JPWO2019031206A1 - Screen printing apparatus and screen printing method - Google Patents

Abstract

In a screen printing apparatus for printing on a work (200) having a convex surface by using a squeegee (910), a jig (400) for mounting the work (200) and a convex surface on the surface of the work (200) (300) having a printing pattern having a convex surface corresponding to, a detaching mechanism (800) to which the jig (400) is attached so that the distance to the screen (300) can be changed, and the convex surface of the work. And a controller (110) for separating the jig (400) from the screen (300) by the detaching/attaching mechanism (800) after printing on the top of the screen.

Description

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

Conventionally, a device for screen-printing a work having a curved surface has been considered.
Further, conventionally, a device for screen printing using a multi-joint robot has been considered.

Japanese Unexamined Patent Publication No. 2015-044330 JP, 2014-172099, A JP, 2005-088577, A JP-A-11-320820 Japanese Patent Laid-Open 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 using a squeegee on a work having a convex surface,
A jig for mounting the work,
Having a convex surface corresponding to the convex surface of the surface of the work, a screen having a printing pattern,
The screen was provided with a detaching mechanism to which the jig was attached so that the distance can be changed.

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

FIG. 3 is a front view of the screen printing apparatus 100 according to the first embodiment. 3 is a left side view of the screen printing apparatus 100 according to Embodiment 1. FIG. FIG. 3 is a right side view of the screen printing apparatus 100 according to the first embodiment. FIG. 3 is a rear view of the screen printing apparatus 100 according to the first embodiment with some parts omitted. 3 is a plan view of the screen printing apparatus 100 according to Embodiment 1. FIG. 3 is a configuration diagram of an articulated robot 600 of the screen printing apparatus 100 according to the first embodiment. FIG. FIG. 3 is a front view of the plate moving mechanism 700 of the screen printing apparatus 100 according to the first embodiment. 3 is a right side view of the plate moving mechanism 700 of the screen printing apparatus 100 according to Embodiment 1. FIG. 6A and 6B are a front view and a right side view of a detaching/attaching 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 the front view which lifted the table 820. (C) is a right side view in which the table 820 is horizontally lifted. FIG. 3 is a left side view of a detaching/attaching mechanism 800 of the screen printing apparatus 100 according to the first embodiment. FIG. 3 is a right side view of a detaching/attaching mechanism 800 of the screen printing apparatus 100 according to the first embodiment. 3 is a configuration diagram of a printing unit 900 of the screen printing apparatus 100 according to Embodiment 1. FIG. FIG. 9A is a diagram in which the printing unit 900 is mounted. FIG. 9B is a diagram in which the printing unit 900 is removed. 3 is a configuration diagram of a printing unit 900 of the screen printing apparatus 100 according to Embodiment 1. FIG. 3 is a configuration diagram of a printing unit 900 of the screen printing apparatus 100 according to Embodiment 1. FIG. 3 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. FIG. (A) is a block diagram of a screen 300, a work 200, and a 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 explanatory drawing of a reference mark. FIG. 3 is a partial layout diagram of the screen printing apparatus 100 according to the first embodiment. FIG. 3 is a partial layout diagram of the screen printing apparatus 100 according to the first embodiment. FIG. 3 is a partial layout diagram of the screen printing apparatus 100 according to the first embodiment. 3 is an operation flowchart of the screen printing apparatus 100 according to the first embodiment. FIG. 3 is a diagram illustrating a printing operation of the screen printing apparatus 100 according to the first embodiment. FIG. 3 is a diagram illustrating a printing operation of the screen printing apparatus 100 according to the first embodiment. FIG. 3 is a diagram illustrating a printing operation of the screen printing apparatus 100 according to the first embodiment. 3 is an operation explanatory diagram of a detaching/attaching mechanism 800 of the screen printing apparatus 100 according to Embodiment 1. FIG. FIG. 7A is a relationship diagram between the work 200 and the screen 300 when the detaching/attaching mechanism 800 is not operated. (B) is a relationship diagram between the work 200 and the screen 300 when the detaching/attaching mechanism 800 is operated. 3 is an operation explanatory diagram of a detaching/attaching mechanism 800 of the screen printing apparatus 100 according to Embodiment 1. FIG. FIG. 7A is a relationship diagram between the work 200 and the screen 300 when the detaching/attaching mechanism 800 is not operated. (B) is a relationship diagram between the work 200 and the screen 300 when the up-and-down mechanism 830 is operated. FIG. 6C is a relationship diagram between the work 200 and the screen 300 when the rotating mechanism 860 is operated. 7 is a front view of a detaching/attaching mechanism 800 of the screen printing apparatus 100 according to Embodiment 2. FIG. FIG. 16 is a left side view of a detaching/attaching mechanism 800 of the screen printing apparatus 100 according to the second embodiment. FIG. 8 is a right side view of a detaching/attaching mechanism 800 of the screen printing apparatus 100 according to the second embodiment. FIG. 8 is a plan view of a detaching/attaching mechanism 800 of the screen printing apparatus 100 according to the second embodiment. FIG. 16 is a left side view of an upper and lower 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 detaching/attaching mechanism 800 is at the origin. (B) is a left side view of the upper and lower guides 850 when the attachment/detachment mechanism 800 rises. FIG. 8 is a front view of the detaching/attaching mechanism 800 of the screen printing apparatus 100 according to the second embodiment with one end thereof raised. FIG. 7 is a front view of the detaching/attaching mechanism 800 of the screen printing apparatus 100 according to the second embodiment with both ends raised. FIG. 9 is a diagram showing a tilted state of a table 820 of the attachment/detachment mechanism 800 of the screen printing apparatus 100 according to the second embodiment. FIG. 9A is a diagram in which 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. 9B 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. FIG. 14C 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 reduced by an equal amount. FIG. 9D 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 by a factor of two compared with the upper and lower shafts 839 of the servo cylinder 881.

Embodiment 1.
***Composition explanation***
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 that is the printing direction, that is, the left direction toward 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 called the rear direction.
In FIG. 1, the vertical direction toward the paper surface is called the height direction.
In FIG. 1, the front direction toward the paper is referred to as the right direction.
In FIG. 1, the depth direction toward the paper is called the left direction.
Although two articulated robots 600 are shown in FIG. 1, only one articulated robot 600 actually exists.

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

<< housing 500 >>
The screen printing apparatus 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 shape.
The control box 520 houses the control unit 110 inside.
The pillar frame 530 is a pillar that stands on the floor surface of the base 510.
The beam frame 540 is a beam that connects the tops of the pillar frames 530.
The top plate 550 is a ceiling arranged between the beam frames 540.
The screen printing apparatus 100 has a roll holding unit 590.
The roll holding unit 590 holds the roll film rotatably. The roll film is a roll-shaped film that is test-printed.

<<control unit 110>>
The screen printing apparatus 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 pneumatic circuit 160 shown in FIG. And control the inspection operation.
The signal from the control unit 110 is transmitted to each unit via a signal line.
Each operation of the printing method described below can be realized by the control unit 110 transmitting a command through a signal line.

<< articulated robot 600 >>
FIG. 6 shows an articulated robot 600.
The articulated robot 600 is a type of industrial robot.
An industrial robot is a machine that has a manipulation function or a moving function by automatic control, can perform various works by programs, and can be used in industry.
The industrial robot has a manipulator and a storage device.
The industrial robot is a machine capable of automatically performing expansion/contraction, flexion/extension, vertical movement, horizontal movement or turning operation of the manipulator or a combined operation thereof based on the information in the storage device.
Here, the manipulator has a function similar to that of a human arm and can perform various kinds of work.

An articulated robot is a type of articulated robot.
In the joint robot, the mechanical structure of the arm is composed of three or more rotary joints. That is, the joint robot is a manipulator having three or more axes of freedom and capable of automatic control or programming.

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 portion when two links are in contact with each other and move relative to each other.

The articulated robot 600 shown in FIG. 6 is a ceiling-mounted robot.
The multi-joint robot 600 shown in FIG. 6 is a multi-axis robot having six rotation axes of axis J1 to axis 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 wrist 670 are joints.

The base 610 is fixed to a ceiling top plate 550 located above the center of the printing width of the screen.
The base 610 has an axis J1 that is 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 of the screen 300 in the left-right direction.
The axis J1 of the base 610 is arranged above the printing range of the screen 300 in the front-rear direction.
The body 620 is attached to the base 610 so as to be rotatable about an axis J1 which is 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 as to be rotatable about a horizontal axis J2.
The elbow 650 is fixed to the upper arm 640 and has a horizontal axis J3.
Elbow 650 also has an axis J4 that is perpendicular to axis J3.
The forearm 660 is attached to the elbow 650 so as to be rotatable about the axis J3 and the axis J4.
Further, the forearm 660 can rotate about an axis J4 which is perpendicular to the horizontal axis J3 and intersects the axis J3.
List 670 has axis J5 that is perpendicular to axis J4 and intersects 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 as to be rotatable about the axis J5 and the axis J6.

Each link attached to each shaft rotates about each shaft 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 print start position S1 and the straight line connecting the axis J2 and the print end position S2 is an angle that is changed if the size of the work 200 changes, and is preferably 90 degrees or less, 60 degrees. The following is preferable, further 50 degrees or less is preferable, and 40 degrees is preferable.

<< plate moving 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 sliding mechanisms 730.
Each slide mechanism 730 is fixed to the upper part of the two legs 720.
The slide mechanism 730 has a conveyor belt 740 arranged in the left-right direction.
The conveyor 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 right and left.
The frame fixing portion 760 detachably attaches the plate frame 310.
The frame fixing portion 760 slides left and right by the rotation of the conveyor belt 740.
In FIG. 8, the state in which the plate frame 310 is moved to the leftmost side in the drawing is the cover state in which the plate frame 310 covers the work 200, and the printable state.
In FIG. 8, the state in which the plate frame 310 is moved to the rightmost side of the drawing is an open state in which the upper part of the work 200 is opened, and the print result of the work 200 can be inspected.

<< detaching 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 diagram in which one end of the table 820 is manually lifted when the attachment/detachment mechanism 800 is at the origin.
FIG. 9C is a diagram in which the detaching/attaching mechanism 800 lifts the table 820 horizontally.

The attachment/detachment mechanism 800 is a mechanism that moves 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 detaching/attaching 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 square poles made of aluminum or other metal.
The table 820 is a rectangular plate made of aluminum or other metal.
The attachment/detachment mechanism 800 includes an up/down 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.

<Up/down mechanism 830>
The up-and-down mechanism 830 is fixed to the floor surface of the housing 500.
The up-and-down mechanism 830 has a plurality of up-and-down cylinders arranged along the printing direction.
The jig 400 is fixed to the table 820 via a frame 822.
The vertical mechanism 830 has six vertical cylinders and eight 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, and an air cylinder is preferable.
The upper and lower cylinders have an upper and lower shaft 839 that moves up and down.
The linear shaft supports the linear movement of the upper and lower cylinders 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 six upper and lower cylinders are arranged at six positions on the left and right sides of 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 arranged 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 tips of the upper and lower shafts.
A floating joint 835 attached to the tips of the upper and lower cylinders connects the upper and lower shafts of the upper and lower cylinders to the roller unit.
The upper and lower plates 844 are fixed to the floating joints 835 of the two upper and lower cylinders 831 and the linear motion shafts 849 of the 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 the floating joints 835 of the two upper and lower cylinders 832 and the linear motion shafts 849 of the 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 the floating joints 835 of the two upper and lower cylinders 833 and the linear motion shafts 849 of the 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 the floating joints 835 of the two upper and lower cylinders 831.
Both ends of the upper and lower plates 845 are fixed to the floating joints 835 of the two upper and lower cylinders 832.
Both ends of the upper and lower plates 846 are fixed to the 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 joints 835, there is a possibility that the upper and lower plates 846 may tilt due to the lifting 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 linear motion shaft 849 of the linear shaft is lifted to prevent the upper and lower plates from tilting 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 evenly raised, the table 820 is horizontally raised, and when the upper and lower shafts 839 of the six upper and lower cylinders are evenly lowered, the table 820 is lowered horizontally.

<Up and down guide 850>
As shown in FIGS. 9A and 9B, the attachment/detachment mechanism 800 has a vertical guide 850 that regulates the lateral 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 of the table 820 in the width direction.
The vertical guide 850 is a guide that prevents at least one or both of the horizontal movement and the horizontal inclination of the table 820 when the table 820 moves vertically.
The upper and lower guides 850 have 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 vertically.
The upper and lower guides 850 have guide posts 854 and guide portions 853.
The guide pillar 854 is a pillar that is fixed to the floor of the base 510 of the housing 500 and extends vertically upward from the floor surface.
The guide portion 853 is a vertical guide that exists vertically on one side surface of the guide column 854 and that sandwiches the cam follower 852.
The guide portion 853 allows movement of the cam follower 852 in the up-down direction and the front-rear direction, but prohibits movement in the left-right direction.
The guide portion 853 prohibits the jig 400 from moving to the left and right and tilting to the left and right.

<Adjustment mechanism 870>
The adjusting mechanism 870 is shown in FIG.
The up-and-down mechanism 830 has an adjusting mechanism 870 for adjusting the height of the up-and-down 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 in front of, inside, and behind the table 820.
The connecting plate 871 is under the floor of the base 510 and connects the lower ends of the linear motion shafts 849 of the left and right linear shafts.
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 vertical movement position of the linear motion shaft 849 of the upper and lower cylinders in units of 0.1 mm.

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

<<Print section 900>>
The printing unit 900 will be described with reference to FIGS. 12, 13, and 14.
The articulated robot 600 attaches the printing unit 900 as an end effector.
The end effector is a part having a mechanism in which the robot directly works 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 replaceably held by the squeegee unit 930 by the mounting portion 941.
The scraper 920 is replaceably held by the squeegee unit 930 by a 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 uniformly coat the ink in the screen 300 on the screen 300.
The squeegee unit 930 is detachably attached to the end 680.
The attachment portion 941 of the squeegee unit 930 can change the attachment angle of the squeegee 910 to attach the squeegee 910.
FIG. 12 shows the squeegee 910 at three types of mounting angles.
Therefore, the attack angle of the squeegee 910 with respect to the work 200 can be changed without changing 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 change the attachment angle of the scraper 920 to attach the scraper 920.
The squeegee unit 930 has a squeegee 910 and a scraper 920 attached directly below or slightly below the axis 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 is preferable, and an air cylinder is preferable.
The pressurizer 932 is a pressurizer that applies a coating pressure to the scraper 920, and an actuator that expands and contracts by hydraulic pressure, pneumatic pressure, hydraulic pressure, or electric is preferable, and an air cylinder is preferable.
The pressurizer 931 and the pressurizer 932 are fixed to both surfaces 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 axis JS of the pressurizing shaft 943 of the pressurizer 931 is parallel to the axis J6.
A pair of linear bushes 938 for ensuring linear movement of the squeegee 910 are arranged on both sides of the pressurizer 931.
The pair of linear bushes 938 are fixed to the fixed plate 933.
The linear bush 938 has a linear motion shaft 940 that makes a linear motion, 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 the scraper 920 is attached through a floating joint 939.
The shaft axis JS of the pressure shaft 943 of the pressure device 932 is parallel to the axis J6.
On both sides of the pressurizer 932, a pair of linear bushes 938 for ensuring linear movement of the scraper 920 is arranged.
The pair of linear bushes 938 are fixed to the fixed plate 933.
The linear bush 938 has a linear motion shaft 940 that makes a linear motion, and the lower end of the linear motion shaft 940 is fixed to a mounting portion 942 of the scraper 920.

The fixed 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.
An attachment/detachment portion 937 is provided on the upper surface of the upper plate 936.
Both ends of the upper plate 936 project from the two side plates 935 like wings.
When the squeegee unit 930 is held by the suspension portion 561 of the rack 560, both ends of the upper plate 936 serve as hook portions for the suspension portion 561.
The attaching/detaching 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 space S.
In the rectangular space S, the upper part of the pressurizing shaft 943 of the pressurizer 931 and the pressurizer 932 is arranged.
Even when the pressurizing shaft 943 of the pressurizer 931 and the pressurizer 932 is located at the highest position, the head of the pressurizing shaft 943 does not come into contact with the upper plate 936.
The rectangular space S is a space for ensuring free vertical movement of the pressure shaft 943.
Since the rectangular space S exists, the head of the cylinder shaft does not come into contact with the forearm 660 of the articulated robot 600 regardless of the position of the axis J5 of the articulated robot 600 with respect to the squeegee unit 930. ..

<<Camera 690>>
As shown in FIG. 12, the screen printing apparatus 100 has a camera 690.
The camera 690 is fixed to the end 680.
The camera 690 is arranged 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 hinder the arrangement of the squeegee unit 930.
The camera 690 is arranged at a position where it does not interfere with the attachment/detachment of the squeegee unit 930.
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 visual field size of the camera is 40 mm in both length and width, 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 unevenness in the height direction.
The work 200 has a straight line in the left-right direction without unevenness.
As shown in (a) of FIG. 15, the work 200 is a curved plate or a wavy plate having a constant thickness in a front view.
As shown in (c) of FIG. 15, 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 has flexibility, is easily deformed, and is easily damaged.

The curved surface of the work 200 has at least one of a concave surface depressed from the horizontal surface and a convex surface protruding from the horizontal surface.
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-back direction is corrugated.

In FIG. 15, the work 200 has one convex curved surface and one concave curved 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 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 preferably 30 degrees.
At the center of one convex curved surface, there is a top 220 having the highest height.
At the center of one concave curved surface is a bottom portion 230 having 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 exists at the center of the work 200.

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

<<Screen 300>>
The screen 300 will be described with reference to FIG.
The screen 300 is a curved surface screen having a curved surface having unevenness in the height direction.
The screen 300 has a straight line in the left-right direction without any unevenness.
The screen 300 is rectangular in plan view.
The screen 300 is a metal mask screen, a mesh screen, or another type of screen.

The screen 300 has at least one of a concave surface that is recessed from the horizontal surface and a convex surface that projects from the horizontal surface.
The curved surface of the screen 300 has a concave surface depressed from the horizontal surface, a convex surface protruding from the horizontal surface, and a curved surface 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 screen 300 in the front-back direction is wavy.
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, there is a top 320 having the highest height.
At the center of one concave curved surface, there is a bottom portion 330 having the lowest height.
The convex curved surface and the concave curved surface are connected at an inflection point 340.
In FIG. 15, an inflection point 340 exists at 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 frame-shaped rectangular metal frame.
The plate frame 310 is a rectangular frame having a rectangular outer shape and a rectangular center opening.
The plate frame 310 is a frame fixed to the frame fixing portion 760.
The plate frame 310 holds the screen 300 by applying tension to the screen 300.

The plate frame 310 can be attached to the plate moving mechanism 700 in a front-rear manner.
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 order from the concave surface to the convex surface.
Conversely, the convex surface of the plate frame 310 may be on the right side of the paper surface and the concave surface may be on the left side of the paper surface, and printing may be performed in order from the convex surface to the concave surface.

<Jig 400>
The jig 400 will be described with reference to FIG.
The jig 400 is a curved jig that holds the workpiece 200 on a curved surface.
As shown in (a) of FIG. 15, the jig 400 is a metal component having a flat lower surface and a corrugated upper surface when viewed from the front.
As shown in FIG. 15B, the jig 400 is rectangular in plan view.
The jig 400 has a mounting surface having the same curved surface or curved surface as the workpiece 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, is not deformed, and is not damaged.

The mounting surface of the jig 400 has at least one of a concave surface that is recessed from the horizontal surface and a convex surface that projects from the horizontal surface, corresponding to the curved surface of the back surface of the work 200.
The mounting surface of the jig 400 has one convex curved surface and one concave curved surface corresponding to the workpiece 200 shown in FIG.

The jig 400 can be attached to the table 820 in a front-rear manner.
In FIG. 1, 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 order from the concave surface to the convex surface.
Conversely, the convex surface of the jig 400 may be on the right side of the paper surface and the concave surface may be on the left side of the paper surface, and printing may be performed in order from the convex surface to the concave surface.

<Reference 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 when the jig 400 is manufactured.
The arrangement position of the reference mark 410 of the jig 400 is predetermined based on the print pattern.
The arrangement position is a coordinate position of orthogonal coordinates on a two-dimensional horizontal plane.
When 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 which 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×W=(x2-x1)×(x2-x1)+(y2-y1)×(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 outside 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 will be 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 intersections of the print lines 201 and the print lines 201.
The pair of reference marks 410 is formed at a position such that 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 are 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 size of the camera is 40 m.
less than m.
In FIG. 15B, “width V1<width V2<length W1<field 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 outer side of the slide mechanism 730 that is closer to the axis 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 unit 561 for suspending the printing unit 900 on the upper part of the four legs.
The suspension portion 561 detachably fixes both ends of the upper plate 936 of the squeegee unit 930 to hold 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 part 561 has a space R in which the printing part 900 and the camera 690 are arranged in the center.
The suspension unit 561 attaches and detaches the printing unit 900 to and from the articulated robot 600 with the printing unit 900 and the camera 690 arranged in the space R.

The ink tray 570 is a tray that protrudes like an eaves from the upper side of the rack 560.
The ink receiving tray 570 receives ink that drops 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 horizontally projects from one side of the suspension portion 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 the sky above the screen 300 of the plate frame 310.

<<Placement>>
The arrangement of each unit on the plane of the screen printing apparatus 100 will be described with reference to FIG.
The plane shape of the screen printing apparatus 100 is a rectangle having long sides and short sides.
The two slide mechanisms 730 of the plate moving mechanism 700 are arranged parallel to the short sides of the screen printing apparatus 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 a length that is 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 jig 400 and the work 200 and a testable state in which the jig 400 and the work 200 are opened.

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 detaching/attaching 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 shaft J6 when the shaft 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 symbols and the meanings of the dimensions are as follows.
X1: The length of the long side of the housing 500 X2: The length of the long side of the screen 300 X3: The 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 connecting straight line S0 and the end SE of the housing 500, that is, X1/2=X4
X5: Distance between the central position S4 of the print stroke and the end SE of the housing 500 X6: 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 A plan view distance between the straight line S0 connecting the centers of the long sides and the print start position S1 X8: A plan view distance between the straight line S0 connecting the centers of the two long sides of the housing 500 and the print end position S2 X9: A case The 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 printing stroke Y1: The length of the short side of the housing 500 Y2: The length of the short side of the screen 300 NP: The axis J1 cannot rotate, and the central angle of the range that cannot rotate is about 20 degrees.

The rotatable range of the axis J1 is 340 degrees.
The axis J1 can be rotated 170 degrees clockwise and 170 degrees counterclockwise from the center of the rotatable range.
The axis J1 is above the 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 printing stroke direction, that is, the printing 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 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 plan view.
The distance X8 is the same as the distance between the axis J2 and the print end position S2 in plan view.
The ratio between the distance X7 and 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 relationships.
X7=X9=X8/2
X6=X7+X8+X9
The position of the axis J2 in plan view is a position that is ¼ of the print stroke length X6 from the print start position S1.
Therefore, during printing, the squeegee unit 930 is behind the axis J2 by a quarter of the print stroke length X6,
The subsequent three quarters are in front of axis J2.
The position of the axis J2 in plan view may be within the range of the printing stroke, preferably in the first half of the printing stroke, and further preferably in the center of the first half of the printing stroke.

The print start position S1 is immediately below or almost immediately 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 printing stroke is within 70% of the length of the radius of the maximum movable range of the axis 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 axis J6.
The distance from the axis J1 to the printing 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 that holds the squeegee unit 930 is arranged at a position where the squeegee unit 930 at the print end position S2 is rotated by G degrees clockwise about the axis J1.
In FIG. 5, G degree is 140 degrees.

The base 610 of the articulated robot 600 is arranged at the center of the short side of the plate frame 310 and at a position deviated 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 of the two slide mechanisms 730 and the distance from the axis J1 to the furthest corner of the rack 560 are the same. This distance is equal to 3/4 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 aforementioned arrangement relationship and the dimensional relationship 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 ratio shown by the arrangement relationship and the dimensional relationship described with reference to FIG. 5 within a range of plus or minus 20% of the value of the above percentage, and further within a range of plus or minus 10%. It is desirable to use.

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

The work 200 is 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.
A case where 0 is printed from a convex curved surface to a concave curved surface will be described.
Before the power is turned on, the squeegee unit 930 is assumed to be in the rack 560.
It is assumed that the distances between the positions of all the reference marks 410 and the center positions of all the reference marks 410 are stored in the storage device.
The case without test printing will be described below.

*Power-on process S11*
When the power of the screen printing apparatus 100 is turned on, the screen printing apparatus 100 starts the initial operation and performs the initial setting in the following order.
1. Return to origin of articulated robot 600 The control unit 110 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 origin return control unit 110 of the detaching/attaching mechanism 800 lowers the detaching/attaching 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. Return to origin of plate moving mechanism 700 The control unit 110 returns the plate moving mechanism 700 to the origin.
The origin of the plate moving mechanism 700 is the open position.

*Squeegee unit 930 installation step S12*
The controller 110 operates the articulated robot 600 to mount the squeegee unit 930 on the rack 560 on the end 680.
The articulated robot 600 fixes the squeegee unit 930 to the end 680.

*Workpiece 200 carry-in step 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 a concave surface and a convex surface is placed on the jig 400 having a concave surface and a 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 air in the suction groove. By this suction, the work 200 is fixed in close contact with 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 loading, the work 200 is put on the mounting surface of the jig 400 having rigidity and is sucked to the mounting surface, so that the workpiece 200 has an original shape. ..

*Setting step S14* for the plate frame 310 and the squeegee unit 930*
The controller 110 operates the articulated robot 600, takes out the squeegee unit 930 from the rack 560, and moves it to the sky of the plate frame 310 via the sky of the ink tray 570.
The controller 110 operates the motor 750 to slide 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 to move the squeegee unit 930 to the sky of the work 200 using the sky of the moving plate frame 310.
That is, the control unit 110 moves the squeegee 910 above the screen 300 when the screen moving mechanism 700 moves the screen 300.
The controller 110 rotates the axis 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 by scraper 920 *
The controller 110 operates the articulated robot 600 to coat the screen 300 of the plate frame 310 with ink by the scraper 920.
The controller 110 causes the articulated robot 600 to move the tip of the scraper 920 along the curved surface of the screen 300.
The control unit 110 causes the articulated robot 600 to move the scraper 920 from the print end position S2 toward the print start position S1.
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 becomes constant. The attack angle of the scraper 920 is preferably 80 to 100 degrees, and preferably 90 degrees.
The controller 110 operates the pressurizer 932 while the scraper 920 is moving to press the scraper 920 against the screen 300. Alternatively, the controller 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 reversed, and the details of the control will be described in the printing step S17. To do.

*Release process S16 of 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 controller 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 S17 of the articulated robot 600 *
The control unit 110 causes the articulated robot 600 to move the squeegee 910 to print on the concave surface and the convex surface of the work 200.
FIG. 21 shows a print start state.

First, the controller 110 operates the articulated robot 600 to move the squeegee 910 to the print start position S1.
The controller 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 generate a squeegee 910. Move in the print direction.
The articulated robot 600 arranges and prints the remaining axes, that is, the axis J1, the axis J4, and the axis J6.
The axis P1, the axis J4, and the same vertical plane on which the axis J6 is arranged are planes 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.
The controller 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 more 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 controller 110 operates the pressurizer 931 during the movement of the squeegee 910 to press the squeegee 910 against the screen 300.

The reason why the printing pressure is not applied by the articulated robot 600 but only by the pressurizer 932 is as follows.
Reason 1: The pressurizer 932 is more accurate than the articulated robot 600 for keeping the printing pressure constant during printing.
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 of the articulated robot 600 arranged horizontally and in parallel, that is, by rotating only the three axes of the axis J2, the axis J3, and the axis 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, that is, the axis J1, the axis J4, and the axis J6 during printing.
The control unit 110 does not operate the attachment/detachment mechanism 800 during printing on an uphill from the print start position S1 to the convex top 220 of the work 200.

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

As shown in (a) of FIG. 23, if the detaching/attaching mechanism 800 is not operated during printing and the jig 400 is not separated from the screen 300, after the printing of the convex top portion 220 of the work 200, the plate separation indicated by the arrow is released. The angle decreases. That is, the distance between the work 200 and the screen 300 is reduced after the convex top 220 of the work 200 is printed.
As shown in (b) of FIG. 23, the control unit 110 operates the detaching/attaching mechanism 800 after printing the convex top portion 220 of the work 200 to separate the jig 400 from the screen 300, and the plate separation angle or the work 200. The distance from the screen 300 is maintained.
The detaching/attaching 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 after printing the convex top 220 of the work 200.
The detaching/attaching mechanism 800 is a mechanism that secures a distance between the work 200 and the screen 300 at a place where the squeegee 910 is printing and secures a plate separation angle while printing with the squeegee 910.
The control unit 110 increases the distance between the printed convex surface screen 300 and the jig 400 after the printing of the convex top portion 220 of the workpiece 200 by the rotation mechanism 860.
The control unit 110 keeps the height of the vertical shaft 839 of the vertical cylinder 831 at the end of the workpiece 200 on the concave side constant.
The control unit 110 lowers the vertical shaft 839 of the vertical cylinder 832 and the vertical cylinder 833 at the end of the workpiece 200 on the convex side.
In FIG. 22, the control unit 110 lowers the upper and lower shafts 839 of the upper and lower cylinders 832 and 833 by the same amount.
Therefore, a gap is formed between the roller 868 at the tip of the roller unit 865 on the vertical shaft 839 of the vertical cylinder 832 and the receiving plate 821 of the table 820.
The controller 110 may lower the upper and lower shafts 839 of the upper and lower cylinders 832 and 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 separation angle can be maintained, and further, the convex portion of the work 200 can be prevented from coming into contact with 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 printing on the downhill.

After printing the top 220 of the convex curved surface of the work 200, the control of the control unit 110 is as follows.
Control 1. The jig 400 is gradually inclined until the bottom portion 230 of the concave surface of the work 200 is reached, and the jig 400 is gradually separated from the screen 300.
When the bottom portion 230 of the concave surface of the work 200 has passed, the increase in the inclination of the jig 400 is stopped.
Printing after the bottom portion 230 of the concave surface of the work 200 has passed is performed while maintaining the inclination of the jig 400 or gradually decreasing the inclination of the jig 400.
Control 2. The inclination of the jig 400 is increased until the inflection point 240 of the convex curved surface and the concave curved surface of the work 200 is reached, and the jig 400 is gradually separated from the screen 300.
When the inflection point 240 of the work 200 has passed, the increase in the inclination of the jig 400 is stopped.
Printing after the inflection point 240 of the work 200 has passed is performed while maintaining the inclination of the jig 400 or gradually decreasing the inclination of the jig 400.
When gradually decreasing the inclination of the jig 400, 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.

*Descent process of the vertical mechanism 830*
When the rotating mechanism 860 cannot be sufficiently separated due to the rotation, the control unit 110 causes the vertical mechanism 830 to lower the jig 400 as a whole so that the jig 400 is separated from the screen 300.

*Detachment mechanism 800 descending step S18*
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 controller 110 operates the motor 750 to retract the plate frame 310 from the printable position to the open position.
Simultaneously with the retraction of the plate frame 310, the control unit 110 operates the articulated robot 600 to move the squeegee unit 930 to the open position by using the sky above the moving plate frame 310.
The controller 110 rotates the shaft J1 by 140 degrees to move the squeegee unit 930 from the print end position S2 to the rack 560.
When ink drops from the squeegee 910 or the scraper 920 while the squeegee unit 930 is moving, the ink drops on the plate frame 310.
The controller 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.
When ink drops from the squeegee 910 or the scraper 920 while the squeegee unit 930 is moving, the ink drops on the ink receiving tray 570.

*Separation step S20 of squeegee unit 930*
The control unit 110 makes the axis J6 of the articulated robot 600 vertical and rotates the axis J6 to insert the squeegee unit 930 and the camera 690 into the space R of the suspension unit 561.
The control unit 110 separates the squeegee unit 930 attached to the end 680 from the end 680 and suspends it from the suspension unit 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 to move the camera 690 to the sky above the work 200 in a state where the screen 300 is moved by the plate moving mechanism 700 and the sky above the work 200 is opened.
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 causes the articulated robot 600 to position the camera 690 above the pair of reference marks 410.
The arrangement position of the reference mark 410 is known, and the articulated robot 600 sequentially photographs the pair of reference marks 410.
The control unit 110 positions the camera 690 with 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 photograph a pair of fiducial marks 410 and the printing line 201 printed between the pair of fiducial marks in one image in one image.
The controller 110 operates the articulated robot 600 to move the camera 690, and the camera 690 sequentially captures all 14 pairs of reference marks 410. 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 image capturing, the control unit 110 operates the articulated robot 600 to move the camera 690 above the rack 560.

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

(Position inspection)
The control unit 110 analyzes one image captured by the camera 690.
The control unit 110 determines the quality of the print pattern based on the positions of the pair of reference marks and the position of the print pattern.
A. Example of Position Inspection Using One Reference Mark As shown in FIG. 15D, the control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outline 202 of the print line 201.
As shown in FIG. 15D, the control unit 110 calculates the distance G3 from the center position of the reference mark P1 to the outline 203 of the print line 201.
If the distance G1 and the distance G2 are the planned distances, the control unit 110 determines that the printing is normal.
The control unit 110 determines that the printing is defective if the distance G1 and the distance G2 are other than the planned distances.
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 fiducial 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 outline 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 outline 203 of the print line 201.
If the distance G1 and the distance G4 are the planned distances, the control unit 110 determines that the printing is normal.
The control unit 110 determines that the printing is defective if the distance G1 and the distance G4 are other than the planned distances.
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 fiducial marks
As shown in FIG. 15D, the control unit 110 detects the outline 202 and the outline 203, calculates the center of the outline 202 and the outline 203, and positions the center line 204 of the print line 201. And
The controller 110 calculates a distance K1 from the center position of the reference mark P1 to the center line 204, as shown in FIG.
The controller 110 calculates the distance K4 from the center position of the reference mark P2 to the center line 204, as shown in FIG.
If the distance K1 and the distance K4 are the planned distances, the control unit 110 determines that the printing is normal.
The control unit 110 determines that the printing is defective if the distance K1 and the distance K4 are other than the planned distances.
When the print line 201 has to be printed at 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. To do.
If K1=K4=W1/2, 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 at an intermediate position of the distance W1 of the pair of reference marks, the control unit 110 determines that the 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 the 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. To do.

(Width inspection)
The control unit 110 analyzes one image captured by the camera 690.
The control unit 110 determines the quality of the print pattern based on the distance W1 between 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 between the center positions of the pair of reference marks and the image of the print line 201.
Specifically, the control unit 110 performs the following calculation.
A. Width Inspection Example Using One Reference Mark The control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outline 202 of the print line 201, as shown in FIG.
As shown in FIG. 15D, the control unit 110 calculates the distance G3 from the center position of the reference mark P1 to the outline 203 of the print line 201.
The control unit 110 calculates “width of the print line 201=G3−G1” to obtain the width of the 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 the printing is defective if the width of the print line 201 is other than the planned width V1.
The 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 The control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outline 202 of the print line 201, as shown in FIG.
As shown in FIG. 15D, the control unit 110 calculates the distance G4 from the center position of the reference mark P2 to the outline 203 of the print line 201.
The control unit 110 retrieves 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 the printing is defective if the width of the print line 201 is other than the planned width V1.
The distance W1 between the pair of reference marks is used for the width inspection.
The 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 photographed 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. The quality of can be determined.

(Distance inspection)
The control unit 110 analyzes images of a plurality of places captured 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 between the print patterns at a plurality of locations based on the distances between the reference marks and the print patterns and the distances between the reference marks at a plurality of locations.
The control unit 110 calculates the straight line distance in plan view, not the arc length of the curved surface of the work 200, and determines the quality of printing.
The distance inspection uses the distance between the two reference marks and the two print lines 201 and the distance between the two reference marks stored in the storage device.
The 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.
If 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.

The control part 110 specifically performs the following inspections.
A. Distance inspection example 1
It is assumed that the distance between the center position of the reference mark P1 and the center position of the reference mark P4 arranged on the straight line L shown in FIG. 15 is W2.
The control unit 110 obtains the distance G1 between the center position of the reference mark P1 and the outline line 202 of the print line 201 based on the position of the reference mark P1 and the position of the outline 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 outline 213 of the print line 211 based on the position of the reference mark P4 and the position of the outline 213 of the print line 211.
Control unit 110 determines that the distance is normal when distance W2-(distance G1+distance G2) is planned length V3.
The control unit 110 determines that there is a defect if the distance W2-(distance G1+distance G2) is other than the planned length V3.
The distance between the center position of the reference mark P2 and the center position of the reference mark P3 arranged on the straight line L shown in FIG. 15 is W3.
The control unit 110 obtains the distance G4 between the center position of the reference mark P2 and the outline 203 of the print line 201 based on the position of the reference mark P2 and the position of the outline 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 there is a defect if the distance W3+(distance G4+distance G5) 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 and the center position of the reference mark P4 arranged on the straight line L shown in FIG. 15 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 controller 110 determines that the distance W2−(distance K1+distance K2) is normal if the distance is the planned length V5.
The control unit 110 determines that the distance W2−(distance K1+distance K2) is defective if the distance is other than the planned length V5.

The distance between the center position of the reference mark P2 and the center position of the reference mark P3 arranged on the straight line L shown in FIG. 15 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 the 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 there is a defect if the distance W3+(distance K4+distance K5) 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 Can calculate the distance of the print line.
Other inspection contents, inspection methods, and calculation methods different from the above-described inspection contents, inspection methods, and calculation methods may be used.

In the inspection step S21, only the arrangement 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 to determine 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 on the monitor 120 the image captured for visual check, the measurement value, the calculated value, and the inspection result during or after the image capturing.
Specifically, the control unit 110 sequentially or selectively displays the image, the measured value, the calculated value, and the inspection result on the monitor 120 based on the instruction from the console 170.
The control unit 110 also displays an image of a print pattern determined to be defective, a measured value, a calculated value, and an inspection result on the monitor 120 based on an instruction from the console 170.

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

*Repeat step S23*
After unloading the work 200, the control unit 110 determines whether there is next printing, and returns to the mounting step S12 of the squeegee unit 930.
If there is no next print, the control unit 110 ends the print.

As described above, in the first embodiment, the screen printing method having the function of printing on the work 200 having both curved surfaces is described.
Further, the screen printing method in which the printing position is measured by the camera 690 after the 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 shape, a film, or another curved surface work.

***Explanation of effects of Embodiment 1***
According to the first embodiment, since the articulated robot 600 is provided, it is possible to print on the curved work 200.
The advantages 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 angle 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 detachable, the 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. It is also possible to carry in the work 200 and carry out the work 200 by the articulated robot 600, instead of the work carry-in device and the carry-out device.

Since the screen printing apparatus 100 includes the jig 400 having a curved surface corresponding to the curved surface of the work, the work 200 can be printed without being deformed.

Since the articulated robot 600 is a ceiling-suspended type, the plane area of the screen printing apparatus 100 is small.
Since the articulated robot 600 arranges the three axes horizontally and arranges the remaining axes on the same plane for printing, the squeegee unit 930 can be operated accurately.
Since the articulated robot 600 controls and prints only the three axes arranged horizontally, the squeegee unit 930 can be accurately moved linearly in a plan view.
Since the articulated robot 600 prints while fixing all the remaining axes other than the three horizontally arranged axes, the posture 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, it is possible to print on the curved work 200.
Since the attachment/detachment mechanism 800 that changes the distance between the work 200 and the screen 300 is provided, the plate separation angle can be optimally adjusted.

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

The detaching/attaching mechanism 800 can adjust the plate detaching angle between the work 200 and the screen 300 by an up/down mechanism 830 that moves the jig 400 up and down and a rotating 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, not on the curved plate work 200, the reference mark 410 can be accurately inspected without displacement.

Since the reference mark and the print pattern are photographed with the camera axis of the camera 690 facing vertically downward, the photographing is easy and the position calculation is easy.

Since the work 200 is transparent, the camera 690 can photograph the reference mark 410 via 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 drop from the squeegee 910 or the scraper 920 during the inspection.
Since the articulated robot 600 always fixes the camera 690, it is not necessary to attach and 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. The quality can be determined.
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 points, the print line distance can be calculated by the distance between the reference marks and the distance from the reference mark to the print line. Can be judged.
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 position of the print line, and the quality of the print pattern can be determined. You can

***Modification of Embodiment 1***
(Modification 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 concave curved surface and the convex curved surface on the surface of the work 200 may have different radius lengths.
The surface of the workpiece 200 may have a concave curved surface having different radii and a portion where the concave curved surface is continuous.
On the surface of the work 200, there may be a portion where convex curved surfaces having different radii and continuous convex curved surfaces are present.
The surface of the work 200 may have a portion where a curved surface and a 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 back surface of the work 200.
The work 200 may have one or both of a concave portion and a convex portion in at least a part in the left-right direction as well as the front-back direction. When the work 200 has a concave portion or a convex portion in the left-right direction, a convex portion or a 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 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. 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 them.
One reference mark 410 does not have to exist for the print line 201, and one reference mark 410 may exist for the print line 201. Even if there is one fiducial mark 410 for the print line 201, the position of the fiducial mark 410 is known, so the distance between the position of the fiducial mark 410 and the print line 201 can be calculated.
Even when one reference mark 410 exists for the print line 201, the distances of the plurality of print lines 201 can be calculated using the distances of the plurality of reference marks 410.

The reference mark 410 may be formed corresponding to a print pattern of a curved line, a square, a triangle, a polygon, a semicircle, or another shape, instead of the straight print line 201.
The fiducial marks 410 do not have to be at each end of the print line 201, and may be present only at points that are considered important for quality inspection.
The reference mark 410 does not have to be a hole, and may be a mark or a seal described on the surface of the jig 400.
The shape of the reference mark 410 does not have to be circular, and may be square, triangular, polygonal, straight line, semicircle, or any other shape.
The reference mark 410 may be any mark that can be photographed and identified by the camera 690.
The reference mark 410 may be only on the outside of the work 200.
The reference mark 410 may be provided 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 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 vertical 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 center 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 of Articulated Robot 600)
The articulated robot 600 does not have to be a 6-axis robot, and may be a 5-axis, 4-axis, or 3-axis robot.
Specifically, the axis J4 may be omitted.
The axis J1 may be omitted if there is no inspection by the camera 690 and there is no need to move the squeegee unit 930 to the rack 560.
The axis J6 may be omitted if there is no inspection by the camera 690 and there is no need to rotate the squeegee unit 930 above the rack 560.

The plate moving mechanism 700 and the detaching/attaching mechanism 800 can also be used for a screen printing apparatus using a drive mechanism that linearly moves the squeegee unit 930 in the horizontal direction.
Further, the inspection content and the inspection method using the reference mark described above can also be used for a screen printing apparatus using a drive mechanism that linearly moves the squeegee unit 930 in the horizontal direction.
Further, the camera 690 may not 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 in the horizontal two-dimensional direction.

(Modification 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 with one side of the plate frame 310 as an axis.
The plate moving mechanism 700 may move the plate attaching/detaching mechanism 800 on the moving table without moving the plate frame 310.

(Modification of the 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 be omitted if the table 820 is rigid.
The number of linear shafts 841 in front of the attachment/detachment mechanism 800 may not be four, and may be two.
The attachment/detachment mechanism 800 may not include both the up/down mechanism 830 and the rotation mechanism 860, and may include only the up/down mechanism 830 or the rotation mechanism 860.
As the rotating mechanism 860, a mechanism that tilts only to one side is shown, but the rotating mechanism 860 may be a mechanism that tilts only to the opposite side. Alternatively, the rotation mechanism 860 may be a mechanism that tilts to both sides.
There may be a plurality of vertical guides 350 on the left and right sides of the lower surface of the table 820, or a plurality of front and rear sides of the lower surface of the table 820.

(Modification of printing unit 900)
Although the case where the printing unit 900 includes the squeegee 910 and the scraper 920 is shown, either the squeegee 910 or the scraper 920 may be replaced and attached to the printing unit 900.
If the printing unit 900 does not come into contact with the forearm 660 by the rotation of the end 680, the space S may not be provided in the printing unit 900.

(Variation of operation: Test printing)
Differences from the above-described operation in the case of test printing will be described.
In the carry-in step S13 of the work 200, the work 200 is placed on the jig 400.
After that, the roll film in the roll holding unit 590 is pulled out to cover the work 200 with the roll film.
After that, the setting process S14 to the inspection process S21 are performed on the roll film.
That is, the plate frame 310 and the squeegee unit 930 are moved to the printing position to print on the roll film.
Then, the print result on the roll film is inspected.
After the inspection of the print 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, the cause of the defect is removed, and then test printing is performed again.
If the print result on the roll film is normal, the setting process S14 to the unloading process S22 are performed on the work 200. 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 unloaded.

(Modification of operation: Sampling inspection)
The inspection step S21 does not have to be performed every time, and the sampling inspection may be performed.
When performing the sampling inspection, the separation step S20 of the squeegee unit 930 may not be performed, and the standby step of the squeegee unit 930 may be performed instead of the separation step S20.
The standby process is a process in which the articulated robot 600 waits the squeegee unit 930 above the ink tray 570 while the squeegee unit 930 is mounted.
Even if ink drops from the squeegee 910 or the scraper 920 during standby, it can be received by the ink receiving tray 570.

(Variation of operation: concave 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, since there is no convex portion in the printed portion, it is not necessary to separate the jig 400 from the screen 300.
As shown in (a) of FIG. 24, even after printing the convex top 220 of the work 200, printing is performed before the plate separation angle or the distance between the work 200 and the screen 300 is reduced if the height difference of the downhill is 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, if the height difference of the downhill is large, as shown in FIG. 24B, only the up-and-down mechanism 830 is operated to separate the entire jig 400 from the screen 300. Alternatively, as shown in (c) of FIG. 24, the rotation mechanism 860 is operated to separate the back of the jig 400 from the screen 300.
Although not shown, when the work 200 has a wavy surface made up of a plurality of concavo-convex portions, the control unit 110 uses the up-and-down mechanism 830 and the rotation mechanism 860 to determine the plate separation angle between the work 200 and the screen 300 or The distance between the work 200 and the screen 300 is adjusted.
In principle, 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.

(Modification of operation: Reverse printing)
The printing direction may be reversed.
When reversing the printing direction, the following configurations are possible.
Configuration 1. The arrangement of the articulated robot 600 shown in FIG. 1 is reversed.
Configuration 2. The printing unit 900 is attached to the articulated robot 600 shown in FIG.
Configuration 3. With respect to the printing unit 900 of the articulated robot 600 shown in FIG. 1, the squeegee 910 and the scraper 920 are inverted 180 degrees and the attachment positions of the squeegee 910 and the scraper 920 are exchanged.

(Modification of operation: attachment/detachment of camera 690)
A camera holding unit that holds the camera 690 may be formed on 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, removes the squeegee unit 930 from the articulated robot 600 and attaches the camera 690 to the articulated robot 600.

(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, the printing pressure may be applied to the squeegee 910 by the pressurizer 931 and the articulated robot 600 during printing.
Similarly, at the time of ink coating, pressure may be applied to the scraper 920 by the articulated robot 600 instead of the pressurizer 932.
Alternatively, the 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 embodiments will be described.
The attachment/detachment mechanism 800 of this embodiment is obtained by modifying 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.

<< detaching 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.
The X in FIG. 28 is a portion in which the up-and-down mechanism 830 is deleted to make the rotating mechanism 860 easy 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 diagrams in which the detaching/attaching mechanism 800 is at the origin, and the jig 400 is at the bottom.

<Up/down mechanism 830>
The up-and-down mechanism 830 is fixed to the floor surface 950 of the housing 500.
The lower part of the up-and-down mechanism 830 is arranged between the floor surface 950 and the bottom surface 951 of the housing 500.
The upper part of the up-and-down mechanism 830 is arranged above the floor surface 950 of the housing 500.
The up-and-down mechanism 830 has a plurality of servo cylinders arranged along the printing direction.
The up-and-down mechanism 830 has four servo cylinders and six linear shafts.
The servo cylinder moves the table 820 up and down.
The servo cylinder is an actuator that is electrically driven to expand and contract by controlling the rotation speed of a servo motor.
The servo cylinder has a servo motor 889 and a vertical shaft 839 that moves vertically.
The control unit 110 can accurately position the vertical shaft 839 at an arbitrary position by controlling the rotation of the servo motor 889.
The linear shaft supports the linear movement 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 positions on the left and right in front of and behind the table 820.
The two servo cylinders 881 are arranged 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 adjustment 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 vertical shaft 839, the height of the adjusting pin 837 can be adjusted with respect to the vertical shaft 839.
Push-up portions 836 are attached to the lower surfaces of the upper and lower plates 844.
The push-up portion 836 is a point where the tip of the adjustment pin 837 comes into contact.
As the vertical shaft 839 rises, the adjustment pin 837 rises, and when the adjustment pin 837 rises, the push-up portion 836 is pushed up. Thus, the upper and lower plates 844 ascend.
When the vertical shaft 839 descends, the adjustment pin 837 descends, and when the adjustment pin 837 descends, the push-up portion 836 descends. In this way, the upper and lower plates 844 descend due to 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 adjusting pins 837 of the two servo cylinders 881 via the push-up portions 836.
Both ends of the upper and lower plates 846 are placed on the adjusting pins 837 of the two servo cylinders 883 via the push-up portions 836.
Since the upper and lower plates 844 and 846 are mounted on the servo cylinder via the adjustment pin 837, the upper and lower plates 846 may tilt left and right due to the lifting of the upper and lower shafts 839 of the servo cylinder.
Therefore, a linear shaft is arranged on the side of the servo cylinder, and the linear shaft 849 of the linear shaft is lifted to prevent the upper and lower plates from tilting to the left and right, and the upper and lower plates 846 move horizontally in the vertical direction.

<Up and down guide 850>
As shown in FIGS. 25, 28, and 29, the attachment/detachment mechanism 800 has a vertical guide 850 that regulates the lateral inclination of the jig 400.
FIG. 29A shows the vertical guide 850 in the state shown in FIG. 25, that is, in the state where 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 upper and lower guides 850 are arranged at a position closer to the rear of the table 820 and closer to the center than the servo cylinder 883, and are arranged at the center of the table 820 in the width direction.
The vertical guide 850 is a guide that prevents at least one or both of the horizontal movement and the horizontal inclination of the table 820 when the table 820 moves vertically.
The upper and lower guides 850 have 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 vertically.
The upper and lower guides 850 have guide posts 854 and guide portions 853.
The guide pillar 854 is a pillar that is fixed to the floor of the base 510 of the housing 500 and extends vertically upward from the floor surface 950.
The guide portion 853 is a vertical guide that exists vertically on one side surface of the guide column 854 and that sandwiches the cam follower 852.
The guide portion 853 allows movement of the cam follower 852 in the up-down direction and the front-rear direction, but prohibits movement in the left-right direction.
The guide portion 853 prohibits the jig 400 from moving to the left and right and tilting to the left and right.

<Adjustment mechanism 870>
FIG. 27 shows the adjusting mechanism 870.
The up-and-down mechanism 830 has an adjusting mechanism 870 for adjusting 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 positions in front of and behind the table 820.
The connecting plate 871 is under the floor of the base 510 and connects the lower ends of the linear motion shafts 849 of the left and right linear shafts.
A total of four linear motion shafts 849 are attached to the front, rear, left and right of the upper and lower plates 844.
Two linear motion shafts 849 in total are attached to the left and right of the upper and lower plates 846.
The upper and lower plates 844 and 846 move up and down in parallel with the floor surface 950 by the linear motion shaft 849.

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

***Description of operation***
The operation of the attachment/detachment mechanism 800 according to the second embodiment will be described below mainly with respect to differences from the first embodiment.
The control unit 110 can change the tilt of the table 820 by controlling the amount of elevation of the servo cylinders 881 and 883 during printing.
FIG. 30 shows a case where the end of the attachment/detachment mechanism 800 in the printing direction is raised by using only the servo cylinder 883 from the state shown in FIG. 25, that is, the state in which the jig 400 is at the bottom. ..
FIG. 31 shows a case where the end portion of the detaching/attaching mechanism 800 in the printing direction is raised from the state shown in FIG. 30 using only the servo cylinder 881.

FIG. 32 shows a state in which the tilt of the table 820 of the attachment/detachment mechanism 800 is changed by controlling the amount of rise of the servo cylinders 881 and 883.
32A shows the 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 vertical shaft 839 of the servo cylinder 883 is kept constant and the height of the vertical shaft 839 of the servo cylinder 881 is changed.
FIG. 32C 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 reduced by an equal amount.
FIG. 32D 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 by twice 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 tilt of the table 820 by the servo cylinders 881 and 883.

As described above, the screen printing apparatus according to the second embodiment has the plurality of vertical cylinders in which the vertical mechanism is arranged along the printing direction, and the control unit 110 raises the multiple vertical cylinders during screen printing. Adjust the amount. The jig 400 tilts in the positive or 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 effects of Embodiment 2***
According to the second embodiment, since the detachment/attachment mechanism 800 capable of changing the inclination angle of the table in the positive direction or the negative direction is provided, it is possible to optimally adjust the plate separation angle between the work 200 and the screen 300. You can

100 screen printing device, 110 control unit, 120 monitor, 130 robot controller, 140 image processing unit, 150 vacuum pump, 160 air pressure circuit, 170 console, 200 work, 201, 211 printing line, 202, 203, 212, 213 outline Line, 204, 214 center line, 220 top, 230 bottom, 240 inflection point, 300 screen, 310 plate frame, 320 top, 330 bottom, 340 inflection point, 400 jig, 410 reference mark, 500 housing, 510 Base, 520 control box, 530 column frame, 540 beam frame, 550 top plate, 560 rack, 561 suspension part, 570 ink tray, 590 roll holding part, 600 articulated robot, 610 base, 620 body, 630 shoulder, 640 Upper arm, 650 elbow, 660 forearm, 670 wrist, 680 end, 690 camera, 700 plate moving mechanism, 720 legs, 730 slide mechanism, 740 conveyor belt, 750 motor, 760 frame fixing part, 800 detaching mechanism, 820 table , 821 Support plate, 822 frame, 830 Vertical mechanism, 831, 832, 833 Vertical cylinder, 835 Floating joint, 836 Push up part, 837 Adjustment pin, 839 Vertical shaft, 841, 842, 843 Linear shaft, 844, 845, 846 Vertical Plate, 849 linear motion shaft, 850 vertical guide, 851 plate, 852 cam follower, 853 guide section, 854 guide column, 860 rotation mechanism, 861 rotation shaft, 862 bearing, 864 shaft unit, 865,866 roller unit, 867 shaft, 868 Roller, 870 adjusting mechanism, 871 connecting plate, 872 screw, 873 dial gauge, 881,883 servo cylinder, 889 servo motor, 900 printing unit, 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 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 using a squeegee on a work having a convex surface,
A jig for mounting the work,
Having a convex surface corresponding to the convex surface of the surface of the work, a screen having a printing pattern,
A screen printing apparatus comprising the screen and a detaching mechanism to which the jig is attached so that the distance can be changed. The screen printing apparatus according to claim 1, further comprising a control unit that separates the jig from the screen by the detaching/attaching mechanism after the top of the convex surface of the work is printed. The work has a recessed concave surface and a protruding convex surface,
The screen printing apparatus according to claim 2, wherein when printing from a convex surface to a concave surface, the control unit separates the jig from the screen by the detaching/attaching mechanism after printing the top of the convex surface. The screen printing apparatus according to claim 2, wherein the detaching/attaching mechanism includes an up-and-down mechanism for moving the jig up and down with respect to the screen. The up-and-down mechanism has a plurality of up-and-down 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. The screen printing apparatus according to claim 4, wherein the detaching/attaching mechanism includes a rotating mechanism that rotates the jig with respect to the screen. The up-and-down mechanism has a plurality of up-and-down cylinders arranged along the printing direction,
The rotating mechanism is
A shaft unit having a rotating shaft, which is mounted on the upper and lower cylinders at the front end of the plurality of upper and lower cylinders in the printing direction,
Of the plurality of upper and lower cylinders, a roller unit is mounted on the upper and lower cylinders to which the shaft unit is not mounted,
An end portion is fixed to the rotary shaft of the shaft unit, and has a table placed on the roller unit,
The screen printing device according to claim 6, wherein the control unit changes the amount of elevation of the plurality of upper and lower cylinders to control the height position of the roller unit to incline the table. The roller unit has a roller,
The screen printing apparatus according to claim 7, wherein the table has a receiving plate that receives the roller. The lifting mechanism is
A floating joint attached to the tip of the upper and lower cylinders,
The screen printing device according to claim 4, further comprising a linear shaft that supports linear movement of the upper and lower cylinders. The screen printing apparatus according to claim 1, wherein the attachment/detachment mechanism has an up/down guide that regulates at least one of a lateral movement and a lateral inclination of the jig. Place a work having a concave surface and a convex surface on a jig,
Using a screen having a concave surface and a convex surface, by moving the squeegee by an articulated robot, to print on the concave surface and the convex surface of the work,
A screen printing method for increasing the distance between the screen and the jig when printing from the top of the convex surface to the concave surface. The screen printing method according to claim 11, wherein the jigs are inclined with respect to the printing direction by changing the amount of elevation of the plurality of upper and lower cylinders.

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