TW201919915A - Screen printing device and screen printing method - Google Patents

Abstract

This screen printing device, which uses a squeegee to print on a workpiece (200) having a curved surface on the surface, is provided with: a jig (400) on which the workpiece (200) is placed and which has reference marks (410); a camera which images the reference marks (410) on the jig (400) and print lines (201) of a print pattern printed on the workpiece (200); and a control unit which analyzes printing results with an image captured by the camera.

Description

Screen printing device and screen printing method

The invention relates to a screen printing device and a screen printing method for screen printing a workpiece having a curved surface.

Conventionally, a device for screen printing a workpiece having a curved surface is considered.

In addition, a device for performing screen printing using a multi-joint robot has been considered.

[Prior technical literature] [Patent Literature]

Patent Document 1: Japanese Patent Laid-Open No. 2015-044330

Patent Document 2: Japanese Patent Laid-Open No. 2014-172099

Patent Document 3: Japanese Patent Laid-Open No. 2005-088577

Patent Document 4: Japanese Patent Laid-Open No. 11-320820

Patent Document 5: Japanese Patent Laid-Open No. 06-031895

Patent Document 6: International Publication No. 2017/005576

The present invention is to provide a screen printing which can check the printing result correctly. Device and screen printing method.

The screen printing device of the present invention uses a squeegee to print a workpiece having a curved surface on the surface. The screen printing device includes: a jig for placing the above-mentioned workpiece and having a reference mark; and a camera for shooting the above-mentioned jig A fiducial mark and a print pattern printed on the workpiece; and a control unit that analyzes a print result from an image captured by the camera.

According to the present invention, since the jig has a reference mark, the printing result can be accurately checked.

100‧‧‧Screen printing device

110‧‧‧Control Department

120‧‧‧ Display

130‧‧‧Robot Controller

140‧‧‧Image Processing Unit

150‧‧‧vacuum pump

160‧‧‧Air pressure circuit

170‧‧‧console

200‧‧‧ Workpiece

201, 211‧‧‧printing line

202, 203, 212, 213‧‧‧ outline

204, 214‧‧‧ Centerline

220‧‧‧Top

230‧‧‧ bottom

240, 340‧‧‧reflex points

300‧‧‧ Screen

310‧‧‧Frame

320‧‧‧Top

330‧‧‧ bottom

400‧‧‧ jig

410‧‧‧ fiducial mark

500‧‧‧shell

510‧‧‧ abutment

520‧‧‧Control Box

530‧‧‧column frame

540‧‧‧beam frame

550‧‧‧Top plate

560‧‧‧ Bracket

561‧‧‧Suspension Department

570‧‧‧ink container

590‧‧‧ roll holder

600‧‧‧ multi-joint robot

610‧‧‧ substrate

620‧‧‧ Ontology

630‧‧‧shoulder

640‧‧‧ upper arm

650‧‧‧ elbow

660‧‧‧ forearm

670‧‧‧ wrist

680‧‧‧ end

690‧‧‧ Camera

700‧‧‧ mobile agency

720‧‧‧Tripod

730‧‧‧ sliding mechanism

740‧‧‧ transport belt

750‧‧‧ Motor

760‧‧‧Frame fixing section

800‧‧‧ Take-off and landing mechanism

820‧‧‧platform

821‧‧‧Accepting board

822‧‧‧Frame

830‧‧‧Lifting mechanism

831, 832, 833‧‧‧ Lifting cylinder

835‧‧‧Floating joint

839‧‧‧ Lifting shaft

841, 842, 843‧‧‧‧ linear axis

844, 845, 846‧‧‧‧ Lifting plate

849‧‧‧ linear motion axis

850‧‧‧ Lifting Guide

851‧‧‧ tablet

852‧‧‧ cam follower

853‧‧‧Guide

854‧‧‧Guide Post

860‧‧‧rotating mechanism

861‧‧‧rotation axis

862‧‧‧bearing

864‧‧‧axis unit

865, 866‧‧‧ roller unit

867‧‧‧axis

868‧‧‧roller

870‧‧‧ adjustment agency

871‧‧‧Link board

872‧‧‧screw

873‧‧‧ Needle dial gauge

900‧‧‧Printing Department

910‧‧‧Scraper

920‧‧‧Scraper

930‧‧‧Scraper unit

931, 932‧‧‧Pressurizer

933‧‧‧Fixing plate

934‧‧‧Lower plate

935‧‧‧Side

936‧‧‧on board

937‧‧‧Loading and unloading department

938‧‧‧ Linear Bushing

939‧‧‧ floating joint

940‧‧‧ linear motion axis

941, 942‧‧‧Installation Department

943‧‧‧Pressure shaft

G1, G2, G3, G4, G5 ‧‧‧ distance

J1, J2, J3, J4, J5, J6‧‧‧ axis

JC‧‧‧ Camera shaft

JS‧‧‧ axis

K1, K2, K4, K5, X3, X4, X5, X6, X7, X8, X9‧‧‧ distance

L, S0‧‧‧Straight

NP‧‧‧Axis J1 cannot rotate

R, S‧‧‧ space

S1‧‧‧Printing start position

S2‧‧‧End of printing

S4‧‧‧ Central position of printing stroke

SE‧‧‧End

P1, P2, P3, P4‧‧‧ fiducial marks

V1, V2, V3, V4, V5‧‧‧Width

W1, W2, W3‧‧‧ distance

X1‧‧‧length of the long side of the shell

X2‧‧‧ Length of the long side of the screen

Y1‧‧‧The length of the short side of the shell

Y2‧‧‧The length of the short side of the screen

FIG. 1 is a front view of the screen printing apparatus 100 in the first embodiment.

FIG. 2 is a left side view of the screen printing apparatus 100 in Embodiment 1. FIG.

FIG. 3 is a right side view of the screen printing apparatus 100 in Embodiment 1. FIG.

FIG. 4 is a rear view of a part of the screen printing apparatus 100 in Embodiment 1 omitted.

FIG. 5 is a plan view of the screen printing apparatus 100 in Embodiment 1. FIG.

FIG. 6 is a configuration diagram of the articulated robot 600 of the screen printing apparatus 100 in the first embodiment.

FIG. 7 is a front view of the plate moving mechanism 700 of the screen printing apparatus 100 in Embodiment 1. FIG.

FIG. 8 is a right side view of the plate moving mechanism 700 of the screen printing apparatus 100 in Embodiment 1. FIG.

FIG. 9 is a front view and a right side view of the take-off and landing mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG. (a) Front view of the landing gear 800 located at the origin. (b) is a front view of the lifting platform 820. (c) A right side view of the lifting platform 820 horizontally.

FIG. 10 is a left side view of the take-off and landing mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG.

FIG. 11 is a right side view of the take-off and landing mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG.

FIG. 12 is a configuration diagram of a printing section 900 of the screen printing apparatus 100 in the first embodiment. (a) is a figure in which the printing part 900 is installed. (b) is the figure which removed the printing part 900. FIG.

FIG. 13 is a configuration diagram of a printing section 900 of the screen printing apparatus 100 in the first embodiment.

FIG. 14 is a configuration diagram of a printing section 900 of the screen printing apparatus 100 in the first embodiment.

FIG. 15 is a configuration diagram of a work 200, a screen 300, and a jig 400 of the screen printing apparatus 100 in the first embodiment. (a) is a configuration diagram of the screen 300, the work 200, and the jig 400. (b) is a structural diagram of the workpiece 200 and the jig 400. (c) is a block diagram of the workpiece 200. (d) is an explanatory diagram of the reference mark.

FIG. 16 is a partial layout diagram of the screen printing apparatus 100 in the first embodiment.

FIG. 17 is a partial layout diagram of the screen printing apparatus 100 in the first embodiment.

FIG. 18 is a partial layout diagram of the screen printing apparatus 100 in the first embodiment.

FIG. 19 is an operation flowchart of the screen printing apparatus 100 in the first embodiment.

FIG. 20 is an explanatory diagram of a printing operation of the screen printing apparatus 100 in the first embodiment.

FIG. 21 is an explanatory diagram of a printing operation of the screen printing apparatus 100 in the first embodiment.

Fig. 22 is a diagram for explaining the printing operation of the screen printing apparatus 100 in the first embodiment.

FIG. 23 is an operation explanatory diagram of the take-off and landing mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG. (a) A diagram of the relationship between the workpiece 200 and the screen 300 when the take-off and landing mechanism 800 is not operated. (b) A diagram showing the relationship between the workpiece 200 and the screen 300 when the take-off and landing mechanism 800 is operated.

FIG. 24 is an operation explanatory diagram of the take-off and landing mechanism 800 of the screen printing apparatus 100 in Embodiment 1. FIG. (a) A diagram of the relationship between the workpiece 200 and the screen 300 when the take-off and landing mechanism 800 is not operated. (b) is a relationship diagram between the workpiece 200 and the screen 300 when the lifting mechanism 830 is operated. (c) A relationship diagram between the workpiece 200 and the screen 300 when the rotating mechanism 860 is operated.

Embodiment 1. * * * Description of composition * * *

The structure of the screen printing apparatus 100 is demonstrated based on FIG. 1, FIG. 2, FIG. 3, FIG. 4, and FIG.

In FIG. 1, the direction that becomes the printing direction, that is, the left direction toward the paper surface is referred to as the forward direction.

In FIG. 1, the direction opposite to the printing direction, that is, the right direction toward the paper surface is referred to as the backward direction.

In FIG. 1, the vertical direction toward the paper surface is referred to as a height direction.

In FIG. 1, the front direction toward the paper surface is referred to as a right direction.

In FIG. 1, a deep direction toward a paper surface is referred to as a left direction.

In FIG. 1, two multi-joint robots 600 are illustrated, but in reality, only one multi-joint robot 600 exists.

The screen printing device 100 is a device for screen printing a workpiece 200 having a curved surface by a plate frame 310 having a screen plate 300.

The screen printing apparatus 100 includes a housing 500, a multi-joint robot 600, a plate moving mechanism 700, a take-off and landing mechanism 800, and a printing unit 900.

<< Shell 500 >>

The screen printing apparatus 100 includes a casing 500.

The housing 500 includes a base 510, a control box 520, a column frame 530, a beam frame 540, and a top plate 550.

The base 510 is a base of the screen printing apparatus 100.

The abutment 510 has a box-like shape.

The control box 520 is connected to the internal storage control unit 110.

The pillar frame 530 is a pillar standing on the floor surface of the abutment 510.

The beam frame 540 is a beam connecting the top of the column frame 530.

The top plate 550 is disposed on the top wall between the beam frames 540.

The screen printing apparatus 100 includes a roll holder 590.

The roll holding portion 590 rotatably holds the roll film. The roll film is a roll-shaped film that is tested and printed.

<< Control section 110 >>

The screen printing apparatus 100 includes a control unit 110.

The control unit 110 is a device that controls the entire device.

The control unit 110 can be implemented by a central processing device, a program, a memory, and a memory device.

The control unit 110 controls the display 120, the robot controller 130, the image processing unit 140, the vacuum pump 150, the console 170 shown in FIG. 2, and the air pressure circuit 160 shown in FIG. 5 as shown in FIG. 1 to control the following Printing operation and inspection operation.

The signal from the control section 110 is transmitted to each section through 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.

<< Multi-joint robot 600 >>

FIG. 6 shows a multi-joint robot 600.

The articulated robot 600 is a type of industrial robot.

An industrial robot is a machine that can be used industrially by having a manipulation function or a movement function by automatic control, which can perform various operations by a program.

The industrial robot has a manipulator and a memory device.

The industrial robot is a machine that can automatically perform manipulator's telescoping, flexion and extension, up-down movement, left-right movement or rotation based on the information of the memory device, or a combination of these.

Here, the manipulator refers to a person who has a function similar to a human arm and can perform various operations.

Multi-joint robot is a kind of joint robot.

The mechanical structure of the articulated robotic arm includes three or more rotary joints. That is, the articulated robot has three or more axes of freedom and can be controlled automatically or programmed. Longitudinal device.

The articulated robot 600 has a plurality of links and a plurality of joints.

Links refer to individual elements that constitute a mechanical structure and can move relative to each other.

A joint refers to 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-type robot.

The articulated robot 600 shown in FIG. 6 is a multi-axis robot having six rotation axes of the axis J1 to the axis J6 described below.

The multi-joint robot 600 includes a base 610, a body 620, a shoulder 630, an upper arm 640, an elbow 650, a forearm 660, a wrist 670, and a tip 680.

The main body 620, the upper arm 640, the forearm 660, and the end 680 are links.

Shoulder 630, elbow 650, and wrist 670 are joints.

The base 610 is fixed to the top plate 550 located on the top wall of the upper center of the printing width of the screen.

The base 610 has an axis J1 perpendicular to the top plate 550.

The axis J1 of the substrate 610 is a rotation axis orthogonal to the top wall.

The axis J1 of the substrate 610 is arranged at the upper center of the printing width in the left-right direction of the screen 300.

The axis J1 of the substrate 610 is disposed above the printing range in the front and rear directions of the screen 300.

The main body 620 is mounted on the base 610 so as to be rotatable about an axis J1 perpendicular to the top wall.

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 as a center.

The elbow 650 is fixed to the upper arm 640 and has a horizontal axis J3.

The elbow 650 has an axis J4 perpendicular to the axis J3.

The forearm 660 is attached to the elbow 650 so as to be rotatable about the axis J3 and the axis J4.

The forearm 660 is rotatable around an axis J4 that is perpendicular to the horizontal axis J3 and that intersects the axis J3.

The wrist 670 has an axis J5 perpendicular to the axis J4 and crossing the axis J4.

The wrist 670 has an axis J6 that is perpendicular to the axis J5 and that intersects the axis J5.

The tip 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 axis is centered on each axis and is rotated by a motor (not shown).

Each motor controls a rotation angle based on an electrical signal output from the robot controller 130.

In FIG. 6, the axis J1 and the axis J2 are spaced above the printing stroke between the printing start position S1 and the printing end position S2.

The axis J1 is orthogonal to the printing direction and orthogonal to the axis J2.

The axis J2 is orthogonal to the printing direction and orthogonal to the axis J1.

The maximum angle formed by the straight line connecting the axis J2 and the printing start position S1 and the straight line connecting the axis J2 and the printing end position S2 is the angle that is changed if the size of the workpiece 200 is changed, preferably below 90 degrees, preferably 60 degrees Hereinafter, it is more preferably 50 degrees or less, and 40 degrees is more suitable.

<< Version Mobile Mechanism 700 >>

The plate moving mechanism 700 is a mechanism that moves the plate frame 310 in the horizontal direction.

The plate moving mechanism 700 moves the plate frame 310 after printing to open the space above the workpiece 200.

As shown in FIGS. 7 and 8, the plate moving mechanism 700 includes four tripods 720 and two slide mechanisms 730.

Each slide mechanism 730 is fixed to the upper part of the two tripods 720.

The slide mechanism 730 arranges the conveyance belt 740 in the left-right direction.

The conveyance belt 740 is rotated by a motor 750 arranged at an end portion of one slide mechanism 730.

The slide mechanism 730 is provided with a frame fixing portion 760 that is slidable left and right.

The frame fixing portion 760 is detachably attached to the plate frame 310.

The frame fixing portion 760 slides left and right by the rotation of the conveying belt 740.

In FIG. 8, the state in which the plate frame 310 is moved to the far left of the paper surface is a covering state in which the plate frame 310 covers the workpiece 200 and is a printable state.

In FIG. 8, the state in which the plate frame 310 is moved to the far right of the paper surface is a state in which the space above the open workpiece 200 is opened, which is an inspectable state in which the printing result of the workpiece 200 can be checked.

<< Landing mechanism 800 >>

The take-off and landing mechanism 800 will be described with reference to FIGS. 9, 10, and 11.

(A) of FIG. 9 is a diagram where the take-off and landing mechanism 800 is located at the origin, which is a diagram where the jig 400 is located at the bottom.

(B) of FIG. 9 is a diagram of lifting one end of the platform 820 by hand when the take-off and landing mechanism 800 is located at the origin.

(C) of FIG. 9 is a diagram in which the take-off and landing mechanism 800 lifts the platform 820 horizontally.

The take-off and landing mechanism 800 is a mechanism that moves the jig 400 relative to the plate frame 310.

The take-off and landing mechanism 800 changes the distance between the screen 300 and the fixture 400.

The take-off and landing mechanism 800 is to install the fixture 400 in such a manner that the distance between the fixture 400 and the screen 300 can be changed.

The take-off and landing mechanism 800 is a platform 820 including a frame 822 of the fixed jig 400 and a fixed frame 822.

The frame 822 is two quadrangular posts made of aluminum or other metal.

The platform 820 is a rectangular plate made of aluminum or other metal.

The lift mechanism 800 includes a lift mechanism 830 that raises and lowers the jig 400 relative to the screen 300.

The take-off and landing mechanism 800 includes a rotation mechanism 860 that rotates the jig 400 relative to the screen 300.

<Lifting mechanism 830>

The lifting mechanism 830 is fixed to the floor surface of the casing 500.

The elevating mechanism 830 includes a plurality of elevating cylinders arranged in the printing direction.

The jig 400 is fixed to the platform 820 via a frame 822.

The lifting mechanism 830 has 6 lifting cylinders and 8 linear axes.

The lift cylinder lifts the platform 820.

The lifting cylinder refers to an actuator which is driven by telescopic operation by oil pressure, air pressure, water pressure or electric power, and is preferably a cylinder.

The lifting cylinder has a lifting shaft 839 that moves up and down.

The linear axis system supports the linear mover of the lifting cylinder to restrict the platform 820 from moving up and down Those who move in the vertical direction.

Each linear shaft system has a linear motion shaft 849 which slides up and down.

The six lifting cylinders are arranged at the front, center and rear left and right parts of the platform 820.

Two lifting cylinders 831 are arranged under one end of the platform 820.

The four linear shafts 841 are arranged inside the two lifting cylinders 831.

Two lifting cylinders 832 are arranged below the center of the platform 820.

The two linear shafts 842 are arranged inside the two lifting cylinders 832.

Two lifting cylinders 833 are arranged at the other end of the platform 820.

The two linear shafts 843 are arranged inside the two lifting cylinders 833.

A floating joint 835 is installed at the front end of the lifting shaft.

The floating joint 835 installed at the front end of the lifting cylinder connects the lifting shaft of the lifting cylinder with the roller unit.

The lifting plate 844 is fixed to the floating joint 835 of the two lifting cylinders 831 and the linear motion shaft 849 of the four linear shafts 841.

The lifting plate 844 is fixed to two bearings 862 at both ends.

The lifting plate 845 is fixed to the floating joint 835 of the two lifting cylinders 832 and the linear motion shaft 849 of the two linear shafts 842.

The lifting plate 845 is fixed to two roller units 865 at both ends.

The lifting plate 846 is fixed to a floating joint 835 of two lifting cylinders 833 and a linear motion shaft 849 of two linear shafts 843.

The lifting plate 846 is fixed to two roller units 866 at both ends.

Both ends of the lifting plate 844 are fixed to the floating joints 835 of the two lifting cylinders 831.

Both ends of the lifting plate 845 are fixed to the floating joints 835 of the two lifting cylinders 832.

Both ends of the lifting plate 846 are fixed to the floating joints 835 of the two lifting cylinders 833.

The lifting plate 846 is connected to the lifting cylinder via a floating joint 835, so there is a possibility that the lifting plate 846 may tilt due to the lifting of the lifting shaft 839 of the lifting cylinder.

Therefore, a linear axis is arranged on the side of the lifting cylinder, and the tilt of the lifting plate is suppressed by the linear axis 849 ascending of the linear axis, so that the lifting plate 846 moves horizontally in the vertical direction.

If the lifting shafts 839 of the six lifting cylinders rise evenly, the platform 820 rises horizontally, and if the lifting shafts 839 of the six lifting cylinders drop evenly, the platform 820 drops horizontally.

<Lift Guide 850>

As shown in FIGS. 9 (a) and 9 (b), the take-off and landing mechanism 800 is provided with a lifting guide 850 that limits the inclination of the jig 400.

The elevating guide 850 is disposed at the rear position of the platform 820 and more centrally than the elevating cylinder 833, and is disposed at the center in the width direction of the platform 820.

The elevating guide 850 is a guide for preventing at least one or both of the movement of the platform 820 to the left and right and the tilt of the platform 820 when the platform 820 moves up and down.

The lifting guide 850 includes a flat plate 851 and a cam follower 852.

The flat plate 851 is fixed to the platform 820 and extends vertically downward from the lower surface of the platform 820.

A plurality of cam followers 852 are attached to the flat plate 851.

The plurality of cam followers 852 are arranged in the vertical direction.

The elevating guide 850 includes a guide post 854 and a guide portion 853.

The guide post 854 is a post fixed to the floor of the base 510 of the housing 500 and extending vertically upward from the floor surface.

The guide portion 853 is a guide that exists in a vertical direction on one side of the guide post 854 and holds the cam follower 852 in a vertical direction.

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 prevents the jig 400 from moving to the left and right and tilting to the left and right.

<Adjustment mechanism 870>

(C) of FIG. 9 shows the adjustment mechanism 870.

The lifting mechanism 830 is provided with an adjusting mechanism 870 that adjusts the height of the lifting cylinder.

The adjustment mechanism 870 includes a connection plate 871, a screw 872, and a dial gauge 873.

The connecting plate 871, the screws 872, and the dial gauge 873 are arranged in three positions in front, middle, and rear of the platform 820.

The connecting plate 871 is located under the floor of the base 510 and is connected to the lower end of the linear motion axis 849 located on the left and right linear axes.

The screws 872 pass through the floor of the base 510 and are mounted on the base 510.

The screw 872 is installed at the center of the left and right linear axes.

The lower end of the screw 872 is connected to the center of the connecting plate 871.

By rotating the screw 872, the upper and lower positions of the connection plate 871 can be changed, and the lifting position of the linear motion shaft 849 of the lifting cylinder in the height direction can be adjusted.

The dial gauge 873 measures the lift position of the linear motion axis 849 of the lift cylinder in the unit of 0.1 mm.

<Rotation mechanism 860>

The rotating mechanism 860 is arranged on the upper part of the lifting mechanism 830, and moves up and down to move up and down.

The rotation mechanism 860 is a mechanism in which the platform 820 is arranged at the upper portion and the platform 820 is inclined.

The rotation mechanism 860 includes a shaft unit 864, a roller unit 865, and a roller unit 866.

The front end of the platform 820 is fixed to a rotation shaft 861 of the shaft unit 864.

The center and rear ends of the platform 820 are placed on the roller unit 865 and the roller unit 866.

The shaft unit 864 is mounted on the lift cylinder 831 at the front end of the lift cylinders.

The shaft unit 864 includes a rotation shaft 861 and a bearing 862.

One end of the rotation shaft 861 is fixed to the platform 820 at one end in front of the platform 820 and is horizontally fixed.

The central axis of the rotation axis 861 becomes the rotation axis of the platform 820.

The two bearings 862 are arranged at the left and right ends of the rotation shaft 861 and hold the rotation shaft 861 rotatably.

The roller unit 865 and the roller unit 866 are mounted on the central and rear lift cylinders of the several lift cylinders to which the rotation shaft 861 is not mounted.

The roller unit 865 and the roller unit 866 are each provided with a roller 868 rotatable around a shaft 867.

The platform 820 is a receiving plate 821 having receiving rollers 868 on the left and right sides of the center and the rear.

When the roller 868 is tilted on the platform 820, an axis 867 is formed on the lower surface of the receiving plate 821. Rotate for the center.

The roller unit 865 and the roller unit 866 are in contact with the lower surface of the platform 820 by using only the roller 868.

In the printing, if the lifting shaft 839 of the lifting cylinder 831 in the front is kept ascending and the lifting shaft 839 of the lifting cylinder 833 and the lifting cylinder 832 is lowered, the platform 820 is inclined with the rotation axis 861 as the rotation axis. When the platform 820 is inclined, the roller unit 865 and the roller 868 of the roller unit 866 rotate.

The control unit 110 changes the lift amount of the several lifting cylinders on which the roller unit is placed, controls the height position of the roller unit, and tilts the platform 820.

<< Printing Department 900 >>

The printing unit 900 will be described with reference to FIGS. 12, 13, and 14.

The articulated robot 600 is equipped with a printing unit 900 as an end effector.

The end effector refers to the part that holds the mechanism that the robot directly acts on the work object.

As shown in FIG. 12, the printing unit 900 includes a squeegee 910 and a squeegee 920.

The squeegee 910 is held by the squeegee unit 930 in a replaceable manner by the mounting portion 941.

The squeegee 920 is held by the squeegee unit 930 so as to be replaceable by the mounting portion 942.

The squeegee 910 applies pressure to the screen 300 to press the ink located on the screen 300 against a workpiece.

The doctor blade 920 applies pressure to the screen 300 to uniformly apply the ink located on the screen 300 to the screen 300.

The squeegee unit 930 is detachably mounted on the tip 680.

The mounting portion 941 of the squeegee unit 930 can change the mounting angle of the squeegee 910 and is securely installed. Attach the scraper 910.

In FIG. 12, the scraper 910 at three mounting angles is illustrated.

Therefore, it is possible to change the angle of attack of the scraper 910 with respect to the workpiece 200 without making any changes to the articulated robot 600 and the robot controller 130.

Although not shown, the mounting portion 942 of the scraper 920 of the scraper unit 930 may change the mounting angle of the scraper 920 to mount the scraper 920.

The squeegee unit 930 is provided with a squeegee 910 and a squeegee 920 directly below the shaft J6 or slightly rearward from the bottom.

The squeegee unit 930 includes a pressure device 931 and a pressure device 932.

The pressurizer 931 is a pressurizer that applies printing pressure to the squeegee 910. It is preferable that the actuator is driven by telescopic driving by oil pressure, air pressure, water pressure, or electric power, and an air cylinder is more preferable.

The pressurizer 932 is a pressurizer that applies a coating pressure to the doctor blade 920. It is preferable that the actuator is a telescopic driving actuator driven by oil pressure, air pressure, water pressure, or electric power, 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 axis JS of the pressure shaft 943 of the pressure device 931 is parallel to the axis J6.

A pair of linear bushes 938 are provided on both sides of the pressurizer 931 to ensure the linear movement of the scraper 910.

One pair of linear bushings 938 is fixed to the fixing plate 933.

The linear bushing 938 has a linear motion shaft 940 that performs linear motion, and the lower end of the linear motion shaft 940 is fixed to the mounting portion 941 of the scraper 910.

As shown in FIG. 14, the pressurizer 932 has a pressurizing shaft 943, and a scraper 920 is attached via a floating joint 939.

The axis JS of the pressure shaft 943 of the pressure device 932 is parallel to the axis J6.

A pair of linear bushes 938 are provided on both sides of the pressurizer 932 to ensure the linear movement of the scraper 920.

One pair of linear bushings 938 is fixed to the fixing plate 933.

The linear bushing 938 has a linear motion shaft 940 that performs linear motion, and the lower end of the linear motion shaft 940 is fixed to the mounting portion 942 of the scraper 920.

The fixing plate 933 is fixed to the lower surface of the lower plate 934.

The lower plate 934 is sandwiched by two side plates 935.

The two side plates 935 are fixed to the lower surface of the upper plate 936.

A mounting portion 937 is provided on the upper surface of the upper plate 936.

Both ends of the upper plate 936 protrude from the two side plates 935 like wings.

When the squeegee unit 930 is held by the suspension portion 561 of the bracket 560, both ends of the upper plate 936 are hook portions that face the suspension portion 561.

The attachment / detachment portion 937 is detachably attached to the tip 680.

One lower plate 934, two side plates 935, and one upper plate 936 form a rectangular parallelepiped space S.

An upper portion of the pressurizing shaft 943 of the pressurizer 931 and the pressurizer 932 is arranged in the space S of the rectangular parallelepiped.

When the pressurizing shaft 943 of the pressurizer 931 and the pressurizing device 932 is located at the uppermost position, the head of the pressurizing shaft 943 does not contact the upper plate 936.

The space S of the rectangular parallelepiped is a space for ensuring that the pressurizing shaft 943 can move up and down freely.

Because of the rectangular parallelepiped space S, the head of the cylinder axis will not interact with the articulated robot regardless of the posture of the scraper unit 930 by the axis J5 of the articulated robot 600. 600 front arm 660 contacts.

<< Camera 690 >>

As shown in FIG. 12, the screen printing apparatus 100 includes a camera 690.

The camera 690 is fixed to the end 680.

The camera 690 is disposed on the side of the distal end 680 and the scraper 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 disposed at a position that does not interfere with the arrangement of the squeegee unit 930.

The camera 690 is disposed at a position that does not hinder the attachment and detachment of the squeegee unit 930.

The camera 690 is disposed at a position that does not contact the forearm 660 during printing.

A specific example of the camera 690 is a charge coupled device (CCD, Charge Coupled Device) camera with 5 million pixels per image.

The field of view of the camera is 40mm in length and length, and the length of each pixel is 19.5 microns.

<< Workpiece 200 >>

The workpiece 200 will be described with reference to FIG. 15.

The workpiece 200 is a curved workpiece having a curved surface with unevenness in the height direction.

The workpiece 200 is straight without irregularities in the left-right direction.

As shown in FIG. 15 (a), the workpiece 200 is a curved plate or a corrugated plate having a fixed thickness in a front view.

As shown in FIG. 15 (c), the workpiece 200 is rectangular in plan view.

Specific examples of the material of the workpiece 200 are glass, resin, plastic, paper, cloth, and metal.

The workpiece 200 is a thin plate, so it is flexible, easy to deform, and easy to break.

The curved surface of the surface of the workpiece 200 is a curved surface having at least one of a concave surface recessed from the horizontal plane and a convex surface projected from the horizontal plane.

The cross-sectional shape of the surface of the workpiece 200 in the left-right direction is rectangular.

The cross-sectional shape of the surface of the workpiece 200 in the front-back direction is a wave shape.

In FIG. 15, the workpiece 200 has a convex curved surface and a concave curved surface on the surface.

In FIG. 15, the radius of the convex curved surface and the radius of the concave curved surface are the same length, and an example of the length of the radius is 500 mm.

The central angle of the convex curved surface is the same as the central angle of the concave curved surface, and is 20 degrees or more and 40 degrees or less, preferably 30 degrees.

At the center of a convex surface, there is a top 220 having the highest height.

In the center of a concave curved surface, a bottom 230 having the lowest height is provided.

The convex surface and the concave surface are connected at the inflection point 240.

In FIG. 15, the inflection point 240 exists at the center of the workpiece 200.

The workpiece 200 has a curved surface on the back surface.

The curved surface of the back surface of the workpiece 200 corresponds to the curved surface of the workpiece 200 and has the same convex and concave curved surfaces as the surface of the workpiece 200.

The workpiece 200 is a curved plate having a fixed thickness.

As shown in FIG. 15C, a plurality of printing lines 201 are printed on the workpiece 200 as a printing pattern.

(C) of FIG. 15 shows a case where a printing line 201 having a width V1 and a width V2 is printed on the outer periphery of the workpiece 200 and a printing line 201 having a width V1 is printed at the center.

A straight line forming both outer sides of the printed line 201 is referred to as an outer contour line. A center line of the two outer contour lines is referred to as a center line 204.

As shown in FIG. 15 (c), the distance between the outer contour line 202 and the outer contour line 213 is a length V3.

The distance between the outer contour line 203 and the outer contour line 212 is a length V4.

The distance between the centerline 204 and the centerline 214 is a length V5.

The information of the plurality of printing lines 201 forming the printing pattern, that is, the width V1, the width V2, the length V3, the length V4, the length V5, and other information are stored in the memory device and used for checking the printing result.

<< screen version 300 >>

The screen 300 is described with reference to FIG. 15.

The screen 300 is a curved screen having a curved surface with unevenness in the height direction.

The screen plate 300 is straight rather than uneven in the left-right direction.

In plan view, the screen 300 is rectangular.

The screen 300 is a metal mask screen, a screen screen, and other screen screens.

The screen 300 is a curved surface having at least one of a concave surface recessed from the horizontal plane and a convex surface projected from the horizontal plane.

The curved surface of the screen 300 corresponds to a curved surface of the surface of the workpiece 200 and has a concave surface recessed from the horizontal plane, a convex surface and a curved surface protruding from the horizontal plane.

The cross-sectional shape in the left-right direction of the surface of the screen 300 is a straight line.

The cross-sectional shape of the surface of the screen 300 in the front-back direction is a wave shape.

Corresponding to the workpiece 200 shown in FIG. 15, the screen 300 has a convex curved surface and a concave curved surface.

At the center of a convex surface, there is a top 320 having the highest height.

In the center of a concave curved surface, there is a bottom 330 having the lowest height.

The convex surface and the concave surface are connected at the inflection point 340.

In FIG. 15, the inflection point 340 exists in the center of the screen 300.

<< Frame 310 >>

The frame 310 will be described with reference to FIG. 15.

The plate frame 310 is a rectangular metal frame with a frame shape.

The plate frame 310 is a rectangular frame having a rectangular outer shape and a rectangular opening at the center.

The plate frame 310 is a frame fixed to the frame fixing portion 760.

The plate frame 310 applies tension to the screen plate 300 and holds the screen plate 300.

The plate frame 310 can be installed in opposite directions to the plate moving mechanism 700.

FIG. 1 shows a case where the concave surface of the plate frame 310 is located on the right side of the paper surface and the convex surface is located 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 located on the right side of the paper surface and the concave surface on the left side of the paper surface, and printing may be performed in the order from the convex surface to the concave surface.

<Jig 400>

The jig 400 will be described with reference to FIG. 15.

The jig 400 is a curved jig that holds the workpiece 200 using a curved surface.

As shown in FIG. 15 (a), in a front view, the lower surface of the jig 400 is a flat metal part and the upper surface is a corrugated metal part.

As shown in FIG. 15 (b), 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, or aluminum, iron, stainless steel, and other metals.

The jig 400 is a thick plate, so it has rigidity and will not deform or break.

The mounting surface of the jig 400 corresponds to a curved surface of the back surface of the workpiece 200 and has at least one of a concave surface recessed from the horizontal plane and a convex surface projected from the horizontal plane.

Corresponding to the workpiece 200 shown in FIG. 15, the mounting surface of the jig 400 has a convex curved surface and a concave curved surface.

The jig 400 series can be installed in opposite directions with respect to the platform 820.

FIG. 1 shows a case where the concave surface of the jig 400 is located on the right side of the paper surface and the convex surface is located 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 can be positioned on the right side of the paper surface and the concave surface can be positioned on the left side of the paper surface, and printing can be performed in order from the convex surface to the concave surface.

<Reference mark 410>

As shown in FIG. 15 (b), the jig 400 has a plurality of reference marks 410 on its upper surface.

A specific example of the reference mark 410 is a circular hole having a diameter of 3 mm.

The central axis of the hole is parallel to the height direction and exists in the vertical direction.

The reference mark 410 can be formed at the time of manufacturing the jig 400.

The arrangement position of the reference mark 410 of the jig 400 is determined in advance based on a printed pattern.

The placement position refers to the coordinate position of the orthogonal coordinates of the two-dimensional horizontal plane.

If the arrangement position of the reference mark 410 is set to the center position of the reference mark 410, The center position of the reference mark 410 can be represented by the value of the orthogonal X axis and the value of the Y axis.

Specifically, the center position of the reference mark P1 and the center position of the reference mark P2 can be expressed as shown below.

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 obtained by the following calculation 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 determined in advance, the distances between all the reference marks can be obtained in advance.

In FIG. 15 (b), the jig 400 is provided with 28 reference marks 410.

Twelve of the 28 reference marks 410 are formed on the outer side of the workpiece 200.

16 of the 28 reference marks 410 are formed inside the workpiece 200.

The two reference marks 410 formed on both sides of the printing line 201 are called a pair of reference marks 410, and the printing line 201 forms a printing pattern.

In FIG. 15 (b), the jig 400 has 14 reference marks 410.

The 14 pairs of reference marks 410 are formed near the intersection of the printed line 201 and the printed line 201.

The one pair of reference marks 410 is a position where a straight line connecting the centers of the one pair of reference marks 410 is orthogonal to the printing line 201.

One pair of reference marks 410 is formed as follows: In this case, the printing line 201 is located in the center of a pair of reference marks 410.

The length W1 of the straight line connecting the centers of the pair of reference marks 410 is larger than the width of the printing line 201.

In FIG. 15 (b), 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 the printed lines 201 and smaller than the field of view of the camera by 40mm.

In FIG. 15 (b), “width V1 <width V2 <length W1 <field of view size 40 mm”.

In the fixture 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 distances between the center positions of all the reference marks 410 and the center positions of the reference marks 410 are stored in the memory device.

The arrangement position of the ink container 570 will be described with reference to FIGS. 16, 17, and 18.

The case 500 includes a holder 560 and an ink container 570.

The stand 560 is a stage fixed to the base 510.

The bracket 560 is provided outside the sliding mechanism 730 near the axis J1 of the two sliding mechanisms 730.

The stand 560 has four tripods, and has a space for holding the printing unit 900 in the center.

As shown in FIG. 18, the bracket 560 is attached to a suspension portion 561 having a suspension printing portion 900 above the four tripods.

The suspension portion 561 is detachably fixed to 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 portion 561 is a space R having a printing portion 900 and a camera 690 in the center.

The suspension unit 561 is a state in which the printing unit 900 and the camera 690 are arranged in the space R, and the printing unit 900 is attached to and detached from the articulated robot 600.

The ink container 570 is an eave-shaped container that protrudes from the side of the upper portion of the bracket 560.

The ink container 570 stores the ink dropped from the printing unit 900 while the printing unit 900 is moving.

The height of the ink container 570 is higher than the height of the sliding mechanism 730.

The ink container 570 projects horizontally from one side of the suspension portion 561 of the holder 560.

The ink container 570 covers the slide mechanism 730 and the frame fixing portion 760.

The end of the ink container 570 reaches the space above the screen plate 300 of the plate frame 310.

<< Configuration >>

The arrangement of each part in the plan view of the screen printing apparatus 100 will be described with reference to FIG. 5.

The screen printing apparatus 100 has a rectangular shape in plan view having long sides and short sides.

The two slide mechanisms 730 of the plate moving mechanism 700 are arranged in parallel with the short sides of the screen printing apparatus 100.

The short sides of the stencil frame 310 are arranged parallel to the short sides of the screen printing apparatus 100.

The long sides of the plate frame 310 are arranged parallel to the long sides of the screen printing apparatus 100.

The plate frame 310 slides in parallel with the short side of the screen printing apparatus 100.

The sliding mechanism 730 is twice as long as the short side of the plate frame 310.

The plate frame 310 is made printable by covering the jig 400 and the workpiece 200 with the slide of the plate frame 310 and the checkable state by opening the jig 400 and the workpiece 200.

The short sides of the take-off and landing mechanism 800 are arranged parallel to the short sides of the screen printing apparatus 100.

The long side of the take-off and landing mechanism 800 is arranged parallel to the long side of the screen printing apparatus 100.

The jig 400 is disposed inside the configuration range of the take-off and landing mechanism 800.

The two arc systems shown in FIG. 5 represent the rotation range of the multi-joint robot 600 centered on the axis J1.

The inner arc indicates the maximum movable range of the axis J6 when the axis J6 is arranged in the vertical direction.

The outer arc indicates the maximum movable range of the front end of the scraper unit 930.

In FIG. 5, the meanings of the symbols and dimensions are as follows.

X1: Length of the long side of the housing 500

X2: Length of the long side of screen 300

X3: Distance from the axis J1 to the end SE of the housing 500

X4: The distance between the straight line S0 connecting the center of the two long sides of the case 500 and the end SE of the case 500, that is, X1 ÷ 2 = X4

X5: the distance from the central position S4 of the printing stroke to the end SE of the housing 500

X6: The length from the printing start position S1 to the printing end position S2, that is, the length of the printing stroke

X7: Plane distance between the straight line S0 connecting the center of the two long sides of the casing 500 and the printing start position S1

X8: Plane distance between the straight line S0 connecting the center of the two long sides of the casing 500 and the printing end position S2

X9: Plane distance connecting the straight line S0 of the center of the two long sides of the casing 500 and the central position S4 of the printing stroke

Y1: Length of short side of case 500

Y2: Length of short side of screen 300

NP: The range where the axis J1 cannot rotate, and the center angle of the range where the axis cannot rotate is about 20 degrees

The rotation range of the axis J1 is 340 degrees.

The axis J1 can rotate 170 degrees clockwise from the center of the rotatable range, and can rotate 170 degrees counterclockwise.

The axis J1 is located above a straight line connecting the center of the two short sides of the screen 300.

The axis J1 is arranged in the vertical direction.

The axis J1 is not rotated during printing.

The axis J1 is orthogonal to the printing direction, that is, the printing direction.

The center of the rotatable range of the axis J1 is the same direction as the printing direction.

The axis J2 is arranged parallel to the short side of the case 500 during printing and orthogonal to the printing direction.

The position of the axis J2 in a plan view is fixed during printing and is located at the same position as the straight line S0 connecting the centers of the two long sides of the casing 500.

The distance X7 is the same as the distance between the axis J2 in plan view and the printing start position S1.

The distance X8 is the same as the distance between the axis J2 in plan view and the printing end position S2.

The ratio of the distance X7 to the distance X8 is 1 to 3.

Distance X9 is the same as distance X7.

Distance X6, distance X7, distance X8, and distance X9 have the following relationships.

X7 = X9 = X8 ÷ 2

X6 = X7 + X8 + X9

The position of the axis J2 in a plan view is a position of one-fourth of the length X6 of the printing stroke from the printing start position S1.

Therefore, during printing, the squeegee unit 930 is located behind the axis J2 up to one fourth of the length X6 of the printing stroke, and the other three quarters is located before the axis J2.

The position of the axis J2 in the plan view is only required to be within the range of the printing stroke, and it is more suitable to be located halfway before the printing stroke, and further, it is better to be located at the center of the half before the printing stroke.

The printing start position S1 is directly below or substantially directly below the axis J1.

The printing 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 is the center line of the printing width that intersects and is orthogonal to the axis J1.

The bracket 560 is located within the maximum movable range of the shaft 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 table of the bracket 560.

Alternatively, the distance from the axis J1 to the short side of the plate frame 310 at the printing end position S2 is substantially equal to the distance from the axis J1 to the center of the suspension table of the bracket 560.

A holder 560 that holds the squeegee unit 930 is disposed at a position where the squeegee unit 930 at the printing end position S2 is rotated clockwise by G degrees around the axis J1.

In FIG. 5, the G degree is 140 degrees.

The base 610 of the articulated robot 600 is disposed at the center of the short side of the plate frame 310 and is biased toward the side with the bracket 560 than the center of the long side of the plate frame 310.

The distance from the axis J1 of the base 610 to the two sliding mechanisms 730 away from the axis J1 to the sliding mechanism 730 is the same as the distance from the axis J1 to the farthest angle from the bracket 560. This distance is equal to three-fourths of the maximum movable range of the articulated robot 600 centered on the axis J1.

In addition, the arrangement relationship and the dimensional relationship described based on FIG. 5 are an example. When the size of the workpiece is changed, the above-mentioned arrangement relationship and the dimensional relationship may be changed.

When the size of the workpiece is changed, it is preferable to arrange the center position S4 of the printing stroke in the center of the length X2 of the long side of the screen 300, and try to maintain the above arrangement relationship and size relationship.

If possible, the ratio shown in the arrangement relationship and dimensional relationship described based on FIG. 5 is preferably used in the range of plus or minus 20% of the value of the above ratio, and more preferably in the range of plus or minus 10%. .

* * * Description of action * * *

A screen printing method of the screen printing apparatus 100 will be described using FIG. 19.

The following operations are performed based on electrical signals from the control unit 110.

When the control unit 110 operates the articulated robot 600, the robot controller 130 while controlling the articulated robot 600.

The control unit 110 performs image processing using the image processing unit 140 when performing image processing in the inspection step.

The control unit 110 controls the cylinder or the pressurizer via the vacuum pump 150 and the air pressure circuit 160 when the cylinder or the pressurizer is operated.

When the control unit 110 causes the workpiece 200 to be adsorbed on the jig 400, the workpiece 200 is adsorbed on the jig 400 via the vacuum pump 150 and the air pressure circuit 160.

The workpiece 200 is a transparent glass plate, a transparent resin plate, or a transparent plate.

A case where the workpiece 200, the screen 300, and the jig 400 have a convex curved surface and a concave curved surface, and the printing unit 900 prints from the convex curved surface to the concave curved surface will be described.

Before the power is turned on, the scraper unit 930 is located on the bracket 560.

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 memory device.

The case where there is no test printing will be described below.

* Power on step S11 *

When the power of the screen printing apparatus 100 is turned on, the screen printing apparatus 100 starts the initial operation, and the initial setting is performed in the following order.

1. Origin return of articulated robot 600

The control unit 110 returns the articulated robot 600 to the origin.

The origin of the articulated robot 600 refers to a state where the end 680 of the articulated robot 600 is located above the bracket 560.

2. The origin of the landing gear 800 returns

The control unit 110 lowers the take-off and landing mechanism 800 to the origin.

The origin of the take-off and landing mechanism 800 refers to the lowest position.

FIG. 20 shows a state where the take-off and landing mechanism 800 is located at the origin.

Return to origin of version 3.

The control unit 110 returns the plate moving mechanism 700 to the origin.

The origin of the plate moving mechanism 700 refers to an open state position.

* Installation step S12 of the scraper unit 930 *

The control unit 110 operates the articulated robot 600 and attaches the scraper unit 930 on the bracket 560 to the distal end 680.

The articulated robot 600 fixes the scraper unit 930 to the tip 680.

* Step S13 for carrying in the workpiece 200 *

The control unit 110 causes the workpiece 200 to be placed on the jig 400 by a loading device (not shown).

That is, the workpiece 200 having a concave surface and a convex surface is placed on a jig 400 having a concave surface and a convex surface. The back surface of the workpiece 200 overlaps the mounting surface formed on the upper surface of the jig 400 without a gap.

The mounting surface of the jig 400 has a suction groove, and the control unit 110 sucks air from the suction groove. By this suction, the workpiece 200 is fixed in close contact with the mounting surface of the jig 400.

The workpiece 200 is flexible, and even if it is transported in a deformed state when being carried in, the workpiece 200 is placed on the mounting surface of the rigid fixture 400 and sucked against the mounting surface to become the original shape.

* Setting step S14 of plate frame 310 and scraper unit 930 *

The control unit 110 operates the multi-joint robot 600, takes out the scraper unit 930 from the bracket 560, and moves to the space above the plate frame 310 through the space above the ink container 570.

The control unit 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 moves the articulated robot 600 to move the scraper unit 930 to the space above the workpiece 200 using the space above the moving plate frame 310.

That is, the control unit 110 moves the squeegee 910 above the screen 300 when the screen 300 is moved by the screen moving mechanism 700.

The control unit 110 rotates the axis J1 by 140 degrees to move the scraper unit 930 from the bracket 560 to the printing end position S2 of the plate frame 310.

* Ink coating step S15 by doctor blade 920 *

The control unit 110 operates the multi-joint robot 600 and applies the ink to the screen plate 300 of the plate frame 310 by a scraper 920.

The control unit 110 moves the front end of the scraper 920 along the curved surface of the screen 300 by the multi-joint robot 600.

The control unit 110 moves the scraper 920 from the printing end position S2 to the printing start position S1 by the articulated robot 600.

The control unit 110 controls the angle of the scraper 920 such that the angle of attack of the scraper 920 with respect to the screen 300 is fixed by the multi-joint robot 600. The attack angle of the scraper 920 is preferably 80 degrees to 100 degrees, and 90 degrees is more suitable.

The control unit 110 moves the presser 932 during the movement of the scraper 920, and moves the scraper 920 pressed against the screen 300. Alternatively, the control unit 110 does not press the scraper 920 against the screen 300, and causes the scraper 920 to slide along the surface of the screen 300.

The control of the scraper 920 by the multi-joint robot 600 is the same as the control of the scraper 910 by the multi-joint robot 600 in the printing step S17, except that the movement direction is opposite. The control details are in the printing step. This will be described in S17.

* Ascending step S16 of take-off and landing mechanism 800 *

The control unit 110 operates the lifting mechanism 800 to raise the jig 400 on which the workpiece 200 is placed.

The control unit 110 raises the jig 400 until the distance between the workpiece 200 and the screen 300 becomes a predetermined gap.

The gap is set in advance in a range of 1 mm to 10 mm.

* Printing step S17 of the multi-joint robot 600 *

The control unit 110 moves the squeegee 910 by the articulated robot 600 to print the concave and convex surfaces of the workpiece 200.

FIG. 21 shows a printing start state.

First, the control unit 110 operates the articulated robot 600 to move the squeegee 910 to the printing start position S1.

The control unit 110 moves the front end of the squeegee 910 along the curved surface of the screen 300.

That is, the articulated robot 600 moves the squeegee 910 in a wave shape in the printing direction along the curved surface of the workpiece 200.

The multi-joint robot 600 is arranged horizontally and in parallel with axes J2, J3, and J5. Three axes, using the rotation of the three axes of the axis J2, the axis J3, and the axis J5, move the squeegee 910 in the printing direction.

The articulated robot 600 prints by placing the remaining axes, that is, the axis J1, the axis J4, and the axis J6 on the same vertical plane.

The same vertical plane on which axis J1, axis J4, and axis J6 are arranged refers to a plane parallel to the printing direction and at the center of the frame 310 or screen 300 in the left-right direction and orthogonal to the frame 310 or screen 300 flat.

The control unit 110 controls the angle of the squeegee 910 so that the angle of attack of the squeegee 910 with respect to the surface of the workpiece 200 becomes fixed.

The articulated robot 600 controls the posture of the squeegee unit 930 such that the angle of attack is fixed even at any position on the surface of the workpiece 200.

The attack angle of the scraper 910 is preferably 50 degrees to 90 degrees, more preferably 60 degrees to 80 degrees, and 70 degrees is more suitable.

The articulated robot 600 moves the squeegee unit 930 in the printing direction without applying printing pressure to the squeegee unit 930.

The control unit 110 operates the presser 931 during the movement of the squeegee 910 and presses the squeegee 910 against the screen 300.

The reason why the multi-joint robot 600 is not used to apply the printing pressure and only the pressurizer 932 is used to apply the printing pressure is as follows.

Reason 1: Compared with the multi-joint robot 600, the aspect of the pressurizer 932 is that the printing pressure is maintained at a fixed accuracy during printing.

Reason 2: By eliminating the pressure control performed by the multi-joint robot 600, the multi-joint robot 600 can focus on the movement control and angle control of the scraper unit 930, thereby improving the accuracy of the movement control and angle control.

The articulated robot 600 moves the scraper 910 by rotating only the axes of the articulated robot 600 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 sets the angle of attack of the scraper 910 with respect to the curved surface of the workpiece 200 to be fixed while moving the scraper 910 along the curved surface of the workpiece 200.

The multi-joint robot 600 is used to prevent the remaining axes, that is, the axes J1, J4, and J6, from being rotated during printing.

The control unit 110 does not operate the take-off and landing mechanism 800 during the printing from the printing start position S1 to the top 220 of the convex surface of the workpiece 200.

* Rotating steps of rotating mechanism 860 *

The control unit 110 moves the take-off and landing mechanism 800 during printing, and after the top 220 of the convex surface of the workpiece 200 is printed, the jig 400 is pulled away from the screen 300 by the take-off and landing mechanism 800.

The control unit 110 pulls the jig 400 away from the screen 300 by using a rotating mechanism 860 that rotates the jig 400 with respect to the screen 300.

FIG. 22 shows the operation state of the landing gear 800.

As shown in (a) of FIG. 23, if the take-off and landing mechanism 800 is not operated and the jig 400 is not pulled away from the screen 300 during printing, the arrow 220 is displayed after printing on the top 220 of the convex surface of the workpiece 200. The off-plate angle is reduced. That is, after the top 220 of the convex surface of the workpiece 200 is printed, the distance between the workpiece 200 and the screen 300 is reduced.

As shown in FIG. 23 (b), the control unit 110 is mounted on the top 220 of the convex surface of the workpiece 200 to cause the take-off and landing mechanism 800 to move, and pull the jig 400 away from the screen 300 to maintain the release angle or the workpiece 200 Distance from screen 300.

After the landing mechanism 800 is printed on the top 220 of the convex surface of the workpiece 200, the distance between the workpiece 200 and the screen 300 is increased so that the distance between the workpiece 200 and the screen 300 does not decrease.

The take-off and landing mechanism 800 is a mechanism for ensuring the distance between the workpiece 200 and the screen 300 at the position printed by the squeegee 910 during printing by the squeegee 910 and ensuring the off-plate angle.

The control unit 110 increases the distance between the screen 300 on the convex side of the printed surface and the jig 400 after the top 220 of the convex surface of the workpiece 200 is printed by the rotating mechanism 860.

The control unit 110 maintains the height of the lifting shaft 839 of the lifting cylinder 831 at the end portion on the recessed portion side of the workpiece 200 to be fixed.

The control unit 110 lowers the lifting cylinder 832 and the lifting shaft 839 of the lifting cylinder 833 located at the ends on the convex side of the workpiece 200.

In FIG. 22, the control unit 110 lowers the lifting shaft 839 of the lifting cylinder 832 and the lifting cylinder 833 by the same amount.

Therefore, a gap is generated between the roller 868 provided at the front end of the roller unit 865 above the lifting shaft 839 of the lifting cylinder 832 and the receiving plate 821 of the platform 820.

The control unit 110 can also lower the lifting shaft 839 of the lifting cylinder 832 and the lifting cylinder 833 by a ratio of 1 to 2 in a manner that a gap cannot be generated.

By the rotation of the rotation shaft 861 of the rotation mechanism 860, the platform 820 is inclined, and the jig 400 is inclined.

By lowering the fixture 400 on the convex side, the off-plate angle can be maintained, and further, the convex portion of the workpiece 200 can be prevented from contacting the lower surface of the screen plate 300.

The control part 110 is located from the top 220 of the convex curved surface of the workpiece 200 to the bottom of the concave curved surface. During the printing up to the section 230, the jig 400 is set to a state of being pulled away from the screen 300. That is, the control unit 110 sets the jig 400 away from the screen 300 during printing on a downhill slope.

After the top 220 of the convex curved surface of the workpiece 200 is printed, as the control of the control unit 110, there are the following controls.

Control 1. Until the bottom 230 of the concave curved surface of the workpiece 200 is reached, the inclination of the jig 400 is increased so that the jig 400 is slowly pulled away from the screen 300.

When the bottom 230 of the concave curved surface of the workpiece 200 passes, the increase in the tilt of the jig 400 is stopped.

The printing of the bottom 230 of the concave curved surface of the workpiece 200 is performed while maintaining the inclination of the jig 400, or while gradually decreasing the inclination of the jig 400, and printing.

Control 2. Until the inflection point 240 of the convex curved surface and concave curved surface of the workpiece 200 is reached, the inclination of the jig 400 is increased, so that the jig 400 is slowly pulled away from the screen 300.

When the inflection point 240 of the workpiece 200 passes, the increase in the tilt of the jig 400 is stopped.

After the inflection point 240 of the workpiece 200 passes, the printing is performed while maintaining the inclination of the jig 400, or while gradually decreasing the inclination of the jig 400.

When the control unit 110 gradually reduces the inclination of the jig 400, the control unit 110 brings the jig 400 closer to the screen 300 until the predetermined gap is reached.

The control unit 110 does not bring the jig 400 close to the screen 300 to reach a predetermined gap.

* Descent steps of lifting mechanism 830 *

When sufficient separation cannot be performed by the rotation of the rotation mechanism 860, The control unit 110 lowers the jig 400 as a whole by the elevating mechanism 830, and sets the jig 400 in a state of being pulled away from the screen 300.

* Descent step S18 of take-off and landing mechanism 800 *

When printing is completed, the control unit 110 operates the take-off and landing mechanism 800 to lower the workpiece 200 and the jig 400 to the origin.

* Retraction step S19 of the plate frame 310 and the scraper unit 930 *

The control unit 110 operates the motor 750 to retract the plate frame 310 from the printable position to the open position.

While retreating the plate frame 310, the control unit 110 moves the articulated robot 600 to move the scraper unit 930 to the open position using the space above the plate frame 310 in motion.

The control unit 110 rotates the axis J1 by 140 degrees to move the squeegee unit 930 from the printing end position S2 to the holder 560.

When the ink is dropped from the blade 910 or the blade 920 while the blade unit 930 is moving, the ink is dropped to the plate frame 310.

The control unit 110 operates the articulated robot 600 to move the scraper unit 930 from the space above the plate frame 310 to the holder 560 via the space above the ink container 570.

When the ink is dropped from the squeegee 910 or the blade 920 while the squeegee unit 930 is moving, the ink is dropped to the ink container 570.

* Separation step S20 of scraper unit 930 *

The control unit 110 makes the axis J6 of the articulated robot 600 perpendicular and rotates the axis J6. Turn, and insert the scraper unit 930 and the camera 690 into the space R of the suspension portion 561.

The control unit 110 is a suspension unit 561 that is separated from the distal end 680 and hangs from a scraper unit 930 attached to the distal end 680 and is suspended from the bracket 560.

* Check step S21 * (Shooting steps)

The control unit 110 controls the plate moving mechanism 700 and moves the plate frame 310 after printing to open the space above the workpiece 200.

The control unit 110 moves the multi-joint robot 600 and moves the camera 690 to the space above the workpiece 200 in a state where the screen plate 300 is moved by the plate moving mechanism 700 to open the space above the workpiece 200.

The control unit 110 moves and fixes the camera 690 of the articulated robot 600 with the scraper 910 removed from the articulated robot 600.

The control unit 110 positions the camera 690 above a pair of reference marks 410 by the articulated robot 600.

The arrangement position of the reference mark 410 is known, and the multi-joint robot 600 sequentially takes a pair of reference marks 410.

The control unit 110 uses the articulated robot 600 to position the camera 690 with the camera axis JC of the camera 690 facing downward in the vertical direction.

The control unit 110 operates the camera 690 to capture one pair of reference marks 410 and one printed line 201 printed between one pair of reference marks in one image in one image.

The control unit 110 moves the multi-joint robot 600 and moves the camera 690, and the camera 690 sequentially captures all 14 pairs of the reference marks 410. At this point, the camera shaft Finally in the vertical direction. That is, the multi-joint robot 600 moves the camera 690 with the axis J6 in the vertical direction.

The control unit 110 moves the articulated robot 600 after shooting, and moves the camera 690 to a space above the stand 560.

(Analysis step)

The control unit 110 analyzes the image captured by the camera 690 and performs the following position inspection, width inspection, and distance inspection.

(Position check)

The control unit 110 analyzes an image of one part captured by the camera 690.

The control unit 110 determines whether a printed pattern is good or bad based on the position of a pair of reference marks and the position of the printed pattern.

A. Example of position check using one fiducial mark

As shown in (d) of FIG. 15, the control unit 110 calculates a distance G1 from the center position of the reference mark P1 to the contour line 202 outside the printing line 201.

As shown in (d) of FIG. 15, the control unit 110 calculates a distance G3 from the center position of the reference mark P1 to the contour line 203 outside the printing line 201.

If the distance G1 and the distance G2 are predetermined distances, the control unit 110 determines that the printing is normal.

If the distance G1 and the distance G2 are outside the predetermined distance, the control unit 110 determines that the printing is defective.

In this position inspection, the placement position of the reference mark 410 is not used. That is, in place In the setting check, the coordinates of the center position of the reference mark 410 are not used.

B. Example of position inspection using two fiducial marks 1

As shown in (d) of FIG. 15, the control unit 110 calculates a distance G1 from the center position of the reference mark P1 to the contour line 202 outside the printing line 201.

As shown in (d) of FIG. 15, the control unit 110 calculates a distance G4 from the center position of the reference mark P2 to the contour line 203 outside the printing line 201.

If the distances G1 and G4 are predetermined distances, the control unit 110 determines that the printing is normal.

If the distance G1 and the distance G4 are outside the predetermined distance, the control unit 110 determines that the printing is defective.

The placement position of the reference mark 410 is not used in this position inspection. That is, the coordinates of the center position of the reference mark 410 are not used in the position check.

C. Example of position check using two fiducial marks 2

As shown in FIG. 15 (d), the control unit 110 detects the outer contour line 202 and the outer contour line 203, and calculates the center of the outer contour line 202 and the outer contour line 203 as the position of the center line 204 of the printing line 201.

As shown in (d) of FIG. 15, the control unit 110 calculates a distance K1 from the center position of the reference mark P1 to the center line 204.

As shown in (d) of FIG. 15, the control unit 110 calculates a distance K4 from the center position of the reference mark P2 to the center line 204.

If the distances K1 and K4 are predetermined distances, the control unit 110 determines that the printing is normal.

If the distance K1 and the distance K4 are outside the predetermined distance, the control unit 110 determines that the printing is defective.

When the printing line 201 must be printed in the center of a pair of fiducial marks, the control unit 110 determines whether there is a center line 204 of the printing line 201 in the middle of the distance W1 between the pair of fiducial marks.

If K1 = K4 = W1 / 2, the control unit 110 determines that the printing is normal.

If it is not K1 = K4 = W1 / 2, the control unit 110 determines that the printing is defective.

That is, if the center line 204 of the printing line 201 exists in the middle position of the distance W1 of a pair of reference marks, the control unit 110 determines that the printing at the position is normal.

If the center line 204 of the printing line 201 exists from the middle of the two reference marks, the control unit 110 determines that the printing at the position is defective.

In this position inspection, a distance W1 of a pair of reference marks is used.

In this position inspection, the arrangement position of the reference mark 410 is not used. That is, the coordinates of the center position of the reference mark 410 are not used in the position check.

As described above, in the position inspection, a printing line and one or a pair of reference marks are captured in one image, a distance between the printing line and the reference mark is calculated, and a good or bad printing position of the printing line is determined.

(Width check)

The control unit 110 analyzes an image of one part captured by the camera 690.

The control unit 110 determines whether the printed pattern is good or not based on the distance W1 of a pair of reference marks and the width of the printed pattern.

The control unit 110 calculates the width of the print line 201 from the image of the distance W1 between the center positions of the pair of reference marks and the print line 201.

Specifically, the control unit 110 performs calculations as shown below.

A. Example of width inspection using one fiducial mark

As shown in (d) of FIG. 15, the control unit 110 calculates a distance G1 from the center position of the reference mark P1 to the contour line 202 outside the printing line 201.

As shown in (d) of FIG. 15, the control unit 110 calculates a distance G3 from the center position of the reference mark P1 to the contour line 203 outside the printing line 201.

The control unit 110 calculates "the width of the printing line 201 = G3-G1" and obtains the width of the printing line 201.

If the width of the printing line 201 is the predetermined width V1, the control unit 110 determines that the printing is normal.

If the width of the printing line 201 is other than the predetermined width V1, the control unit 110 determines that the printing is defective.

The position of the reference mark 410 is not used in the width inspection. That is, the coordinates of the center position of the reference mark 410 are not used in the position check.

B. Example of width inspection using two reference marks

As shown in (d) of FIG. 15, the control unit 110 calculates a distance G1 from the center position of the reference mark P1 to the contour line 202 outside the printing line 201.

As shown in (d) of FIG. 15, the control unit 110 calculates a distance G4 from the center position of the reference mark P2 to the contour line 203 outside the printing line 201.

The control unit 110 takes the distance W1 between the center position of the reference mark P1 and the center position of the reference mark P2 from the memory device, and performs the following calculations.

Width of printing line 201 = W1- (G1 + G4)

If the width of the printing line 201 is the predetermined width V1, the control unit 110 determines that the printing is normal.

If the width of the printing line 201 is other than the predetermined width V1, the control unit 110 It is judged that the printing is defective.

A distance W1 of a pair of fiducial marks is used in the width check.

The position of the reference mark 410 is not used in the width inspection. That is, the coordinates of the center position of the reference mark 410 are not used in the position check.

As described above, in the width inspection, the printing line and one or a pair of reference marks are captured in one image, so the distance between the printing line and the reference mark can be calculated, and the width of the printing line can be determined.

(Distance check)

The control section 110 analyzes the images of several parts captured by the camera 690.

The control unit 110 calculates the distance between the reference mark of each part and the print pattern of each part based on the position of the reference mark of each part and the position of the printed pattern of each part.

The control unit 110 calculates the distances of the printed patterns in the plurality of positions based on the distance between the reference mark and the printed pattern and the distances of the reference marks in the plurality of positions.

The control unit 110 calculates the straight line distance in a plan view instead of the arc length of the curved surface of the workpiece 200 and judges whether the printing is good or not.

The distance check uses the distance between the two reference marks and the two printing lines 201 and the distance between the two reference marks stored in the memory device.

The position of the reference mark 410 is not used in the distance inspection. That is, the coordinates of the center position of the reference mark 410 are not used in the position check.

In the case where the distance between the two reference marks is not stored in the memory device, the distance between the two reference marks may be calculated from the coordinates of the center position of the reference mark 410.

Specifically, the control unit 110 performs the inspection described below.

A. Distance inspection example 1

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 taken as W2.

The control unit 110 obtains the distance G1 between the center position of the reference mark P1 and the outline 202 outside the print line 201 based on the position of the reference mark P1 and the position of the outline 202 outside 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 outside the print line 211 based on the position of the reference mark P4 and the position of the outline 213 outside the print line 211.

If the distance W2- (distance G1 + distance G2) is a predetermined length V3, the control unit 110 determines that it is normal.

If the distance W2- (distance G1 + distance G2) is other than the predetermined length V3, the control unit 110 determines that it is defective.

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 taken as W3.

The control unit 110 obtains the distance G4 between the center position of the reference mark P2 and the outline 203 outside the print line 201 based on the position of the reference mark P2 and the position of the outline 203 outside the print line 201.

The control unit 110 obtains a distance G5 between the center position of the reference mark P3 and the outline 212 outside the print line 211 based on the position of the reference mark P3 and the position of the outline 212 outside the print line 211.

If the distance W3 + (distance G4 + distance G5) is a predetermined length V4, the control unit 110 determines that it is normal.

If the distance W3 + (distance G4 + distance G5) is beyond the predetermined length V4, then control The control unit 110 determines that it is defective.

B. Distance check example 2

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 taken as 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 printing line 201 based on the position of the reference mark P1 and the position of the center line 204 of the printing 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.

If the distance W2- (distance K1 + distance K2) is a predetermined length V5, the control unit 110 determines that it is normal.

If the distance W2- (distance K1 + distance K2) is other than the predetermined length V5, the control unit 110 determines that it is defective.

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 taken as 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.

If the distance W3 + (distance K4 + distance K5) is a predetermined length V5, the control unit 110 determines that it is normal.

If the distance W3 + (distance K4 + distance K5) is other than the predetermined length V5, the control unit 110 determines that it is defective.

As described above, in the distance inspection, two parts are photographed for the printed line and one fiducial mark, so the distance between the two fiducial marks and the fiducial mark obtained from the two images can be used to the printed line Calculate the distance of the printed line.

It is also possible to use other inspection contents, inspection methods and calculation methods which are different from the above inspection contents, inspection methods and calculation methods.

In the checking step S21, the arrangement position of the reference mark 410 is used only for the positioning of the camera 690.

In the checking step S21, in order to determine the goodness of the printed pattern, the arrangement position of the reference mark 410 is not used.

In the inspection step S21, only the distance between the reference mark 410 and the printed pattern, or only the distance between the reference mark 410 and each other is used.

The control unit 110 may display the captured image, measured value, calculated value, and inspection result on the display 120 during or after shooting for visual inspection.

Specifically, the control unit 110 sequentially or selectively displays an image, a measurement value, a calculation value, and an inspection result on the display 120 based on an instruction from the console 170.

In addition, the control unit 110 displays, on the display 120, an image, a measured value, a calculated value, and an inspection result of the printed pattern determined to be defective based on an instruction from the console 170.

* Step S22 for removing workpiece 200 *

The control unit 110 unloads the workpiece 200 by an unillustrated unloading device.

* Repeat step S23 *

The control unit 110 determines whether there is the next printing after the workpiece 200 is carried out, and returns to the installation step S12 of the squeegee unit 930.

If there is no next printing, the control unit 110 ends printing.

As described above, in the first embodiment, a screen printing method has been described, which has a function of printing a work 200 having a curved surface having both unevenness.

Furthermore, a screen printing method has been described. After screen printing, a camera 690 is used to measure the printing position and check the printing result.

According to the screen printing method described above, glass substrates, films, and other curved workpieces having curved shapes can be printed.

* * * Explanation of the effect of Embodiment 1 * * *

According to the first embodiment, since the articulated robot 600 is provided, the curved surface workpiece 200 can be printed.

The advantages of using the multi-joint robot 600 are as follows.

A. In curved surface printing, the blade 910 and the blade 920 can be moved along the curved surface.

B. In the curved surface printing, the angle of attack of the scraper 910 and the scraper 920 can be fixed.

C. Two operations of printing and inspection can be performed by the multi-joint robot 600. That is, by making the squeegee unit 930 detachable, inspection by the camera 690 becomes possible.

D. The scraper unit 930 can be moved to the bracket 560, and the space above the workpiece 200 can be completely opened.

E. Instead of the loading and unloading device of the workpiece 200, the loading and unloading of the workpiece 200 can be performed by the articulated robot 600.

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

Since the articulated robot 600 is a ceiling type, the plan view area of the screen printing apparatus 100 becomes small.

Since the multi-joint robot 600 is arranged with three axes horizontally and the remaining axes are arranged on the same plane for printing, the scraper unit 930 can be operated with high accuracy.

Since the articulated robot 600 performs printing by controlling only three axes arranged horizontally, the scraper unit 930 can be moved linearly in a plan view.

Since the articulated robot 600 fixes and prints all the remaining axes except the three axes arranged horizontally, the posture control of the scraper unit 930 becomes easy.

According to the first embodiment, since a screen having an uneven surface corresponding to the uneven surface of the surface of the workpiece 200 is provided, the curved surface of the workpiece 200 can be printed.

Since the lift-off mechanism 800 is provided to change the distance between the workpiece 200 and the screen 300, the off-plate angle can be adjusted most appropriately.

Since the take-off and landing mechanism 800 is on the top 220 of the convex surface of the workpiece 200, the jig 400 is pulled away from the screen 300 after printing, so the reduction in the off-plate angle of the convex surface of the workpiece 200 and the screen 300 can be avoided.

The take-off and landing mechanism 800 can adjust the off-plate angle of the workpiece 200 and the screen 300 by an elevating mechanism 830 for raising and lowering the jig 400 and a rotating mechanism 860 for rotating the jig 400.

According to the first embodiment, since the jig 400 and the camera 690 having the reference mark 410 are provided, the printed pattern can be inspected.

Since the reference mark 410 is formed on the sturdy fixture 400 rather than the workpiece 200 of the curved plate, the position of the reference mark 410 does not deviate, and accurate inspection can be performed.

Since the camera 690 shoots the fiducial mark and the printed pattern with the camera shaft facing downward in the vertical direction, it is easy to shoot and position calculation is easy.

Since the workpiece 200 is transparent, the camera 690 can capture the fiducial mark 410 through the workpiece 200.

According to the first embodiment, since the plate moving mechanism 700 for moving the plate frame 310 is provided, the printing pattern can be inspected without moving the workpiece 200.

When the workpiece 200 is inspected after the work tool 400 is carried out, there is a possibility that the inspection may be performed in a state where the workpiece 200 is deformed, and the correct inspection cannot be guaranteed.

Since the articulated robot 600 moves the camera 690 with the scraper unit 930 removed, there is no drop of ink from the scraper 910 or the scraper 920 during the inspection.

Since the multi-joint robot 600 is always fixed with the camera 690, it is not necessary to perform the loading and unloading operation of the camera 690.

Since the printing line and at least one fiducial mark are photographed in one image, the distance between the printing line and one fiducial mark can be calculated, and the quality of the printing position of the printing line or the width of the printing line can be determined.

That is, since the position of the reference mark is known, it is possible to know whether the position of the print line is good or not, and determine whether the print pattern is good or not by calculating the distance between the reference mark and the print line.

Since several parts are photographed for the printing line and the fiducial mark, the distance between the printing line can be calculated from the distance between the fiducial mark and the distance from the fiducial mark to the printing line, and the quality of the printing line can be determined.

That is, since the distance between the two reference marks 410 is known, the distance between the two printing lines can be calculated based on the position of the two reference marks 410 and the position of the printing line, and the quality of the printed pattern can be determined.

* * * Modification of Embodiment 1 * * * (Modification of Workpiece 200)

The surface of the workpiece 200 may also have a plurality of concave curved surfaces and a plurality of convex curved surfaces.

The length of the radius of the concave curved surface and the convex curved surface of the workpiece 200 may be different.

There may also be a concave curved surface with a different radius and a concave curved surface having a continuous portion on the surface of the workpiece 200.

There may be a convex curved surface with a different radius and a convex curved surface having a continuous portion on the surface of the workpiece 200.

There may also be a portion where the curved surface and the plane are continuous on the surface of the workpiece 200.

The back surface of the workpiece 200 does not need to have a curved surface corresponding to the surface of the workpiece 200, and the thickness of the workpiece 200 may not be fixed.

The back surface of the workpiece 200 may be flat. When the back surface of the workpiece 200 is flat, the jig 400 only needs to be a flat surface corresponding to the plane of the back surface of the workpiece 200.

The workpiece 200 may have one or both of a concave portion and a convex portion in at least a part thereof not only in the front-back direction but also in the left-right direction. When the workpiece 200 has a concave portion or a convex portion in the left-right direction, the convex portion or the concave portion corresponding to the concave portion or the convex portion of the workpiece 200 may exist at the front end of the squeegee 910.

(Modification of Fixture 400)

The mounting surface of the jig 400 may not be consistent with the shape of the back surface of the workpiece 200. As long as the workpiece 200 has sufficient hardness, there may be a gap between the mounting surface of the jig 400 and the back surface of the workpiece 200.

The reference mark 410 may be a pair with respect to the printed line 201 instead of being present, and may also exist with one reference line 201. That is, when there is one reference mark 410 relative to the printing line 201, since the position of the reference mark 410 is known, the distance between the position of the reference mark 410 and the printing line 201 can also be calculated.

In addition, even when there is one reference mark 410 with respect to the print line 201, the distance between the plurality of print lines 201 can be calculated using the distance between the reference marks 410.

The reference mark 410 may be formed so as not to correspond to a printed line 201 of a straight line, but to correspond to a printed pattern of a curve, a square, a triangle, a polygon, a semicircle, or other shapes.

The reference mark 410 does not need to be located at each end of the printing line 201, and may be present only at a portion considered important in quality inspection.

The reference mark 410 may not be a hole, and may also be a mark or label recorded on the surface of the jig 400.

The shape of the reference mark 410 may not be a circle, and may also be a square, a triangle, a polygon, a straight line, a semicircle, or other shapes.

The reference mark 410 only needs to be a person who can be captured and recognized by the camera 690.

The reference mark 410 may exist only on the outside of the workpiece 200.

The reference mark 410 may exist only inside the workpiece 200.

When the reference mark 410 can be captured by the camera 690 through the workpiece 200, the reference mark 410 may be located only at a position covered by the workpiece 200. Specific examples of the case where the reference mark 410 can be captured by the camera 690 through the work 200 are a case where the work 200 is transparent, or a case where the work 200 is a through hole having the reference mark 410 exposed.

The reference mark 410 may be formed in such a manner that the central axis of the hole of the reference mark 410 is not a vertical direction and is perpendicular to the surface of the workpiece 200. When shooting with the camera 690, the multi-joint robot 600 shoots with the camera axis JC aligned with the central axis of the hole of the reference mark 410. The control unit 110 calculates the size and distance of the printed pattern based on the arc length of the curved surface.

(Modification of Multi-joint Robot 600)

The multi-joint robot 600 may not be a 6-axis robot, and may also be a 5-axis, 4-axis, or 3-axis robot.

Specifically, the axis J4 may not be provided.

If the inspection by the camera 690 is not performed and the scraper unit 930 does not need to be moved to the bracket 560, the shaft J1 may not be provided.

If the inspection by the camera 690 is not used and the scraper unit 930 does not need to be rotated on the bracket 560, the shaft J6 may not be provided.

The plate moving mechanism 700 and the take-off and landing mechanism 800 can also be used for a screen printing device using a driving mechanism that moves the squeegee unit 930 linearly in the horizontal direction.

In addition, the inspection content and inspection method using the above-mentioned reference marks can also be applied to a screen printing apparatus using a driving mechanism that moves the squeegee unit 930 linearly in the horizontal direction. While using.

The camera 690 may not be mounted on the multi-joint robot 600, and the camera 690 may be mounted on a two-dimensional driving mechanism that moves in a horizontal two-dimensional direction instead of mounting the camera 690 on the multi-joint robot 600.

(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 by using one side of the plate frame 310 as an axis.

The plate moving mechanism 700 may move the take-off and landing mechanism 800 instead of moving the plate frame 310 by placing the take-off and landing mechanism 800 on a mobile station.

(Modification of take-off and landing mechanism 800)

As long as the platform 820 is solid, the lifting cylinder 832 and the linear shaft 842 located in the center of the lifting mechanism 800 may not be provided.

The linear axis 841 located in front of the take-off and landing mechanism 800 may not have four or two.

The take-off and landing mechanism 800 may not include both the elevating mechanism 830 and the rotating mechanism 860, and may include only the elevating mechanism 830 or only the rotating mechanism 860.

Although the rotation mechanism 860 is shown as a mechanism inclined only to one side, the rotation mechanism 860 may be a mechanism inclined only to the opposite side. Alternatively, the rotating mechanism 860 may be a mechanism inclined to both sides.

The elevating guides 350 may also have several on the left and right sides of the lower surface of the platform 820, or there may be several before and after the lower surface of the platform 820.

(Modification of Printing Section 900)

The case where the printing unit 900 includes the squeegee 910 and the squeegee 920 is shown. However, any one of the squeegee 910 and the squeegee 920 may be replaced and attached to the printing unit 900.

As long as the printing section 900 is not in contact with the forearm 660 due to the rotation of the tip 680, the space S may not be provided in the printing section 900.

(Modification of operation: test printing)

A description will be given of a case where test printing is performed, which is different from the operation described above.

In the moving step S13 of the workpiece 200, the workpiece 200 is placed on the jig 400.

Thereafter, the roll film located in the roll holding portion 590 is pulled out to cover the workpiece 200 with the roll film.

Thereafter, from the setting step S14 to the inspection step S21, the roll film is performed.

That is, the plate frame 310 and the squeegee unit 930 are moved to a printing position to print a roll film.

Thereafter, the printing result on the roll film was checked.

After checking the printing result of the roll film, the roll film is peeled from the workpiece 200.

If the printing result on the roll film is defective, test printing is performed again after removing the cause of the defect.

If the printing result on the roll film is normal, the setting step S14 to the unloading step S22 are performed for the workpiece 200. That is, the plate frame 310 and the squeegee unit 930 are moved to the printing position, the work 200 is printed and inspected, and the work 200 is carried out.

(Modification of operation: sampling inspection)

The inspection step S21 may not be performed every time, and sampling inspection may be performed.

In the case of sampling inspection, the separation step S20 of the squeegee unit 930 may not be implemented, and the standby step of the squeegee unit 930 may be implemented instead of the separation step S20.

The stand-by step refers to a step in which the multi-joint robot 600 keeps the squeegee unit 930 on the ink containing dish 570 in an idle state without changing the state in which the squeegee unit 930 is installed.

That is, it is convenient for the ink to drop from the squeegee 910 or the squeegee 920 during standby, and it can also be caught by the ink container 570.

(Modification of operation: concave printing to convex printing)

As shown in FIG. 1, the concave surface of the workpiece 200 may be printed first and then the convex surface may be printed.

FIG. 24 shows a case where the concave surface of the workpiece 200 is printed first and then the convex surface is printed.

When printing the concave surface of the workpiece 200, since the printed portion does not have a convex portion, there is no need to pull the jig 400 away from the screen 300.

As shown in FIG. 24 (a), after the top 220 of the convex surface of the workpiece 200 is printed, if the difference in height of the downhill slope is small, the distance from the plate or the distance between the workpiece 200 and the screen 300 is reduced. Printing is finished, so there is no need to pull the jig 400 away from the screen 300.

After the top 220 of the convex surface of the workpiece 200 is printed, when the difference in height between the downhill slope is large, as shown in FIG. 24 (b), only the lifting mechanism 830 is operated, and the jig 400 is entirely from the screen version. 300 pull away. Alternatively, as shown in FIG. 24 (c), the rotating mechanism 860 is operated to pull the rear surface of the jig 400 away from the screen 300.

Although not shown, when the workpiece 200 has a wavy surface including a plurality of continuous irregularities, the control unit 110 uses a lifting mechanism 830 and a rotating mechanism 860 to Adjust the off-plate angle of the workpiece 200 and the screen plate 300 or the distance between the workpiece 200 and the screen plate 300.

In principle, the control unit 110 performs the following control: during the printing of the uphill slope and the downhill printing, the workpiece 200 and the screen 300 are pulled away.

(Modification of operation: printing in the opposite direction)

The printing direction can also be reversed.

When the printing direction is reversed, the following configuration is considered.

Configuration 1. The arrangement of the articulated robot 600 shown in FIG. 1 is reversed.

Configuration 2. Conversely, the multi-joint robot 600 shown in FIG. 1 is mounted with the printing unit 900.

Configuration 3. Regarding the printing section 900 of the multi-joint robot 600 shown in FIG. 1, the squeegee 910 and the squeegee 920 are reversed by 180 degrees and the installation positions of the squeegee 910 and the squeegee 920 are replaced.

(Modification of Action: Attachment of Camera 690)

A camera holding portion for holding the camera 690 may be formed on the bracket 560, and the camera 690 may be attached to and detached from the multi-joint robot 600. During printing, the control unit 110 holds the camera 690 in the camera holding unit. During inspection, the scraper unit 930 is removed from the articulated robot 600 and the camera 690 is mounted on the articulated robot 600.

(Modification of operation: printing pressure)

During printing, the squeegee 910 may be pressed by the multi-joint robot 600 without using the pressurizer 931.

Alternatively, during printing, the pressurizer 931 and the multi-joint robot 600 can be used. Printing pressure is applied to the squeegee 910.

Similarly, when applying the ink, the squeegee 920 may be pressed by the multi-joint robot 600 without using the pressurizer 932.

Alternatively, when the ink is applied, pressure may be applied to the doctor blade 920 by the pressurizer 932 and the articulated robot 600.

Claims (9)

A screen printing device uses a squeegee to print a workpiece having a curved surface on the surface. The screen printing device includes: a jig that mounts the workpiece and has a reference mark; and a camera that photographs the above of the jig. A fiducial mark and a print pattern printed on the workpiece; and a control unit that analyzes a print result from an image captured by the camera. In the screen printing apparatus of claim 1, wherein the control unit is configured to shoot the reference mark and the printing pattern in a state where a camera shaft of the camera is directed downward in a vertical direction. In the screen printing device of claim 1 or 2, wherein the workpiece is transparent, and the camera captures the reference mark through the workpiece. The screen printing device according to any one of claims 1 to 3, comprising: a screen printing plate having a printing pattern; and a plate moving mechanism for moving the screen printing plate; and the control unit is configured to move the screen printing plate through the printing plate moving mechanism. The screen is moved to open the space above the workpiece, and the camera is used for shooting. According to the screen printing device of any one of claims 1 to 4, the multi-joint robot is provided with the articulated robot detachably mounted on the squeegee, and the camera is fixed. The articulated robot moves the camera with the scraper removed. If the screen printing device according to any one of claims 1 to 5, wherein the camera shoots a reference mark and a printed pattern in one shooting, The control unit analyzes the image captured by the camera, and judges the quality of the printed pattern based on the position of the one reference mark and the position of the printed pattern. If the screen printing device according to any one of claims 1 to 5, the camera is used to shoot a pair of reference marks and printed patterns in one shot, and the control unit is directed to an image captured by the camera. An analysis is performed, and the goodness of the printed pattern is determined based on the position of the one pair of reference marks and the position of the printed pattern. If the screen printing device according to any one of claims 1 to 7, wherein the camera shoots the reference mark and the printing pattern at several locations, the control unit calculates the distance between the reference mark of each location and the printing pattern at each location. , And based on the calculated distance and the distance of the reference marks of the above-mentioned parts, the distance of the printed patterns of the above-mentioned parts is calculated. A screen printing method, which uses a squeegee to print a workpiece having a curved surface on the surface; it forms a reference mark on a jig on which the workpiece is placed; a camera photographs the reference mark of the jig and the The print pattern printed on the workpiece; the control unit analyzes the print result from the image captured by the camera.