 115 using the cylinder 110, as shown in Figure 16B (c), and moves (retreats) the print head 37 in the direction along the Y axis and away from the mask changer 15.

After the print operation control unit 169 retracts the print head 37, the mask transport and installation control unit 167 moves the camera movement mechanism 49 from the retracted position. The mask transport and installation control unit 167 moves the camera movement mechanism 49 to a position where the suction unit 63 abuts against the side (front surface) of the front frame 103.

As shown in FIG. 16B(d), the mask transport/installation control unit 167 moves the camera movement mechanism 49 in the direction along the Y axis and in the direction approaching the mask changer 15, and moves the mask 27 abutted against the suction unit 63 to a predetermined storage position in the magazine 25 through the mask passage opening 71. At this time, the suction unit 63 may store the mask 27 without suctioning the frame 101, or may store the mask 27 in a suctioned state.

(Pull-out operation for L-frame mask)
Next, a procedure for the operation of pulling out the L-frame mask 181 of the printing device 11 according to embodiment 1 will be described with reference to Fig. 17A and Fig. 17B. Fig. 17A is a diagram for explaining an example of a procedure for the operation of pulling out the L-frame mask 181 of the printing device 11 according to embodiment 1. Fig. 17B is a diagram for explaining an example of a procedure for the operation of pulling out the L-frame mask 181 of the printing device 11 according to embodiment 1.

Here, the L-frame mask 181 will be described. The L-frame mask 181, as an example of a mask, is a mask that is large enough that it cannot be completely pulled out in the mask pull-out operation performed by the printing device 11. Specifically, even if the printing device 11 moves the print head 37 to the movement limit of the squeegee base 119, the position of the pressing rod 115 of the cylinder 110 does not reach the rear of the rear frame body 105, and the L-frame mask 181 may not be pulled out. When the control unit 159 in the printing device 11 determines that the mask to be pulled out is the L-frame mask 181 based on the production data including information on the size of each mask, it executes the pull-out operation to pull out the L-frame mask 181 described below. Note that the L-frame mask 181 has a different length in the direction along the Y axis or the direction along the X axis compared to the mask 27, but the other configurations are the same as the mask 27, so the pull-out operation to pull out the L-frame mask 181 will be described using the same reference numerals.

When the L-frame mask 181 is pulled out from the mask changer 15, the mask transport/installation control unit 167 in the printing device 11 moves the camera movement mechanism 49 in a direction along the Y axis and in a direction approaching the mask changer 15. The camera movement mechanism 49 stops when the suction unit 63 is at a position immediately before the mask passage opening 71. The YZ actuator 61 is controlled by the mask transport/installation control unit 167 to raise the position (height) of the suction unit 63 in a direction along the Z axis to a position (height) at which the L-frame mask 181 can be pulled out from the mask passage opening 71, and moves the position of the suction unit 63 in a direction along the Y axis to a position where it abuts against the frame 101 of the L-frame mask 181 stored in the magazine 25. As shown in FIG. 17A (a), when the suction unit 63 abuts against the side of the frame 101 of the L-frame mask 181 to be pulled out, the suction control unit 173 drives the vacuum valve to cause the suction unit 63 to suction the side of the frame 101.

The mask transport and installation control unit 167 moves the camera movement mechanism 49 in a direction along the Y axis and in a direction away from the mask changer 15 to pull the L-frame mask 181 that is in a state of being adsorbed by the adsorption unit 63. As shown in FIG. 17A (b), the mask transport and installation control unit 167 pulls the L-frame mask 181 that is adsorbed by the adsorption unit 63 to the movement limit of the moving base 59. After executing the traction control to the movement limit, the mask transport and installation control unit 167 retreats the camera movement mechanism 49 to avoid interference (collision) between the L-frame mask 181 and the print head 37 and the camera movement mechanism 49. Specifically, as shown in FIG. 17B (c), the mask transport and installation control unit 167 drives the YZ actuator 61 to lower the position (height) of the adsorption unit 63 in the Z-axis direction to retreat the camera movement mechanism 49 from the transport trajectory of the L-frame mask 181 to the printing position. Note that the retreat method is not limited to this. The mask transport and installation control unit 167 may, for example, move the camera movement mechanism 49 itself down in the Z-axis direction, thereby retracting the camera movement mechanism 49 from the transport trajectory of the L-frame mask 181 to the printing position.

After the mask transport/installation control unit 167 retracts the camera movement mechanism 49, the printing operation control unit 169 moves the squeegee base 119 to move the print head 37 in the direction along the Y axis and toward the mask changer 15, as shown in FIG. 17B(c). The printing operation control unit 169 moves the position of the pressing rod 115 of the cylinder 110 until it is positioned behind the frame 101 (specifically, the front frame body 103) of the L-frame mask 181, and then lowers the pressing rod 115 by the cylinder 110 to abut the pressing rod 115 against the rear side of the front frame body 103 (i.e., hooks the pressing rod 115 against the rear side of the front frame body 103). The printing operation control unit 169 may move the position of the pressure rod 115 until it is located behind the front frame 103, lower the pressure rod 115, and then move the print head 37 in a direction along the Y axis and away from the mask changer 15 to abut the pressure rod 115 against the rear side of the front frame 103.

As shown in FIG. 17B(d), with the pressure rod 115 abutting against the rear side of the front frame 103, the print operation control unit 169 moves the print head 37 in a direction along the Y axis and away from the mask changer 15 to move the L-frame mask 181 to the printing position. After moving the L-frame mask 181 to the printing position, the print operation control unit 169 raises the pressure rod 115 and moves it away from the front frame 103, thereby completing the operation of pulling out the L-frame mask 181.

The operation of storing the L-frame mask 181 is performed in the same manner as the mask 27 described with reference to Figures 16A and 16B, so a description thereof will be omitted.

As described above, the printing device 11 according to the first embodiment is a printing device 11 that prints a paste Pst on a substrate KB through a mask 27 having a predetermined printing pattern (i.e., a pattern opening 99), and has a magazine 25 (an example of a storage section) that stores the mask 27, and an adsorption section 63 (an example of a pulling section) that adsorbs the side of a frame 101 provided on the stored mask 27 and pulls the mask 27 out of the magazine 25.

Conventionally, the mask 27 was pulled out or stored by inserting an L-shaped plate between two masks 27 stored vertically adjacent to each other in a multi-stage manner in the magazine 25, and inserting a vertical engagement protrusion or the like standing on the plate into an engagement hole or the like provided on the mask 27 from the underside of the mask 27 to hook and lock the masks. In other words, in the conventional method of pulling out or storing the mask 27, the magazine 25 had to store the masks with a gap of at least the total distance of the thickness of the mask 27, the thickness of the plate, the height of the engagement protrusion, and the engagement clearance for engaging the engagement protrusion. Therefore, in the conventional method of pulling out or storing the mask 27, the storage height in the Z-axis direction required for each mask in the magazine 25 was large, and the number of masks 27 that could be stored was limited. In addition, when increasing the number of masks 27 that could be stored, the magazine 25 and the mask changer 15 had to be enlarged.

Therefore, in the printing device 11 according to the first embodiment, when pulling out or storing the mask 27 stored in the mask changer 15, the suction portion 63 sucks the side of the mask 27 in the magazine 25 and pulls it out or stores it, so that the storage interval between each mask 27 in the Z-axis direction can be narrowed and the number of masks 27 that can be stored in the magazine 25 can be increased. This allows the printing device 11 to print more boards KB using one magazine 25, improving printing efficiency.

As described above, the printing device 11 according to the first embodiment includes a pressing rod 115 (an example of a contacting part) that contacts the frame 101 of the mask 27 drawn from the magazine 25 by the suction part 63, and a printing operation control part 169 (an example of a driving part) that moves the pressing rod 115 to move the mask 27 to the printing position. As a result, the printing device 11 according to the first embodiment can move (transport) the mask 27 from the drawn-out position to the printing position of the mask 27 by contacting the pressing rod 115 with the frame 101 of the mask 27 after the mask 27 is drawn from the mask changer 15 into the printing part 13 by the camera moving mechanism 49. Therefore, the printing device 11 can perform the drawing and storing operations of the mask 27 using the existing camera moving mechanism 49 that includes a camera 51 for taking images of the mask 27 and the board KB, without providing a new mechanism for towing the mask 27 (i.e., drawing and storing the mask 27).

Furthermore, as described above, the suction unit 63 in the printing device 11 according to embodiment 1 is a camera movement mechanism 49 equipped with a camera 51 that captures images of the substrate KB and the mask 27. As a result, the printing device 11 according to embodiment 1 can perform the operations of pulling out and storing the mask 27 using the existing camera movement mechanism 49 equipped with a camera 51 for capturing images of the mask 27 and the substrate KB, without providing a new mechanism for towing the mask 27 (i.e., pulling out and storing the mask 27).

As described above, the pressing rod 115 in the printing device 11 according to embodiment 1 is provided on the print head 37 that prints the paste Pst onto the substrate KB. The print operation control unit 169 also moves the pressing rod 115 together with the print head 37. This allows the printing device 11 according to embodiment 1 to perform the pull-out and retraction operations of the mask 27 using the camera movement mechanism 49 and the print head 37, which are mechanisms provided in conventional printing devices.

As a result of the above, the printing operation control unit 169 in the printing device 11 according to embodiment 1 abuts the pressing rod 115 against the frame 101 of the mask 27, and moves the mask 27 towards the magazine 25. As a result, in the printing device 11 according to embodiment 1, the frame 101 of the mask 27 in the printing unit 13 is moved by the print head 37 in a direction approaching the mask changer 15, and can be stored in the magazine 25 from this moved position by the camera movement mechanism 49. As a result, the printing device 11 according to embodiment 1 can perform the operation of pulling out and storing the mask 27 using the camera movement mechanism 49 and the print head 37, which are mechanisms provided in conventional printing devices.

As a result of the above, the suction unit 63 in the printing device 11 according to embodiment 1 abuts against the side of the frame 101 and stores the mask 27 that has been moved toward the magazine 25 in the magazine 25. As a result, the printing device 11 according to embodiment 1 can store the mask 27 in the magazine 25 by driving (moving) the existing camera movement mechanism 49 for moving the camera 51.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, amendments, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components in the various embodiments described above may be combined in any manner as long as they do not deviate from the spirit of the invention.

The present disclosure is useful as a printing device and a mask pulling method that can improve the efficiency of transporting masks between a printing position and a storage position and increase the number of masks that can be stored in a mask changer.

11 Printing device 15 Mask changer 27 Mask 37 Print head 49 Camera moving mechanism 51 Camera 63 Suction unit 101 Frame 131 Squeegee base drive motor 115 Pressing rod KB Substrate Pst Paste

Claims (7)

A printing device that prints solder paste on a substrate through a mask having a predetermined printing pattern,
A storage unit for storing the mask;
and a pulling unit that sucks a side surface of a frame of the stored mask and pulls the mask out of the storage unit.
Printing device. a contact portion that contacts the frame of the mask pulled out from the storage portion by the pulling portion;
a drive unit that moves the contact unit to move the mask to a printing position,
The printing device of claim 1 . The towing unit is a camera moving mechanism having a camera for capturing images of the substrate and the mask.
3. The printing device according to claim 1 or 2. the contact portion is provided on a print head that prints the solder paste on the board,
The drive unit moves the contact portion together with the print head.
The printing device according to claim 2 . The driving unit causes the abutment portion to abut against the frame of the mask, and moves the mask toward the storage portion.
5. The printing device according to claim 2 or 4. The traction portion abuts against a side surface of the frame to store the mask moved toward the storage portion in the storage portion.
The printing device according to claim 5 . A mask pulling method performed by a printing device that prints solder paste on a substrate through a mask having a predetermined print pattern, comprising:
adsorbing a side surface of a frame of the mask stored in a storage unit for storing the mask;
Pulling the mask out of the storage section and towing it to a printing position for the solder paste;
How to pull a mask.

Images