JP5854799B2 - Transport device - Google Patents

Description

  The present invention relates to a transport device that transports a plate and a substrate in a printing apparatus that transfers a pattern layer formed by patterning a coating layer supported on a carrier such as a blanket to a substrate.

  As a printing method performed by the printing apparatus, for example, the invention described in Patent Document 1 has been conventionally known. In the present invention, the blanket on which the coating layer is formed is brought into contact with the plate, whereby the coating layer on the blanket is patterned to form a pattern layer on the blanket. Thereafter, the pattern layer on the blanket is transferred to the substrate by bringing the blanket on which the pattern layer is formed into contact with the substrate. In such a printing method, it is necessary to transport the substrate to a position where transfer is performed after the plate is transported to a position where patterning is performed.

JP 2010-158799 A

  In order to efficiently transport the plate and the substrate, it is desirable to separately provide a moving body for transporting the plate and a moving body for transporting the substrate. However, if each of the plate moving body and the substrate moving body is provided, it is necessary to configure the transfer device so that the respective moving bodies do not interfere with each other. there were. Patent Document 1 does not describe a specific configuration of a transport device that transports a plate and a substrate, and does not disclose means for solving the above-described problems.

  The present invention has been made in view of the above problems, and each of the plate and the substrate in a printing apparatus for transferring a pattern layer formed by patterning a coating layer carried on a carrier such as a blanket to the substrate. It is an object of the present invention to prevent mutual interference between both moving bodies with a simple configuration when transported by different moving bodies.

  In order to achieve the above object, the transport device according to the present invention forms a pattern layer on the support by patterning the coating layer supported by the support with the plate transported to the plate holding position, and then the support. In the printing apparatus for transferring the upper pattern layer to the substrate transported to the substrate holding position, the transport device performs transport of the plate to the plate holding position and transport of the substrate to the substrate holding position before being used for patterning. A plate reciprocating body that can move while supporting the plate between the plate receiving position for receiving the plate and the plate holding position, and supporting the substrate between the substrate receiving position for receiving the substrate before transfer and the substrate holding position A reciprocating body for a movable substrate, and a driving mechanism for integrally moving the reciprocating body for a plate and the reciprocating body for a substrate, and the plate receiving position is on the first direction side with respect to the plate holding position. As well as While the plate receiving position is provided in the second direction opposite to the first direction with respect to the substrate holding position, the plate holding position and the substrate holding position are located between the plate receiving position and the substrate receiving position, and are driven. The mechanism moves the plate reciprocating body and the substrate reciprocating body integrally in the first direction to position the plate reciprocating body and the substrate reciprocating body at the plate receiving position and the substrate holding position, respectively. The plate reciprocating body and the substrate reciprocating body are integrally moved in the second direction to position the plate reciprocating body and the substrate reciprocating body at the plate holding position and the substrate receiving position, respectively. To do.

  According to the present invention, the plate reciprocating body that can move while supporting the plate between the plate receiving position and the plate holding position, and can move while supporting the substrate between the substrate receiving position and the substrate holding position. Since the substrate reciprocating bodies are respectively provided, it is possible to carry the plate and the substrate at the same time, and to efficiently carry the plate and the substrate. Further, a drive mechanism for integrally moving the plate reciprocating body and the substrate reciprocating body is provided, and the drive mechanism moves the plate reciprocating body and the substrate reciprocating body from the plate holding position to the plate receiving position. By moving in the first direction, the plate reciprocating body and the substrate reciprocating body are positioned at the plate receiving position and the substrate holding position, respectively. Further, the driving mechanism moves the plate reciprocating body and the substrate reciprocating body in the second direction opposite to the first direction, so that the plate reciprocating body and the substrate reciprocating body are respectively moved to the plate holding position and Positioned at the substrate receiving position.

That is, when the plate reciprocating body transports the plate between the plate receiving position and the plate holding position, and when the substrate reciprocating body transports the substrate between the substrate receiving position and the substrate holding position, Since the plate reciprocating body and the substrate reciprocating body are always moved integrally in the first direction or the second direction, the plate reciprocating body and the substrate reciprocating body do not interfere with each other. In this way, to prevent interference between the reciprocating body for the plate and the reciprocating body for the substrate, the reciprocating body for the plate and the reciprocating body for the substrate are moved integrally in the first direction and the second direction by the drive mechanism. Therefore, it is not necessary to employ a complicated apparatus configuration for preventing interference. Further, the control for positioning the plate reciprocating body at the plate receiving position and the control for positioning the substrate reciprocating body at the substrate holding position are the same, and the control for positioning the substrate reciprocating body at the substrate receiving position; Since the control for positioning the plate reciprocating body at the plate holding position is the same, the control of the drive mechanism can be simplified.
In addition, according to one aspect of the present invention, the plate lifting mechanism that lifts and lowers the plate reciprocating body and the substrate lifting mechanism that lifts and lowers the substrate reciprocating body can operate independently. It is done. That is, if the plate lifting mechanism that lifts and lowers the plate reciprocating body and the substrate lifting mechanism that lifts and lowers the substrate reciprocating body can be operated independently, the plate lifting and lowering mechanism is necessary when the plate needs to be lifted and lowered. When it is necessary to raise and lower only the plate reciprocating member by operating the mechanism and to raise and lower the substrate, only the substrate reciprocating member can be raised and lowered by operating the substrate raising and lowering mechanism. Temporarily, if it is a configuration in which only one moving body is moved up and down, the other moving body is moved up and down at the same time, it is necessary to configure the other moving body so as not to interfere with other members. Although there is a risk of complication, according to the present configuration, there is no need for such a configuration, so that the device configuration can be further simplified.
According to another aspect of the present invention, the plate reciprocating body has a long plate hand on which the plate can be placed, and the plate hand is rotated in the longitudinal direction of the plate hand. Since the rotation mechanism that rotates around the rotation center is provided, the following effects can be obtained. That is, in the plate after patterning, the coating liquid is partially attached to the surface in contact with the coating layer, and when this surface is placed on the plate hand, the plate hand is placed. The coating liquid may adhere to the surface. If the plate before patterning is placed on the placement surface of the plate hand to which the coating solution has adhered, the coating solution may adhere to the plate and patterning may not be performed well. Therefore, as in this configuration, if a rotation mechanism that rotates the plate hand about the rotation axis extending in the longitudinal direction of the plate hand is provided as a rotation center, the platen surface is placed on the plate before patterning and the plate after patterning. And the coating liquid can be prevented from adhering to the plate before patterning.

  Here, the drive mechanism preferably includes a holding member that holds the plate reciprocating body and the substrate reciprocating body, and a linear drive unit that reciprocates the holding member in the first direction and the second direction.

  The drive mechanism includes a holding member that holds the plate reciprocating body and the substrate reciprocating body, and a linear drive unit that reciprocates the holding member in the first direction and the second direction. As a configuration for integrally moving the reciprocating body for substrate and the reciprocating body for substrate in the first direction and the second direction, the configuration of the apparatus can be simplified as compared with the case where, for example, a complicated link mechanism is employed. .

  Furthermore, the linear drive unit includes a ball screw extending in the first direction and the second direction, a motor that rotationally drives the ball screw, and a ball screw bracket that is screwed to the ball screw. Is preferably connected to the holding member.

  When the linear drive portion of the drive mechanism is configured by a ball screw in this way, the cost of the drive mechanism can be reduced by employing various commonly used ball screws.

1 is a perspective view showing an embodiment of a printing apparatus to which a transport device according to the present invention is applied. FIG. 2 is a block diagram illustrating an electrical configuration of the printing apparatus of FIG. 1. It is a perspective view which shows the conveyance part with which the printing apparatus of FIG. 1 is equipped. It is a perspective view which shows the upper stage part with which the printing apparatus of FIG. 1 is equipped. It is a perspective view which shows the alignment part and lower stage part with which the printing apparatus of FIG. 1 is equipped. It is a perspective view which shows the imaging part of an alignment part. It is a figure which shows the lift pin part with which a lower stage part is equipped. It is a perspective view which shows a blanket thickness measurement part. It is a figure which shows the holding | suppressing part with which the printing apparatus of FIG. It is a perspective view which shows the pre-alignment part with which the printing apparatus of FIG. 1 is equipped. It is a perspective view which shows the static elimination part with which the printing apparatus of FIG. 1 is equipped. 2 is a flowchart illustrating an overall operation of the printing apparatus in FIG. 1. FIG. 2 is a diagram for explaining the operation of the printing apparatus of FIG. 1. FIG. 2 is a diagram for explaining the operation of the printing apparatus of FIG. 1. FIG. 2 is a diagram for explaining the operation of the printing apparatus of FIG. 1. FIG. 2 is a diagram for explaining the operation of the printing apparatus of FIG. 1. FIG. 2 is a diagram for explaining the operation of the printing apparatus of FIG. 1. FIG. 2 is a diagram for explaining the operation of the printing apparatus of FIG. 1. FIG. 2 is a diagram for explaining the operation of the printing apparatus of FIG. 1.

Here, after first describing the overall configuration of an embodiment of a printing apparatus to which the conveying apparatus according to the present invention is applied, the configuration and operation of each part of the apparatus will be described in detail.
A. FIG. 1 is a perspective view showing an embodiment of a printing apparatus to which a conveying apparatus according to the present invention is applied. In order to clearly show the internal structure of the apparatus, the apparatus configuration with the apparatus cover removed is shown. It is shown. FIG. 2 is a block diagram showing an electrical configuration of the apparatus of FIG. This printing apparatus 100 is peeled after the upper surface of the blanket carried into the apparatus from the front side of the apparatus is brought into close contact with the lower surface of the plate carried into the apparatus from the left side of the apparatus, A pattern layer is formed by patterning the coating layer on the blanket with a pattern formed on the lower surface of the plate (patterning process). In addition, the printing apparatus 100 is formed on the blanket by peeling off after bringing the upper surface of the blanket subjected to the patterning process into close contact with the lower surface of the substrate carried into the apparatus from the right side of the apparatus. The pattern layer is transferred to the lower surface of the substrate (transfer process). In FIG. 1 and each drawing to be described later, in order to clarify the arrangement relationship of each part of the apparatus, the transport direction of the plate and the substrate is “X direction”, and the horizontal direction from the right hand side to the left hand side in FIG. Is referred to as “+ X direction”, and the opposite direction is referred to as “−X direction”. Further, among the horizontal directions orthogonal to the X direction, the front side of the apparatus is referred to as “+ Y direction” and the back side of the apparatus is referred to as “−Y direction”. Further, the upward direction and the downward direction in the vertical direction are referred to as “+ Z direction” and “−Z direction”, respectively.

  In this printing apparatus 100, a main body base 12 is placed on a spring-type vibration isolation table 11, and a stone surface plate 13 is attached on the main body base 12. In addition, two arch-shaped frames 14L and 14R are erected at the center of the upper surface of the stone surface plate 13 while being separated from each other in the X direction. Two horizontal plates 15 are connected to the upper ends of the arch-shaped frames 14L and 14R on the (−Y) side to form a first frame structure. A second frame structure is provided on the upper surface of the stone surface plate 13 so as to be covered with the first frame structure. More specifically, as shown in FIG. 1, arch-shaped frames 16L and 16R smaller than the frames 14L and 14R are erected on the stone surface plate 13 at positions immediately below the arch-shaped frames 14L and 14R. In addition, a plurality of horizontal plates 17 extending in the X direction connect the pillar portions at the frames 16L and 16R, and a plurality of horizontal plates 17 extending in the Y direction connect the frames 16L and 16R to each other. ing.

  Between the frame structures configured as described above, a conveyance space is formed between the beam portions of the frames 14L and 16L and between the beam portions of the frames 14R and 16R. The substrate can be transported while being held in a horizontal posture. In the present embodiment, the transport unit 2 is provided on the rear side of the second frame structure, that is, the (−Y) side, so that the plate and the substrate can be transported in the X direction.

  Further, the upper stage unit 3 is fixed to the horizontal plate 15 constituting the first frame structure, and the upper surface of the plate and the substrate conveyed by the conveying unit 2 can be sucked and held. That is, after the plate is transported from the left hand side of FIG. 1 to the position immediately below the upper stage unit 3 by the plate shuttle of the transport unit 2, the suction plate of the upper stage unit 3 is lowered to suck the plate. Hold. Conversely, when the suction plate that sucks the plate in a state where the plate shuttle is positioned immediately below the upper stage unit 3 releases the suction, the plate is transferred to the transport unit 2. In this way, the plate is delivered between the transport unit 2 and the upper stage unit 3.

  The substrate is also held on the upper stage unit 3 in the same manner as the plate. That is, after the substrate is transferred from the right hand side of FIG. 1 to the position immediately below the upper stage unit 3 by the substrate shuttle of the transfer unit 2, the suction plate of the upper stage unit 3 is lowered to suck the substrate. Hold. On the other hand, when the suction plate of the upper stage unit 3 that has sucked the substrate is released while the substrate shuttle is positioned immediately below the upper stage unit 3, the substrate is transferred to the transport unit 2. Thus, the substrate is delivered between the transport unit 2 and the upper stage unit 3.

  Below the upper stage portion 3 in the vertical direction (hereinafter referred to as “vertically below” or “(−Z) direction”), the alignment portion 4 is disposed on the upper surface of the stone surface plate 13. The lower stage unit 5 is placed on the alignment stage of the alignment unit 4, and the upper surface of the lower stage unit 5 faces the suction plate of the upper stage unit 3. The upper surface of the lower stage unit 5 can hold the blanket by suction, and the control unit 6 can position the blanket on the lower stage unit 5 with high accuracy by controlling the alignment stage.

  Thus, in the present embodiment, the upper stage unit 3 and the lower stage unit 5 are disposed to face each other in the vertical direction Z. Between them, a pressing part 7 for pressing the blanket placed on the lower stage part 5 from above and a pre-alignment part 8 for pre-aligning the plate, the substrate and the blanket are respectively arranged, and the second frame It is fixed to the structure.

  In the pre-alignment unit 8, the pre-alignment upper part and the pre-alignment lower part are stacked in two stages in the vertical direction Z. The upper part of the pre-alignment accesses a plate held by a plate shuttle positioned at a position directly below the suction plate of the upper stage unit 3 and aligns the plate on the plate shuttle (plate pre-alignment process). Further, the substrate SB held by the substrate shuttle positioned immediately below the suction plate is accessed, and the substrate is aligned on the substrate shuttle (substrate pre-alignment process). Further, the lower part of the pre-alignment accesses a blanket placed on the suction plate of the lower stage unit 5 and aligns the blanket on the suction plate (a blanket pre-alignment process).

  In order to precisely transfer the pattern layer on the blanket to the substrate, a precise alignment process is required in addition to the pre-alignment process of the substrate. For this reason, in the present embodiment, the alignment unit 4 includes four CCD (Charge Coupled Device) cameras CMa to CMd. The substrate held on the upper stage unit 3 by the CCD cameras CMa to CMd, and the lower The alignment marks formed on each of the blankets held on the stage unit 5 can be read. Then, the control unit 6 controls the alignment stage based on the images read by the CCD cameras CMa to CMd, so that the blanket attracted by the lower stage unit 5 is accurately positioned with respect to the substrate held by the upper stage unit 3. It is possible to match.

  Further, after transferring the pattern layer on the blanket to the substrate, the blanket is peeled off from the substrate, and static electricity is generated in the peeling step. Static electricity is also generated when the blanket is peeled off the plate after the coating layer on the blanket is patterned by the plate. Therefore, in the present embodiment, a static elimination unit 9 is provided to neutralize static electricity. The static eliminating unit 9 includes an ionizer 91 that irradiates ions toward the space between the upper stage unit 3 and the lower stage unit 5 from the left side of the first frame structure, that is, the (+ X) side.

  Although not shown in FIG. 1, the (+ X) side cover of the apparatus cover is provided with an opening for loading and unloading the plate, and a plate shutter for opening and closing the plate opening (later Reference numeral 18) in FIG. 13 is provided. The valve control unit 64 of the control unit 6 switches between opening and closing of the valve connected to the plate shutter drive cylinder CL11, thereby operating the plate shutter drive cylinder CL11 to open and close the plate shutter. In this embodiment, pressurized air is used as a drive source for driving the cylinder CL11, and factory power is used as the positive pressure supply source. However, the apparatus 100 is equipped with an air supply unit, The cylinder CL11 may be driven by the air supply unit. This also applies to a cylinder described later.

  In the present embodiment, the (−X) side cover and the (+ Y) side cover are also provided with openings for loading and unloading the substrate and the blanket, respectively, and the substrate shutter (rear) Blanket shutters (not shown) are provided for the reference numeral 19) and the blanket opening in FIG. The substrate shutter drive cylinder CL12 and the blanket shutter drive cylinder CL13 are each opened and closed by opening and closing the valve by the valve control unit 64.

  As described above, in this embodiment, the shutter unit 10 is configured by the three shutters and the three shutter drive cylinders CL11 to CL13, and the plate, the substrate, and the blanket can be carried into and out of the printing apparatus 100 independently. It has become. In the present embodiment, although illustration in FIG. 1 is omitted, a plate loading / unloading unit is provided in parallel on the left-hand side of the apparatus 100 for loading / unloading a plate and for loading / unloading a substrate. Although the board loading / unloading unit is arranged in parallel on the right hand side of the apparatus 100, a transfer robot (not shown) for transferring the plate directly accesses the plate shuttle of the transfer unit 2 and loads the plate. In this case, it is not necessary to install a plate loading / unloading unit. The same applies to the substrate side. That is, the substrate loading / unloading unit can be installed by configuring a transfer robot (not shown) for transferring the substrate to directly access the substrate shuttle of the transfer unit 2 to load / unload the substrate. It becomes unnecessary.

  On the other hand, in this embodiment, carrying in / out of the blanket is performed using a transfer robot for transferring the blanket. That is, the transfer robot accesses the lower stage unit 5 and directly carries in a blanket before processing, and receives and carries out a blanket after use. Of course, it goes without saying that a dedicated loading / unloading unit may be arranged on the front side of the apparatus as in the case of the plate and the substrate.

B. Configuration of each part of apparatus B-1. Transport unit 2
FIG. 3 is a perspective view showing a transport unit equipped in the printing apparatus of FIG. The transport unit 2 includes two brackets 21L and 21R extending in the vertical direction Z. As shown in FIG. 1, the bracket 21L is erected from the upper surface of the stone surface plate 13 on the left side of the rear column part of the left frame 14L, and the bracket 21R is fixed on the right side of the rear column part of the right frame 14R. It is erected from the upper surface of the panel 13. As shown in FIG. 3, a ball screw mechanism 22 extends in the left-right direction, that is, in the X direction so as to connect the upper ends of the two brackets 21L and 21R to each other. In this ball screw mechanism 22, a ball screw (not shown) extends in the X direction, and one end thereof is connected to a rotation shaft (not shown) of a shuttle horizontal drive motor M21. In addition, two ball screw brackets 23 and 23 are screwed to the center portion of the ball screw, and the shuttle holding is extended in the X direction with respect to the (+ Y) side surface of the ball screw brackets 23 and 23. A plate 24 is attached.

  A plate shuttle 25L is provided at the (+ X) side end of the shuttle holding plate 24 so as to be movable up and down in the vertical direction Z, while a substrate shuttle 25R is provided at the (−X) side end so as to be movable up and down in the vertical direction Z. It has been. Since these shuttles 25L and 25R have the same configuration except for the hand rotation mechanism, here, the configuration of the plate shuttle 25L will be described, and the substrate shuttle 25R will be given the same or equivalent code. Therefore, description of the configuration is omitted.

  The shuttle 25L has an elevating plate 251 extending in the X direction that is the same as or slightly longer than the width size of the plate PP (X direction size), and the (+ X) side end and the (−X) side end of the elevating plate 251, respectively. It has two plate hands 252 and 252 extending to the front side, that is, the (+ Y) side. The elevating plate 251 is attached to the (+ X) side end of the shuttle holding plate 24 via a ball screw mechanism 253 so as to be elevable. That is, the ball screw mechanism 253 extends in the vertical direction Z with respect to the (+ X) side end of the shuttle holding plate 24. At the lower end of the ball screw mechanism 253, a rotary shaft (not shown) is connected to the plate shuttle lifting motor M22L. A ball screw bracket (not shown) is screwed into the ball screw mechanism 253, and an elevating plate 251 is attached to the (+ Y) side surface of the ball screw bracket. For this reason, the plate lifting / lowering motor M22L is actuated in accordance with an operation command from the motor control unit 63 of the control unit 6 so that the elevating plate 251 is driven up and down in the vertical direction Z.

  The front and rear size (Y direction size) of each hand 252 and 252 is longer than the length size (Y direction size) of the plate PP, and the plate PP can be held on the front end side (+ Y side) of each hand 252 and 252. Yes.

  Further, in order to detect that the plate PP is held by the plate hands 252 and 252 in this way, a sensor bracket 254 is extended from the center of the elevating plate 251 to the (+ Y) side, and the tip of the sensor bracket 254 is A sensor SN21 for plate detection is attached to the part. For this reason, when the plate PP is placed on both hands 252, the sensor SN 21 detects the rear end of the plate PP, that is, the (−Y) side end, and outputs a detection signal to the control unit 6.

  Furthermore, the plate hands 252 and 252 are attached to the elevating plate 251 via bearings (not shown), and are rotatable about a rotation axis YA2 extending in the front-rear direction (Y direction). Further, rotary actuators RA2 and RA2 are attached to both ends of the elevating plate 251 in the X direction. These rotary actuators RA2 and RA2 operate using pressurized air as a driving source, and can be rotated by 180 ° by opening and closing a valve (not shown) inserted in a pressurized air supply path. . For this reason, by controlling the opening and closing of the valve by the valve control unit 64 of the control unit 6, a hand posture suitable for handling the plate PP before patterning with one main surface of the plate hands 252 and 252 facing upward. (Hereinafter referred to as “unused posture”) and a hand posture suitable for handling the patterned PP with the other main surface facing upward (hereinafter referred to as “used posture”). It is possible. The point that the hand posture switching mechanism is provided in this way is the only difference between the plate shuttle 25L and the substrate shuttle 25R.

  Next, attachment positions of the plate shuttle 25L and the substrate shuttle 25R with respect to the shuttle holding plate 24 will be described. In this embodiment, as shown in FIG. 3, the plate shuttle 25L and the substrate shuttle 25R have a width size of the plate PP or the substrate SB (in the embodiment, the width size of the plate PP and the substrate SB is the same). It is attached to the shuttle holding plate 24 separated in the X direction by a longer interval. When the rotary shaft of the shuttle horizontal drive motor M21 is rotated in a predetermined direction, both the shuttles 25L and 25R move in the X direction while maintaining the above separation distance. For example, in FIG. 3, symbol XP23 indicates a position directly below the upper stage unit 3, and the shuttles 25L and 25R are equidistant from the position XP23 in the (+ X) direction and the (−X) direction, respectively (this distance is “step movement”). It is located at positions XP22 and XP24 separated by "unit". In the present embodiment, the state shown in FIG. 3 is referred to as an “intermediate position state”.

  Further, when the rotary shaft of the shuttle horizontal drive motor M21 is rotated in a predetermined direction from this intermediate position state and the shuttle holding plate 24 is moved in the (+ X) direction by the step movement unit, the substrate shuttle 25R is moved in the (+ X) direction. It moves and moves to a position XP23 directly below the upper stage portion 3 for positioning. At this time, the plate shuttle 25L is also integrally moved in the (+ X) direction and positioned at a position XP21 close to the plate loading / unloading unit.

  On the contrary, when the rotary shaft of the shuttle horizontal drive motor M21 is rotated in the direction opposite to the predetermined direction and the shuttle holding plate 24 is moved in the (−X) direction by the step movement unit, the plate shuttle 25L is moved from the intermediate position state. It moves in the (−X) direction and moves to a position XP23 directly below the upper stage portion 3 to be positioned. At this time, the substrate shuttle 25R is also integrally moved in the (−X) direction and positioned at the position XP25 close to the substrate loading / unloading unit. Thus, in this specification, the five positions XP21 to XP25 are defined as the shuttle positions in the X direction. That is, the plate delivery position XP21 is the closest position to the plate loading / unloading unit among the three positions XP21 to XP23 where the plate shuttle 25L is positioned, and the plate PP loading / unloading with the plate loading / unloading unit is performed. Means the position in the X direction. The substrate delivery position XP25 is the closest position to the substrate loading / unloading unit among the three positions XP23 to XP25 at which the substrate shuttle 25R is positioned, and loading / unloading of the substrate SB to / from the substrate loading / unloading unit is possible. It means the position in the X direction to be performed. Further, the position XP23 means an X-direction position where the suction plate 37 of the upper stage unit 3 moves in the vertical direction Z and sucks and holds the plate PP and the substrate SB, and the plate shuttle 25L is positioned at the X-direction position XP23. In this case, the position XP23 is referred to as a “plate suction position XP23”. On the other hand, when the substrate shuttle 25R is located at the X-direction position XP23, the position XP23 is referred to as a “substrate suction position XP23”. Called. Further, the position in the vertical direction Z where the plate PP and the substrate SB are transported by the shuttles 25L and 25R in this way, that is, the height position is referred to as a “transport position”.

  In the present embodiment, the thickness of the plate PP and the substrate SB is measured in order to accurately control the gap amount between the plate PP and the blanket during patterning and the gap amount between the substrate SB and the blanket during transfer. There is a need. Therefore, a plate thickness measurement sensor SN22 and a substrate thickness measurement sensor SN23 are provided.

  More specifically, as shown in FIG. 3, a plate PP in which a sensor bracket 26L extending to the front side and the (+ Y) side is attached to the left bracket 21L and the tip end portion of the sensor bracket 26L is positioned at a position XP21. It extends to the upper part of. A plate thickness measurement sensor SN22 is attached to the tip of the sensor bracket 26L. The sensor SN22 includes a light projecting unit and a light receiving unit, and measures the distance from the sensor SN22 to the upper surface of the plate PP based on the light reflected from the upper surface of the plate PP and reflects the light from the lower surface of the plate PP. Based on the emitted light, the distance from the sensor SN 22 to the lower surface of the plate PP is measured, and information relating to the distance is output to the control unit 6. Therefore, the control unit 6 can accurately determine the thickness of the plate PP from these distance information.

  Further, the substrate thickness measurement sensor SN23 is provided on the substrate side as in the plate side. That is, the sensor bracket 26R is attached to the right bracket 21R, and the tip of the sensor bracket 26R extends above the substrate SB positioned at the position XP25. Then, the substrate thickness measurement sensor SN23 is attached to the tip of the sensor bracket 26R, and the thickness of the substrate SB is measured.

B-2. Upper stage part 3
FIG. 4 is a perspective view showing an upper stage unit equipped in the printing apparatus of FIG. The upper stage unit 3 is disposed above the plate PP and the substrate SB positioned at the position XP23 (see FIG. 3), and is supported by the first frame structure by connecting the support frame 31 to the horizontal plate 15. Has been. As shown in FIG. 4, the support frame 31 has a frame side surface extending in the vertical direction Z, and supports the ball screw mechanism 32 extended in the vertical direction Z on the frame side surface. . A rotation shaft (not shown) of the first stage lifting motor M31 is connected to the upper end portion of the ball screw mechanism 32, and a ball screw bracket 321 is screwed to the ball screw mechanism 32.

  Another support frame 33 is fixed to the ball screw bracket 321 and can be moved up and down in the vertical direction Z integrally with the ball screw bracket 321. Further, another ball screw mechanism 34 is supported on the frame surface of the support frame 33. The ball screw mechanism 34 is provided with a ball screw having a narrower pitch than the ball screw of the ball screw mechanism 32, and a rotating shaft (not shown) of the second stage elevating motor M32 is connected to the upper end of the ball screw mechanism 34. At the same time, a ball screw bracket 341 is screwed into the central portion.

  A stage holder 35 is attached to the ball screw bracket 341. The stage holder 35 is composed of three vertical plates 351 to 353 extending in the vertical direction Z. Of these, the vertical plate 351 is fixed to the ball screw bracket 341, and the remaining vertical plates 352 and 353 are fixed to the left and right sides of the vertical plate 351, respectively. A horizontal support plate 36 is attached to the vertical lower ends of the vertical plates 351 to 353, and a metal suction plate 37 such as an aluminum alloy is attached to the lower surface of the horizontal support plate 36.

  Therefore, the suction plate 37 is moved up and down in the vertical direction Z by operating the stage lifting motors M31 and M32 in accordance with an operation command from the motor control unit 63 of the control unit 6. In this embodiment, the ball screw mechanisms 32 and 34 having different pitches are combined and the first stage lifting motor M31 is operated to move the suction plate 37 up and down at a relatively wide pitch, that is, the suction plate 37 is moved at high speed. In addition, the suction plate 37 can be moved up and down at a relatively narrow pitch by operating the second stage lifting motor M32, that is, the suction plate 37 can be precisely positioned.

  A plurality of suction grooves 371 are provided on the lower surface of the suction plate 37, that is, the suction surface for sucking and holding the plate PP and the substrate SB. In addition, a plurality of suction pads 38 are arranged in the center of the plurality of notches 373 and the suction plate 37 provided on the outer peripheral edge of the suction plate 37. The suction pad 38 is supported by a support member such as a horizontal support plate 36 or a nozzle support plate 39 with a nozzle body that supports the suction pad 38 in a state where the tip surface is flush with the lower surface of the suction plate 37. . Further, the suction pad 38 disposed at the center of the suction plate 37 (not shown) is an auxiliary one for improving the suction strength, and such an auxiliary suction pad is not provided. Is also possible.

  As described above, in the present embodiment, the suction groove 371 and the suction pad 38 are provided as suction means for sucking and holding the plate PP and the substrate SB, and a negative pressure is independently supplied to each of them. It is connected to a negative pressure supply source via a negative pressure supply path. Then, the plate PP and the substrate SB formed by the suction groove 371 are controlled by opening and closing the valve V31 (FIG. 2) inserted in the negative pressure supply path for the suction groove in accordance with an opening / closing command from the valve control unit 64 of the control unit 6. Can be adsorbed. Further, the suction pad 38 can suck the plate PP and the substrate SB by controlling the opening and closing of the valve V32 (FIG. 2) inserted in the suction pad negative pressure supply path in accordance with the opening / closing command from the valve control unit 64. It becomes. In this embodiment, the suction means described above and the suction means for sucking and holding the blanket as described later use factory power as a negative pressure supply source, but the apparatus 100 is a negative pressure supply section such as a vacuum pump. And a negative pressure may be supplied from the negative pressure supply unit to the suction means.

B-3. Alignment unit 4
FIG. 5 is a perspective view showing an alignment unit and a lower stage unit equipped in the printing apparatus of FIG. As shown in FIG. 1, the alignment unit 4 and the lower stage unit 5 are disposed on the vertically lower side of the upper stage unit 3. The alignment unit 4 includes a camera mounting base 41, four column members 42, a frame-shaped stage support plate 43 having an opening at the center, an alignment stage 44, and an imaging unit 45. As shown in FIG. 1, the camera mounting base 41 is fixed to the inner bottom surface of a recess formed at the center of the top surface of the stone surface plate 13. In addition, two column members 42 are provided upright in the vertical direction Z (hereinafter referred to as “vertically upward” or “(+ Z) direction”) from each of the front and rear end portions of the camera mounting base 41, thereby The handleability of the mounting base 41 is improved.

  As shown in FIG. 1, the stage support plate 43 is arranged in a horizontal posture so as to straddle the concave portion of the stone surface plate 13, and the stone surface plate with the central opening of the stage support plate 43 and the camera mounting base 41 facing each other. 13 is fixed to the upper surface. An alignment stage 44 is fixed to the upper surface of the stage support plate 43.

  The alignment stage 44 includes a stage base 441 that is fixed on the stage support plate 43, and a stage top 442 that is disposed vertically above the stage base 441 and supports the lower stage unit 5. Both of the stage base 441 and the stage top 442 have a frame shape having an opening in the center. Further, between the stage base 441 and the stage top 442, there is a support mechanism such as a cross roller bearing having three degrees of freedom in the rotational direction, the X direction and the Y direction with the rotational axis extending in the vertical direction Z as the rotational center. (Not shown) are arranged in the vicinity of each corner of the stage top 442.

  Among these support mechanisms, a Y-axis ball screw mechanism 443a is provided for the support mechanism disposed at the front left corner, and a Y-axis drive motor M41 is attached to the Y-axis ball screw mechanism 443a. An X-axis ball screw mechanism 443b is provided for the support mechanism disposed at the front right corner, and an X-axis drive motor M42 is attached to the X-axis ball screw mechanism 443b. In addition, a Y-axis ball screw mechanism 443c is provided for the support mechanism disposed at the rear right corner, and a Y-axis drive motor M43 is attached as a drive source for the Y-axis ball screw mechanism 443c. Further, an X-axis ball screw mechanism (not shown) is provided for the support mechanism disposed at the rear left corner, and an X-axis drive motor M44 (FIG. 2) is attached to the X-axis ball screw mechanism. . Therefore, by operating each of the drive motors M41 to M44 in accordance with an operation command from the motor control unit 63 of the control unit 6, the stage top 442 is placed on the horizontal plane while providing a relatively large space in the center of the alignment stage 44. The suction plate of the lower stage unit 5 can be positioned by being moved around the rotation axis and rotating around the vertical axis.

  One of the reasons for using the alignment stage 44 having a hollow space in the present embodiment is that the blanket held on the upper surface of the lower stage portion 5 and the alignment mark formed on the substrate SB held on the lower surface of the upper stage portion 3 are used. This is for imaging by the imaging unit 45. Hereinafter, the configuration of the imaging unit 45 will be described with reference to FIGS. 5 and 6.

FIG. 6 is a perspective view showing an imaging unit of the alignment unit. The imaging unit 45 images the alignment marks formed at four locations on the blanket and the alignment marks respectively formed at four locations on the substrate SB, and includes four imaging units 45a to 45d. The imaging target area of each imaging unit 45a to 45d is:
Imaging unit 45a: a region near the front left corner of the blanket and substrate SB,
Imaging unit 45b: a region near the front right corner of the blanket and substrate SB,
Imaging unit 45c: a region near the rear right corner of the blanket and substrate SB,
Imaging unit 45d: a region near the rear left corner of the blanket and substrate SB,
Although they are different from each other, the unit configuration is the same. Therefore, here, the configuration of the imaging unit 45a will be described, and the other configurations will be denoted by the same or corresponding reference numerals and description thereof will be omitted.

  In the imaging unit 45a, the XY table 451 is disposed on the upper surface in the vicinity of the front left corner of the camera mounting base 41 as shown in FIG. The table base of the XY table 451 is fixed to the camera mounting base 41, and the table top of the XY table 451 is precisely positioned in the X and Y directions by manually operating an adjustment knob (not shown). A precision lifting table 452 is mounted on the table top. The precision lift table 452 is provided with a Z-axis drive motor M45a (FIG. 2). The precision lift table 452 is operated by the Z-axis drive motor M45a in accordance with an operation command from the motor control unit 63 of the control unit 6. The table top of the table 452 moves up and down in the vertical direction Z.

  The lower end of a camera bracket 453 extending in the vertical direction Z is fixed to the upper surface of the table top of the precision lifting table 452, while the upper end is the central opening of the stage support plate 43 and the central opening of the alignment stage 44. Further, it extends through a long hole opening in the stage base (which will be described in detail later) to a position immediately below the suction plate 51 of the lower stage portion 5. The CCD camera CMa, the lens barrel 454, and the objective lens 455 are stacked in this order with the imaging surface facing vertically upward with respect to the upper end of the camera bracket 453. Further, a light source 456 is attached to the side surface of the lens barrel 454 and is driven to be turned on by the light source driving unit 46. In the present embodiment, a red LED (Light Emitting Diode) is used as the light source 456, but a light source corresponding to the material of the blanket or the substrate SB can be used. An objective lens 455 is attached above the lens barrel 454. Further, a half mirror (not shown) is arranged inside the lens barrel 454, and the illumination light emitted from the light source 456 is bent in the (+ Z) direction, and the front left corner of the objective lens 455 and the suction plate 51 is bent. The blanket on the lower stage unit 5 is irradiated through a quartz window 52a provided in the vicinity region of. Further, a part of the illumination light is further irradiated onto the substrate SB sucked and held on the suction plate 37 of the upper stage unit 3 through the blanket. In this embodiment, since the blanket is made of a transparent member, the illumination light passes through the blanket and reaches the lower surface of the substrate SB as described above.

  Of the light emitted from the blanket or the substrate SB, the light traveling to the (−Z) side is incident on the CCD camera CMa via the quartz window 52a, the objective lens 455 and the lens barrel 454, and the CCD camera CMa is in the quartz window. The alignment mark located vertically above 52a is imaged. As described above, the imaging unit 45a irradiates illumination light through the quartz window 52a and captures an image of a region near the front left corner of the blanket and the substrate SB through the quartz window 52a, and an image corresponding to the image. The signal is output to the image processing unit 65 of the control unit 6. On the other hand, the other image pickup units 45b to 45d pick up images through the quartz windows 52b to 52d, respectively, in the same manner as the image pickup unit 45a.

B-4. Lower stage part 5
Next, returning to FIG. 5, the configuration of the lower stage unit 5 will be described in detail. The lower stage unit 5 includes a suction plate 51, the above-described four quartz windows 52 a to 52 d, four column members 53, a stage base 54, and a lift pin unit 55. The stage base 54 is provided with three elongated hole-shaped openings extending in the left-right direction X and arranged in the front-rear direction Y. The stage base 54 is fixed on the alignment stage 44 so that these long hole openings and the central opening of the alignment stage 44 overlap in plan view from above. The upper part of the imaging units 45a and 45b (CCD camera, lens barrel and objective lens) is loosely inserted into the front long hole opening, and the upper part of the imaging units 45c and 45d is inserted into the rear long hole opening. The parts (CCD camera, lens barrel and objective lens) are loosely inserted. Further, a column member 53 is erected at (+ Z) from the upper surface corner portion of the stage base 54, and each top portion supports the suction plate 51.

  The suction plate 51 is, for example, a metal plate such as an aluminum alloy, and quartz windows 52a to 52d are provided in the vicinity of the front left corner, the front right corner, the rear right corner, and the rear left corner, respectively. . Further, a groove 511 is provided on the upper surface of the suction plate 51 so as to surround the quartz windows 52a to 52d, and in an inner region surrounded by the groove 511, a plurality of pieces extending in the left-right direction X except for the quartz windows 52a to 52d. Grooves 512 are provided at regular intervals in the front-rear direction Y.

  One end of a positive pressure supply pipe (not shown) is connected to each of the grooves 511 and 512, and the other end is connected to a pressurizing manifold. Further, a pressurizing valve V51 (FIG. 2) is inserted in an intermediate portion of each positive pressure supply pipe. The pressure manifold is constantly supplied with a constant pressure of air obtained by adjusting the pressure of air supplied from the factory power with a regulator. For this reason, when a desired pressurization valve V51 is selectively opened according to an operation command from the valve control unit 64 of the control unit 6, the pressure is adjusted with respect to the grooves 511 and 512 connected to the selected pressurization valve V51. Pressurized air is supplied.

  Further, not only selective supply of pressurized air but also selective negative pressure supply is possible for each of the grooves 511 and 512. That is, one end of a negative pressure supply pipe (not shown) is connected to each of the grooves 511 and 512, and the other end is connected to a negative pressure manifold. Further, an adsorption valve V52 (FIG. 2) is inserted in an intermediate portion of each negative pressure supply pipe. A negative pressure supply source is connected to the negative pressure manifold via a regulator, and a predetermined negative pressure is constantly supplied. For this reason, when a desired suction valve V52 is selectively opened according to an operation command from the valve control unit 64 of the control unit 6, the pressure is adjusted with respect to the grooves 511 and 512 connected to the selected suction valve V52. Negative pressure is supplied.

  As described above, in this embodiment, the blanket is partially or completely adsorbed on the suction plate 51 by opening / closing control of the valves V51 and V52, or air is partially supplied between the suction plate 51 and the blanket. The blanket can be partially inflated and pushed onto the plate PP or the substrate SB held on the upper stage unit 3.

  FIG. 7 is a view showing a lift pin portion mounted on the lower stage portion. FIG. 7 (a) is a plan view of the lift pin portion, and FIG. 7 (b) is a side view. In the lift pin portion 55, a lift plate 551 is provided between the suction plate 51 and the stage base 54 so as to be movable up and down. The lift plate 551 has four cutout portions 551a to 551d to prevent interference with the imaging units 45a to 45d. That is, the lift plate 551 can be moved up and down in the vertical direction Z with the imaging units 45a to 45d entering the notches 551a to 551d, respectively. Further, by providing the four notches 551a to 551d in this way, the lift plate 551 is formed with six finger portions 551e to 551j, and lift pins 552e to 551e are vertically upward from the tips of the finger portions 551e to 551j. 552j are erected. In addition, another lift pin 552k is erected between the lift pins 552e and 552f, and another lift pin 552m is erected between the lift pins 552i and 552j, for a total of eight lift pins 552 (552e to 552k, 552m) stands on the lift plate 551 and can support the entire lower surface of the blanket. These lift pins 552 are thinner than through holes (not shown) drilled in the vertical direction Z with respect to the outer peripheral edge of the suction plate 51, and as shown in FIG. 5, the through holes can be inserted from the vertically lower side. ing.

  Further, the compression spring 553 and the housing 554 are extrapolated in this order from the upper end side of each lift pin 552, the lower end portion of the compression spring 553 is locked by the lift plate 551, and the housing 554 covers the upper end portion. Covered. The upper surface of the housing 554 has a circular shape having an outer diameter larger than the inner diameter of the through hole of the suction plate 51, and when the lift plate 551 is lifted by the pin lifting cylinder CL51 as will be described below. The upper surface of the housing 554 is locked by the lower surface of the suction plate 51, and the compression spring 553 is sandwiched between the lift plate 551 and contracted to control the lifting speed of the lift plate 551. Further, when the lift plate 551 is lowered, the lowering speed of the lift plate 551 is controlled using the compression force of the compression spring 553.

  The pin elevating cylinder CL51 is fixed to the side surface of a guide bracket 555 whose lower surface is fixed to the camera mounting base 41, and the piston tip of the pin elevating cylinder CL51 supports the lift plate 551 via the slide block 556. . Therefore, the valve controller 64 of the controller 6 switches between opening and closing of the valve connected to the pin lifting cylinder CL51, thereby operating the pin lifting cylinder CL51 to lift and lower the lift plate 551. As a result, all the lift pins 552 are moved forward and backward with respect to the upper surface of the suction plate 51, that is, the suction surface. For example, the lift pins 552 project from the upper surface of the suction plate 51 in the (+ Z) direction, so that the blanket can be placed on the top of the lift pins 552 by the blanket transport robot. Then, following the placement of the blanket, the lift pins 552 are moved back in the (−Z) direction from the upper surface of the suction plate 51, so that the blanket is transferred to the upper surface of the suction plate 51. Thereafter, the blanket thickness is measured by the blanket thickness measurement sensor SN51 disposed in the vicinity of the suction plate 51 at an appropriate timing as will be described later.

  FIG. 8 is a perspective view showing a blanket thickness measurement unit. In this embodiment, the blanket thickness measurement unit 56 is a partial configuration of the lower stage unit 5 and is configured as follows. In the blanket thickness measurement unit 56, the cylinder bracket 561 is fixed to the second frame structure near the right side of the suction plate 51. In addition, the sensor horizontal drive cylinder CL52 is fixed in a horizontal state with respect to the cylinder bracket 561, and the valve controller 64 of the controller 6 switches between opening and closing of the valve connected to the cylinder CL52, so that the cylinder CL52 The attached slide plate 562 slides in the left-right direction X. A blanket thickness measurement sensor SN51 is attached to the left end of the slide plate 562. Therefore, when the slide plate 562 is horizontally moved to the left (+ X) side, that is, the suction plate 51 side by the sensor horizontal drive cylinder CL52, the position directly above the right end portion of the blanket where the blanket thickness measurement sensor SN51 is sucked and held by the suction plate 51. Is positioned. This sensor SN51 is also configured in the same manner as the plate thickness measurement sensor SN22 and the substrate thickness measurement sensor SN23, and the blanket thickness can be measured by the same measurement principle. On the other hand, at a timing other than the measurement, the slide plate 562 is moved to the right (−X) side, that is, the retreat position away from the suction plate 51 by the sensor horizontal drive cylinder CL52, and the blanket thickness measurement unit 56 is not interfered. Is prevented.

B-5. Holding part 7
FIG. 9 is a diagram illustrating a pressing unit provided in the printing apparatus of FIG. FIG. 4A is a perspective view showing the configuration of the pressing portion 7, and FIG. 4B is a state where the blanket BL sucked and held by the suction plate 51 is pressed by the pressing portion 7 (hereinafter referred to as “blanket pressing state”). (C) shows a state in which the blanket BL is released by the pressing portion 7 (hereinafter referred to as a “blanket pressing released state”). The pressing portion 7 switches between a blanket pressing state and a blanket pressing releasing state by moving a pressing member 71 provided vertically above the suction plate 51 in the vertical direction Z by a switching mechanism 72.

  In the switching mechanism 72, presser member elevating cylinders CL71 to CL73 are attached to the horizontal plate 17 of the second frame structure by cylinder brackets 721 to 723 so that the piston 724 can be moved back and forth vertically downward. At the tip portions of these pistons 724, the pressing member 71 is loosely fitted in a hanging state.

  The pressing member 71 has a support plate 711 and four blanket pressing plates 712. The support plate 711 has the same plane size as that of the blanket BL, has an opening at the center thereof, and has a frame shape as a whole. Four blanket pressing plates 712 are fixed to the lower surface of the support plate 711 to cover the entire lower surface of the support plate 711.

  Further, as shown in FIGS. 9B and 9C, the support plate 711 has a through hole 716 having an inner diameter wider than the outer diameter of the piston 724 at a position corresponding to the pressing member elevating cylinders CL71 to CL73. It is installed. A fastening member 717 is connected to the tip of the piston 724 through the through hole 716 from the lower side of each through hole 716. Accordingly, the pistons 724 of the pressing member lifting cylinders CL71 to CL73 are connected to the pressing member lifting cylinders CL71 to CL73 while being loosely fitted to the support plate 711. That is, the pressing member 71 is supported in a floating state with respect to the pressing member lifting cylinders CL71 to CL73.

  And the valve control part 64 of the control part 6 switches the opening and closing of the valve connected to the holding member raising / lowering cylinders CL71 to CL73, thereby operating the holding member raising / lowering cylinders CL71 to CL73 to cause the holding member 71 to move to the lower stage part 5. The suction plate 51 is brought into contact with or separated from the suction plate 51. For example, the pressing member 71 is lowered to the suction plate 51 holding the blanket BL to be in a blanket pressing state, and the peripheral edge of the blanket BL is sandwiched and held by the suction plate 51 over the entire circumference. Also, when the suction plate 51 moves for alignment, the pressing member 71 moves in the horizontal direction (X direction, Y direction) together with the suction plate 51 to stably hold the blanket BL.

B-6. Pre-alignment part 8
FIG. 10 is a perspective view showing a pre-alignment unit equipped in the printing apparatus of FIG. The pre-alignment unit 8 includes a pre-alignment upper part 81 and a pre-alignment lower part 82. Among these, the pre-alignment upper portion 81 is arranged vertically above the pre-alignment lower portion 82, and before the close contact with the blanket BL, the plate PP held by the plate shuttle 25L at the position XP23 and the substrate shuttle 25R. The substrate SB to be held is aligned. On the other hand, the pre-alignment lower part 82 aligns the blanket BL placed on the suction plate 51 of the lower stage unit 5 prior to close contact with the plate PP and the substrate SB. Note that the pre-alignment upper portion 81 and the pre-alignment lower portion 82 basically have the same configuration. Therefore, in the following, the configuration of the pre-alignment upper portion 81 will be described, and the pre-alignment lower portion 82 will be assigned the same or corresponding reference numerals, and the description of the configuration will be omitted.

  The pre-alignment upper part 81 has four upper guide moving parts 811 to 814. Each of the upper guide moving parts 811 to 814 is provided on the horizontal plate 17 arranged on the upper stage side among the plurality of horizontal plates constituting the second frame structure. That is, with respect to the left horizontal plate 17a of the two horizontal plates extending in the front-rear direction Y, the upper guide moving portion 811 is attached to the center portion thereof, and the upper guide moving portion 812 is provided to the front end portion thereof. It is attached. Further, an upper guide moving portion 813 is attached to the center portion of the other right horizontal plate 17b, and an upper guide moving portion 814 is attached to the rear end portion thereof. The upper guide moving units 811 and 813 have the same configuration, and the upper guide moving units 812 and 814 have the same configuration. Therefore, in the following, the configuration of the upper guide moving units 811 and 812 will be described in detail, and the upper guide moving units 813 and 814 will be denoted by the same or corresponding symbols, and the description of the configuration will be omitted.

  In the upper guide moving portion 811, the ball screw mechanism 811a is fixed to the central portion of the left horizontal plate 17a in a state of extending in the left-right direction X. A ball screw bracket is screwed onto the ball screw of the ball screw mechanism 811a, and an upper guide 811b is attached to the ball screw bracket so as to face the upper guide moving portion 813. A rotation shaft (not shown) of the upper guide drive motor M81a is connected to the left end portion of the ball screw mechanism 811a, and the upper guide drive motor M81a operates according to an operation command from the motor control unit 63 of the control unit 6. As a result, the upper guide 811b moves in the left-right direction X.

  Further, in the upper guide moving portion 812, the ball screw mechanism 812a is fixed to the front end portion of the left horizontal plate 17a in a state of extending in the front-rear direction Y. The ball screw bracket is screwed into the ball screw of the ball screw mechanism 812a, and the left end portion of the guide holder 812c extending in the left-right direction is fixed to the ball screw bracket. The right end portion of the guide holder 812c reaches an intermediate position between the horizontal plates 17a and 17b, and the upper guide 812b is attached to the right end portion so as to face the upper guide moving portion 814. A rotation shaft (not shown) of the upper guide drive motor M81b is connected to the rear end portion of the ball screw mechanism 812a, and the upper guide drive motor M81b is operated according to an operation command from the motor control unit 63 of the control unit 6. By operating, the upper guide 812b moves in the front-rear direction Y.

  As described above, the four upper guides 811b to 814b surround the plate PP and the substrate SB (the one-dot chain line in the figure) at a position vertically below the position XP23, and each of the upper guides 811b to 814b independently forms the plate PP. On the other hand, it can approach and separate. Therefore, by controlling the amount of movement of each of the upper guides 811b to 814b, the plate PP and the substrate SB can be horizontally moved or rotated on the shuttle hand for alignment.

B-7. Static neutralizer 9
FIG. 11 is a perspective view showing a static eliminating unit provided in the printing apparatus of FIG. In the static eliminating unit 9, the base plate 92 is fixed to the upper surface of the stone surface plate 13 on the left side of the lower stage unit 5. A column member 93 is erected from the base plate 92, and its upper end extends to a position higher than the lower stage unit 5. An ionizer bracket 95 is attached to the upper end portion of the base plate 92 via a fixing bracket 94. The ionizer bracket 95 extends in the right direction (−X), and the tip of the ionizer bracket 95 reaches the vicinity of the suction plate 51. And the ionizer 91 is attached to the front-end | tip part.

B-8. Control unit 6
The control unit 6 includes a CPU (Central Processing Unit) 61, a memory 62, a motor control unit 63, a valve control unit 64, an image processing unit 65, and a display / operation unit 66. The CPU 61 is stored in the memory 62 in advance. Each part of the apparatus is controlled according to the program, and the patterning process and the transfer process are executed as shown in FIGS.

C. Overall Operation of Printing Apparatus FIG. 12 is a flowchart showing the overall operation of the printing apparatus of FIG. 13 to 19 are diagrams for explaining the operation of the printing apparatus of FIG. 1, and the table in the figure shows the control contents (control target and operation contents) by the control unit 6, and in FIG. The schematic diagram shows the state of each part of the apparatus. In the initial state of the printing apparatus 100, as shown in FIG. 13A, the plate shuttle 25L and the substrate shuttle 25R are positioned at the intermediate positions XP22 and XP24, respectively, and the plate PP to the plate loading / unloading unit is obtained. The plate PP loading process (step S1) and the substrate SB loading process (step S2) are performed after the substrate SB is set in the substrate loading / unloading unit. Since the plate shuttle 25L and the substrate shuttle 25R integrally move in the left-right direction X, the plate PP is loaded (step S1), and then the substrate SB is loaded. (Step S2) may interchange the order of both.

C-1. Plate loading process (step S1)
As shown in the column of “Step S1” in FIG. 13B, sub-steps (1-1) to (1-7) are executed. That is, the shuttle horizontal drive motor M21 rotates the rotation shaft in a predetermined direction and moves the shuttle holding plate 24 in the (+ X) direction (1-1). Thus, the plate shuttle 25L moves to the plate delivery position XP21 and is positioned. Further, the rotary actuators RA2 and RA2 are operated to rotate the plate hands 252 and 252 by 180 ° to position them at the origin position (1-2). As a result, the hand posture is switched from the used posture to the unused posture, and preparation for loading the plate PP before use is completed.

  Then, the plate shutter drive cylinder CL11 is operated to move the plate shutter 18 vertically downward, that is, to open the shutter 18 (1-3). Subsequently, the plate loading / unloading unit loads the plate PP into the printing apparatus 100 in accordance with an operation command from the control unit 6 and places it on the hands 252 and 252 of the plate shuttle 25L (1-4). ). When the loading of the plate PP is completed in this manner, the plate shutter drive cylinder CL11 is operated in the reverse direction by returning the open / close state of the valve to return the plate shutter 18 to the original position, that is, the shutter 18 is closed ( 1-5).

  At the completion of loading the plate PP, the plate PP is located at the plate delivery position XP21. Therefore, at this timing, the plate thickness measurement sensor SN22 operates to detect the height positions (positions in the vertical direction Z) of the upper and lower surfaces of the plate PP, and height information indicating the detection results is sent to the control unit 6. Output. Based on these height information, the CPU 61 obtains the thickness of the plate PP and stores it in the memory 62. Thus, the thickness measurement of the plate PP is executed (1-6). Thereafter, the shuttle horizontal drive motor M21 rotates the rotating shaft in the reverse direction to move the shuttle holding plate 24 in the (−X) direction, and positions it at the intermediate position XP22 (1-7).

C-2. Substrate loading process (step S2)
As shown in the column of “Step S2” in FIG. 13B, the sub-steps (2-1) to (2-6) are executed. That is, the shuttle horizontal drive motor M21 rotates the rotating shaft in the direction opposite to the predetermined direction, and moves the shuttle holding plate 24 in the (−X) direction (2-1). Thus, the substrate shuttle 25R is moved to the substrate delivery position XP25 and positioned. The substrate hands 252 and 252 are not provided with a rotation mechanism, and the preparation for loading the substrate SB is completed when the sub-step (2-1) is completed.

  Then, the substrate shutter drive cylinder CL12 operates to move the substrate shutter 19 vertically downward, that is, open the shutter 19 (2-2). Subsequently, the substrate loading / unloading unit loads the substrate SB into the printing apparatus 100 in accordance with an operation command from the control unit 6 and places it on the hands 252 and 252 of the substrate shuttle 25R (2-3). ). When the loading of the substrate SB is completed in this manner, the opening / closing state of the valve is returned to operate the substrate shutter drive cylinder CL12 in the reverse direction to return the substrate shutter 19 to the original position, that is, the shutter 19 is closed ( 2-4).

  When the loading of the substrate SB is completed, the substrate SB is located at the substrate delivery position XP25. Therefore, at this timing, the substrate thickness measurement sensor SN23 operates to detect the height positions of the upper surface and the lower surface of the substrate SB, and outputs height information indicating the detection results to the control unit 6. Based on the height information, the CPU 61 obtains the thickness of the substrate SB following the plate PP and stores it in the memory 62. Thus, the thickness measurement of the substrate SB is executed (2-5). Thereafter, the shuttle horizontal drive motor M21 rotates the rotation shaft in a predetermined direction to move the shuttle holding plate 24 in the (+ X) direction, and positions it at the intermediate position XP24 (2-6).

  Thus, in the present embodiment, as shown in FIG. 13C, before performing the patterning process, not only the plate PP but also the substrate SB is prepared, and as will be described in detail later. The patterning process and the transfer process are continuously performed. As a result, the time interval until the coating layer patterned on the blanket BL is transferred to the substrate SB can be shortened, and stable processing is performed.

C-3. Plate adsorption (step S3)
As shown in the column of “Step S3” in FIG. 14A, the sub-steps (3-1) to (3-7) are executed. That is, the shuttle horizontal drive motor M21 rotates the rotation shaft, and moves the shuttle holding plate 24 in the (−X) direction (3-1). Thus, the plate shuttle 25L moves to the plate suction position XP23 and is positioned. Then, the plate shuttle elevating motor M22L rotates the rotating shaft to move the elevating plate 251 downward (-Z) (3-2). As a result, the plate PP is moved and positioned to a pre-alignment position lower than the transport position while being supported by the plate shuttle 25L.

  Next, the upper guide drive motors M81a to M81d rotate the rotation shaft, the upper guides 811b and 813b move in the left-right direction X, and the upper guides 812b and 814b move in the front-rear direction Y, and the upper guides 811b to 814b. Contacts the end face of the plate PP supported by the plate shuttle 25L, and positions the plate PP at a preset horizontal position. Thereafter, the upper guide drive motors M81a to M81d rotate the rotation shaft in the reverse direction, and the upper guides 811b to 814b are separated from the plate PP (3-3).

  Thus, when the pre-alignment processing of the plate PP is completed, the stage elevating motor M31 rotates the rotating shaft in a predetermined direction, and the suction plate 37 is lowered downward (−Z) to contact the upper surface of the plate PP. Subsequently, the valves V31 and V32 are opened, whereby the plate PP is sucked to the suction plate 37 by the suction groove 371 and the suction pad 38 (3-4).

  When the adsorption of the plate PP is detected by the adsorption detection sensor SN31 (FIG. 2), the stage elevating motor M31 rotates the rotating shaft in the reverse direction, and the adsorption plate 37 rises vertically while adsorbing and holding the plate PP. The plate PP is moved to a position vertically above the plate suction position XP23 (3-5). Then, the plate shuttle elevating motor M22L rotates the rotation shaft to move the elevating plate 251 vertically upward, and the plate shuttle 25L is moved from the pre-alignment position to the transport position, that is, the plate suction position XP23 and positioned (3). -6). Thereafter, the shuttle horizontal drive motor M21 rotates the rotary shaft to move the shuttle holding plate 24 in the (+ X) direction, and the empty plate shuttle 25L is positioned at the intermediate position XP22 (3-7).

C-4. Blanket adsorption (step S4)
As shown in the column of “Step S4” in FIG. 14A, the sub-steps (4-1) to (4-9) are executed. That is, the X-axis drive motors M42 and M44 and the Y-axis drive motors M41 and M43 are operated to move the alignment stage 44 to the initial position (4-1). As a result, the start becomes the same position every time. Subsequently, the pin elevating cylinder CL51 operates to raise the lift plate 551 and cause the lift pin 552 to protrude vertically upward from the upper surface of the suction plate 51 (4-2). Thus, when the blanket BL preparation is completed, the blanket shutter drive cylinder CL13 operates to move the blanket shutter (not shown) and open the shutter (4-3). The blanket transfer robot accesses the apparatus 100 and places the blanket BL on the top of the lift pin 552, and then retreats from the apparatus 100 (4-4). Following this, the blanket shutter drive cylinder CL13 operates to move the blanket shutter and close the shutter (4-5).

  Next, the pin lifting cylinder CL51 operates to lower the lift plate 551. As a result, the lift pins 552 are lowered while supporting the blanket BL, and the blanket BL is placed on the suction plate 51 (4-6). Then, the lower guide drive motors M82a to M82d rotate the rotation shaft, the lower guides 821b and 823b move in the left-right direction X, the lower guides 822b and 824b move in the front-rear direction Y, and the lower guides 821b to 824b move. The blanket BL is positioned at a preset horizontal position in contact with the end face of the blanket BL supported by the suction plate 51 (4-7).

  When the pre-alignment processing of the blanket BL is completed in this way, the suction valve V52 is opened, thereby supplying a negative pressure regulated to the grooves 511 and 512, and the blanket BL is sucked by the suction plate 51 (4-8). ). Further, the lower guide drive motors M82a to M82d rotate the rotation shaft in the reverse direction to separate the lower guides 821b to 824b from the blanket BL (4-9). Thereby, as shown in FIG. 14B, the preparation for the patterning process is completed.

C-5. Patterning (Step S5)
Here, patterning is performed after the blanket thickness is measured. That is, as shown in the column of “Step S5” in FIG. 15A, the sensor horizontal drive cylinder CL52 operates to position the blanket thickness measurement sensor SN51 at a position immediately above the right end of the blanket BL (5-1). . And blanket thickness measurement sensor SN51 outputs the information relevant to the thickness of blanket BL to the control part 6, and, thereby, the thickness of blanket BL is measured (5-2). Thereafter, the sensor horizontal drive cylinder CL52 operates in the reverse direction to slide the slide plate 562 in the (−X) direction to retract the blanket thickness measurement sensor SN51 from the suction plate 51 (5-3).

  Next, the first stage elevating motor M31 rotates the rotating shaft in a predetermined direction, lowers the suction plate 37 downward (−Z), and moves the plate PP to the vicinity of the blanket BL. Further, the second stage elevating motor M32 rotates the rotating shaft to raise and lower the suction plate 37 at a narrow pitch to accurately adjust the distance between the plate PP and the blanket BL in the vertical direction Z, that is, the gap amount (5-4). . The gap amount is determined by the control unit 6 based on the thickness measurement results of the plate PP and the blanket BL.

  Then, the pressing member elevating cylinders CL71 to CL73 operate to lower the pressing member 71 and press the peripheral edge of the blanket BL with the pressing member 71 over the entire circumference (5-5). Subsequently, the valves V51 and V52 are operated to partially supply air between the suction plate 51 and the blanket BL to partially inflate the blanket BL. This floating portion is pushed into the plate PP held on the upper stage portion 3 (5-6). As a result, as shown in FIG. 15B, a pattern (not shown) formed in advance on the lower surface of the plate PP with the central portion of the blanket BL in close contact with the plate PP is applied in advance on the upper surface of the blanket BL. A pattern layer is formed by patterning the coating layer in contact with the layer.

C-6. Plate peeling (step S6)
As shown in the column of “Step S6” in FIG. 15C, the sub-steps (6-1) to (6-5) are executed. That is, the second stage elevating motor M32 rotates the rotating shaft, and the suction plate 37 is raised to peel the plate PP from the blanket BL (6-1). Further, in parallel with raising the plate PP to perform the peeling process, the valve V51, V52 is switched between open and closed, and negative pressure is applied to the blanket BL to draw it toward the suction plate 37 side. Thereafter, the first stage elevating motor M31 rotates the rotating shaft to raise the suction plate 37 to position the plate PP at a static elimination position substantially the same height as the ionizer 91 (6-2). Further, the pressing member elevating cylinders CL71 to CL73 operate to lift the pressing member 71 and release the blanket BL from being pressed (6-3). Subsequently, the ionizer 91 operates to remove static electricity generated during the plate peeling process (6-4). When this removal process is completed, the first stage elevating motor M31 rotates the rotation shaft, and as shown in FIG. 15D, the suction plate 37 is held at the initial position (the plate suction position XP23 with respect to the plate suction position XP23). (6-5).

C-7. Save plate (step S7)
As shown in the column of “Step S7” in FIG. 16A, the sub-steps (7-1) to (7-7) are executed. That is, the rotary actuators RA2 and RA2 are operated to rotate the plate hands 252 and 252 by 180 degrees to position them from the origin position to the reverse position (7-1). As a result, the hand posture is switched from the unused posture to the used posture, and the preparation for receiving the used plate PP is completed. Then, the shuttle horizontal drive motor M21 rotates the rotation shaft to move the shuttle holding plate 24 in the (−X) direction (7-2). Thus, the plate shuttle 25L moves to the plate suction position XP23 and is positioned.

  On the other hand, the first stage elevating motor M31 rotates the rotation shaft, the suction plate 37 descends toward the hands 252 and 252 of the plate shuttle 25L while holding the plate PP by suction, and the plate PP is placed on the hands 252 and 252. After being positioned, the valves V31 and V32 are closed, whereby the suction of the plate PP by the suction groove 371 and the suction pad 38 is released, and the delivery of the plate PP at the transport position is completed (7-3). And the 1st stage raising / lowering motor M31 reversely rotates a rotating shaft, and raises the suction plate 37 to an initial position (7-4). Thereafter, the shuttle horizontal drive motor M21 rotates the rotation shaft to move the shuttle holding plate 24 in the (+ X) direction (7-5). As a result, the plate shuttle 25L moves to the intermediate position XP22 and is positioned while holding the used plate PP.

C-8. Substrate adsorption (step S8)
As shown in the column of “Step S8” in FIG. 16A, the shuttle horizontal drive motor M21 rotates the rotation shaft and moves the shuttle holding plate 24 in the (+ X) direction (8-1). As a result, the substrate shuttle 25R that holds the unprocessed substrate SB moves to the substrate suction position XP23 and is positioned. Then, in the same manner as the plate PP pre-alignment processing (3-2, 3-3) and the plate PP suction processing (3-4) by the suction plate 37, the substrate SB pre-alignment processing (8-2, 8-). 3) and the adsorption process (8-4) of the substrate SB is executed.

  Thereafter, when the suction of the substrate SB is detected by the suction detection sensor SN31 (FIG. 2), the stage elevating motor M31 rotates the rotating shaft to raise the suction plate 37 vertically while holding the substrate SB. The substrate SB is moved to a position higher than the suction position XP23 (8-5). Then, the substrate shuttle elevating motor M22R rotates the rotating shaft, moves the elevating plate 251 vertically upward, and moves the substrate shuttle 25R from the pre-alignment position to the transport position to position (8-6). Thereafter, the shuttle horizontal drive motor M21 rotates the rotating shaft to move the shuttle holding plate 24 in the (−X) direction, and the empty substrate shuttle 25R is moved to the intermediate position XP24 as shown in FIG. (8-7).

C-9. Transcription (Step S9)
As shown in the column “Step S9” in FIG. 17A, here, the blanket thickness is measured, and after the fine alignment is performed, the transfer process is performed. That is, as shown in the column “Step S9” in FIG. 17A, the thickness of the blanket BL is measured in the same manner as the sub-steps (5-1 to 5-3) of the patterning process (Step S5). (9-1 to 9-3). The main reason for measuring the thickness of the blanket BL not only immediately before patterning but also immediately before transfer is that the thickness of the blanket BL changes with time due to swelling of a part of the blanket BL. By measuring the blanket thickness at, a highly accurate transfer process can be performed.

  Next, the first stage elevating motor M31 rotates the rotating shaft in a predetermined direction, lowers the suction plate 37 downward (−Z), and moves the substrate SB to the vicinity of the blanket BL. Further, the second stage elevating motor M32 rotates the rotating shaft to raise and lower the suction plate 37 at a narrow pitch to accurately adjust the distance between the substrate SB and the blanket BL in the vertical direction Z, that is, the gap amount (9-4). . The gap amount is determined by the control unit 6 based on the thickness measurement results of the substrate SB and the blanket BL. In the next sub-step (9-5), the peripheral portion of the blanket BL is pressed by the pressing member 71 as in the patterning (step S5).

  Thus, both the substrate SB and the blanket BL are pre-aligned and positioned at a distance suitable for the transfer process, but in order to accurately transfer the pattern layer formed on the blanket BL to the substrate SB. It is necessary to align the two precisely. Therefore, in this embodiment, substeps (9-6 to 9-8) are executed (precise alignment).

  Here, the Z-axis drive motors M45a to 45d of the alignment unit 4 are operated, and the focus adjustment is executed so that the alignment marks patterned on the blanket BL are focused on the imaging units 45a to 45d (9−). 6). And the image imaged by each imaging unit 45a-45d is output to the image process part 65 of the control part 6 (9-7). Based on these images, the control unit 6 obtains a control amount for aligning the blanket BL with respect to the substrate SB, and further, X-axis drive motors M42 and M44 and Y-axis drive motors M41 and M43 of the alignment unit 4. Create an operation command for. Then, the X-axis drive motors M42 and M44 and the Y-axis drive motors M41 and M43 operate according to the control command to move the suction plate 51 in the horizontal direction and rotate around the virtual rotation axis extending in the vertical direction Z. The blanket BL is precisely aligned with the substrate SB (9-8).

  Then, the valves V51 and 52 are operated to partially supply air between the suction plate 51 and the blanket BL to partially inflate the blanket BL. This floating portion is pushed to the substrate SB held on the upper stage portion 3 (9-9). As a result, as shown in FIG. 17B, the blanket BL adheres to the substrate SB. As a result, the pattern layer on the blanket BL side is transferred to the substrate B while being precisely aligned with the pattern on the lower surface of the substrate SB.

C-10. Substrate peeling (step S10)
As shown in the column of “Step S10” in FIG. 18A, sub-steps (10-1) to (10-5) are executed. That is, similarly to the plate peeling (step S6), the substrate SB is peeled from the blanket BL (10-1), the substrate SB is positioned at the neutralization position (10-2), and the blanket BL is released from being pressed by the pressing member 71 ( 10-3) and static elimination (10-4) are executed. Thereafter, the first stage elevating motor M31 rotates the rotation shaft, and as shown in FIG. 18B, the suction plate 37 is raised to the initial position (position higher than the transport position) while holding the substrate SB by suction ( 10-5).

C-11. Substrate withdrawal (step S11)
As shown in the column of “Step S11” in FIG. 19A, the sub-steps (11-1) to (11-4) are executed. That is, the shuttle horizontal drive motor M21 rotates the rotation shaft and moves the shuttle holding plate 24 in the (+ X) direction (11-1). As a result, the substrate shuttle 25R moves to the substrate suction position XP23 and is positioned.

  On the other hand, the first stage elevating motor M31 rotates the rotating shaft to lower the suction plate 37 toward the hands 252 and 252 of the substrate shuttle 25R while holding the substrate SB. Thereafter, the valves V31 and V32 are closed, whereby the suction of the substrate SB by the suction groove 371 and the suction pad 38 is released (11-2). And the 1st stage raising / lowering motor M31 reversely rotates a rotating shaft, and raises the adsorption | suction plate 37 to an initial position (11-3). Thereafter, the shuttle horizontal drive motor M21 rotates the rotary shaft, moves the shuttle holding plate 24 in the (−X) direction, and moves and positions the substrate shuttle 25 to the intermediate position XP22 while holding the substrate SB. 11-4).

C-12. Blanket removal (step S12)
As shown in the column of “Step S12” in FIG. 19A, substeps (12-1) to (12-6) are executed. That is, the valves V51 and 52 are operated to release the suction of the blanket BL by the suction plate 51 (12-1). Then, the pin elevating cylinder CL51 operates to raise the lift plate 551 and lift the used blanket BL vertically upward from the suction plate 51 (12-2).

  Next, the blanket shutter drive cylinder CL13 operates to move the blanket shutter (not shown) and open the shutter (12-3). Then, the blanket transport robot accesses the apparatus 100, receives the used blanket BL from the top of the lift pin 552, and retracts from the apparatus 100 (12-4). Following this, the blanket shutter drive cylinder CL13 operates to move the blanket shutter and close the shutter (12-5). Further, the pin elevating cylinder CL51 operates to lower the lift plate 551, and lower the lift pin 552 downward (−Z) from the suction plate 51 (12-6).

C-13. Plate removal (step S13)
As shown in the column of “Step S13” in FIG. 19A, substeps (13-1) to (13-5) are executed. That is, the shuttle horizontal drive motor M21 rotates the rotation shaft, and the shuttle holding plate 24 moves in the (+ X) direction (13-1). Thus, the plate shuttle 25L moves to the plate delivery position XP21 and is positioned. Also, the plate shutter drive cylinder CL11 operates to open the shutter 18 (13-2). Subsequently, the plate loading / unloading unit takes out the used plate PP from the printing apparatus 100 in response to an operation command from the control unit 6 (13-3). When unloading of the plate PP is completed in this manner, the open / close state of the valve is returned to operate the plate shutter drive cylinder CL11 in the reverse direction to return the plate shutter 18 to the original position and close the shutter 18 (13 -4). Then, the shuttle horizontal drive motor M21 rotates the rotation shaft to move the shuttle holding plate 24 in the (−X) direction, thereby positioning the plate shuttle 25L at the intermediate position XP22 (13-5).

C-14. Substrate removal (step S14)
As shown in the column of “Step S14” in FIG. 19A, substeps (14-1) to (14-5) are executed. That is, the shuttle horizontal drive motor M21 rotates the rotating shaft and moves the shuttle holding plate 24 in the (−X) direction (14-1). Thus, the substrate shuttle 25R is moved to the substrate delivery position XP25 and positioned. Further, the substrate shutter drive cylinder CL12 operates to open the shutter 19 (14-2). Subsequently, the substrate carrying-in / out unit takes out the substrate SB subjected to the transfer process in response to an operation command from the control unit 6 from the printing apparatus 100 (14-3). When the unloading of the substrate SB is thus completed, the substrate shutter drive cylinder CL12 operates in the reverse direction to return the substrate shutter 19 to the original position and close the shutter 19 (14-4). Then, the shuttle horizontal drive motor M21 rotates the rotation shaft to move the shuttle holding plate 24 in the (+ X) direction, thereby positioning the substrate shuttle 25R at the intermediate position XP23 (14-5). Thereby, the printing apparatus 100 returns to the initial state as shown in FIG.

D. Configuration of Conveying Device According to the Present Invention The conveying unit 2 described in the section “B-1. Conveying unit 2” corresponds to the “conveying device” according to the present invention. Here, it demonstrates based on FIG. 3 centering on the characteristic part of the conveying apparatus of this invention.

D-1. Characteristic Configuration of Transport Device The transport unit 2 includes a plate shuttle 25L corresponding to the “plate reciprocating body” of the present invention and a substrate shuttle 25R corresponding to the “substrate reciprocating body” of the present invention. The plate shuttle 25L and the substrate shuttle 25R are attached to a shuttle holding plate 24. The ball screw mechanism 22 extended in the (+ X) direction corresponding to the “first direction” of the present invention and the (−X) direction corresponding to the “second direction” of the present invention moves the shuttle holding plate 24 to the X direction. By reciprocating in the direction, the plate shuttle 25L and the substrate shuttle 25R held by the shuttle holding plate 24 are configured to be integrally movable in the X direction.

  The ball screw mechanism 22 includes a ball screw extending in the X direction, a shuttle horizontal drive motor M21 that rotationally drives the ball screw, and two balls that are screwed into the ball screw in a state of being spaced apart in the X direction. The screw brackets 23 and 23 and the shuttle holding plate 24 connected to the ball screw brackets 23 and 23 are configured. That is, the ball screw mechanism 22 functions as the “drive mechanism” of the present invention, and the shuttle holding plate 24 of the ball screw mechanism 22 serves as the “holding member” of the present invention, and the ball screw and the shuttle horizontal of the ball screw mechanism 22. The drive motor M21 and the ball screw brackets 23, 23 function as the “linear drive unit” of the present invention.

  The plate shuttle 25L includes two plate hands 252 and 252 on which a plate PP can be placed, and a lift plate 251 that supports the plate hands 252 and 252. The lift plate 251 includes a ball screw mechanism 253. It can be moved up and down. In order to stably hold the plate PP, the two plate hands 252 and 252 are provided in the X direction so as to be separated as much as the width size (X direction size) of the plate PP and from the lifting plate 251 (+ Y ) And a plate-like member extending in the direction beyond the length size (Y direction size) of the plate PP.

  Further, rotary actuators RA2 and RA2 are provided for rotating the plate hands 252 and 252 around a rotation axis YA2 extending in the longitudinal direction (Y direction) of the plate hand 252. The rotation actuators RA2 and RA2 correspond to the “rotation mechanism” of the present invention. Then, by operating the rotary actuators RA2 and RA2, an unused posture suitable for handling the plate PP before patterning with one main surface of the plate hands 252 and 252 facing upward, and the other main surface facing upward. The hand posture can be switched between the used posture suitable for handling the plate PP after patterning.

  In the plate PP after patterning, a part of the coating liquid adheres to the surface in contact with the coating layer. Therefore, when this surface is placed on the plate hands 252 and 252, the plate hand 252. , 252 may be applied to the mounting surface. If the plate PP before patterning is placed on the placement surfaces of the plate hands 252 and 252 to which the coating liquid has adhered, the coating liquid may adhere to the plate PP and patterning may not be performed well. However, if the plate hands 252 and 252 can be switched between the unused posture and the used posture as described above, it is possible to prevent the coating liquid from adhering to the plate PP before patterning.

  Similarly to the plate shuttle 25L, the substrate shuttle 25R includes two substrate hands 252 and 252 on which the substrate SB can be placed, and a lift plate 251 that supports the substrate hands 252 and 252. The plate 251 is configured to be movable up and down via a ball screw mechanism 253. The configuration of the substrate shuttle 25R is the same as the configuration of the plate shuttle 25L, except that the substrate hands 252 and 252 are not configured to be rotatable like the plate hands 252 and 252.

  The ball screw mechanism 253 for raising and lowering the elevation plate 251 of the plate shuttle 25L and the ball screw mechanism 253 for raising and lowering the elevation plate 251 of the substrate shuttle 25R are respectively referred to as “plate elevation mechanism” and “substrate elevation mechanism” of the present invention. Function as. Each of the ball screw mechanisms 253 and 253 can operate independently to raise and lower the plate shuttle 25L and the substrate shuttle 25R individually. If only one shuttle is to be raised and lowered at the same time, but the other shuttle is also raised and lowered at the same time, it is necessary to configure the other shuttle so that it does not interfere with other members, which may complicate the device configuration. However, according to the above configuration, since it is not necessary, the device configuration can be further simplified.

  In the transport unit 2 configured as described above, the plate shuttle 25L has a plate delivery position XP21 corresponding to the “plate receiving position” of the present invention and a plate suction position XP23 corresponding to the “plate holding position” of the present invention. The substrate shuttle 25R reciprocates between the substrate delivery position XP25 corresponding to the “substrate receiving position” of the present invention and the substrate suction position XP23 corresponding to the “substrate holding position” of the present invention. . In the present embodiment, the plate suction position XP23 and the substrate suction position P23 are the same position in the X direction.

  Then, the rotary shaft of the shuttle horizontal drive motor M21 of the ball screw mechanism 253 is rotated to move the shuttle holding plate 24 in the X direction, whereby the plate shuttle 25L and the substrate shuttle 25R move integrally in the X direction. . At this time, when the plate shuttle 25L and the substrate shuttle 25R are integrally moved in the (+ X) direction, the plate shuttle 25L and the substrate shuttle 25R are positioned at the plate delivery position XP21 and the substrate suction position XP23, respectively. When the shuttle 25L and the substrate shuttle 25R are integrally moved in the (−X) direction, the plate shuttle 25L and the substrate shuttle 25R are positioned at the plate suction position XP23 and the substrate delivery position XP25, respectively.

  That is, when the plate shuttle 25L conveys the plate PP between the plate delivery position XP21 and the plate suction position XP23, and the substrate shuttle 25R carries the substrate SB between the substrate delivery position XP25 and the substrate suction position XP23. In this case, since the plate shuttle 25L and the substrate shuttle 25R are always moved integrally in the X direction, the plate shuttle 25L and the substrate shuttle 25R do not interfere with each other. As described above, the interference between the plate shuttle 25L and the substrate shuttle 25R is realized by integrally moving the plate shuttle 25L and the substrate shuttle 25R in the X direction by the ball screw mechanism 253. It is not necessary to employ a complicated device configuration for preventing interference. Further, the control for positioning the plate shuttle 25L at the plate delivery position XP21 is the same as the control for positioning the substrate shuttle 25R at the substrate suction position XP23, and the control for positioning the substrate shuttle 25R at the substrate delivery position XP25. Since the control for positioning the plate shuttle 25L at the plate suction position XP23 is the same, the control of the ball screw mechanism 253 can be simplified.

D-2. Other Embodiments of Conveying Device Note that the present invention is not limited to the above-described embodiments, and various modifications can be made to the above-described ones without departing from the spirit thereof, as follows. It may be configured.

(1) In the above embodiment, the plate shuttle 25L can reciprocate between the plate delivery position XP21 and the plate suction position XP23, and the substrate shuttle 25R is located between the substrate delivery position XP25 and the substrate suction position XP23. Is configured to be reciprocally movable. However, the plate shuttle 25L may be further movable to the (+ X) side from the plate delivery position XP21, or may be movable to the (−X) side from the plate suction position XP23. Similarly, the substrate shuttle 25R may be movable further to the (−X) side than the substrate delivery position XP25, or may be movable to the (+ X) side from the substrate suction position XP23.
(2) In the above embodiment, the plate suction position XP23 and the substrate suction position XP23 are the same position in the X direction. However, the plate suction position XP23 and the substrate suction position XP23 are not necessarily the same position in the X direction. There is no need.
(3) In the above embodiment, the ball screw mechanism is adopted as the drive mechanism for integrally moving the plate shuttle 25L and the substrate shuttle 25R, but other drive mechanisms such as a link mechanism and a cylinder mechanism are adopted. Also good.
(4) In the above embodiment, the plate PP is held using the two plate hands 252 and 252, but the number of plate hands is not limited to two. One plate hand can be provided, and three or more plate hands can be provided. Similarly, the number of substrate hands is not limited to two.
(5) In the above embodiment, one rotary actuator RA2 for rotating the plate hand 252 is provided for each plate hand 252, but two plate hands 252 are rotated by one rotary actuator RA2. It is good also as a structure.
(6) In the above embodiment, the plate hand 252 is formed of a long and flat member, and one main surface of the plate hand 252 faces upward and is suitable for handling the plate PP before patterning. The hand posture can be switched between the unused posture and the used posture suitable for handling the patterned PP with the other main surface facing upward. However, for example, the plate hand 252 is a rod-shaped member having a rectangular, triangular, circular, or elliptical cross section, and the plate hand 252 is rotated by an appropriate angle to thereby provide a surface on which the plate PP before patterning is placed. It is also possible to change the surface on which the patterned PP is placed.

  The present invention can be applied to a transport device that transports a plate and a substrate in a printing device that transfers a pattern layer formed by patterning a coating layer supported on a carrier with a plate to a substrate.

2 Conveying unit (conveying device)
22 Ball screw mechanism (drive mechanism)
23 Ball screw bracket (linear drive, drive mechanism)
24 Shuttle holding plate (holding member, drive mechanism)
100 printer 25L plate shuttle (reciprocating plate for plate)
25R Substrate shuttle (reciprocating body for substrate)
252 Plate hand 252 Substrate hand 253 Ball screw mechanism (plate lift mechanism, substrate lift mechanism)
M21 Shuttle horizontal drive motor (linear drive, drive mechanism)
RA2 rotary actuator (rotating mechanism)
XP21 Version delivery position (version receipt position)
XP23 Plate suction position (plate holding position), substrate suction position (substrate holding position)
XP25 Board delivery position (Board delivery position)

Claims (4)

A substrate on which the coating layer carried on the carrier is patterned by the plate conveyed to the plate holding position to form a pattern layer on the carrier, and then the pattern layer on the carrier is conveyed to the substrate holding position. A transfer device for transferring a plate to the plate holding position and a substrate to the substrate holding position in a printing apparatus for transferring to the plate,
A reciprocating plate body that is movable while supporting a plate between a plate receiving position for receiving a plate before being used for patterning and the plate holding position;
A reciprocating body for a substrate that is movable while supporting the substrate between a substrate receiving position for receiving the substrate before transfer and the substrate holding position;
A drive mechanism for integrally moving the plate reciprocating body and the substrate reciprocating body ;
A plate lifting mechanism for moving the plate reciprocating body up and down;
A substrate lifting mechanism for lifting and lowering the substrate reciprocating body ,
The plate receiving position is provided on the first direction side with respect to the plate holding position, and the substrate receiving position is provided on the second direction side opposite to the first direction with respect to the substrate holding position. The holding position and the substrate holding position are located between the plate receiving position and the substrate receiving position,
The plate lifting mechanism and the substrate lifting mechanism can be operated independently,
The drive mechanism is
By moving the plate reciprocating body and the substrate reciprocating body integrally in the first direction, the plate reciprocating body and the substrate reciprocating body are moved to the plate receiving position and the substrate holding position, respectively. Positioning to
By moving the plate reciprocating body and the substrate reciprocating body integrally in the second direction, the plate reciprocating body and the substrate reciprocating body are moved to the plate holding position and the substrate receiving position, respectively. A conveying apparatus characterized by positioning to the position. A substrate on which the coating layer carried on the carrier is patterned by the plate conveyed to the plate holding position to form a pattern layer on the carrier, and then the pattern layer on the carrier is conveyed to the substrate holding position. A transfer device for transferring a plate to the plate holding position and a substrate to the substrate holding position in a printing apparatus for transferring to the plate,
A reciprocating plate body that is movable while supporting a plate between a plate receiving position for receiving a plate before being used for patterning and the plate holding position;
A reciprocating body for a substrate that is movable while supporting the substrate between a substrate receiving position for receiving the substrate before transfer and the substrate holding position;
A drive mechanism for integrally moving the plate reciprocating body and the substrate reciprocating body,
The plate receiving position is provided on the first direction side with respect to the plate holding position, and the substrate receiving position is provided on the second direction side opposite to the first direction with respect to the substrate holding position. The holding position and the substrate holding position are located between the plate receiving position and the substrate receiving position,
The plate reciprocating body has a long plate hand on which a plate can be placed, and a rotation mechanism that rotates the plate hand around a rotation axis extending in the longitudinal direction of the plate hand. With
The drive mechanism is
By moving the plate reciprocating body and the substrate reciprocating body integrally in the first direction, the plate reciprocating body and the substrate reciprocating body are moved to the plate receiving position and the substrate holding position, respectively. Positioning to
By moving the plate reciprocating body and the substrate reciprocating body integrally in the second direction, the plate reciprocating body and the substrate reciprocating body are moved to the plate holding position and the substrate receiving position, respectively. A conveying apparatus characterized by positioning to the position. The drive mechanism includes: a holding member that holds the plate reciprocating body and the substrate reciprocating body; and a linear drive unit that reciprocates the holding member in the first direction and the second direction. The transport apparatus according to 1 or 2 . The linear drive unit includes a ball screw extending in the first direction and the second direction, a motor that rotationally drives the ball screw, and a ball screw bracket screwed to the ball screw,
The conveying device according to claim 3 , wherein the ball screw bracket is connected to the holding member.

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