JP4648060B2 - Printing apparatus and printing method - Google Patents

Description

  The present invention relates to a printing apparatus and a printing method for printing paste such as cream solder on a substrate.

  Conventionally, a stencil (mask) for screen printing is overlaid on a substrate set on a printing stage, and paste (such as cream solder) supplied on the stencil is expanded with a squeegee to form openings (pattern holes) formed in the stencil. A screen printing apparatus that prints (applies) a paste to a predetermined position of a substrate via a) is well known.

In such a screen printing apparatus, a substrate is sandwiched and held by clamps from both sides at the time of printing. As an open / close driving means for this clamp, for example, an air cylinder is used as shown in Patent Document 1.
Japanese Patent No. 3298395 (FIG. 2)

  In the conventional screen printing apparatus shown in Patent Document 1, it is necessary to appropriately adjust the clamping pressure (air pressure of the air cylinder) when holding the substrate with the clamp. For example, when a thin substrate is held, if the clamping pressure is high, the substrate is warped and printing accuracy is lowered. Conversely, if the clamp pressure is low, the substrate may inadvertently fall out of the clamp. Therefore, it has been desired to develop a technique that can appropriately adjust the clamp pressure on the substrate.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a printing apparatus and a printing method capable of appropriately adjusting the clamp pressure on the substrate.

  The present invention provides the following means.

[1] A pair of clamp pieces that sandwich and hold a substrate from both sides and an air cylinder that opens and closes the clamp piece are provided, and paste is printed on the substrate held by the pair of clamp pieces. Printing device,
An electropneumatic regulator for adjusting the pressure of air supplied to the air cylinder ;
Control means for controlling the operation of the printing apparatus;
Input means for inputting data to the control means;
A retracted position disposed on both sides of the pair of clamp pieces, and a pressure contact with the upper side of the pair of clamp pieces, and a part of a lower end surface of the pair of clamp pieces is disposed so as to protrude inward from the pair of clamp pieces. A pair of positioning plates configured to be freely displaceable between positioning positions,
A mounting means provided movably in the vertical direction and capable of mounting a substrate ;
After the pair of positioning plates are arranged at the positioning position, the upper surface of the substrate raised by the placing means abuts and locks against the lower surface of the positioning plate, and then the pair of clamp pieces closes to form a substrate. Is held by the clamp piece,
The electropneumatic regulator is controlled by the control means,
Based on the input operation to the input means, the control means adjusts the air pressure by the electropneumatic regulator,
While data related to the substrate (substrate data) is input to the input means in advance,
The printing apparatus according to claim 1, wherein the substrate data includes data relating to air pressure of the air cylinder .

[2] A printing method in which a paste is printed on a substrate in a state where the substrate is sandwiched and held from both sides by a pair of clamp pieces driven to open and close by an air cylinder,
A retracted position disposed on both sides of the pair of clamp pieces, and a pressure contact with the upper side of the pair of clamp pieces, and a part of a lower end surface of the pair of clamp pieces is arranged to protrude inward from the pair of clamp pieces. A pair of positioning plates configured to be freely displaceable with respect to the positioning position are disposed at the positioning position, and the upper surface of the substrate raised by the placing means is brought into contact with and locked to the lower surface of the positioning plate. Where the substrate is held by the clamp piece by closing the pair of clamp pieces,
Adjust the pressure of the air supplied to the air cylinder by an electropneumatic regulator,
Controlling the electropneumatic regulator by control means;
Based on the input operation to the input means for inputting data to the control means, the air pressure by the electropneumatic regulator is adjusted by the control means,
While inputting data relating to the substrate (substrate data) into the input means in advance,
A printing method characterized in that the substrate data includes data relating to air pressure of the air cylinder .

  According to the printing apparatus according to the invention [1], the clamping pressure (air pressure) by the electropneumatic regulator can be adjusted by inputting data such as numerical data. Can be prevented, and the clamp pressure can be adjusted appropriately.

According to the printing apparatus according to the invention [1] , the electropneumatic regulator can be managed under the control of the control means in the same manner as other devices.

According to the printing apparatus according to the invention [1] , the air pressure can be easily adjusted and changed by the electropneumatic regulator by an input operation from an input means such as a keyboard.

According to the printing apparatus according to the invention [1] , it is possible to effectively prevent problems such as air pressure adjustment mistakes, and to adjust the air pressure more appropriately.

According to said invention [ 2 ], the printing method which has the same effect as the above can be provided.

  1 is a side view of a screen printing apparatus according to an embodiment of the present invention, FIG. 2 is a front view of the apparatus, FIG. 3 is a plan view of the apparatus, and FIG. 4 is a main part (printing stage 10) of the apparatus. It is a perspective view. As shown in these drawings, a printing stage 10 is provided on the base 2 of the screen printing apparatus, and a printed circuit board W is carried into and out of the printing stage 10 on both sides of the printing stage 10. The upstream conveyor 11 and the downstream conveyor 12 are arranged along the X-axis direction (conveying direction).

  Further, the printing apparatus is provided above the printing stage 10, a clamping unit 3 for clamping the printed circuit board W, a positioning unit 4 for locking and positioning on the upper surface of the substrate when clamping the substrate W, and the printing stage 10. A stencil holding unit 5 and a squeegee unit 6 are provided, and the substrate W clamped by the clamp unit 3 is placed on the stencil 51 of the stencil holding unit 5 as described later, and in this state, the screen is moved by the squeegee 61 of the squeegee unit 6. Printing is performed.

  As shown in FIGS. 1 and 2, a rail 211 is disposed on the base 2 along the Y-axis direction orthogonal to the X-axis direction in the horizontal plane, and the Y-axis table 21 is mounted on the rail 211. It is slidably attached in the Y-axis direction. Further, a ball screw mechanism (not shown) is provided between the Y-axis table 21 and the base 2, and the Y-axis table 21 moves in the Y-axis direction with respect to the base 2 by driving the ball screw mechanism. It is configured as follows.

  A rail 221 is disposed on the Y-axis table 21 along the X-axis direction, and the X-axis table 22 is slidably attached to the rail 221 in the X-axis direction. Further, a ball screw mechanism (not shown) is provided between the X-axis table 22 and the Y-axis table 21, and the X-axis table 22 moves in the X-axis direction with respect to the Y-axis table 21 by driving the ball screw mechanism. It is configured to move.

  The X-axis table 22 is provided with an R-axis table 23 via a rotation unit 231 so as to be rotatable around an axis line in the vertical line (Z-axis direction). The R-axis table 23 is configured to be rotationally driven around the Z axis by a rotational driving means (not shown).

  Slide struts 241 are attached to the four corners of the R-axis table 23 so as to be slidable in the vertical direction (Z-axis direction), and an elevating table 24 is attached to the upper part of the slide strut 241. A lifting table 24 is attached to the R-axis table 23 so as to be movable up and down in the Z-axis direction. Further, a ball screw mechanism 243 is provided between the lift table 24 and the R-axis table 23, and the lift table 24 is driven in the Z-axis direction (vertical direction) with respect to the R-axis table 23 by driving the ball screw mechanism 243. It is configured to move.

  A pair of main conveyors 20 is provided on the lifting table 24 along the X-axis direction. The main conveyor 20 is arranged with the upstream end and the downstream end facing the end of the upstream conveyor 11 and the end of the downstream conveyor 12 in a state where the lifting table 24 is lowered. . In this opposed state, the gap between the main conveyor 20 and the two-side conveyors 11 and 12 is set to an interval at which the substrate W can be connected between the conveyors, and specifically, set to a small value of about 5 mm. Therefore, in this embodiment, the main conveyor 20 moves in the X-axis and R-axis directions by the movement of the X-axis and R-axis tables 22 and 23 in the lowered state in order to avoid interference with the both-side conveyors 11 and 12. In addition, the movement in the Y-axis and R-axis directions due to the movement of the Y-axis and R-axis tables 21 and 23 is restricted in order to prevent positional deviation with respect to the both-side conveyors 11 and 12. That is, in the lowered state, the main conveyor 20 is restricted from moving in the horizontal direction (X-axis, Y-axis, and R-axis directions) due to the movement of the X-axis, Y-axis, and R-axis tables 21 to 23.

  As shown in FIGS. 1 to 5, the clamp unit 3 provided on the lifting table 24 includes a pair of strip-shaped clamp pieces 31 a and 31 b disposed along the X-axis direction above the pair of main conveyors 20. is doing. The one side clamp piece 31a is fixed on the structural material 25 (see FIG. 5) of the lifting table 24, and the other side clamp piece 31b is slidable in the Y-axis direction with respect to the structural material 25 of the lifting table 24. It is attached and is configured to be able to contact and separate from the one side clamp piece 31a.

  Furthermore, a bracket 26 b is provided on the other side clamp 31 b, and an air cylinder 33 is provided between the bracket 26 b and the structural material 25. When the cylinder 33 is driven forward (extension drive), the other side clamp piece 31b moves in the direction away from the one side clamp piece 31a along the Y-axis direction, and the clamp pieces 31a and 31b are opened. When the cylinder 33 is driven backward (shortening drive), the other side clamp 31b moves in the direction approaching the one side clamp piece 31a along the Y-axis direction, and the clamp pieces 31a and 31b are closed. . As described later, the substrate W is held / released by opening and closing the pair of clamp pieces 31a and 31b.

  As shown in FIGS. 3 and 4, a plurality of suction holes 35 are provided on the upper surfaces of the clamp pieces 31a and 31b. Each suction hole 35 is configured to be set to a negative pressure by suction means (not shown). As will be described later, in a state where the stencil 51 is overlaid on the clamp pieces 31a and 31b, the suction holes 35 are set to a negative pressure, whereby the stencil 51 is attracted and held on the upper surfaces of the clamp pieces 31a and 31b. It is comprised so that.

  As shown in FIG. 5, the positioning unit 4 as positioning means provided on the lifting table 24 includes a pair of band-shaped positioning plates 41a and 41b arranged corresponding to the clamp pieces 31a and 31b, respectively. Yes. The one side positioning plate 41a is provided on the structural member 25 via the parallel link mechanism 42, and the other side positioning plate 41b is provided on the bracket 26b via the parallel link mechanism 42. With the rotation of the parallel link mechanisms 42, 42, the positioning plates 41a, 41b are arranged on both sides of the pair of clamp pieces 31a, 31b as shown in FIG. As shown in FIG. 6B, the retraction position is configured to be freely displaceable between a positioning position that presses and contacts the upper side of the pair of clamp pieces 31a and 31b. Further, the upper surfaces of the positioning plates 41a and 41b are arranged in the same horizontal plane with respect to the upper surfaces of the pair of clamp pieces 31a and 31b in the retracted position, and a part of the lower end surface is a pair of clamp pieces in the positioning position. It arrange | positions so that it may protrude in the Y-axis direction rather than 31a and 31b.

  The lifting table 24 and the bracket 26b are provided with a cylinder 43 for driving the parallel link mechanisms 42. When the cylinder 43 is driven forward (extension drive), the pair of positioning plates 41a and 41b are located inside. The pair of positioning plates 41a and 41b is opened and moved to the retracted position by moving forward to the positioning position and moving to the positioning position and by performing backward driving (shortening driving).

  As shown in FIG. 4, pillars 44 as support members for supporting the positioning plate are erected at the four corners of the lifting table 24. In the state where the positioning plate 41a is disposed at the retracted position (retracted state), the positioning plates 41a and 41b are supported by the support column 44, thereby supporting the printing pressure (load) when the paste is expanded by the squeegee 61 described later. It is configured as follows.

  As shown in FIG. 4, the positioning plates 41a and 41b are provided with a plurality of suction holes 45. Each suction hole 45 is configured to be set to a negative pressure by suction means (not shown) via a suction pipe 46. As will be described later, when the stencil 51 is overlaid on the positioning plates 41a and 41b, the suction hole 45 is set to a negative pressure, whereby the stencil 51 is attracted and held on the upper surfaces of the positioning plates 41a and 41b. It is configured as follows.

  As shown in FIGS. 1 to 5, the elevating table 24 is provided with a mounting table 29 corresponding to the pair of main conveyors 20 and capable of moving up and down in the vertical direction via slide columns 291. Further, a ball screw mechanism (not shown) is provided between the mounting table 29 and the lifting table 24, and the mounting table 29 moves up and down with respect to the lifting table 24 by driving the ball screw mechanism. It is configured as follows. The placement table 29 is configured as a placement means that can place the substrate W. When the placement table 29 moves up, the substrate W on the main conveyor 20 is transferred onto the placement table 29 and moved upward. At the same time, the substrate W on the placement table 29 is moved to the main conveyor 20 side by being lowered.

  The stencil holding unit 5 provided above the printing stage 10 is configured to hold a stencil 51 having an opening (pattern hole) in a solder application portion in a horizontally stretched state.

  The squeegee unit 6 provided on the upper side of the stencil holding unit 5 has a squeegee holder 62 movable along the Y-axis direction, and a pair of squeegees 61 and 61 are provided on the squeegee holder 62 so as to be movable up and down. . Then, by moving one squeegee 61 to one side in the Y-axis direction while being lowered, the cream solder S can be expanded on the stencil 51 while rolling (kneading) toward one side in the Y-axis direction, while the other By moving the squeegee 61 to the other side in the Y-axis direction while being lowered, the cream solder S can be expanded on the stencil 51 while rolling toward the other side in the Y-axis direction.

  FIG. 7 is a block diagram showing a control system of this printing apparatus. As shown in the figure, in this apparatus, the drive of each drive unit in the printing apparatus is controlled by a CPU 91 as control means, and operations detailed later are automatically executed. A keyboard 92 as input means is for inputting various data related to the printing process to the printing apparatus, and a CRT display 93 as display means is for displaying various information (data). Furthermore, the storage device 94 stores various data necessary for inspection.

  In this embodiment, as a drive part controlled by CPU91, the drive part of each conveyor 11,12,20, the drive part of each table 21,22,23,24,29, clamp piece 31a, 31b, and a positioning plate, for example 41a, 41b drive section (air supply means), camera 7, cleaner 8 and squeegee 61 drive section. Furthermore, in the present embodiment, as described above, the electropneumatic regulator 36 is also managed as a control target device under the control of the CPU 91. Therefore, by inputting data (numerical data) on the air pressure of the air cylinder 33 to the keyboard 92, the air pressure to the air cylinder 33 by the electropneumatic regulator 36 can be adjusted via the CPU 91.

  In this embodiment, predetermined data is input from the keyboard 92 in advance before starting the printing operation. The predetermined data includes data related to the substrate W (substrate data). For example, as shown in FIG. 8, the substrate data includes the size of the substrate, the position, shape and size of the fiducial mark, as well as the clamp pressure of the clamp piece 31b (air pressure of the air cylinder 33). Therefore, as described later, when a printing operation is started in this printing apparatus, the electropneumatic regulator 36 is controlled by the CPU 91 based on the clamp pressure data of the substrate data, and the clamp pressure (air pressure) is automatically set. Is.

  The screen printing apparatus having this configuration performs the following operation. In the initial state, the elevating table 24 and the placing table 29 are in a lowered state, and the main conveyor 20 is disposed at a position corresponding to the upstream conveyor 11 and the downstream conveyor 12. Furthermore, the clamp pieces 31a and 31b of the clamp unit 3 are in an open state, and the positioning plates 41a and 41b of the positioning unit 4 are in a retracted state.

  From this state, the printed board W is carried into the main conveyor 20 from the upstream conveyor 11, and the board W is conveyed to a predetermined position by the main conveyor 20 as shown in FIG.

  Thereafter, the positioning plates 41a and 41b of the positioning unit 4 are moved inward as shown in FIG. 5B and arranged at the positioning position, and then the mounting table 29 is raised as shown in FIG. I will do it. Then, when the upper surface of the substrate W is in contact with and locked to the lower surfaces (reference surfaces) of the positioning plates 41a and 41b and arranged in the same plane with respect to the upper surfaces of the clamp pieces 31a and 31b, FIG. Thus, when the clamp pieces 31a and 31b are closed, the substrate W is sandwiched and held by the clamp pieces 31a and 31b.

  Subsequently, as shown in FIG. 10 (a), the positioning plates 41a and 41b move outward and are arranged at the retracted position. At this time, the upper surfaces of the positioning plates 41a and 41b and the upper surfaces of the clamp pieces 31a and 31b are arranged in the same plane, and as described above, the upper surfaces of the clamp pieces 31a and 31b and the upper surface of the substrate W are in the same plane. Be placed.

  In the present embodiment, as shown in FIG. 1, a camera 7 movable in the horizontal direction and a cleaner 8 movable in the Y-axis direction are disposed between the printing stage 10 in the lowered state and the stencil holding unit 5. Is provided. The camera 7 identifies the position and type (product number) of the substrate W and the position and type of the stencil 51, and fine adjustment (correction) of the position caused by individual differences and the like, as will be described later, based on the identification information. ) And the like are performed. Further, the stencil 51 is cleaned by the cleaner 8 every time a predetermined number of substrates W are processed.

  Next, as shown in FIG. 10 (b), when the lifting table 24 is raised by a small amount and the main conveyor 20 comes out above the conveyors 11 and 12, the Y-axis table 21 and the X-axis table 22 are used as necessary. The R-axis table 23 is appropriately moved in the Y-axis, X-axis, and R-axis directions, and the horizontal position of the substrate W with respect to the stencil 51 is finely adjusted (corrected).

  When the position is corrected in this way, the lifting table 24 is raised as shown in FIG. 5C, and the positioning plates 41a and 41b, the clamp pieces 31a and 31b, and the upper surface of the substrate W are the lower surfaces of the stencil 51 of the stencil holding unit 5. It is overlaid so that it is superimposed on. Subsequently, the suction holes 35 of the clamp pieces 31a and 31b and the suction holes 45 of the positioning plates 41a and 41b are set to a negative pressure, and the stencil 51 is sucked and fixed to the clamp pieces 31a and 31b and the positioning plates 41a and 41b.

  Thereafter, the one side squeegee 61 of the squeegee unit 6 descends and moves in the Y-axis direction along the stencil 51, whereby the cream solder S as the paste supplied on the stencil 51 is expanded, and the cream solder S is printed (applied) on a predetermined position of the substrate W through the pattern hole of the stencil 51.

  Here, when performing solder application in the present embodiment, the squeegee 61 runs, for example, a region on the stencil 51 (one side running area) corresponding to the one side positioning plate 41a and the one side clamping piece 31a, A region (printing area) on the stencil 51 corresponding to the upper side of W is slid. For this reason, before the cream solder S is applied to the substrate W, the cream solder S is rolled (kneaded) in the run-up area and the viscosity is lowered. As a result, the cream solder S is surely filled in the pattern holes of the stencil 51 and applied to the substrate W with high accuracy.

  After the cream solder S is applied to the substrate W, the lift table 24 is lowered by a small amount, and the substrate W is detached from the stencil 51 (plate separation). Thereafter, if necessary, the Y-axis table 21, the X-axis table 22, and the R-axis table 23 are appropriately moved in the Y-axis, X-axis, and R-axis directions, and the horizontal position of the substrate W is returned to the original position.

  Subsequently, at the same time when the elevating table 24 is lowered, the clamp pieces 31a and 31b are released and the holding on the substrate W is released. Then, while the lifting table 24 is lowered to the initial lowering position, the placement table 29 is lowered, and the substrate W is transferred from the placement table 29 onto the main conveyor 20.

  Next, the substrate W is transported to the downstream conveyor 12 by the main conveyor 20 and sent to the next process via the downstream conveyor 12.

  Thus, while the board | substrate W is carried out to the downstream conveyor 12, the next board | substrate W is conveyed by the upstream conveyor 11 to the main conveyor 20, and the printing process similar to the above is performed. Thus, the substrates W are sequentially fed and sequentially printed.

  In the present embodiment, one side and the other side squeegees 61, 61 are alternately used for each substrate W to be printed. That is, a one-way movement printing process in which the one-side squeegee 61 is slid toward one side in the Y-axis direction and a second-direction movement printing process in which the other-side squeegee 61 is slid toward the other side in the Y-axis direction are: This is performed alternately for each substrate W to be processed.

  As described above, according to the printing apparatus of the present embodiment, since the air pressure supplied to the clamp opening / closing drive air cylinder 33 is adjusted by the electropneumatic regulator 36, it is operated by a knob operation like a manual regulator. Unlike the case where pressure adjustment is performed, the air pressure can be accurately set to a desired value by inputting numerical data (digital data). Accordingly, it is possible to reliably prevent problems such as fluctuations in the set amount due to individual differences and input errors, and it is possible to appropriately adjust the clamp pressure and perform stable printing processing. That is, if the clamping pressure is too low, the substrate W may drop off and fall, and conversely if the clamping pressure is too high, the substrate W is deformed, and a region where a gap is generated between the substrate W and the stencil 51 is created. However, in this embodiment, the clamp pressure can be adjusted appropriately, so that these problems can be reliably prevented and stable printing processing can be performed.

  In the present embodiment, since the electropneumatic regulator 36 is controlled by the CPU 91 that controls the entire apparatus, the electropneumatic regulator 36 can be managed under the control of the CPU 91 in the same manner as other devices. Problems such as setting mistakes for the electropneumatic regulator 36 can be prevented more reliably. Furthermore, it is possible to easily adjust or change the air pressure by the electropneumatic regulator 36 by an input operation from the keyboard 92 or the like.

  In addition, in the present embodiment, since the air pressure data is included in the substrate data input in advance before the printing process, problems such as misadjustment of air pressure and omission of adjustment (forgetting adjustment) are effectively prevented. It is possible to adjust the air pressure more appropriately.

  In the above embodiment, the description has been given by taking as an example the printing apparatus that raises the lifting table 24 and superimposes the substrate on the table on the stencil 51, but the present invention is not limited thereto, and the present invention lowers the stencil, The present invention can also be applied to a stencil lifting type printing apparatus in which a stencil is mounted on a substrate on a printing stage.

  Moreover, in the said embodiment, although the table type thing (mounting table 29) is used as a mounting means, it is not restricted only to it, This invention uses the pin type thing which consists of several pins as a mounting means. It may be used.

It is a side view of the printing apparatus concerning one Embodiment of this invention. It is a front view which shows the said printing apparatus. It is a top view which shows the said printing apparatus roughly. It is a perspective view which shows the principal part in the said printing apparatus. It is a side view which shows the clamp unit periphery in the said printing apparatus. FIG. 2 is a perspective view showing a positional relationship of the printing apparatus with respect to a clamp of a positioning plate, where FIG. 1A is a perspective view of a positioning plate retracted position, and FIG. It is a block diagram which shows the control system of the said printing apparatus. It is a figure which shows the content of the board | substrate data employ | adopted as the said printing apparatus. It is a side view for demonstrating operation | movement of the said printing apparatus, Comprising: The figure (a) is a side view at the time of board | substrate carrying in, the figure (b) is a side view at the time of positioning board advance, the figure (c) is a board | substrate. A side view at the time of ascent and FIG. 4D is a side view at the time of substrate clamping. It is a side view for demonstrating operation | movement of the said printing apparatus, Comprising: The figure (a) is a side view at the time of positioning board retraction, The figure (b) is a side view in the raising / lowering table raising, The figure (c) is It is a side view at the time of solder expansion.

Explanation of symbols

31a, 31b Clamp piece 33 Air cylinder 36 Electropneumatic regulator 91 CPU (control means)
92 Keyboard (input means)
S Cream solder (paste)
W Printed circuit board

Claims (2)

A printing apparatus comprising a pair of clamp pieces that sandwich and hold a substrate from both sides and an air cylinder that opens and closes the clamp piece, and that prints paste on the substrate held by the pair of clamp pieces. Because
An electropneumatic regulator for adjusting the pressure of air supplied to the air cylinder ;
Control means for controlling the operation of the printing apparatus;
Input means for inputting data to the control means;
A retracted position disposed on both sides of the pair of clamp pieces, and a pressure contact with the upper side of the pair of clamp pieces, and a part of a lower end surface of the pair of clamp pieces is disposed so as to protrude inward from the pair of clamp pieces. A pair of positioning plates configured to be freely displaceable between positioning positions,
A mounting means provided movably in the vertical direction and capable of mounting a substrate ;
After the pair of positioning plates are arranged at the positioning position, the upper surface of the substrate raised by the placing means abuts and locks against the lower surface of the positioning plate, and then the pair of clamp pieces closes to form a substrate. Is held by the clamp piece,
The electropneumatic regulator is controlled by the control means,
Based on the input operation to the input means, the control means adjusts the air pressure by the electropneumatic regulator,
While data related to the substrate (substrate data) is input to the input means in advance,
The printing apparatus according to claim 1, wherein the substrate data includes data relating to air pressure of the air cylinder . A printing method in which a paste is printed on a substrate in a state where the substrate is sandwiched and held from both sides by a pair of clamp pieces driven to open and close by an air cylinder,
A retracted position disposed on both sides of the pair of clamp pieces, and a pressure contact with the upper side of the pair of clamp pieces, and a part of a lower end surface of the pair of clamp pieces is arranged to protrude inward from the pair of clamp pieces. A pair of positioning plates configured to be freely displaceable with respect to the positioning position are disposed at the positioning position, and the upper surface of the substrate raised by the placing means is brought into contact with and locked to the lower surface of the positioning plate. Where the substrate is held by the clamp piece by closing the pair of clamp pieces,
Adjust the pressure of the air supplied to the air cylinder by an electropneumatic regulator,
Controlling the electropneumatic regulator by control means;
Based on the input operation to the input means for inputting data to the control means, the air pressure by the electropneumatic regulator is adjusted by the control means,
While inputting data relating to the substrate (substrate data) into the input means in advance,
A printing method characterized in that the substrate data includes data relating to air pressure of the air cylinder .

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