TWI727192B - Screen printing device and screen printing method - Google Patents

Abstract

The screen printing device of the present invention uses a squeegee to print a workpiece (200) having a curved surface on the surface, and is provided with a jig (400) on which the workpiece (200) is placed and has a reference mark ( 410); a camera that photographs the fiducial mark (410) of the jig (400) and the printing line (201) of the printing pattern printed on the workpiece (200); and the control unit, which is photographed by the camera Analyze the printing results based on the image.

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 with a curved surface.

Since the prior art, consider a device for screen printing a workpiece with a curved surface.

Also, since the prior art, a device for 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 Booklet

The present invention provides a screen printing method for correctly checking the printing result Device and screen printing method.

The screen printing device of the present invention is a device that uses a squeegee to print a workpiece with a curved surface on the surface. The screen printing device includes: a jig on which the workpiece is placed and has a fiducial mark; and a camera that takes pictures of the jig. A fiducial mark and a printing pattern printed on the workpiece; and a control unit that analyzes the printing result by the image taken by the camera.

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

100‧‧‧Screen printing device

110‧‧‧Control Department

120‧‧‧Display

130‧‧‧Robot Controller

140‧‧‧Image Processing Unit

150‧‧‧Vacuum pump

160‧‧‧Air pressure circuit

170‧‧‧Control Panel

200‧‧‧Workpiece

201, 211‧‧‧Printing line

202, 203, 212, 213‧‧‧Outer contour

204, 214‧‧‧center line

220‧‧‧Top

230‧‧‧Bottom

240, 340‧‧‧ inflection point

300‧‧‧Screen

310‧‧‧Frame

320‧‧‧Top

330‧‧‧Bottom

400‧‧‧Fixture

410‧‧‧ fiducial mark

500‧‧‧Shell

510‧‧‧Abutment

520‧‧‧Control Box

530‧‧‧Column Frame

540‧‧‧Beam Frame

550‧‧‧Top plate

560‧‧‧bracket

561‧‧‧Suspension

570‧‧‧Ink container

590‧‧‧Reel Holder

600‧‧‧Multi-joint robot

610‧‧‧Base

620‧‧‧Ontology

630‧‧‧Shoulder

640‧‧‧Upper arm

650‧‧‧elbow

660‧‧‧Forearm

670‧‧‧Wrist

680‧‧‧End

690‧‧‧Camera

700‧‧‧Version Mobile Mechanism

720‧‧‧Tripod

730‧‧‧Sliding mechanism

740‧‧‧Conveying belt

750‧‧‧Motor

760‧‧‧Frame fixing part

800‧‧‧ Takeoff and Landing Mechanism

820‧‧‧Platform

821‧‧‧Undertake board

822‧‧‧Frame

830‧‧‧Lifting mechanism

831, 832, 833‧‧‧Lift cylinder

835‧‧‧Floating joint

839‧‧‧lift shaft

841, 842, 843‧‧‧Linear axis

844、845、846‧‧‧Lift plate

849‧‧‧Linear motion axis

850‧‧‧Lifting guide

851‧‧‧Plate

852‧‧‧Cam Follower

853‧‧‧Guide Department

854‧‧‧Guide Pillar

860‧‧‧Rotating Mechanism

861‧‧‧Rotating axis

862‧‧‧Bearing

864‧‧‧Axis Unit

865, 866‧‧‧roller unit

867‧‧‧Axis

868‧‧‧roller

870‧‧‧Adjustment mechanism

871‧‧‧Link plate

872‧‧‧screw

873‧‧‧ Dial gauge

900‧‧‧Printing Department

910‧‧‧Scraper

920‧‧‧Scraper

930‧‧‧Scraper unit

931、932‧‧‧Pressurizer

933‧‧‧Fixed plate

934‧‧‧lower plate

935‧‧‧Side panel

936‧‧‧Upper 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 axis

JS‧‧‧Axis

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

L, S0‧‧‧Straight

NP‧‧‧Axis J1 cannot rotate range

R, S‧‧‧Space

S1‧‧‧Printing start position

S2‧‧‧End position of printing

S4‧‧‧The center position of the printing stroke

SE‧‧‧End

P1, P2, P3, P4 ‧ ‧ fiducial mark

V1, V2, V3, V4, V5‧‧‧Width

W1, W2, W3‧‧‧Distance

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

X2‧‧‧The 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 a screen printing apparatus 100 in the first embodiment.

Fig. 2 is a left side view of the screen printing apparatus 100 in the first embodiment.

Fig. 3 is a right side view of the screen printing apparatus 100 in the first embodiment.

Fig. 4 is a partially omitted rear view of the screen printing apparatus 100 in the first embodiment.

Fig. 5 is a plan view of the screen printing apparatus 100 in the first embodiment.

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 the first embodiment.

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

9 is a front view and a right side view of the lifting and lowering mechanism 800 of the screen printing apparatus 100 in the first embodiment. (a) A front view of the take-off and landing mechanism 800 at the origin. (b) The front view of the lifting platform 820. (c) The right side view of the platform 820 is raised horizontally.

FIG. 10 is a left side view of the lifting and lowering mechanism 800 of the screen printing apparatus 100 in the first embodiment.

FIG. 11 is a right side view of the lifting and lowering mechanism 800 of the screen printing apparatus 100 in the first embodiment.

FIG. 12 is a configuration diagram of the printing section 900 of the screen printing apparatus 100 in the first embodiment. (a) It is a picture with the printing unit 900 installed. (b) is the picture with the printing section 900 removed.

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

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

15 is a structural diagram of the workpiece 200, the screen 300, and the jig 400 of the screen printing apparatus 100 in the first embodiment. (a) It is the composition diagram of the screen 300, the workpiece 200 and the jig 400. (b) is the structure diagram of the workpiece 200 and the jig 400. (c) is a diagram of the structure of the workpiece 200. (d) is an explanatory drawing 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 the printing operation of the screen printing apparatus 100 in the first embodiment.

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

FIG. 22 is an explanatory diagram of the printing operation of the screen printing apparatus 100 in the first embodiment.

FIG. 23 is an explanatory diagram of the operation of the lifting and lowering mechanism 800 of the screen printing apparatus 100 in the first embodiment. (a) is a diagram of the relationship between the workpiece 200 and the screen 300 when the take-off and landing mechanism 800 is inoperative. (b) is a diagram of the relationship between the workpiece 200 and the screen 300 when the take-off and landing mechanism 800 is operated.

FIG. 24 is an explanatory diagram of the operation of the lift-off mechanism 800 of the screen printing apparatus 100 in the first embodiment. (a) is a diagram of the relationship between the workpiece 200 and the screen 300 when the take-off and landing mechanism 800 is inoperative. (b) is a diagram of the relationship between the workpiece 200 and the screen 300 when the lifting mechanism 830 is operated. (c) is a diagram of the relationship between the workpiece 200 and the screen 300 when the rotating mechanism 860 is operated.

Implementation mode 1. * * *Description of composition * * *

Based on FIG. 1, FIG. 2, FIG. 3, FIG. 4, and FIG. 5, the structure of the screen printing apparatus 100 is demonstrated.

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

In FIG. 1, the direction opposite to the printing direction, that is, toward the paper, the right direction is called the rear direction.

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

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

In FIG. 1, the direction toward the depth of the paper is referred to as the left direction.

In FIG. 1, two articulated robots 600 are shown, but in reality, there is only one articulated robot 600.

The screen printing device 100 is a device that screen-prints a workpiece 200 having a curved surface by using a frame 310 having a screen 300.

The screen printing apparatus 100 includes a housing 500, an articulated robot 600, a plate moving mechanism 700, a lifting and lowering mechanism 800, and a printing unit 900.

<<Shell 500>>

The screen printing apparatus 100 has a housing 500.

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

The base 510 is the base of the screen printing device 100.

The base 510 has a box-like shape.

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

The column frame 530 is a column erected on the floor surface of the base 510.

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

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

The screen printing apparatus 100 has a roll holding part 590.

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

<<Control Unit 110>>

The screen printing apparatus 100 has a control unit 110.

The control unit 110 controls the entire device.

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

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

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

The actions of the following printing method can be realized by the control unit 110 transmitting commands through signal lines.

<<Multi-joint robot 600>>

Fig. 6 shows a multi-joint robot 600.

The articulated robot 600 is one of the industrial robots.

An industrial robot refers to a machine that has a manipulation function or a movement function performed by automatic control, can perform various tasks through a program, and can be used in industry.

Industrial robots have manipulators and memory devices.

An industrial robot is a machine that can automatically perform telescopic, flexion and extension, up and down movement, left and right movement or rotation of the manipulator based on the information of the memory device, or a combination of these actions.

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

Multi-joint robot is a kind of joint robot.

The mechanical structure of the articulated robot arm is composed of more than three rotary joints. That is, the articulated robot has more than 3 degrees of freedom and can be automatically controlled or programmable. Vertical device.

The articulated robot 600 has several links and several joints.

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

Joint refers to the connecting part when two connecting rods 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 multi-joint robot 600 shown in FIG. 6 is a multi-axis robot having 6 rotation axes from the axis J1 to the axis J6 described below.

The articulated robot 600 has a base 610, a body 620, a shoulder 630, an upper arm 640, an elbow 650, a forearm 660, a wrist 670, and an end 680.

The main body 620, the upper arm 640, the forearm 660, and the end 680 are connected by connecting rods.

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

The base 610 is fixed to the top plate 550 of the top wall located at 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 base 610 is a rotation axis orthogonal to the top wall.

The axis J1 of the base 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 arranged above the printing area in the front and back direction of the screen 300.

The main body 620 is mounted on the base 610 in a manner capable of rotating around 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 mounted on the shoulder 630 so as to be rotatable about the horizontal axis J2.

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

In addition, 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.

In addition, the forearm 660 can rotate around an axis J4 that is perpendicular to the horizontal axis J3 and crosses the axis J3.

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

In addition, the wrist 670 has an axis J6 perpendicular to the axis J5 and crossing the axis J5.

The end 680 is mounted on the forearm 660 so as to be able to rotate around the axis J5 and the axis J6.

Each link attached to each shaft is centered on each shaft and is rotated by a motor not shown.

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

In FIG. 6, the axis J1 and the axis J2 are located 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 will be 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 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 has four tripods 720 and two sliding mechanisms 730.

Each sliding mechanism 730 is fixed to the upper part of the two legs 720.

The sliding mechanism 730 arranges the conveyor belt 740 in the left-right direction.

The conveyor belt 740 is rotated by a motor 750 arranged at the end of one sliding mechanism 730.

The sliding mechanism 730 is equipped with a frame fixing portion 760 so as to be slidable left and right.

The frame fixing part 760 is detachably mounted with the plate frame 310.

The frame fixing part 760 slides left and right by the rotation of the conveyor belt 740.

In FIG. 8, the state where the plate frame 310 moves to the leftmost side of the paper is the state where the plate frame 310 covers the workpiece 200 and is a printable state.

In FIG. 8, the state where the plate frame 310 moves to the rightmost side of the paper surface is a state where the space above the workpiece 200 is opened to be opened, and is a state where the printing result of the workpiece 200 can be inspected.

<<Takeoff and Landing Mechanism 800>>

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

Fig. 9(a) is a diagram where the take-off and landing mechanism 800 is at the origin, and is a diagram where the jig 400 is at the bottom.

Fig. 9(b) is a diagram of lifting one end of the platform 820 by hand when the lifting and lowering mechanism 800 is at the origin.

Fig. 9(c) is a diagram of the lifting and lowering mechanism 800 horizontally lifting the platform 820.

The lifting and lowering mechanism 800 is a mechanism that moves the jig 400 relative to the plate frame 310.

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

The lifting and landing mechanism 800 is to install the jig 400 in a way that the distance between the jig 400 and the screen 300 can be changed.

The lifting and lowering mechanism 800 has a frame 822 for fixing the jig 400 and a platform 820 with the fixing frame 822.

The frame 822 is made of aluminum or other metal with two square pillars.

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

The lifting mechanism 800 has a lifting mechanism 830 that lifts and lowers the jig 400 relative to the screen 300.

The lifting and lowering mechanism 800 has a rotating mechanism 860 that rotates the jig 400 with respect to the screen plate 300.

<Elevating Mechanism 830>

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

The lifting mechanism 830 has several lifting cylinders arranged along the printing direction.

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

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

The lifting cylinder is used to lift the platform 820 up and down.

The lifting cylinder refers to an actuator driven by hydraulic, pneumatic, water pressure or electric power to extend and contract, preferably an air cylinder.

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

The linear axis system supports the linear movement of the lifting cylinder to limit the up and down movement of the platform 820 Those who move in the vertical direction.

Each linear axis system has a linear motion axis 849 that slides up and down.

The 6 lifting cylinders are arranged in 6 positions at the front, center, and rear of the platform 820 on the left and right.

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 under 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.

At the front end of the lifting shaft, a floating joint 835 is installed.

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.

Two bearings 862 are fixed to both ends of the lifting plate 844.

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

Two roller units 865 are fixed on both ends of the lifting plate 845.

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

Two roller units 866 are fixed to both ends of the lifting plate 846.

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 is inclined 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 inclination of the lifting plate is suppressed by the rise of the linear movement axis 849 of the linear axis, so that the lifting plate 846 moves horizontally in the up and down direction.

If the lifting shafts 839 of the 6 lifting cylinders are evenly raised, the platform 820 rises horizontally, and if the lifting shafts 839 of the 6 lifting cylinders are evenly lowered, the platform 820 is lowered horizontally.

<Lifting guide 850>

As shown in (a) and (b) of FIG. 9, the lifting and lowering mechanism 800 has a lifting guide 850 that restricts the left and right tilt of the jig 400.

The lifting guide 850 is arranged at a position closer to the rear of the platform 820 and closer to the center than the lifting cylinder 833, and is arranged at the center of the platform 820 in the width direction.

The lifting guide 850 is a guide that prevents at least one or both of the platform 820 from moving left and right and tilting to the left and right when the platform 820 moves up and down.

The lifting guide 850 has 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.

There are several cam followers 852 attached to the plate 851.

The several cam followers 852 are arranged in the vertical direction.

The lifting guide 850 has a guide post 854 and a guide 853.

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

The guide portion 853 is a guide that exists in the vertical direction of the single side surface of the guide post 854 and clamps the cam follower 852 in the vertical direction.

The guide portion 853 allows the movement of the cam follower 852 in the up-down direction and the front-back direction, but prohibits the 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>

FIG. 9(c) shows the adjustment mechanism 870. As shown in FIG.

The lifting mechanism 830 has an adjusting mechanism 870 for adjusting the height of the lifting cylinder.

The adjustment mechanism 870 has a connecting plate 871, a screw 872, and a dial gauge 873.

The connecting plate 871, the screw 872, and the dial gauge 873 are arranged at the front, middle, and back of the platform 820.

The connecting plate 871 is located under the floor of the base 510 and connects the lower ends of the linear motion shafts 849 on the left and right linear shafts.

The screw 872 penetrates the floor of the base 510 and is installed on the base 510.

The screw 872 is installed in the center of the linear axis on the left and right.

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 connecting plate 871 can be changed, and the lifting position of the height direction of the linear motion shaft 849 of the lifting cylinder can be adjusted.

The dial gauge 873 measures the lifting position in the height direction of the linear motion axis 849 of the lifting cylinder in a unit of 0.1 mm.

<Rotating Mechanism 860>

The rotating mechanism 860 is disposed on the upper part of the lifting mechanism 830 and is raised and lowered by the lifting mechanism 830 moving up and down.

The rotating mechanism 860 is a mechanism that arranges the platform 820 on the upper part and tilts the platform 820.

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

The front end of the platform 820 is fixed to the rotating 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 installed on the lifting cylinder 831 located at the front end of the plurality of lifting cylinders.

The shaft unit 864 has a rotating shaft 861 and a bearing 862.

The rotating shaft 861 is fixed to the platform 820 at one end of the front of the platform 820, and is fixed horizontally.

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

Two bearings 862 are arranged at the left and right ends of the rotating shaft 861, and the rotating shaft 861 is rotatably held.

The roller unit 865 and the roller unit 866 are installed on the lift cylinders in the center and the rear where the rotating shaft 861 is not installed among the several lift cylinders.

The roller unit 865 and the roller unit 866 have a roller 868 that can rotate around a shaft 867.

The platform 820 is a receiving plate 821 with receiving rollers 868 at the center and the rear left and right.

When the roller 868 is tilted on the platform 820, the shaft 867 is attached to 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 using only the roller 868.

During printing, if the lifting shaft 839 of the lifting cylinder 831 at the front is kept rising while the lifting shaft 839 of the lifting cylinder 833 and the lifting cylinder 832 are lowered, the platform 820 will tilt with the rotation shaft 861 as the rotation axis. When the platform 820 is tilted, the roller unit 865 and the roller 868 of the roller unit 866 rotate.

The control part 110 changes the ascent of the several lift cylinders on which the roller unit is placed, and controls the height position of the roller unit to tilt the platform 820.

<<Printing Department 900>>

The printing section 900 will be described with reference to FIG. 12, FIG. 13, and FIG.

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

End effector refers to the part of the mechanism that holds the robot to directly act on the object of work.

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

The squeegee 910 is exchangeably held by the squeegee unit 930 by the mounting part 941.

The squeegee 920 is exchangeably held by the squeegee unit 930 by the mounting part 942.

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

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

The scraper unit 930 is detachably installed at the end 680.

The installation part 941 of the scraper unit 930 can be installed by changing the installation angle of the scraper 910 Install the scraper 910.

In FIG. 12, the squeegee 910 under three installation angles is shown.

Therefore, the angle of attack of the squeegee 910 with respect to the workpiece 200 can be changed without making any changes to the articulated robot 600 and the robot controller 130.

Although not shown, the installation portion 942 of the scraper 920 of the scraper unit 930 can also change the installation angle of the scraper 920 to install the scraper 920.

The scraper unit 930 is installed with a scraper 910 and a scraper 920 directly below the shaft J6 or slightly behind from directly below.

The scraper unit 930 has a pressurizer 931 and a pressurizer 932.

The pressurizer 931 is a pressurizer that applies printing pressure to the squeegee 910, and is preferably an actuator driven by hydraulic pressure, air pressure, water pressure, or electric power, and is preferably an air cylinder.

The pressurizer 932 is a pressurizer that applies coating pressure to the doctor blade 920, and is preferably an actuator driven by hydraulic pressure, air pressure, water pressure, or electric power, and is preferably an air cylinder.

The pressurizer 931 and the pressurizer 932 are fixed on both sides of the fixing plate 933.

As shown in FIG. 13, the pressurizer 931 has a pressurizing shaft 943, and a scraper 910 is attached via a floating joint 939.

The axis JS of the pressurizing shaft 943 of the pressurizer 931 is parallel to the axis J6.

A pair of linear bushes 938 for ensuring the linear movement of the scraper 910 are arranged on both sides of the presser 931.

The pair of linear bushes 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 pressurizing shaft 943 of the pressurizer 932 is parallel to the axis J6.

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

The pair of linear bushes 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 clamped by two side plates 935.

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

The upper surface of the upper plate 936 has a mounting and dismounting part 937.

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 become hook portions facing the suspension portion 561.

The loading and unloading part 937 is detachably installed at the end 680.

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

The pressurizer 931 and the upper part of the pressurizing shaft 943 of the pressurizer 932 are arranged in the space S of the rectangular parallelepiped.

When the pressurizing shaft 943 of the pressurizer 931 and the pressurizer 932 are located at the uppermost position, the head of the pressurizing shaft 943 will not contact the upper plate 936 either.

The space S of the rectangular parallelepiped is used to ensure the space for the pressure shaft 943 to move up and down freely.

Since there is a rectangular parallelepiped space S, no matter what the posture of the scraper unit 930 of the axis J5 of the articulated robot 600 is, the head of the cylinder shaft will not be the same 600 before the arm 660 touches.

<<Camera 690>>

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

The camera 690 is fixed to the end 680.

The camera 690 is arranged on the side of the end 680 and the squeegee unit 930.

The camera axis JC of the camera 690 is the central axis of the lens and is parallel to the axis J6.

The camera 690 is arranged at a position that does not interfere with the arrangement of the squeegee unit 930.

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

The camera 690 is arranged at a position not in contact with the forearm 660 during printing.

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

The camera's field of view size is 40mm in both vertical and horizontal directions, 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 not uneven in the left-right direction but is straight.

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

As shown in Fig. 15(c), the workpiece 200 is rectangular when viewed from above.

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 any one of a concave surface recessed from a horizontal plane and a convex surface protruding 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 front and back directions of the surface of the workpiece 200 is a wave type.

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

In Figure 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 and the central angle of the concave curved surface are the same angle, which is 20 degrees or more and 40 degrees or less, preferably 30 degrees.

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

At the center of a concave curved surface, there is a bottom 230 with the lowest height.

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

In FIG. 15, the inflection point 240 exists in 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 surface of the workpiece 200, and has the same convex and concave surfaces as the surface of the workpiece 200.

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

As shown in (c) of FIG. 15, several printing lines 201 are printed as a printing pattern on the workpiece 200.

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

The straight lines forming the two outer sides of the printed line 201 are called outer contour lines. The center line of the two outer contour lines is called the center line 204.

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

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

The distance between the center line 204 and the center line 214 is the length V5.

The information of the several 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 the inspection of the printing result.

<<Screen 300>>

The screen 300 will be 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 300 is not uneven but straight in the left-right direction.

When viewed from above, the screen 300 is rectangular.

Screen 300 is a metal mask screen, mesh screen, and other types of screens.

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

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

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

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

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 curved surface, there is a top 320 with the highest height.

At the center of a concave curved surface, there is a bottom 330 with the lowest height.

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

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

<<Edition Box 310>>

The plate 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 with a rectangular shape and a rectangular opening in the center.

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

The plate frame 310 applies tension to the screen plate 300 to hold the screen plate 300.

The plate frame 310 can be installed back and forth with respect to the plate moving mechanism 700.

In FIG. 1, it is shown that 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 may be located on the left side of the paper surface, and printing is performed in order from the convex surface to the concave surface.

<Fixture 400>

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

The jig 400 is a curved jig that uses a curved surface to hold the workpiece 200.

As shown in Figure 15(a), in front view, the jig 400 is a metal part with a flat bottom surface and a corrugated top surface.

As shown in Figure 15(b), the jig 400 is rectangular when viewed from above.

The jig 400 has a mounting surface with the same curved 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, or other metals.

The 400 series of jig is a thick plate, so it is rigid, will not be deformed, and will not be damaged.

The mounting surface of the jig 400 corresponds to the curved surface of the back surface of the workpiece 200 and has at least any one of a concave surface recessed from the horizontal plane and a convex surface protruding 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 can be installed back and forth opposite to the platform 820.

In FIG. 1, it is shown that 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 may be located on the right side of the paper surface and the concave surface may be located on the left side of the paper surface, and the printing may be performed sequentially from the convex surface to the concave surface.

<reference mark 410>

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

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

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

The fiducial mark 410 can be formed when the jig 400 is manufactured.

The arrangement position of the fiducial mark 410 of the jig 400 is determined in advance based on the printing pattern.

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

If the arrangement position of the fiducial mark 410 is set as the center position of the fiducial mark 410, Then, the center position of the reference mark 410 can be expressed 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, the arrangement positions of all the reference marks 410 are determined in advance, so the distance between all the reference marks can be calculated in advance.

In (b) of FIG. 15, the jig 400 has 28 reference marks 410.

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

Sixteen fiducial marks 410 among the 28 fiducial marks 410 are formed on the inner side of the workpiece 200.

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

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

Fourteen pairs of reference marks 410 are formed in the vicinity of the intersection of the printing line 201 and the printing line 201.

The pair of reference marks 410 is formed at a position perpendicular to the printed line 201 by a straight line connecting the centers of the pair of reference marks 410.

1 A pair of fiducial marks 410 are formed in the following way: where the correct printing is possible In this case, the printing line 201 is located at 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 greater than the width of the printed 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 greater than the maximum width of all printed lines 201 and less than the camera's field of view size of 40mm.

In Figure 15(b), "width V1<width V2<length W1<view size 40mm".

In the jig 400, the center positions of all the fiducial marks 410 are known, and the distance between the center positions of all the fiducial marks 410 is known.

The distance between the center position of all the fiducial marks 410 and the center position of the fiducial mark 410 is memorized in the memory device.

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

The housing 500 has a holder 560 and an ink container 570.

The bracket 560 is a table fixed to the base 510.

The bracket 560 is arranged on the outer side of the sliding mechanism 730 close to the axis J1 among the two sliding mechanisms 730.

The bracket 560 has four legs, and has a space for holding the printing part 900 in the center.

As shown in FIG. 18, the bracket 560 is attached to the suspension portion 561 with the suspension printing portion 900 on the upper part of the four legs.

The suspension portion 561 detachably fixes both ends of the upper plate 936 of the squeegee unit 930 to hold the squeegee unit 930.

The camera 690 is always fixed to the articulated robot 600, so the suspension 561 does not have the function of holding the camera 690.

The suspension part 561 has a space R in which the printing part 900 and the camera 690 are arranged in the center.

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

The ink container 570 is an eave-shaped container protruding from the side of the upper part of the bracket 560.

The ink container 570 is the one that contains the ink dropped from the printing unit 900 during the movement of the printing unit 900.

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

The ink container 570 protrudes horizontally from one side of the suspension portion 561 of the bracket 560.

The ink container 570 covers the sliding 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 top view shape of the screen printing apparatus 100 is a rectangle with long sides and short sides.

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

The short side of the plate frame 310 is arranged parallel to the short side of the screen printing device 100.

The long side of the plate frame 310 is arranged parallel to the long side of the screen printing device 100.

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

The sliding mechanism 730 has a length that is twice the length of the short side of the plate frame 310.

By sliding the plate frame 310, the plate frame 310 is made to cover the printable state of the space above the jig 400 and the workpiece 200, and the openable state of the space above the jig 400 and the workpiece 200 for inspection.

The short side of the lifting and lowering mechanism 800 is arranged parallel to the short side of the screen printing device 100.

The long side of the lifting and lowering mechanism 800 is arranged parallel to the long side of the screen printing device 100.

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

The two arc systems shown in FIG. 5 represent the rotation range of the articulated 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 Figure 5, the meanings of the symbols and dimensions are as follows.

X1: the length of the long side of the shell 500

X2: the length of the long side of the screen 300

X3: the distance between the axis J1 and the end SE of the housing 500

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

X5: the distance between the center position S4 of the printing stroke and 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: The distance between the straight line S0 connecting the centers of the two long sides of the casing 500 and the printing start position S1 in plan view

X8: The distance between the straight line S0 connecting the centers of the two long sides of the housing 500 and the printing end position S2 in plan view

X9: The distance between the straight line S0 connecting the centers of the two long sides of the housing 500 and the center position S4 of the printing stroke

Y1: The length of the short side of the shell 500

Y2: the length of the short side of the screen 300

NP: The range that the axis J1 cannot rotate, the center angle of the range that cannot be rotated is about 20 degrees

The rotatable range of the axis J1 is 340 degrees.

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

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

The axis J1 is arranged in the vertical direction.

The axis J1 does not rotate during printing.

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

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

The axis J2 is arranged to be parallel to the short side of the housing 500 during printing and perpendicular to the printing direction.

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

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

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

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

The distance X9 is the same as the 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 plan view is located at the position of 1/4 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 until one-fourth of the length X6 of the printing stroke, and three-quarters thereafter is located in front of the axis J2.

The top-view position of the axis J2 only needs to be within the range of the printing stroke. It is more appropriate to be located halfway before the printing stroke, and furthermore, it is better to be located in the center of the first half of the printing stroke.

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

The printing end position S2 is located within 70% of the radius of the maximum movable range of the axis J6.

Therefore, the length X6 of the printing stroke is within 70% of the length of the radius of the maximum movable range of the axis J6.

The center line connecting the centers of the short sides of the screen 300, that is, the center line of the printing width, intersects the axis J1 and is orthogonal to the axis J1.

The bracket 560 is located within the maximum movable range of the axis J6.

The distance from the axis J1 to the printing end position S2 is approximately the same as 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 approximately the same as the distance from the axis J1 to the center of the suspension table of the bracket 560.

A bracket 560 holding the squeegee unit 930 is arranged at a position where the squeegee unit 930 located at the printing end position S2 is rotated clockwise by G degrees around the axis J1.

In Figure 5, the G degree is 140 degrees.

The base 610 of the articulated robot 600 is arranged at the center of the short side of the plate frame 310 and is offset to the side with the support 560 from the center of the long side of the plate frame 310.

The distance from the axis J1 of the base 610 to the sliding mechanism 730 far away from the axis J1 of the two sliding mechanisms 730 is the same as the distance from the axis J1 to the farthest corner of the bracket 560. This distance is equal to 3/4 of the maximum movable range of the articulated robot 600 centered on the axis J1.

Furthermore, the arrangement relationship and the dimensional relationship explained based on FIG. 5 are an example. When the size of the workpiece is changed, the above 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 at the center of the length X2 of the long side of the screen 300, and to maintain the above-mentioned arrangement relationship and size relationship as much as possible.

If possible, it is more desirable to use the ratio shown in the configuration relationship and dimensional relationship explained based on FIG. 5 in the range of plus or minus 20% of the value of the above ratio, and furthermore, it is more ideal to use in the range of plus or minus 10% .

* * *Description of action * * *

Using FIG. 19, the screen printing method of the screen printing apparatus 100 is demonstrated.

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

When the control unit 110 operates the articulated robot 600, it passes through the robot controller 130 and control the articulated robot 600.

The control unit 110 uses the image processing unit 140 to perform image processing 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 operating the cylinder or the pressurizer.

When the control unit 110 attracts the workpiece 200 to the jig 400, the workpiece 200 is adsorbed to 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.

The case where the workpiece 200, the screen 300, and the jig 400 have convex and concave curved surfaces and the printing section 900 performs printing 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 fiducial marks 410 and the center positions of all the fiducial marks 410 are memorized in the memory device.

The following describes the case without test printing.

*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 performs initial settings in the following procedure.

1. Return to origin of articulated robot 600

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

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

2. Return to origin of takeoff and landing mechanism 800

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.

3. Return to the origin of version 700 of the mobile mechanism

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

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

*Installation step S12 of scraper unit 930*

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

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

*Loading step S13 of workpiece 200*

The control unit 110 places the workpiece 200 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 with the placement surface formed on the upper surface of the jig 400 without a gap.

There is a suction groove on the mounting surface of the jig 400, and the control part 110 sucks air in the suction groove. By this suction, the workpiece 200 is in close contact with the mounting surface of the jig 400 to be fixed.

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

*Step S14 for setting frame 310 and scraper unit 930*

The control unit 110 operates the articulated robot 600 to take out the squeegee unit 930 from the holder 560 and move it to the space above the plate frame 310 via 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 squeegee unit 930 to the upper space of the workpiece 200 using the upper space of 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 plate moving mechanism 700.

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

*Ink coating step S15 by squeegee 920*

The control unit 110 operates the articulated robot 600 to apply ink to the screen 300 of the frame 310 by the doctor blade 920.

The control unit 110 uses the articulated robot 600 to move the front end of the squeegee 920 along the curved surface of the screen 300.

The control unit 110 uses the articulated robot 600 to move the squeegee 920 from the printing end position S2 to the printing start position S1.

The control unit 110 controls the angle of the squeegee 920 such that the angle of attack of the squeegee 920 relative to the screen 300 is fixed by the articulated robot 600. The angle of attack of the scraper 920 is preferably from 80 degrees to 100 degrees, and 90 degrees is more suitable.

The control unit 110 operates the pressurizer 932 during the movement of the scraper 920 to move the scraper 920 pressed against the screen 300. Alternatively, the control unit 110 does not press the scraper 920 against the screen 300, but makes the scraper 920 slide along the surface of the screen 300.

The control system of the squeegee 920 performed by the articulated robot 600 is the same as the control of the squeegee 910 performed by the articulated robot 600 in the printing step S17 except that the moving direction is opposite. The details of the control are in the printing step This is explained in S17.

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

The control unit 110 operates the lifting and lowering 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 the range of 1 mm or more and 10 mm or less.

*Printing step S17 of articulated robot 600*

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

Fig. 21 shows the printing start state.

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

The control unit 110 moves the 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 the printing direction in a wave shape along the curved surface of the workpiece 200.

The articulated robot 600 is arranged horizontally and parallel to the axis J2, axis J3, and axis J5 3 axis, the squeegee 910 is moved in the printing direction by the rotation of the axis J2, the axis J3, and the axis J5.

The articulated robot 600 arranges the remaining axes, that is, the axis J1, the axis J4, and the axis J6 on the same vertical surface, and performs printing.

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

The control unit 110 controls the angle of the squeegee 910 such 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 so that the angle of attack becomes fixed even at any position on the surface of the workpiece 200.

The angle of attack of the squeegee 910 is preferably 50 degrees to 90 degrees, 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 to press the squeegee 910 against the screen 300.

The reason why the articulated robot 600 does not apply the printing pressure but only the press 932 applies the printing pressure is as follows.

Reason 1: Compared with the articulated robot 600, the pressurizer 932 has a higher accuracy in keeping the printing pressure constant during printing.

Reason 2: By removing the pressure control performed by the articulated robot 600, the articulated 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 the rotation of only the horizontal and parallel axes of the articulated robot 600, that is, the rotation of only three axes of the axis J2, the axis J3, and the axis J5.

The articulated robot 600 sets the angle of attack of the squeegee 910 relative to the curved surface of the workpiece 200 to be fixed, and moves the squeegee 910 along the curved surface of the workpiece 200.

The articulated robot 600 does not rotate the remaining axes during printing, that is, the axis J1, the axis J4, and the axis J6.

The control unit 110 does not actuate the lifting and lowering mechanism 800 during the climbing printing from the printing start position S1 to the top 220 of the convex surface of the work 200.

*Rotation steps of rotating mechanism 860*

The control unit 110 operates the lifting and lowering mechanism 800 during printing. After the top 220 of the convex surface of the workpiece 200 is printed, the lifting and lowering mechanism 800 pulls the jig 400 away from the screen 300.

The control unit 110 uses a rotating mechanism 860 that rotates the jig 400 relative to the screen 300 to pull the jig 400 away from the screen 300.

FIG. 22 shows the operating state of the take-off and landing mechanism 800.

As shown in Figure 23(a), if the lifting and lowering mechanism 800 is not operated during printing and the jig 400 is not pulled away from the screen 300, after printing on the top 220 of the convex surface of the workpiece 200, the arrow is shown as The release 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 operates the lifting and lowering mechanism 800 after printing on the top 220 of the convex surface of the workpiece 200 to pull the jig 400 away from the screen 300 to maintain the release angle or the workpiece 200 The distance to the screen 300.

The lifting and lowering mechanism 800 is used to increase the distance between the workpiece 200 and the screen 300 in such a way that the distance between the workpiece 200 and the screen 300 does not decrease after the top 220 of the convex surface of the workpiece 200 is printed.

The lifting and lowering mechanism 800 is a mechanism that ensures the distance between the workpiece 200 at the position printed by the squeegee 910 and the screen plate 300 during printing by the squeegee 910, and ensures the separation angle of the plate.

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

The control part 110 keeps the height of the lifting shaft 839 of the lifting cylinder 831 located at the end of the recessed part side of the workpiece 200 constant.

The control part 110 lowers the lift cylinder 832 and the lift shaft 839 of the lift cylinder 833 located at the end of the convex part side of the workpiece 200.

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

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

The control unit 110 may also lower the lift cylinder 832 and the lift shaft 839 of the lift cylinder 833 by a ratio of 1:2 in a way that the gap cannot be generated.

By the rotation of the rotating shaft 861 of the rotating mechanism 860, the platform 820 inclines and the jig 400 inclines.

By lowering the jig 400 on the convex side, the release angle can be maintained, and furthermore, the convex part of the workpiece 200 can be prevented from contacting the lower surface of the screen 300.

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

After the top 220 of the convex surface of the workpiece 200 is printed, it is controlled by the control unit 110, and the following control is provided.

Control 1. Until the bottom 230 of the concave surface of the workpiece 200 is reached, increase the tilt of the jig 400 to slowly pull the jig 400 away from the screen 300.

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

The printing after the bottom 230 of the concave curved surface of the workpiece 200 is performed while maintaining the tilt of the jig 400 or slowly reducing the tilt of the jig 400 while printing.

Control 2. Until the inflection point 240 of the convex and concave surfaces of the workpiece 200 is reached, increase the tilt of the jig 400 to slowly pull the jig 400 away from the screen 300.

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

The printing after the inflection point 240 of the workpiece 200 is performed while maintaining the tilt of the jig 400 or slowly reducing the tilt of the jig 400 while printing.

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

The control unit 110 does not bring the jig 400 close to the screen plate 300 and reaches the predetermined gap that is less than full.

*The descending steps of the lifting mechanism 830*

When the rotation of the rotating mechanism 860 cannot be used for sufficient separation, The control unit 110 lowers the jig 400 as a whole through the lifting mechanism 830, so that the jig 400 is pulled away from the screen plate 300.

*The descending step S18 of the landing mechanism 800*

When the printing is finished, the control unit 110 operates the lifting mechanism 800 to lower the workpiece 200 and the jig 400 to the origin.

*Evacuation step S19 of plate frame 310 and scraper unit 930*

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

While retreating the plate frame 310, the control unit 110 causes the articulated robot 600 to move, using the space above the moving plate frame 310 to move the squeegee unit 930 to the open state position.

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

When the ink drops from the squeegee 910 or the squeegee 920 during the movement of the squeegee unit 930, the ink drops to the plate frame 310.

The control unit 110 operates the articulated robot 600 to move the squeegee 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 drops from the squeegee 910 or the squeegee 920 during the movement of the squeegee unit 930, the ink drops 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 vertical and rotates the axis J6 Turn, and insert the squeegee unit 930 and the camera 690 into the space R of the suspension portion 561.

The control part 110 separates the scraper unit 930 installed at the end 680 from the end 680 and hangs it from the suspension part 561 of the bracket 560.

*Check step S21* (Shooting steps)

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

The control unit 110 operates the articulated robot 600 in a state where the screen 300 is moved by the plate moving mechanism 700 and the space above the workpiece 200 is opened, and the camera 690 is moved to the space above the workpiece 200.

The control unit 110 moves the camera 690 fixed to the articulated robot 600 in a state where the scraper 910 is removed from the articulated robot 600.

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

The arrangement position of the fiducial mark 410 is known, and the articulated robot 600 photographs a pair of fiducial marks 410 in sequence.

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 a pair of fiducial marks 410 and a printing line 201 printed between the pair of fiducial marks in one image in one shot.

The control unit 110 operates the articulated robot 600 and moves the camera 690, and uses the camera 690 to sequentially photograph all 14 pairs of reference marks 410. At this point, the camera axis End in the vertical direction. That is, the articulated robot 600 moves the camera 690 with the axis J6 in the vertical direction.

The control unit 110 operates the articulated robot 600 after shooting, and moves the camera 690 above the bracket 560.

(Analysis step)

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

(Location check)

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

The control unit 110 judges the quality of the printed pattern based on the position of a pair of reference marks and the position of the printed pattern.

A. Example of position inspection using 1 fiducial mark

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

As shown in (d) of FIG. 15, the control unit 110 calculates the 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 check, the position of the fiducial mark 410 is not used. That is, at the position In the setting inspection, the coordinates of the center position of the fiducial mark 410 are not used.

B. Example 1 of position inspection using 2 fiducial marks

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

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

If the distance G1 and the distance 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.

In this position check, 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.

C. Example 2 of position inspection using 2 fiducial marks

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 the 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 the distance K4 from the center position of the reference mark P2 to the center line 204.

If the distance K1 and the distance 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 at 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 of 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 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 is deviated from the middle of the two reference marks, the control unit 110 determines that the printing of the position is defective.

In this position check, the distance W1 of a pair of fiducial marks is used.

In this position check, 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 mentioned above, in the position inspection, the printing line and one or a pair of fiducial marks are photographed in one image, the distance between the printing line and the fiducial mark is calculated, and the printing position of the printing line is judged whether it is good or not.

(Width check)

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

The control unit 110 judges the quality of the printed pattern 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 printing line 201 from the distance W1 between the center positions of a pair of reference marks and the image of the printing line 201.

Specifically, the control unit 110 performs the following calculations.

A. Example of width inspection using 1 fiducial mark

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

As shown in (d) of FIG. 15, the control unit 110 calculates the 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" to obtain 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 outside the predetermined width V1, the control unit 110 determines that the printing is defective.

The position of the fiducial 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 2 fiducial marks

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

As shown in (d) of FIG. 15, the control unit 110 calculates the 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 out 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 calculation.

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 outside the predetermined width V1, the control unit 110 It is judged that the printing is bad.

Use the distance W1 of a pair of fiducial marks in the width inspection.

The position of the fiducial 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 mentioned above, in the width inspection, the printing line and one or one pair of fiducial marks are photographed in one image, so the distance between the printing line and the fiducial mark can be calculated, and the width of the printed line can be judged whether it is good or not.

(Distance check)

The control unit 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 printed 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 at several locations based on the distances between the fiducial marks and the printed patterns and the distances between the fiducial marks at several locations.

The control unit 110 calculates the straight line distance from the top view instead of the arc length of the curved surface of the workpiece 200, and judges the printing quality.

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

The arrangement 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.

When the distance between the two fiducial marks is not memorized in the memory device, it is sufficient to calculate the distance between the two fiducial marks from the coordinates of the center position of the fiducial mark 410.

Specifically, the control unit 110 performs inspections as described below.

A. Distance check 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 regarded as W2.

The control unit 110 obtains the distance G1 between the center position of the reference mark P1 and the outer contour 202 of the printing line 201 based on the position of the reference mark P1 and the position of the outer contour 202 of the printing line 201.

The control unit 110 obtains the distance G2 between the center position of the reference mark P4 and the outer contour 213 of the printing line 211 based on the position of the reference mark P4 and the position of the outer contour 213 of the printing line 211.

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

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

In addition, 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 regarded as W3.

The control unit 110 obtains the distance G4 between the center position of the reference mark P2 and the outer contour 203 of the printing line 201 based on the position of the reference mark P2 and the position of the outer contour 203 of the printing line 201.

The control unit 110 obtains the distance G5 between the center position of the reference mark P3 and the outer contour line 212 of the printing line 211 based on the position of the reference mark P3 and the position of the contour line 212 outside the printing line 211.

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

If the distance W3+ (distance G4+distance G5) is outside the predetermined length V4, control The system department 110 judged it to be 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 regarded 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 printing line 211 based on the position of the reference mark P4 and the position of the center line 214 of the printing line 211.

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

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

In addition, 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 regarded 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 printing line 201 based on the position of the reference mark P2 and the position of the center line 204 of the printing 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 printing line 211 based on the position of the reference mark P3 and the position of the center line 214 of the printing line 211.

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

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

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

Other inspection contents, inspection methods, and calculation methods that are different from the above inspection contents, inspection methods, and calculation methods can also be used.

In the inspection step S21, only the position of the fiducial mark 410 is used for the positioning of the camera 690.

In the inspection step S21, in order to determine whether the printed pattern is good or not, the position of the fiducial mark 410 is not used.

In the inspection step S21, only the distance between the fiducial marks 410 and the printed pattern, or only the distance between the fiducial marks 410, is used.

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

Specifically, the control unit 110 sequentially or selectively displays images, measured values, calculated values, and inspection results on the display 120 based on instructions from the console 170.

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

*Move out step S22 of workpiece 200*

The control part 110 carries out the work 200 by the carrying-out apparatus which is not shown in figure.

*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 the printing.

As described above, in the first embodiment, a screen printing method has been described, which has the function of printing a workpiece 200 having both concave and convex curved surfaces.

In addition, a screen printing method has been described. After the screen printing, the camera 690 measures the printing position and checks the printing result.

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

* * *Explanation of the effect of implementation mode 1 * * *

According to the first embodiment, since the multi-joint robot 600 is provided, it is possible to print the workpiece 200 on the curved surface.

The advantages of using the articulated robot 600 are as follows.

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

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

C. The articulated robot 600 can be used to perform two kinds of actions of printing and inspection. That is, by making the squeegee unit 930 detachable, the inspection by the camera 690 can be performed.

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

E. Instead of the loading device and the loading device of the workpiece 200, the multi-joint robot 600 can also carry out the loading of the workpiece 200 and the loading of the workpiece 200 by the articulated robot 600.

Since the screen printing apparatus 100 is provided with a 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 of a ceiling type, the top view area of the screen printing device 100 becomes smaller.

Since the articulated robot 600 arranges three axes horizontally and arranges the remaining axes on the same plane to perform printing, the squeegee unit 930 can be operated accurately.

Since the articulated robot 600 only controls the three horizontally arranged axes to perform printing, it can accurately move the squeegee unit 930 linearly in a plan view.

Since the articulated robot 600 fixes all the remaining axes other than the three horizontally arranged axes to perform printing, the posture control of the squeegee unit 930 becomes easy.

According to the first embodiment, a screen plate having a concave-convex surface corresponding to the concave-convex surface of the surface of the workpiece 200 is provided, so that the workpiece 200 with a curved surface can be printed.

Since the lifting and lowering mechanism 800 that changes the distance between the workpiece 200 and the screen 300 is provided, the release angle can be adjusted most appropriately.

Since the lifting and lowering mechanism 800 pulls the jig 400 away from the screen 300 after printing on the top 220 of the convex surface of the workpiece 200, the reduction of the separation angle between the convex surface of the workpiece 200 and the screen 300 can be avoided.

The lifting and lowering mechanism 800 can adjust the release angle of the workpiece 200 and the screen 300 by the lifting mechanism 830 which lifts the jig 400 and the rotation mechanism 860 which rotates the jig 400.

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

Since the fiducial mark 410 is formed on the solid jig 400 instead of the workpiece 200 of the curved plate, there is no positional deviation of the fiducial mark 410 and correct inspection can be performed.

Since the camera 690 photographs the fiducial mark and the printed pattern with the camera axis facing downward in the vertical direction, it is easy to photograph and to perform position calculation.

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

According to the first embodiment, since the plate moving mechanism 700 that moves the plate frame 310 is provided, it is possible to check the printing pattern without moving the workpiece 200.

When the inspection is performed after the workpiece 200 is moved out of the autonomic tool 400, there is a possibility that the inspection may be performed while the workpiece 200 is deformed, and the correct inspection cannot be guaranteed.

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

Since the articulated robot 600 is always fixed with the camera 690, there is no need to perform the installation and disassembly 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 printing position of the printing line or the width of the printing line can be judged.

That is, since the position of the fiducial mark is known, the quality of the position of the printing line can be known by calculating the distance between the fiducial mark and the printing line, and the quality of the printed pattern can be judged.

Since several parts of the printing line and the fiducial mark are photographed, the distance between the fiducial marks and the distance from the fiducial mark to the printing line can be used to calculate the distance of the printing line, and the quality of the printing line can be judged.

That is, since the distance between the two fiducial marks 410 is known, the distance between the two printed lines can be calculated based on the positions of the two fiducial marks 410 and the position of the printed lines, and the quality of the printed pattern can be judged.

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

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

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

There may also be concave curved surfaces with different radii and continuous concave curved surfaces on the surface of the workpiece 200.

There may also be convex curved surfaces with different radii and continuous convex curved surfaces on the surface of the workpiece 200.

On the surface of the workpiece 200, there may also be a part where a curved surface and a flat surface are continuous.

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 of the workpiece 200 can also be a flat surface. When the back surface of the workpiece 200 is a flat surface, the jig 400 only needs to correspond to the flat surface of the back surface of the workpiece 200 and be a flat surface.

The workpiece 200 may have one or both of a concave portion and a convex portion not only in the front-rear direction but also in the left-right direction. When the workpiece 200 has recesses or protrusions in the left-right direction, it is only necessary that the protrusions or recesses corresponding to the recesses or protrusions of the workpiece 200 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 fiducial mark 410 may not exist as a pair with respect to the printing line 201, or may exist in one pair with respect to the printing line 201. Even when there is one fiducial mark 410 with respect to the printing line 201, since the position of the fiducial mark 410 is known, the distance between the position of the fiducial mark 410 and the printing line 201 can be calculated.

Moreover, even when there is one fiducial mark 410 with respect to the printing line 201, the distance of the plurality of fiducial marks 410 may be used to calculate the distance of the plurality of printing lines 201.

The fiducial mark 410 may also be formed to correspond to the printing pattern of a curve, a square, a triangle, a polygon, a semicircle, and other shapes instead of a straight printing line 201.

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

The reference mark 410 may not be a hole, but may be a mark or label written on the surface of the jig 400.

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

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

The fiducial mark 410 may exist only on the outer side of the workpiece 200.

The fiducial mark 410 may only exist on the inner side of the workpiece 200.

When the fiducial mark 410 can be photographed by the camera 690 through the workpiece 200, the fiducial mark 410 may only be located at a position covered by the workpiece 200. A specific example of the case where the fiducial mark 410 can be photographed by the camera 690 through the work 200 is a case where the work 200 is transparent, or a case where the work 200 has a through hole that exposes the fiducial mark 410.

The fiducial mark 410 may also be formed in such a manner that the central axis of the hole of the fiducial mark 410 is not in a vertical direction but is perpendicular to the surface of the workpiece 200. In the case of shooting with the camera 690, the articulated robot 600 makes the camera axis JC coincide with the center axis of the hole of the reference mark 410 for shooting. The control unit 110 calculates the size and distance of the printed pattern based on the arc length of the curved surface.

(Modification of articulated robot 600)

The articulated robot 600 may not be a 6-axis robot, but may be a 5-axis, 4-axis, or 3-axis robot.

Specifically, the axis J4 may not be provided.

If there is no inspection performed by the camera 690 and the squeegee unit 930 does not need to be moved to the bracket 560, the axis J1 may not be provided.

If there is no inspection performed by the camera 690 and the squeegee unit 930 does not need to be rotated above the bracket 560, the axis J6 may not be provided.

The plate moving mechanism 700 and the lifting and lowering mechanism 800 can also be used for a screen printing apparatus that uses a driving mechanism that linearly moves the squeegee unit 930 in the horizontal direction.

In addition, the inspection content and inspection method using the above-mentioned reference mark can also be applied to a screen printing device using a drive mechanism that linearly moves the squeegee unit 930 in the horizontal direction. And use.

In addition, the camera 690 may not be installed on the articulated robot 600, and the camera 690 may be installed on a two-dimensional drive mechanism that moves in a horizontal two-dimensional direction, instead of installing the camera 690 on the articulated robot 600.

(Modification of version 700)

The plate moving mechanism 700 may not move the plate frame 310 left and right, but may move the plate frame 310 back and forth.

The plate moving mechanism 700 can also rotate the plate frame 310 by using one side of the plate frame 310 as an axis.

The plate moving mechanism 700 may also not move the plate frame 310, but place the lifting and lowering mechanism 800 on a moving table to move the lifting and lowering mechanism 800.

(Modifications of Take-off and Landing Mechanism 800)

As long as the platform 820 is sturdy, it may not have the lifting cylinder 832 and the linear shaft 842 located in the center of the lifting and lowering mechanism 800.

The number of linear shafts 841 located in front of the lifting and lowering mechanism 800 may not be four, or may be two.

The lifting and lowering mechanism 800 may not have both the lifting mechanism 830 and the rotating mechanism 860, and may only have the lifting mechanism 830 or only the rotating mechanism 860.

As the rotation mechanism 860, a mechanism that only tilts to one side is shown, but the rotation mechanism 860 may be a mechanism that only tilts to the opposite side. Alternatively, the rotating mechanism 860 may also be a mechanism that tilts to both sides.

The lifting guide 350 may also have several on the left and right of the lower surface of the platform 820, or have several before and after the lower surface of the platform 820.

(Modifications of Printing Department 900)

Although the case where the squeegee 910 and the squeegee 920 are provided in the printing part 900 is shown, either of the squeegee 910 and the squeegee 920 may be exchanged and attached to the printing part 900.

As long as the printing part 900 does not contact the forearm 660 due to the rotation of the end 680, the space S may not be provided in the printing part 900.

(Modification of action: test printing)

In the case of test printing, the differences from the above-mentioned actions will be explained.

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

After that, the roll film located in the roll holding portion 590 is pulled out, and the work 200 is covered with the roll film.

After that, the installation step S14 to the inspection step S21 are implemented for the roll film.

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

After that, check the printing results on the roll film.

After checking the printing result of the roll film, peel off the roll film from the workpiece 200.

If the printing result of the roll film is bad, the test printing will be performed again after removing the cause of the bad.

If the printing result on the roll film is normal, the setting step S14 to the unloading step S22 are implemented 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 action: sampling inspection)

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

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

The standby step refers to a step in which the articulated robot 600 waits for the squeegee unit 930 to stand on the ink container 570 while the squeegee unit 930 is installed.

Even if the ink drops from the squeegee 910 or the squeegee 920 during standby, the ink container 570 can be used to catch it.

(Modification of action: Concave printing to convex printing)

As shown in FIG. 1, it is also possible to print the concave surface of the workpiece 200 first and then print the convex surface.

FIG. 24 shows a situation 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 part does not have a convex portion, there is no need to pull the jig 400 away from the screen 300.

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

After printing the top 220 of the convex surface of the workpiece 200, when the height difference of the downhill is large, as shown in Figure 24(b), only the lifting mechanism 830 is operated, and the jig 400 is integrated from the screen 300 pull away. Or, as shown in FIG. 24(c), the rotating mechanism 860 is operated to pull the jig 400 away from the screen 300 behind it.

Although not shown in the figure, when the workpiece 200 has a wavy surface including several continuous concavities and convexities, the control unit 110 uses the lifting mechanism 830 and the rotating mechanism 860. Adjust the separation angle between the workpiece 200 and the screen 300 or the distance between the workpiece 200 and the screen 300.

In principle, the control unit 110 performs the following control: pull the workpiece 200 away from the screen 300 during the printing on the uphill and then the printing on the downhill.

(Modification of action: printing in the opposite direction)

The printing direction can also be reversed.

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

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

Configuration 2. For the articulated robot 600 shown in FIG. 1, the printing unit 900 is installed on the contrary.

Composition 3. For the printing unit 900 of the articulated robot 600 shown in FIG. 1, the squeegee 910 and the squeegee 920 are reversed 180 degrees and the installation positions of the squeegee 910 and the squeegee 920 are changed.

(Modification of action: loading and unloading 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 articulated robot 600. During printing, the control unit 110 holds the camera 690 in the camera holding unit. During the inspection, the squeegee unit 930 is removed from the articulated robot 600 and the camera 690 is attached to the articulated robot 600.

(Modification of action: pressure of printing)

During printing, the articulated robot 600 can also apply printing pressure to the squeegee 910 instead of the presser 931.

Or, during printing, the press 931 and the articulated robot 600 can also be used The printing pressure is applied to the squeegee 910.

Similarly, when the ink is applied, the articulated robot 600 may not use the press 932 but the articulated robot 600 to apply pressure to the squeegee 920.

Alternatively, when the ink is applied, the press 932 and the articulated robot 600 may also be used to apply pressure to the doctor blade 920.

200‧‧‧Workpiece

201, 211‧‧‧Printing line

202, 203, 212, 213‧‧‧Outer contour

204, 214‧‧‧center line

220‧‧‧Top

230‧‧‧Bottom

240, 340‧‧‧ inflection point

300‧‧‧Screen

310‧‧‧Frame

320‧‧‧Top

330‧‧‧Bottom

400‧‧‧Fixture

410‧‧‧ fiducial mark

G1, G2, G3, G4, G5‧‧‧Distance

K1, K2, K4, K5‧‧‧Distance

L‧‧‧Straight

P1, P2, P3, P4 ‧ ‧ fiducial mark

V1, V2, V3, V4, V5‧‧‧Width

W1, W2, W3‧‧‧Distance

Claims (22)

A screen printing device that uses a squeegee to print a workpiece with a curved surface on the surface, and is provided with: a jig for placing the above-mentioned workpiece and having a reference mark; and a camera for photographing the above-mentioned treatment together The reference mark of the tool and the printing pattern printed on the workpiece; and a control unit that simultaneously photographs the reference mark of the jig and the printing printed on the workpiece by the image taken by the camera The image of the pattern analyzes the printing result. The screen printing device according to claim 1, wherein the control unit photographs the fiducial mark and the printed pattern in a state where the camera axis of the camera is directed downward in a vertical direction. The screen printing apparatus of claim 1, wherein the workpiece is transparent, and the camera photographs the fiducial mark through the workpiece. The screen printing apparatus of claim 2, wherein the workpiece is transparent, and the camera photographs the fiducial mark through the workpiece. For example, the screen printing device of claim 1, which includes: a screen plate having a printing pattern; and a plate moving mechanism that moves the screen plate; the control unit is configured to move the screen plate by the plate moving mechanism In the state where the space above the workpiece is opened, the camera is used for shooting. For example, the screen printing device of claim 2, which is provided with: a screen plate, which has a printing pattern; and a plate moving mechanism, which moves the above-mentioned screen plate; The control unit uses the camera to take pictures in a state where the screen plate is moved by the plate moving mechanism to open the space above the workpiece. For example, the screen printing device of claim 3, which includes: a screen plate having a printed pattern; and a plate moving mechanism that moves the screen plate; the control unit is configured to move the screen plate by the plate moving mechanism In the state where the space above the workpiece is opened, the camera is used for shooting. For example, the screen printing device of claim 4, which includes: a screen plate having a printed pattern; and a plate moving mechanism that moves the screen plate; the control unit is configured to move the screen plate by the plate moving mechanism In the state where the space above the workpiece is opened, the camera is used for shooting. The screen printing device according to any one of claims 1 to 8, which is provided with an articulated robot in which the squeegee is detachably mounted and the camera is fixed, and the control unit is connected to the The articulated robot moves the camera with the scraper removed. The screen printing device according to any one of claims 1 to 8, wherein the camera captures one fiducial mark and printing pattern in one shot, and the control unit responds to the image captured by the camera Analyze and judge whether the printing pattern is good or not based on the position of the one fiducial mark and the position of the printing pattern. Such as the screen printing device of claim 9, wherein the above-mentioned camera photographs one fiducial mark and printing pattern in one shot, The control unit analyzes the image taken 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. The screen printing device according to any one of claims 1 to 8, wherein the camera captures a pair of fiducial marks and printed patterns in one shot, and the control unit responds to the image captured by the camera Analyze and judge whether the printing pattern is good or not based on the position of the first pair of reference marks and the position of the printing pattern. For example, the screen printing device of claim 9, wherein the camera captures a pair of fiducial marks and printed patterns in one shot, and the control unit analyzes the image captured by the camera, and is based on the above 1 Determine the quality of the above-mentioned printing pattern based on the position of the fiducial mark and the position of the above-mentioned printing pattern. The screen printing device of any one of claims 1 to 8, wherein the camera captures fiducial marks and printed patterns at several locations, and the control unit calculates the distance between the fiducial mark of each location and the printed pattern of each location , And based on the calculated distance and the distance of the reference mark of the above-mentioned several parts, the distance of the printing pattern of the above-mentioned several parts is calculated. For example, the screen printing device of claim 9, wherein the camera captures fiducial marks and printed patterns at several locations, and the control unit calculates the distance between the fiducial mark of each location and the printed pattern of each location, and based on the calculated The distance and the distance of the reference mark of the above-mentioned several parts are calculated to calculate the distance of the printing pattern of the above-mentioned several parts. Such as the screen printing device of claim 10, wherein the above-mentioned cameras are attached to several locations The fiducial mark and printing pattern are photographed. The control unit calculates the distance between the fiducial mark of each part and the printed pattern of each part, and calculates the printing of the several parts based on the calculated distance and the distance of the fiducial marks of the several parts. The distance of the pattern. For example, the screen printing device of claim 11, wherein the camera captures fiducial marks and printed patterns at several locations, and the control unit calculates the distance between the fiducial mark of each location and the printed pattern of each location, and based on the calculated The distance and the distance of the reference mark of the above-mentioned several parts are calculated to calculate the distance of the printing pattern of the above-mentioned several parts. For example, the screen printing device of claim 12, wherein the camera captures fiducial marks and printed patterns at several locations, and the control unit calculates the distance between the fiducial mark of each location and the printed pattern of each location, and based on the calculated The distance and the distance of the reference mark of the above-mentioned several parts are calculated to calculate the distance of the printing pattern of the above-mentioned several parts. For example, the screen printing device of claim 13, wherein the camera captures fiducial marks and printed patterns at several locations, and the control unit calculates the distance between the fiducial mark at each location and the printed pattern at each location, and based on the calculated The distance and the distance of the reference mark of the above-mentioned several parts are calculated to calculate the distance of the printing pattern of the above-mentioned several parts. The screen printing device of claim 1, wherein the control unit calculates the distance between the position of the reference mark and the position of the printed pattern from the image taken by the camera, and uses the calculated distance to determine whether the printing is normal. A screen printing method, which uses a squeegee to print a workpiece with a curved surface on the surface; It forms a fiducial mark on the jig on which the workpiece is placed; the camera simultaneously photographs the fiducial mark of the jig and the printing pattern printed on the workpiece; the control part is the image taken by the camera That is, the fiducial mark of the jig and the image of the printing pattern printed on the workpiece are photographed together, and the printing result is analyzed. The screen printing method of claim 21, wherein the control unit calculates the distance between the position of the fiducial mark and the position of the printed pattern from the image taken by the camera, and uses the calculated distance to determine whether to print normal.

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