JP7595282B2 - Storage unit moving device and material supply device - Google Patents

Description

The present disclosure relates to a storage body moving device that moves a storage body that contains members to a position for supplying the members (supply position), and a member supply device that, when the storage body is placed at the supply position by the storage body moving device, removes the members stored in the storage body from the storage body and supplies them to another device.

Conventionally, there is known a screen printing device that uses a stencil with pattern openings to print a paste such as solder paste on the surface of a substrate. In such a screen printing device, the stencil is usually replaced when the type of substrate is changed. Generally, an operator replaces the stencil manually. Meanwhile, a screen printing device that automatically replaces stencils by having a stencil replacement unit in which a housing that stores the stencil can be freely raised and lowered within a housing is disclosed in, for example, Patent Document 1.

Japanese Patent Application Publication No. 5-299812

A first storage body moving device according to the present disclosure moves a storage body that stores a member to a supply position for supplying the member. This storage body moving device has a housing, a storage body moving mechanism, a first object detection unit, a second object detection unit, and a safety control unit. The housing has an internal space in which the storage body can be stored, and an entrance through which the storage body can be inserted and removed from the internal space. A working space is set in a position away from the entrance in the internal space. The storage body moving mechanism moves the carried storage body between the vicinity of the entrance and the working space. The first object detection unit detects an object passing through the entrance. The second object detection unit detects an object moving from the vicinity of the entrance to the working space in the internal space. The safety control unit disables detection by the first object detection unit when the storage body passes through the entrance, and stops the supply of power to the storage body moving mechanism when the second object detection unit detects an object moving from the vicinity of the entrance to the working space. The safety control unit disables detection by the second object detection unit except when the storage body passes through the entrance, and stops the supply of power to the storage body moving mechanism when the first object detection unit detects an object passing through the entrance.

The second storage body moving device according to the present disclosure also moves a storage body that stores a member to a supply position for supplying the member. This storage body moving device has a housing, a storage body moving mechanism, a first object detection unit, a second object detection unit, and a safety control unit. The housing has an internal space in which the storage body can be stored, and an entrance through which the storage body can be inserted and removed from the internal space. A working space is set in the internal space at a position away from the entrance. The storage body moving mechanism moves the carried storage body between the vicinity of the entrance and the working space. The first object detection unit detects an object passing through the entrance. The second object detection unit detects an object moving from the vicinity of the entrance to the working space in the internal space. The safety control unit disables detection by the first object detection unit when the storage body is stopped at a position where it can be carried in or out from the entrance, and stops the supply of power to the storage body moving mechanism when the second object detection unit detects an object moving from the vicinity of the entrance to the working space. The safety control unit disables detection by the second object detection unit when the storage body moving mechanism is activated, and stops the supply of power to the storage body moving mechanism when the first object detection unit detects an object passing through the entrance.

The component supply device according to the present disclosure includes any one of the above-described storage body moving devices and a component moving mechanism. The component moving mechanism removes a component from the storage body after the storage body is placed at the supply position by the storage body moving device.

According to the present disclosure, in a configuration in which a storage body is raised and lowered inside a housing, the safety of an operator who places the storage body in and removes it from the housing can be ensured.

FIG. 1 is a perspective view of a screen printing apparatus including a stencil replacement unit as a member supplying device according to an embodiment of the present disclosure; FIG. 2 is a perspective view of the screen printing apparatus shown in FIG. 1 . FIG. 2 is a perspective side view of the screen printing apparatus shown in FIG. FIG. 4 is a perspective side view of a printing unit of the screen printing apparatus shown in FIG. FIG. 5 is a partial cross-sectional side view of the printing unit shown in FIG. FIG. 5 is a plan view of a portion of the printing unit shown in FIG. FIG. 5 is a plan view of a portion of the printing unit shown in FIG. FIG. 2 is a plan view of an example of a stencil used by the screen printing apparatus shown in FIG. 5 is a bottom view of a portion of the printing unit shown in FIG. FIG. 5 is a partially enlarged view of FIG. A partial enlarged view of FIG. FIG. 3 is a bottom view showing a process of placing a stencil on a printing unit of the screen printing apparatus shown in FIG. FIG. 5 is a plan view of the printing unit shown in FIG. FIG. 5 is a side view of the printing unit shown in FIG. FIG. 3 is a perspective view showing a state in which the screen printing apparatus shown in FIG. 2 is blowing gas onto the upper surface of a stencil pulled out from a housing; FIG. 2 is a perspective view of the stencil replacement unit shown in FIG. FIG. 17 is a perspective view of the stencil exchange unit shown in FIG. FIG. 17 is a perspective view of a housing in which the stencil replacement unit shown in FIG. 16 moves inside the housing; FIG. 17 is a perspective side view of the stencil exchange unit shown in FIG. FIG. 17 is a perspective view of the stencil exchange unit shown in FIG. FIG. 2 is a functional block diagram showing a control system of the screen printing apparatus shown in FIG. FIG. 3 is a plan view showing a process in which the screen printing apparatus shown in FIG. 2 places a stencil at a stencil placement position; FIG. 23 is a plan view showing a process in which the screen printing apparatus places a stencil at a stencil placement position, following FIG. FIG. 24 is a plan view showing a process in which the screen printing apparatus places a stencil at a stencil placement position, following FIG. FIG. 25 is a plan view showing the process of the screen printing apparatus placing the stencil at the stencil placement position, following FIG. 4 is a side view showing a procedure in which the screen printing apparatus shown in FIG. 3 fixes the stencil to the stencil guide by the stencil holding portion. 5 is a side view showing a procedure in which the printing unit shown in FIG. 4 performs squeegeeing using a print head. 5 is a side view showing a procedure for cleaning the lower surface of a stencil by a lower surface cleaner provided in the printing unit shown in FIG. FIG. 29 is a perspective view showing a state in which the underside of a stencil is being cleaned by the underside cleaner shown in FIG. 5 is a side view showing a procedure for scraping off the paste remaining on the upper surface of the stencil by a scraper unit of the printing unit shown in FIG. FIG. 5 is a side view showing a procedure for cleaning both the upper and lower surfaces of a stencil by the upper and lower surface cleaners of the printing unit shown in FIG.

Before describing the embodiments of the present disclosure, we will briefly explain how the idea for the present disclosure was conceived. Replacement stencils and recovered stencils need to be transported by workers who have access to the device. However, the screen printing device described in Patent Document 1 does not take safety into consideration insufficiently.

The present disclosure provides a storage body moving device and a component supply device that can ensure the safety of workers.

An embodiment of the present disclosure will now be described with reference to the drawings. Figures 1, 2, and 3 show a screen printing apparatus 1 according to an embodiment of the present disclosure. The screen printing apparatus 1 prints a paste Pst, such as a solder paste, on the upper surface of a substrate KB, which is a printing object, as shown in Figures 2 and 3.

The screen printing apparatus 1 has a printing unit 2 and a stencil replacement unit 3. The stencil replacement unit 3 is adjacent to the printing unit 2. In the following description, the Y axis faces from the stencil replacement unit 3 to the printing unit 2, and the negative side of the Y axis may be expressed as the rear and the positive side as the front. The X axis is perpendicular to the Y axis in the horizontal plane. The X axis extends in the opposite direction to the transport direction of the substrate KB. The Z axis extends from bottom to top and is perpendicular to the X and Y axes.

Figures 4 and 5 show the printing unit 2. As shown in Figures 2 to 4, the printing unit 2 has a base 11 covered by a printing unit cover 2K, and a board transport and holding unit 12 arranged on the base 11. As shown in Figure 5, the board transport and holding unit 12 has a first conveyor 12A, a second conveyor 12B, a third conveyor 12C, a board holding unit 12D, and a multi-stage table 12E. The first conveyor 12A, the second conveyor 12B, and the third conveyor 12C are lined up in the opposite directions along the X-axis in that order, and the board KB is handed over and transported in the order of the first conveyor 12A, the second conveyor 12B, and the third conveyor 12C.

The board holding unit 12D and the second conveyor 12B form a unit. The board holding unit 12D supports the board KB received by the second conveyor 12B from the first conveyor 12A in a lifted state from the second conveyor 12B, and clamps and holds both sides of the board KB. The multi-stage table 12E is provided on the base 11, and moves the entire unit including the second conveyor 12B and the board holding unit 12D in the horizontal plane and up and down relative to the base 11.

2, 3 and 4, a stencil guide 13 is provided above the substrate transport holder 12. FIG. 6 is a plan view showing the stencil guide 13. The stencil guide 13 has an X-axis guide portion 13b and a pair of Y-axis guide portions 13a. The Y-axis guide portions 13a each extend along the Y-axis and are arranged in parallel to face each other along the X-axis. The X-axis guide portion 13b extends along the X-axis between the ends (front ends) of the pair of Y-axis guide portions 13a on the positive side of the Y-axis. The end of the Y-axis guide portion 13a is the end on the side opposite the stencil exchange portion 3. The cross section of each of the Y-axis guide portions 13a is L-shaped. That is, the Y-axis guide portion 13a has a horizontal portion 13H and a vertical portion 13V formed outside the horizontal portion 13H and perpendicular to the horizontal portion 13H. On the other hand, the X-axis guide portion 13b is composed only of horizontal portions connected to the respective horizontal portions 13H of the Y-axis guide portion 13a.

2, 3 and 4, the stencil holding section 14 is disposed above the stencil guide 13. FIG. 7 is a plan view showing the stencil holding section 14 together with the stencil guide 13. The stencil holding section 14 has a rectangular shape in a plan view and has a pair of Y-axis sides and a pair of X-axis sides. The Y-axis sides located on the left and right in FIG. 7 are located above the pair of Y-axis guide sections 13a of the stencil guide 13. The X-axis side located on the bottom in FIG. 7 is located above the X-axis guide section 13b. A rectangular stencil 15 shown in FIG. 8 is placed at a predetermined position (stencil installation position) on the stencil guide 13. The stencil holding section 14, together with the stencil guide 13, clamps and holds the four sides of the stencil 15. The stencil installation position is the position between the stencil guide 13 and the stencil holding section 14 in FIG. 7, and is the position of the front end of the stencil guide 13.

Figure 8 is a plan view of the stencil 15. The stencil 15 is composed of a rectangular metal plate. A pattern opening 15K is provided in the center of the stencil 15 according to the arrangement of the electrode pattern (not shown) formed on the surface of the substrate KB. A plurality of engagement holes 15H are provided on the four sides (periphery) of the stencil 15, penetrating the stencil 15 in the thickness direction. The engagement holes 15H are arranged in a line along each of the four sides of the stencil 15.

As shown in Figure 3, the Y-axis guide portion 13a of the stencil guide 13 extends to a position near the stencil replacement unit 3. The Y-axis guide portion 13a serves as a path for the stencil 15 to move between the stencil installation position and the stencil replacement unit 3. As shown in Figure 6, a stepped guide 13G extends along the Y-axis on each of the upper surfaces of the pair of Y-axis guide portions 13a. The guides 13G guide the left and right side surfaces of the stencil 15 that moves between the stencil installation position and the stencil replacement unit 3.

Figure 9 is a plan view showing the stencil holding portion 14 viewed from below together with the stencil guide 13. A plurality of engagement protrusions 14T are provided on the underside of the stencil holding portion 14 and protrude downward. The engagement protrusions 14T are arranged along the shape (four sides) of the stencil holding portion 14. Each row of engagement protrusions 14T aligned along the Y axis of the stencil holding portion 14 is connected by a connecting member 14K extending along the Y axis. Each row of engagement protrusions 14T aligned along the X axis of the stencil holding portion 14 is connected by a connecting member 14K extending along the X axis.

As described above, a plurality of engagement protrusions 14T are arranged along the Y axis on each of the two sides of the stencil holding portion 14 along the Y axis. That is, a row of engagement protrusions 14T is provided on each of these two sides. A plurality of engagement protrusions 14T are also arranged along the X axis on each of the two sides of the stencil holding portion 14 along the X axis. That is, a row of engagement protrusions 14T is also provided on each of these two sides. FIG. 10 is a partially enlarged view of FIG. 5. A tensioning cylinder (hereinafter, cylinder) 14A is provided inside each of the stencil holding portions 14. When the cylinder 14A moves the connecting member 14K horizontally, the row of engagement protrusions 14T moves away from the center of the stencil holding portion 14. Specifically, the two rows of engagement protrusions 14T arranged along the Y axis of the stencil holding portion 14 move in opposite directions on the X axis. Furthermore, the two rows of engagement projections 14T aligned along the X-axis of the stencil holding portion 14 move in mutually opposite directions along the Y-axis.

Figure 11 is a partially enlarged side view of Figure 4. As can be seen from Figures 6, 7 and 11, two stencil holder lifting cylinders (hereinafter referred to as lifting cylinders) 31 and four stencil holder pressing cylinders (hereinafter referred to as pressing cylinders) 32 are provided above the stencil holder 14. As shown in Figure 11, the lifting cylinders 31 and pressing cylinders 32 are each fixed to the vertical portion 13V of the Y-axis guide portion 13a of the stencil guide 13. As shown in Figures 6 and 7, the lifting cylinders 31 are each provided above the center of the side along the Y-axis of the stencil holder 14, and the pressing cylinders 32 are each provided above the four corners of the stencil holder 14 or in the vicinity thereof.

As shown in Figure 11, the lower end of the lifting rod 31R, which is the output shaft of the lifting cylinder 31, is fixed to the stencil holding part 14. The lifting rod 31R is connected to the middle position of the stencil holding part 14 on the Y axis. By synchronously operating the lifting rods 31R of the two lifting cylinders 31, the stencil holding part 14 rises and falls above the stencil guide 13 while maintaining a horizontal position. Each of the pressure cylinders 32 presses the four corners of the stencil holding part 14 downward by operating the pressure rod 32R, which is the output shaft.

When the stencil 15 is located at the stencil installation position, multiple engagement protrusions 14T provided on the underside of the stencil holding part 14 fit from above into multiple engagement holes 15H provided in the stencil 15. The stencil holding part 14 is pressed against the stencil guide 13 by the lifting cylinder 31 and the pressing cylinder 32. As a result, three of the four sides of the stencil 15 are sandwiched between the stencil guide 13 and the stencil holding part 14.

In this way, with the three sides of the stencil 15 sandwiched between the stencil guide 13 and the stencil holder 14, the cylinder 14A shown in Fig. 10 moves each of the rows of engagement projections 14T in a direction away from the center of the stencil holder 14, as shown by the arrow Ts in Fig. 12. This applies an in-plane tension to the stencil 15 that stretches it outward, and the stencil 15 is held in a flat state. As shown in Figs. 6, 7, 9, and 10, grooves 13M are provided in the horizontal parts 13H and X-axis guide parts 13b of the two Y-axis guide parts 13a of the stencil guide 13. The engagement projections 14T are each located within the grooves 13M, and do not interfere with the stencil guide 13, as shown in Fig. 10.

Figure 13 is a plan view of the printing unit 2. As shown in Figures 3, 4 and 13, above the stencil holding unit 14, a print head 16, a scraper unit 17, an upper surface cleaner 18 and a spray unit 19 are provided. As shown in Figures 3 and 4, below the stencil holding unit 14, a stencil moving mechanism 21, a camera 22 and a lower surface cleaner 23 are provided.

Figure 14 is an enlarged view of Figure 4. As shown in Figures 5, 11, 13 and 14, the print head 16 has a squeegee base 41, two squeegees 42, and a lifting drive unit 43. The squeegee base 41 extends along the X-axis and is movable along the Y-axis. The squeegees 42 are each provided below the squeegee base 41. The lifting drive unit 43 is provided on the upper surface of the squeegee base 41. The two squeegees 42 are disposed opposite each other along the Y-axis as shown in Figures 13 and 14. The lifting drive unit 43 raises and lowers the two squeegees 42 individually below the squeegee base 41.

As shown in FIG. 13, the squeegee base 41 has a shape extending along the X-axis. Both ends of the squeegee base 41 are supported by two squeegee base guides 44. The squeegee base guides 44 are arranged in parallel so as to extend along the Y-axis and face each other along the X-axis. A squeegee base moving ball screw (hereinafter, screw) 45 extending along the Y-axis is provided on the outside of one of the squeegee base guides 44. That is, the screw 45 is provided on the outside of one of the squeegee base guides 44 in the X-axis. The screw 45 is screwed into a squeegee base nut (hereinafter, nut) 46 provided on the squeegee base 41. A squeegee base drive motor (hereinafter, first motor) 47 is connected to the screw 45, and when the first motor 47 is operated and the screw 45 rotates, the squeegee base 41 moves along the Y-axis via the nut 46.

The scraper unit 17 functions as a paste recovery unit that recovers the paste Pst on the stencil 15. As shown in Figures 11, 13, and 14, the scraper unit 17 has a scraper base 51, a scraper lifting cylinder (hereinafter, lifting cylinder) 52, a scraper holding unit 53, and a scraper 54. The scraper base 51 extends along the X-axis, and the lifting cylinder 52 is provided on the scraper base 51. The lifting cylinder 52 raises and lowers the scraper holding unit 53. The scraper holding unit 53 holds the scraper 54. Both ends of the scraper base 51 are supported by two squeegee base guides 44, similar to the squeegee base 41. As shown in Figures 11 and 14, the squeegee base 41 is provided with a scraper unit connecting unit (hereinafter, first connecting unit) 41R. As shown in Fig. 14, the scraper base 51 is connected to the squeegee base 41 by the first connecting portion 41R. When the scraper base 51 is connected to the squeegee base 41, it moves together with the squeegee base 41 along the Y axis. For example, the first connecting portion 41R may have an electromagnet, and the scraper base 51 may have a magnetic body at least at the portion that abuts against the first connecting portion 41R. When the lifting cylinder 52 is operated to lift the scraper holding portion 53, the scraper 54 is lifted and lowered.

The top surface cleaner 18 cleans the top surface of the stencil 15 after the paste Pst has been collected by the scraper unit 17. The top surface cleaner 18 is attached to the squeegee base 41. Therefore, the top surface cleaner 18 moves along the Y axis together with the squeegee base 41, and moves together with the print head 16 relative to the stencil 15 installed at the stencil installation position. The squeegee base 41 is provided with a top surface cleaner lifting unit 18K. The top surface cleaner 18 is attached to the squeegee base 41 via the top surface cleaner lifting unit 18K. When the top surface cleaner lifting unit 18K is activated, the top surface cleaner 18 rises and falls relative to the squeegee base 41.

The top surface cleaner 18 has a delivery roller R1 that delivers the cleaning paper PR, and a take-up roller R2 that takes up the cleaning paper PR delivered from the delivery roller R1. At the position from the delivery roller R1 to the take-up roller R2, the nozzle part NZ, with its suction port facing downward, is pressed from above onto the cleaning paper PR to apply tension. The portion against which the suction port of the nozzle part NZ is pressed functions as a wiping surface for the paste Pst. The nozzle part NZ draws air from its suction port through the cleaning paper PR, and sucks up the paste adhering to the top surface of the stencil 15.

The spray unit 19 functions as a pre-use stencil cleaner that cleans the upper surface of the stencil 15 before it becomes dirty with the paste Pst. In other words, the spray unit 19 cleans the upper surface of the stencil 15 before use or before the first paste Pst is supplied to the stencil 15. As shown in FIG. 15, the spray unit 19 has a tubular portion 19P that extends above the movement path of the stencil 15 along the X-axis that intersects with the movement direction (Y-axis) of the stencil 15, and a valve portion 19V that is connected to one end of the tubular portion 19P. The tubular portion 19P is provided across the two Y-axis guide portions 13a on the opposite side to the position where the stencil holding portion 14 is attached in the two Y-axis guide portions 13a.

11, 12 and 13, the underside of the spraying section 19 is provided with a number of nozzles 19N aligned along the X-axis. High-pressure gas is supplied to the tubular section 19P via the valve section 19V, and as shown in FIG. 15, the high-pressure gas is sprayed downward from the multiple nozzles 19N. Note that the pre-use stencil cleaner may be configured to blow gas onto the top surface of the stencil 15 (blow), or may be configured to suck the top surface of the stencil 15, or to brush or wipe the top surface of the stencil 15. Therefore, the top surface cleaner 18 may also be used as the pre-use stencil cleaner.

The stencil moving mechanism 21 moves the stencil 15 between a storage body 72 (described later) of the stencil exchange unit 3 and the stencil installation position. In detail, the stencil moving mechanism 21 pulls out the stencil 15 from the storage body 72, moves it to the stencil installation position, and returns the stencil 15 from the stencil installation position to the storage body 72. As shown in Figures 4, 7, and 11, the stencil moving mechanism 21 has a moving base 61, a lifting actuator 62, and a pull-out plate 63. The moving base 61 extends along the X-axis. The lifting actuator 62 is provided on the moving base 61. The lifting actuator 62 raises and lowers the pull-out plate 63.

As shown in FIG. 7, both ends of the moving base 61 are supported by two moving base guides 64. The moving base guides 64 are arranged in parallel so as to extend along the Y axis and face each other along the X axis. A moving base moving ball screw (hereinafter, screw) 65 extending along the Y axis is provided on the outside (outside in the X axis) of one of the two moving base guides 64. The screw 65 is screwed into a moving base nut (hereinafter, nut) 66 provided on the moving base 61. A moving base drive motor (hereinafter, second motor) 67 is connected to the screw 65, and when the second motor 67 is operated to rotate the screw 65, the moving base 61 moves along the Y axis via the nut 66.

As shown in Figures 7 and 15, two stencil movement engagement protrusions 63T are provided on the upper surface of the drawer plate 63 side by side along the X-axis. As shown in Figure 7, a suction opening 63K is also provided on the upper surface of the drawer plate 63 for adsorbing the lower surface of the stencil 15. In the stencil movement mechanism 21, the moving base 61 moves along the Y-axis to move the drawer plate 63 along the Y-axis. Also, the lifting actuator 62 lifts and lowers the drawer plate 63 to move the drawer plate 63 along the Z-axis.

As shown in Figures 7 and 11, the camera 22 is attached to the front end of the moving base 61 that constitutes the stencil moving mechanism 21. Therefore, the camera 22 moves along the Y axis together with the stencil moving mechanism 21. The camera 22 can also move the moving base 61 along the X axis. Therefore, the camera 22 moves within the XY plane by movement along the Y axis by the stencil moving mechanism 21 and movement of the camera 22 itself along the X axis.

5 and 7, the camera 22 includes a lower imaging camera 22A with an imaging optical axis facing downward, and an upper imaging camera 22B with an imaging optical axis facing upward. The lower imaging camera 22A photographs from above an alignment mark (not shown) provided on the upper surface of the board KB. The upper imaging camera 22B photographs from below an alignment mark (not shown) provided on the lower surface of the stencil 15 installed at the stencil installation position.

As shown in Figure 14, the underside cleaner 23 moves along the Y axis in the area below the stencil guide 13 by means of a cleaner guide (not shown). The underside cleaner 23 has a moving base connection part (hereinafter, second connection part) 23R. The underside cleaner 23 can be connected to the moving base 61 of the stencil moving mechanism 21 shown in Figure 11 by the second connection part 23R. When connected to the moving base 61, the underside cleaner 23 moves together with the moving base 61 along the Y axis. The second connection part 23R can also be configured in the same way as the first connection part 41R, for example.

The lower surface cleaner 23 has the same components as the upper surface cleaner 18. That is, as shown in FIG. 14, the lower surface cleaner 23 has a delivery roller R1 that delivers the cleaning paper PR and a take-up roller R2 that takes up the cleaning paper PR delivered from the delivery roller R1. At the position from the delivery roller R1 to the take-up roller R2, the nozzle part NZ with its suction port facing upward is pressed from below onto the cleaning paper PR to apply tension. The part against which the suction port of the nozzle part NZ is pressed functions as a wiping surface for the paste Pst. The nozzle part NZ sucks air from the suction port through the cleaning paper PR and sucks up the paste attached to the lower surface of the stencil 15. In the lower surface cleaner 23, unlike the upper surface cleaner 18, the upper surface of the cleaning paper PR against which the nozzle part NZ is pressed is the wiping surface for the paste Pst.

When the lower surface cleaner 23 is not moved along the Y-axis by the moving base 61, it waits at a cleaner standby position in front of the stencil installation position, as shown in Fig. 2. The lower surface cleaner 23 is raised and lowered relative to the stencil guide 13 by a lower surface cleaner lifting section (not shown) provided on the above-mentioned cleaner guide. In other words, the lower surface cleaner 23 is raised and lowered relative to the stencil 15 installed at the stencil installation position.

Next, the stencil exchange unit 3 will be described with reference to Figures 16 and 17. Figure 16 shows the appearance of the stencil exchange unit 3, and Figure 17 shows the inside of the housing 71 of the stencil exchange unit 3. As shown in Figures 2 and 3, the stencil exchange unit 3 is adjacent to the rear (Y-axis minus side) of the printing unit 2. As shown in Figures 16 and 17, the stencil exchange unit 3 has a housing 71, a storage body 72, an elevator 73, a lower sensor 75 as a first object detection unit, an upper sensor 76 as a second object detection unit, and a touch panel 77. The housing 71 has an internal space SP in which the storage body 72 can be stored. An entrance 71A that allows the storage body 72 to be inserted and removed from the internal space SP is provided at the lower part of the rear surface of the housing 71.

2 and 3, the area of the internal space SP within the housing 71 that is located above the entrance 71A is the working space SP1. The area below the working space SP1 is the lower space SP2. In other words, the entrance 71A is provided at a position that allows access to the lower space SP2 of the internal space SP within the housing 71.

As shown in Figure 17, a stencil passage opening (hereinafter, opening) 71B is provided on the front surface of the housing 71. That is, the opening 71B is provided at a higher position than the entrance 71A. The working space SP1 communicates with the outside (the front of the housing 71) via the opening 71B. The opening 71B is large enough to allow the stencil 15 to pass along the Y axis.

The stencil moving mechanism 21 pulls the stencil 15, which is stored in the storage body 72 arranged in the working space SP1 and is located at the height of the opening 71B, forward from the opening 71B and sets it at the stencil installation position. The stencil moving mechanism 21 also stores the stencil 15 located at the stencil installation position in the storage body 72 from the opening 71B. In detail, the stencil moving mechanism 21 pulls the stencil 15 stored in the shelf portion 72S of the storage body 72 forward from the opening 71B and sets it at the stencil installation position. Then, the stencil moving mechanism 21 returns the stencil 15 located at the stencil installation position from the opening 71B to the shelf portion 72S of the storage body 72. In this way, the stencil exchange unit 3 functions as a storage body moving device that moves the storage body 72 storing the stencil 15 to a supply position (e.g., the working space SP1) for supplying the stencil 15, which is a member. In addition, when the container 72 is placed at the supply position by the container moving device, the stencil moving mechanism 21 functions as a member moving mechanism that removes the stencil 15 from the container 72. The container moving device and member moving mechanism constitute a member supply device 78, as shown in FIG.

Figure 18 is an oblique view of the storage body 72. The storage body 72 has a rectangular cylindrical shape that opens forward and backward along the Y axis, and has multiple shelves 72S lined up vertically inside. A stencil 15 is placed (stored) in a horizontal position on each shelf 72S. The storage body 72 typically stores multiple types of stencils 15 corresponding to the type of board KB. In this way, the storage body 72 stores the stencils 15 in a removable manner.

As shown in FIG. 17, the elevator 73 has a lifting body 81, a lifting body support part 82, a nut part 83, a ball screw 84, and a lifting body lifting motor (hereinafter, the third motor) 85. The lifting body 81 has a shape that spreads in a horizontal plane, and functions as a storage body support part that supports the storage body 72. The lifting body support part 82 extends along the X-axis to support the lifting body 81. The nut part 83 is provided at one end of the lifting body support part 82. The ball screw 84 is screwed into the nut part 83 and extends up and down. The third motor 85 rotates the ball screw 84. When the third motor 85 is operated, the ball screw 84 rotates. This causes the lifting body support part 82 to move up and down via the nut part 83. As a result, the lifting body 81 connected to the lifting body support part 82 moves up and down. In this manner, in the elevator 73, the elevator 81 supporting the storage body 72 rises and falls between the working space SP1 and the lower space SP2. In this manner, the elevator 73 functions as a storage body moving mechanism that moves the storage body 72, which has been carried in through the entrance 71A of the housing 71, between the vicinity of the entrance 71A of the housing 71 and the working space SP1, which is a position away from the entrance 71A.

The lifting body 81 rises or falls depending on the operating direction of the third motor 85, i.e., the rotation direction of the ball screw 84. As shown in part (a) of FIG. 19, when the lifting body 81 is at a lower limit position determined within the housing 71, the worker can place the storage body 72 on the upper surface of the lifting body 81 from the entrance 71A and set the storage body 72 within the housing 71. Also, when the lifting body 81 is at the lower limit position, the worker can remove the storage body 72 placed on the lifting body 81 from the entrance 71A. In this way, the upper surface of the lifting body 81 at the lower limit position is the "storage body set position" where the storage body 72 is set inside the housing 71.

In the elevator 73, as shown in (b) of FIG. 19, the elevator 81 rises with the storage body 72 set at the storage body set position. That is, the elevator 73 positions the stencil 15 to be installed at the stencil installation position at a predetermined working height Hs. Hereinafter, the stencil 15 to be installed at the stencil installation position is referred to as the installation target stencil 15P. The working height Hs is the height at which the stencil moving mechanism 21 can move the installation target stencil 15P between the storage body 72 and the stencil installation position through the opening 71B. By positioning the installation target stencil 15P at the working height Hs, the stencil moving mechanism 21 can move the installation target stencil 15P between the storage body 72 and the stencil installation position. Part (b) of FIG. 19 shows the state in which the installation target stencil 15P is positioned at the working height Hs. 19(b) shows the supply position at which the storage body 72 is placed when the stencil 15P to be installed is placed on the shelf 72S below the storage body 72. When the stencil 15P to be installed is placed on the shelf 72S above the storage body 72, the position of the storage body 72 is lower than the position shown in FIG. 19(b), and the storage body 72 is placed at a position straddling the working space SP1 and the lower space SP2. In this way, there are multiple supply positions for supplying the stencil 15 to the stencil moving mechanism 21 depending on the height position of the stencil 15P to be installed in the storage body 72.

Each of the lower sensor 75 and the upper sensor 76 includes, for example, an area sensor that optically detects an object. As shown in FIG. 17 and FIG. 20, the lower sensor 75 is composed of a lower light-emitting unit 75A and a lower light-receiving unit 75B arranged opposite each other along the X-axis. As shown in FIG. 20 (b), the lower light-emitting unit 75A emits lower light L1 along the X-axis, and the lower light-receiving unit 75B receives the lower light L1. In this way, the lower sensor 75 detects an object passing through the entrance 71A by forming a safety light curtain (hereinafter, lower light curtain M1) that is approximately parallel to the XZ plane. On the other hand, the upper sensor 76 is composed of an upper light-emitting unit 76A and an upper light-receiving unit 76B arranged opposite each other along the X-axis, as shown in FIG. 20 (a). The upper light-projecting unit 76A emits upper light L2 along the X-axis, and the upper light-receiving unit 76B receives the upper light L2. In this manner, the upper sensor 76 detects an object moving from the lower space SP2 to the working space SP1 in the internal space SP by forming a safety light curtain (hereinafter, upper light curtain M2) that is substantially parallel to the XY plane. The object to be detected by the lower sensor 75 and the upper sensor 76 is, for example, a worker's hand.

The upper sensor 76 is provided to form an upper light curtain M2 between the storage body 72 set at the storage body set position and the stencil moving mechanism 21. In detail, the upper light curtain M2 is formed at a height position that separates the working space SP1 and the lower space SP2. More specifically, the upper light curtain M2 is formed at a position higher than the top surface of the storage body 72 set at the storage body set position and lower than the height of the stencil 15 moved by the stencil moving mechanism 21. On the other hand, as shown in part (b) of FIG. 20, the lower sensor 75 is provided to form a lower light curtain M1 at a position that covers the entrance 71A.

As described above, within the internal space SP of the housing 71, the space above the upper light curtain M2 is the work space SP1, and the space below the upper light curtain M2 is the lower space SP2. The storage body set position is within the lower space SP2. When at least a portion of the upper light L2, which is the inspection light forming the upper light curtain M2, is blocked, it is detected that an object (specifically, the worker's hand) has entered from the lower space SP2 toward the work space SP1. When at least a portion of the lower light L1, which is the inspection light forming the lower light curtain M1, is blocked, it is detected that an object has entered from outside the housing 71 toward the lower space SP2.

Figure 21 is a functional block diagram showing the control system of the screen printing apparatus 1. The control unit 90 of the screen printing apparatus 1 has a substrate operation control unit 91, a stencil operation control unit 92, a printing control unit 93, an imaging control unit 94, a cleaner control unit 95, a paste recovery control unit 96, and an elevator control unit 97. The substrate operation control unit 91 controls the operation of transporting and holding the substrate KB by the substrate transport and holding unit 12, and the operation of aligning the held substrate KB with respect to the stencil 15.

The stencil operation control unit 92 controls the transport and installation operations of the stencil 15 performed by the stencil moving mechanism 21 and the cylinder 14A. In particular, the stencil operation control unit 92 controls the movement operation of the moving base 61 along the Y axis performed by the second motor 67, and the lifting and lowering operation of the pull-out plate 63 performed by the lifting actuator 62. The stencil operation control unit 92 also controls the suction of the underside of the stencil 15 via the suction opening 63K, and the application of in-plane tension to the stencil 15 positioned at the stencil installation position by the cylinder 14A.

The print control unit 93 controls the printing operation by the print head 16. In particular, it controls the movement operation of the squeegee base 41 along the Y axis by the first motor 47 and the lifting and lowering operation of the squeegee 42 by the lifting and lowering drive unit 43.

The imaging control unit 94 controls the camera 22 and the like to capture images of the substrate KB held by the substrate transport holding unit 12 and the stencil 15 installed at the stencil installation position. In detail, the imaging control unit 94 controls the movement of the moving base 61 along the Y axis by the second motor 67, the movement of the camera 22 along the X axis relative to the moving base 61, and the imaging operation of the lower imaging camera 22A of the area below the lower imaging camera 22A. The imaging control unit 94 also controls the imaging operation of the upper imaging camera 22B of the area above the upper imaging camera 22B.

The cleaner control unit 95 controls the cleaning operation of the upper surface of the stencil 15 by the spray unit 19, the cleaning operation of the upper surface of the stencil 15 by the upper surface cleaner 18, and the cleaning operation of the lower surface of the stencil 15 by the lower surface cleaner 23.

In detail, when the spray unit 19 is performing a cleaning operation on the top surface of the stencil 15, the cleaner control unit 95 operates the valve unit 19V to supply high-pressure air into the tubular unit 19P and eject the gas from the ejection hole 19N.

In the cleaning operation of the top surface of the stencil 15 by the top surface cleaner 18, the cleaner control unit 95 controls the movement operation of the squeegee base 41 along the Y axis by the first motor 47 and the lifting operation of the top surface cleaner 18 by the top surface cleaner lifting unit 18K. Furthermore, the cleaner control unit 95 controls the operation of the delivery roller R1 and the take-up roller R2 in the top surface cleaner 18 and the air suction operation by the nozzle unit NZ.

In the cleaning operation of the underside cleaner 23 on the underside of the stencil 15, the cleaner control unit 95 controls the movement operation of the moving base 61 along the Y axis by the second motor 67 and the connection operation of the underside cleaner 23 to the moving base 61 by the second connection unit 23R. Furthermore, the cleaner control unit 95 controls the operation of the delivery roller R1 and the take-up roller R2 in the underside cleaner 23 and the air suction operation by the nozzle unit NZ.

21, the cleaner control unit 95 has a first cleaning control unit 95a, a second cleaning control unit 95b, and a third cleaning control unit 95c. The first cleaning control unit 95a controls the cleaning performed on the stencil 15 to be installed at the stencil installation position. The second cleaning control unit 95b controls the normal cleaning performed on the stencil 15 installed at the stencil installation position between printing operations of the paste Pst on the substrate KB. The third cleaning control unit 95c controls the cleaning performed on the stencil 15 installed at the stencil installation position before the stencil 15 is moved from the stencil installation position to the storage body 72 by the stencil moving mechanism 21. In other words, the third cleaning control unit 95c controls the cleaning performed immediately before the stencil 15 is returned to the storage body 72 of the stencil exchange unit 3.

The cleaner control unit 95 operates the underside cleaner 23 in at least one of the first and second operating modes to clean the underside of the stencil 15. The second operating mode has a longer cleaning time than the first operating mode. Specifically, the underside cleaner 23 moves back and forth relative to the stencil 15 more times than in the first operating mode. The cleaner control unit 95 causes the underside cleaner 23 to clean the stencil 15 before it is returned to the storage body 72 at least in the second mode. Furthermore, when the cleaner control unit 95 causes the underside cleaner 23 to clean the underside of the stencil 15, in the second operating mode, the cleaner control unit 95 causes the cleaning with a stronger suction force than in the first operating mode.

The underside cleaner 23 has a liquid supply unit (not shown) that supplies cleaning liquid to the cleaning paper PR. The underside cleaner 23 can perform wet cleaning, in which the cleaning paper PR is soaked in liquid, and dry cleaning, in which the cleaning paper PR is not soaked in liquid. Note that the cleaning of the stencil 15 in the second operating mode may include wet cleaning.

The paste recovery control unit 96 controls the cleaning operation of the top surface of the stencil 15 by the scraper unit 17. In detail, it controls the movement operation of the squeegee base 41 along the Y axis by the first motor 47, the connection operation of the scraper base 51 to the squeegee base 41 by the first connection unit 41R, and the lifting and lowering operation of the scraper 54 by the lift cylinder 52.

The elevator control unit 97 controls the lifting and lowering operation of the storage body 72 by the elevator 73. Specifically, the elevator control unit 97 controls the operation of the third motor 85. As shown in FIG. 21, the elevator control unit 97 has a safety control unit 97a.

The safety control unit 97a controls the operation of the lower sensor 75 and the upper sensor 76, and stops the power supply to the elevator 73 and the stencil moving mechanism 21. At that time, the safety control unit 97a is based on the first operation mode or the second operation mode shown below. Note that it is possible to arbitrarily switch between these first and second operation modes.

In the first operation mode, the safety control unit 97a, in principle, always keeps the lower sensor 75 on to enable object detection, and always keeps the upper sensor 76 off to disable object detection. That is, the safety control unit 97a sets the lower sensor 75 and the upper sensor 76 in the state shown in part (b) of FIG. 20. Then, when the lower sensor 75 detects an object, the supply of power to the elevator 73 is stopped, and an alarm sound is generated through the touch panel 77 to alert the operator. However, when the storage body 72 is taken in or out through the entrance 71A, or when the stencil 15 is taken in or out from the storage body 72, the upper sensor 76 is turned on and the lower sensor 75 is turned off. That is, the safety control unit 97a sets the lower sensor 75 and the upper sensor 76 in the state shown in part (a) of FIG. 20. This on/off is switched when the operator inputs a request from the touch panel 77 or the touch panel (not shown) of the printing unit 2. In addition, for example, when an unmanned transport system is used for the replacement of the container 72, when a request for replacement of the container 72 is received from the unmanned transport system, this switch is switched on and off.

In this way, in the first operation mode, the safety control unit 97a disables object detection by the lower sensor 75 when the storage body 72 is carried in or out through the entrance 71A, and stops the supply of power to the elevator 73 when the upper sensor 76 detects an object. The safety control unit 97a also disables object detection by the upper sensor 76 except when the storage body 72 is carried in or out through the entrance 71A, and stops the supply of power to the elevator 73 when the lower sensor 75 detects an object. In other words, the safety control unit 97a disables detection by the lower sensor 75 when the storage body 72 passes through the entrance 71A, and stops the supply of power to the elevator 73 when the upper sensor 76 detects an object moving from the entrance 71A to the workspace SP1. In addition, the safety control unit 97a disables detection by the upper sensor 76 except when the storage body 72 passes through the entrance 71A, and stops the supply of power to the elevator 73 when the lower sensor 75 detects an object passing through the entrance 71A.

On the other hand, in the second operation mode, the safety control unit 97a takes into consideration the workability of the workers on site, and always turns off the lower sensor 75 and turns on the upper sensor 76 when the storage body 72 is located in the lower space SP2 and the elevator 73 is stopped. That is, the safety control unit 97a sets the state shown in part (a) of FIG. 20. In this operation mode, the worker can take in and out the storage body 72 and the stencil 15 at any time. Therefore, except when the printing unit 2 takes in and out the stencil 15 in the work space SP1, the elevator 73 stops with the storage body 72 positioned in the lower space SP2 and waits. When the elevator 73 is operating, the safety control unit 97a sets the lower sensor 75 on and the upper sensor off. That is, the safety control unit 97a sets the lower sensor 75 and the upper sensor 76 to the state shown in part (a) of FIG. 20.

Thus, in the second operation mode, the safety control unit 97a disables object detection by the lower sensor 75 when the storage body 72 is stopped at a position where it can be loaded or unloaded through the entrance 71A of the housing 71. The safety control unit 97a also stops the supply of power to the elevator 73 when the upper sensor 76 detects an object moving from the entrance 71A to the working space SP1. When the elevator 73 is operating, the safety control unit 97a disables object detection by the upper sensor 76 and stops the supply of power to the elevator 73 when the lower sensor 75 detects an object passing through the entrance 71A.

In the "disable object detection" process, the safety control unit 97a prevents the area sensor from emitting or receiving light, so that sensing itself is not performed. In other words, the safety control unit 97a controls one of these sensors so that the lower sensor 75 does not emit or receive lower light L1, and the upper sensor 76 does not emit or receive upper light L2. Alternatively, sensing may be performed, but the control unit 90 may ignore the results of the sensing.

21, a touch panel 77 is electrically connected to the control unit 90. The touch panel 77 functions as an input device and an output device for the screen printing device 1. Note that instead of the touch panel 77, an input device such as a switch and an output device such as a display panel may be provided separately.

The board operation control unit 91, stencil operation control unit 92, printing control unit 93, imaging control unit 94, cleaner control unit 95, paste recovery control unit 96, and elevator control unit 97 that make up the control unit 90 are each composed of a CPU (Central Processing Unit) or an LSI (Large Scale Integrated Circuit). They may also include memory as necessary. They may be composed of dedicated circuits, or may be realized by controlling general-purpose hardware with software read from a transient or non-transient storage device. Two or more of these may also be configured as an integrated unit.

Next, the operation of the screen printing apparatus 1 will be described. First, a case where the operation mode is set to the first operation mode will be described. When the operator sets the storage body 72 in the lower space SP2 in the housing 71, the operator stores the stencils 15 required for screen printing in the storage body 72 in advance. That is, the operator places the required stencils 15 on the shelf portion 72S of the storage body 72.

Because the operation mode is set to the first operation mode, when the worker sets the storage body 72 to the storage body setting position, the lower sensor 75 is on and the upper sensor 76 is off, as shown in part (b) of FIG. 20. Therefore, the worker first inputs to the touch panel 77 that the operation of inserting and removing the storage body 72 will begin. When the safety control unit 97a detects the input to the touch panel 77, it switches the on/off state of the lower sensor 75 and the upper sensor 76. That is, as shown in part (a) of FIG. 20, the safety control unit 97a switches the lower sensor 75 from on to off and the upper sensor 76 from off to on. At this time, the safety control unit 97a switches the upper sensor 76 from off to on, and then switches the lower sensor 75 from on to off. Once the on/off states of the lower sensor 75 and the upper sensor 76 are switched, the worker can set the storage body 72 in the lower space SP2 of the housing 71 from the entrance 71A without the lower sensor 75 detecting an object.

In this way, after inputting information into the touch panel 77, the worker sets the storage body 72 in the lower space SP2, as shown in part (a) of Figure 19. If the worker accidentally inserts his or her hand into the work space SP1 while setting up the storage body 72, the upper sensor 76 detects this action as the entry of an object. The safety control unit 97a then stops the supply of power to the stencil moving mechanism 21. This ensures the safety of the worker.

After setting the storage body 72 in the storage body setting position, the worker removes his/her hand from the entrance 71A and inputs to the touch panel 77 that the operation of inserting and removing the storage body 72 is finished (setting completion). When the safety control unit 97a detects the input to the touch panel 77, it switches the on/off state of the lower sensor 75 and the upper sensor 76. That is, as shown in part (b) of FIG. 20, the safety control unit 97a switches the lower sensor 75 from off to on and the upper sensor 76 from on to off. At this time, the safety control unit 97a switches the lower sensor 75 from off to on, and then switches the upper sensor 76 from on to off. If the worker mistakenly inserts his/her hand into the entrance 71A after inputting the setting completion to the touch panel 77, the lower sensor 75 detects this operation as the entry of an object. The safety control unit 97a then stops the supply of both power and drive electricity to the elevator 73. This ensures the safety of the worker.

When the worker inputs the completion of setting on the touch panel 77 and object detection at the entrance 71A is enabled, the elevator control unit 97 operates the elevator 73 to raise the storage body 72. The elevator control unit 97 then places the stencil 15P to be installed at the working height Hs, as shown in part (b) of Figure 19. At this time, the upper sensor 76 is off, so even if the storage body 72 moves from the lower space SP2 to the working space SP1, no object is detected by the upper sensor 76, and the operation of the stencil moving mechanism 21 is not restricted.

When the height of the stencil 15P to be installed reaches the working height Hs, the control unit 90 controls the stencil moving mechanism 21 to transport the stencil 15P to be installed to the stencil installation position. Specifically, the control unit 90 first operates the second motor 67 via the stencil operation control unit 92. Two stencil movement engagement protrusions 63T are provided side by side along the X-axis on the upper surface of the drawer plate 63 attached to the moving base 61, and multiple engagement holes 15H are provided on the front edge of the stencil 15P to be installed in the storage body 72. The stencil operation control unit 92 moves the moving base 61 toward the stencil exchange unit 3, and positions the stencil movement engagement protrusions 63T below the corresponding engagement holes 15H.

When the stencil movement engagement protrusions 63T are positioned below the engagement holes 15H, as shown in FIG. 22, the control unit 90 operates the lift actuator 62 to engage the stencil movement engagement protrusions 63T with the corresponding engagement holes 15H from below. The control unit 90 then sucks the underside of the stencil 15 with the suction opening 63K and operates the second motor 67 to move the moving base 61 toward the stencil installation position. This causes the stencil 15 to move forward together with the moving base 61. At this time, the left and right sides of the stencil 15 (the stencil to be installed 15P) are guided by the guides 13G of the pair of Y-axis guides 13a as shown in FIG. 15, and are therefore pulled straight forward.

When the stencil 15 is thus pulled out of the storage body 72 by the stencil moving mechanism 21, the control unit 90 controls the elevator 73 by the elevator control unit 97 to lower the lifting body 81 to the lower limit position as shown in part (a) of FIG. 19. After the operator confirms that the lifting body 81 has been lowered to the lower limit position, the operator inputs to the touch panel 77 that the operator will start inserting and removing the storage body 72. When the safety control unit 97a detects the input to the touch panel 77, it switches the on/off state of the lower sensor 75 and the upper sensor 76. That is, the safety control unit 97a switches the lower sensor 75 from on to off and the upper sensor 76 from off to on as shown in part (a) of FIG. 20. At this time, the safety control unit 97a switches the upper sensor 76 from off to on, and then switches the lower sensor 75 from on to off. Once the on/off states of the lower sensor 75 and the upper sensor 76 are switched, the worker can remove or replace the storage body 72 from the lower space SP2 of the housing 71 through the entrance 71A without the lower sensor 75 detecting an object.

In this way, after inputting to the touch panel 77, the worker removes the storage body 72 from the lower space SP2. If the worker accidentally inserts his/her hand into the work space SP1 during this operation, the upper sensor 76 detects this action as the entry of an object. The safety control unit 97a then stops the supply of power to the stencil moving mechanism 21. This ensures the safety of the worker.

During the process in which the stencil 15 is pulled forward as described above, the cleaner control unit 95 controls the spray unit 19 via the first cleaning control unit 95a to clean the upper surface of the stencil 15. Specifically, the first cleaning control unit 95a controls the valve unit 19V constituting the spray unit 19 to spray high-pressure gas GS from the nozzle hole 19N of the tubular portion 19P as shown in FIG.

The first cleaning control unit 95a controls the spray unit 19 to continuously spray the high-pressure gas GS from the time the stencil 15 starts to pass through the spray area of the high-pressure gas GS until it finishes passing through. The tubular portion 19P of the spray unit 19 extends horizontally above the movement path of the stencil 15 (between the stencil installation position and the storage body 72) so as to intersect with the movement direction of the stencil 15. The spray unit 19 cleans the stencil 15, which is moved by the stencil movement mechanism 21, from the ejection hole 19N of the tubular portion 19P. As a result, foreign matter such as dirt and dust adhering to the upper surface of the stencil 15 is blown away and removed by the high-pressure gas GS.

In this way, the spraying unit 19 sprays gas (high-pressure gas GS) onto the top surface of the stencil 15 while the stencil moving mechanism 21 pulls out the stencil 15 from the storage body 72 and moves it to the stencil installation position. In other words, the screen printing device 1 has the spraying unit 19 as a pre-use stencil cleaner that cleans the stencil 15 before it becomes dirty with the paste Pst. The spraying unit 19 cleans the top surface of the stencil 15 by spraying gas onto it, so even if foreign matter such as dirt or dust is attached to the top surface of the stencil 15 pulled out from the storage body 72, the gas blows away and removes the foreign matter. Therefore, even if foreign matter such as dirt or dust is attached to the top surface of the stencil 15 in the storage body 72, it is possible to prevent a decrease in printing quality.

The control unit 90 moves the movable base 61 forward to pull out the stencil 15 in the storage body 72 forward, and stops the movable base 61 when it reaches a predetermined stop position as shown in FIG. 23. When the movable base 61 stops at the stop position, the stencil 15 has not yet reached the stencil installation position. When the control unit 90 stops the movable base 61 at the stop position, it releases the suction of the stencil 15 by the suction opening 63K. Then, the control unit 90 operates the lifting actuator 62 to lower the pull-out plate 63, and disengages the stencil movement engagement protrusion 63T from the engagement hole 15H.

Once the stencil movement engagement protrusion 63T has disengaged from the engagement hole 15H, the control unit 90 moves the moving base 61 backward from the stop position while maintaining the stencil 15 in that position. The control unit 90 then positions the drawer plate 63 so that the stencil movement engagement protrusion 63T is located below the engagement hole 15H at the rear edge of the stencil 15. Once the control unit 90 has positioned the drawer plate 63, it activates the lift actuator 62 to engage the stencil movement engagement protrusion 63T with the engagement hole 15H from below, as shown in FIG. 24.

When the stencil movement engagement protrusion 63T engages with the engagement hole 15H, the control unit 90 sucks the underside of the stencil 15 through the suction opening 63K and activates the second motor 67 to move the moving base 61 forward. This causes the stencil 15 to move forward together with the moving base 61. Then, as shown in part (a) of Figures 25 and 26, when the stencil 15 reaches the stencil installation position, the control unit 90 stops the moving base 61.

When the control unit 90 places the stencil 15 at the stencil installation position as described above, it releases the suction of the stencil 15 by the suction opening 63K and lowers the pull-out plate 63. This causes the stencil movement engagement protrusion 63T to disengage downward from the engagement hole 15H. The control unit 90 then operates the second motor 67 to move the movement base 61 rearward.

When the moving base 61 moves rearward, the control unit 90 operates the two lifting cylinders 31 to lower the stencil holding unit 14 as shown in part (b) of Fig. 26. The control unit 90 then causes the multiple engagement protrusions 14T provided on the underside of the stencil holding unit 14 to fit from above into the multiple engagement holes 15H formed in the stencil 15.

When the engagement protrusions 14T are fitted into the corresponding engagement holes 15H from above, the control unit 90 activates the pressing rods 32R of the four pressing cylinders 32 to press the four corners of the stencil holding part 14 downward, as shown in part (c) of Figure 26. This causes the pressing cylinders 32 to press the stencil 15 against the upper surface of the stencil guide 13 via the stencil holding part 14.

When the stencil 15 is pressed against the upper surface of the stencil guide 13, the control unit 90 activates the cylinder 14A shown in Fig. 10. This causes the two rows of engagement protrusions 14T along the Y axis and the two rows of engagement protrusions 14T along the X axis to move away from the center of the stencil holding unit 14. As a result, as shown in part (d) of Fig. 26 and the arrow Ts in Fig. 12, an in-plane tension is applied to the stencil 15, and the stencil 15 is placed at the stencil placement position.

When the stencil 15 is placed at the stencil placement position, the control unit 90 controls the first conveyor 12A shown in Figure 5 to carry in the board KB from outside and transfers the board KB to the second conveyor 12B. When the second conveyor 12B receives the board KB, the control unit 90 controls the board holding unit 12D to hold the board KB.

Once the substrate KB is held, the control unit 90 operates the second motor 67 shown in Figure 7 to move the moving base 61 along the Y axis, and moves the camera 22 on the moving base 61 along the X axis. This causes the control unit 90 to position the camera 22 between the substrate KB and the stencil 15. The control unit 90 then causes the lower imaging camera 22A to capture an image of an alignment mark provided on the top surface of the substrate KB, and the upper imaging camera 22B to capture an image of an alignment mark provided on the bottom surface of the stencil 15. Based on the positions of these marks, the control unit 90 determines the misalignment between the substrate KB and the stencil 15.

Once the control unit 90 has determined the misalignment between the substrate KB and the stencil 15, it operates the multi-stage table 12E shown in Figure 5. This causes the control unit 90 to move the substrate holding unit 12D in the horizontal plane so that the misalignment is eliminated. In other words, the control unit 90 aligns the substrate KB with the stencil 15 so that the alignment marks of the substrate KB and the stencil 15 coincide in a plan view. Once the substrate KB is aligned with the stencil 15, the control unit 90 operates the multi-stage table 12E to raise the substrate holding unit 12D.

When the upper surface of the substrate KB comes into contact with the lower surface of the stencil 15 by raising the substrate holding unit 12D, the control unit 90 performs squeegeeing with the print head 16. In squeegeeing with the print head 16, first, a paste supply unit (not shown) supplies paste Pst to the upper surface of the stencil 15 as shown in part (a) of FIG. 27. Alternatively, as described below, the scraper unit 17 lowers the scooped paste Pst onto the upper surface of the stencil 15. Then, the control unit 90 lowers one of the squeegees 42 of the print head 16 below the squeegee base 41 as shown in part (b) of FIG. 27. When the lower end of one of the squeegees 42 comes into contact with the upper surface of the stencil 15, the control unit 90 moves the squeegee 42 along the Y axis.

Specifically, the control unit 90 operates the first motor 47 to move the squeegee base 41 along the Y axis, thereby moving the squeegee 42 along the Y axis, as shown by the arrow F in part (c) of Figure 27. Squeegeeing causes the squeegee 42 to slide over the stencil 15, scraping the paste Pst on the stencil 15 along the Y axis. As a result, the paste Pst is applied to the electrode pattern on the upper surface of the substrate KB through the pattern opening 15K provided in the stencil 15.

When the paste Pst has been applied to the board KB as described above, the control unit 90 operates the multi-stage table 12E to separate the board KB downward from the stencil 15, thereby releasing the board KB from the plate. Once the board KB has been released from the plate, the control unit 90 operates the second conveyor 12B to transfer the board KB to the third conveyor 12C. The third conveyor 12C then transports the received board KB to the outside. This completes the printing work for one board KB.

Next, the operation of cleaning the stencil 15 will be described. The cleaner control unit 95 cleans (normal cleaning) the surface (lower surface) of the stencil 15 between printing operations of the paste Pst on the substrate KB. Specifically, the second cleaning control unit 95b controls the lower surface cleaner 23 to perform normal cleaning. When starting cleaning of the lower surface of the stencil 15, the lower surface cleaner 23 is disposed in a cleaner standby position in front of the stencil installation position as shown in FIG. 4. The cleaner control unit 95 first operates the second motor 67 shown in FIG. 7 to move the moving base 61 along the Y axis, and brings the moving base 61 closer to the lower surface cleaner 23. Then, the cleaner control unit 95 operates the second connecting unit 23R shown in FIG. 14 to connect the lower surface cleaner 23 to the moving base 61.

When the underside cleaner 23 is connected to the movable base 61, the cleaner control unit 95 moves the movable base 61 along the Y axis to position the nozzle part NZ of the underside cleaner 23 below the stencil 15. The cleaner control unit 95 then operates the underside cleaner lifting unit (not shown) described above to bring the nozzle part NZ of the underside cleaner 23 into contact with the underside of the stencil 15 via the cleaning paper PR.

When the nozzle part NZ of the lower cleaner 23 comes into contact with the lower surface of the stencil 15 through the cleaning paper PR, the cleaner control unit 95 controls the nozzle part NZ to suck air while moving the moving base 61 back and forth along the Y axis. Specifically, the cleaner control unit 95 moves the moving base 61 backward along the Y axis as shown in (a) of FIG. 28 and FIG. 29, and then moves the moving base 61 forward along the Y axis as shown in (b) of FIG. 28. As a result, the paste Pst that has adhered to the back surface of the stencil 15 through the pattern opening 15K of the stencil 15 is wiped off by the cleaning paper PR and removed from the back surface of the stencil 15. In normal cleaning, such cleaning of the lower surface of the stencil 15 is performed between printing operations of the paste Pst on the board KB. In detail, the nozzle part NZ moves back and forth along the Y axis once or twice with respect to the stencil 15 installed at the stencil installation position.

In this way, the underside cleaner 23 wipes off the paste Pst adhering to the surface (underside) of the stencil 15 by bringing the cleaning paper PR into contact with the surface (underside) of the stencil 15 and moving it back and forth relative to it.

The cleaner control unit 95 performs normal cleaning in the manner described above. In addition, after the cleaner control unit 95 has performed squeegeeing of the paste Pst on all the substrates KB to be printed, it performs pre-storage cleaning on the stencil 15 installed at the stencil installation position. Specifically, in the pre-storage cleaning, the third cleaning control unit 95c controls the lower surface cleaner 23 to thoroughly clean the stencil 15, and controls the upper surface cleaner 18 to clean the upper surface of the stencil 15.

When performing pre-storage cleaning, the cleaner control unit 95 first uses the scraper unit 17 to scoop up the paste Pst remaining on the top surface of the stencil 15. When scooping up the paste Pst, the cleaner control unit 95 operates the first motor 47 shown in FIG. 13 to move the squeegee base 41 along the Y axis and bring the squeegee base 41 closer to the scraper unit 17. The cleaner control unit 95 then operates the first connection unit 41R provided on the squeegee base 41 to connect the scraper unit 17 to the squeegee base 41.

When the scraper unit 17 is connected to the squeegee base 41, the paste recovery control unit 96 recovers the paste Pst on the stencil 15. Specifically, the paste recovery control unit 96 links the movement of the squeegee base 41 along the Y axis with the movement of the scraper 54 along the Z axis by the lift cylinder 52. As a result, the paste recovery control unit 96 causes the scraper 54 to scoop up the paste Pst on the stencil 15. Specifically, the paste recovery control unit 96 first operates the lift cylinder 52 to bring the tip of the scraper 54 into contact with the upper surface of the stencil 15 as shown by the arrow D1 in part (a) of FIG. 30. At this time, the tip of the scraper 54 is positioned near the paste Pst. The position of the paste Pst can be recognized from the position where the squeegee 42 was stopped in the previous squeegeeing.

When the tip of the scraper 54 comes into contact with the top surface of the stencil 15, the paste recovery control unit 96 moves the squeegee base 41 along the Y axis so that the scraper 54 gets under the paste Pst on the stencil 15, as shown by the arrow D2 in part (b) of Figure 30. When the scraper 54 gets under the paste Pst, the paste recovery control unit 96 operates the lift cylinder 52 to raise the scraper 54, as shown by the arrow D3 in part (c) of Figure 30. As a result, the paste Pst on the stencil 15 is scooped up by the scraper 54.

When the paste recovery control unit 96 operates the scraper unit 17 to recover the paste Pst, the cleaner control unit 95 cleans the upper surface of the stencil 15 after the paste Pst has been recovered and also cleans the lower surface of the stencil 15. Specifically, the upper surface cleaner 18 cleans the upper surface of the stencil 15, and the lower surface cleaner 23 cleans the lower surface of the stencil 15. The cleaner control unit 95 first operates the upper surface cleaner lifting unit 18K shown in part (a) of Figure 31 to bring the nozzle unit NZ of the upper surface cleaner 18 into contact with the upper surface of the stencil 15 via the cleaning paper PR.

When the nozzle portion NZ of the upper surface cleaner 18 comes into contact with the upper surface of the stencil 15 via the cleaning paper PR, the cleaner control unit 95 controls the nozzle portion NZ to suck in air. The cleaner control unit 95 also repeats the states shown in parts (a) and (b) of Figure 31, and moves the squeegee base 41 back and forth along the Y axis. As a result, the paste Pst adhering to the upper surface of the stencil 15 is wiped off by the cleaning paper PR and removed from the upper surface of the stencil 15. Meanwhile, the cleaning procedure for the lower surface of the stencil 15 is the same as in the normal cleaning described above.

Thus, the screen printing apparatus 1 has a scraper unit 17 as a paste recovery section that recovers the paste Pst on the stencil 15. The top surface cleaner 18 cleans the top surface of the stencil 15 after the scraper unit 17 scoops up the paste Pst remaining on the top surface of the stencil 15. The top surface cleaner 18 also wipes off the paste Pst adhering to the surface (top surface) of the stencil 15 by moving back and forth relative to the stencil 15 while bringing the cleaning paper PR into contact with the surface (top surface) of the stencil 15.

In this way, in the screen printing apparatus 1, the scraper unit 17, which serves as a paste recovery section, recovers the paste Pst on the stencil 15. Then, the top surface cleaner 18 cleans the top surface of the stencil 15 after the paste Pst has been recovered by the scraper unit 17. This allows the used stencil 15 to be recovered in a reusable state.

In the above-mentioned pre-storage cleaning, the cleaner control unit 95 cleans the underside of the stencil 15 more thoroughly than in normal cleaning. That is, the cleaner control unit 95 operates the underside cleaner 23 in the first operation mode in normal cleaning and in the second operation mode in pre-storage cleaning. Specifically, the underside cleaner 23 makes more reciprocating movements over the stencil 15 than in normal cleaning, such as 8 to 10 reciprocating movements over the stencil 15. This increases the total time for reciprocating movements, i.e., the time for wiping the paste Pst. In this way, in the screen printing device 1, if the stencil 15 is cleaned for at least a longer time than normal before it is returned to the storage body 72, the used stencil 15 can be collected in a state that makes it easier to reuse it.

The cleaning of the upper surface of the stencil 15 by the upper surface cleaner 18 can be performed independently of the cleaning of the lower surface of the stencil 15 by the lower surface cleaner 23. However, from the viewpoint of shortening the time required for cleaning, it is preferable to perform the cleaning of the upper surface of the stencil 15 by the upper surface cleaner 18 in synchronization with the cleaning of the lower surface of the stencil 15 by the lower surface cleaner 23. In this case, as shown in FIG. 31, it is preferable to sandwich the stencil 15 from above and below with the nozzle portion NZ of the upper surface cleaner 18 and the nozzle portion NZ of the lower surface cleaner 23, and to wipe off the paste Pst adhering to both the upper and lower surfaces of the stencil 15 by the upper and lower cleaners simultaneously.

As described above, the cleaner control unit 95 operates the underside cleaner 23 in at least one of the first and second operating modes to clean the underside of the stencil 15. The cleaner control unit 95 causes the underside cleaner 23 to clean the stencil 15 in at least the second mode before it is returned to the storage body 72. Note that the underside of the stencil 15 may also be thoroughly cleaned (i.e., in the second operating mode) during normal cleaning. However, considering the takt time of the screen printing device 1, it is preferable to perform cleaning in the first operating mode, which has a shorter operating time, during normal cleaning.

After the control unit 90 performs pre-storage cleaning of the stencil 15 in the cleaner control unit 95 in the manner described above, it stores the stencil 15 in the stencil replacement unit 3. The procedure for storing the stencil 15 in the stencil replacement unit 3 is the reverse of the procedure for pulling the stencil 15 out of the stencil replacement unit 3 and setting it at the stencil installation position. When storing the stencil 15 in the stencil replacement unit 3, the control unit 90 raises the lifting body 81 of the elevator 73 from the lower limit position and positions the shelf portion 72S of the storage body 72 to which the stencil 15 is to be returned, at the working height Hs.

Next, a case where the stencil exchange unit 3 is set to the second operation mode will be described. In this case, when the worker sets the storage body 72 in the storage body setting position, as shown in part (a) of FIG. 20, the lower sensor 75 is off and the upper sensor 76 is on. Therefore, the worker can set the storage body 72 in the lower space SP2 from the entrance 71A without performing any special input operation on the touch panel 77. If the worker accidentally inserts his or her hand into the working space SP1 while setting the storage body 72, the upper sensor 76 detects this action as the entry of an object. Then, the safety control unit 97a stops the supply of power to the stencil moving mechanism 21, ensuring the safety of the worker.

When the worker sets the storage unit 72 in the lower space SP2, he or she inputs to the touch panel 77 that the insertion and removal of the storage unit 72 is complete. When the safety control unit 97a detects the input to the touch panel 77, it switches the on/off state of the lower sensor 75 and the upper sensor 76. That is, as shown in part (b) of Figure 20, the safety control unit 97a switches the lower sensor 75 from off to on, and the upper sensor 76 from on to off. The elevator control unit 97 then operates the elevator 73 to raise the storage unit 72 to the working height Hs, as shown in part (b) of Figure 19.

Once the storage body 72 has been raised to the working height Hs and the stencil 15 has been stored in the storage body 72 by the stencil moving mechanism 21, the elevator control unit 97 lowers the lifting body 81 (i.e., the storage body 72) to the lowest position, as shown in part (a) of Figure 19. If an operator accidentally inserts his or her hand into the entrance 71A while the elevator 73 is raising or lowering the storage body 72, the lower sensor 75 detects this action and the entry of an object, and the safety control unit 97a stops the supply of power to the elevator 73, ensuring the safety of the operator.

When the lifting body 81 is lowered to the lowest position, the safety control unit 97a switches the on/off state of the lower sensor 75 and the upper sensor 76. That is, as shown in part (a) of Figure 20, the safety control unit 97a switches the lower sensor 75 from on to off and the upper sensor 76 from off to on. When the on/off state of the lower sensor 75 and the upper sensor 76 is switched, the worker can remove or replace the storage body 72 from the lower space SP2 of the housing 71 through the entrance 71A without the lower sensor 75 detecting an object.

In this way, in both the first and second operation modes, when the worker puts (carries) the storage body 72 in and out of the entrance 71A of the housing 71, the supply of power to the elevator 73 is stopped when the worker puts his/her hand into the work space SP1. On the other hand, when the elevator 73 raises and lowers the storage body 72 in the housing 71, the supply of power to the elevator 73 is stopped when the worker puts his/her hand in from the entrance 71A. This ensures the safety of the worker. The on/off of the sensor that detects the insertion of the worker's hand is switched by the worker inputting the work situation from the touch panel 77. In this way, in the configuration in which the storage body 72 is raised and lowered inside the housing 71, the worker is prevented from touching the mechanism in operation, and the safety of the worker who puts and takes the storage body 72 in and out of the housing 71 can be ensured.

Although the embodiment of the present disclosure has been described so far, the present disclosure is not limited to the above, and various modifications and the like are possible. For example, the configuration of the elevator 73 that raises and lowers the storage body 72 set inside the housing 71 to position the stencil 15 in the storage body 72 at a predetermined working height is not limited to the above, and may have other configurations. In addition, the stencil moving mechanism 21 that pulls out the stencil 15 from the storage body 72 and moves it to the stencil installation position, and moves the stencil 15 located at the stencil installation position and returns it to the storage body 72 does not necessarily have to be configured as described above. In addition, in this embodiment, the stencil 15 is supplied to the printing unit as a member, but this is not limited. For example, it may be applied to a configuration in which a file is supplied to a grinding machine as a member. In other words, the present disclosure is applicable to an apparatus in which it is necessary to replace a member. In addition, the stencil exchange unit 3, which is a storage body moving device, is vertical, and a working space SP1 is provided above the lower space SP1 near the entrance 71A. However, the arrangement of the entrance and the working space is not limited to vertical. It may be horizontal depending on the member.

According to the present disclosure, the storage body moving device and the component supply device can ensure the safety of workers at work sites, etc. Therefore, it is useful in devices that supply or replace components.

REFERENCE SIGNS LIST 1 Screen printing device 2 Printing section 2K Printing section cover 3 Stencil exchange section 11 Base 12 Substrate transport and holding section 12A First conveyor 12B Second conveyor 12C Third conveyor 12D Substrate holding section 12E Multi-stage table 13 Stencil guide 13a Y-axis guide section 13b X-axis guide section 13G Guide 13H Horizontal section 13M Groove 13V Vertical section 14 Stencil holding section 14A Tensioning cylinder (cylinder)
14K Connecting member 14T Engagement protrusion 15 Stencil 15H Engagement hole 15K Pattern opening 15P Installation target stencil 16 Print head 17 Scraper unit 18 Top surface cleaner 18K Top surface cleaner lifting section 19 Spray section 19N Spray hole 19P Tubular section 19V Valve section 21 Stencil moving mechanism 22 Camera 22A Lower imaging camera 22B Upper imaging camera 23 Lower surface cleaner 23R Moving base connecting section (second connecting section)
31 Stencil holder lifting cylinder (lifting cylinder)
31R Lifting rod 32 Stencil holding part pressing cylinder (pressing cylinder)
32R Presser rod 41 Squeegee base 41R Scraper unit connection part (first connection part)
42 Squeegee 43 Lifting drive unit 44 Squeegee base guide 45 Squeegee base moving ball screw (screw)
46 Squeegee base nut (nut)
47 Squeegee base drive motor (first motor)
51 Scraper base 52 Scraper lifting cylinder (lifting cylinder)
53 Scraper holding portion 54 Scraper 61 Moving base 62 Lifting actuator 63 Drawer plate 63K Suction opening 63T Stencil moving engagement protrusion 64 Moving base guide 65 Moving base moving ball screw (screw)
66 Moving base nut (nut)
67 Moving base drive motor (second motor)
71 Housing 71A Entrance 71B Stencil passage opening (opening)
72 Storage body 72S Shelf section 73 Lifting machine 75 Lower sensor 75A Lower light projecting section 75B Lower light receiving section 76 Upper sensor 76A Upper light projecting section 76B Upper light receiving section 77 Touch panel 78 Member supply device 81 Lifting body 82 Lifting body support section 83 Nut section 84 Ball screw 85 Lifting body lifting motor (third motor)
90 Control unit 91 Substrate operation control unit 92 Stencil operation control unit 93 Printing control unit 94 Imaging control unit 95 Cleaner control unit 95a First cleaning control unit 95b Second cleaning control unit 95c Third cleaning control unit 96 Paste recovery control unit 97 Elevator control unit 97a Safety control unit GS High pressure gas KB Substrate L1 Lower light L2 Upper light M1 Lower light curtain M2 Upper light curtain NZ Nozzle unit PR Cleaning paper Pst Paste R1 Delivery roller R2 Winding roller SP Internal space SP1 Working space SP2 Lower space

Claims (9)

A storage body moving device that moves a storage body storing a member to a supply position for supplying the member,
a housing having an internal space capable of housing the storage body and an entrance through which the storage body can be inserted and removed from the internal space;
a storage body moving mechanism that moves the loaded storage body between a vicinity of the entrance and a working space located away from the entrance in the internal space;
a first object detection unit that detects an object passing through the entrance;
a second object detection unit that detects an object moving from a vicinity of the entrance to the working space in the internal space;
When the storage body passes through the entrance, detection by the first object detection unit is disabled, and when the second object detection unit detects the object moving from the vicinity of the entrance to the working space, the supply of power to the storage body movement mechanism is stopped;
and a safety control unit that disables detection by the second object detection unit except when the storage body passes through the entrance and stops the supply of power to the storage body movement mechanism when the first object detection unit detects the object passing through the entrance.
Storage unit moving device. the first object detection unit and the second object detection unit are area sensors that optically detect objects;
The container moving device according to claim 1 . The working space is provided in an upper portion of the internal space, and the entrance is provided at a position allowing access to a lower space of the internal space,
The container moving device further includes a container support unit that supports the container,
The storage body moving mechanism is an elevator that moves the storage body support part between the working space and the lower space.
The storage unit moving device according to claim 1 or 2. the safety control unit, when the storage body support unit is positioned in the lower space, enables the second object detection unit and then disables detection by the first object detection unit to allow the storage body to pass through the entrance, and, when the storage body has passed through the entrance, enables the first object detection unit and then disables the second object detection unit.
The container moving device according to claim 3. A storage body moving device that moves a storage body storing a member to a supply position for supplying the member,
a housing having an internal space capable of housing the storage body and an entrance through which the storage body can be inserted and removed from the internal space;
a storage body moving mechanism that moves the loaded storage body between a vicinity of the entrance and a working space located away from the entrance in the internal space;
a first object detection unit that detects an object passing through the entrance;
a second object detection unit that detects an object moving from a vicinity of the entrance to the working space in the internal space;
when the storage body is stopped at a position where it can be carried in or out through the entrance, detection by the first object detection unit is disabled, and when the second object detection unit detects the object moving from the vicinity of the entrance to the working space, the supply of power to the storage body movement mechanism is stopped;
a safety control unit that disables detection by the second object detection unit when the storage body moving mechanism is activated and stops supply of power to the storage body moving mechanism when the first object detection unit detects the object passing through the entrance,
Storage unit moving device. the first object detection unit and the second object detection unit are area sensors that optically detect objects;
The container moving device according to claim 5. The working space is provided in an upper portion of the internal space, and the entrance is provided at a position where a lower space of the internal space can be accessed,
The container moving device further includes a container support unit that supports the container,
The storage body moving mechanism is an elevator that moves the storage body support part between the working space and the lower space.
The storage unit moving device according to claim 5 or 6. the safety control unit enables the second object detection unit and then disables the first object detection unit when the elevator stops with the storage body support unit positioned in the lower space, and when the elevator operates, enables the first object detection unit before the elevator operates and then disables the second object detection unit.
The container moving device according to claim 7. A container moving device according to any one of claims 1 to 8,
a member moving mechanism that removes the member from the storage body when the storage body is placed at the supply position by the storage body moving device,
Parts supply device.

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