TWI759520B - Screen printing device and screen printing method - Google Patents

Screen printing device and screen printing method Download PDF

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Publication number
TWI759520B
TWI759520B TW107126895A TW107126895A TWI759520B TW I759520 B TWI759520 B TW I759520B TW 107126895 A TW107126895 A TW 107126895A TW 107126895 A TW107126895 A TW 107126895A TW I759520 B TWI759520 B TW I759520B
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axis
mentioned
printing
screen
workpiece
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TW107126895A
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Chinese (zh)
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TW201912422A (en
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笠原隼人
丸山充志
深澤彰彥
本間好人
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日商微技中心股份有限公司
日商村上開明堂股份有限公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046Revolute coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F15/00Screen printers
    • B41F15/14Details
    • B41F15/16Printing tables
    • B41F15/18Supports for workpieces
    • B41F15/30Supports for workpieces for articles with curved surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F15/00Screen printers
    • B41F15/14Details
    • B41F15/34Screens, Frames; Holders therefor
    • B41F15/36Screens, Frames; Holders therefor flat
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41FPRINTING MACHINES OR PRESSES
    • B41F15/00Screen printers
    • B41F15/14Details
    • B41F15/40Inking units
    • B41F15/42Inking units comprising squeegees or doctors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41MPRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
    • B41M1/00Inking and printing with a printer's forme
    • B41M1/12Stencil printing; Silk-screen printing

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Screen Printers (AREA)
  • Printing Methods (AREA)

Abstract

本發明具備有:版框(310),其具有網版(300),該網版(300)係具有與工件(200)之曲面對應的曲面;多關節機器人(600),其一面沿著上述工件(200)及上述網版(300)的曲面,一面將刮板(910)於印刷方向上移動;控制部(110),其控制上述多關節機器人(600)而進行網版印刷;治具(400),其具有與上述工件(200)之曲面對應的曲面,且載置上述工件(200);及起降機構(800),其變更上述網版(300)與上述治具(400)的距離。 The present invention is provided with: a plate frame (310) having a screen plate (300), the screen plate (300) having a curved surface corresponding to the curved surface of the workpiece (200); a multi-joint robot (600), one surface of which is along the The curved surface of the workpiece (200) and the above-mentioned screen plate (300), one side moves the squeegee (910) in the printing direction; the control part (110) controls the above-mentioned multi-joint robot (600) to perform screen printing; a jig (400), which has a curved surface corresponding to the curved surface of the above-mentioned workpiece (200), and mounts the above-mentioned workpiece (200); and a lifting and lowering mechanism (800), which changes the above-mentioned screen plate (300) and the above-mentioned jig (400) the distance.

Description

網版印刷裝置及網版印刷方法 Screen printing device and screen printing method

本發明係關於一種對具有曲面的工件進行網版印刷之網版印刷裝置及網版印刷方法。 The present invention relates to a screen printing device and a screen printing method for screen printing a workpiece with a curved surface.

習知以來,考慮一種對具有曲面的工件進行網版印刷之裝置。 Conventionally, an apparatus for screen printing a workpiece having a curved surface is considered.

又,習知以來,考慮一種使用多關節機器人進行網版印刷之裝置。 Also, conventionally, an apparatus for screen printing using a multi-joint robot has been considered.

[先前技術文獻] [Prior Art Literature] [專利文獻] [Patent Literature]

專利文獻1:日本專利特開2015-044330號公報 Patent Document 1: Japanese Patent Laid-Open No. 2015-044330

專利文獻2:日本專利特開2014-172099號公報 Patent Document 2: Japanese Patent Laid-Open No. 2014-172099

專利文獻3:日本專利特開2005-088577號公報 Patent Document 3: Japanese Patent Laid-Open No. 2005-088577

專利文獻4:日本專利特開平11-320820號公報 Patent Document 4: Japanese Patent Laid-Open No. 11-320820

專利文獻5:日本專利特開平06-031895號公報 Patent Document 5: Japanese Patent Laid-Open No. 06-031895

專利文獻6:國際公開第2017/005576號冊子 Patent Document 6: International Publication No. 2017/005576 Pamphlet

本發明係提供一種將印刷圖案高精度地印刷於具有 曲面的工件之網版印刷裝置及網版印刷方法。 The present invention provides a screen printing apparatus and a screen printing method for accurately printing a printing pattern on a workpiece having a curved surface.

本發明之網版印刷裝置係使用刮板對具有曲面的工件進行印刷之網版印刷裝置,其具備有:版框,其具有網版,該網版係具有與上述工件之曲面對應的曲面;多關節機器人,其一面沿著上述工件及上述網版的曲面,一面將上述刮板於印刷方向上移動;及控制部,其控制上述多關節機器人而進行網版印刷。 The screen printing device of the present invention is a screen printing device that uses a squeegee to print a workpiece with a curved surface. The screen printing device is provided with: a plate frame, which has a screen plate, and the screen plate has a curved surface corresponding to the curved surface of the workpiece; An articulated robot that moves the squeegee in a printing direction while following the curved surface of the workpiece and the screen, and a control unit that controls the articulated robot to perform screen printing.

根據本發明,使用具有曲面的網版及多關節機器人,故而可正確地將印刷圖案印刷於具有曲面的工件。 According to the present invention, since a screen plate having a curved surface and an articulated robot are used, a printing pattern can be accurately printed on a workpiece having a curved surface.

100‧‧‧網版印刷裝置 100‧‧‧Screen printing device

110‧‧‧控制部 110‧‧‧Control Department

120‧‧‧顯示器 120‧‧‧Display

130‧‧‧機器人控制器 130‧‧‧Robot Controller

140‧‧‧圖像處理單元 140‧‧‧Image processing unit

150‧‧‧真空泵 150‧‧‧Vacuum Pump

160‧‧‧空氣壓力電路 160‧‧‧Air pressure circuit

170‧‧‧控制台 170‧‧‧Console

200‧‧‧工件 200‧‧‧Workpiece

201、211‧‧‧印刷線 201, 211‧‧‧Printing line

202、203、212、213‧‧‧外輪廓線 202, 203, 212, 213‧‧‧Outer contour

204、214‧‧‧中心線 204, 214‧‧‧Centerline

220‧‧‧頂部 220‧‧‧Top

230‧‧‧底部 230‧‧‧Bottom

240、340‧‧‧反曲點 240, 340‧‧‧ inflection point

300‧‧‧網版 300‧‧‧screen version

310‧‧‧版框 310‧‧‧ frame

320‧‧‧頂部 320‧‧‧Top

330‧‧‧底部 330‧‧‧Bottom

400‧‧‧治具 400‧‧‧ Jig

410‧‧‧基準標記 410‧‧‧Fiducial mark

500‧‧‧殼體 500‧‧‧Shell

510‧‧‧基台 510‧‧‧Abutment

520‧‧‧控制盒 520‧‧‧Control Box

530‧‧‧柱框架 530‧‧‧Column frame

540‧‧‧樑框架 540‧‧‧Beam Frame

550‧‧‧頂板 550‧‧‧Top Plate

560‧‧‧支架 560‧‧‧Bracket

561‧‧‧懸架部 561‧‧‧Suspension Department

570‧‧‧油墨容納皿 570‧‧‧Ink Reservoir

590‧‧‧捲筒保持部 590‧‧‧Reel Holder

600‧‧‧多關節機器人 600‧‧‧Articulated Robot

610‧‧‧基底 610‧‧‧Substrate

620‧‧‧本體 620‧‧‧Main body

630‧‧‧肩 630‧‧‧Shoulder

640‧‧‧上臂 640‧‧‧Upper Arm

650‧‧‧肘 650‧‧‧cubits

660‧‧‧前臂 660‧‧‧Forearm

670‧‧‧腕 670‧‧‧Wrist

680‧‧‧末端 680‧‧‧End

690‧‧‧相機 690‧‧‧Camera

700‧‧‧版移動機構 700‧‧‧ mobile mechanism

720‧‧‧腳架 720‧‧‧Tripod

730‧‧‧滑動機構 730‧‧‧Sliding mechanism

740‧‧‧搬送帶 740‧‧‧Conveyor

750‧‧‧馬達 750‧‧‧motor

760‧‧‧框固定部 760‧‧‧Frame fixing part

800‧‧‧起降機構 800‧‧‧Landing agencies

820‧‧‧平台 820‧‧‧Platform

821‧‧‧承接板 821‧‧‧Receptacle plate

822‧‧‧框架 822‧‧‧Frame

830‧‧‧升降機構 830‧‧‧Lifting mechanism

831、832、833‧‧‧升降缸 831, 832, 833‧‧‧Lifting Cylinder

835‧‧‧浮動接頭 835‧‧‧Floating joint

839‧‧‧升降軸 839‧‧‧Elevating shaft

841、842、843‧‧‧線性軸 841, 842, 843‧‧‧Linear axis

844、845、846‧‧‧升降板 844, 845, 846‧‧‧Lifting plate

849‧‧‧線性運動軸 849‧‧‧Linear motion axis

850‧‧‧升降導件 850‧‧‧Lifting guide

851‧‧‧平板 851‧‧‧Tablet

852‧‧‧凸輪從動件 852‧‧‧Cam Followers

853‧‧‧引導部 853‧‧‧Guidance Department

854‧‧‧引導柱 854‧‧‧Guide column

860‧‧‧旋轉機構 860‧‧‧Rotary Mechanism

861‧‧‧旋轉軸 861‧‧‧Rotary axis

862‧‧‧軸承 862‧‧‧Bearing

864‧‧‧軸單元 864‧‧‧Shaft unit

865、866‧‧‧輥單元 865, 866‧‧‧Roller unit

867‧‧‧軸 867‧‧‧shaft

868‧‧‧輥 868‧‧‧Rollers

870‧‧‧調整機構 870‧‧‧Adjustment mechanism

871‧‧‧連結板 871‧‧‧Connector

872‧‧‧螺絲 872‧‧‧Screw

873‧‧‧針盤量規 873‧‧‧ Dial Gauge

900‧‧‧印刷部 900‧‧‧Printing Department

910‧‧‧刮板 910‧‧‧Scraper

920‧‧‧刮刀 920‧‧‧Scraper

930‧‧‧刮板單元 930‧‧‧Scraper Unit

931、932‧‧‧加壓器 931, 932‧‧‧Pressurizer

933‧‧‧固定板 933‧‧‧Fixing plate

934‧‧‧下板 934‧‧‧Lower board

935‧‧‧側板 935‧‧‧Side panel

936‧‧‧上板 936‧‧‧Top board

937‧‧‧裝卸部 937‧‧‧Loading and unloading department

938‧‧‧線性襯套 938‧‧‧Linear bushing

939‧‧‧浮動接頭 939‧‧‧Floating joint

940‧‧‧線性運動軸 940‧‧‧Linear motion axis

941、942‧‧‧安裝部 941, 942‧‧‧Installation

943‧‧‧加壓軸 943‧‧‧Pressure shaft

G1、G2、G3、G4、G5‧‧‧距離 G1, G2, G3, G4, G5‧‧‧distance

J1、J2、J3、J4、J5、J6‧‧‧軸 J1, J2, J3, J4, J5, J6‧‧‧axis

JC‧‧‧相機軸 JC‧‧‧Camera Shaft

JS‧‧‧軸線 JS‧‧‧Axis

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

L、S0‧‧‧直線 L, S0‧‧‧straight line

NP‧‧‧軸J1無法旋轉之範圍 The range where the NP‧‧‧ axis J1 cannot rotate

R、S‧‧‧空間 R, S‧‧‧space

S1‧‧‧印刷開始位置 S1‧‧‧Print start position

S2‧‧‧印刷結束位置 S2‧‧‧Printing end position

S4‧‧‧印刷行程之中央位置 S4‧‧‧Central position of printing stroke

SE‧‧‧端部 SE‧‧‧End

P1、P2、P3、P4‧‧‧基準標記 P1, P2, P3, P4‧‧‧Fiducial mark

V1、V2、V3、V4、V5‧‧‧寬度 V1, V2, V3, V4, V5‧‧‧Width

W1、W2、W3‧‧‧距離 W1, W2, W3‧‧‧distance

X1‧‧‧殼體之長邊之長度 X1‧‧‧Length of the long side of the shell

X2‧‧‧網版之長邊之長度 X2‧‧‧Length of the long side of the screen

Y1‧‧‧殼體之短邊之長度 Y1‧‧‧Length of the short side of the shell

Y2‧‧‧網版之短邊之長度 Y2‧‧‧Length of the short side of the screen

圖1係實施形態1中之網版印刷裝置100之前視圖。 FIG. 1 is a front view of the screen printing apparatus 100 in the first embodiment.

圖2係實施形態1中之網版印刷裝置100之左側視圖。 FIG. 2 is a left side view of the screen printing apparatus 100 in the first embodiment.

圖3係實施形態1中之網版印刷裝置100之右側視圖。 FIG. 3 is a right side view of the screen printing apparatus 100 in the first embodiment.

圖4係實施形態1中之網版印刷裝置100之一部分省略後視圖。 FIG. 4 is a partially omitted rear view of the screen printing apparatus 100 in the first embodiment.

圖5係實施形態1中之網版印刷裝置100之俯視圖。 FIG. 5 is a plan view of the screen printing apparatus 100 in the first embodiment.

圖6係實施形態1中之網版印刷裝置100之多關節機器人600之構成圖。 FIG. 6 is a configuration diagram of a multi-joint robot 600 of the screen printing apparatus 100 in the first embodiment.

圖7係實施形態1中之網版印刷裝置100之版移動機構700之前視圖。 FIG. 7 is a front view of the plate moving mechanism 700 of the screen printing apparatus 100 in the first embodiment.

圖8係實施形態1中之網版印刷裝置100之版移動機構700之 右側視圖。 Fig. 8 is a right side view of the plate moving mechanism 700 of the screen printing apparatus 100 in the first embodiment.

圖9係實施形態1中之網版印刷裝置100之起降機構800之前視圖及右側視圖。(a)係起降機構800位於原點之前視圖。(b)係提昇平台820之前視圖。(c)係水平地提昇平台820之右側視圖。 9 is a front view and a right side view of the lift mechanism 800 of the screen printing apparatus 100 in the first embodiment. (a) A view before the take-off and landing mechanism 800 is located at the origin. (b) is a front view of the lifting platform 820 . (c) is a right side view of the lift platform 820 horizontally.

圖10係實施形態1中之網版印刷裝置100之起降機構800之左側視圖。 10 is a left side view of the lift mechanism 800 of the screen printing apparatus 100 in the first embodiment.

圖11係實施形態1中之網版印刷裝置100之起降機構800之右側視圖。 11 is a right side view of the lift mechanism 800 of the screen printing apparatus 100 in the first embodiment.

圖12係實施形態1中之網版印刷裝置100之印刷部900之構成圖。(a)係已安裝有印刷部900之圖。(b)係已卸下印刷部900之圖。 FIG. 12 is a configuration diagram of the printing section 900 of the screen printing apparatus 100 in the first embodiment. (a) is the figure which installed the printing part 900. (b) is the figure which removed the printing part 900.

圖13係實施形態1中之網版印刷裝置100之印刷部900之構成圖。 FIG. 13 is a configuration diagram of the printing section 900 of the screen printing apparatus 100 in the first embodiment.

圖14係實施形態1中之網版印刷裝置100之印刷部900之構成圖。 FIG. 14 is a configuration diagram of the printing section 900 of the screen printing apparatus 100 in the first embodiment.

圖15係實施形態1中之網版印刷裝置100之工件200、網版300及治具400之構成圖。(a)係網版300、工件200及治具400之構成圖。(b)係工件200及治具400之構成圖。(c)係工件200之構成圖。(d)係基準標記之說明圖。 FIG. 15 is a configuration diagram of the workpiece 200, the screen 300, and the jig 400 of the screen printing apparatus 100 in the first embodiment. (a) is a structural diagram of the screen plate 300 , the workpiece 200 and the jig 400 . (b) is a structural diagram of the workpiece 200 and the jig 400 . (c) is a configuration diagram of the workpiece 200 . (d) is an explanatory diagram of the fiducial mark.

圖16係實施形態1中之網版印刷裝置100之部分配置圖。 FIG. 16 is a partial configuration diagram of the screen printing apparatus 100 in the first embodiment.

圖17係實施形態1中之網版印刷裝置100之部分配置圖。 FIG. 17 is a partial configuration diagram of the screen printing apparatus 100 in the first embodiment.

圖18係實施形態1中之網版印刷裝置100之部分配置圖。 FIG. 18 is a partial configuration diagram of the screen printing apparatus 100 in the first embodiment.

圖19係實施形態1中之網版印刷裝置100之動作流程圖。 FIG. 19 is a flow chart of the operation of the screen printing apparatus 100 in the first embodiment.

圖20係實施形態1中之網版印刷裝置100之印刷動作說明圖。 20 is an explanatory diagram of the printing operation of the screen printing apparatus 100 in the first embodiment.

圖21係實施形態1中之網版印刷裝置100之印刷動作說明圖。 FIG. 21 is an explanatory diagram of the printing operation of the screen printing apparatus 100 in Embodiment 1. FIG.

圖22係實施形態1中之網版印刷裝置100之印刷動作說明圖。 FIG. 22 is an explanatory diagram of the printing operation of the screen printing apparatus 100 in the first embodiment.

圖23係實施形態1中之網版印刷裝置100之起降機構800之動作說明圖。(a)係使起降機構800不動作之情形之工件200與網版300之關係圖。(b)係使起降機構800動作之情形之工件200與網版300之關係圖。 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 showing the relationship between the workpiece 200 and the screen 300 when the lifting and lowering mechanism 800 is inactive. (b) is a diagram showing the relationship between the workpiece 200 and the screen 300 when the lift mechanism 800 is actuated.

圖24係實施形態1中之網版印刷裝置100之起降機構800之動作說明圖。(a)係使起降機構800不動作之情形之工件200與網版300之關係圖。(b)係使升降機構830動作之情形之工件200與網版300之關係圖。(c)係使旋轉機構860動作之情形之工件200與網版300之關係圖。 FIG. 24 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 showing the relationship between the workpiece 200 and the screen 300 when the lifting and lowering mechanism 800 is inactive. (b) is a diagram showing the relationship between the workpiece 200 and the screen 300 when the lift mechanism 830 is actuated. (c) is a diagram showing the relationship between the workpiece 200 and the screen 300 when the rotating mechanism 860 is actuated.

實施形態1. Embodiment 1. ***構成之說明*** ***Description of composition***

基於圖1、圖2、圖3、圖4、及圖5,對網版印刷裝置100之構成進行說明。 The configuration of the screen printing apparatus 100 will be described based on FIGS. 1 , 2 , 3 , 4 , and 5 .

於圖1中,成為印刷方向之方向,即朝向紙面將左方向稱為前方向。 In FIG. 1, the direction which becomes the printing direction, that is, the left direction toward the paper surface is called the front direction.

於圖1中,與印刷方向相反之方向,即朝向紙面將右方向稱為後方向。 In FIG. 1 , the direction opposite to the printing direction, that is, the right direction toward the paper surface is referred to as the rear direction.

於圖1中,朝向紙面將上下方向稱為高度方向。 In FIG. 1, the up-down direction is called a height direction toward the paper surface.

於圖1中,朝向紙面將面前方向稱為右方向。 In FIG. 1 , the front direction is referred to as the right direction toward the paper surface.

於圖1中,朝向紙面將深處方向稱為左方向。 In FIG. 1, the depth direction is called the left direction toward the paper surface.

於圖1中,圖示2個多關節機器人600,但實際上,多關節機器人600僅存在1個。 In FIG. 1 , two articulated robots 600 are shown, but in reality, only one articulated robot 600 exists.

網版印刷裝置100係藉由具有網版300之版框310而對具有曲面之工件200進行網版印刷的裝置。 The screen printing apparatus 100 is an apparatus for performing screen printing on a workpiece 200 having a curved surface by means of a frame 310 having a screen plate 300 .

網版印刷裝置100係具有殼體500、多關節機器人600、版移動機構700、起降機構800、及印刷部900。 The screen printing apparatus 100 includes a casing 500 , an articulated robot 600 , a plate moving mechanism 700 , a lifting and lowering mechanism 800 , and a printing unit 900 .

<<殼體500>> <<Shell 500>>

網版印刷裝置100係具有殼體500。 The screen printing apparatus 100 has a housing 500 .

殼體500係具有基台510、控制盒520、柱框架530、樑框架540、及頂板550。 The housing 500 includes a base 510 , a control box 520 , a column frame 530 , a beam frame 540 , and a top plate 550 .

基台510係網版印刷裝置100之台座。 The base 510 is a pedestal of the screen printing apparatus 100 .

基台510係具有箱狀之形狀。 The base 510 has a box-like shape.

控制盒520係於內部收納控制部110。 The control box 520 houses the control unit 110 inside.

柱框架530係立設於基台510之地板面的柱。 The column frame 530 is a column erected on the floor surface of the base 510 .

樑框架540係將柱框架530之頂部相連的樑。 The beam frame 540 is a beam connecting the top of the column frame 530 .

頂板550係配置於樑框架540之間的頂壁。 The top plate 550 is disposed on the top wall between the beam frames 540 .

網版印刷裝置100係具有捲筒保持部590。 The screen printing apparatus 100 has a roll holder 590 .

捲筒保持部590係可旋轉地保持捲筒膜。捲筒膜係被測試印刷之捲筒狀之膜。 The roll holding portion 590 rotatably holds the roll film. The roll film is the roll-shaped film that is tested and printed.

<<控制部110>> <<Control unit 110>>

網版印刷裝置100係具有控制部110。 The screen printing apparatus 100 includes a control unit 110 .

控制部110係控制裝置整體者。 The control unit 110 controls the entire device.

控制部110係可藉由中央處理裝置、程式、記憶體、及記憶裝置而實現。 The control unit 110 can be realized by a central processing unit, a program, a memory, and a memory device.

控制部110係控制圖1所示之顯示器120、機器人控制器130、圖像處理單元140、真空泵150、圖2所示之控制台170、及圖5所示之空氣壓力電路160而控制下述之印刷動作及檢查動作。 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.

來自控制部110之信號係藉由信號線而傳遞至各部。 The signal from the control part 110 is transmitted to each part through the signal line.

下述印刷方法之各動作係可藉由控制部110利用信號線傳遞命令而實現。 Each operation of the printing method described below can be realized by the control unit 110 transmitting a command through a signal line.

<<多關節機器人600>> <<Multi-joint robot 600>>

圖6係表示多關節機器人600。 FIG. 6 shows an articulated robot 600 .

多關節機器人600係工業用機器人之一種。 The multi-joint robot 600 is one of the industrial robots.

工業用機器人係指具有利用自動控制所進行之操縱功能或移動功能,可藉由程式而執行各種作業,且在工業上可使用之機械。 An industrial robot refers to a machine that has a manipulation function or a moving function by automatic control, and can perform various operations through a program, and can be used in industry.

工業用機器人係具有操縱器及記憶裝置。 The industrial robot system has a manipulator and a memory device.

工業用機器人係可基於記憶裝置之資訊而自動進行操縱器之伸縮、屈伸、上下移動、左右移動或旋轉之動作或者該等之複合動作的機械。 An industrial robot is a machine that can automatically perform manipulators such as stretching, flexing, stretching, moving up and down, moving left and right, or rotating, or a combination of these, based on the information of the memory device.

此處,操縱器係指具有與人之臂類似的功能而可進行各種作業者。 Here, the manipulator refers to a person who has a function similar to that of a human arm and can perform various operations.

多關節機器人係關節機器人之一種。 The multi-joint robot is one of the joint robots.

關節機器人係臂之機械構造為包含三個以上之旋轉接頭。即,關節機器人係具有3軸以上之自由度且可自動控制或可程式化的操縱器。 The mechanical structure of the articulated robot arm is composed of three or more rotary joints. That is, an articulated robot is a manipulator that has three or more degrees of freedom and can be automatically controlled or programmed.

多關節機器人600係具有數個連桿及數個接頭。 The articulated robot 600 has several links and several joints.

連桿係指構成機械構造且可相互相對運動的個體元件。 Links refer to individual elements that make up a mechanical structure and are movable relative to each other.

接頭係指兩個連桿相互接觸並相對地運動時的連結部分。 The joint refers to the connecting part when the two links are in contact with each other and move relative to each other.

圖6所示之多關節機器人600係吊頂類型之機器人。 The multi-joint robot 600 shown in FIG. 6 is a ceiling-mounted robot.

圖6所示之多關節機器人600係具有以下所述之軸J1至軸J6之6個旋轉軸的多軸機器人。 The articulated robot 600 shown in FIG. 6 is a multi-axis robot having six rotation axes of the axes J1 to J6 described below.

多關節機器人600係具有基底610、本體620、肩630、上臂640、肘650、前臂660、腕670、及末端680。 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 a tip 680 .

本體620、上臂640、前臂660、末端680係連桿。 The body 620, the upper arm 640, the forearm 660, and the end 680 are connecting rods.

肩630、肘650、及腕670係接頭。 Shoulder 630, elbow 650, and wrist 670 are joints.

基底610係固定於位於網版之印刷寬度之中央上部的頂壁之頂板550。 The base 610 is fixed to the top plate 550 of the top wall at the upper center of the printing width of the screen.

基底610係具有與頂板550垂直之軸J1。 The base 610 has an axis J1 perpendicular to the top plate 550 .

基底610之軸J1係與頂壁正交之旋轉軸。 The axis J1 of the base 610 is the axis of rotation orthogonal to the top wall.

基底610之軸J1係配置於網版300之左右方向上之印刷寬度之中央上部。 The axis J1 of the substrate 610 is disposed at the upper center of the printing width of the screen plate 300 in the left-right direction.

基底610之軸J1係配置於網版300之前後方向上之印刷範圍之上空。 The axis J1 of the substrate 610 is disposed above the printing area of the screen plate 300 in the front-rear direction.

本體620係以能以與頂壁垂直之軸J1為中心而旋轉之方式安裝於基底610。 The main body 620 is mounted on the base 610 so as to be rotatable around an axis J1 perpendicular to the top wall.

肩630係固定於本體620,具有水平方向之軸J2。 The shoulder 630 is fixed to the body 620 and has a horizontal axis J2.

上臂640係以能以水平方向之軸J2為中心而旋轉之方式安裝於肩630。 The upper arm 640 is attached to the shoulder 630 so as to be rotatable about the axis J2 in the horizontal direction.

肘650係固定於上臂640,具有水平方向之軸J3。 The elbow 650 is fixed to the upper arm 640 and has a horizontal axis J3.

又,肘650係具有相對於軸J3垂直之軸J4。 Also, the elbow 650 has an axis J4 perpendicular to the axis J3.

前臂660係以能以軸J3及軸J4為中心而旋轉之方式安裝於肘650。 The forearm 660 is attached to the elbow 650 so as to be rotatable about the axis J3 and the axis J4.

又,前臂660係能以相對於水平方向之軸J3垂直且與軸J3交叉之軸J4為中心而旋轉。 In addition, the forearm 660 is rotatable around an axis J4 that is perpendicular to the axis J3 in the horizontal direction and intersects the axis J3.

腕670係具有相對於軸J4垂直且與軸J4交叉之軸J5。 The wrist 670 has an axis J5 perpendicular to and intersecting the axis J4.

又,腕670係具有相對於軸J5垂直且與軸J5交叉之軸J6。 In addition, the wrist 670 has an axis J6 perpendicular to the axis J5 and intersecting the axis J5.

末端680係以能以軸J5及軸J6為中心而旋轉之方式安裝於前臂660。 The distal end 680 is attached to the forearm 660 so as to be rotatable about the axis J5 and the axis J6.

安裝於各軸的各連桿係以各軸為中心,藉由未圖示之馬達而旋轉。 Each link system attached to each shaft is centered on each shaft and is rotated by a motor (not shown).

各馬達係基於自機器人控制器130所輸出之電氣信號而控制旋轉角度。 The rotation angles of the motors are controlled based on electrical signals output from the robot controller 130 .

於圖6中,軸J1及軸J2係位於印刷開始位置S1與印刷結束位置S2之間之印刷行程之上空。 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.

軸J1係與印刷方向正交,且與軸J2正交。 The axis J1 is orthogonal to the printing direction and is orthogonal to the axis J2.

軸J2係與印刷方向正交,且與軸J1正交。 The axis J2 is orthogonal to the printing direction and is orthogonal to the axis J1.

連結軸J2及印刷開始位置S1的直線與連結軸J2及印刷結束位置S2的直線所成之最大角度係若改變工件200之尺寸則被變更之角度,90度以下為宜,較佳為60度以下,進而較佳為50度以下,40度較合適。 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 90 degrees or less, preferably 60 degrees Hereinafter, it is more preferably 50 degrees or less, and 40 degrees is more suitable.

<<版移動機構700>> <<Version Moving Mechanism 700>>

版移動機構700係於水平方向上移動版框310的機構。 The plate moving mechanism 700 is a mechanism for moving the plate frame 310 in the horizontal direction.

版移動機構700於印刷後移動版框310而開放工件200之上空。 The plate moving mechanism 700 moves the plate frame 310 after printing to open the space above the workpiece 200 .

如圖7及圖8所示,版移動機構700係具有4條腳架720及2條滑動機構730。 As shown in FIGS. 7 and 8 , the plate moving mechanism 700 has four tripods 720 and two sliding mechanisms 730 .

各滑動機構730係被固定於2條腳架720之上部。 Each sliding mechanism 730 is fixed to the upper part of the two legs 720 .

滑動機構730係於左右方向配置搬送帶740。 The slide mechanism 730 arranges the conveyor belt 740 in the left-right direction.

搬送帶740係藉由被配置於1個滑動機構730之端部的馬達750而旋轉。 The conveyor belt 740 is rotated by a motor 750 arranged at an end of one slide mechanism 730 .

滑動機構730係可左右滑動地安裝有框固定部760。 The frame fixing portion 760 is attached to the sliding mechanism 730 so as to be slidable left and right.

框固定部760係可裝卸地安裝有版框310。 The frame fixing portion 760 is detachably mounted with the plate frame 310 .

框固定部760藉由搬送帶740之旋轉而左右滑動。 The frame fixing portion 760 slides left and right by the rotation of the conveyor belt 740 .

於圖8中,版框310移動至紙面最左邊的狀態係版框310覆蓋工件200的覆蓋狀態,為可印刷狀態。 In FIG. 8 , the stencil frame 310 is moved to the leftmost state on the paper, which is the covering state in which the stencil frame 310 covers the workpiece 200 , which is a printable state.

於圖8中,版框310移動至紙面最右邊的狀態係開放工件200之上空為被開放的狀態,為可檢查工件200之印刷結果的可檢查狀態。 In FIG. 8 , the state where the plate frame 310 is moved to the far right of the paper is a state in which the space above the workpiece 200 is opened, which is a state in which the printing result of the workpiece 200 can be inspected.

<<起降機構800>> <<Landing mechanism 800>>

藉由圖9、圖10、及圖11而對起降機構800進行說明。 The take-off and landing mechanism 800 will be described with reference to FIGS. 9 , 10 , and 11 .

圖9之(a)係起降機構800位於原點之圖,為治具400位於最下方之圖。 (a) of FIG. 9 is a diagram in which the take-off and landing mechanism 800 is located at the origin, and is a diagram in which the jig 400 is located at the bottom.

圖9之(b)係於起降機構800位於原點之情形時用手提昇平台820之一端之圖。 (b) of FIG. 9 is a diagram of lifting one end of the platform 820 by hand when the take-off and landing mechanism 800 is located at the origin.

圖9之(c)係起降機構800為水平地將平台820提昇之圖。 (c) of FIG. 9 is a diagram showing that the take-off and landing mechanism 800 lifts the platform 820 horizontally.

起降機構800係相對於版框310而移動治具400的機 構。 The lift mechanism 800 is a mechanism for moving the jig 400 relative to the plate frame 310.

起降機構800變更網版300與治具400之距離。 The take-off and landing mechanism 800 changes the distance between the screen 300 and the fixture 400 .

起降機構800係以可變更治具400與網版300之距離之方式安裝治具400。 The take-off and landing mechanism 800 installs the jig 400 in such a way that the distance between the jig 400 and the screen plate 300 can be changed.

起降機構800係具有固定治具400的框架822及固定框架822的平台820。 The take-off and landing mechanism 800 has a frame 822 for fixing the fixture 400 and a platform 820 for fixing the frame 822 .

框架822係鋁製或其他之金屬製之2條四角柱。 Frame 822 is made of aluminum or other metal with two square columns.

平台820係鋁製或其他之金屬製之矩形之板。 Platform 820 is a rectangular plate made of aluminum or other metals.

起降機構800係具有相對於網版300而使治具400升降的升降機構830。 The lifting and lowering mechanism 800 includes a lifting mechanism 830 for lifting and lowering the jig 400 with respect to the screen plate 300 .

起降機構800係具有相對於網版300而使治具400旋轉的旋轉機構860。 The lift mechanism 800 has a rotation mechanism 860 that rotates the jig 400 with respect to the screen plate 300 .

<升降機構830> <Lifting mechanism 830>

升降機構830係被固定於殼體500之地板面。 The lift mechanism 830 is fixed to the floor surface of the casing 500 .

升降機構830係具有沿印刷方向而配置的數個升降缸。 The lift mechanism 830 has several lift cylinders arranged along the printing direction.

治具400係經由框架822而被固定於平台820。 The jig 400 is fixed to the platform 820 via the frame 822 .

升降機構830係具有6個升降缸及8個線性軸。 The lift mechanism 830 has 6 lift cylinders and 8 linear axes.

升降缸係使平台820升降者。 The lift cylinders lift the platform 820 up and down.

升降缸係指藉由油壓、氣壓、水壓或電動而伸縮驅動之致動器,較佳為氣缸。 Lifting cylinder refers to an actuator that is telescopically driven by oil pressure, air pressure, water pressure or electric power, preferably an air cylinder.

升降缸係具有上下移動之升降軸839。 The lift cylinder has a lift shaft 839 that moves up and down.

線性軸係支撐升降缸之直線運動者,為限制平台820之上下移動於鉛垂方向者。 The linear shaft system supports the linear movement of the lift cylinder, and is the one that restricts the vertical movement of the platform 820 up and down.

各線性軸係具有上下滑動的線性運動軸849。 Each linear shaft system has a linear motion axis 849 that slides up and down.

6個升降缸係配置於平台820之前方、中央、後方之左右6個部位。 Six lift cylinders are arranged at six positions on the left and right of the front, center, and rear of the platform 820 .

2個升降缸831係配置於平台820之一端之下。 Two lift cylinders 831 are disposed under one end of the platform 820 .

4個線性軸841係配置於2個升降缸831之內側。 The four linear axes 841 are arranged inside the two lift cylinders 831 .

2個升降缸832係配置於平台820之中央之下。 Two lift cylinders 832 are disposed under the center of the platform 820 .

2個線性軸842係配置於2個升降缸832之內側。 The two linear axes 842 are arranged inside the two lift cylinders 832 .

2個升降缸833係配置於平台820之另一端。 Two lift cylinders 833 are disposed on the other end of the platform 820 .

2個線性軸843係配置於2個升降缸833之內側。 The two linear shafts 843 are arranged inside the two lift cylinders 833 .

於升降軸之前端,安裝有浮動接頭835。 A floating joint 835 is installed at the front end of the lift shaft.

被安裝於升降缸之前端的浮動接頭835係將升降缸之升降軸與輥單元連接。 A floating joint 835 installed at the front end of the lift cylinder connects the lift shaft of the lift cylinder with the roller unit.

升降板844係被固定於2個升降缸831之浮動接頭835及4個線性軸841之線性運動軸849。 The lift plate 844 is fixed to the floating joints 835 of the two lift cylinders 831 and the linear motion shafts 849 of the four linear shafts 841 .

升降板844係於兩端固定有2個軸承862。 Two bearings 862 are fixed at both ends of the lift plate 844 .

升降板845係被固定於2個升降缸832之浮動接頭835及2個線性軸842之線性運動軸849。 The lift plate 845 is fixed to the floating joints 835 of the two lift cylinders 832 and the linear motion shafts 849 of the two linear shafts 842 .

升降板845係於兩端固定有2個輥單元865。 Two roller units 865 are fixed to both ends of the lift plate 845 .

升降板846係被固定於2個升降缸833之浮動接頭835及2個線性軸843之線性運動軸849。 The lift plate 846 is fixed to the floating joints 835 of the two lift cylinders 833 and the linear motion shafts 849 of the two linear shafts 843 .

升降板846係於兩端固定有2個輥單元866。 Two roller units 866 are fixed to both ends of the lift plate 846 .

升降板844之兩端係被固定於2個升降缸831之浮動接頭835。 Both ends of the lift plate 844 are fixed to the floating joints 835 of the two lift cylinders 831 .

升降板845之兩端係被固定於2個升降缸832之浮動接頭835。 Both ends of the lift plate 845 are fixed to the floating joints 835 of the two lift cylinders 832 .

升降板846之兩端係被固定於2個升降缸833之浮動接頭835。 Both ends of the lift plate 846 are fixed to the floating joints 835 of the two lift cylinders 833 .

升降板846係經由浮動接頭835而與升降缸連接,故而存在有因升降缸之升降軸839之上升而升降板846傾斜之可能性。 The lift plate 846 is connected to the lift cylinder via the floating joint 835, so there is a possibility that the lift plate 846 may be inclined due to the rise of the lift shaft 839 of the lift cylinder.

因此,於升降缸之側邊配置線性軸,藉由線性軸之線性運動軸849之上升而抑制升降板之傾斜,使升降板846於上下方向水平地運動。 Therefore, the linear shaft is arranged on the side of the lift cylinder, and the lift plate 846 is moved horizontally in the vertical direction by suppressing the inclination of the lift plate by the rise of the linear motion shaft 849 of the linear shaft.

若6個升降缸之升降軸839均等地上升,則平台820水平地上升,若6個升降缸之升降軸839均等地下降,則平台820水平地下降。 If the lift shafts 839 of the six lift cylinders are raised equally, the platform 820 will be raised horizontally, and if the lift shafts 839 of the six lift cylinders will be lowered equally, the platform 820 will be lowered horizontally.

<升降導件850> <Lifting guide 850>

如圖9之(a)及(b)所示,起降機構800係具有限制治具400之左右之傾斜的升降導件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 inclination of the jig 400 .

升降導件850係配置於平台820之靠後方之位置且較升降缸833更靠中央之位置,配置於平台820之寬度方向中央。 The lift guide 850 is disposed at the rear of the platform 820 and at the center of the lift cylinder 833 , and is disposed at the center of the platform 820 in the width direction.

升降導件850係防止平台820之上下移動之時平台820向左右之移動及向左右之傾斜中至少任一者或兩者的導件。 The lift guide 850 is a guide for preventing at least one or both of the left and right movement and the left and right tilt of the platform 820 when the platform 820 moves up and down.

升降導件850係具有平板851及凸輪從動件852。 The lift guide 850 has a flat plate 851 and a cam follower 852 .

平板851係被固定於平台820,自平台820之下表面而垂直地向下方延伸。 The flat plate 851 is fixed to the platform 820 and extends vertically downward from the lower surface of the platform 820 .

凸輪從動件852係於平板851安裝有數個。 Several cam followers 852 are attached to the flat plate 851 .

數個凸輪從動件852係配置於鉛垂方向。 The plurality of cam followers 852 are arranged in the vertical direction.

升降導件850係具有引導柱854及引導部853。 The lift guide 850 has a guide column 854 and a guide portion 853 .

引導柱854係被固定於殼體500之基台510之地板且自地板面 而垂直地向上方延伸的柱。 The guide post 854 is fixed to the floor of the base 510 of the casing 500 and extends vertically upward from the floor surface.

引導部853係存在於引導柱854之單側面之上下方向且夾持凸輪從動件852的鉛垂方向之導件。 The guide portion 853 is a guide that exists in the vertical direction of one side surface of the guide column 854 and sandwiches the cam follower 852 in the vertical direction.

引導部853係容許凸輪從動件852之上下方向及前後方向之移動,但禁止向左右方向之移動。 The guide portion 853 allows the movement of the cam follower 852 in the up-down direction and the front-rear direction, but prohibits the movement in the left-right direction.

藉由引導部853而禁止治具400之向左右之移動及向左右之傾斜。 The left-right movement and the left-right inclination of the jig 400 are prohibited by the guide portion 853 .

<調整機構870> <Adjustment Mechanism 870>

圖9之(c)表示調整機構870。 FIG. 9( c ) shows the adjustment mechanism 870 .

升降機構830係具有調節升降缸之高度的調整機構870。 The lift mechanism 830 has an adjustment mechanism 870 for adjusting the height of the lift cylinder.

調整機構870係具有連結板871、螺絲872、及針盤量規873。 The adjustment mechanism 870 has a connecting plate 871 , a screw 872 , and a dial gauge 873 .

連結板871、螺絲872、及針盤量規873係配置於平台820之前、中、後之3個部位。 The connecting plate 871 , the screw 872 , and the dial gauge 873 are arranged at three positions in front of, in the middle, and behind the platform 820 .

連結板871係位於基台510之地板下,且連結位於左右的線性軸之線性運動軸849之下端。 The connecting plate 871 is located under the floor of the base 510, and connects the lower ends of the linear motion shafts 849 of the left and right linear shafts.

螺絲872係貫通基台510之地板而安裝於基台510。 The screw 872 penetrates the floor of the base 510 and is attached to the base 510 .

螺絲872係安裝於位於左右的線性軸之中央。 Screws 872 are mounted in the center of the left and right linear axes.

螺絲872之下端係與連結板871之中央相接。 The lower end of the screw 872 is connected to the center of the connecting plate 871 .

藉由使螺絲872旋轉,可變更連結板871之上下位置,可調節升降缸之線性運動軸849之高度方向之升降位置。 By rotating the screw 872, the upper and lower positions of the connecting plate 871 can be changed, and the lifting position in the height direction of the linear motion shaft 849 of the lifting cylinder can be adjusted.

針盤量規873係測量在0.1mm單位下之升降缸之線性運動軸849之高度方向之升降位置。 The dial gauge 873 measures the lift position in the height direction of the linear motion shaft 849 of the lift cylinder in units of 0.1 mm.

<旋轉機構860> <Rotation mechanism 860>

旋轉機構860係配置於升降機構830之上部,且藉由升降機構830之上下移動而升降。 The rotating mechanism 860 is disposed on the upper part of the elevating mechanism 830 , and ascends and descends when the elevating mechanism 830 moves up and down.

旋轉機構860係將平台820配置於上部且使平台820傾斜的機構。 The rotation mechanism 860 is a mechanism for arranging the platform 820 on the upper part and inclining the platform 820 .

旋轉機構860係具有軸單元864、輥單元865、及輥單元866。 The rotation mechanism 860 includes a shaft unit 864 , a roller unit 865 , and a roller unit 866 .

平台820之前方端部係被固定於軸單元864之旋轉軸861。 The front end of the platform 820 is fixed to the rotation shaft 861 of the shaft unit 864 .

平台820之中央及後方端部係被載置於輥單元865及輥單元866之上。 The center and rear ends of the platform 820 are placed on the roller unit 865 and the roller unit 866 .

軸單元864係被安裝於數個升降缸中之位於前方之端部的升降缸831之上。 The shaft unit 864 is mounted on the lift cylinder 831 at the front end of the lift cylinders.

軸單元864係具有旋轉軸861、及軸承862。 The shaft unit 864 has a rotating shaft 861 and a bearing 862 .

旋轉軸861係於平台820之前方之一端被固定於平台820,且水平地被固定。 The rotating shaft 861 is fixed to the platform 820 at one end in front of the platform 820 and is fixed horizontally.

旋轉軸861之中心軸係成為平台820之旋轉軸。 The central axis of the rotating shaft 861 becomes the rotating shaft of the platform 820 .

2個軸承862係配置於旋轉軸861之左右兩端,且可旋轉地保持旋轉軸861。 The two bearings 862 are arranged on the left and right ends of the rotating shaft 861 and hold the rotating shaft 861 rotatably.

輥單元865及輥單元866係被安裝於數個升降缸中之未安裝有旋轉軸861的中央及後方之升降缸之上。 The roller unit 865 and the roller unit 866 are mounted on the center and rear lift cylinders among the plurality of lift cylinders to which the rotation shaft 861 is not mounted.

輥單元865及輥單元866係具有能以軸867為中心而旋轉之輥868。 The roller unit 865 and the roller unit 866 have a roller 868 which can be rotated around the shaft 867 .

平台820係於中央及後方之左右具有承接輥868的承接板821。 The platform 820 has a receiving plate 821 having receiving rollers 868 on the left and right of the center and the rear.

輥868係於平台820傾斜時,於承接板821之下表面以軸867為中心而旋轉。 The roller 868 rotates around the shaft 867 on the lower surface of the receiving plate 821 when the platform 820 is inclined.

輥單元865及輥單元866係僅利用輥868而與平台820之下表面相接。 The roller unit 865 and the roller unit 866 are in contact with the lower surface of the table 820 only by the roller 868 .

於印刷中,若一面保持前方之升降缸831之升降軸839之上升之狀態,一面使升降缸833及升降缸832之升降軸839下降,則平台820以旋轉軸861為旋轉軸而傾斜。平台820傾斜之時,輥單元865及輥單元866之輥868旋轉。 During printing, if the lift shafts 839 of the lift cylinders 833 and 832 are lowered while the lift shafts 839 of the lift cylinders 831 in front are kept raised, the platform 820 is inclined with the rotation shaft 861 as the rotation axis. When the platform 820 is inclined, the rollers 868 of the roller unit 865 and the roller unit 866 rotate.

控制部110係變更載置有輥單元的數個升降缸之上升量,控制輥單元之高度位置而使平台820傾斜。 The control part 110 changes the lift amount of the several lift cylinders on which the roller unit is mounted, controls the height position of the roller unit, and inclines the platform 820.

<<印刷部900>> <<Printing Section 900>>

藉由圖12、圖13、及圖14而對印刷部900進行說明。 The printing unit 900 will be described with reference to FIGS. 12 , 13 , and 14 .

多關節機器人600係安裝有印刷部900作為末端效應器。 The articulated robot 600 is equipped with a printing unit 900 as an end effector.

末端效應器係指持有機器人直接作用至作業對象之機構的部分。 The end effector refers to the part of the mechanism that holds the robot and acts directly on the work object.

如圖12所示,印刷部900係具有刮板910、及刮刀920。 As shown in FIG. 12 , the printing unit 900 includes a squeegee 910 and a squeegee 920 .

刮板910係藉由安裝部941而可更換地被保持於刮板單元930。 The scraper 910 is replaceably held by the scraper unit 930 by the attachment portion 941 .

刮刀920係藉由安裝部942而可更換地被保持於刮板單元930。 The scraper 920 is replaceably held by the scraper unit 930 by the attachment portion 942 .

刮板910係對網版300施加壓力而將位於網版300的油墨壓抵於工件。 The squeegee 910 presses the screen plate 300 to press the ink on the screen plate 300 against the workpiece.

刮刀920係對網版300施加壓力而將位於網版300的油墨均勻地塗佈於網版300。 The doctor blade 920 applies pressure to the screen plate 300 to uniformly coat the ink on the screen plate 300 on the screen plate 300 .

刮板單元930係可裝卸地被安裝於末端680。 The scraper unit 930 is detachably attached to the distal end 680 .

刮板單元930之安裝部941係可改變刮板910之安裝角度而安裝刮板910。 The mounting portion 941 of the scraper unit 930 can change the mounting angle of the scraper 910 to mount the scraper 910 .

於圖12中,圖示3種之安裝角度下之刮板910。 In FIG. 12, the scraper 910 under three installation angles is shown.

因此,可不對多關節機器人600及機器人控制器130進行任何變更而進行刮板910相對於工件200之攻角之變更。 Therefore, the angle of attack of the scraper 910 with respect to the workpiece 200 can be changed without making any changes to the articulated robot 600 and the robot controller 130 .

雖未圖示,但刮板單元930之刮刀920之安裝部942亦可改變刮刀920之安裝角度而安裝刮刀920。 Although not shown, the mounting portion 942 of the scraper 920 of the scraper unit 930 can also change the mounting angle of the scraper 920 to mount the scraper 920 .

刮板單元930係於軸J6之正下方或自正下方稍靠後方安裝有刮板910及刮刀920。 The scraper unit 930 is installed with the scraper 910 and the scraper 920 directly below the shaft J6 or slightly behind from the straight bottom.

刮板單元930係具有加壓器931及加壓器932。 The blade unit 930 has a pressurizer 931 and a pressurizer 932 .

加壓器931係對刮板910施加印刷壓力的加壓器,藉由油壓、氣壓、水壓或電動而伸縮驅動之致動器為宜,較佳為氣缸。 The pressurizer 931 is a pressurizer for applying printing pressure to the squeegee 910, and is preferably an actuator that is telescopically driven by oil pressure, air pressure, water pressure or electric power, preferably an air cylinder.

加壓器932係對刮刀920施加塗佈壓力的加壓器,藉由油壓、氣壓、水壓或電動而伸縮驅動之致動器為宜,較佳為氣缸。 The pressurizer 932 is a pressurizer for applying coating pressure to the scraper 920, and is preferably an actuator that is telescopically driven by oil pressure, air pressure, water pressure or electric power, preferably an air cylinder.

加壓器931及加壓器932係被固定於固定板933之兩面。 The pressurizer 931 and the pressurizer 932 are fixed to both surfaces of the fixing plate 933 .

如圖13所示,加壓器931係具有加壓軸943,經由浮動接頭939而安裝刮板910。 As shown in FIG. 13 , the pressurizer 931 has a pressurizing shaft 943 , and the scraper 910 is attached via a floating joint 939 .

加壓器931之加壓軸943之軸線JS係與軸J6平行。 The axis JS of the pressurizing shaft 943 of the pressurizer 931 is parallel to the axis J6.

於加壓器931之兩側配置有保證刮板910之線性運動的1對線性襯套938。 A pair of linear bushings 938 are arranged on both sides of the pressurizer 931 to ensure the linear movement of the scraper 910 .

1對線性襯套938係被固定於固定板933。 A pair of linear bushes 938 are fixed to the fixing plate 933 .

線性襯套938係具有進行直線運動的線性運動軸940,線性運動軸940之下端係被固定於刮板910之安裝部941。 The linear bush 938 has a linear motion shaft 940 for linear motion, and the lower end of the linear motion shaft 940 is fixed to the mounting portion 941 of the scraper 910 .

如圖14所示,加壓器932係具有加壓軸943,經由浮動接頭939而安裝刮刀920。 As shown in FIG. 14 , the pressurizer 932 has a pressurizing shaft 943 , and the scraper 920 is attached via a floating joint 939 .

加壓器932之加壓軸943之軸線JS係與軸J6平行。 The axis JS of the pressurizing shaft 943 of the pressurizer 932 is parallel to the axis J6.

於加壓器932之兩側配置有保證刮刀920之線性運動的1對線性襯套938。 A pair of linear bushings 938 are arranged on both sides of the pressurizer 932 to ensure the linear movement of the scraper 920 .

1對線性襯套938係被固定於固定板933。 A pair of linear bushes 938 are fixed to the fixing plate 933 .

線性襯套938係具有進行直線運動的線性運動軸940,線性運動軸940之下端係被固定於刮刀920之安裝部942。 The linear bush 938 has a linear motion shaft 940 for linear motion, and the lower end of the linear motion shaft 940 is fixed to the mounting portion 942 of the scraper 920 .

固定板933係被固定於下板934之下表面。 The fixing plate 933 is fixed to the lower surface of the lower plate 934 .

下板934係被2片側板935所夾持。 The lower plate 934 is sandwiched by two side plates 935 .

2片側板935係被固定於上板936之下表面。 Two side plates 935 are fixed to the lower surface of the upper plate 936 .

於上板936之上表面具有裝卸部937。 A detachable portion 937 is provided on the upper surface of the upper plate 936 .

上板936之兩端係如翼般自2片側板935突出。 Both ends of the upper plate 936 protrude from the two side plates 935 like wings.

於刮板單元930被保持於支架560之懸架部561的情形時,上板936之兩端係成為朝向懸架部561的勾卡部。 When the scraper unit 930 is held by the suspension portion 561 of the bracket 560 , both ends of the upper plate 936 are hooked portions facing the suspension portion 561 .

裝卸部937係可裝卸地被安裝於末端680。 The detachable portion 937 is detachably attached to the distal end 680 .

1片下板934、2片側板935、及1片上板936係形成長方體之空間S。 One lower plate 934, two side plates 935, and one upper plate 936 form the space S of the rectangular parallelepiped.

於長方體之空間S配置有加壓器931及加壓器932的加壓軸943之上部。 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.

於加壓器931及加壓器932的加壓軸943位於最上方之情形時,加壓軸943之頭部亦不會與上板936接觸。 When the pressing shafts 943 of the pressing device 931 and the pressing device 932 are located at the uppermost position, the head of the pressing shaft 943 will not contact the upper plate 936 either.

長方體之空間S係用以確保加壓軸943之自由之上下移動之空間。 The space S of the rectangular parallelepiped is a space for ensuring the free up and down movement of the pressing shaft 943 .

由於具有長方體之空間S,故而不論多關節機器人600之軸J5使刮板單元930為何種姿勢,缸軸之頭部亦不會與多關節機器人600之前臂660接觸。 Since there is a rectangular parallelepiped space S, the head of the cylinder axis does not contact the front arm 660 of the articulated robot 600 regardless of the posture of the scraper unit 930 caused by the axis J5 of the articulated robot 600 .

<<相機690>> <<Camera 690>>

如圖12所示,網版印刷裝置100係具有相機690。 As shown in FIG. 12 , the screen printing apparatus 100 has a camera 690 .

相機690係被固定於末端680。 Camera 690 is fixed to end 680 .

相機690係配置於末端680與刮板單元930的側邊。 The camera 690 is disposed on the side of the end 680 and the scraper unit 930 .

相機690之相機軸JC係透鏡之中心軸,且與軸J6平行。 The camera axis JC of the camera 690 is the central axis of the lens, and is parallel to the axis J6.

相機690係配置於不妨礙刮板單元930之配置的位置。 The camera 690 is arranged at a position that does not interfere with the arrangement of the squeegee unit 930 .

相機690係配置於不妨礙刮板單元930之裝卸的位置。 The camera 690 is arranged at a position that does not interfere with the attachment and detachment of the blade unit 930 .

相機690係配置於在印刷中不與前臂660接觸的位置。 The camera 690 is arranged at a position not in contact with the forearm 660 during printing.

相機690之具體例係每1圖像500萬像素之電荷耦合元件(CCD,Charge Coupled Device)相機。 A specific example of the camera 690 is a Charge Coupled Device (CCD) camera with 5 million pixels per image.

相機之視野尺寸係縱橫均為40mm,每1像素之長度為19.5微米。 The field of view of the camera is 40mm in both vertical and horizontal directions, and the length of each pixel is 19.5 microns.

<<工件200>> <<Workpiece 200>>

藉由圖15而對工件200進行說明。 The workpiece 200 will be described with reference to FIG. 15 .

工件200係具有在高度方向上存在有凹凸之曲面的曲面工件。 The workpiece 200 is a curved workpiece having a curved surface having concavities and convexities in the height direction.

工件200係於左右方向上並非凹凸而呈直線。 The workpiece 200 is not uneven but straight in the left-right direction.

如圖15之(a)所示,於前視下,工件200係厚度為固定之彎曲之板或波狀之板。 As shown in FIG. 15( a ), in the front view, the workpiece 200 is a curved plate or a corrugated plate with a fixed thickness.

如圖15之(c)所示,於俯視下,工件200係矩形。 As shown in FIG. 15( c ), the workpiece 200 is rectangular in plan view.

工件200之材質之具體例係玻璃、樹脂、塑膠、紙、布、金屬。 Specific examples of the material of the workpiece 200 are glass, resin, plastic, paper, cloth, and metal.

工件200係薄板,故而具有柔軟性,易於變形,易於破損。 The workpiece 200 is a thin plate, so it is flexible, easily deformed, and easily damaged.

工件200之表面之曲面係具有自水平面凹陷之凹面 及自水平面突出之凸面中之至少任一者的曲面。 The curved surface of the surface of the workpiece 200 is a curved surface having at least one of a concave surface recessed from a horizontal plane and a convex surface protruding from the horizontal plane.

工件200之表面之左右方向之剖面形狀係矩形。 The cross-sectional shape in the left-right direction of the surface of the workpiece 200 is a rectangle.

工件200之表面之前後方向之剖面形狀係波型。 The cross-sectional shape in the front and rear directions of the surface of the workpiece 200 is a wave pattern.

於圖15中,工件200係於表面具有一個凸曲面及一個凹曲面。 In FIG. 15, the workpiece 200 has a convex curved surface and a concave curved surface on the surface.

於圖15中,凸曲面之半徑與凹曲面之半徑為相同長度,半徑之長度之一例為500mm。 In Fig. 15, the radius of the convex curved surface and the radius of the concave curved surface are the same length, and an example of the length of the radius is 500 mm.

凸曲面之中心角與凹曲面之中心角為相同角度,為20度以上且40度以下,較佳為30度。 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.

於一個凸曲面之中央,具有高度為最高之頂部220。 In the center of a convex surface, there is a top 220 with the highest height.

於一個凹曲面之中央,具有高度為最低之底部230。 In the center of a concave curved surface, there is a bottom 230 with the lowest height.

凸曲面與凹曲面係在反曲點240連接。 The convex and concave surfaces are connected at the inflection point 240 .

於圖15中,反曲點240係存在於工件200之中央。 In FIG. 15 , the inflection point 240 exists in the center of the workpiece 200 .

工件200係於背面具有曲面。 The workpiece 200 has a curved surface on the back.

工件200之背面之曲面係對應於工件200之表面之曲面,具有與工件200之表面相同的凸曲面及凹曲面。 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 curved surface and concave curved surface as the surface of the workpiece 200 .

工件200係厚度為固定之彎曲板。 The workpiece 200 is a curved plate with a fixed thickness.

如圖15之(c)所示,於工件200作為印刷圖案而印刷有數條印刷線201。 As shown in FIG.15(c), several printing lines 201 are printed on the workpiece|work 200 as a printing pattern.

圖15之(c)係表示於工件200之外周緣印刷有寬度V1及寬度V2的印刷線201且於中央印刷有寬度V1的印刷線201之情況。 (c) of FIG. 15 shows the case where printed lines 201 of width V1 and width V2 are printed on the outer periphery of the workpiece 200 and printed lines 201 of width V1 are printed in the center.

將形成印刷線201的兩外側之直線稱為外輪廓線。將2條外輪廓線之中央之線稱為中心線204。 The straight line forming the two outer sides of the printed line 201 is called an outer contour line. The center line of the two outer contour lines is referred to as the center line 204 .

如圖15之(c)所示,外輪廓線202與外輪廓線213之距離為長 度V3。 As shown in (c) of Fig. 15, the distance between the outer contour line 202 and the outer contour line 213 is the length V3.

外輪廓線203與外輪廓線212之距離為長度V4。 The distance between the outer contour line 203 and the outer contour line 212 is the length V4.

中心線204與中心線214之距離為長度V5。 The distance between the centerline 204 and the centerline 214 is the length V5.

形成印刷圖案的數條印刷線201之資訊,即,寬度V1、寬度V2、長度V3、長度V4、長度V5、其他資訊係被記憶於記憶裝置中,並用於印刷結果之檢查。 Information of several printing lines 201 forming the printing pattern, ie, width V1, width V2, length V3, length V4, length V5, and other information are stored in the memory device and used for checking the printing result.

<<網版300>> <<Screen 300>>

藉由圖15而對網版300進行說明。 The screen plate 300 will be described with reference to FIG. 15 .

網版300係具有在高度方向上存在有凹凸之曲面的曲面網版。 The screen 300 is a curved screen having a curved surface having concavities and convexities in the height direction.

網版300係於左右方向上並非凹凸而呈直線。 The screen plate 300 is not concave-convex but straight in the left-right direction.

於俯視下,網版300係矩形。 In top view, the screen version 300 series rectangle.

網版300係金屬遮罩網版、篩孔網版、其他之形式之網版。 Screen 300 series metal mask screen, mesh screen, other forms of screen.

網版300係具有自水平面凹陷之凹面及自水平面突出之凸面中之至少任一者的曲面。 The screen plate 300 is a curved surface having at least one of a concave surface recessed from the horizontal plane and a convex surface protruding from the horizontal plane.

網版300之曲面係與工件200之表面之曲面對應而具有自水平面凹陷之凹面、自水平面突出之凸面及曲面。 The curved surface of the screen plate 300 corresponds to the curved surface of the surface of the workpiece 200 and has a concave surface recessed from a horizontal plane, a convex surface protruding from the horizontal surface, and a curved surface.

網版300之表面之左右方向之剖面形狀係直線。 The cross-sectional shape in the left-right direction of the surface of the screen plate 300 is a straight line.

網版300之表面之前後方向之剖面形狀係波型。 The cross-sectional shape in the front and rear directions of the surface of the screen plate 300 is a wave pattern.

與圖15所示之工件200對應,網版300係具有一個凸曲面及一個凹曲面。 Corresponding to the workpiece 200 shown in FIG. 15 , the screen plate 300 has a convex curved surface and a concave curved surface.

於一個凸曲面之中央,具有高度為最高之頂部320。 In the center of a convex surface, there is a top 320 with the highest height.

於一個凹曲面之中央,具有高度為最低之底部330。 In the center of a concave curved surface, there is a bottom 330 with the lowest height.

凸曲面與凹曲面係在反曲點340連接。 The convex and concave surfaces are connected at the inflection point 340 .

於圖15中,反曲點340係存在於網版300之中央。 In FIG. 15 , the inflection point 340 exists in the center of the screen 300 .

<<版框310>> <<Frame 310>>

藉由圖15而對版框310進行說明。 The plate frame 310 will be described with reference to FIG. 15 .

版框310係邊框形狀之矩形之金屬框。 The plate frame 310 is a rectangular metal frame in the shape of a frame.

版框310係外形為矩形且中央為開口呈矩形的矩形框。 The plate frame 310 is a rectangular frame with a rectangular shape and a rectangular opening in the center.

版框310係固定於框固定部760的框架。 The plate frame 310 is fixed to the frame of the frame fixing portion 760 .

版框310對網版300施加張力而保持網版300。 The plate frame 310 applies tension to the screen plate 300 to hold the screen plate 300 .

版框310係可相對於版移動機構700而前後相反地安裝。 The plate frame 310 can be installed in the reverse direction with respect to the plate moving mechanism 700 .

於圖1中,表示版框310之凹面位於紙面右側而凸面位於紙面左側,且自凹面至凸面之順序進行印刷的情況。 In FIG. 1 , the concave surface of the plate frame 310 is located on the right side of the paper and the convex surface is located on the left side of the paper, and the printing is performed in order from the concave surface to the convex surface.

相反地,亦可使版框310之凸面位於紙面右側而凹面位於紙面左側,且自凸面至凹面之順序進行印刷。 Conversely, the convex surface of the plate frame 310 may be located on the right side of the paper and the concave surface may be located on the left side of the paper, and the printing is performed in order from the convex surface to the concave surface.

<治具400> <Jig 400>

藉由圖15而對治具400進行說明。 The jig 400 will be described with reference to FIG. 15 .

治具400係利用曲面而保持工件200的曲面治具。 The jig 400 is a curved jig for holding the workpiece 200 by using the curved surface.

如圖15之(a)所示,於前視下,治具400係下表面為平面而上表面為波狀的金屬零件。 As shown in FIG. 15( a ), in the front view, the jig 400 is a metal part with a flat lower surface and a corrugated upper surface.

如圖15之(b)所示,於俯視下,治具400係矩形。 As shown in (b) of FIG. 15 , when viewed from above, the jig 400 is rectangular.

治具400係具有於上表面具有與工件200相同之曲面或彎曲的載置面。 The jig 400 has a mounting surface having the same curved surface or curved surface as the workpiece 200 on the upper surface.

治具400之材質之具體例係樹脂、或鋁、鐵、不鏽鋼、其他之 金屬。 Specific examples of the material of the jig 400 are resin, or aluminum, iron, stainless steel, or other metals.

治具400係厚板,故而具有剛性,不會變形,不會破損。 The jig is made of 400 series thick plate, so it has rigidity and will not be deformed or damaged.

治具400之載置面係與工件200之背面之曲面對應而至少具有自水平面凹陷之凹面及自水平面突出之凸面中之任一者的曲面。 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 surface and a convex surface protruding from the horizontal surface.

與圖15所示之工件200對應,治具400之載置面係具有一個凸曲面及一個凹曲面。 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.

治具400係可相對於平台820而前後相反地安裝。 The jig 400 can be installed in the opposite direction with respect to the platform 820 .

於圖1中,表示治具400之凹面位於紙面右側而凸面位於紙面左側,且自凹面至凸面之順序進行印刷的情況。 In FIG. 1 , the concave surface of the jig 400 is located on the right side of the paper and the convex surface is located on the left side of the paper, and the printing is performed in order from the concave surface to the convex surface.

相反地,亦可使治具400之凸面位於紙面右側而凹面位於紙面左側,且自凸面至凹面之順序進行印刷。 Conversely, the convex surface of the jig 400 may be located on the right side of the paper and the concave surface may be located on the left side of the paper, and the printing is performed in order from the convex surface to the concave surface.

<基準標記410> <fiducial mark 410>

如圖15之(b)所示,治具400係於上表面具有數個基準標記410。 As shown in FIG. 15( b ), the jig 400 has several reference marks 410 on the upper surface.

基準標記410之具體例係直徑3mm之圓形孔。 A specific example of the reference mark 410 is a circular hole with a diameter of 3 mm.

孔之中心軸係與高度方向平行,存在於鉛垂方向。 The central axis of the hole is parallel to the height direction and exists in the vertical direction.

基準標記410係可於治具400之製造時形成。 The fiducial marks 410 may be formed during the manufacture of the jig 400 .

治具400之基準標記410之配置位置係基於印刷圖案而預先決定。 The arrangement position of the fiducial mark 410 of the jig 400 is predetermined based on the printing pattern.

配置位置係指二維水平面之正交座標之座標位置。 The arrangement position refers to the coordinate position of the orthogonal coordinates of the two-dimensional horizontal plane.

若將基準標記410之配置位置設為基準標記410之中心位置,則基準標記410之中心位置係可用正交之X軸之值及Y軸之值進 行表示。 If the arrangement position of the fiducial mark 410 is set as the central position of the fiducial mark 410, the central position of the fiducial mark 410 can be represented by the value of the X-axis and the value of the Y-axis which are orthogonal.

具體而言,可如下所示般表示基準標記P1之中心位置及基準標記P2之中心位置。 Specifically, the center position of the reference mark P1 and the center position of the reference mark P2 can be represented as follows.

P1(x1,y1) P1(x1, y1)

P2(x2,y2) P2(x2, y2)

基準標記P1之中心位置與基準標記P2之中心位置的距離W係可用以下之計算式求出。 The distance W between the center position of the fiducial mark P1 and the central position of the fiducial mark P2 can be obtained by the following formula.

W×W=(x2-x1)×(x2-x1)+(y2-y1)×(y2-y1) W×W=(x2-x1)×(x2-x1)+(y2-y1)×(y2-y1)

如上所述,所有之基準標記410之配置位置係預先決定,故而可預先求出所有之基準標記之間之距離。 As described above, the arrangement positions of all the fiducial marks 410 are determined in advance, so that the distances between all the fiducial marks can be obtained in advance.

於圖15之(b)中,治具400係具有28個基準標記410。 In (b) of FIG. 15 , the jig 400 has 28 fiducial marks 410 .

28個基準標記410之中12個基準標記410係形成於工件200之外側。 Among the 28 fiducial marks 410 , 12 fiducial marks 410 are formed on the outside of the workpiece 200 .

28個基準標記410之中16個基準標記410係形成於工件200之內側。 Among the 28 fiducial marks 410 , 16 fiducial marks 410 are formed on the inner side of the workpiece 200 .

將於印刷線201之兩側所形成之2個基準標記410稱為1對基準標記410,該印刷線201係形成印刷圖案。 The two fiducial marks 410 formed on both sides of the printed line 201 are referred to as a pair of fiducial marks 410, and the printed line 201 forms a printed pattern.

於圖15之(b)中,治具400係具有14對基準標記410。 In (b) of FIG. 15 , the jig 400 has 14 pairs of reference marks 410 .

14對基準標記410係形成於印刷線201與印刷線201所交叉之交點之附近。 The 14 pairs of fiducial marks 410 are formed in the vicinity of the intersection of the printed line 201 and the intersection of the printed line 201 .

1對基準標記410係形成於連結1對基準標記410之中心的直線為與印刷線201正交的位置。 The pair of fiducial marks 410 is formed at a position where a straight line connecting the centers of the pair of fiducial marks 410 is perpendicular to the printed line 201 .

1對基準標記410係以如下方式形成:於可進行正確之印刷之情形時,印刷線201位於1對基準標記410之中央。 The pair of fiducial marks 410 is formed in such a manner that the printed line 201 is located at the center of the pair of fiducial marks 410 when accurate printing is possible.

連結1對基準標記410之中心的直線之長度W1係大於印刷線201之寬度。 The length W1 of the straight line connecting the centers of the pair of fiducial marks 410 is greater than the width of the printed line 201 .

於圖15之(b)中,連結14對基準標記410之中心的直線之長度係全部為相同之長度W1。 In (b) of FIG. 15 , the lengths of the straight lines connecting the centers of the 14 pairs of reference marks 410 are all the same length W1.

長度W1係大於所有之印刷線201之最大寬度,而小於相機之視野尺寸40mm。 The length W1 is greater than the maximum width of all the printing lines 201, and is less than the field of view size of the camera by 40 mm.

於圖15之(b)中,「寬度V1<寬度V2<長度W1<視野尺寸40mm」。 In (b) of FIG. 15 , “width V1 < width V2 < length W1 < field of view size 40 mm”.

於治具400中,所有之基準標記410之中心位置為已知,所有之基準標記410之中心位置彼此之距離為已知。 In the jig 400, the center positions of all the reference marks 410 are known, and the distances between the center positions of all the reference marks 410 are known.

所有之基準標記410之中心位置與基準標記410之中心位置彼此之距離係被記憶於記憶裝置中。 The center positions of all the fiducial marks 410 and the distances between the central positions of the fiducial marks 410 are stored in the memory device.

藉由圖16、圖17、及圖18而對油墨容納皿570之配置位置進行說明。 The arrangement position of the ink container 570 will be described with reference to FIGS. 16 , 17 , and 18 .

殼體500係具有支架560、及油墨容納皿570。 The housing 500 has a holder 560 and an ink container 570 .

支架560係被固定於基台510的台。 The bracket 560 is a table fixed to the base 510 .

支架560係被設置於2條滑動機構730中之接近軸J1之滑動機構730之外側。 The bracket 560 is disposed on the outer side of the sliding mechanism 730 close to the axis J1 among the two sliding mechanisms 730 .

支架560係具有4條腳架,於中央具有保持印刷部900的空間。 The stand 560 has four legs, and has a space for holding the printing unit 900 in the center.

如圖18所示,支架560係於4個腳架之上部具有懸架印刷部900的懸架部561。 As shown in FIG. 18 , the bracket 560 is attached to a suspension part 561 having a suspension printing part 900 on the upper part of the four legs.

懸架部561係可裝卸地固定刮板單元930之上板936之兩端而保持刮板單元930。 The suspension portion 561 is detachably fixing both ends of the upper plate 936 of the blade unit 930 to hold the blade unit 930 .

相機690係始終被固定於多關節機器人600,故而懸架部561 係不具有保持相機690之功能。 Since the camera 690 is always fixed to the articulated robot 600, the suspension portion 561 does not have the function of holding the camera 690.

懸架部561係於中央具有配置印刷部900及相機690的空間R。 The suspension part 561 has a space R in the center where the printing part 900 and the camera 690 are arranged.

懸架部561係於在空間R配置有印刷部900及相機690的狀態下,對於多關節機器人600而裝卸印刷部900。 The suspension unit 561 is used to attach and detach the printing unit 900 to and from the articulated robot 600 in a state where the printing unit 900 and the camera 690 are arranged in the space R.

油墨容納皿570係自支架560之上部之側邊而突出呈屋簷狀的容納皿。 The ink accommodating dish 570 is an eaves-shaped accommodating dish protruding from the side of the upper part of the bracket 560 .

油墨容納皿570係容納於印刷部900之移動中自印刷部900所落下之油墨者。 The ink container 570 accommodates the ink dropped from the printing section 900 during the movement of the printing section 900 .

油墨容納皿570之高度係高於滑動機構730之高度。 The height of the ink container 570 is higher than the height of the sliding mechanism 730 .

油墨容納皿570係自支架560之懸架部561之單側而水平地突出。 The ink container 570 protrudes horizontally from one side of the suspension portion 561 of the bracket 560 .

油墨容納皿570係覆蓋滑動機構730及框固定部760。 The ink container 570 covers the sliding mechanism 730 and the frame fixing portion 760 .

油墨容納皿570之端部係到達至版框310之網版300之上空。 The end of the ink container 570 reaches the space above the screen plate 300 of the plate frame 310 .

<<配置>> <<Configuration>>

藉由圖5而對網版印刷裝置100之俯視中之各部之配置進行說明。 The arrangement of each part in the plan view of the screen printing apparatus 100 will be described with reference to FIG. 5 .

網版印刷裝置100之俯視形狀係具有長邊及短邊的矩形。 The top view shape of the screen printing apparatus 100 is a rectangle having long sides and short sides.

版移動機構700之2條滑動機構730係與網版印刷裝置100之短邊而平行地配置。 The two sliding mechanisms 730 of the plate moving mechanism 700 are arranged in parallel with the short sides of the screen printing apparatus 100 .

版框310之短邊係與網版印刷裝置100之短邊而平行地配置。 The short side of the plate frame 310 is arranged in parallel with the short side of the screen printing apparatus 100 .

版框310之長邊係與網版印刷裝置100之長邊而平行地配置。 The long sides of the plate frame 310 are arranged in parallel with the long sides of the screen printing apparatus 100 .

版框310係與網版印刷裝置100之短邊而平行地滑動。 The plate frame 310 slides in parallel with the short side of the screen printing apparatus 100 .

滑動機構730係具有版框310之短邊之長度之2倍之長度。 The sliding mechanism 730 has a length twice the length of the short side of the plate frame 310 .

藉由版框310之滑動而作出版框310為覆蓋治具400及工件200之上空的可印刷狀態、及開放治具400及工件200之上空的可檢查狀態。 By sliding the plate frame 310 , the plate frame 310 is in a printable state covering the space above the jig 400 and the workpiece 200 , and in an inspectable state opening the space above the jig 400 and the workpiece 200 .

起降機構800之短邊係與網版印刷裝置100之短邊而平行地配置。 The short side of the lift mechanism 800 is arranged in parallel with the short side of the screen printing apparatus 100 .

起降機構800之長邊係與網版印刷裝置100之長邊而平行地配置。 The long side of the lift mechanism 800 is arranged in parallel with the long side of the screen printing apparatus 100 .

治具400係配置於起降機構800之配置範圍之內側。 The jig 400 is arranged inside the arrangement range of the take-off and landing mechanism 800 .

圖5所示之2個圓弧係表示以軸J1為中心之多關節機器人600之旋轉範圍。 The two arcs shown in FIG. 5 represent the rotation range of the articulated robot 600 with the axis J1 as the center.

內側之圓弧係表示將軸J6配置於鉛垂方向之情形之軸J6之最大可動範圍。 The inner arc indicates the maximum movable range of the shaft J6 when the shaft J6 is arranged in the vertical direction.

外側之圓弧係表示刮板單元930之前端之最大可動範圍。 The outer arc represents the maximum movable range of the front end of the scraper unit 930 .

於圖5中,記號及尺寸之意義係如下所述。 In Fig. 5, the meanings of symbols and dimensions are as follows.

X1:殼體500之長邊之長度 X1: The length of the long side of the casing 500

X2:網版300之長邊之長度 X2: the length of the long side of the screen 300

X3:軸J1與至殼體500之端部SE為止之距離 X3: the distance between the axis J1 and the end SE of the casing 500

X4:連結殼體500之2條長邊之中央的直線S0與至殼體500之端部SE為止之距離,即,X1÷2=X4 X4: The distance between the straight line S0 connecting the center of the two long sides of the casing 500 and the end SE of the casing 500, that is, X1÷2=X4

X5:印刷行程之中央位置S4與至殼體500之端部SE為止之距離 X5: the distance between the center position S4 of the printing stroke and the end SE of the casing 500

X6:自印刷開始位置S1至印刷結束位置S2之長度,即,印刷行程之長度 X6: The length from the printing start position S1 to the printing end position S2, that is, the length of the printing stroke

X7:連結殼體500之2條長邊之中央的直線S0與印刷開始位 置S1的俯視之距離 X7: The distance between the straight line S0 connecting the center of the two long sides of the casing 500 and the printing start position S1 in plan view

X8:連結殼體500之2條長邊之中央的直線S0與印刷結束位置S2的俯視之距離 X8: The distance in plan view between the straight line S0 connecting the center of the two long sides of the casing 500 and the printing end position S2

X9:連結殼體500之2條長邊之中央的直線S0與印刷行程之中央位置S4的俯視之距離 X9: The distance in plan view between the straight line S0 connecting the center of the two long sides of the casing 500 and the center position S4 of the printing stroke

Y1:殼體500之短邊之長度 Y1: The length of the short side of the casing 500

Y2:網版300之短邊之長度 Y2: The length of the short side of the screen 300

NP:軸J1所無法旋轉之範圍,無法旋轉之範圍之中心角約為20度 NP: The range that the axis J1 cannot rotate, the central angle of the range that cannot be rotated is about 20 degrees

軸J1之可旋轉範圍為340度。 The rotatable range of the axis J1 is 340 degrees.

軸J1係自可旋轉範圍之中央而可順時針旋轉170度,並可逆時針旋轉170度。 The shaft J1 is rotatable 170 degrees clockwise and 170 degrees counterclockwise from the center of the rotatable range.

軸J1係位於連結網版300之2條短邊之中央的直線之上空。 The axis J1 is positioned above the straight line connecting the centers of the two short sides of the screen plate 300 .

軸J1係配置於鉛垂方向。 The axis J1 is arranged in the vertical direction.

軸J1係於印刷中不旋轉。 Axis J1 does not rotate during printing.

軸J1係與印刷行程之方向即印刷方向正交。 The axis J1 is orthogonal to the direction of the printing stroke, that is, the printing direction.

軸J1之可旋轉範圍之中央與印刷方向為同一方向。 The center of the rotatable range of the axis J1 is in the same direction as the printing direction.

軸J2係配置為於印刷中與殼體500之短邊平行,並與印刷方向正交。 The axis J2 is arranged to be parallel to the short side of the casing 500 during printing, and to be perpendicular to the printing direction.

軸J2之俯視之位置係於印刷中不動,位於與連結殼體500之2條長邊之中央的直線S0相同的位置。 The position of the top view of the axis J2 is fixed during printing, and is located at the same position as the straight line S0 connecting the centers of the two long sides of the casing 500 .

距離X7係與俯視下之軸J2與印刷開始位置S1之距離相同。 The distance X7 is the same as the distance between the axis J2 in plan view and the printing start position S1.

距離X8係與俯視下之軸J2與印刷結束位置S2之距離相同。 The distance X8 is the same as the distance between the axis J2 in plan view and the printing end position S2.

距離X7與距離X8之比為1比3。 The ratio of distance X7 to distance X8 is 1 to 3.

距離X9係與距離X7相同。 The distance X9 is the same as the distance X7.

距離X6、距離X7、距離X8、及距離X9係有以下之關係。 The distance X6, the distance X7, the distance X8, and the distance X9 have the following relationship.

X7=X9=X8÷2 X7=X9=X8÷2

X6=X7+X8+X9 X6=X7+X8+X9

軸J2之俯視之位置係位於自印刷開始位置S1起印刷行程之長度X6之4分之1之位置。 The position of the top view of the axis J2 is located at the position of 1/4 of the length X6 of the printing stroke from the printing start position S1.

因此,於印刷中,刮板單元930係至印刷行程之長度X6之中之4分之1為止位於軸J2之後方,其後之4分之3係位於軸J2之前方。 Therefore, in printing, the squeegee unit 930 is located behind the axis J2 until 1/4 of the length X6 of the printing stroke, and the 3/4 of the following is located in front of the axis J2.

軸J2之俯視之位置係只要位在印刷行程之範圍內即可,位於印刷行程之前半較合適,進而,位於印刷行程之前半之中央為宜。 The position of the top view of the axis J2 only needs to be within the range of the printing stroke. It is more suitable to be located in the front half of the printing stroke, and further, it is suitable to be located in the center of the front half of the printing stroke.

印刷開始位置S1為軸J1之正下方或大致正下方。 The printing start position S1 is directly below or substantially directly below the axis J1.

印刷結束位置S2係位於軸J6之最大可動範圍之半徑之70%以內。 The printing end position S2 is within 70% of the radius of the maximum movable range of the axis J6.

因此,印刷行程之長度X6係位於軸J6之最大可動範圍之半徑之長度之70%以內。 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.

連結網版300之短邊之中心的中心線即印刷寬度之中心線係與軸J1相交且與軸J1正交。 The center line connecting the centers of the short sides of the screen plate 300, that is, the center line of the printing width intersects the axis J1 and is orthogonal to the axis J1.

支架560係位於軸J6之最大可動範圍內。 The bracket 560 is located within the maximum movable range of the axis J6.

自軸J1至印刷結束位置S2為止之距離係與自軸J1至支架560之懸架台中央為止之距離大致相等。 The distance from the axis J1 to the printing end position S2 is substantially the same as the distance from the axis J1 to the center of the suspension table of the bracket 560 .

或者,自軸J1至印刷結束位置S2的版框310之短邊為止之距離係與自軸J1至支架560之懸架台中央為止之距離大致相等。 Alternatively, the distance from the axis J1 to the short side of the plate frame 310 at the printing end position S2 is substantially equal to the distance from the axis J1 to the center of the gimbal of the bracket 560 .

在使位於印刷結束位置S2的刮板單元930以軸J1為中心順時 針旋轉G度之位置,配置有保持刮板單元930的支架560。 A holder 560 for holding the squeegee unit 930 is disposed at a position where the squeegee unit 930 located at the printing end position S2 is rotated by G degrees clockwise around the axis J1.

於圖5中,G度為140度。 In FIG. 5, the G degree is 140 degrees.

多關節機器人600之基底610係配置於版框310之短邊之中央且較版框310之長邊之中央而偏向具有支架560之側邊的位置。 The base 610 of the articulated robot 600 is disposed at the center of the short side of the plate frame 310 and is offset from the center of the long side of the plate frame 310 to the side with the bracket 560 .

自基底610之軸J1至2條滑動機構730中之遠離軸J1之滑動機構730為止之距離,與自軸J1至支架560之最遠離之角為止之距離相同。該距離係等於以軸J1為中心之多關節機器人600之最大可動範圍之4分之3。 The distance from the axis J1 of the base 610 to the sliding mechanism 730 of the two sliding mechanisms 730 away from the axis J1 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.

再者,基於圖5而進行說明之配置關係及尺寸關係為一例,於工件之尺寸被變更之情形時,上述配置關係及尺寸關係則存在有被變更之情況。 In addition, the arrangement relationship and the dimensional relationship described based on FIG. 5 are an example, and when the size of the workpiece is changed, the arrangement relationship and the dimensional relationship may be changed.

於工件之尺寸被變更之情形時,較理想為於網版300之長邊之長度X2之中央配置有印刷行程之中央位置S4,並儘量維持上述配置關係及尺寸關係。 When the size of the workpiece is changed, it is preferable to arrange the center position S4 of the printing stroke in the center of the length X2 of the long side of the screen plate 300, and to maintain the above arrangement relationship and size relationship as much as possible.

若可能,則較理想為將在基於圖5而進行說明之配置關係及尺寸關係所示之比例使用在上述比例之值之正負20%之範圍,進而,較理想為使用在正負10%之範圍。 If possible, it is desirable to use the ratios shown in the arrangement relationship and the dimensional relationship described with reference to FIG. 5 within a range of plus or minus 20% of the value of the above-mentioned ratio, and more preferably within a range of plus or minus 10%. .

***動作之說明*** ***Action description***

使用圖19,對網版印刷裝置100之網版印刷方法進行說明。 19, the screen printing method of the screen printing apparatus 100 is demonstrated.

以下之動作係基於來自控制部110之電氣信號而進行。 The following operations are performed based on electrical signals from the control unit 110 .

控制部110係使多關節機器人600動作時,經由機器人控制器130而控制多關節機器人600。 The control unit 110 controls the articulated robot 600 via the robot controller 130 when the articulated robot 600 is operated.

控制部110係於檢查步驟中進行圖像處理時,使用圖像處理單元140進行圖像處理。 When performing image processing in the inspection step, the control unit 110 uses the image processing unit 140 to perform image processing.

控制部110係使缸或加壓器動作時,經由真空泵150及空氣壓力電路160而控制缸或加壓器。 When the control unit 110 operates the cylinder or the pressurizer, it controls the cylinder or the pressurizer via the vacuum pump 150 and the air pressure circuit 160 .

控制部110係使工件200吸附於治具400時,經由真空泵150及空氣壓力電路160而使工件200吸附於治具400。 When the control unit 110 makes the workpiece 200 suck to the jig 400 , the workpiece 200 is sucked to the jig 400 via the vacuum pump 150 and the air pressure circuit 160 .

工件200係透明之玻璃板、透明之樹脂板、或有透光性之板。 The workpiece 200 is a transparent glass plate, a transparent resin plate, or a transparent plate.

對工件200、網版300及治具400具有凸曲面及凹曲面且印刷部900自凸曲面向凹曲面進行印刷之情況進行說明。 The case where the workpiece 200 , the screen plate 300 , and the jig 400 have a convex curved surface and a concave curved surface and the printing unit 900 prints from the convex curved surface to the concave curved surface will be described.

在電源開啟之前,刮板單元930係位於支架560。 Before the power is turned on, the scraper unit 930 is attached to the bracket 560 .

所有之基準標記410之位置與所有之基準標記410之中心位置之距離係被記憶於記憶裝置中。 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.

以下,對無測試印刷之情況進行說明。 Hereinafter, the case of no test printing will be described.

*電源開啟步驟S11* *Power on step S11*

若網版印刷裝置100之電源成為開啟,則網版印刷裝置100係開始初始動作,在以下之順序進行初始設定。 When the power supply of the screen printing apparatus 100 is turned on, the screen printing apparatus 100 starts the initial operation, and the initial setting is performed in the following procedure.

1.多關節機器人600之原點返回 1. Origin return of multi-joint robot 600

控制部110係使多關節機器人600返回至原點。 The control unit 110 returns the articulated robot 600 to the origin.

多關節機器人600之原點係指多關節機器人600之末端680為位於支架560之上空的狀態。 The origin of the articulated robot 600 refers to a state where the distal end 680 of the articulated robot 600 is located above the bracket 560 .

2.起降機構800之原點返回 2. The origin return of the take-off and landing mechanism 800

控制部110係使起降機構800下降至原點。 The control unit 110 lowers the take-off and landing mechanism 800 to the origin.

起降機構800之原點係指最低之位置。 The origin of the take-off and landing mechanism 800 refers to the lowest position.

圖20係表示起降機構800為位於原點的狀態。 FIG. 20 shows a state in which the take-off and landing mechanism 800 is located at the origin.

3.版移動機構700之原點返回 3. Origin return of moving mechanism 700

控制部110係使版移動機構700返回至原點。 The control unit 110 returns the plate moving mechanism 700 to the origin.

版移動機構700之原點係指開放狀態位置。 The origin of the plate moving mechanism 700 refers to an open state position.

*刮板單元930之安裝步驟S12* *Installation step S12 of the scraper unit 930*

控制部110係使多關節機器人600動作,將位於支架560的刮板單元930安裝至末端680。 The control unit 110 operates the articulated robot 600 to attach the scraper unit 930 located on the bracket 560 to the distal end 680 .

多關節機器人600係將刮板單元930固定於末端680。 The articulated robot 600 fixes the scraper unit 930 to the distal end 680 .

*工件200之搬入步驟S13* *Loading step S13 of workpiece 200*

控制部110係藉由未圖示之搬入裝置而使工件200載置於治具400。 The control part 110 mounts the workpiece|work 200 on the jig|tool 400 by the loading apparatus which is not shown in figure.

即,將具有凹面及凸面的工件200載置於具有凹面及凸面的治具400。工件200之背面係與於治具400之上表面所形成之載置面無間隙地重疊。 That is, the workpiece 200 having the concave and convex surfaces is placed on the jig 400 having the concave and convex surfaces. The back surface of the workpiece 200 overlaps the mounting surface formed on the upper surface of the jig 400 without any gap.

於治具400之載置面具有抽吸槽,控制部110係抽吸抽吸槽之空氣。藉由該抽吸,工件200係密接於治具400之載置面而被固定。 A suction groove is provided on the mounting surface of the fixture 400, and the control unit 110 sucks the air in the suction groove. By this suction, the workpiece 200 is fixed in close contact with the mounting surface of the jig 400 .

工件200係具有柔軟性,即便於搬入時以變形之狀態被搬運,藉由載置於具有剛性之治具400的載置面並針對載置面進行抽吸,而成為原本之形狀。 The workpiece 200 has flexibility, and is conveyed in a deformed state when being loaded, and becomes its original shape by being placed on the placement surface of the rigid jig 400 and suctioned against the placement surface.

*版框310及刮板單元930之設置步驟S14* *Setting step S14 of the plate frame 310 and the scraper unit 930*

控制部110係使多關節機器人600動作,將刮板單元930自支架560取出,並經由油墨容納皿570之上空而移動至版框310之上空。 The control unit 110 operates the articulated robot 600 to take out the blade unit 930 from the holder 560 and move it to the space above the plate frame 310 through the space above the ink container 570 .

控制部110係使馬達750動作,使版框310自開放狀態位置滑動至可印刷位置。同時,控制部110係使多關節機器人600動作,使用移動中之版框310之上空而將刮板單元930移動至工件200之上空。 The control unit 110 operates the motor 750 to slide the plate frame 310 from the open state position to the printable position. At the same time, the control unit 110 operates the articulated robot 600 to move the squeegee unit 930 to the air above the workpiece 200 using the air above the moving plate frame 310 .

即,控制部110係利用版移動機構700所進行之網版300之移動時,使刮板910於網版300之上空移動。 That is, the control unit 110 moves the squeegee 910 above the screen plate 300 when the screen plate 300 is moved by the plate moving mechanism 700 .

控制部110係使軸J1旋轉140度,將刮板單元930自支架560移動至版框310之印刷結束位置S2。 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 .

*利用刮刀920所進行之油墨塗佈步驟S15* *Ink coating step S15 by the doctor blade 920*

控制部110係使多關節機器人600動作,藉由刮刀920而將油墨塗佈於版框310之網版300。 The control unit 110 operates the articulated robot 600 to apply ink to the screen plate 300 of the plate frame 310 by means of the doctor blade 920 .

控制部110係藉由多關節機器人600而使刮刀920之前端沿網版300之曲面移動。 The control unit 110 moves the front end of the scraper 920 along the curved surface of the screen 300 by the multi-joint robot 600 .

控制部110係藉由多關節機器人600而使刮刀920自印刷結束位置S2向印刷開始位置S1移動。 The control unit 110 moves the squeegee 920 from the printing end position S2 to the printing start position S1 by the articulated robot 600 .

控制部110係藉由多關節機器人600而以刮刀920相對於網版300之攻角成為固定之方式控制刮刀920之角度。刮刀920之攻角係80度至100度為宜,90度較合適。 The control unit 110 controls the angle of the squeegee 920 by the articulated robot 600 so that the angle of attack of the squeegee 920 with respect to the screen 300 becomes fixed. The angle of attack of the scraper 920 is preferably 80 degrees to 100 degrees, and 90 degrees is more suitable.

控制部110係於刮刀920之移動中使加壓器932動作,將刮刀920壓抵於網版300。或者,控制部110係不將刮刀920壓抵於網 版300,而使刮刀920沿網版300之表面而滑動。 The control unit 110 operates the presser 932 during the movement of the squeegee 920 to press the squeegee 920 against the screen plate 300 . Alternatively, the control unit 110 does not press the doctor blade 920 against the screen plate 300, but causes the doctor blade 920 to slide along the surface of the screen plate 300.

利用多關節機器人600所進行之刮刀920之控制係除了移動方向相反以外,與印刷步驟S17中之利用多關節機器人600所進行之刮板910之控制相同,其之控制之詳細內容係於印刷步驟S17中進行說明。 The control of the squeegee 920 by the articulated robot 600 is the same as the control of the squeegee 910 by the articulated robot 600 in the printing step S17 except that the moving direction is opposite, and the details of the control are in the printing step It will be explained in S17.

*起降機構800之上升步驟S16* *The ascending step S16 of the take-off and landing mechanism 800*

控制部110係使起降機構800動作,使載置有工件200的治具400上升。 The control unit 110 operates the lifting and lowering mechanism 800 to raise the jig 400 on which the workpiece 200 is placed.

控制部110係使治具400上升,直至工件200與網版300之間隔成為既定之間隙為止。 The control part 110 raises the jig 400 until the space|interval of the workpiece|work 200 and the screen 300 becomes a predetermined clearance gap.

間隙係於1mm以上且10mm以下之範圍而預先被設定。 The gap is set in advance within the range of 1 mm or more and 10 mm or less.

*多關節機器人600之印刷步驟S17* *Printing step S17 of the multi-joint robot 600*

控制部110係藉由多關節機器人600而使刮板910移動,對工件200之凹面及凸面進行印刷。 The control unit 110 moves the squeegee 910 by the articulated robot 600 to print the concave and convex surfaces of the workpiece 200 .

圖21係表示印刷開始狀態。 FIG. 21 shows the printing start state.

首先,控制部110係使多關節機器人600動作,使刮板910移動至印刷開始位置S1。 First, the control unit 110 operates the articulated robot 600 to move the squeegee 910 to the printing start position S1.

控制部110係使刮板910之前端沿網版300之曲面而移動。 The control unit 110 moves the front end of the squeegee 910 along the curved surface of the screen plate 300 .

即,多關節機器人600係沿工件200之曲面將刮板910向印刷方向以波狀移動。 That is, the articulated robot 600 moves the squeegee 910 in a wave-like manner in the printing direction along the curved surface of the workpiece 200 .

多關節機器人600係水平且平行地配置軸J2、軸J3、軸J5之3軸,利用軸J2、軸J3、軸J5之3軸之旋轉,將刮板910於印刷 方向上移動。 The articulated robot 600 arranges three axes of the axis J2, the axis J3, and the axis J5 horizontally and in parallel, and moves the squeegee 910 in the printing direction by the rotation of the three axes of the axis J2, the axis J3, and the axis J5.

多關節機器人600係將剩餘之軸,即,軸J1、軸J4、及軸J6配置於同一鉛垂面而進行印刷。 The articulated robot 600 prints by arranging the remaining axes, that is, the axis J1, the axis J4, and the axis J6 on the same vertical plane.

配置有軸J1、軸J4、及軸J6的同一鉛垂面係指與印刷方向平行之平面且於版框310或網版300之左右方向之中央而與版框310或網版300正交之平面。 The same vertical plane on which the axis J1, the axis J4, and the axis J6 are arranged refers to a plane parallel to the printing direction and at the center of the plate frame 310 or the screen plate 300 in the left-right direction and orthogonal to the plate frame 310 or the screen plate 300. flat.

控制部110係以刮板910相對於工件200之表面之攻角成為固定之方式控制刮板910之角度。 The control unit 110 controls the angle of the squeegee 910 so that the angle of attack of the squeegee 910 with respect to the surface of the workpiece 200 becomes constant.

多關節機器人600係以即使於工件200之表面之任一之位置而攻角成為固定之方式控制刮板單元930之姿勢。 The articulated robot 600 controls the posture of the scraper unit 930 so that the angle of attack becomes constant even at any position on the surface of the workpiece 200 .

刮板910之攻角係50度至90度為宜,較佳為60度至80度,70度較合適。 The angle of attack of the scraper 910 is preferably 50 degrees to 90 degrees, preferably 60 degrees to 80 degrees, and preferably 70 degrees.

多關節機器人600係在不對刮板單元930施加印刷壓力之情況下而將刮板單元930於印刷方向上移動。 The articulated robot 600 moves the squeegee unit 930 in the printing direction without applying the printing pressure to the squeegee unit 930 .

控制部110係於刮板910之移動中使加壓器931動作,將刮板910壓抵於網版300。 The control unit 110 operates the presser 931 during the movement of the squeegee 910 to press the squeegee 910 against the screen plate 300 .

不利用多關節機器人600施加印刷壓力,而僅利用加壓器932施加印刷壓力的理由係如下所述。 The reason why the printing pressure is applied only by the presser 932 without applying the printing pressure by the articulated robot 600 is as follows.

理由1:相較於多關節機器人600,加壓器932之方面係於印刷中將印刷壓力保持為固定之精度較高。 Reason 1: Compared with the articulated robot 600, the aspect of the presser 932 is that the precision of keeping the printing pressure constant during printing is higher.

理由2:藉由去除利用多關節機器人600所進行之壓力控制,使多關節機器人600專注於刮板單元930之移動控制及角度控制,而提高移動控制及角度控制之精度。 Reason 2: By eliminating the pressure control performed by the articulated robot 600, the articulated robot 600 can concentrate on the movement control and angle control of the scraper unit 930, thereby improving the accuracy of the movement control and the angle control.

多關節機器人600係藉由多關節機器人600之僅水平 且平行地所配置之軸的旋轉,即,僅藉由軸J2、軸J3、及軸J5之3軸的旋轉而使刮板910移動。 The articulated robot 600 moves the squeegee 910 only by the rotation of the axis of the articulated robot 600 arranged horizontally and in parallel, that is, only by the rotation of the three axes of the axis J2, the axis J3, and the axis J5.

多關節機器人600係一面將刮板910相對於工件200之曲面的攻角設為固定,一面使刮板910沿工件200之曲面移動。 The articulated robot 600 moves the scraper 910 along the curved surface of the workpiece 200 while the angle of attack of the scraper 910 relative to the curved surface of the workpiece 200 is fixed.

多關節機器人600係於印刷中不使剩餘之軸,即,軸J1、軸J4、及軸J6旋轉。 The articulated robot 600 does not rotate the remaining axes, that is, the axis J1, the axis J4, and the axis J6 during printing.

控制部110係於自印刷開始位置S1至工件200之凸面之頂部220為止之爬坡之印刷中不使起降機構800動作。 The control unit 110 does not actuate the lifting and lowering mechanism 800 during the printing of the climbing slope from the printing start position S1 to the top 220 of the convex surface of the workpiece 200 .

*旋轉機構860之旋轉步驟* *Rotation steps of the rotating mechanism 860*

控制部110係於印刷中使起降機構800動作,於工件200之凸面之頂部220之印刷後,藉由起降機構800而將治具400自網版300拉離。 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 .

控制部110係相對於網版300而利用使治具400旋轉的旋轉機構860,將治具400自網版300拉離。 The control unit 110 pulls the jig 400 away from the screen plate 300 by using the rotation mechanism 860 that rotates the jig 400 with respect to the screen plate 300 .

圖22表示起降機構800之動作狀態。 FIG. 22 shows the operating state of the take-off and landing mechanism 800 .

如圖23之(a)所示,若於印刷中不使起降機構800動作,不將治具400自網版300拉離,則於工件200之凸面之頂部220之印刷後,箭頭所示之離版角度減少。即,於工件200之凸面之頂部220之印刷後,工件200與網版300之距離則減少。 As shown in (a) of FIG. 23 , if the lifting and lowering mechanism 800 is not actuated during printing and the jig 400 is not pulled away from the screen 300, after the top 220 of the convex surface of the workpiece 200 is printed, the arrows show The departure 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.

如圖23之(b)所示,控制部110係於工件200之凸面之頂部220之印刷後使起降機構800動作,將治具400自網版300拉離,維持離版角度或工件200與網版300之距離。 As shown in (b) of FIG. 23 , 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 separation angle or the workpiece 200 The distance from the screen version 300.

起降機構800係於工件200之凸面之頂部220之印刷後,以工 件200與網版300之距離不減少之方式增大工件200與網版300之距離。 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.

起降機構800係於利用刮板910進行印刷期間,確保刮板910所印刷之位置的工件200與網版300之距離,並確保離版角度的機構。 The lifting and lowering mechanism 800 is a mechanism for ensuring the distance between the workpiece 200 and the screen plate 300 at the position printed by the squeegee 910 during printing with the squeegee 910 and ensuring the angle of departure from the plate.

控制部110係藉由旋轉機構860,而於工件200之凸面之頂部220之印刷後,增大印刷完畢之凸面側之網版300與治具400之距離。 The control unit 110 uses the rotating mechanism 860 to increase the distance between the screen 300 and the jig 400 on the convex side of the workpiece 200 after printing on the convex top 220 of the workpiece 200 .

控制部110係將位於工件200之凹部側之端部的升降缸831之升降軸839之高度而保持為固定。 The control part 110 keeps the height of the raising/lowering shaft 839 of the raising/lowering cylinder 831 located in the end part of the recessed part side of the workpiece|work 200 fixed.

控制部110係使位於工件200之凸部側之端部的升降缸832及升降缸833之升降軸839下降。 The control unit 110 lowers the lift cylinder 832 and the lift shaft 839 of the lift cylinder 833 located at the end on the convex portion side of the workpiece 200 .

於圖22中,控制部110係使升降缸832及升降缸833之升降軸839同量下降。 In FIG. 22 , the control unit 110 lowers the lift shafts 839 of the lift cylinder 832 and the lift cylinder 833 by the same amount.

因此,位於升降缸832之升降軸839之上的輥單元865之前端所具有之輥868與平台820之承接板821之間產生間隙。 Therefore, a gap is generated between the roller 868 provided at the front end of the roller unit 865 located on the lift shaft 839 of the lift cylinder 832 and the receiving plate 821 of the platform 820 .

控制部110亦可以無法產生間隙之方式使升降缸832及升降缸833之升降軸839以1比2之比例下降。 The control unit 110 may also lower the lift shafts 839 of the lift cylinder 832 and the lift cylinder 833 at a ratio of 1:2 so that no clearance can be generated.

藉由旋轉機構860之旋轉軸861之旋轉,平台820傾斜,治具400傾斜。 By the rotation of the rotation shaft 861 of the rotation mechanism 860, the platform 820 is inclined, and the fixture 400 is inclined.

藉由降低凸面側之治具400,可維持離版角度,進而,可避免工件200之凸部接觸網版300之下表面。 By lowering the jig 400 on the convex side, the off-plate angle can be maintained, and further, the convex portion of the workpiece 200 can be prevented from contacting the lower surface of the screen plate 300 .

控制部110係於自工件200之凸曲面之頂部220至凹曲面之底部230為止之印刷期間,使治具400設為自網版300拉離之狀態。 即,控制部110係於下坡之印刷中使治具400設為自網版300拉離之狀態。 The control unit 110 sets the jig 400 in a state of pulling away from the screen 300 during the printing period from the top 220 of the convex curved surface to the bottom 230 of the concave curved surface of the workpiece 200 . That is, the control part 110 sets the jig|tool 400 in the state which pulled away from the screen plate 300 during downhill printing.

於工件200之凸曲面之頂部220之印刷後,作為控制部110之控制,而有以下之控制。 After the top portion 220 of the convex curved surface of the workpiece 200 is printed, as the control of the control unit 110, the following control is performed.

控制1.直至到達工件200之凹曲面之底部230為止,增加治具400之傾斜,使治具400慢慢地自網版300拉離。 Control 1. Increase the inclination of the jig 400 until the bottom 230 of the concave curved surface of the workpiece 200 is reached, so that the jig 400 is slowly pulled away from the screen plate 300 .

於工件200之凹曲面之底部230之經過時,停止治具400之傾斜之增加。 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.

工件200之凹曲面之底部230之經過後之印刷係一面維持治具400之傾斜,或者一面慢慢地減少治具400之傾斜,一面進行印刷。 After the bottom 230 of the concave curved surface of the workpiece 200 has passed through, the printing is performed while maintaining the inclination of the jig 400 , or while gradually reducing the inclination of the jig 400 .

控制2.直至到達工件200之凸曲面及凹曲面之反曲點240為止,增加治具400之傾斜,使治具400慢慢自網版300拉離。 Control 2. Increase the inclination of the jig 400 until reaching the inflection point 240 of the convex surface and the concave surface of the workpiece 200 , so that the jig 400 is slowly pulled away from the screen 300 .

於工件200之反曲點240之經過時,停止治具400之傾斜之增加。 When the inflection point 240 of the workpiece 200 passes, the increase of the inclination of the jig 400 is stopped.

工件200之反曲點240之經過後之印刷係一面維持治具400之傾斜,或者一面慢慢地減少治具400之傾斜,一面進行印刷。 After the inflection point 240 of the workpiece 200 has passed, the printing is performed while maintaining the inclination of the jig 400 or gradually reducing the inclination of the jig 400 .

控制部110係於慢慢地減少治具400之傾斜之情形時,使治具400接近網版300直至成為所被預定之間隙為止。 The control unit 110 makes the jig 400 approach the screen plate 300 until the predetermined gap is reached when the inclination of the jig 400 is gradually reduced.

控制部110係不使治具400接近網版300而到達至成為未滿所被預定之間隙。 The control unit 110 does not bring the jig 400 close to the screen 300 to reach a predetermined gap that is less than full.

*升降機構830之下降步驟* *The descending steps of the lifting mechanism 830*

於利用旋轉機構860之旋轉而無法進行充分之分離之情形時,控制部110係藉由升降機構830而使治具400整體下降,使治具400 設為自網版300拉離之狀態。 When sufficient separation cannot be performed by the rotation of the rotating mechanism 860 , the control unit 110 lowers the entire jig 400 by the elevating mechanism 830 , so that the jig 400 is pulled away from the screen plate 300 .

*起降機構800之下降步驟S18* *Descent step S18 of the take-off and landing mechanism 800*

若印刷結束,則控制部110係使起降機構800動作,使工件200及治具400下降至原點。 When printing is completed, the control unit 110 operates the lifting and lowering mechanism 800 to lower the workpiece 200 and the jig 400 to the origin.

*版框310及刮板單元930之退避步驟S19* *Step S19 of retreating the plate frame 310 and the squeegee unit 930*

控制部110係使馬達750動作,使版框310自可印刷位置退避至開放狀態位置。 The control unit 110 operates the motor 750 to retract the stencil 310 from the printable position to the open state position.

進行版框310之退避之同時,控制部110係使多關節機器人600動作,使用移動中之版框310之上空,將刮板單元930移動至開放狀態位置。 Simultaneously with the retraction of the plate frame 310 , the control unit 110 operates the articulated robot 600 to move the scraper unit 930 to the open state position using the space above the plate frame 310 in motion.

控制部110係使軸J1旋轉140度,將刮板單元930自印刷結束位置S2向支架560移動。 The control part 110 rotates the axis|shaft J1 by 140 degree|times, and moves the squeegee unit 930 to the holder 560 from the printing end position S2.

於在刮板單元930之移動中而油墨自刮板910或刮刀920掉落之情形時,油墨係掉落至版框310。 When the ink is dropped from the squeegee 910 or the squeegee 920 during the movement of the squeegee unit 930 , the ink is dropped to the plate frame 310 .

控制部110係使多關節機器人600動作,經由油墨容納皿570之上空而將刮板單元930自版框310之上空而移動至支架560。 The control unit 110 operates the articulated robot 600 to move the squeegee unit 930 from the air above the plate frame 310 to the holder 560 via the air above the ink container 570 .

於在刮板單元930之移動中而油墨自刮板910或刮刀920掉落之情形時,油墨係掉落至油墨容納皿570。 When the ink is dropped from the squeegee 910 or the squeegee 920 during the movement of the squeegee unit 930 , the ink is dropped to the ink accommodating dish 570 .

*刮板單元930之分離步驟S20* *Separation step S20 of the scraper unit 930*

控制部110係使多關節機器人600之軸J6呈垂直而使軸J6旋轉,並將刮板單元930及相機690插入至懸架部561之空間R。 The control unit 110 makes the axis J6 of the articulated robot 600 vertical to rotate the axis J6 , and inserts the squeegee unit 930 and the camera 690 into the space R of the suspension unit 561 .

控制部110係將安裝於末端680的刮板單元930而自末端680分離並垂吊於支架560之懸架部561。 The control part 110 separates the scraper unit 930 mounted on the end 680 from the end 680 and hangs it from the suspension part 561 of the bracket 560 .

*檢查步驟S21* *check step S21* (拍攝步驟) (shooting steps)

控制部110係控制版移動機構700,於印刷後移動版框310而開放工件200之上空。 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 .

控制部110係於利用版移動機構700使網版300移動而開放工件200之上空的狀態下,使多關節機器人600動作,而將相機690移動至工件200之上空。 The control unit 110 operates the articulated robot 600 to move the camera 690 to the air above the workpiece 200 in a state in which the screen plate 300 is moved by the plate moving mechanism 700 to open the air above the workpiece 200 .

控制部110係於自多關節機器人600將刮板910卸下之狀態下,移動固定於多關節機器人600的相機690。 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 .

控制部110係藉由多關節機器人600而將相機690定位於1對基準標記410之上空。 The control unit 110 positions the camera 690 above the pair of reference marks 410 by the articulated robot 600 .

基準標記410之配置位置係已知,多關節機器人600係依序地拍攝1對基準標記410。 The arrangement positions of the fiducial markers 410 are known, and the articulated robot 600 sequentially images a pair of fiducial markers 410 .

控制部110係利用多關節機器人600,於使相機690之相機軸JC朝向鉛垂方向下方的狀態下,定位相機690。 The control unit 110 uses the articulated robot 600 to position the camera 690 in a state in which the camera axis JC of the camera 690 is directed downward in the vertical direction.

控制部110係使相機690動作,於1次之拍攝中,將1對基準標記410及1對基準標記之間所被印刷之印刷線201而拍攝於1張圖像中。 The control unit 110 operates the camera 690 to capture one image of the pair of reference marks 410 and the printed line 201 printed between the pair of reference marks in one image.

控制部110係使多關節機器人600動作並使相機690移動,利用相機690依序地拍攝所有14對基準標記410。此時,相機軸係始終位於鉛垂方向。即,多關節機器人600係使軸J6朝鉛垂方向而 使相機690移動。 The control unit 110 operates the articulated robot 600 to move the camera 690 , and uses the camera 690 to sequentially image all 14 pairs of fiducial markers 410 . At this time, the camera axis is always in the vertical direction. That is, the articulated robot 600 moves the camera 690 with the axis J6 in the vertical direction.

控制部110係於拍攝後使多關節機器人600動作,將相機690移動至支架560之上空。 The control unit 110 operates the articulated robot 600 to move the camera 690 to the air above the stand 560 after capturing the image.

(分析步驟) (Analysis step)

控制部110係對相機690所拍攝之圖像進行分析,並執行以下之位置檢查、寬度檢查、及距離檢查。 The control unit 110 analyzes the image captured by the camera 690, and executes the following position check, width check, and distance check.

(位置檢查) (location check)

控制部110係對藉由相機690所拍攝之1個部位之圖像進行分析。 The control unit 110 analyzes the image of one site captured by the camera 690 .

控制部110係基於1對基準標記之位置及印刷圖案之位置而判斷印刷圖案之良否。 The control part 110 judges whether the printing pattern is good or not based on the position of a pair of reference marks and the position of the printing pattern.

A.利用1個基準標記所進行之位置檢查例 A. Example of position inspection using one fiducial mark

如圖15之(d)所示,控制部110係計算自基準標記P1之中心位置至印刷線201之外輪廓線202為止之距離G1。 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 outer contour line 202 of the printed line 201 .

如圖15之(d)所示,控制部110係計算自基準標記P1之中心位置至印刷線201之外輪廓線203為止之距離G3。 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 outer contour line 203 of the printed line 201 .

若距離G1及距離G2為所預定之距離,則控制部110係判斷印刷為正常。 If the distance G1 and the distance G2 are predetermined distances, the control unit 110 determines that the printing is normal.

若距離G1及距離G2為所預定之距離以外,則控制部110係判斷印刷為不良。 If the distance G1 and the distance G2 are out of the predetermined distances, the control unit 110 determines that the printing is defective.

於該位置檢查中,不使用基準標記410之配置位置。即,於位置檢查中,不使用基準標記410之中心位置之座標。 In this position check, the arrangement position of the fiducial mark 410 is not used. That is, in the position inspection, the coordinates of the center position of the reference mark 410 are not used.

B.利用2個基準標記之位置檢查例1 B. Example 1 of position inspection using two fiducial marks

如圖15之(d)所示,控制部110係計算自基準標記P1之中心位置至印刷線201之外輪廓線202為止之距離G1。 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 outer contour line 202 of the printed line 201 .

如圖15之(d)所示,控制部110係計算自基準標記P2之中心位置至印刷線201之外輪廓線203為止之距離G4。 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 outer contour line 203 of the printed line 201 .

若距離G1及距離G4為所預定之距離,則控制部110係判斷印刷為正常。 If the distance G1 and the distance G4 are predetermined distances, the control unit 110 determines that the printing is normal.

若距離G1及距離G4為所預定之距離以外,則控制部110係判斷印刷為不良。 If the distance G1 and the distance G4 are out of the predetermined distances, the control unit 110 determines that the printing is defective.

在該位置檢查中不使用基準標記410之配置位置。即,在位置檢查中不使用基準標記410之中心位置之座標。 The arrangement position of the fiducial mark 410 is not used in this position check. That is, the coordinates of the center position of the reference mark 410 are not used for position inspection.

C.利用2個基準標記所進行之位置檢查例2 C. Example 2 of position inspection using two fiducial marks

如圖15之(d)所示,控制部110係檢測出外輪廓線202及外輪廓線203,計算外輪廓線202與外輪廓線203的中央而作為印刷線201之中心線204之位置。 As shown in FIG. 15( d ), the control unit 110 detects the outer contour 202 and the outer contour 203 , and calculates the center of the outer contour 202 and the outer contour 203 as the position of the center line 204 of the printed line 201 .

如圖15之(d)所示,控制部110係計算自基準標記P1之中心位置至中心線204為止之距離K1。 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 .

如圖15之(d)所示,控制部110係計算自基準標記P2之中心位置至中心線204為止之距離K4。 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 .

若距離K1及距離K4為所預定之距離,則控制部110係判斷印刷為正常。 If the distance K1 and the distance K4 are predetermined distances, the control unit 110 determines that the printing is normal.

若距離K1及距離K4為所預定之距離以外,則控制部110係判斷印刷為不良。 If the distance K1 and the distance K4 are out of the predetermined distances, the control unit 110 determines that the printing is defective.

於印刷線201必須被印刷於1對基準標記之中央之情形時,進 而,控制部110係判定在1對基準標記之距離W1之中間位置是否存在有印刷線201之中心線204。 When the printed line 201 must be printed in the center of a pair of fiducial marks, the control unit 110 further determines whether there is a center line 204 of the printed line 201 at the middle position of the distance W1 of the pair of fiducial marks.

若為K1=K4=W1/2,則控制部110係判斷印刷為正常。 If K1=K4=W1/2, the control part 110 judges that printing is normal.

若並非K1=K4=W1/2,則控制部110係判斷印刷為不良。 If it is not K1=K4=W1/2, the control part 110 judges that printing is defective.

即,若在1對基準標記之距離W1之中間位置存在有印刷線201之中心線204,則控制部110係判斷其之位置之印刷為正常。 That is, if the center line 204 of the printing line 201 exists in the middle position of the distance W1 of a pair of reference marks, the control part 110 judges that the printing at the position is normal.

若偏離2個基準標記之中間而存在有印刷線201之中心線204,則控制部110係判斷其之位置之印刷為不良。 If the center line 204 of the printed line 201 exists outside the middle of the two reference marks, the control unit 110 judges that the printing at the position is defective.

在該位置檢查中,使用1對基準標記之距離W1。 In this position check, the distance W1 of one pair of fiducial marks is used.

在該位置檢查中,不使用基準標記410之配置位置。即,在位置檢查中不使用基準標記410之中心位置之座標。 In this position check, the arrangement position of the fiducial mark 410 is not used. That is, the coordinates of the center position of the reference mark 410 are not used for position inspection.

如上所述,於位置檢查中,將印刷線及1個或1對基準標記拍攝於1張圖像中,計算印刷線與基準標記的距離,並判定印刷線之印刷位置之良否。 As described above, in the position inspection, the printed line and one or one pair of reference marks are photographed in one image, the distance between the printed line and the reference mark is calculated, and the quality of the printed position of the printed line is determined.

(寬度檢查) (width check)

控制部110係對藉由相機690所拍攝到之1個部位之圖像進行分析。 The control unit 110 analyzes the image of one site captured by the camera 690 .

控制部110係基於1對基準標記之距離W1及印刷圖案之寬度而判斷印刷圖案之良否。 The control part 110 judges whether the printing pattern is good or not based on the distance W1 of a pair of reference marks and the width of the printing pattern.

控制部110係從1對基準標記之中心位置之距離W1及印刷線201之圖像,計算印刷線201之寬度。 The control unit 110 calculates the width of the printed line 201 from the distance W1 between the center positions of the pair of fiducial marks and the image of the printed line 201 .

具體而言,控制部110係進行如下所示之計算。 Specifically, the control unit 110 performs the following calculation.

A.利用1個基準標記所進行之寬度檢查例 A. Example of width inspection using one fiducial mark

如圖15之(d)所示,控制部110係計算自基準標記P1之中心位置至印刷線201之外輪廓線202為止之距離G1。 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 outer contour line 202 of the printed line 201 .

如圖15之(d)所示,控制部110係計算自基準標記P1之中心位置至印刷線201之外輪廓線203為止之距離G3。 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 outer contour line 203 of the printed line 201 .

控制部110係進行「印刷線201之寬度=G3-G1」之計算,而求出印刷線201之寬度。 The control unit 110 calculates "the width of the printed line 201=G3-G1" to obtain the width of the printed line 201.

若印刷線201之寬度為所預定之寬度V1,則控制部110係判斷印刷為正常。 If the width of the printing line 201 is the predetermined width V1, the control unit 110 determines that the printing is normal.

若印刷線201之寬度為所預定之寬度V1以外,則控制部110係判斷印刷為不良。 If the width of the printing line 201 is outside the predetermined width V1, the control unit 110 determines that the printing is defective.

在寬度檢查中不使用基準標記410之配置位置。即,在位置檢查中不使用基準標記410之中心位置之座標。 The arrangement position of the fiducial mark 410 is not used in the width check. That is, the coordinates of the center position of the reference mark 410 are not used for position inspection.

B.利用2個基準標記所進行之寬度檢查例 B. Example of width inspection using two fiducial marks

如圖15之(d)所示,控制部110係計算自基準標記P1之中心位置至印刷線201之外輪廓線202為止之距離G1。 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 outer contour line 202 of the printed line 201 .

如圖15之(d)所示,控制部110係計算自基準標記P2之中心位置至印刷線201之外輪廓線203為止之距離G4。 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 outer contour line 203 of the printed line 201 .

控制部110係將基準標記P1之中心位置與基準標記P2之中心位置的距離W1自記憶裝置取出,並進行以下之計算。 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.

印刷線201之寬度=W1-(G1+G4) The width of the printed line 201=W1-(G1+G4)

若印刷線201之寬度為所預定之寬度V1,則控制部110係判斷印刷為正常。 If the width of the printing line 201 is the predetermined width V1, the control unit 110 determines that the printing is normal.

若印刷線201之寬度為所預定之寬度V1以外,則控制部110係判斷印刷為不良。 If the width of the printing line 201 is outside the predetermined width V1, the control unit 110 determines that the printing is defective.

在寬度檢查中使用1對基準標記之距離W1。 The distance W1 of a pair of fiducial marks is used in the width check.

在寬度檢查中不使用基準標記410之配置位置。即,在位置檢查中不使用基準標記410之中心位置之座標。 The arrangement position of the fiducial mark 410 is not used in the width check. That is, the coordinates of the center position of the reference mark 410 are not used for position inspection.

如上所述,於寬度檢查中,將印刷線及1個或1對基準標記拍攝於1張圖像中,故而可計算印刷線與基準標記之距離,並可判定印刷線之寬度之良否。 As described above, in the width inspection, the printed line and one or one pair of fiducial marks are photographed in one image, so that the distance between the printed line and the fiducial mark can be calculated, and the quality of the printed line width can be judged.

(距離檢查) (distance check)

控制部110係對藉由相機690所拍攝到之數個部位之圖像進行分析。 The control unit 110 analyzes images of several parts captured by the camera 690 .

控制部110係基於各部位之基準標記之位置及各部位之印刷圖案之位置而計算各部位之基準標記與各部位之印刷圖案的距離。 The control part 110 calculates the distance of the fiducial mark of each part and the printing pattern of each part based on the position of the fiducial mark of each part and the position of the printing pattern of each part.

控制部110係基於基準標記與印刷圖案的距離及數個部位之基準標記之距離而計算數個部位之印刷圖案之距離。 The control part 110 calculates the distance of the printing pattern of several places based on the distance of a fiducial mark and a printing pattern and the distance of the fiducial mark of several parts.

控制部110係計算俯視之直線距離而非工件200之曲面之弧長,而判斷印刷之良否。 The control unit 110 calculates the straight line distance from the top view rather than the arc length of the curved surface of the workpiece 200 to judge whether the printing is good or not.

距離檢查係使用2個基準標記與2條印刷線201的距離、及被記憶於記憶裝置的2個基準標記之距離。 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 memorized in the memory device.

在距離檢查中不使用基準標記410之配置位置。即,在位置檢查中不使用基準標記410之中心位置之座標。 The arrangement position of the fiducial mark 410 is not used in the distance check. That is, the coordinates of the center position of the reference mark 410 are not used for position inspection.

於2個基準標記之距離未被記憶於記憶裝置之情形時,只要由基準標記410之中心位置之座標而計算2個基準標記之距離即可。 When the distance between the two reference marks is not stored in the memory device, the distance between the two reference marks can be calculated from the coordinates of the center position of the reference mark 410 .

具體而言,控制部係110進行如下所述之檢查。 Specifically, the control unit 110 performs the following inspection.

A.距離檢查例1 A. Distance check example 1

配置在於圖15所示之直線L的基準標記P1之中心位置與基準標記P4之中心位置的距離係當作成W2。 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.

控制部110係基於基準標記P1之位置及印刷線201之外輪廓線202之位置而求出基準標記P1之中心位置與印刷線201之外輪廓線202的距離G1。 The control unit 110 obtains the distance G1 between the center position of the reference mark P1 and the outer contour line 202 of the printed line 201 based on the position of the reference mark P1 and the position of the outer contour line 202 of the printed line 201 .

控制部110係基於基準標記P4之位置及印刷線211之外輪廓線213之位置而求出基準標記P4之中心位置與印刷線211之外輪廓線213的距離G2。 The control unit 110 obtains the distance G2 between the center position of the reference mark P4 and the outer contour line 213 of the printing line 211 based on the position of the reference mark P4 and the position of the outer contour line 213 of the printing line 211 .

若距離W2-(距離G1+距離G2)為預定之長度V3,則控制部110係判斷為正常。 If the distance W2-(distance G1+distance G2) is the predetermined length V3, the control unit 110 determines that it is normal.

若距離W2-(距離G1+距離G2)為預定之長度V3以外,則控制部110係判斷為不良。 If the distance W2-(distance G1+distance G2) is beyond the predetermined length V3, the control part 110 judges as a defect.

又,配置在於圖15所示之直線L的基準標記P2之中心位置與基準標記P3之中心位置的距離係當作成W3。 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.

控制部110係基於基準標記P2之位置及印刷線201之外輪廓線203之位置而求出基準標記P2之中心位置與印刷線201之外輪廓線203的距離G4。 The control unit 110 obtains the distance G4 between the center position of the reference mark P2 and the outer contour line 203 of the printed line 201 based on the position of the reference mark P2 and the position of the outer contour line 203 of the printed line 201 .

控制部110係基於基準標記P3之位置及印刷線211之外輪廓線212之位置而求出基準標記P3之中心位置與印刷線211之外輪廓線212的距離G5。 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 outer contour line 212 of the printing line 211 .

若距離W3+(距離G4+距離G5)為預定之長度V4,則控制部110係判斷為正常。 If the distance W3+(distance G4+distance G5) is the predetermined length V4, the control part 110 judges as normal.

若距離W3+(距離G4+距離G5)為預定之長度V4以外,則控制部110係判斷為不良。 If the distance W3+(distance G4+distance G5) is outside the predetermined length V4, the control part 110 judges as defective.

B.距離檢查例2 B. Distance Check Example 2

配置在於圖15所示之直線L的基準標記P1之中心位置與基準標記P4之中心位置的距離係當作成W2。 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.

控制部110係基於基準標記P1之位置及印刷線201之中心線204之位置而求出基準標記P1之中心位置與印刷線201之中心線204的距離K1。 The control unit 110 obtains the distance K1 between the center position of the fiducial mark P1 and the center line 204 of the printed line 201 based on the position of the fiducial mark P1 and the position of the center line 204 of the printed line 201 .

控制部110係基於基準標記P4之位置及印刷線211之中心線214之位置而求出基準標記P4之中心位置與印刷線211之中心線214的距離K2。 The control unit 110 obtains the distance K2 between the center position of the fiducial mark P4 and the center line 214 of the printed line 211 based on the position of the fiducial mark P4 and the position of the center line 214 of the printed line 211 .

若距離W2-(距離K1+距離K2)為預定之長度V5,則控制部110係判斷為正常。 If the distance W2-(distance K1+distance K2) is the predetermined length V5, the control unit 110 determines that it is normal.

若距離W2-(距離K1+距離K2)為預定之長度V5以外,則控制部110係判斷為不良。 If the distance W2-(distance K1+distance K2) is outside the predetermined length V5, the control part 110 judges as a defect.

又,配置在於圖15所示之直線L的基準標記P2之中心位置與基準標記P3之中心位置的距離係當作成W3。 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.

控制部110係基於基準標記P2之位置及印刷線201之中心線204之位置而求出基準標記P2之中心位置與印刷線201之中心線204的距離K4。 The control unit 110 obtains the distance K4 between the center position of the fiducial mark P2 and the center line 204 of the printed line 201 based on the position of the fiducial mark P2 and the position of the center line 204 of the printed line 201 .

控制部110係基於基準標記P3之位置及印刷線211之中心線214之位置而求出基準標記P3之中心位置與印刷線211之中心線214的距離K5。 The control unit 110 obtains the distance K5 between the center position of the fiducial mark P3 and the center line 214 of the printed line 211 based on the position of the fiducial mark P3 and the position of the center line 214 of the printed line 211 .

若距離W3+(距離K4+距離K5)為預定之長度V5,則控制部110係判斷為正常。 If the distance W3+(distance K4+distance K5) is the predetermined length V5, the control part 110 judges as normal.

若距離W3+(距離K4+距離K5)為預定之長度V5以外,則控 制部110係判斷為不良。 If the distance W3+ (distance K4 + distance K5) is outside the predetermined length V5, the control unit 110 judges that it is defective.

如上所述,於距離檢查中,針對印刷線與1個基準標記拍攝2個部位,故而可藉由2個基準標記間之距離、及由從2個圖像所求出之基準標記至印刷線為止之距離而計算印刷線之距離。 As described above, in the distance inspection, two locations are imaged with respect to the printed line and one reference mark, so that the distance between the two reference marks and the reference mark obtained from the two images can be used to reach the printed line. Calculate the distance of the printed line according to the distance to the end.

亦可使用與上述檢查內容、檢查方法及計算方法不同之其他之檢查內容、檢查方法及計算方法。 Other inspection contents, inspection methods and calculation methods different from the above-mentioned inspection contents, inspection methods and calculation methods may also be used.

於檢查步驟S21中,僅在相機690之定位上使用基準標記410之配置位置。 In the inspection step S21 , only the arrangement position of the fiducial mark 410 is used for the positioning of the camera 690 .

於檢查步驟S21中,為了判斷印刷圖案之良否,並未使用基準標記410之配置位置。 In the inspection step S21, in order to judge whether the printing pattern is good or not, the arrangement position of the reference mark 410 is not used.

於檢查步驟S21中,僅基準標記410與印刷圖案之距離,或僅基準標記410彼此之距離而被使用。 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.

控制部110係可於拍攝中或拍攝後,為了進行目視檢查而將所拍攝之圖像、測量值、計算值、及檢查結果顯示於顯示器120。 The control unit 110 may display the photographed image, the measured value, the calculated value, and the inspection result on the display 120 for visual inspection during or after the photographing.

具體而言,控制部110係基於來自控制台170之指示而將圖像、測量值、計算值、及檢查結果依序或選擇性地顯示於顯示器120。 Specifically, the control unit 110 sequentially or selectively displays images, measured values, calculated values, and inspection results on the display 120 based on an instruction from the console 170 .

又,控制部110係基於來自控制台170之指示,將判斷為不良之印刷圖案之圖像、測量值、計算值、及檢查結果顯示於顯示器120。 Moreover, the control part 110 displays the image of the printing pattern judged to be defective, the measurement value, the calculation value, and the inspection result on the display 120 based on the instruction from the console 170.

*工件200之搬出步驟S22* *Step S22 of taking out the workpiece 200*

控制部110係藉由未圖示之搬出裝置而將工件200搬出。 The control part 110 carries out the workpiece|work 200 by the carrying out apparatus which is not shown in figure.

*反覆步驟S23* *Repeat step S23*

控制部110係於工件200之搬出後,判斷是否有下一次印刷, 而返回至刮板單元930之安裝步驟S12。 After the workpiece 200 is unloaded, the control unit 110 determines whether there is next printing, and returns to the step S12 of the squeegee unit 930 installation.

若未有下一次印刷,則控制部110結束印刷。 If there is no next printing, the control unit 110 ends the printing.

如上所述,於實施形態1中,對一種網版印刷方法進行了說明,其具有如下功能:可對具有凹凸兩者之曲面的工件200進行印刷。 As mentioned above, in Embodiment 1, the screen printing method which has a function which can print the workpiece|work 200 of the curved surface which has both unevenness|corrugation is demonstrated.

又,對一種網版印刷方法進行了說明,其於網版印刷後利用相機690測量印刷位置並檢查印刷結果。 Moreover, the screen printing method which measures the printing position with the camera 690 after screen printing and examines a printing result was demonstrated.

根據上述之網版印刷方法,可對具有曲面形狀的玻璃基板、薄膜、其他之曲面工件進行印刷。 According to the above-mentioned screen printing method, glass substrates, films, and other curved workpieces having a curved shape can be printed.

***實施形態1之效果之說明*** ***Explanation of the effect of Embodiment 1***

根據實施形態1,由於具備有多關節機器人600,故而可對曲面之工件200進行印刷。 According to the first embodiment, since the multi-joint robot 600 is provided, the workpiece 200 having a curved surface can be printed.

使用多關節機器人600之優點如下所述。 The advantages of using the articulated robot 600 are as follows.

A.於曲面印刷中,可使刮板910及刮刀920沿曲面而移動。 A. In curved surface printing, the squeegee 910 and the squeegee 920 can be moved along the curved surface.

B.於曲面印刷中,可使刮板910及刮刀920之攻角為固定。 B. In curved surface printing, the angle of attack of the squeegee 910 and the squeegee 920 can be fixed.

C.可利用多關節機器人600進行印刷及檢查之2種動作。即,藉由將刮板單元930設為可裝卸,而成為可進行藉由相機690所進行之檢查。 C. The multi-joint robot 600 can be used for two kinds of actions of printing and inspection. That is, by making the squeegee unit 930 detachable, the inspection by the camera 690 becomes possible.

D.可使刮板單元930移動至支架560,可完全地開放工件200之上空。 D. The scraper unit 930 can be moved to the bracket 560, and the air above the workpiece 200 can be completely opened.

E.亦可代替工件200之搬入裝置及搬出裝置而藉由多關節機器人600進行工件200之搬入及工件200之搬出。 E. The articulated robot 600 can also be used for the loading and unloading of the workpiece 200 in place of the loading and unloading devices of the workpiece 200 .

由於網版印刷裝置100係具備具有與工件之曲面對 應的曲面的治具400,故而可在不使工件200變形之情況下進行印刷。 Since the screen printing apparatus 100 includes the jig 400 having the curved surface corresponding to the curved surface of the workpiece, printing can be performed without deforming the workpiece 200 .

由於多關節機器人600為吊頂類型,故而網版印刷裝置100之俯視面積變小。 Since the articulated robot 600 is a ceiling type, the plan area of the screen printing apparatus 100 is reduced.

由於多關節機器人600係將3軸水平地配置,將剩餘之軸配置於同一平面而進行印刷,故而可精度良好地對刮板單元930進行操作。 Since the articulated robot 600 arranges three axes horizontally and prints by arranging the remaining axes on the same plane, the squeegee unit 930 can be operated with high precision.

由於多關節機器人600係僅控制水平地配置之3軸而進行印刷,故而於俯視下可正確地使刮板單元930進行直線移動。 Since the articulated robot 600 performs printing by controlling only three axes arranged horizontally, the squeegee unit 930 can be accurately moved linearly in a plan view.

由於多關節機器人600係將水平地配置之3軸以外之剩餘之軸全部固定而進行印刷,故而刮板單元930之姿勢控制變得容易。 Since the articulated robot 600 performs printing by fixing all the axes other than the three axes arranged horizontally, the posture control of the squeegee unit 930 becomes easy.

根據實施形態1,具備具有與工件200之表面之凹凸面對應的凹凸面的網版,故而可對曲面之工件200進行印刷。 According to Embodiment 1, since the screen plate having the uneven surface corresponding to the uneven surface of the surface of the workpiece 200 is provided, the workpiece 200 having a curved surface can be printed.

由於具備有變更工件200與網版300之距離的起降機構800,故而可最適當地調節離版角度。 Since the lifting and lowering mechanism 800 for changing the distance between the workpiece 200 and the screen plate 300 is provided, the angle of separation from the plate can be adjusted most appropriately.

由於起降機構800係於工件200之凸面之頂部220之印刷後將治具400自網版300拉離,故而可避免工件200之凸面與網版300的離版角度之減小。 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.

起降機構800係可藉由使治具400升降之升降機構830及使治具400旋轉之旋轉機構860而調整工件200與網版300的離版角度。 The lifting and lowering mechanism 800 can adjust the separation angle between the workpiece 200 and the screen 300 by the lifting mechanism 830 for lifting the jig 400 and the rotating mechanism 860 for rotating the jig 400 .

根據實施形態1,由於具備具有基準標記410的治具400及相機690,故而可對印刷圖案進行檢查。 According to Embodiment 1, since the jig 400 having the reference mark 410 and the camera 690 are provided, the printed pattern can be inspected.

由於基準標記410係被形成於堅固之治具400而非曲面板之工 件200,故而不存在基準標記410之位置偏離而可進行正確之檢查。 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.

由於相機690係於將相機軸朝向鉛垂方向下方之狀態下拍攝基準標記及印刷圖案,故而易於拍攝,並且易於進行位置計算。 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 calculate the position.

由於工件200為透明,故而相機690係可經由工件200而拍攝基準標記410。 Since the workpiece 200 is transparent, the camera 690 can capture the fiducial mark 410 through the workpiece 200 .

根據實施形態1,由於具備有使版框310移動的版移動機構700,故而可在不使工件200移動之情況下進行印刷圖案之檢查。 According to the first embodiment, since the plate moving mechanism 700 for moving the plate frame 310 is provided, the inspection of the printed pattern can be performed without moving the workpiece 200 .

於將工件200自治具400搬出之後而進行檢查之情形時,存在有在工件200變形之狀態下進行檢查之可能性,而無法保證正確之檢查。 When the workpiece 200 is unloaded from the tool 400 for inspection, there is a possibility that the workpiece 200 is deformed and the inspection is performed, and accurate inspection cannot be guaranteed.

由於多關節機器人600係於卸下刮板單元930之狀態下進行相機690之移動,故而於檢查中不存在自刮板910或刮刀920而掉落油墨。 Since the articulated robot 600 moves the camera 690 in the state where the squeegee unit 930 is removed, there is no ink drop from the squeegee 910 or the squeegee 920 during inspection.

由於多關節機器人600係始終固定有相機690,故而無需進行相機690之裝卸動作。 Since the camera 690 is always fixed to the articulated robot 600 , the camera 690 does not need to be mounted or removed.

由於將印刷線及至少1個基準標記拍攝於1張圖像中,故而可計算印刷線與1個基準標記的距離,可判定印刷線之印刷位置之良否或印刷線之寬度之良否。 Since the printed line and at least one fiducial mark are photographed in one image, the distance between the printed line and one fiducial mark can be calculated, and it is possible to determine whether the printing position of the printed line or the width of the printed line is good or not.

即,由於基準標記之位置為已知,故而可藉由計算基準標記與印刷線的距離而知曉印刷線之位置之良否,並判定印刷圖案之良否。 That is, since the position of the fiducial mark is known, it is possible to know whether the position of the printed line is good or not by calculating the distance between the fiducial mark and the printed line, and to determine whether the printed pattern is good or not.

由於針對印刷線及基準標記進行拍攝數個部位,故而 可藉由基準標記間之距離、及自基準標記至印刷線為止之距離而計算印刷線之距離,可判定印刷線之距離之良否。 Since several parts of the printed line and the fiducial mark are photographed, the distance of the printed line can be calculated from the distance between the fiducial marks and the distance from the fiducial mark to the printed line, and it is possible to judge whether the distance of the printed line is good or not.

即,由於2個基準標記410之距離為已知,故而可基於2個基準標記410之位置及印刷線之位置而計算2條印刷線之距離,可判斷印刷圖案之良否。 That is, since the distance of the two fiducial marks 410 is known, the distance of the two printed lines can be calculated based on the positions of the two fiducial marks 410 and the position of the printed line, and the quality of the printed pattern can be judged.

***實施形態1之變形例*** ***Variation of Embodiment 1*** (工件200之變形例) (Variation of workpiece 200)

工件200之表面亦可具有數個凹曲面及數個凸曲面。 The surface of the workpiece 200 may also have several concave curved surfaces and several convex curved surfaces.

工件200之表面之凹曲面與凸曲面之半徑之長度亦可不同。 The lengths of the radii of the concave curved surface and the convex curved surface of the surface of the workpiece 200 may also be different.

於工件200之表面亦可存在有半徑為不同之凹曲面與凹曲面為連續之部分。 On the surface of the workpiece 200 , there may also be concave curved surfaces with different radii and parts where the concave curved surfaces are continuous.

於工件200之表面亦可存在有半徑為不同之凸曲面與凸曲面為連續之部分。 On the surface of the workpiece 200 , there may also be a convex curved surface with different radii and a continuous portion of the convex curved surface.

於工件200之表面亦可存在有曲面與平面為連續之部分。 On the surface of the workpiece 200, there may also be a part where the curved surface and the flat surface are continuous.

工件200之背面係無需具有與工件200之表面對應之曲面,工件200之厚度亦可並非固定。 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.

工件200之背面亦可為平面。於工件200背面為平面之情形時,治具400只要與工件200之背面之平面對應,為平面即可。 The back surface of the workpiece 200 may also be flat. When the back surface of the workpiece 200 is flat, the jig 400 may be flat as long as it corresponds to the flat surface of the back surface of the workpiece 200 .

工件200亦可不僅於前後方向,而且於左右方向上至少一部分具有凹部及凸部中一者或兩者。於工件200在左右方向上具有凹部或凸部之情形時,只要與工件200之凹部或凸部對應之凸部或凹部為存在於刮板910之前端即可。 The workpiece 200 may have one or both of a concave portion and a convex portion at least in part 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, the protrusions or recesses corresponding to the recesses or protrusions of the workpiece 200 only need to exist at the front end of the scraper 910 .

(治具400之變形例) (Variation of Jig 400)

治具400之載置面亦可不與工件200之背面之形狀一致,只要工件200具有充分之硬度,則治具400之載置面與工件200之背面之間亦可具有間隙。 The placement surface of the jig 400 may not have the same shape as the back surface of the workpiece 200 . As long as the workpiece 200 has sufficient hardness, there may be a gap between the placement surface of the jig 400 and the back surface of the workpiece 200 .

基準標記410亦可相對於印刷線201而非存在為1對,亦可相對於印刷線201而存在1個。即便於基準標記410相對於印刷線201而存在1個之情形時,由於基準標記410之位置為已知,故而亦可計算基準標記410之位置與印刷線201的距離。 The fiducial mark 410 may not exist as a pair with respect to the printed line 201 , or may exist in one pair with respect to the printed line 201 . Even when there is one fiducial mark 410 relative to the printed line 201 , since the position of the fiducial mark 410 is known, the distance between the position of the fiducial mark 410 and the printed line 201 can be calculated.

又,即便於基準標記410相對於印刷線201而存在1個之情形時,亦可使用數個基準標記410之距離而計算數個印刷線201之距離。 Furthermore, even when there is one fiducial mark 410 with respect to the printed line 201 , the distances of the plural printed lines 201 can be calculated using the distances of the plural fiducial marks 410 .

基準標記410亦可形成為並非與直線之印刷線201而與曲線、正方形、三角形、多角形、半圓、其他之形狀之印刷圖案對應。 The fiducial mark 410 may also be formed not to correspond to the printed line 201 of the straight line but to correspond to the printed pattern of a curve, a square, a triangle, a polygon, a semicircle, or other shapes.

基準標記410無需位於印刷線201之各端部,亦可僅存在於品質檢查上被認為重要之部位。 The fiducial marks 410 do not need to be located at each end of the printed line 201 , and may be located only at locations considered important for quality inspection.

基準標記410亦可並非為孔,亦可為於治具400之表面所記載之記號或標籤。 The reference mark 410 may not be a hole, but may be a mark or a label written on the surface of the jig 400 .

基準標記410之形狀亦可並非為圓形,亦可為正方形、三角形、多角形、直線、半圓、其他之形狀。 The shape of the reference mark 410 may not be a circle, but may be a square, a triangle, a polygon, a straight line, a semicircle, or other shapes.

基準標記410只要為可利用相機690拍攝並識別者即可。 The reference mark 410 only needs to be a person who can be photographed and recognized by the camera 690 .

基準標記410亦可僅存在於工件200之外側。 The fiducial mark 410 may also exist only on the outer side of the workpiece 200 .

基準標記410亦可僅存在於工件200之內側。 The fiducial mark 410 may also exist only on the inner side of the workpiece 200 .

於可經由工件200而利用相機690拍攝基準標記410之情形 時,基準標記410亦可僅位於被工件200所覆蓋之位置。可經由工件200而利用相機690拍攝基準標記410之情形之具體例係工件200為透明之情形、或工件200為具有使基準標記410露出的貫通孔之情形。 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 the position covered by the workpiece 200. A specific example of the case where the fiducial mark 410 can be photographed with the camera 690 through the workpiece 200 is the case where the workpiece 200 is transparent or the workpiece 200 has a through hole through which the fiducial mark 410 is exposed.

亦可以基準標記410之孔之中心軸並非為鉛垂方向而相對於工件200之表面成垂直之方式形成基準標記410。於利用相機690拍攝之情形時,多關節機器人600係使相機軸JC與基準標記410之孔之中心軸一致而進行拍攝。控制部110係基於曲面之弧長而計算印刷圖案之尺寸及距離。 The fiducial mark 410 may also be formed so that the central axis of the hole of the fiducial mark 410 is not in the vertical direction but is perpendicular to the surface of the workpiece 200 . In the case of photographing with the camera 690, the articulated robot 600 performs the photographing by aligning the camera axis JC with the center axis of the hole of the fiducial mark 410. The control unit 110 calculates the size and distance of the printed pattern based on the arc length of the curved surface.

(多關節機器人600之變形例) (Variation of the articulated robot 600)

多關節機器人600亦可並非為6軸之機器人,亦可為5軸、4軸、或3軸之機器人。 The articulated robot 600 may not be a 6-axis robot, but may also be a 5-axis, 4-axis, or 3-axis robot.

具體而言,亦可不具有軸J4。 Specifically, the axis J4 may not be provided.

若無利用相機690所進行之檢查且無需使刮板單元930移動至支架560,則亦可不具有軸J1。 If there is no inspection by the camera 690 and there is no need to move the squeegee unit 930 to the bracket 560, the axis J1 may not be present.

若無利用相機690所進行之檢查且無需使刮板單元930於支架560之上空旋轉,則亦可不具有軸J6。 If there is no inspection by the camera 690 and the scraper unit 930 does not need to be rotated above the bracket 560, the axis J6 may not be provided.

版移動機構700及起降機構800亦可針對使用使刮板單元930於水平方向直線地移動之驅動機構的網版印刷裝置而使用。 The plate moving mechanism 700 and the lifting and lowering mechanism 800 can also be used for a screen printing apparatus using a drive mechanism that linearly moves the squeegee unit 930 in the horizontal direction.

又,使用之上述基準標記的檢查內容及檢查方法亦可針對使用使刮板單元930於水平方向直線地移動之驅動機構的網版印刷裝置而使用。 In addition, the inspection content and inspection method of the above-mentioned fiducial marks used can also be used for a screen printing apparatus using a drive mechanism that linearly moves the squeegee unit 930 in the horizontal direction.

又,相機690亦可不安裝於多關節機器人600,亦可將相機690安裝於使其於水平二維方向上移動的二維驅動機構,來代替將相機690安裝於多關節機器人600。 In addition, the camera 690 may not be attached to the articulated robot 600 , and instead of attaching the camera 690 to the articulated robot 600 , the camera 690 may be attached to a two-dimensional drive mechanism that moves in a horizontal two-dimensional direction.

(版移動機構700之變形例) (Variation of the plate moving mechanism 700 )

版移動機構700亦可不使版框310左右地移動,而使版框310前後地移動。 The plate moving mechanism 700 may move the plate frame 310 back and forth instead of moving the plate frame 310 left and right.

版移動機構700亦可以版框310之一邊為軸而使版框310旋轉。 The plate moving mechanism 700 may rotate the plate frame 310 by using one side of the plate frame 310 as an axis.

版移動機構700亦可不使版框310移動,而將起降機構800載置於移動台而移動起降機構800。 The plate moving mechanism 700 may move the elevator mechanism 800 by placing the elevator mechanism 800 on the mobile station without moving the plate frame 310 .

(起降機構800之變形例) (Variation of the take-off and landing mechanism 800 )

只要平台820為堅固,則亦可不具有位於起降機構800之中央的升降缸832及線性軸842。 As long as the platform 820 is firm, the lifting cylinder 832 and the linear axis 842 located in the center of the lifting and lowering mechanism 800 may not be provided.

位於起降機構800之前方的線性軸841亦可不具有4個,亦可為2個。 The number of linear shafts 841 located in front of the take-off and landing mechanism 800 may not be four, but may be two.

起降機構800亦可不具備有升降機構830及旋轉機構860之兩者,亦可僅具備有升降機構830或僅具備有旋轉機構860。 The lifting and lowering mechanism 800 may not include both the lifting mechanism 830 and the rotating mechanism 860 , or may only include the lifting mechanism 830 or only the rotating mechanism 860 .

作為旋轉機構860,表示了僅向單側傾斜之機構,但旋轉機構860亦可為僅向相反側傾斜之機構。或者,旋轉機構860亦可為向兩側傾斜之機構。 As the rotation mechanism 860, a mechanism that tilts only to one side is shown, but the rotation mechanism 860 may be a mechanism that tilts only to the opposite side. Alternatively, the rotating mechanism 860 can also be a mechanism inclined to both sides.

升降導件350亦可於平台820之下表面之左右具有數個,或者於平台820之下表面之前後具有數個。 The lifting guides 350 can also have several on the left and right of the lower surface of the platform 820 , or there are several on the front and back of the lower surface of the platform 820 .

(印刷部900之變形例) (Variation of the printing unit 900 )

表示了於印刷部900具有刮板910及刮刀920之情況,但亦可交換刮板910與刮刀920中之任一者而安裝於印刷部900。 Although the case where the squeegee 910 and the squeegee 920 are provided in the printing unit 900 is shown, either of the squeegee 910 and the squeegee 920 may be replaced and attached to the printing unit 900 .

只要印刷部900為不因末端680之旋轉而與前臂660接觸,則亦可於印刷部900不設置空間S。 As long as the printing part 900 does not come into contact with the forearm 660 due to the rotation of the distal end 680 , the space S may not be provided in the printing part 900 .

(動作之變形例:測試印刷) (Variation of Action: Test Printing)

針對進行測試印刷之情況,對與上述之動作不同之方面進行說明。 In the case where test printing is performed, the point different from the above-mentioned operation will be described.

於工件200之搬入步驟S13中,將工件200載置於治具400。 In step S13 of carrying the workpiece 200 , the workpiece 200 is placed on the jig 400 .

其後,將位於捲筒保持部590的捲筒膜拉出而利用捲筒膜覆蓋工件200。 Then, the roll film located in the roll holding part 590 is pulled out, and the workpiece|work 200 is covered with the roll film.

其後,針對捲筒膜而實施自設置步驟S14至檢查步驟S21為止。 Then, from setting step S14 to inspection step S21 are implemented about the roll film.

即,將版框310及刮板單元930移動至印刷位置而對捲筒膜進行印刷。 That is, the plate frame 310 and the squeegee unit 930 are moved to the printing position, and the roll film is printed.

其後,檢查對捲筒膜之印刷結果。 After that, the printing results on the roll film were checked.

對捲筒膜之印刷結果之檢查結束後,自工件200剝去捲筒膜。 After the inspection of the printing result of the roll film is completed, the roll film is peeled off from the workpiece 200 .

若對捲筒膜之印刷結果為不良,則除去不良之原因之後而再次進行測試印刷。 If the printing result on the roll film is defective, after removing the cause of the defectiveness, test printing is performed again.

若對捲筒膜之印刷結果為正常,則針對工件200而實施自設置步驟S14至搬出步驟S22為止。即,將版框310及刮板單元930移動至印刷位置,而對工件200實施印刷及檢查,並將工件200搬出。 If the printing result on the roll film is normal, the work 200 is executed from the setting step S14 to the unloading step S22. That is, the plate frame 310 and the squeegee unit 930 are moved to the printing position, printing and inspection of the workpiece 200 are performed, and the workpiece 200 is carried out.

(動作之變形例:取樣檢查) (Variation of Action: Sampling Inspection)

亦可不每次實施檢查步驟S21,亦可實施取樣檢查。 The inspection step S21 may not be carried out every time, and the sampling inspection may be carried out.

於進行取樣檢查之情形時,亦可不實施刮板單元930之分離步驟S20,代替分離步驟S20而實施刮板單元930之待機步驟。 In the case of performing sampling inspection, the separation step S20 of the scraper unit 930 may not be performed, and the standby step of the scraper unit 930 may be performed instead of the separation step S20.

待機步驟係指多關節機器人600為安裝有刮板單元930之狀態不變而使刮板單元930於油墨容納皿570之上空待機之步驟。 The standby step refers to a step in which the multi-joint robot 600 waits while the scraper unit 930 is placed above the ink container 570 in a state where the scraper unit 930 is installed.

即便於待機中自刮板910或刮刀920油墨掉落,亦可利用油墨容納皿570接住。 Even if the ink drops from the squeegee 910 or the squeegee 920 during standby, it can be caught by the ink container 570 .

(動作之變形例:凹面印刷至凸面印刷) (Modification of operation: from concave printing to convex printing)

如圖1所示,亦可首先印刷工件200之凹面而後印刷凸面。 As shown in FIG. 1, the concave surface of the workpiece 200 may also be printed first and then the convex surface may be printed.

圖24係表示首先印刷工件200之凹面而後印刷凸面之情況。 Figure 24 shows the case where the concave surface of the workpiece 200 is first printed and then the convex surface is printed.

對工件200之凹面進行印刷時,由於在印刷完畢之部分不具有凸部,故而無需將治具400自網版300拉離。 When printing the concave surface of the workpiece 200 , since there is no convex portion in the printed portion, it is not necessary to pull the jig 400 away from the screen plate 300 .

如圖24之(a)所示,對工件200之凸面之頂部220進行印刷之後,若下坡之高低差為較小,則在離版角度或工件200與網版300的距離為變小之前結束印刷,故而亦無需將治具400自網版300拉離。 As shown in (a) of FIG. 24 , after printing the top 220 of the convex surface of the workpiece 200, if the height difference of the downhill is small, before the departure angle or the distance between the workpiece 200 and the screen 300 becomes smaller Printing is completed, so there is no need to pull the jig 400 away from the screen 300.

對工件200之凸面之頂部220進行印刷之後,於下坡之高低差為較大之情形時,如圖24之(b)所示,僅使升降機構830動作,將治具400整體自網版300拉離。或者,如圖24之(c)所示,使旋轉機構860動作,將治具400之後方自網版300拉離。 After printing the top 220 of the convex surface of the workpiece 200, when the height difference of the descending slope is large, as shown in (b) of FIG. 300 pull away. Alternatively, as shown in FIG. 24( c ), the rotating mechanism 860 is actuated, and the rear side of the jig 400 is pulled away from the screen 300 .

雖未圖示,但於工件200為具有包含連續之數個凹凸的波狀之表面之情形時,控制部110係使用升降機構830及旋轉機構860而調整工件200與網版300的離版角度或工件200與網版300的距離。 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 to adjust the separation angle between the workpiece 200 and the screen 300 Or the distance between the workpiece 200 and the screen 300.

原則上,控制部110係進行如下控制:於上坡之印刷後之下坡之印刷中,將工件200與網版300拉離。 In principle, the control unit 110 performs control such that the workpiece 200 and the screen 300 are pulled apart during the uphill printing and then the downhill printing.

(動作之變形例:相反方向印刷) (Modification of the action: Printing in the opposite direction)

亦可使印刷方向相反。 The printing direction can also be reversed.

於使印刷方向相反之情形時,考慮以下之構成。 When the printing direction is reversed, the following configuration is considered.

構成1.使圖1所示之多關節機器人600之配置前後相反。 Configuration 1. The arrangement of the articulated robot 600 shown in FIG. 1 is reversed.

構成2.針對圖1所示之多關節機器人600,相反地安裝印刷部900。 Configuration 2. On the articulated robot 600 shown in FIG. 1 , the printing unit 900 is installed on the contrary.

構成3.針對圖1所示之多關節機器人600之印刷部900,使刮板910及刮刀920反轉180度且更換刮板910及刮刀920的安裝位置。 Configuration 3. For the printing unit 900 of the articulated robot 600 shown in FIG. 1 , the squeegee 910 and the squeegee 920 are reversed by 180 degrees, and the attachment positions of the squeegee 910 and the squeegee 920 are changed.

(動作之變形例:相機690之裝卸) (Modification of the action: Attachment and detachment of the camera 690)

亦可於支架560形成保持相機690的相機保持部,並針對多關節機器人600進行裝卸相機690。於印刷時,控制部110係將相機690保持於相機保持部,於檢查時,自多關節機器人600將刮板單元930卸下而將相機690安裝於多關節機器人600。 A camera holding portion for holding the camera 690 may be formed in 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, and during inspection, the squeegee unit 930 is removed from the articulated robot 600 and the camera 690 is attached to the articulated robot 600 .

(動作之變形例:印刷之壓力) (Variation of Action: Pressure of Printing)

於印刷時,亦可不藉由加壓器931而藉由多關節機器人600對刮板910施加印刷之壓力。 During printing, the printing pressure may be applied to the squeegee 910 by the multi-joint robot 600 instead of the presser 931 .

或者,於印刷時,亦可藉由加壓器931及多關節機器人600而對刮板910施加印刷之壓力。 Alternatively, during printing, the presser 931 and the multi-joint robot 600 can also apply printing pressure to the squeegee 910 .

同樣地,於油墨塗佈時,亦可不藉由加壓器932而藉由多關節機器人600對刮刀920施加壓力。 Similarly, during ink coating, the multi-joint robot 600 can also apply pressure to the doctor blade 920 instead of the presser 932 .

或者,於油墨塗佈時,亦可藉由加壓器932及多關節機器人600對刮刀920施加壓力。 Alternatively, when the ink is applied, the presser 932 and the multi-joint robot 600 can also apply pressure to the doctor blade 920 .

100‧‧‧網版印刷裝置 100‧‧‧Screen printing device

110‧‧‧控制部 110‧‧‧Control Department

120‧‧‧顯示器 120‧‧‧Display

130‧‧‧機器人控制器 130‧‧‧Robot Controller

140‧‧‧圖像處理單元 140‧‧‧Image processing unit

150‧‧‧真空泵 150‧‧‧Vacuum Pump

200‧‧‧工件 200‧‧‧Workpiece

300‧‧‧網版 300‧‧‧screen version

310‧‧‧版框 310‧‧‧ frame

400‧‧‧治具 400‧‧‧ Jig

500‧‧‧殼體 500‧‧‧Shell

510‧‧‧基台 510‧‧‧Abutment

520‧‧‧控制盒 520‧‧‧Control Box

530‧‧‧柱框架 530‧‧‧Column frame

540‧‧‧樑框架 540‧‧‧Beam Frame

550‧‧‧頂板 550‧‧‧Top Plate

560‧‧‧支架 560‧‧‧Bracket

570‧‧‧油墨容納皿 570‧‧‧Ink Reservoir

590‧‧‧捲筒保持部 590‧‧‧Reel Holder

600‧‧‧多關節機器人 600‧‧‧Articulated Robot

700‧‧‧版移動機構 700‧‧‧ mobile mechanism

800‧‧‧起降機構 800‧‧‧Landing agencies

900‧‧‧印刷部 900‧‧‧Printing Department

910‧‧‧刮板 910‧‧‧Scraper

Claims (22)

一種網版印刷裝置,其係使用刮板對具有曲面的工件進行印刷者,其具備有:版框,其具有網版,該網版係具有與上述工件之曲面對應的曲面;多關節機器人,其一面沿著上述工件及上述網版的曲面,而一面將上述刮板於印刷方向上移動;及控制部,其控制上述多關節機器人而進行網版印刷;上述多關節機器人係具有4軸以上之旋轉軸的多軸機器人,上述多關節機器人係水平且平行地配置3軸,在與上述印刷方向平行的平面且在上述網版之左右方向之中央,將上述3軸以外之軸配置在與上述網版正交的平面,藉由上述3軸之旋轉而一面使上述刮板相對於上述工件之曲面的攻角為固定,一面使上述刮板沿上述工件之曲面而移動。 A screen printing device, which uses a squeegee to print a workpiece with a curved surface, comprising: a plate frame, which has a screen plate, and the screen plate has a curved surface corresponding to the curved surface of the workpiece; a multi-joint robot, One side is along the curved surface of the above-mentioned workpiece and the above-mentioned screen plate, and one side moves the above-mentioned squeegee in the printing direction; and a control unit, which controls the above-mentioned multi-joint robot to carry out screen printing; the above-mentioned multi-joint robot system has more than 4 axes The multi-axis robot of the rotation axis, the above-mentioned multi-joint robot system arranges three axes horizontally and in parallel, on a plane parallel to the above-mentioned printing direction and in the center of the left-right direction of the above-mentioned screen, the axis other than the above-mentioned three axes is arranged in the same direction as the screen. The plane perpendicular to the screen plate is moved along the curved surface of the workpiece while the angle of attack of the squeegee with respect to the curved surface of the workpiece is fixed by the rotation of the three axes. 如請求項1之網版印刷裝置,其具備有:治具,其具有與上述工件之曲面對應的曲面,且載置上述工件;及起降機構,其變更上述網版與上述治具的距離;上述控制部係以於印刷中變更上述網版與上述治具的距離之方式控制上述起降機構。 The screen printing apparatus according to claim 1, comprising: a jig having a curved surface corresponding to the curved surface of the workpiece on which the workpiece is placed; and a lifting and lowering mechanism for changing the distance between the screen and the jig ; The above-mentioned control part controls the above-mentioned take-off and landing mechanism by changing the distance between the above-mentioned screen plate and the above-mentioned jig during printing. 如請求項1之網版印刷裝置,其具備有移動上述版框的版移動機構,上述控制部係以於印刷後移動上述版框而開放上述工件之上空之方式控制上述版移動機構。 The screen printing apparatus according to claim 1, comprising a plate moving mechanism for moving the plate frame, and the control section controls the plate moving mechanism so as to move the plate frame to open the air above the workpiece after printing. 如請求項2之網版印刷裝置,其具備有移動上述版框的版移動 機構,上述控制部係以於印刷後移動上述版框而開放上述工件之上空之方式控制上述版移動機構。 The screen printing apparatus according to claim 2, which is provided with a plate movement for moving the plate frame Mechanism, the control part controls the plate moving mechanism so as to move the plate frame after printing to open the air above the workpiece. 如請求項1之網版印刷裝置,其中,上述多關節機器人係於位於上述網版之上部的頂壁所安裝之吊頂類型之具有5軸以上之旋轉軸的多軸機器人。 The screen printing apparatus of claim 1, wherein the multi-joint robot is a ceiling-type multi-axis robot having more than 5 rotation axes mounted on a ceiling above the screen. 如請求項2之網版印刷裝置,其中,上述多關節機器人係於位於上述網版之上部的頂壁所安裝之吊頂類型之具有5軸以上之旋轉軸的多軸機器人。 The screen printing apparatus of claim 2, wherein the multi-joint robot is a ceiling-type multi-axis robot with more than 5 rotation axes mounted on a ceiling above the screen. 如請求項3之網版印刷裝置,其中,上述多關節機器人係於位於上述網版之上部的頂壁所安裝之吊頂類型之具有5軸以上之旋轉軸的多軸機器人。 The screen printing apparatus of claim 3, wherein the multi-joint robot is a ceiling-type multi-axis robot with more than 5 rotation axes mounted on a ceiling above the screen. 如請求項4之網版印刷裝置,其中,上述多關節機器人係於位於上述網版之上部的頂壁所安裝之吊頂類型之具有5軸以上之旋轉軸的多軸機器人。 The screen printing apparatus according to claim 4, wherein the multi-joint robot is a ceiling-type multi-axis robot with more than 5 rotation axes mounted on a ceiling above the screen. 如請求項5之網版印刷裝置,其中,與上述頂壁正交之旋轉軸係配置於上述網版之印刷寬度之中央上部。 The screen printing apparatus according to claim 5, wherein the rotation axis perpendicular to the top wall is disposed at the upper center of the printing width of the screen. 如請求項6之網版印刷裝置,其中,與上述頂壁正交之旋轉軸係配置於上述網版之印刷寬度之中央上部。 The screen printing apparatus according to claim 6, wherein a rotation axis perpendicular to the top wall is disposed at the upper center of the printing width of the screen. 如請求項7之網版印刷裝置,其中,與上述頂壁正交之旋轉軸係配置於上述網版之印刷寬度之中央上部。 The screen printing apparatus according to claim 7, wherein a rotation axis perpendicular to the top wall is disposed at the upper center of the printing width of the screen. 如請求項8之網版印刷裝置,其中,與上述頂壁正交之旋轉軸係配置於上述網版之印刷寬度之中央上部。 The screen printing apparatus according to claim 8, wherein a rotation axis perpendicular to the top wall is disposed at the upper center of the printing width of the screen. 如請求項1至12中任一項之網版印刷裝置,其中,上述多關 節機器人係將上述3軸以外之剩餘之軸,配置於與印刷方向平行且於上述版框之中央而與上述版框正交的平面而進行印刷。 The screen printing apparatus according to any one of claims 1 to 12, wherein the above-mentioned multiple The joint robot performs printing by arranging the remaining axes other than the three axes described above on a plane parallel to the printing direction and at the center of the plate frame and orthogonal to the plate frame. 如請求項1至12中任一項之網版印刷裝置,其中,上述多關節機器人係具有:基底,其被固定在位於上述網版之印刷寬度之中央上部的頂壁,且具有與頂壁垂直之軸J1;本體,其以能以上述軸J1為中心旋轉之方式安裝於上述基底;肩,其被固定於上述本體,且具有水平方向之軸J2;上臂,其以能以上述軸J2為中心旋轉之方式安裝於上述肩;肘,其被固定於上述上臂,且具有水平方向之軸J3及相對於上述軸J3而垂直之軸J4;前臂,其以能以上述軸J3及上述軸J4為中心旋轉之方式安裝於上述肘;腕,其被固定於上述前臂,具有相對於軸J4而垂直且與軸J4交叉的軸J5及相對於上述軸J5而垂直且與上述軸J5交叉的軸J6;及末端,其以能以上述軸J5及上述軸J6為中心旋轉之方式安裝於上述腕;上述多關節機器人係將上述軸J1及上述軸J2配置於位於印刷開始位置與印刷結束位置之間的印刷行程之前半之上空,將上述軸J1、上述軸J4、及上述軸J6配置於同一鉛垂面,將上述軸J2、上述軸J3、及上述軸J5平行地配置而進行印刷。 The screen printing apparatus according to any one of claims 1 to 12, wherein the articulated robot has: a base that is fixed on a top wall located at the upper center of the printing width of the screen, and has A vertical axis J1; a main body, which is mounted on the above-mentioned base in such a way that it can rotate around the above-mentioned axis J1; a shoulder, which is fixed to the above-mentioned main body and has a horizontal axis J2; The elbow is fixed to the upper arm and has a horizontal axis J3 and a vertical axis J4 with respect to the axis J3; the forearm is capable of being connected to the axis J3 and the axis above. J4 is mounted on the aforementioned elbow in such a way as to be centrally rotated; the wrist, which is fixed to the aforementioned forearm, has an axis J5 perpendicular to the axis J4 and intersecting the axis J4 and an axis J5 perpendicular to the axis J5 and intersecting the axis J5 an axis J6; and a distal end, which is attached to the wrist so as to be rotatable about the axis J5 and the axis J6; the articulated robot system arranges the axis J1 and the axis J2 at the printing start position and the printing end position The above-mentioned axis J1, the above-mentioned axis J4, and the above-mentioned axis J6 are arranged on the same vertical plane, and the above-mentioned axis J2, the above-mentioned axis J3, and the above-mentioned axis J5 are arranged in parallel to perform printing in the upper half of the air before the printing stroke. 如請求項13之網版印刷裝置,其中,上述多關節機器人係具有: 基底,其被固定在位於上述網版之印刷寬度之中央上部的頂壁,且具有與頂壁垂直之軸J1;本體,其以能以上述軸J1為中心旋轉之方式安裝於上述基底;肩,其被固定於上述本體,且具有水平方向之軸J2;上臂,其以能以上述軸J2為中心旋轉之方式安裝於上述肩;肘,其被固定於上述上臂,且具有水平方向之軸J3及相對於上述軸J3而垂直之軸J4;前臂,其以能以上述軸J3及上述軸J4為中心旋轉之方式安裝於上述肘;腕,其被固定於上述前臂,具有相對於軸J4而垂直且與軸J4交叉的軸J5及相對於上述軸J5而垂直且與上述軸J5交叉的軸J6;及末端,其以能以上述軸J5及上述軸J6為中心旋轉之方式安裝於上述腕;上述多關節機器人係將上述軸J1及上述軸J2配置於位於印刷開始位置與印刷結束位置之間的印刷行程之前半之上空,將上述軸J1、上述軸J4、及上述軸J6配置於同一鉛垂面,將上述軸J2、上述軸J3、及上述軸J5平行地配置而進行印刷。 The screen printing device of claim 13, wherein the multi-joint robot system has: The base is fixed on the top wall at the upper center of the printing width of the above-mentioned screen plate, and has an axis J1 perpendicular to the top wall; the body is mounted on the above-mentioned base in a manner that can rotate around the above-mentioned axis J1; the shoulder , which is fixed to the above-mentioned body, and has a horizontal axis J2; the upper arm, which is mounted on the above-mentioned shoulder in a manner that can rotate about the above-mentioned axis J2; the elbow is fixed to the above-mentioned upper arm and has a horizontal axis. J3 and an axis J4 perpendicular to the above-mentioned axis J3; the forearm, which is attached to the above-mentioned elbow so as to be rotatable about the above-mentioned axis J3 and the above-mentioned axis J4; A vertical axis J5 that intersects the axis J4 and an axis J6 that is perpendicular to the axis J5 and intersects the axis J5; The wrist; the above-mentioned articulated robot system arranges the above-mentioned axis J1 and the above-mentioned axis J2 in the air between the printing start position and the printing end position before the printing stroke, and the above-mentioned axis J1, the above-mentioned axis J4, and the above-mentioned axis J6 are arranged in the upper half of the printing stroke. Printing is performed by arranging the above-mentioned axis J2, the above-mentioned axis J3, and the above-mentioned axis J5 in parallel on the same vertical plane. 如請求項1之網版印刷裝置,其中,上述多關節機器人係固定上述3軸以外之剩餘之軸,使上述刮板沿上述工件之曲面而移動。 The screen printing apparatus according to claim 1, wherein the articulated robot fixes the remaining axes other than the three axes, and moves the squeegee along the curved surface of the workpiece. 如請求項1之網版印刷裝置,其中,上述多關節機器人係被安裝於位於上述網版之上部的頂壁之上述網版之印刷寬度之中央上部。 The screen printing apparatus according to claim 1, wherein the articulated robot is mounted on the upper center of the printing width of the screen on the top wall above the screen. 如請求項1之網版印刷裝置,其中,上述多關節機器人係藉由僅上述3軸之旋轉,使上述刮板移動。 The screen printing apparatus according to claim 1, wherein the articulated robot moves the squeegee by only rotating the three axes. 一種網版印刷裝置,其係使用刮板對具有曲面的工件進行印刷者,其具備有:版框,其具有網版,該網版係具有與上述工件之曲面對應的曲面;多關節機器人,其一面沿著上述工件及上述網版的曲面,而一面將上述刮板於印刷方向上移動;及控制部,其控制上述多關節機器人而進行網版印刷;上述多關節機器人係具有4軸以上之旋轉軸的多軸機器人,上述多關節機器人係水平地配置3軸,藉由上述3軸之旋轉而一面使上述刮板相對於上述工件之曲面的攻角為固定,一面使上述刮板沿上述工件之曲面而移動,上述多關節機器人係具有:基底,其被固定在位於上述網版之印刷寬度之中央上部的頂壁,且具有與頂壁垂直之軸J1;本體,其以能以上述軸J1為中心旋轉之方式安裝於上述基底;肩,其被固定於上述本體,且具有水平方向之軸J2;上臂,其以能以上述軸J2為中心旋轉之方式安裝於上述肩;肘,其被固定於上述上臂,且具有水平方向之軸J3及相對於上述軸J3而垂直之軸J4;前臂,其以能以上述軸J3及上述軸J4為中心旋轉之方式安裝於上述肘;腕,其被固定於上述前臂,具有相對於軸J4而垂直且與軸J4交叉的軸J5及相對於上述軸J5而垂直且與上述軸J5交叉的軸J6; 及末端,其以能以上述軸J5及上述軸J6為中心旋轉之方式安裝於上述腕;上述多關節機器人係將上述軸J1及上述軸J2配置於位於印刷開始位置與印刷結束位置之間的印刷行程之前半之上空,將上述軸J1、上述軸J4、及上述軸J6配置於同一鉛垂面,將上述軸J2、上述軸J3、及上述軸J5平行地配置而進行印刷。 A screen printing device, which uses a squeegee to print a workpiece with a curved surface, comprising: a plate frame, which has a screen plate, and the screen plate has a curved surface corresponding to the curved surface of the workpiece; a multi-joint robot, One side is along the curved surface of the above-mentioned workpiece and the above-mentioned screen plate, and one side moves the above-mentioned squeegee in the printing direction; and a control unit, which controls the above-mentioned multi-joint robot to carry out screen printing; the above-mentioned multi-joint robot system has more than 4 axes The multi-axis robot with the rotation axis, the multi-joint robot is arranged with three axes horizontally, and the angle of attack of the scraper with respect to the curved surface of the workpiece is fixed by the rotation of the three axes, and the scraper is moved along the direction of the workpiece. The above-mentioned workpiece is moved by the curved surface, and the above-mentioned multi-joint robot system has: a base, which is fixed on a top wall located in the upper part of the center of the printing width of the above-mentioned screen plate, and has an axis J1 perpendicular to the top wall; The above-mentioned axis J1 is installed on the above-mentioned base in a way that the center rotates; the shoulder is fixed to the above-mentioned body and has a horizontal axis J2; , which is fixed on the above-mentioned upper arm, and has a horizontal axis J3 and a vertical axis J4 with respect to the above-mentioned axis J3; the forearm is mounted on the above-mentioned elbow in a manner that can rotate about the above-mentioned axis J3 and the above-mentioned axis J4; a wrist, which is fixed to the forearm and has an axis J5 that is perpendicular to the axis J4 and intersects the axis J4 and an axis J6 that is perpendicular to the axis J5 and intersects the axis J5; and a distal end, which is attached to the wrist so as to be rotatable about the axis J5 and the axis J6; the articulated robot system arranges the axis J1 and the axis J2 between the printing start position and the printing end position. The above-mentioned axis J1, the above-mentioned axis J4, and the above-mentioned axis J6 are arranged on the same vertical plane, and the above-mentioned axis J2, the above-mentioned axis J3, and the above-mentioned axis J5 are arranged in parallel to perform printing in the upper half of the air before the printing stroke. 一種網版印刷方法,其係對具有曲面的工件及具有曲面的網版進行印刷者,將多關節機器人安裝於位於上述網版之上部的頂壁之上述網版之印刷寬度之中央上部,水平且平行地配置上述多關節機器人之數個軸,在與印刷方向平行的平面且在上述網版之左右方向之中央,將上述數個軸以外之軸配置在與上述網版正交的平面,將刮板保持於多關節機器人,藉由上述多關節機器人之水平且平行地配置之數個軸之旋轉而一面使上述刮板相對於上述工件之曲面的攻角為固定,一面使上述刮板沿上述工件之曲面而移動。 A screen printing method, which is to print a workpiece with a curved surface and a screen with a curved surface, and install a multi-joint robot on the upper center of the printing width of the above-mentioned screen plate on the top wall of the upper part of the above-mentioned screen plate, horizontally. And several axes of the above-mentioned multi-joint robot are arranged in parallel, in the plane parallel to the printing direction and in the center of the left-right direction of the above-mentioned screen plate, the axes other than the above-mentioned several axes are arranged on the plane orthogonal to the above-mentioned screen plate, The squeegee is held in the articulated robot, and the angle of attack of the squeegee with respect to the curved surface of the workpiece is fixed while the angle of attack of the squeegee with respect to the curved surface of the workpiece is fixed by the rotation of several axes arranged horizontally and parallel to the above-mentioned articulated robot. Move along the curved surface of the above-mentioned workpiece. 如請求項20之網版印刷方法,其中,上述多關節機器人係將上述數個軸以外之剩餘之軸,配置於與印刷方向平行的平面且於上述網版之中央而與上述網版正交的平面,不使上述剩餘之軸旋轉而進行印刷。 The screen printing method according to claim 20, wherein the articulated robot arranges the remaining axes other than the several axes on a plane parallel to the printing direction and at the center of the screen and orthogonal to the screen The plane is printed without rotating the remaining axes above. 如請求項20之網版印刷方法,其中,將上述多關節機器人固定地安裝於位於上述網版之上部的頂壁之上述網版之印刷寬度之中央上部,並使上述刮板移動。 The screen printing method of claim 20, wherein the multi-joint robot is fixedly mounted on a top wall located on the upper part of the screen at the upper center of the printing width of the screen, and the squeegee is moved.
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