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

Abstract

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

Screen printing device and screen printing method

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

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

Also, conventionally, an apparatus for screen printing using a multi-joint robot has been considered.

[Prior Art Literature] [Patent Literature]

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

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

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

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

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

Patent Document 6: International Publication No. 2017/005576 Pamphlet

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.

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.

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‧‧‧Screen printing device

110‧‧‧Control Department

120‧‧‧Display

130‧‧‧Robot Controller

140‧‧‧Image processing unit

150‧‧‧Vacuum Pump

160‧‧‧Air pressure circuit

170‧‧‧Console

200‧‧‧Workpiece

201, 211‧‧‧Printing line

202, 203, 212, 213‧‧‧Outer contour

204, 214‧‧‧Centerline

220‧‧‧Top

230‧‧‧Bottom

240, 340‧‧‧ inflection point

300‧‧‧screen version

310‧‧‧ frame

320‧‧‧Top

330‧‧‧Bottom

400‧‧‧ Jig

410‧‧‧Fiducial mark

500‧‧‧Shell

510‧‧‧Abutment

520‧‧‧Control Box

530‧‧‧Column frame

540‧‧‧Beam Frame

550‧‧‧Top Plate

560‧‧‧Bracket

561‧‧‧Suspension Department

570‧‧‧Ink Reservoir

590‧‧‧Reel Holder

600‧‧‧Articulated Robot

610‧‧‧Substrate

620‧‧‧Main body

630‧‧‧Shoulder

640‧‧‧Upper Arm

650‧‧‧cubits

660‧‧‧Forearm

670‧‧‧Wrist

680‧‧‧End

690‧‧‧Camera

700‧‧‧ mobile mechanism

720‧‧‧Tripod

730‧‧‧Sliding mechanism

740‧‧‧Conveyor

750‧‧‧motor

760‧‧‧Frame fixing part

800‧‧‧Landing agencies

820‧‧‧Platform

821‧‧‧Receptacle plate

822‧‧‧Frame

830‧‧‧Lifting mechanism

831, 832, 833‧‧‧Lifting Cylinder

835‧‧‧Floating joint

839‧‧‧Elevating shaft

841, 842, 843‧‧‧Linear axis

844, 845, 846‧‧‧Lifting plate

849‧‧‧Linear motion axis

850‧‧‧Lifting guide

851‧‧‧Tablet

852‧‧‧Cam Followers

853‧‧‧Guidance Department

854‧‧‧Guide column

860‧‧‧Rotary Mechanism

861‧‧‧Rotary axis

862‧‧‧Bearing

864‧‧‧Shaft unit

865, 866‧‧‧Roller unit

867‧‧‧shaft

868‧‧‧Rollers

870‧‧‧Adjustment mechanism

871‧‧‧Connector

872‧‧‧Screw

873‧‧‧ Dial Gauge

900‧‧‧Printing Department

910‧‧‧Scraper

920‧‧‧Scraper

930‧‧‧Scraper Unit

931, 932‧‧‧Pressurizer

933‧‧‧Fixing plate

934‧‧‧Lower board

935‧‧‧Side panel

936‧‧‧Top board

937‧‧‧Loading and unloading department

938‧‧‧Linear bushing

939‧‧‧Floating joint

940‧‧‧Linear motion axis

941, 942‧‧‧Installation

943‧‧‧Pressure shaft

G1, G2, G3, G4, G5‧‧‧distance

J1, J2, J3, J4, J5, J6‧‧‧axis

JC‧‧‧Camera Shaft

JS‧‧‧Axis

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

L, S0‧‧‧straight line

The range where the NP‧‧‧ axis J1 cannot rotate

R, S‧‧‧space

S1‧‧‧Print start position

S2‧‧‧Printing end position

S4‧‧‧Central position of printing stroke

SE‧‧‧End

P1, P2, P3, P4‧‧‧Fiducial mark

V1, V2, V3, V4, V5‧‧‧Width

W1, W2, W3‧‧‧distance

X1‧‧‧Length of the long side of the shell

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

Y1‧‧‧Length of the short side of the shell

Y2‧‧‧Length of the short side of the screen

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

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

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

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

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

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

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

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

9 is a front view and a right side view of the 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.

10 is a left side view of the lift mechanism 800 of the screen printing apparatus 100 in the first embodiment.

11 is a right side view of the lift mechanism 800 of the screen printing apparatus 100 in the first embodiment.

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

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

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

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.

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

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

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

FIG. 19 is a flow chart of the operation of the screen printing apparatus 100 in the first embodiment.

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

FIG. 21 is an explanatory diagram of the printing operation of the screen printing apparatus 100 in Embodiment 1. FIG.

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

FIG. 23 is an explanatory diagram of the operation of the lifting and lowering mechanism 800 of the screen printing apparatus 100 in the first embodiment. (a) is a diagram 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.

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.

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

The configuration of the screen printing apparatus 100 will be described based on FIGS. 1 , 2 , 3 , 4 , and 5 .

In FIG. 1, the direction which becomes the printing direction, that is, the left direction toward the paper surface is called the front direction.

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

In FIG. 1, the up-down direction is called a height direction toward the paper surface.

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

In FIG. 1, the depth direction is called the left direction toward the paper surface.

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

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 .

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 .

<<Shell 500>>

The screen printing apparatus 100 has a housing 500 .

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

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

The base 510 has a box-like shape.

The control box 520 houses the control unit 110 inside.

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

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

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

The screen printing apparatus 100 has a roll holder 590 .

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

<<Control unit 110>>

The screen printing apparatus 100 includes a control unit 110 .

The control unit 110 controls the entire device.

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

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

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

Each operation of the printing method described below can be realized by the control unit 110 transmitting a command through a signal line.

<<Multi-joint robot 600>>

FIG. 6 shows an articulated robot 600 .

The multi-joint robot 600 is one of the industrial robots.

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.

The industrial robot system has a manipulator and a memory device.

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.

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

The multi-joint robot is one of the joint robots.

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.

The articulated robot 600 has several links and several joints.

Links refer to individual elements that make up a mechanical structure and are movable relative to each other.

The joint refers to the connecting part when the two links are in contact with each other and move relative to each other.

The multi-joint robot 600 shown in FIG. 6 is a ceiling-mounted robot.

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

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

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

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

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

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

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

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.

The axis J1 of the substrate 610 is disposed above the printing area of the screen plate 300 in the front-rear direction.

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

The shoulder 630 is fixed to the body 620 and has a horizontal axis J2.

The upper arm 640 is attached to the shoulder 630 so as to be rotatable about the axis J2 in the horizontal direction.

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

Also, the elbow 650 has an axis J4 perpendicular to the axis J3.

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

In addition, the forearm 660 is rotatable around an axis J4 that is perpendicular to the axis J3 in the horizontal direction and intersects the axis J3.

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

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

The distal end 680 is attached to the forearm 660 so as to be rotatable about the axis J5 and the axis J6.

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

The rotation angles of the motors are controlled based on electrical signals output from the robot controller 130 .

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

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

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

The maximum angle formed by the straight line connecting the axis J2 and the printing start position S1 and the straight line connecting the axis J2 and the printing end position S2 is 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.

<<Version Moving Mechanism 700>>

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

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

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

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

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

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

The frame fixing portion 760 is attached to the sliding mechanism 730 so as to be slidable left and right.

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

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

In FIG. 8 , the 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.

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.

<<Landing mechanism 800>>

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

(a) of FIG. 9 is a diagram 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.

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

(c) of FIG. 9 is a diagram showing that the take-off and landing mechanism 800 lifts the platform 820 horizontally.

The lift mechanism 800 is a mechanism for moving the jig 400 relative to the plate frame 310.

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

The take-off and landing mechanism 800 installs the jig 400 in such a way that the distance between the jig 400 and the screen plate 300 can be changed.

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 .

Frame 822 is made of aluminum or other metal with two square columns.

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

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 .

The lift mechanism 800 has a rotation mechanism 860 that rotates the jig 400 with respect to the screen plate 300 .

<Lifting mechanism 830>

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

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

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

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

The lift cylinders lift the platform 820 up and down.

Lifting cylinder refers to an actuator that is telescopically driven by oil pressure, air pressure, water pressure or electric power, preferably an air cylinder.

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

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.

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

Six lift cylinders are arranged at six positions on the left and right of the front, center, and rear of the platform 820 .

Two lift cylinders 831 are disposed under one end of the platform 820 .

The four linear axes 841 are arranged inside the two lift cylinders 831 .

Two lift cylinders 832 are disposed under the center of the platform 820 .

The two linear axes 842 are arranged inside the two lift cylinders 832 .

Two lift cylinders 833 are disposed on the other end of the platform 820 .

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

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

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.

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 .

Two bearings 862 are fixed at both ends of the lift plate 844 .

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 .

Two roller units 865 are fixed to both ends of the lift plate 845 .

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 .

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

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

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

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

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.

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.

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.

<Lifting guide 850>

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

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.

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.

The lift guide 850 has a flat plate 851 and a cam follower 852 .

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

Several cam followers 852 are attached to the flat plate 851 .

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

The lift guide 850 has a guide column 854 and a guide portion 853 .

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.

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.

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.

The left-right movement and the left-right inclination of the jig 400 are prohibited by the guide portion 853 .

<Adjustment Mechanism 870>

FIG. 9( c ) shows the adjustment mechanism 870 .

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

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

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

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

The screw 872 penetrates the floor of the base 510 and is attached to the base 510 .

Screws 872 are mounted in the center of the left and right linear axes.

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

By rotating the screw 872, the upper and lower positions of the 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.

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.

<Rotation mechanism 860>

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.

The rotation mechanism 860 is a mechanism for arranging the platform 820 on the upper part and inclining the platform 820 .

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

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

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

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

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

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

The central axis of the rotating shaft 861 becomes the rotating shaft of the platform 820 .

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

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.

The roller unit 865 and the roller unit 866 have a roller 868 which can be rotated around the shaft 867 .

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

The roller 868 rotates around the shaft 867 on the lower surface of the receiving plate 821 when the platform 820 is inclined.

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

During printing, 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.

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.

<<Printing Section 900>>

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

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

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

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

The scraper 910 is replaceably held by the scraper unit 930 by the attachment portion 941 .

The scraper 920 is replaceably held by the scraper unit 930 by the attachment portion 942 .

The squeegee 910 presses the screen plate 300 to press the ink on the screen plate 300 against the workpiece.

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 .

The scraper unit 930 is detachably attached to the distal end 680 .

The mounting portion 941 of the scraper unit 930 can change the mounting angle of the scraper 910 to mount the scraper 910 .

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

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 .

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 .

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.

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

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.

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.

The pressurizer 931 and the pressurizer 932 are fixed to both surfaces of the fixing plate 933 .

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

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

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

A pair of linear bushes 938 are fixed to the fixing plate 933 .

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 .

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

The axis JS of the pressurizing shaft 943 of the pressurizer 932 is parallel to the axis J6.

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

A pair of linear bushes 938 are fixed to the fixing plate 933 .

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 .

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

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

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

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

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

When the 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 .

The detachable portion 937 is detachably attached to the distal end 680 .

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

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

When the 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.

The space S of the rectangular parallelepiped is a space for ensuring the free up and down movement of the pressing shaft 943 .

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 .

<<Camera 690>>

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

Camera 690 is fixed to end 680 .

The camera 690 is disposed on the side of the end 680 and the scraper unit 930 .

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

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

The camera 690 is arranged at a position that does not interfere with the attachment and detachment of the blade unit 930 .

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

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

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

<<Workpiece 200>>

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

The workpiece 200 is a curved workpiece having a curved surface having concavities and convexities in the height direction.

The workpiece 200 is not uneven but straight in the left-right direction.

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.

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

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

The workpiece 200 is a thin plate, so it is flexible, easily deformed, and easily damaged.

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.

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

The cross-sectional shape in the front and rear directions of the surface of the workpiece 200 is a wave pattern.

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

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

The central angle of the convex curved surface 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.

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

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

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

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

The workpiece 200 has a curved surface on the back.

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 .

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

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

(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.

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 .

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.

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

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

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.

<<Screen 300>>

The screen plate 300 will be described with reference to FIG. 15 .

The screen 300 is a curved screen having a curved surface having concavities and convexities in the height direction.

The screen plate 300 is not concave-convex but straight in the left-right direction.

In top view, the screen version 300 series rectangle.

Screen 300 series metal mask screen, mesh screen, other forms of screen.

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.

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.

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

The cross-sectional shape in the front and rear directions of the surface of the screen plate 300 is a wave pattern.

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

In the center of a convex surface, there is a top 320 with the highest height.

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

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

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

<<Frame 310>>

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

The plate frame 310 is a rectangular metal frame in the shape of a frame.

The plate frame 310 is a rectangular frame with a rectangular shape and a rectangular opening in the center.

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

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

The plate frame 310 can be installed in the reverse direction with respect to the plate moving mechanism 700 .

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.

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.

<Jig 400>

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

The jig 400 is a curved jig for holding the workpiece 200 by using the curved surface.

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.

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

The jig 400 has a mounting surface having the same curved surface or curved surface as the workpiece 200 on the upper surface.

Specific examples of the material of the jig 400 are resin, or aluminum, iron, stainless steel, or other metals.

The jig is made of 400 series thick plate, so it has rigidity and will not be deformed or damaged.

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

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

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

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.

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.

<fiducial mark 410>

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

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

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

The fiducial marks 410 may be formed during the manufacture of the jig 400 .

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

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

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.

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)

P2(x2, y2)

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)

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.

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

Among the 28 fiducial marks 410 , 12 fiducial marks 410 are formed on the outside of the workpiece 200 .

Among the 28 fiducial marks 410 , 16 fiducial marks 410 are formed on the inner side of the workpiece 200 .

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.

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

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 .

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 .

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.

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 .

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.

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.

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

In the jig 400, the center positions of all the reference marks 410 are known, and the distances between the center positions of all the reference marks 410 are known.

The center positions of all the fiducial marks 410 and the distances between the central positions of the fiducial marks 410 are stored in the memory device.

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

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

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

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

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

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

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 .

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.

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

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.

The ink accommodating dish 570 is an eaves-shaped accommodating dish protruding from the side of the upper part of the bracket 560 .

The ink container 570 accommodates the ink dropped from the printing section 900 during the movement of the printing section 900 .

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

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

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

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

<<Configuration>>

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

The top view shape of the screen printing apparatus 100 is a rectangle having long sides and short sides.

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 .

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

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

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

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

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 .

The short side of the lift mechanism 800 is arranged in parallel with the short side of the screen printing apparatus 100 .

The long side of the lift mechanism 800 is arranged in parallel with the long side of the screen printing apparatus 100 .

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

The two arcs shown in FIG. 5 represent the rotation range of the articulated robot 600 with the axis J1 as the center.

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

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

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

X1: The length of the long side of the casing 500

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

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

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: the distance between the center position S4 of the printing stroke and the end SE of the casing 500

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

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

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: 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: The length of the short side of the casing 500

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

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

The rotatable range of the axis J1 is 340 degrees.

The shaft J1 is rotatable 170 degrees clockwise and 170 degrees counterclockwise from the center of the rotatable range.

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

The axis J1 is arranged in the vertical direction.

Axis J1 does not rotate during printing.

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

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

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

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 .

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

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

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

The distance X9 is the same as the distance X7.

The distance X6, the distance X7, the distance X8, and the distance X9 have the following relationship.

X7=X9=X8÷2

X6=X7+X8+X9

The position of the 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.

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.

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.

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

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

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

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

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

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

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

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

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

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.

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.

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.

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%. .

***Action description***

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

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

The control unit 110 controls the articulated robot 600 via the robot controller 130 when the articulated robot 600 is operated.

When performing image processing in the inspection step, the control unit 110 uses the image processing unit 140 to perform image processing.

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 .

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 .

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

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.

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

The distances between the positions of all the fiducial marks 410 and the center positions of all the fiducial marks 410 are memorized in the memory device.

Hereinafter, the case of no test printing will be described.

*Power on step S11*

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. Origin return of multi-joint robot 600

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

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

2. The origin return of the take-off and landing mechanism 800

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

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

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

3. Origin return of moving mechanism 700

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

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

*Installation step S12 of the scraper unit 930*

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

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

*Loading step S13 of workpiece 200*

The control part 110 mounts the workpiece|work 200 on the jig|tool 400 by the loading apparatus which is not shown in figure.

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.

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 .

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.

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

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 .

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 .

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 .

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

*Ink coating step S15 by the doctor blade 920*

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 .

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

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

The control unit 110 controls the angle of the 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.

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.

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.

*The ascending step S16 of the take-off and landing mechanism 800*

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

The control part 110 raises the jig 400 until the space|interval of the workpiece|work 200 and the screen 300 becomes a predetermined clearance gap.

The gap is set in advance within the range of 1 mm or more and 10 mm or less.

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

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

FIG. 21 shows the printing start state.

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

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

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 .

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.

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.

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.

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.

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 .

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.

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

The control unit 110 operates the presser 931 during the movement of the squeegee 910 to press the squeegee 910 against the screen plate 300 .

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.

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.

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.

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.

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.

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

The control unit 110 does not 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 .

*Rotation steps of the rotating mechanism 860*

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

The control unit 110 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 .

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

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.

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.

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

The lifting and lowering mechanism 800 is a mechanism 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.

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 .

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.

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 .

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.

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 .

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.

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

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 .

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.

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.

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 .

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.

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 .

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 .

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

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 .

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.

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.

*The descending steps of the lifting mechanism 830*

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 .

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

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.

*Step S19 of retreating the plate frame 310 and the squeegee unit 930*

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

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.

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.

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 .

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 .

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 .

*Separation step S20 of the scraper unit 930*

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 .

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 .

*check step S21* (shooting steps)

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

The control unit 110 operates the articulated robot 600 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 .

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

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

The arrangement positions of the fiducial markers 410 are known, and the articulated robot 600 sequentially images a pair of fiducial markers 410 .

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.

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.

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.

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.

(Analysis step)

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

(location check)

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

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. Example of position inspection using one fiducial mark

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

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

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

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

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. Example 1 of position inspection using two fiducial marks

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

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

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

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

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. Example 2 of position inspection using two fiducial marks

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 .

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

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

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

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

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.

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

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

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

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.

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

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.

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.

(width check)

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

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.

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 .

Specifically, the control unit 110 performs the following calculation.

A. Example of width inspection using one fiducial mark

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

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

The control unit 110 calculates "the width of the printed line 201=G3-G1" to obtain the width of the printed line 201.

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

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

The 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. Example of width inspection using two fiducial marks

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

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

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

The width of the printed line 201=W1-(G1+G4)

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

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

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

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.

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.

(distance check)

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

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.

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.

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.

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.

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.

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 .

Specifically, the control unit 110 performs the following inspection.

A. Distance check example 1

The distance between the center position of the reference mark P1 and the center position of the reference mark P4 arranged on the straight line L shown in FIG. 15 is regarded as W2.

The control unit 110 obtains the distance G1 between the center position of the reference mark P1 and the outer contour 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 .

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 .

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

If the distance W2-(distance G1+distance G2) is beyond the predetermined length V3, the control part 110 judges as a defect.

In addition, the distance between the center position of the reference mark P2 and the center position of the reference mark P3 arranged on the straight line L shown in FIG. 15 is regarded as W3.

The control unit 110 obtains the distance G4 between the center position of the reference mark P2 and the outer contour 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 .

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 .

If the distance W3+(distance G4+distance G5) is the predetermined length V4, the control part 110 judges as normal.

If the distance W3+(distance G4+distance G5) is outside the predetermined length V4, the control part 110 judges as defective.

B. Distance Check Example 2

The distance between the center position of the reference mark P1 and the center position of the reference mark P4 arranged on the straight line L shown in FIG. 15 is regarded as W2.

The control unit 110 obtains the distance K1 between the center position of the 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 .

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 .

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

If the distance W2-(distance K1+distance K2) is outside the predetermined length V5, the control part 110 judges as a defect.

In addition, the distance between the center position of the reference mark P2 and the center position of the reference mark P3 arranged on the straight line L shown in FIG. 15 is regarded as W3.

The control unit 110 obtains the distance K4 between the center position of the 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 .

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 .

If the distance W3+(distance K4+distance K5) is the predetermined length V5, the control part 110 judges as normal.

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

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.

Other inspection contents, inspection methods and calculation methods different from the above-mentioned inspection contents, inspection methods and calculation methods may also be used.

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

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.

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

The control unit 110 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.

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 .

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.

*Step S22 of taking out the workpiece 200*

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

*Repeat step S23*

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.

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

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.

Moreover, the screen printing method which measures the printing position with the camera 690 after screen printing and examines a printing result was demonstrated.

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

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

According to the first embodiment, since the multi-joint robot 600 is provided, the workpiece 200 having a curved surface can be printed.

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

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

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

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

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 .

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 .

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

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.

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.

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.

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.

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.

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

The lifting and lowering mechanism 800 can adjust the 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 .

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.

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

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

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

According to the first embodiment, since the plate moving mechanism 700 for moving the plate frame 310 is provided, the inspection of the printed pattern can be performed without moving the workpiece 200 .

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.

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.

Since the camera 690 is always fixed to the articulated robot 600 , the camera 690 does not need to be mounted or removed.

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.

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.

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.

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.

***Variation of Embodiment 1*** (Variation of workpiece 200)

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

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.

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.

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.

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

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

The back 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 .

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 .

(Variation of Jig 400)

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 .

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.

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 .

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.

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.

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 .

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.

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

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

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

When the fiducial mark 410 can be photographed by the camera 690 through the workpiece 200, the fiducial mark 410 may only be located at 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.

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.

(Variation of the articulated robot 600)

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

Specifically, the axis J4 may not be provided.

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.

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.

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.

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.

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.

(Variation of the plate moving mechanism 700 )

The plate moving mechanism 700 may move the plate frame 310 back and forth instead of moving the plate frame 310 left and right.

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

The plate moving mechanism 700 may move the elevator mechanism 800 by placing the elevator mechanism 800 on the mobile station without moving the plate frame 310 .

(Variation of the take-off and landing mechanism 800 )

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.

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.

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 .

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.

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 .

(Variation of the printing unit 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 .

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 .

(Variation of Action: Test Printing)

In the case where test printing is performed, the point different from the above-mentioned operation will be described.

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

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.

Then, from setting step S14 to inspection step S21 are implemented about the roll film.

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

After that, the printing results on the roll film were checked.

After the inspection of the printing result of the roll film is completed, the roll film is peeled off from the workpiece 200 .

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

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.

(Variation of Action: Sampling Inspection)

The inspection step S21 may not be carried out every time, and the sampling inspection may be carried out.

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.

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.

Even if the ink drops from the squeegee 910 or the squeegee 920 during standby, it can be caught by the ink container 570 .

(Modification of operation: from concave printing to convex printing)

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.

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

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 .

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.

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 .

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.

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.

(Modification of the action: Printing in the opposite direction)

The printing direction can also be reversed.

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

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

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

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.

(Modification of the action: Attachment and detachment of the camera 690)

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 .

(Variation of Action: Pressure of Printing)

During printing, the printing pressure may be applied to the squeegee 910 by the multi-joint robot 600 instead of the presser 931 .

Alternatively, during printing, the presser 931 and the multi-joint robot 600 can also apply printing pressure to the squeegee 910 .

Similarly, during ink coating, the multi-joint robot 600 can also apply pressure to the doctor blade 920 instead of the presser 932 .

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‧‧‧Screen printing device

110‧‧‧Control Department

120‧‧‧Display

130‧‧‧Robot Controller

140‧‧‧Image processing unit

150‧‧‧Vacuum Pump

200‧‧‧Workpiece

300‧‧‧screen version

310‧‧‧ frame

400‧‧‧ Jig

500‧‧‧Shell

510‧‧‧Abutment

520‧‧‧Control Box

530‧‧‧Column frame

540‧‧‧Beam Frame

550‧‧‧Top Plate

560‧‧‧Bracket

570‧‧‧Ink Reservoir

590‧‧‧Reel Holder

600‧‧‧Articulated Robot

700‧‧‧ mobile mechanism

800‧‧‧Landing agencies

900‧‧‧Printing Department

910‧‧‧Scraper

Claims (22)

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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. The screen printing apparatus according to claim 1, wherein the articulated robot moves the squeegee by only rotating the three axes. 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. 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. 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. 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.

Images