JP6955723B2 - Screen printing device and screen printing method - Google Patents

Description

The present invention relates to a screen printing apparatus and a screen printing method for screen printing on a workpiece having a curved surface.

Conventionally, an apparatus for screen printing on a workpiece having a curved surface has been considered.
Further, conventionally, a device for screen printing using an articulated robot has been considered.

JP 2015-044330 Japanese Unexamined Patent Publication No. 2014-17202099 Japanese Unexamined Patent Publication No. 2005-088577 Japanese Unexamined Patent Publication No. 11-320820 Japanese Unexamined Patent Publication No. 06-031895 International Publication No. 2017/005576 Pamphlet

The present invention provides a screen printing apparatus and a screen printing method for performing screen printing while ensuring a distance between a work having a curved surface and a screen.

The screen printing apparatus of the present invention
In a screen printing device that prints on a workpiece having a convex surface using a squeegee.
A jig on which the work is placed and
A screen having a convex surface corresponding to the convex surface of the surface of the work and having a printing pattern,
A detachment mechanism to which the jig is attached is provided so that the distance from the screen can be changed.

According to the present invention, the distance between the work and the screen can be secured by the attachment / detachment mechanism.

The front view of the screen printing apparatus 100 in Embodiment 1. The left side view of the screen printing apparatus 100 in Embodiment 1. The right side view of the screen printing apparatus 100 in Embodiment 1. The rear view which partially omitted the screen printing apparatus 100 in Embodiment 1. FIG. The plan view of the screen printing apparatus 100 in Embodiment 1. The block diagram of the articulated robot 600 of the screen printing apparatus 100 in Embodiment 1. FIG. The front view of the plate moving mechanism 700 of the screen printing apparatus 100 in Embodiment 1. FIG. The right side view of the plate moving mechanism 700 of the screen printing apparatus 100 in Embodiment 1. FIG. The front view and the right side view of the attachment / detachment mechanism 800 of the screen printing apparatus 100 according to the first embodiment. (A) is a front view in which the attachment / detachment mechanism 800 is at the origin. (B) is a front view of the table 820 lifted. (C) is a right side view of the table 820 lifted horizontally. The left side view of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG. The right side view of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG. The block diagram of the printing part 900 of the screen printing apparatus 100 in Embodiment 1. FIG. (A) is a diagram in which the printing unit 900 is attached. (B) is a diagram in which the printing unit 900 is removed. The block diagram of the printing part 900 of the screen printing apparatus 100 in Embodiment 1. FIG. The block diagram of the printing part 900 of the screen printing apparatus 100 in Embodiment 1. FIG. FIG. 5 is a configuration diagram of a work 200, a screen 300, and a jig 400 of the screen printing apparatus 100 according to the first embodiment. (A) is a block diagram of the screen 300, the work 200, and the jig 400. (B) is a block diagram of the work 200 and the jig 400. (C) is a block diagram of the work 200. (D) is an explanatory diagram of a reference mark. FIG. 5 is a partial layout diagram of the screen printing apparatus 100 according to the first embodiment. FIG. 5 is a partial layout diagram of the screen printing apparatus 100 according to the first embodiment. FIG. 5 is a partial layout diagram of the screen printing apparatus 100 according to the first embodiment. The operation flowchart of the screen printing apparatus 100 in Embodiment 1. The printing operation explanatory drawing of the screen printing apparatus 100 in Embodiment 1. FIG. The printing operation explanatory drawing of the screen printing apparatus 100 in Embodiment 1. FIG. The printing operation explanatory drawing of the screen printing apparatus 100 in Embodiment 1. FIG. The operation explanatory drawing of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG. (A) is a relationship diagram between the work 200 and the screen 300 when the attachment / detachment mechanism 800 is not operated. (B) is a relationship diagram between the work 200 and the screen 300 when the attachment / detachment mechanism 800 is operated. The operation explanatory drawing of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG. (A) is a relationship diagram between the work 200 and the screen 300 when the attachment / detachment mechanism 800 is not operated. (B) is a relationship diagram between the work 200 and the screen 300 when the vertical mechanism 830 is operated. (C) is a relationship diagram between the work 200 and the screen 300 when the rotation mechanism 860 is operated. The front view of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 2. FIG. The left side view of the attachment / detachment mechanism 800 of the screen printing apparatus 100 according to the second embodiment. The right side view of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 2. FIG. 2 is a plan view of the attachment / detachment mechanism 800 of the screen printing apparatus 100 according to the second embodiment. The left side view of the vertical guide 850 of the screen printing apparatus 100 according to the second embodiment. (A) is a left side view of the vertical guide 850 when the attachment / detachment mechanism 800 is at the origin. (B) is a left side view of the vertical guide 850 when the attachment / detachment mechanism 800 is raised. The front view which raised one end of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 2. FIG. The front view which raised both ends of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 2. FIG. The figure which shows the tilting state of the table 820 of the detachment mechanism 800 of the screen printing apparatus 100 in Embodiment 2. FIG. (A) is the figure which kept the height of the upper and lower shafts 839 of the servo cylinder 881 constant, and changed the height of the upper and lower shafts 839 of the servo cylinder 883. (B) is a diagram in which the height of the upper and lower shafts 839 of the servo cylinder 883 is kept constant and the height of the upper and lower shafts 839 of the servo cylinder 881 is changed. (C) is a diagram in which the height of the upper and lower shafts 839 of the servo cylinder 881 is increased and the height of the upper and lower shafts 839 of the servo cylinder 883 is decreased by an equal amount. (D) is a diagram in which the height of the upper and lower shafts 839 of the servo cylinder 881 is reduced, and the height of the upper and lower shafts 839 of the servo cylinder 883 is reduced twice as much as the height of the upper and lower shafts 839 of the servo cylinder 881.

Embodiment 1.
*** Explanation of configuration ***
The configuration of the screen printing apparatus 100 will be described with reference to FIGS. 1, 2, 3, 4, and 5.
In FIG. 1, the direction of the printing direction, that is, the left direction with respect to the paper surface is referred to as the front direction.
In FIG. 1, the direction opposite to the printing direction, that is, the right direction toward the paper surface is referred to as the rear direction.
In FIG. 1, the vertical direction with respect to the paper surface is referred to as the height direction.
In FIG. 1, the direction toward the front of the paper is referred to as the right direction.
In FIG. 1, the depth direction toward the paper is referred to as the left direction.
Although two articulated robots 600 are shown in FIG. 1, in reality, there is only one articulated robot 600.

The screen printing device 100 is a device that prints a screen on a work 200 having a curved surface by a plate frame 310 having a screen 300.
The screen printing device 100 includes a housing 500, an articulated robot 600, a plate moving mechanism 700, a detaching mechanism 800, and a printing unit 900.

<< Housing 500 >>
The screen printing device 100 has a housing 500.
The housing 500 includes a base 510, a control box 520, a pillar frame 530, a beam frame 540, and a top plate 550.
The base 510 is a pedestal of the screen printing apparatus 100.
The base 510 has a box-like shape.
The control box 520 houses the control unit 110 inside.
The pillar frame 530 is a pillar erected on the floor surface of the base 510.
The beam frame 540 is a beam connecting the tops of the column frame 530.
The top plate 550 is a ceiling arranged between the beam frames 540.
The screen printing device 100 has a roll holding unit 590.
The roll holding portion 590 holds the roll film rotatably. The roll film is a roll-shaped film to be test-printed.

<< Control unit 110 >>
The screen printing device 100 has a control unit 110.
The control unit 110 controls the entire device.
The control unit 110 can be realized by a central processing unit, a program, a memory, and a storage device.
The control unit 110 controls the monitor 120 shown in FIG. 1, the robot controller 130, the image processing unit 140, the vacuum pump 150, the console 170 shown in FIG. 2, and the air pressure circuit 160 shown in FIG. 5, and print operations described later. And control the inspection operation.
The signal from the control unit 110 is transmitted to each unit by a signal line.
Each operation of the printing method described later can be realized by the control unit 110 transmitting a command by a signal line.

<< Articulated Robot 600 >>
FIG. 6 shows an articulated robot 600.
The articulated robot 600 is a kind of industrial robot.
An industrial robot is a machine that has a manipulation function or a movement function by automatic control, can execute various tasks by a program, and can be used in industry.
The industrial robot has a manipulator and a storage device.
An industrial robot is a machine capable of automatically performing expansion / contraction, bending / stretching, up / down movement, left / right movement, turning operation, or a combination of these operations of a manipulator based on information in a storage device.
Here, the manipulator has a function similar to that of a human arm and can perform various tasks.

An articulated robot is a type of articulated robot.
In a joint robot, the mechanical structure of the arm is composed of three or more rotary joints. That is, the articulated robot is a manipulator that has three or more degrees of freedom and can be automatically controlled or programmed.

The articulated robot 600 has a plurality of links and a plurality of joints.
A link is an individual element that constitutes a mechanical structure and can move relative to each other.
A joint is a connecting part when two links come into contact with each other and move relative to each other.

The articulated robot 600 shown in FIG. 6 is a ceiling-mounted robot.
The articulated robot 600 shown in FIG. 6 is a multi-axis robot having six rotation axes from the axes J1 to the axes J6 described below.
The articulated robot 600 has a base 610, a body 620, a shoulder 630, an upper arm 640, an elbow 650, a forearm 660, a wrist 670, and an end 680.
The body 620, the upper arm 640, the forearm 660, and the end 680 are links.
The shoulder 630, the elbow 650, and the list 670 are joints.

The base 610 is fixed to the ceiling top plate 550 at the upper center of the print width of the screen.
The base 610 has an axis J1 perpendicular to the top plate 550.
The axis J1 of the base 610 is a rotation axis orthogonal to the ceiling.
The axis J1 of the base 610 is arranged at the upper center of the print width in the left-right direction of the screen 300.
The axis J1 of the base 610 is arranged above the print range in the front-rear direction of the screen 300.
The body 620 is attached to the base 610 so that it can rotate about an axis J1 perpendicular to the ceiling.
The shoulder 630 is fixed to the body 620 and has a horizontal axis J2.
The upper arm 640 is attached to the shoulder 630 so that it can rotate about the horizontal axis J2.
The elbow 650 is fixed to the upper arm 640 and has a horizontal axis J3.
The elbow 650 also has an axis J4 perpendicular to the axis J3.
The forearm 660 is attached to the elbow 650 so that it can rotate about the shaft J3 and the shaft J4.
Further, the forearm 660 can rotate about an axis J4 that is perpendicular to the horizontal axis J3 and intersects the axis J3.
Listing 670 has an axis J5 that is perpendicular to the axis J4 and intersects the axis J4.
The list 670 also has an axis J6 that is perpendicular to the axis J5 and intersects the axis J5.
The end 680 is attached to the forearm 660 so that it can rotate about the shaft J5 and the shaft J6.

Each link attached to each axis rotates around each axis by a motor (not shown).
The rotation angle of each motor is controlled based on the electric signal output from the robot controller 130.
In FIG. 6, the axis J1 and the axis J2 are above the print stroke between the print start position S1 and the print end position S2.
The axis J1 is orthogonal to the printing direction and is orthogonal to the axis J2.
The axis J2 is orthogonal to the printing direction and is orthogonal to the axis J1.
The maximum angle formed by the straight line connecting the axis J2 and the printing start position S1 and the straight line connecting the axis J2 and the printing end position S2 is an angle that changes when the size of the work 200 changes, and is preferably 90 degrees or less, 60 degrees. The following is preferable, more preferably 50 degrees or less, and 40 degrees is preferable.

<< Plate movement mechanism 700 >>
The plate moving mechanism 700 is a mechanism for moving the plate frame 310 in the horizontal direction.
The plate moving mechanism 700 moves the plate frame 310 after printing to open the sky above the work 200.
As shown in FIGS. 7 and 8, the plate moving mechanism 700 has four legs 720 and two slide mechanisms 730.
Each slide mechanism 730 is fixed to the top of the two legs 720.
The slide mechanism 730 arranges the transport belt 740 in the left-right direction.
The transport belt 740 is rotated by a motor 750 arranged at the end of one slide mechanism 730.
The slide mechanism 730 has a frame fixing portion 760 attached so as to be slidable to the left and right.
The frame fixing portion 760 attaches the plate frame 310 to and from the plate frame 310.
The frame fixing portion 760 slides left and right by the rotation of the transport belt 740.
In FIG. 8, the state in which the plate frame 310 is moved to the leftmost position on the paper surface is the cover state in which the work 200 is covered with the plate frame 310, and is in a printable state.
In FIG. 8, the state in which the plate frame 310 is moved to the rightmost position on the paper surface is the open state in which the sky above the work 200 is open, and the inspectable state in which the print result of the work 200 can be inspected.

<< Detachment mechanism 800 >>
The attachment / detachment mechanism 800 will be described with reference to FIGS. 9, 10 and 11.
FIG. 9A is a diagram in which the attachment / detachment mechanism 800 is at the origin and the jig 400 is at the bottom.
FIG. 9B is a view in which one end of the table 820 is lifted by hand when the attachment / detachment mechanism 800 is at the origin.
FIG. 9 (c) is a view in which the attachment / detachment mechanism 800 lifts the table 820 horizontally.

The detachment mechanism 800 is a mechanism for moving the jig 400 with respect to the plate frame 310.
The attachment / detachment mechanism 800 changes the distance between the screen 300 and the jig 400.
The attachment / detachment mechanism 800 attaches the jig 400 so that the distance between the jig 400 and the screen 300 can be changed.
The attachment / detachment mechanism 800 has a frame 822 to which the jig 400 is fixed and a table 820 to which the frame 822 is fixed.
The frame 822 is two quadrangular prisms made of aluminum or other metal.
The table 820 is a rectangular plate made of aluminum or other metal.
The attachment / detachment mechanism 800 has a vertical mechanism 830 that moves the jig 400 up and down with respect to the screen 300.
The attachment / detachment mechanism 800 has a rotation mechanism 860 that rotates the jig 400 with respect to the screen 300.

<Upper and lower mechanism 830>
The vertical mechanism 830 is fixed to the floor surface of the housing 500.
The vertical mechanism 830 has a plurality of vertical cylinders arranged along the printing direction.
The jig 400 is fixed to the table 820 via the frame 822.
The vertical mechanism 830 has 6 vertical cylinders and 8 linear shafts.
The upper and lower cylinders move the table 820 up and down.
The upper and lower cylinders are actuators that are expanded and contracted by hydraulic pressure, pneumatic pressure, hydraulic pressure, or electric power, and an air cylinder is preferable.
The upper and lower cylinders have an up and down shaft 839 that moves up and down.
The linear shaft supports the linear motion of the vertical cylinder and regulates the vertical motion of the table 820 in the vertical direction.
Each linear shaft has a linear motion shaft 849 that slides up and down.

The six upper and lower cylinders are arranged at six positions on the front, center, and rear of the table 820.
The two upper and lower cylinders 831 are arranged below one end of the table 820.
The four linear shafts 841 are arranged inside the two upper and lower cylinders 831.
The two upper and lower cylinders 832 are located below the center of the table 820.
The two linear shafts 842 are arranged inside the two upper and lower cylinders 832.
The two upper and lower cylinders 833 are arranged at the other end of the table 820.
The two linear shafts 843 are arranged inside the two upper and lower cylinders 833.

A floating joint 835 is attached to the tip of the upper and lower shafts.
The floating joint 835 attached to the tip of the upper and lower cylinders connects the upper and lower shafts of the upper and lower cylinders and the roller unit.
The upper and lower plates 844 are fixed to a floating joint 835 of two upper and lower cylinders 831 and a linear motion shaft 849 of four linear shafts 841.
The upper and lower plates 844 fix two bearings 862 at both ends.
The upper and lower plates 845 are fixed to a floating joint 835 of two upper and lower cylinders 832 and a linear motion shaft 849 of two linear shafts 842.
The upper and lower plates 845 fix two roller units 865 at both ends.
The upper and lower plates 846 are fixed to a floating joint 835 of two upper and lower cylinders 833 and a linear motion shaft 849 of two linear shafts 843.
The upper and lower plates 846 fix two roller units 866 at both ends.

Both ends of the upper and lower plates 844 are fixed to floating joints 835 of the two upper and lower cylinders 831.
Both ends of the upper and lower plates 845 are fixed to floating joints 835 of the two upper and lower cylinders 832.
Both ends of the upper and lower plates 846 are fixed to floating joints 835 of the two upper and lower cylinders 833.
Since the upper and lower plates 846 are connected to the upper and lower cylinders via the floating joint 835, the upper and lower plates 846 may tilt due to the rise of the upper and lower shafts 839 of the upper and lower cylinders.
Therefore, a linear shaft is arranged on the side of the upper and lower cylinders, and the vertical shaft 849 of the linear shaft is raised to suppress the inclination of the upper and lower plates so that the upper and lower plates 846 move horizontally in the vertical direction.
When the upper and lower shafts 839 of the six upper and lower cylinders are raised evenly, the table 820 is raised horizontally, and when the upper and lower shafts 839 of the six upper and lower cylinders are lowered evenly, the table 820 is lowered horizontally.

<Upper and lower guide 850>
As shown in FIGS. 9A and 9B, the attachment / detachment mechanism 800 has a vertical guide 850 that regulates the left-right inclination of the jig 400.
The vertical guide 850 is arranged at a position closer to the rear of the table 820 and closer to the center than the upper and lower cylinders 833, and is arranged at the center in the width direction of the table 820.
The vertical guide 850 is a guide that prevents at least one or both of the table 820 from moving left and right and tilting left and right when the table 820 moves up and down.
The vertical guide 850 has a plate 851 and a cam follower 852.
The plate 851 is fixed to the table 820 and extends vertically downward from the lower surface of the table 820.
A plurality of cam followers 852 are attached to the plate 851.
The plurality of cam followers 852 are arranged in the vertical direction.
The upper and lower guide 850 has a guide pillar 854 and a guide portion 853.
The guide pillar 854 is a pillar fixed to the floor of the base 510 of the housing 500 and extending vertically upward from the floor surface.
The guide portion 853 exists in the vertical direction on one side surface of the guide pillar 854, and is a vertical guide that sandwiches the cam follower 852.
The guide portion 853 allows the cam follower 852 to move in the vertical direction and the front-rear direction, but prohibits the movement in the left-right direction.
The guide portion 853 prohibits the jig 400 from moving left and right and tilting left and right.

<Adjustment mechanism 870>
The adjustment mechanism 870 is shown in FIG. 9 (c).
The vertical mechanism 830 has an adjusting mechanism 870 that adjusts the height of the vertical cylinder.
The adjusting mechanism 870 has a connecting plate 871, a screw 872, and a dial gauge 873.
The connecting plate 871, the screw 872, and the dial gauge 873 are arranged at three positions, front, middle, and rear of the table 820.
The connecting plate 871 is located under the floor of the base 510 and connects the lower ends of the linear motion shafts 849 of the linear shafts on the left and right.
The screw 872 penetrates the floor of the base 510 and is attached to the base 510.
The screw 872 is attached to the center of the left and right linear shafts.
The lower end of the screw 872 is in contact with the center of the connecting plate 871.
By rotating the screw 872, the vertical position of the connecting plate 871 can be changed, and the vertical position of the linear motion shaft 849 of the vertical cylinder can be adjusted.
The dial gauge 873 measures the elevating position in the height direction of the linear motion shaft 849 of the upper and lower cylinders in units of 0.1 mm.

<Rotating mechanism 860>
The rotation mechanism 860 is arranged above the vertical mechanism 830, and moves up and down by the vertical movement of the vertical mechanism 830.
The rotation mechanism 860 is a mechanism in which the table 820 is arranged on the upper portion and the table 820 is tilted.
The rotation mechanism 860 includes a shaft unit 864, a roller unit 865, and a roller unit 866.
The front end of the table 820 is fixed to the rotating shaft 861 of the shaft unit 864.
The center and rear ends of the table 820 rest on the roller unit 865 and the roller unit 866.
The shaft unit 864 is mounted on the upper and lower cylinders 831 at the front end of the plurality of upper and lower cylinders.
The shaft unit 864 has a rotating shaft 861 and a bearing 862.
The rotary shaft 861 is fixed to the table 820 at one end in front of the table 820 and is fixed horizontally.
The central axis of the rotating shaft 861 serves as the rotating axis of the table 820.
The two bearings 862 are arranged at both left and right ends of the rotary shaft 861 to rotatably hold the rotary shaft 861.
The roller unit 865 and the roller unit 866 are mounted on the upper and lower cylinders in the center and the rear of the plurality of upper and lower cylinders to which the rotary shaft 861 is not attached.
The roller unit 865 and the roller unit 866 have a roller 868 that is rotatable about a shaft 867.
The table 820 has receiving plates 821 that receive the rollers 868 on the left and right sides of the center and the rear.
When the table 820 is tilted, the roller 868 rotates about the shaft 867 on the lower surface of the receiving plate 821.
The roller unit 865 and the roller unit 866 are in contact with the lower surface of the table 820 only by the rollers 868.
During printing, when the upper and lower shafts 839 of the upper and lower cylinders 833 and the upper and lower cylinders 832 are lowered while maintaining the raised state of the upper and lower shafts 839 of the front upper and lower cylinders 831, the table 820 is tilted with the rotary shaft 861 as the rotation axis. do. When the table 820 is tilted, the rollers 868 of the roller unit 865 and the roller unit 866 rotate.
The control unit 110 changes the amount of rise of the plurality of upper and lower cylinders on which the roller unit is mounted to control the height position of the roller unit and tilts the table 820.

<< Printing section 900 >>
The printing unit 900 will be described with reference to FIGS. 12, 13, and 14.
The articulated robot 600 attaches a printing unit 900 as an end effector.
The end effector is a part that has a mechanism in which the robot works directly on the work target.
As shown in FIG. 12, the printing unit 900 has a squeegee 910 and a scraper 920.
The squeegee 910 is interchangeably held in the squeegee unit 930 by the mounting portion 941.
The scraper 920 is replaceably held by the squeegee unit 930 by the mounting portion 942.
The squeegee 910 applies pressure to the screen 300 to press the ink on the screen 300 against the work.
The scraper 920 applies pressure to the screen 300 to evenly coat the screen 300 with the ink on the screen 300.
The squeegee unit 930 is detachably attached to the end 680.
The mounting portion 941 of the squeegee unit 930 can mount the squeegee 910 by changing the mounting angle of the squeegee 910.
In FIG. 12, squeegees 910 at three different mounting angles are shown.
Therefore, the attack angle of the squeegee 910 with respect to the work 200 can be changed without making any changes to the articulated robot 600 and the robot controller 130.
Although not shown, the attachment portion 942 of the scraper 920 of the squeegee unit 930 may attach the scraper 920 by changing the attachment angle of the scraper 920.
The squeegee unit 930 has a squeegee 910 and a scraper 920 attached directly below or slightly behind the shaft J6.

The squeegee unit 930 has a pressurizer 931 and a pressurizer 932.
The pressurizer 931 is a pressurizer that applies printing pressure to the squeegee 910, and an actuator that expands and contracts by hydraulic pressure, pneumatic pressure, hydraulic pressure, or electric power is preferable, and an air cylinder is preferable.
The pressurizer 932 is a pressurizer that applies coating pressure to the scraper 920, and an actuator that expands and contracts by hydraulic pressure, pneumatic pressure, hydraulic pressure, or electric power is preferable, and an air cylinder is preferable.
The pressurizer 931 and the pressurizer 932 are fixed to both sides of the fixing plate 933.

As shown in FIG. 13, the pressurizer 931 has a pressurizing shaft 943, and a squeegee 910 is attached via a floating joint 939.
The shaft shaft JS of the pressure shaft 943 of the pressurizer 931 is parallel to the shaft J6.
A pair of linear bushes 938 that guarantee the linear motion of the squeegee 910 are arranged on both sides of the pressurizer 931.
A pair of linear bushes 938 are fixed to a fixing plate 933.
The linear bush 938 has a linear motion shaft 940 that moves linearly, and the lower end of the linear motion shaft 940 is fixed to a mounting portion 941 of the squeegee 910.

As shown in FIG. 14, the pressurizer 932 has a pressurizing shaft 943 and a scraper 920 is attached via a floating joint 939.
The shaft shaft JS of the pressure shaft 943 of the pressurizer 932 is parallel to the shaft J6.
A pair of linear bushes 938 that guarantee the linear motion of the scraper 920 are arranged on both sides of the pressurizer 932.
A pair of linear bushes 938 are fixed to a fixing plate 933.
The linear bush 938 has a linear motion shaft 940 that moves linearly, and the lower end of the linear motion shaft 940 is fixed to a mounting portion 942 of the scraper 920.

The fixing plate 933 is fixed to the lower surface of the lower plate 934.
The lower plate 934 is sandwiched between two side plates 935.
The two side plates 935 are fixed to the lower surface of the upper plate 936.
On the upper surface of the upper plate 936, there is a detachable portion 937.
Both ends of the upper plate 936 project from the two side plates 935 like wings.
Both ends of the upper plate 936 serve as hooks for the suspension 561 when the squeegee unit 930 is held by the suspension 561 of the rack 560.
The detachable portion 937 is detachably attached to the end 680.

One lower plate 934, two side plates 935, and one upper plate 936 form a rectangular parallelepiped space S.
In the rectangular parallelepiped space S, the upper portion of the pressurizing shaft 943 of the pressurizing device 931 and the pressurizing device 932 is arranged.
Even when the pressurizing shaft 943 of the pressurizing device 931 and the pressurizing device 932 is at the top, the head of the pressurizing shaft 943 does not come into contact with the upper plate 936.
The rectangular parallelepiped space S is a space for ensuring the free vertical movement of the pressure shaft 943.
Since there is a rectangular parallelepiped space S, the head of the cylinder shaft does not come into contact with the forearm 660 of the articulated robot 600 regardless of the posture of the axis J5 of the articulated robot 600 in the squeegee unit 930. ..

<< Camera 690 >>
As shown in FIG. 12, the screen printing device 100 has a camera 690.
The camera 690 is fixed to the end 680.
The camera 690 is located on the side of the end 680 and the squeegee unit 930.
The camera axis JC of the camera 690 is the central axis of the lens and is parallel to the axis J6.
The camera 690 is arranged at a position that does not interfere with the arrangement of the squeegee unit 930.
The camera 690 is arranged at a position that does not prevent the squeegee unit 930 from being attached or detached.
The camera 690 is arranged at a position where it does not come into contact with the forearm 660 during printing.
A specific example of the camera 690 is a CCD camera having 5 million pixels per image.
The field of view size of the camera is 40 mm in both vertical and horizontal directions, and the length per pixel is 19.5 micrometers.

<< Work 200 >>
The work 200 will be described with reference to FIG.
The work 200 is a curved work having a curved surface having irregularities in the height direction.
The work 200 has no irregularities and is straight in the left-right direction.
As shown in FIG. 15A, the work 200 is a curved plate or a wavy plate having a constant thickness when viewed from the front.
As shown in FIG. 15 (c), the work 200 is rectangular in a plan view.
Specific examples of the material of the work 200 are glass, resin, plastic, paper, cloth, and metal.
Since the work 200 is a thin plate, it is flexible, easily deformed, and easily damaged.

The curved surface of the surface of the work 200 has at least one of a concave surface recessed from the horizontal plane and a convex surface protruding from the horizontal plane.
The cross-sectional shape of the surface of the work 200 in the left-right direction is rectangular.
The cross-sectional shape of the surface of the work 200 in the front-rear direction is corrugated.

In FIG. 15, the work 200 has one convex curved surface and one concave curved surface on the surface.
In FIG. 15, the radius of the convex curved surface and the radius of the concave curved surface have the same length, and an example of the radius length is 500 mm.
The central angle of the convex curved surface and the central angle of the concave curved surface are the same angle, which is 20 degrees or more and 40 degrees or less, and 30 degrees is preferable.
At the center of one convex curved surface is the top 220, which has the highest height.
At the center of one concave curved surface is the bottom 230, which has the lowest height.
The convex curved surface and the concave curved surface are connected at an inflection point 240.
In FIG. 15, the inflection point 240 is located in the center of the work 200.

The work 200 has a curved surface on the back surface.
The curved surface on the back surface of the work 200 corresponds to the curved surface on the front surface of the work 200, and has the same convex curved surface and concave curved surface as the front surface of the work 200.
The work 200 is a curved plate having a constant thickness.
As shown in FIG. 15 (c), a plurality of print lines 201 are printed on the work 200 as a print pattern.
FIG. 15C shows a case where the print line 201 having the width V1 and the width V2 is printed on the outer peripheral edge of the work 200, and the print line 201 having the width V1 is printed in the center.
The straight lines on both outer sides forming the print line 201 are called outer lines. The center line of the two outer lines is called the center line 204.
As shown in FIG. 15 (c), the distance between the outer outline line 202 and the outer outline line 213 is the length V3.
The distance between the outer line 203 and the outer line 212 is the length V4.
The distance between the center line 204 and the center line 214 is the length V5.
Information on a plurality of print lines 201 forming a print pattern, that is, width V1, width V2,
The length V3, the length V4, the length V5, and other information are stored in the storage device and are used for inspecting the print result.

<< Screen 300 >>
The screen 300 will be described with reference to FIG.
The screen 300 is a curved screen having a curved surface having irregularities in the height direction.
The screen 300 has no irregularities and is straight in the left-right direction.
The screen 300 is rectangular in a plan view.
The screen 300 is a metal mask screen, a mesh screen, or other type of screen.

The screen 300 has at least one of a concave surface recessed from the horizontal plane and a convex surface protruding from the horizontal plane.
The curved surface of the screen 300 has a concave surface recessed from the horizontal plane and a convex surface and a curved surface protruding from the horizontal plane corresponding to the curved surface of the surface of the work 200.
The cross-sectional shape of the surface of the screen 300 in the left-right direction is a straight line.
The cross-sectional shape of the surface of the screen 300 in the front-rear direction is corrugated.
Corresponding to the work 200 shown in FIG. 15, the screen 300 has one convex curved surface and one concave curved surface.
At the center of one convex curved surface is the top 320, which has the highest height.
At the center of one concave surface is the bottom 330, which has the lowest height.
The convex curved surface and the concave curved surface are connected at an inflection point 340.
In FIG. 15, the inflection point 340 is located in the center of the screen 300.

<< Plate frame 310 >>
The plate frame 310 will be described with reference to FIG.
The plate frame 310 is a rectangular metal frame having a frame shape.
The plate frame 310 is a rectangular frame having a rectangular outer shape and a rectangular opening at the center.
The plate frame 310 is a frame fixed to the frame fixing portion 760.
The plate frame 310 applies tension to the screen 300 to hold the screen 300.

The plate frame 310 can be attached to the plate moving mechanism 700 upside down.
FIG. 1 shows a case where the concave surface of the plate frame 310 is on the right side of the paper surface and the convex surface is on the left side of the paper surface, and printing is performed in the order of concave surface to convex surface.
On the contrary, the convex surface of the plate frame 310 is on the right side of the paper surface and the concave surface is on the left side of the paper surface, and printing may be performed in the order of convex surface to concave surface.

<Jig 400>
The jig 400 will be described with reference to FIG.
The jig 400 is a curved surface jig that holds the work 200 on a curved surface.
As shown in FIG. 15A, the jig 400 is a metal component having a flat lower surface and a wavy upper surface when viewed from the front.
As shown in FIG. 15B, the jig 400 is rectangular in a plan view.
The jig 400 has a mounting surface having the same curved surface or curvature as the work 200 on the upper surface.
Specific examples of the material of the jig 400 are resin, aluminum, iron, stainless steel, and other metals.
Since the jig 400 is a thick plate, it has rigidity, does not deform, and does not break.

The mounting surface of the jig 400 has at least one of a concave surface recessed from the horizontal plane and a convex surface protruding from the horizontal plane, corresponding to the curved surface of the back surface of the work 200.
Corresponding to the work 200 shown in FIG. 15, the mounting surface of the jig 400 has one convex curved surface and one concave curved surface.

The jig 400 can be attached to the table 820 upside down.
FIG. 1 shows a case where the concave surface of the jig 400 is on the right side of the paper surface and the convex surface is on the left side of the paper surface, and printing is performed in the order of concave surface to convex surface.
On the contrary, the convex surface of the jig 400 is on the right side of the paper surface and the concave surface is on the left side of the paper surface, and printing may be performed in the order of convex surface to concave surface.

<Standard mark 410>
As shown in FIG. 15B, the jig 400 has a plurality of reference marks 410 on the upper surface.
A specific example of the reference mark 410 is a circular hole having a diameter of 3 mm.
The central axis of the hole is parallel to the height direction and exists in the vertical direction.
The reference mark 410 can be formed at the time of manufacturing the jig 400.
The arrangement position of the reference mark 410 of the jig 400 is determined in advance based on the print pattern.
The arrangement position is a coordinate position of Cartesian coordinates of a two-dimensional horizontal plane.
Assuming that the arrangement position of the reference mark 410 is the center position of the reference mark 410, the center position of the reference mark 410 can be represented by a value on the X-axis and a value on the Y-axis that are orthogonal to each other.
Specifically, the center position of the reference mark P1 and the center position of the reference mark P2 can be expressed as follows.
P1 (x1, y1)
P2 (x2, y2)
The distance W between the center position of the reference mark P1 and the center position of the reference mark P2 can be calculated by the following formula.
W x W = (x2-x1) x (x2-x1) + (y2-y1) x (y2-y1)
As described above, since the arrangement positions of all the reference marks 410 are predetermined, the distances between all the reference marks can be obtained in advance.
In FIG. 15B, the jig 400 has 28 reference marks 410.
Of the 28 reference marks 410, 12 reference marks 410 are formed on the outside of the work 200.
Of the 28 reference marks 410, 16 reference marks 410 are formed inside the work 200.
The two reference marks 410 formed on both sides of the print line 201 forming the print pattern are referred to as a pair of reference marks 410.
In FIG. 15B, the jig 400 has 14 pairs of reference marks 410.
The 14 pairs of reference marks 410 are formed in the vicinity of the intersection where the print line 201 and the print line 201 intersect.
The pair of reference marks 410 is formed at a position where a straight line connecting the centers of the pair of reference marks 410 is orthogonal to the print line 201.
The pair of reference marks 410 is formed so that the print line 201 is located at the center of the pair of reference marks 410 when accurate printing is possible.
The length W1 of the straight line connecting the centers of the pair of reference marks 410 is larger than the width of the print line 201.
In FIG. 15B, the lengths of the straight lines connecting the centers of the 14 pairs of reference marks 410 are all the same length W1.
The length W1 is larger than the maximum width of all print lines 201, and the field of view size of the camera is 40 m.
Less than m.
In FIG. 15B, “width V1 <width V2 <length W1 <field of view size 40 mm”.
In the jig 400, the center positions of all the reference marks 410 are known, and the distances between the center positions of all the reference marks 410 are known.
The center positions of all the reference marks 410 and the distances between the center positions of the reference marks 410 are stored in the storage device.

The arrangement position of the ink tray 570 will be described with reference to FIGS. 16, 17, and 18.
The housing 500 has a rack 560 and an ink tray 570.
The rack 560 is a base fixed to the base 510.
The rack 560 is installed on the outside of the slide mechanism 730, which is closer to the shaft J1 of the two slide mechanisms 730.
The rack 560 has four legs and has a space for holding the printing unit 900 in the center.
As shown in FIG. 18, the rack 560 has a suspension portion 561 for suspending the printing portion 900 on the upper part of the four legs.
The suspension portion 561 holds the squeegee unit 930 by detachably fixing both ends of the upper plate 936 of the squeegee unit 930.
Since the camera 690 is always fixed to the articulated robot 600, the suspension portion 561 does not have a function of holding the camera 690.
The suspension portion 561 has a space R in which the printing portion 900 and the camera 690 are arranged in the center.
The suspension unit 561 attaches / detaches the printing unit 900 to / from the articulated robot 600 in a state where the printing unit 900 and the camera 690 are arranged in the space R.

The ink tray 570 is an eaves-shaped tray protruding from the upper side of the rack 560.
The ink tray 570 receives ink that falls from the printing unit 900 while the printing unit 900 is moving.
The height of the ink tray 570 is higher than the height of the slide mechanism 730.
The ink tray 570 projects horizontally from one side of the suspension 561 of the rack 560.
The ink tray 570 covers the slide mechanism 730 and the frame fixing portion 760.
The end of the ink tray 570 reaches above the screen 300 of the plate frame 310.

<< Arrangement >>
The arrangement of each part on the plane of the screen printing apparatus 100 will be described with reference to FIG.
The planar shape of the screen printing device 100 is a rectangle having a long side and a short side.
The two slide mechanisms 730 of the plate moving mechanism 700 are arranged parallel to the short side of the screen printing device 100.
The short side of the plate frame 310 is arranged parallel to the short side of the screen printing apparatus 100.
The long side of the plate frame 310 is arranged parallel to the long side of the screen printing apparatus 100.
The plate frame 310 slides parallel to the short side of the screen printing apparatus 100.
The slide mechanism 730 has twice the length of the short side of the plate frame 310.
The slide of the plate frame 310 creates a printable state in which the plate frame 310 covers the sky between the jig 400 and the work 200, and an inspectable state in which the sky between the jig 400 and the work 200 is open.

The short side of the attachment / detachment mechanism 800 is arranged parallel to the short side of the screen printing apparatus 100.
The long side of the attachment / detachment mechanism 800 is arranged parallel to the long side of the screen printing apparatus 100.
The jig 400 is arranged inside the arrangement range of the attachment / detachment mechanism 800.

The two arcs shown in FIG. 5 indicate the rotation range of the articulated robot 600 about the axis J1.
The inner arc indicates the maximum movable range of the axis J6 when the axis J6 is arranged in the vertical direction.
The outer arc indicates the maximum movable range of the tip of the squeegee unit 930.

In FIG. 5, the meanings of the symbols and dimensions are as follows.
X1: Length of the long side of the housing 500 X2: Length of the long side of the screen 300 X3: Distance between the axis J1 and the end SE of the housing 500 X4: The center of the two long sides of the housing 500 The distance between the straight line S0 connecting and the end SE of the housing 500, that is, X1 / 2 = X4
X5: Distance between the center position S4 of the print stroke and the end SE of the housing 500 X6: The length from the print start position S1 to the print end position S2, that is, the length of the print stroke X7: Two of the housing 500 Planar view distance between the straight line S0 connecting the centers of the long sides and the printing start position S1 X8: Plane view distance between the straight line S0 connecting the centers of the two long sides of the housing 500 and the printing end position S2 X9: Distance in plan view between the straight line S0 connecting the centers of the two long sides of the body 500 and the center position S4 of the print stroke Y1: Length of the short side of the housing 500 Y2: Length of the short side of the screen 300 NP: The central angle of the range where the axis J1 cannot rotate and the range where it cannot rotate is about 20 degrees.

The rotatable range of the shaft J1 is 340 degrees.
The axis J1 can rotate 170 degrees clockwise and 170 degrees counterclockwise from the center of the rotatable range.
The axis J1 is above a straight line connecting the centers of the two short sides of the screen 300.
The axis J1 is arranged in the vertical direction.
Axis J1 does not rotate during printing.
The axis J1 is orthogonal to the direction of the print stroke, that is, the print direction.
The center of the rotatable range of the axis J1 and the printing direction are the same direction.

The axis J2 is arranged parallel to the short side of the housing 500 during printing and is orthogonal to the printing direction.
The position of the axis J2 in a plan view does not move during printing and is at the same position as the straight line S0 connecting the centers of the two long sides of the housing 500.
The distance X7 is the same as the distance between the axis J2 and the print start position S1 in a plan view.
The distance X8 is the same as the distance between the axis J2 and the print end position S2 in a plan view.
The ratio of the distance X7 to the distance X8 is 1: 3.
The distance X9 is the same as the distance X7.
The distance X6, the distance X7, the distance X8, and the distance X9 have the following relationship.
X7 = X9 = X8 / 2
X6 = X7 + X8 + X9
The position of the axis J2 in a plan view is one-fourth of the print stroke length X6 from the print start position S1.
Therefore, during printing, the squeegee unit 930 is behind the axis J2 up to a quarter of the print stroke length X6.
The subsequent three quarters are in front of the axis J2.
The position of the axis J2 in a plan view may be within the range of the print stroke, preferably in the first half of the print stroke, and more preferably in the center of the first half of the print stroke.

The print start position S1 is directly below or substantially below the axis J1.
The print end position S2 is within 70% of the radius of the maximum movable range of the axis J6.
Therefore, the length X6 of the print stroke is within 70% of the length of the radius of the maximum movable range of the shaft J6.
The center line connecting the centers of the short sides of the screen 300, that is, the center line of the print width intersects the axis J1 and is orthogonal to the axis J1.
The rack 560 is within the maximum movable range of the shaft J6.
The distance from the axis J1 to the print end position S2 is substantially equal to the distance from the axis J1 to the center of the suspension base of the rack 560.
Alternatively, the distance from the axis J1 to the short side of the plate frame 310 having the print end position S2 is substantially equal to the distance from the axis J1 to the center of the suspension base of the rack 560.
A rack 560 for holding the squeegee unit 930 is arranged at a position where the squeegee unit 930 at the printing end position S2 is rotated clockwise by G degrees around the axis J1.
In FIG. 5, the G degree is 140 degrees.

The base 610 of the articulated robot 600 is located at the center of the short side of the plate frame 310 and at a position biased to the side where the rack 560 is located from the center of the long side of the plate frame 310.
The distance from the axis J1 of the base 610 to the slide mechanism 730 farther from the axis J1 among the two slide mechanisms 730 is the same as the distance from the axis J1 to the farthest corner of the rack 560. This distance is equal to three-quarters of the maximum movable range of the articulated robot 600 centered on the axis J1.
The arrangement relationship and the dimensional relationship described with reference to FIG. 5 are examples, and when the size of the work is changed, the arrangement relationship and the dimensional relationship described above may be changed.
When the size of the work is changed, it is desirable to arrange the center position S4 of the print stroke at the center of the length X2 of the long side of the screen 300 to maintain the above-mentioned arrangement relationship and dimensional relationship as much as possible.
If possible, it is desirable to use the proportions shown in the arrangement and dimensional relationships described with reference to FIG. 5 in the range of plus or minus 20% of the values of the proportions described above, and further in the range of plus or minus 10%. It is desirable to use.

*** Explanation of operation ***
A screen printing method of the screen printing apparatus 100 will be described with reference to FIG.
The following operations are performed based on the electric signal from the control unit 110.
When operating the articulated robot 600, the control unit 110 controls the articulated robot 600 via the robot controller 130.
When performing image processing in the inspection process, the control unit 110 performs image processing using the image processing unit 140.
When operating the cylinder or pressurizer, the control unit 110 controls the cylinder or pressurizer via the vacuum pump 150 and the air pressure circuit 160.
When the work 200 is attracted to the jig 400, the control unit 110 attracts the work 200 to the jig 400 via the vacuum pump 150 and the air pressure circuit 160.

The work 200 is assumed to be a transparent glass plate, a transparent resin plate, or a translucent plate.
The work 200, the screen 300, and the jig 400 have a convex curved surface and a concave curved surface, and the printing unit 90
A case where 0 is printed from a convex curved surface to a concave curved surface will be described.
Prior to powering on, the squeegee unit 930 shall be in rack 560.
It is assumed that the distance between the positions of all the reference marks 410 and the center positions of all the reference marks 410 is stored in the storage device.
Hereinafter, the case without test printing will be described.

* Power on process S11 *
When the power of the screen printing device 100 is turned on, the screen printing device 100 starts the initial operation and makes the initial settings in the following order.
1. 1. The origin return control unit 110 of the articulated robot 600 returns the articulated robot 600 to the origin.
The origin of the articulated robot 600 means a state in which the end 680 of the articulated robot 600 is above the rack 560.
2. The home-return control unit 110 of the take-off mechanism 800 lowers the take-off mechanism 800 to the origin.
The origin of the attachment / detachment mechanism 800 is the lowest position.
FIG. 20 shows a state in which the attachment / detachment mechanism 800 is at the origin.
3. 3. The origin return control unit 110 of the plate moving mechanism 700 returns the plate moving mechanism 700 to the origin.
The origin of the plate moving mechanism 700 is an open position.

* Installation process of squeegee unit 930 S12 *
The control unit 110 operates the articulated robot 600 and attaches the squeegee unit 930 in the rack 560 to the end 680.
The articulated robot 600 fixes the squeegee unit 930 to the end 680.

* Work 200 carry-in process S13 *
The control unit 110 places the work 200 on the jig 400 by a carry-in device (not shown).
That is, the work 200 having the concave surface and the convex surface is placed on the jig 400 having the concave surface and the convex surface. The back surface of the work 200 overlaps the mounting surface formed on the upper surface of the jig 400 without any gap.
The mounting surface of the jig 400 has a suction groove, and the control unit 110 sucks the air in the suction groove. By this suction, the work 200 is closely fixed to the mounting surface of the jig 400.
Even if the work 200 is flexible and is carried in a deformed state at the time of carrying in, it is placed on the mounting surface of the rigid jig 400 and is attracted to the mounting surface to return to the original shape. ..

* Setting process S14 between the plate frame 310 and the squeegee unit 930 *
The control unit 110 operates the articulated robot 600, takes out the squeegee unit 930 from the rack 560, and moves it over the plate frame 310 via the sky above the ink tray 570.
The control unit 110 operates the motor 750 and slides the plate frame 310 from the open position to the printable position. At the same time, the control unit 110 operates the articulated robot 600 and moves the squeegee unit 930 over the work 200 by using the sky above the moving plate frame 310.
That is, the control unit 110 moves the squeegee 910 over the screen 300 when the screen 300 is moved by the plate moving mechanism 700.
The control unit 110 rotates the shaft J1 by 140 degrees to move the squeegee unit 930 from the rack 560 to the print end position S2 of the plate frame 310.

* Ink coating process S15 with scraper 920 *
The control unit 110 operates the articulated robot 600 and coats the screen 300 of the plate frame 310 with ink by the scraper 920.
The control unit 110 moves the tip of the scraper 920 along the curved surface of the screen 300 by the articulated robot 600.
The control unit 110 moves the scraper 920 from the print end position S2 toward the print start position S1 by the articulated robot 600.
The control unit 110 controls the angle of the scraper 920 by the articulated robot 600 so that the attack angle of the scraper 920 with respect to the screen 300 is constant. The attack angle of the scraper 920 is preferably 80 to 100 degrees, preferably 90 degrees.
The control unit 110 operates the pressurizer 932 while the scraper 920 is moving, and presses the scraper 920 against the screen 300. Alternatively, the control unit 110 slides the scraper 920 along the surface of the screen 300 without pressing the scraper 920 against the screen 300.
The control of the scraper 920 by the articulated robot 600 is the same as the control of the squeegee 910 by the articulated robot 600 in the printing step S17 except that the moving direction is opposite, and the details of the control will be described in the printing step S17. do.

* Ascending step S16 of the attachment / detachment mechanism 800 *
The control unit 110 operates the attachment / detachment mechanism 800 to raise the jig 400 on which the work 200 is placed.
The control unit 110 raises the jig 400 until the distance between the work 200 and the screen 300 reaches a predetermined clearance.
The clearance is preset in the range of 1 mm or more and 10 mm or less.

* Printing process of articulated robot 600 S17 *
The control unit 110 moves the squeegee 910 by the articulated robot 600 to print on the concave and convex surfaces of the work 200.
FIG. 21 shows the printing start state.

First, the control unit 110 operates the articulated robot 600 to move the squeegee 910 to the printing start position S1.
The control unit 110 moves the tip of the squeegee 910 along the curved surface of the screen 300.
That is, the articulated robot 600 moves the squeegee 910 in a wavy shape in the printing direction along the curved surface of the work 200.
The articulated robot 600 arranges the three axes of the axis J2, the axis J3, and the axis J5 horizontally and in parallel, and uses the rotation of the three axes of the axis J2, the axis J3, and the axis J5 to squeegee 910. Move in the print direction.
The articulated robot 600 prints by arranging the remaining axes, that is, the axes J1, the axes J4, and the axes J6 on the same vertical plane.
The same vertical plane on which the axis J1, the axis J4, and the axis J6 are arranged is a plane parallel to the printing direction and orthogonal to the plate frame 310 or the screen 300 at the center of the plate frame 310 or the screen 300 in the left-right direction. It is a plane to be.
The control unit 110 controls the angle of the squeegee 910 so that the attack angle of the squeegee 910 with respect to the surface of the work 200 is constant.
The articulated robot 600 controls the posture of the squeegee unit 930 so that the attack angle is constant at any position on the surface of the work 200.
The attack angle of the squeegee 910 is preferably 50 to 90 degrees, preferably 60 to 80 degrees, and preferably 70 degrees.
The articulated robot 600 moves the squeegee unit 930 in the printing direction without applying printing pressure to the squeegee unit 930.
The control unit 110 operates the pressurizer 931 while the squeegee 910 is moving, and presses the squeegee 910 against the screen 300.

The reason why the printing pressure is applied only by the pressurizer 932 instead of being applied by the articulated robot 600 is as follows.
Reason 1: The pressurizer 932 has higher accuracy of keeping the printing pressure constant during printing than the articulated robot 600.
Reason 2: By eliminating the pressure control by the articulated robot 600 and devoting the articulated robot 600 to the movement control and the angle control of the squeegee unit 930, the accuracy of the movement control and the angle control is improved.

The articulated robot 600 moves the squeegee 910 by rotating only the axes arranged horizontally and parallel to the articulated robot 600, that is, by rotating only the three axes of the axes J2, J3, and J5. ..
The articulated robot 600 moves the squeegee 910 along the curved surface of the work 200 while keeping the attack angle of the squeegee 910 with respect to the curved surface of the work 200 constant.
The articulated robot 600 does not rotate the remaining axes, i.e., axes J1, axes J4, and axes J6 during printing.
The control unit 110 does not operate the attachment / detachment mechanism 800 when printing uphill from the printing start position S1 to the top 220 of the convex surface of the work 200.

* Rotation process of rotation mechanism 860 *
The control unit 110 operates the attachment / detachment mechanism 800 during printing, and after printing the top 220 of the convex surface of the work 200, the attachment / detachment mechanism 800 separates the jig 400 from the screen 300.
The control unit 110 pulls the jig 400 away from the screen 300 by using a rotation mechanism 860 that rotates the jig 400 with respect to the screen 300.
FIG. 22 shows the operating state of the attachment / detachment mechanism 800.

As shown in FIG. 23 (a), if the attachment / detachment mechanism 800 is not operated during printing and the jig 400 is not separated from the screen 300, the plate release indicated by the arrow after printing the top 220 of the convex surface of the work 200. The angle decreases. That is, after printing the top 220 of the convex surface of the work 200, the distance between the work 200 and the screen 300 is reduced.
As shown in FIG. 23 (b), the control unit 110 operates the attachment / detachment mechanism 800 after printing the top 220 of the convex surface of the work 200, pulls the jig 400 away from the screen 300, and separates the jig 400 from the plate release angle or the work 200. Maintain a distance from the screen 300.
After printing the top 220 of the convex surface of the work 200, the attachment / detachment mechanism 800 increases the distance between the work 200 and the screen 300 so that the distance between the work 200 and the screen 300 does not decrease.
The release / detachment mechanism 800 is a mechanism for securing a plate release angle by securing a distance between the work 200 and the screen 300 at the place where the squeegee 910 is printing while printing with the squeegee 910.
The control unit 110 increases the distance between the printed convex screen 300 and the jig 400 after printing the convex top 220 of the work 200 by the rotation mechanism 860.
The control unit 110 keeps the height of the upper and lower shafts 839 of the upper and lower cylinders 831 at the concave end of the work 200 constant.
The control unit 110 lowers the upper and lower shafts 839 of the upper and lower cylinders 832 and the upper and lower cylinders 833 at the convex end side of the work 200.
In FIG. 22, the control unit 110 lowers the upper and lower shafts 839 of the upper and lower cylinders 832 and the upper and lower cylinders 833 by the same amount.
Therefore, a gap is formed between the roller 868 at the tip of the roller unit 865 on the upper and lower shafts 839 of the upper and lower cylinders 832 and the receiving plate 821 of the table 820.
The control unit 110 may lower the upper and lower shafts 839 of the upper and lower cylinders 832 and the upper and lower cylinders 833 at a ratio of 1: 2 so that no gap is formed.
The rotation of the rotating shaft 861 of the rotating mechanism 860 causes the table 820 to tilt and the jig 400 to tilt.
By lowering the jig 400 on the convex surface side, the plate release angle can be maintained, and further, it is possible to prevent the convex portion of the work 200 from contacting the lower surface of the screen 300.
The control unit 110 keeps the jig 400 separated from the screen 300 during printing from the top 220 of the convex curved surface of the work 200 to the bottom 230 of the concave curved surface. That is, the control unit 110 keeps the jig 400 separated from the screen 300 during downhill printing.

After printing the top 220 of the convex curved surface of the work 200, the control unit 110 has the following controls.
Control 1. The inclination of the jig 400 is increased until the bottom 230 of the concave curved surface of the work 200 is reached, and the jig 400 is gradually pulled away from the screen 300.
When the bottom 230 of the concave curved surface of the work 200 elapses, the increase in the inclination of the jig 400 is stopped.
Printing after the elapse of the bottom 230 of the concave curved surface of the work 200 is performed while maintaining the inclination of the jig 400 or gradually reducing the inclination of the jig 400.
Control 2. The inclination of the jig 400 is increased until the inflection point 240 of the convex and concave curved surfaces of the work 200 is reached, and the jig 400 is gradually pulled away from the screen 300.
When the inflection point 240 of the work 200 elapses, the increase in the inclination of the jig 400 is stopped.
Printing after the lapse of the inflection point 240 of the work 200 is performed while maintaining the inclination of the jig 400 or gradually reducing the inclination of the jig 400.
When the inclination of the jig 400 is gradually reduced, the control unit 110 brings the jig 400 closer to the screen 300 until the planned clearance is reached.
The control unit 110 does not bring the jig 400 close to the screen 300 until the clearance is less than the planned clearance.

* Lowering process of vertical mechanism 830 *
When the rotation mechanism 860 does not allow sufficient separation, the control unit 110 lowers the entire jig 400 by the vertical mechanism 830 to separate the jig 400 from the screen 300.

* Lowering step S18 of the attachment / detachment mechanism 800 *
When printing is completed, the control unit 110 operates the attachment / detachment mechanism 800 to lower the work 200 and the jig 400 to the origin.

* Evacuation process S19 between the plate frame 310 and the squeegee unit 930 *
The control unit 110 operates the motor 750 to retract the plate frame 310 from the printable position to the open state position.
At the same time as the plate frame 310 is retracted, the control unit 110 operates the articulated robot 600 and moves the squeegee unit 930 to the open state position using the sky above the moving plate frame 310.
The control unit 110 rotates the shaft J1 by 140 degrees to move the squeegee unit 930 from the print end position S2 to the rack 560.
If ink drops from the squeegee 910 or scraper 920 while the squeegee unit 930 is moving, the ink falls on the plate frame 310.
The control unit 110 operates the articulated robot 600 to move the squeegee unit 930 from the sky above the plate frame 310 to the rack 560 via the sky above the ink tray 570.
If ink drops from the squeegee 910 or scraper 920 while the squeegee unit 930 is moving, the ink drops onto the ink pan 570.

* Separation step S20 of squeegee unit 930 *
The control unit 110 rotates the axis J6 with the axis J6 of the articulated robot 600 vertical, and inserts the squeegee unit 930 and the camera 690 into the space R of the suspension portion 561.
The control unit 110 separates the squeegee unit 930 mounted on the end 680 from the end 680 and suspends it from the suspension portion 561 of the rack 560.

* Inspection process S21 *
(Shooting process)
The control unit 110 controls the plate moving mechanism 700 to move the plate frame 310 after printing to open the sky above the work 200.
The control unit 110 operates the articulated robot 600 in a state where the screen 300 is moved by the plate moving mechanism 700 to open the sky above the work 200, and the camera 690 is moved above the work 200.
The control unit 110 moves the camera 690 fixed to the articulated robot 600 with the squeegee 910 removed from the articulated robot 600.
The control unit 110 positions the camera 690 above the pair of reference marks 410 by the articulated robot 600.
The arrangement position of the reference mark 410 is known, and the articulated robot 600 photographs a pair of reference marks 410 in order.
The control unit 110 positions the camera 690 by the articulated robot 600 with the camera axis JC of the camera 690 facing downward in the vertical direction.
The control unit 110 operates the camera 690 to capture a pair of reference marks 410 and a print line 201 printed between the pair of reference marks in one image.
The control unit 110 operates the articulated robot 600 to move the camera 690, and the camera 690 photographs all 14 pairs of reference marks 410 in order. At that time, the camera axis is always in the vertical direction. That is, the articulated robot 600 moves the camera 690 with the axis J6 in the vertical direction.
After shooting, the control unit 110 operates the articulated robot 600 to move the camera 690 over the rack 560.

(Analysis process)
The control unit 110 analyzes the image taken by the camera 690 and executes the following position inspection, width inspection, and distance inspection.

(Position inspection)
The control unit 110 analyzes an image taken at one location by the camera 690.
The control unit 110 determines the quality of the print pattern based on the position of the pair of reference marks and the position of the print pattern.
A. Example of Position Inspection Using One Reference Mark The control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outer line 202 of the print line 201, as shown in FIG. 15D.
As shown in FIG. 15D, the control unit 110 calculates the distance G3 from the center position of the reference mark P1 to the outer line 203 of the print line 201.
The control unit 110 determines that printing is normal if the distance G1 and the distance G2 are the planned distances.
The control unit 110 determines that printing is defective if the distance G1 and the distance G2 are other than the planned distance.
The position of the reference mark 410 is not used for this position inspection. That is, the coordinates of the center position of the reference mark 410 are not used for the position inspection.
B. Position inspection example 1 with two reference marks
As shown in FIG. 15D, the control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outer line 202 of the print line 201.
As shown in FIG. 15D, the control unit 110 calculates the distance G4 from the center position of the reference mark P2 to the outer line 203 of the print line 201.
The control unit 110 determines that printing is normal if the distance G1 and the distance G4 are the planned distances.
The control unit 110 determines that printing is defective if the distance G1 and the distance G4 are other than the planned distance.
The position of the reference mark 410 is not used for this position inspection. That is, the coordinates of the center position of the reference mark 410 are not used for the position inspection.
C. Position inspection example 2 with two reference marks
As shown in FIG. 15D, the control unit 110 detects the outer outline line 202 and the outer outline line 203, calculates the center of the outer outline line 202 and the outer outline line 203, and calculates the position of the center line 204 of the print line 201. And.
As shown in FIG. 15D, the control unit 110 calculates the distance K1 from the center position of the reference mark P1 to the center line 204.
As shown in FIG. 15D, the control unit 110 calculates the distance K4 from the center position of the reference mark P2 to the center line 204.
The control unit 110 determines that printing is normal if the distance K1 and the distance K4 are the planned distances.
The control unit 110 determines that the printing is defective if the distance K1 and the distance K4 are other than the planned distance.
When the print line 201 must be printed in the center of the pair of reference marks, the control unit 110 further determines whether the center line 204 of the print line 201 is located at an intermediate position of the distance W1 of the pair of reference marks. do.
If K1 = K4 = W1 / 2, the control unit 110 determines that printing is normal.
The control unit 110 determines that the printing is defective unless K1 = K4 = W1 / 2.
That is, if the center line 204 of the print line 201 is located at the intermediate position of the distance W1 of the pair of reference marks, the control unit 110 determines that printing at that position is normal.
If the center line 204 of the print line 201 deviates from the middle of the two reference marks, the control unit 110 determines that printing at that position is defective.
The distance W1 of the pair of reference marks is used for this position inspection.
The position of the reference mark 410 is not used for this position inspection. That is, the coordinates of the center position of the reference mark 410 are not used for the position inspection.
As described above, in the position inspection, the print line and one or a pair of reference marks are photographed in one image, the distance between the print line and the reference mark is calculated, and the quality of the print position of the print line is determined. do.

(Width inspection)
The control unit 110 analyzes an image taken at one location by the camera 690.
The control unit 110 determines the quality of the print pattern based on the distance W1 of the pair of reference marks and the width of the print pattern.
The control unit 110 calculates the width of the print line 201 from the distance W1 at the center position of the pair of reference marks and the image of the print line 201.
Specifically, the control unit 110 performs the following calculation.
A. Example of width inspection using one reference mark The control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outer line 202 of the print line 201, as shown in FIG. 15D.
As shown in FIG. 15D, the control unit 110 calculates the distance G3 from the center position of the reference mark P1 to the outer line 203 of the print line 201.
The control unit 110 calculates “width of print line 201 = G3-G1” to obtain the width of print line 201.
The control unit 110 determines that printing is normal if the width of the print line 201 is the planned width V1.
The control unit 110 determines that printing is defective if the width of the print line 201 is other than the planned width V1.
The placement position of the reference mark 410 is not used for the width inspection. That is, the coordinates of the center position of the reference mark 410 are not used for the position inspection.
B. Example of Width Inspection Using Two Reference Marks As shown in FIG. 15D, the control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outer line 202 of the print line 201.
As shown in FIG. 15D, the control unit 110 calculates the distance G4 from the center position of the reference mark P2 to the outer line 203 of the print line 201.
The control unit 110 takes out the distance W1 between the center position of the reference mark P1 and the center position of the reference mark P2 from the storage device, and performs the following calculation.
Width of print line 201 = W1- (G1 + G4)
The control unit 110 determines that printing is normal if the width of the print line 201 is the planned width V1.
The control unit 110 determines that printing is defective if the width of the print line 201 is other than the planned width V1.
The distance W1 of the pair of reference marks is used for the width inspection.
The placement position of the reference mark 410 is not used for the width inspection. That is, the coordinates of the center position of the reference mark 410 are not used for the position inspection.
As described above, in the width inspection, since the print line and one or a pair of reference marks are captured in one image, the distance between the print line and the reference mark can be calculated, and the width of the print line can be calculated. Can be judged as good or bad.

(Distance inspection)
The control unit 110 analyzes images at a plurality of locations taken by the camera 690.
The control unit 110 calculates the distance between the reference mark at each location and the print pattern at each location based on the position of the reference mark at each location and the position of the print pattern at each location.
The control unit 110 calculates the distances of the print patterns at a plurality of locations based on the distance between the reference mark and the print pattern and the distances of the reference marks at the plurality of locations.
The control unit 110 calculates the linear distance in a plan view instead of the arc length of the curved surface of the work 200, and determines the quality of printing.
For the distance inspection, the distance between the two reference marks and the two printing lines 201 and the distance between the two reference marks stored in the storage device are used.
The placement position of the reference mark 410 is not used for the distance inspection. That is, the coordinates of the center position of the reference mark 410 are not used for the position inspection.
When the distance between the two reference marks is not stored in the storage device, the distance between the two reference marks may be calculated from the coordinates of the center position of the reference mark 410.

Specifically, the control unit 110 performs the following inspections.
A. Distance inspection example 1
It is assumed that the distance between the center position of the reference mark P1 arranged on the straight line L shown in FIG. 15 and the center position of the reference mark P4 is W2.
The control unit 110 obtains the distance G1 between the center position of the reference mark P1 and the outer line 202 of the print line 201 based on the position of the reference mark P1 and the position of the outer line 202 of the print line 201.
The control unit 110 obtains the distance G2 between the center position of the reference mark P4 and the outer line 213 of the print line 211 based on the position of the reference mark P4 and the position of the outer line 213 of the print line 211.
The control unit 110 determines that the distance W2- (distance G1 + distance G2) is normal if the planned length V3.
The control unit 110 determines that the distance W2- (distance G1 + distance G2) is defective if it is other than the planned length V3.
Further, it is assumed that the distance between the center position of the reference mark P2 arranged on the straight line L shown in FIG. 15 and the center position of the reference mark P3 is W3.
The control unit 110 obtains the distance G4 between the center position of the reference mark P2 and the outer line 203 of the print line 201 based on the position of the reference mark P2 and the position of the outer line 203 of the print line 201.
The control unit 110 obtains the distance G5 between the center position of the reference mark P3 and the outer line 212 of the print line 211 based on the position of the reference mark P3 and the position of the outer line 212 of the print line 211.
The control unit 110 determines that the distance W3 + (distance G4 + distance G5) is normal if the planned length V4.
The control unit 110 determines that the distance W3 + (distance G4 + distance G5) is defective if it is other than the planned length V4.
B. Distance inspection example 2
It is assumed that the distance between the center position of the reference mark P1 arranged on the straight line L shown in FIG. 15 and the center position of the reference mark P4 is W2.
The control unit 110 obtains the distance K1 between the center position of the reference mark P1 and the center line 204 of the print line 201 based on the position of the reference mark P1 and the position of the center line 204 of the print line 201.
The control unit 110 obtains the distance K2 between the center position of the reference mark P4 and the center line 214 of the print line 211 based on the position of the reference mark P4 and the position of the center line 214 of the print line 211.
The control unit 110 determines that the distance W2- (distance K1 + distance K2) is normal if the planned length V5.
The control unit 110 determines that the distance W2- (distance K1 + distance K2) is defective if it is other than the planned length V5.

Further, it is assumed that the distance between the center position of the reference mark P2 arranged on the straight line L shown in FIG. 15 and the center position of the reference mark P3 is W3.
The control unit 110 obtains the distance K4 between the center position of the reference mark P2 and the center line 204 of the print line 201 based on the position of the reference mark P2 and the position of the center line 204 of the print line 201.
The control unit 110 obtains a distance K5 between the center position of the reference mark P3 and the center line 214 of the print line 211 based on the position of the reference mark P3 and the position of the center line 214 of the print line 211.
The control unit 110 determines that the distance W3 + (distance K4 + distance K5) is normal if the planned length V5.
The control unit 110 determines that the distance W3 + (distance K4 + distance K5) is defective if it is other than the planned length V5.

As described above, in the distance inspection, since the print line and one reference mark are photographed at two places, the distance between the two reference marks and the distance from the reference mark obtained from the two images to the print line are obtained. Can calculate the distance of the print line.
Other inspection contents, inspection methods, and calculation methods different from the above-mentioned inspection contents, inspection methods, and calculation methods may be used.

In the inspection step S21, only the placement position of the reference mark 410 is used for positioning the camera 690.
In the inspection step S21, the arrangement position of the reference mark 410 is not used in order to judge the quality of the print pattern.
In the inspection step S21, only the distance between the reference mark 410 and the print pattern, or only the distance between the reference marks 410 is used.
The control unit 110 can display an image, a measured value, a calculated value, and an inspection result taken for visual check on the monitor 120 during or after the shooting.
Specifically, the control unit 110 sequentially or selectively displays an image, a measured value, a calculated value, and an inspection result on the monitor 120 based on an instruction from the console 170.
Further, the control unit 110 displays an image, a measured value, a calculated value, and an inspection result of the print pattern determined to be defective on the monitor 120 based on the instruction from the console 170.

* Work 200 carry-out process S22 *
The control unit 110 carries out the work 200 by a carrying-out device (not shown).

* Repeat process S23 *
After carrying out the work 200, the control unit 110 determines whether or not there is the next printing, and returns to the mounting step S12 of the squeegee unit 930.
The control unit 110 ends printing if there is no next print.

As described above, in the first embodiment, a screen printing method having a function of printing on a work 200 having curved surfaces having both uneven surfaces has been described.
Further, a screen printing method in which the printing position is measured by the camera 690 after screen printing and the printing result is inspected has been described.
According to the screen printing method described above, it is possible to print on a glass substrate having a curved surface shape, a film, or other curved surface workpiece.

*** Explanation of the effect of Embodiment 1 ***
According to the first embodiment, since the articulated robot 600 is provided, printing can be performed on the curved work 200.
The merits of using the articulated robot 600 are as follows.
A. In curved surface printing, the squeegee 910 and the scraper 920 can be moved along the curved surface.
B. In curved surface printing, the attack angles of the squeegee 910 and the scraper 920 can be made constant.
C. The articulated robot 600 can perform two types of operations, printing and inspection. That is, by making the squeegee unit 930 removable, inspection by the camera 690 becomes possible.
D. The squeegee unit 930 can be moved to the rack 560, and the sky above the work 200 can be completely opened.
E. Instead of the loading device and the unloading device of the work 200, the articulated robot 600 can be used to carry in the work 200 and unload the work 200.

Since the screen printing device 100 includes a jig 400 having a curved surface corresponding to the curved surface of the work, printing can be performed without deforming the work 200.

Since the articulated robot 600 is a ceiling-mounted type, the plane area of the screen printing device 100 is reduced.
Since the articulated robot 600 prints by arranging the three axes horizontally and arranging the remaining axes on the same plane, the squeegee unit 930 can be operated with high accuracy.
Since the articulated robot 600 controls and prints only three horizontally arranged axes, the squeegee unit 930 can be accurately linearly moved in a plan view.
Since the articulated robot 600 prints by fixing all the remaining axes other than the three horizontally arranged axes, the attitude control of the squeegee unit 930 becomes easy.

According to the first embodiment, since the screen having the uneven surface corresponding to the uneven surface of the surface of the work 200 is provided, printing can be performed on the curved work 200.
Since the work 200, the screen 300, and the attachment / detachment mechanism 800 for changing the distance are provided, the plate release angle can be optimally adjusted.

Since the detaching mechanism 800 separates the jig 400 from the screen 300 after printing the top 220 of the convex surface of the work 200, it is possible to avoid a decrease in the plate separation angle between the convex surface of the work 200 and the screen 300.

The release / detachment mechanism 800 can adjust the plate separation angle between the work 200 and the screen 300 by the vertical mechanism 830 that moves the jig 400 up and down and the rotation mechanism 860 that rotates the jig 400.

According to the first embodiment, since the jig 400 having the reference mark 410 and the camera 690 are provided, the print pattern can be inspected.
Since the reference mark 410 is formed on the rigid jig 400 instead of the curved plate work 200, the reference mark 410 can be inspected accurately without any misalignment.

Since the reference mark and the print pattern are photographed with the camera 690 pointing the camera axis downward in the vertical direction, the imaging is easy and the position calculation is easy.

Since the work 200 is transparent, the camera 690 can take a picture of the reference mark 410 through the work 200.

According to the first embodiment, since the plate moving mechanism 700 for moving the plate frame 310 is provided, the print pattern can be inspected without moving the work 200.
When the work 200 is inspected after being carried out from the jig 400, the work 200 may be inspected in a deformed state, and accurate inspection is not guaranteed.

Since the articulated robot 600 moves the camera 690 with the squeegee unit 930 removed, ink does not fall from the squeegee 910 or the scraper 920 during the inspection.
Since the articulated robot 600 constantly fixes the camera 690, it is not necessary to attach / detach the camera 690.

Since the print line and at least one reference mark are captured in one image, the distance between the print line and one reference mark can be calculated, and the quality of the print position of the print line or the width of the print line can be calculated. Good or bad can be judged.
That is, since the position of the reference mark is known, the quality of the position of the print line can be known by calculating the distance between the reference mark and the print line, and the quality of the print pattern can be determined.

Since the print line and the reference mark are photographed at multiple locations, the print line distance can be calculated from the distance between the reference marks and the distance from the reference mark to the print line, and the quality of the print line distance can be determined. Can be determined.
That is, since the distance between the two reference marks 410 is known, the distance between the two print lines can be calculated based on the positions of the two reference marks 410 and the positions of the print lines, and the quality of the print pattern can be determined. Can be done.

*** Modification of Embodiment 1 ***
(Modification example of work 200)
The surface of the work 200 may have a plurality of concave curved surfaces and a plurality of convex curved surfaces.
The length of the radius between the concave curved surface and the convex curved surface on the surface of the work 200 may be different.
On the surface of the work 200, there may be a portion where the concave curved surface and the concave curved surface having different radii are continuous.
On the surface of the work 200, there may be a portion where the convex curved surface and the convex curved surface having different radii are continuous.
On the surface of the work 200, there may be a portion where the curved surface and the flat surface are continuous.
The back surface of the work 200 does not have to have a curved surface corresponding to the front surface of the work 200, and the thickness of the work 200 does not have to be constant.
The back surface of the work 200 may be flat. When the back surface of the work 200 is a flat surface, the jig 400 may be a flat surface corresponding to the flat surface of the back surface of the work 200.
The work 200 may have at least one or both of a concave portion and a convex portion not only in the front-rear direction but also in the left-right direction. When the work 200 has a concave portion or a convex portion in the left-right direction, the convex portion or the concave portion corresponding to the concave portion or the convex portion of the work 200 may be present at the tip of the squeegee 910.

(Modification example of jig 400)
The mounting surface of the jig 400 does not have to match the shape of the back surface of the work 200, and if the work 200 has sufficient hardness, the mounting surface of the jig 400 and the back surface of the work 200 There may be a gap between the.
A pair of reference marks 410 may not be present for the print line 201, or one reference mark 410 may be present for the print line 201. Even when one reference mark 410 exists with respect to the print line 201, the distance between the position of the reference mark 410 and the print line 201 can be calculated because the position of the reference mark 410 is known.
Further, even when one reference mark 410 exists for the print line 201, the distances of the plurality of print lines 201 can be calculated by using the distances of the plurality of reference marks 410.

The reference mark 410 may be formed corresponding to a printing pattern of a curved line, a square, a triangle, a polygon, a semicircle, or another shape instead of the straight printing line 201.
The reference mark 410 does not have to be at each end of the print line 201, and may be present only at a place that is considered to be important for quality inspection.
The reference mark 410 does not have to be a hole, but may be a mark or a sticker written on the surface of the jig 400.
The shape of the reference mark 410 does not have to be circular, and may be a square, a triangle, a polygon, a straight line, a semicircle, or any other shape.
The reference mark 410 may be any as long as it can be identified by being photographed by the camera 690.
The reference mark 410 may be located only on the outside of the work 200.
The reference mark 410 may be located only inside the work 200.
When the reference mark 410 can be photographed by the camera 690 through the work 200, the reference mark 410 may be located only at the position covered by the work 200. A specific example of the case where the reference mark 410 can be photographed by the camera 690 through the work 200 is a case where the work 200 is transparent or a case where the work 200 has a through hole for exposing the reference mark 410.
The reference mark 410 may be formed so that the central axis of the hole of the reference mark 410 is not in the vertical direction but perpendicular to the surface of the work 200. When shooting with the camera 690, the articulated robot 600 shoots with the camera axis JC aligned with the central axis of the hole of the reference mark 410. The control unit 110 calculates the size and distance of the print pattern based on the arc length of the curved surface.

(Modification example of articulated robot 600)
The articulated robot 600 does not have to be a 6-axis robot, but may be a 5-axis, 4-axis, or 3-axis robot.
Specifically, the axis J4 may not be present.
The axis J1 may be omitted if there is no inspection by the camera 690 and it is not necessary to move the squeegee unit 930 to the rack 560.
The shaft J6 may be omitted if there is no inspection by the camera 690 and it is not necessary to rotate the squeegee unit 930 over the rack 560.

The plate moving mechanism 700 and the take-off mechanism 800 can also be used for a screen printing device that uses a driving mechanism that linearly moves the squeegee unit 930 in the horizontal direction.
Further, the above-mentioned inspection contents and inspection method using the reference mark can also be used for a screen printing apparatus using a drive mechanism for linearly moving the squeegee unit 930 in the horizontal direction.
Further, the camera 690 does not have to be attached to the articulated robot 600, and instead of attaching the camera 690 to the articulated robot 600, the camera 690 may be attached to a two-dimensional drive mechanism that moves the camera 690 in the horizontal two-dimensional direction.

(Modification example of plate moving mechanism 700)
The plate moving mechanism 700 may move the plate frame 310 back and forth without moving the plate frame 310 left and right.
The plate moving mechanism 700 may rotate the plate frame 310 around one side of the plate frame 310.
The plate moving mechanism 700 may move the take-off mechanism 800 by placing the take-off mechanism 800 on a moving table without moving the plate frame 310.

(Modification example of attachment / detachment mechanism 800)
The upper and lower cylinders 832 and the linear shaft 842 in the center of the attachment / detachment mechanism 800 may not be provided as long as the table 820 is solid.
The number of linear shafts 841 in front of the attachment / detachment mechanism 800 may not be four, but may be two.
The attachment / detachment mechanism 800 may not include both the vertical mechanism 830 and the rotary mechanism 860, and may include only the vertical mechanism 830 or only the rotary mechanism 860.
As the rotation mechanism 860, a mechanism that tilts only on one side is shown, but the rotation mechanism 860 may be a mechanism that tilts only on the other side. Alternatively, the rotation mechanism 860 may be a mechanism that tilts to both sides.
A plurality of vertical guides 350 may be provided on the left and right sides of the lower surface of the table 820, or a plurality of vertical guides 350 may be provided on the front and rear sides of the lower surface of the table 820.

(Modification example of printing unit 900)
Although the case where the printing unit 900 has the squeegee 910 and the scraper 920 is shown, either the squeegee 910 or the scraper 920 may be exchanged and attached to the printing unit 900.
If the printing unit 900 does not come into contact with the forearm 660 due to the rotation of the end 680, it is not necessary to provide the space S in the printing unit 900.

(Example of operation modification: test printing)
The case of test printing will be described which is different from the above-described operation.
In the loading step S13 of the work 200, the work 200 is placed on the jig 400.
After that, the roll film in the roll holding portion 590 is pulled out to cover the work 200 with the roll film.
After that, the setting step S14 to the inspection step S21 are carried out on the roll film.
That is, the plate frame 310 and the squeegee unit 930 are moved to the printing position and printed on the roll film.
Then, the printing result on the roll film is inspected.
After the inspection of the printing result on the roll film is completed, the roll film is peeled off from the work 200.
If the print result on the roll film is defective, remove the cause of the defect and then perform test printing again.
If the printing result on the roll film is normal, the work 200 is subjected to the setting step S14 to the unloading step S22. That is, the plate frame 310 and the squeegee unit 930 are moved to the printing position, printing and inspection are performed on the work 200, and the work 200 is carried out.

(Example of operation modification: sampling inspection)
The inspection step S21 does not have to be performed every time, and a sampling inspection may be performed.
When performing the sampling inspection, the separation step S20 of the squeegee unit 930 may not be carried out, and the standby step of the squeegee unit 930 may be carried out instead of the separation step S20.
The standby step is a step in which the articulated robot 600 makes the squeegee unit 930 stand by in the sky above the ink tray 570 with the squeegee unit 930 attached.
Even if ink drops from the squeegee 910 or the scraper 920 during standby, it can be received by the ink tray 570.

(Example of modified operation: from intaglio printing to convex printing)
As shown in FIG. 1, the concave surface of the work 200 may be printed first and the convex surface may be printed later.
FIG. 24 shows a case where the concave surface of the work 200 is printed first and the convex surface is printed later.
When printing the concave surface of the work 200, it is not necessary to separate the jig 400 from the screen 300 because there is no convex portion in the printed portion.
As shown in FIG. 24A, even after printing the top 220 of the convex surface of the work 200, if the height difference of the downhill is small, printing is performed before the plate separation angle or the distance between the work 200 and the screen 300 becomes small. Therefore, it is not necessary to separate the jig 400 from the screen 300.
After printing the top 220 of the convex surface of the work 200, when the height difference of the downhill is large, as shown in FIG. 24 (b), only the vertical mechanism 830 is operated to pull the entire jig 400 away from the screen 300. Alternatively, as shown in FIG. 24 (c), the rotation mechanism 860 is operated to pull the rear of the jig 400 away from the screen 300.
Although not shown, when the work 200 has a wavy surface composed of a plurality of continuous irregularities, the control unit 110 uses the vertical mechanism 830 and the rotation mechanism 860 to release the plate separation angle between the work 200 and the screen 300 or the screen 300. Adjust the distance between the work 200 and the screen 300.
As a general rule, the control unit 110 controls the work 200 and the screen 300 to be separated from each other in the downhill printing after the uphill printing.

(Example of modified operation: reverse printing)
The printing direction may be reversed.
When the printing direction is reversed, the following configuration can be considered.
Configuration 1. The arrangement of the articulated robot 600 shown in FIG. 1 is reversed back and forth.
Configuration 2. The printing unit 900 is attached to the articulated robot 600 shown in FIG. 1 in the opposite direction.
Configuration 3. The squeegee 910 and the scraper 920 are inverted 180 degrees with respect to the printing unit 900 of the articulated robot 600 shown in FIG. 1, and the mounting positions of the squeegee 910 and the scraper 920 are exchanged.

(Example of modified operation: attachment / detachment of camera 690)
A camera holding portion for holding the camera 690 may be formed in the rack 560, and the camera 690 may be attached to and detached from the articulated robot 600. At the time of printing, the control unit 110 holds the camera 690 in the camera holding unit, and at the time of inspection, the squeegee unit 930 is removed from the articulated robot 600 and the camera 690 is attached to the articulated robot 600.

(Example of modified operation: printing pressure)
At the time of printing, the printing pressure may be applied to the squeegee 910 by the articulated robot 600 instead of the pressurizer 931.
Alternatively, printing pressure may be applied to the squeegee 910 by the pressurizer 931 and the articulated robot 600 at the time of printing.
Similarly, during ink coating, pressure may be applied to the scraper 920 by the articulated robot 600 instead of the pressurizer 932.
Alternatively, pressure may be applied to the scraper 920 by the pressurizer 932 and the articulated robot 600 during ink coating.

Embodiment 2.
In this embodiment, points different from the above-described embodiment will be described.
The attachment / detachment mechanism 800 of this embodiment is a modification of the configuration of the attachment / detachment mechanism 800 of the above-described embodiment.
In this embodiment, a case where the upper and lower cylinders are servo cylinders will be described.

<< Detachment mechanism 800 >>
FIG. 25 is a front view of the attachment / detachment mechanism 800.
FIG. 26 is a left side view of the attachment / detachment mechanism 800.
FIG. 27 is a right side view of the attachment / detachment mechanism 800.
FIG. 28 is a plan view of the attachment / detachment mechanism 800.
X in FIG. 28 is a portion where the vertical mechanism 830 is deleted to make the rotating mechanism 860 easier to see.
FIG. 29 is a left side view of the vertical guide 850 of the attachment / detachment mechanism 800.
25, 26, and 27 are views in which the attachment / detachment mechanism 800 is at the origin and the jig 400 is at the bottom.

<Upper and lower mechanism 830>
The vertical mechanism 830 is fixed to the floor surface 950 of the housing 500.
The lower part of the vertical mechanism 830 is arranged between the floor surface 950 and the bottom surface 951 of the housing 500.
The upper part of the vertical mechanism 830 is arranged on the upper part of the floor surface 950 of the housing 500.
The vertical mechanism 830 has a plurality of servo cylinders arranged along the printing direction.
The vertical mechanism 830 has four servo cylinders and six linear shafts.
The servo cylinder moves the table 820 up and down.
A servo cylinder is an actuator that is electrically expanded and contracted by controlling the rotation speed of a servomotor.
The servo cylinder has a servomotor 889 and a vertical shaft 839 that moves up and down.
By controlling the rotation of the servomotor 889, the control unit 110 can accurately position the upper and lower shafts 839 at an arbitrary position.
The linear shaft supports the linear motion of the servo cylinder and regulates the vertical movement of the table 820 in the vertical direction.
Each linear shaft has a linear motion shaft 849 that slides up and down.

The four servo cylinders are arranged at four locations on the left and right in front of and behind the table 820.
The two servo cylinders 881 are located below one end of the table 820.
The four linear shafts 841 are arranged inside the two servo cylinders 881.
The two servo cylinders 883 are arranged at the other end of the table 820.
The two linear shafts 843 are arranged inside the two servo cylinders 883.

An adjustment pin 837 is attached to the tip of the upper and lower shafts 839.
The adjusting pin 837 is a bolt screwed into the tip of the upper and lower shafts 839. By rotating the adjusting pin 837 with respect to the upper and lower shafts 839, the height of the adjusting pin 837 can be adjusted with respect to the upper and lower shafts 839.
A push-up 836 is attached to the lower surface of the upper and lower plates 844.
The push-up portion 836 is a point where the tip of the adjusting pin 837 comes into contact.
The adjustment pin 837 is raised by raising the upper and lower shafts 839, and the push-up portion 836 is pushed up by raising the adjustment pin 837. In this way, the upper and lower plates 844 are raised.
The lowering of the upper and lower shafts 839 lowers the adjusting pin 837, and the lowering of the adjusting pin 837 lowers the push-up 836. In this way, the upper and lower plates 844 are lowered by their own weight.
The upper and lower plates 844 are fixed to the linear motion shafts 849 of the four linear shafts 841 arranged inside the two servo cylinders 881.
The upper and lower plates 844 fix two bearings 862 at both ends.
The upper and lower plates 846 are fixed to the linear motion shafts 849 of the two linear shafts 843 arranged inside the two servo cylinders 883.
The upper and lower plates 846 fix two roller units 866 at both ends.

Both ends of the upper and lower plates 844 are placed on the adjustment pins 837 of the two servo cylinders 881 via the push-up portion 836.
Both ends of the upper and lower plates 846 are placed on the adjustment pins 837 of the two servo cylinders 883 via the push-up portion 836.
Since the upper and lower plates 844 and the upper and lower plates 846 are mounted on the servo cylinder via the adjustment pin 837, the upper and lower plates 846 may be tilted to the left and right due to the ascent of the upper and lower shafts 839 of the servo cylinder.
Therefore, a linear shaft is arranged on the side of the servo cylinder so that the vertical shaft 849 of the linear shaft rises to prevent the upper and lower plates from tilting to the left and right so that the upper and lower plates 846 move horizontally in the vertical direction.

<Upper and lower guide 850>
As shown in FIGS. 25, 28 and 29, the attachment / detachment mechanism 800 has a vertical guide 850 that regulates the left-right tilt of the jig 400.
FIG. 29A shows the vertical guide 850 in the state shown in FIG. 25, that is, the state in which the jig 400 is at the bottom.
FIG. 29B shows a case where the servo cylinder 883 of the attachment / detachment mechanism 800 is raised.
The vertical guide 850 is arranged at a position closer to the rear of the table 820 and closer to the center than the servo cylinder 883, and is arranged at the center in the width direction of the table 820.
The vertical guide 850 is a guide that prevents at least one or both of the table 820 from moving left and right and tilting left and right when the table 820 moves up and down.
The vertical guide 850 has a plate 851 and a cam follower 852.
The plate 851 is fixed to the table 820 and extends vertically downward from the lower surface of the table 820.
A plurality of cam followers 852 are attached to the plate 851.
The plurality of cam followers 852 are arranged in the vertical direction.
The upper and lower guide 850 has a guide pillar 854 and a guide portion 853.
The guide pillar 854 is a pillar fixed to the floor of the base 510 of the housing 500 and extending vertically upward from the floor surface 950.
The guide portion 853 exists in the vertical direction on one side surface of the guide pillar 854, and is a vertical guide that sandwiches the cam follower 852.
The guide portion 853 allows the cam follower 852 to move in the vertical direction and the front-rear direction, but prohibits the movement in the left-right direction.
The guide portion 853 prohibits the jig 400 from moving left and right and tilting left and right.

<Adjustment mechanism 870>
FIG. 27 shows the adjustment mechanism 870.
The vertical mechanism 830 has an adjusting mechanism 870 that adjusts the height of the servo cylinder.
The adjusting mechanism 870 has a connecting plate 871.
The connecting plate 871 is arranged between the floor surface 950 and the bottom surface 951 of the housing 500.
The connecting plates 871 are arranged at two locations, front and rear of the table 820.
The connecting plate 871 is located under the floor of the base 510 and connects the lower ends of the linear motion shafts 849 of the linear shafts on the left and right.
A total of four linear motion shafts 849 are attached to the front, rear, left and right sides of the upper and lower plates 844.
A total of two linear motion shafts 849 are attached to the left and right of the upper and lower plates 846.
The upper and lower plates 844 and the upper and lower plates 846 move up and down in parallel with the floor surface 950 by the linear motion shaft 849.

<Rotating mechanism 860>
The rotation mechanism 860 is arranged above the vertical mechanism 830, and moves up and down by the vertical movement of the vertical mechanism 830.
The rotation mechanism 860 is a mechanism in which the table 820 is arranged on the upper portion and the table 820 is tilted.
The rotation mechanism 860 has a shaft unit 864 and a roller unit 866.
The configuration of the rotation mechanism 860 and the roller unit 866 is the same as that of the first embodiment.

*** Explanation of operation ***
Hereinafter, the operation of the attachment / detachment mechanism 800 of the second embodiment will be described mainly different from that of the first embodiment.
The control unit 110 can control the amount of rise of the servo cylinder 881 and the servo cylinder 883 during printing to change the inclination of the table 820.
FIG. 30 shows a case where the end portion of the attachment / detachment mechanism 800 at the printing direction is raised by using only the servo cylinder 883 from the state shown in FIG. 25, that is, the state where the jig 400 is at the bottom. ..
FIG. 31 shows a case where only the servo cylinder 881 is used to raise the end portion of the attachment / detachment mechanism 800 in the printing direction from the state shown in FIG.

FIG. 32 shows a state in which the inclination of the table 820 of the attachment / detachment mechanism 800 is changed by controlling the ascending amount of the servo cylinder 881 and the servo cylinder 883.
FIG. 32A shows a case where the height of the upper and lower shafts 839 of the servo cylinder 881 is kept constant and the height of the upper and lower shafts 839 of the servo cylinder 883 is changed.
FIG. 32B shows a case where the height of the servo cylinder 883 vertical shaft 839 is kept constant and the height of the servo cylinder 881 vertical shaft 839 is changed.
FIG. 32 (c) shows a case where the height of the upper and lower shafts 839 of the servo cylinder 881 is increased and the height of the upper and lower shafts 839 of the servo cylinder 883 is decreased by an equal amount.
FIG. 32 (d) shows a case where the height of the upper and lower shafts 839 of the servo cylinder 881 is reduced and the height of the upper and lower shafts 839 of the servo cylinder 883 is reduced twice as much as the height of the upper and lower shafts 839 of the servo cylinder 881. There is.
In this way, the control unit 110 can freely and accurately change the inclination of the table 820 by the servo cylinder 881 and the servo cylinder 883.

As described above, the screen printing apparatus of the second embodiment has a plurality of upper and lower cylinders in which the upper and lower mechanisms are arranged along the printing direction, and the control unit 110 raises the plurality of upper and lower cylinders during screen printing. Adjust the amount. The jig 400 is tilted in the positive direction or the negative direction with respect to the printing direction during screen printing by changing the amount of rise of the upper and lower cylinders.

*** Explanation of the effect of Embodiment 2 ***
According to the second embodiment, since the attachment / detachment mechanism 800 capable of changing the inclination angle of the table in the positive direction or the negative direction is provided, the plate separation angle between the work 200 and the screen 300 can be optimally adjusted. Can be done.

100 screen printing device, 110 control unit, 120 monitor, 130 robot controller, 140 image processing unit, 150 vacuum pump, 160 pneumatic circuit, 170 console, 200 workpieces, 2011,211 printing line, 202, 203, 212, 213 outline Line, 204, 214 Center line, 220 Top, 230 Bottom, 240 Turn point, 300 screen, 310 Plate frame, 320 Top, 330 Bottom, 340 Turn point, 400 Jig, 410 Reference mark, 500 chassis, 510 Base, 520 control box, 530 pillar frame, 540 beam frame, 550 top plate, 560 rack, 561 suspension, 570 ink pan, 590 roll holder, 600 articulated robot, 610 base, 620 body, 630 shoulder, 640 Upper arm, 650 elbow, 660 forearm, 670 wrist, 680 end, 690 camera, 700 plate movement mechanism, 720 legs, 730 slide mechanism, 740 transfer belt, 750 motor, 760 frame fixing part, 800 attachment / detachment mechanism, 820 table , 821 bearing plate, 822 frame, 830 vertical mechanism, 831,832,833 vertical cylinder, 835 floating joint, 836 push-up, 837 adjustment pin, 839 vertical shaft, 841,842,843 linear shaft, 844,845,846 vertical shaft. Plate, 849 linear motion shaft, 850 vertical guide, 851 plate, 852 cam follower, 853 guide part, 854 guide pillar, 860 rotation mechanism, 861 rotation shaft, 862 bearing, 864 shaft unit, 856,866 roller unit, 867 shaft, 868 Roller, 870 adjustment mechanism, 871 connecting plate, 872 screw, 873 dial gauge, 881,883 servo cylinder, 889 servo motor, 900 printing part, 910 squeegee, 920 scraper, 930 squeegee unit, 931 pressurizer, 932 pressurizer, 933 Fixed plate, 934 lower plate, 935 side plate, 936 upper plate, 937 attachment / detachment part, 938 linear bush, 939 floaty Ng joint, 940 linear motion shaft, 941 mounting part, 942 mounting part, 943 pressure shaft, 950 floor surface, J1, J2, J3, J4, J5, J6 axis, JC camera axis, S1 printing start position, S2 printing end Position, P1, P2, P3, P4 reference mark.

Claims (12)

In a screen printing device that prints on a workpiece having a convex surface using a squeegee.
A jig on which the work is placed and
A screen having a convex surface corresponding to the convex surface of the surface of the work and having a printing pattern,
A detachment mechanism to which the jig is attached so that a rotation shaft is provided at one end of the jig and the distance from the screen can be changed by the rotation of the jig on the rotation shaft.
A screen printing apparatus including a control unit that keeps the height of the rotating shaft constant by the detaching mechanism during printing of the work and lowers the other end of the jig to change the inclination of the jig. In a screen printing device that prints on a workpiece having a convex surface using a squeegee.
A jig on which the work is placed and
A screen having a convex surface corresponding to the convex surface of the surface of the work and having a printing pattern,
A detachment mechanism to which the jig is attached so that a rotation shaft is provided at one end of the jig and the distance from the screen can be changed by the rotation of the jig on the rotation shaft.
A screen printing apparatus provided with a control unit that keeps the height of the rotating shaft constant by the detaching mechanism after printing the top of the convex surface of the workpiece and lowers the other end of the jig to separate the jig from the screen. .. The work has a recessed concave surface and a protruding convex surface.
The screen printing apparatus according to claim 1 or 2, wherein when printing from a convex surface to a concave surface, the control unit pulls the jig away from the screen by the detachment mechanism after printing the top of the convex surface. In a screen printing device that prints on a workpiece having a convex surface using a squeegee.
A jig on which the work is placed and
A screen having a convex surface corresponding to the convex surface of the surface of the work and having a printing pattern,
A rotation shaft is provided at one end of the jig, and a detachment mechanism to which the jig is attached is provided so that the distance from the screen can be changed by the rotation of the jig on the rotation shaft.
The releasing adhesive mechanism, have a vertical mechanism for raising and lowering said jig to said screen, said maintaining the height of the rotary shaft constant the jig screen printing apparatus and the other end Ru is lowered in. The vertical mechanism has a plurality of vertical cylinders arranged along the printing direction.
The screen printing apparatus according to claim 4, wherein the jig on which the work is placed is inclined with respect to the printing direction by changing the amount of rise of the plurality of upper and lower cylinders. In a screen printing device that prints on a workpiece having a convex surface using a squeegee.
A jig on which the work is placed and
A screen having a convex surface corresponding to the convex surface of the surface of the work and having a printing pattern,
A rotation shaft is provided at one end of the jig, and a detachment mechanism to which the jig is attached is provided so that the distance from the screen can be changed by the rotation of the jig on the rotation shaft.
The attachment / detachment mechanism is a screen printing device that keeps the height of the rotating shaft constant and lowers the other end of the jig. In a screen printing device that prints on a workpiece having a convex surface using a squeegee.
A jig on which the work is placed and
A screen having a convex surface corresponding to the convex surface of the surface of the work and having a printing pattern,
With the attachment / detachment mechanism to which the jig is attached so that the distance from the screen can be changed.
With
The attachment / detachment mechanism has a rotation mechanism for rotating the jig with respect to the screen.
The attachment / detachment mechanism has a vertical mechanism for moving the jig up and down with respect to the screen.
The vertical mechanism has a plurality of vertical cylinders arranged along the printing direction.
The rotation mechanism
A shaft unit having a rotating shaft mounted on the upper and lower cylinders at the front end in the printing direction among the plurality of upper and lower cylinders.
It has a roller unit mounted on the upper and lower cylinders to which the shaft unit is not attached among the plurality of upper and lower cylinders.
A table whose end is fixed to the rotating shaft of the shaft unit and placed on the roller unit,
Wherein the plurality of upper and lower cylinders of the lift amount changes to control the height position that Symbol mounting of the screen printing apparatus having a control unit for tilting the table of the roller unit. The roller unit has a roller and has a roller.
The screen printing apparatus according to claim 7, wherein the table has a receiving plate that receives the rollers. The vertical mechanism
Floating joints attached to the tips of the upper and lower cylinders
The screen printing apparatus according to claim 5, 7, or 8 , further comprising a linear shaft that supports the linear motion of the upper and lower cylinders. The screen printing apparatus according to claim 1, wherein the attachment / detachment mechanism has a vertical guide that regulates at least one of the left / right movement and the left / right tilt of the jig. A work having a concave surface and a convex surface is placed on a jig, and the work is placed on a jig.
One end of the jig is rotatably held by a rotating shaft,
Using a screen having concave and convex surfaces, the squeegee is moved by an articulated robot to print on the concave and convex surfaces of the work.
When printing from the top of the convex surface to the concave surface, the height of the rotating shaft is kept constant and the other end of the jig is lowered to rotate the jig, thereby increasing the distance between the screen and the jig. Screen printing method. By changing the amount of increase in the plurality of upper and lower cylinders, screen printing method according to claim 11 for tilting said jig relative print direction.

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