WO2019031205A1 - スクリーン印刷装置及びスクリーン印刷方法 - Google Patents

スクリーン印刷装置及びスクリーン印刷方法 Download PDF

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Publication number
WO2019031205A1
WO2019031205A1 PCT/JP2018/027429 JP2018027429W WO2019031205A1 WO 2019031205 A1 WO2019031205 A1 WO 2019031205A1 JP 2018027429 W JP2018027429 W JP 2018027429W WO 2019031205 A1 WO2019031205 A1 WO 2019031205A1
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WO
WIPO (PCT)
Prior art keywords
axis
printing
screen
workpiece
articulated robot
Prior art date
Application number
PCT/JP2018/027429
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
隼人 笠原
充志 丸山
深澤　彰彦
好人 本間
Original Assignee
マイクロ・テック株式会社
株式会社村上開明堂
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by マイクロ・テック株式会社, 株式会社村上開明堂 filed Critical マイクロ・テック株式会社
Priority to KR1020207003417A priority Critical patent/KR102298273B1/ko
Priority to CN201880051958.XA priority patent/CN110914062B/zh
Priority to TW107126895A priority patent/TWI759520B/zh
Publication of WO2019031205A1 publication Critical patent/WO2019031205A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F15/00—Screen printers
    • B41F15/14—Details
    • B41F15/16—Printing tables
    • B41F15/18—Supports for workpieces
    • B41F15/30—Supports for workpieces for articles with curved surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F15/00—Screen printers
    • B41F15/14—Details
    • B41F15/34—Screens, Frames; Holders therefor
    • B41F15/36—Screens, Frames; Holders therefor flat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F15/00—Screen printers
    • B41F15/14—Details
    • B41F15/40—Inking units
    • B41F15/42—Inking units comprising squeegees or doctors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
    • B41M1/00—Inking and printing with a printer's forme
    • B41M1/12—Stencil printing; Silk-screen printing

Definitions

  • the present invention relates to a screen printing apparatus and screen printing method for performing screen printing on a work having a curved surface.
  • the present invention provides a screen printing apparatus and a screen printing method for printing a print pattern on a workpiece having a curved surface with high accuracy.
  • the screen printing apparatus of the present invention is It is a screen printing device that uses a squeegee to print on a workpiece that has a curved surface, A plate frame having a screen having a curved surface corresponding to the curved surface of the work; An articulated robot that moves the squeegee in a printing direction along a curved surface of the work and the screen; And a control unit that controls the articulated robot to perform screen printing.
  • the print pattern can be accurately printed on the workpiece having the curved surface.
  • FIG. 1 is a front view of a screen printing apparatus 100 according to a first embodiment.
  • FIG. 2 is a left side view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a right side view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a partially omitted rear view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a plan view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a block diagram of an articulated robot 600 of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a front view of a plate moving mechanism 700 of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 6 is a right side view of the plate moving mechanism 700 of the screen printing apparatus 100 according to the first embodiment.
  • FIGS. (A) is a front view in which the attachment / detachment mechanism 800 is at the origin.
  • (B) is the front view which raised the table 820.
  • FIG. (C) is the right side view which raised the table 820 horizontally.
  • FIG. 6 is a left side view of the detachment mechanism 800 of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 6 is a right side view of the detachment mechanism 800 of the screen printing apparatus 100 according to Embodiment 1.
  • FIG. 2 is a block diagram of a printing unit 900 of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a block diagram of a printing unit 900 of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a block diagram of a printing unit 900 of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a configuration diagram of a work 200, a screen 300, and a jig 400 of the screen printing apparatus 100 according to the first embodiment.
  • (A) is a block diagram of screen 300, work 200, and jig 400.
  • (B) is a block diagram of the workpiece 200 and the jig 400.
  • (C) is a block diagram of the workpiece 200.
  • FIG. 2 is a partial layout view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a partial layout view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 2 is a partial layout view of the screen printing apparatus 100 according to the first embodiment.
  • 5 is an operation flowchart of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 6 is a printing operation explanatory view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 6 is a printing operation explanatory view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 6 is a printing operation explanatory view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 6 is a printing operation explanatory view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 6 is a printing operation explanatory view of the screen printing apparatus 100 according to the first embodiment.
  • FIG. 7 is an operation explanatory view of the attachment / detachment mechanism 800 of the screen printing apparatus 100 according to the first embodiment.
  • (A) is a related figure of the workpiece
  • FIG. (B) is a related figure of work 200 and screen 300 at the time of operating attachment and detachment mechanism 800.
  • FIG. 7 is an operation explanatory view of the attachment / detachment mechanism 800 of the screen printing apparatus 100 according to the first embodiment.
  • (A) is a related figure of the workpiece
  • FIG. (B) is a related figure of work 200 and screen 300 at the time of operating up-and-down mechanism 830.
  • (C) is a related figure of work 200 and screen 300 at the time of operating rotation mechanism 860.
  • Embodiment 1 *** Description of the configuration *** The configuration of the screen printing apparatus 100 will be described based on FIG. 1, FIG. 2, FIG. 3, FIG. 4 and FIG. 5.
  • the printing direction that is, the left direction toward the paper surface is referred to as the front direction.
  • the reverse direction to the printing direction that is, the right direction toward the paper surface is referred to as the back direction.
  • the vertical direction toward the paper surface is referred to as the height direction.
  • the front direction toward the paper surface is referred to as the right direction.
  • the depth direction toward the paper surface is referred to as the left direction.
  • the screen printing apparatus 100 is an apparatus for performing screen printing on a workpiece 200 having a curved surface by a plate frame 310 having a screen 300.
  • the screen printing apparatus 100 includes a housing 500, an articulated robot 600, a plate moving mechanism 700, a separation mechanism 800, and a printing unit 900.
  • 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 accommodates the control unit 110 inside.
  • the pillar frame 530 is a pillar erected on the floor surface of the base 510.
  • the beam frame 540 is a beam connecting the tops of the column frames 530.
  • the top plate 550 is a ceiling disposed 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 a roll-shaped film to be test printed.
  • the screen printing apparatus 100 has a control unit 110.
  • the control unit 110 controls the entire apparatus.
  • the control unit 110 can be realized by a central processing unit, a program, a memory, and a storage device.
  • the control unit 110 controls the monitor 120 shown in FIG. 1, the robot controller 130, the image processing unit 140, the vacuum pump 150, the console 170 shown in FIG. 2, and the air pressure circuit 160 shown in FIG. And control the inspection operation.
  • a signal from the control unit 110 is transmitted to each unit by a signal line.
  • Each operation of the printing method described later can be realized by the control unit 110 transmitting an instruction through a signal line.
  • FIG. 6 shows an articulated robot 600.
  • the articulated robot 600 is a type of industrial robot.
  • An industrial robot is a machine that has an automatically controlled manipulation function or movement function, can execute various operations programmatically, and can be used in industry.
  • the industrial robot has a manipulator and a storage device.
  • the industrial robot is a machine capable of automatically performing an operation of extension and contraction, bending and extension, up and down movement, left and right movement or turning or a combined operation of these based on information of a storage device.
  • the manipulator has a function similar to that of a human arm and can perform various operations.
  • An articulated robot is a kind of articulated robot.
  • the mechanical structure of the arm is composed of three or more rotary joints. That is, the articulated robot is a manipulator having three or more axes of freedom and capable of automatic control or programmable.
  • the articulated robot 600 has a plurality of links and a plurality of joints.
  • a link is an individual element that constitutes a mechanical structure and can move relative to one another.
  • a joint is a connecting portion when two links contact each other and move relative to each other.
  • the articulated robot 600 shown in FIG. 6 is a floating type robot.
  • An articulated robot 600 shown in FIG. 6 is a multi-axis robot having six rotation axes of an axis J1 to an axis J6 described below.
  • the articulated robot 600 has a base 610, a body 620, a shoulder 630, an upper arm 640, an elbow 650, a forearm 660, a wrist 670, and an end 680.
  • Body 620, upper arm 640, forearm 660, and end 680 are links.
  • Shoulder 630, elbow 650, and wrist 670 are joints.
  • the base 610 is fixed to a ceiling plate 550 at the top center of the printing width of the screen.
  • the base 610 has an axis J1 perpendicular to the top plate 550.
  • the axis J1 of the base 610 is a rotation axis orthogonal to the ceiling.
  • the axis J 1 of the base 610 is disposed at the upper center of the printing width in the left-right direction of the screen 300.
  • the axis J1 of the base 610 is disposed above the print range in the front-rear direction of the screen 300.
  • the body 620 is attached to the base 610 so as to be rotatable about an axis J1 perpendicular to the ceiling.
  • the shoulder 630 is fixed to the body 620 and has a horizontal axis J2.
  • the upper arm 640 is attached to the shoulder 630 so as to be rotatable about a horizontal axis J2.
  • the elbow 650 is fixed to the upper arm 640 and has a horizontal axis J3.
  • the elbow 650 has an axis J4 perpendicular to the axis J3.
  • Forearm 660 is attached to elbow 650 so that it can rotate about axis J3 and axis J4.
  • the forearm 660 can rotate about an axis J4 perpendicular to the horizontal axis J3 and intersecting the axis J3.
  • the list 670 has an axis J5 perpendicular to the axis J4 and intersecting the axis J4.
  • the wrist 670 has an axis J6 perpendicular to the axis J5 and intersecting the axis J5.
  • End 680 is attached to forearm 660 so that it can rotate about axis J5 and axis J6.
  • Each link attached to each axis is rotated by a motor (not shown) around each axis.
  • the rotation angle of each motor is controlled based on the electrical signal output from the robot controller 130.
  • the axis J1 and the axis J2 are above the printing stroke between the printing start position S1 and the printing end position S2.
  • the axis J1 is orthogonal to the printing direction and orthogonal to the axis J2.
  • the axis J2 is orthogonal to the printing direction and orthogonal to the axis J1.
  • the maximum angle between the straight line connecting the axis J2 and the print start position S1 and the straight line connecting the axis J2 and the print end position S2 is the angle changed if the size of the workpiece 200 changes, preferably 90 degrees or less, 60 degrees The following is preferable, 50 degrees or less is preferable, and 40 degrees is preferable.
  • 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 air above the workpiece 200.
  • the plate moving mechanism 700 has four legs 720 and two slide mechanisms 730. Each slide mechanism 730 is fixed to the top of the two legs 720.
  • the slide mechanism 730 arranges the transport belt 740 in the left-right direction.
  • the transport belt 740 is rotated by a motor 750 disposed at the end of one slide mechanism 730.
  • the slide mechanism 730 slidably mounts the frame fixing portion 760 to the left and right.
  • the frame fixing portion 760 detachably attaches the plate frame 310.
  • the frame fixing portion 760 slides to the left and right by the rotation of the conveyance belt 740.
  • the state in which the plate frame 310 is moved most to the left in the drawing is the cover state in which the plate frame 310 covers the work 200, and the printing is possible.
  • the state in which the frame 310 is moved most to the right in the drawing is the open state in which the upper surface of the workpiece 200 is open, and the inspection result can be inspected where the print result of the workpiece 200 can be inspected.
  • FIG. 9 is a figure in which the attachment / detachment mechanism 800 is at the origin, and a figure in which the jig 400 is at the bottom.
  • FIG. 9B is a view in which one end of the table 820 is lifted by hand when the detachment mechanism 800 is at the origin.
  • FIG. 9C is a diagram in which the detachment mechanism 800 lifts the table 820 horizontally.
  • the attachment / detachment mechanism 800 is a mechanism for moving the jig 400 relative to the plate frame 310.
  • the attachment and detachment mechanism 800 changes the distance between the screen 300 and the jig 400.
  • the attachment / detachment mechanism 800 mounts the jig 400 so that the distance between the jig 400 and the screen 300 can be changed.
  • the attachment / detachment mechanism 800 has a frame 822 to which the jig 400 is fixed and a table 820 to which the frame 822 is fixed.
  • the frame 822 is two square prisms made of aluminum or other metal.
  • the table 820 is a rectangular plate made of aluminum or other metal.
  • the attachment / detachment mechanism 800 has an up-and-down mechanism 830 for moving the jig 400 up and down with respect to the screen 300.
  • the attachment / detachment mechanism 800 has a rotation mechanism 860 that rotates the jig 400 with respect to the screen 300.
  • the raising and lowering mechanism 830 is fixed to the floor surface of the housing 500.
  • the up and down mechanism 830 has a plurality of up and down cylinders arranged along the printing direction.
  • the jig 400 is fixed to the table 820 via the frame 822.
  • the up and down mechanism 830 has six upper and lower cylinders and eight linear shafts.
  • the upper and lower cylinders move the table 820 up and down.
  • the upper and lower cylinders are actuators that are driven to expand and contract by hydraulic pressure, pneumatic pressure, hydraulic pressure or electric power, and an air cylinder is preferable.
  • the upper and lower cylinders have upper and lower shafts 839 that move up and down.
  • the linear shaft supports the linear movement of the upper and lower cylinders, and restricts the vertical movement of the table 820 in the vertical direction.
  • Each linear shaft has a linear motion shaft 849 that slides up and down.
  • Two upper and lower cylinders are disposed at the front, center, and rear left and right six places of the table 820.
  • Two upper and lower cylinders 831 are disposed below one end of the table 820.
  • the four linear shafts 841 are disposed inside the two upper and lower cylinders 831.
  • Two upper and lower cylinders 832 are disposed below the center of the table 820.
  • the two linear shafts 842 are disposed inside the two upper and lower cylinders 832.
  • Two upper and lower cylinders 833 are disposed at the other end of the table 820.
  • the two linear shafts 843 are disposed inside the two upper and lower cylinders 833.
  • a floating joint 835 is attached to the tip of the upper and lower shafts.
  • a floating joint 835 attached to the tip of the upper and lower cylinders connects the upper and lower shafts of the upper and lower cylinders and the roller unit.
  • the upper and lower plates 844 are fixed to the floating joints 835 of the two upper and lower cylinders 831 and the linear movement shafts 849 of the four linear shafts 841.
  • the upper and lower plates 844 fix two bearings 862 at both ends.
  • the upper and lower plates 845 are fixed to the floating joints 835 of the two upper and lower cylinders 832 and the linear motion shafts 849 of the two linear shafts 842.
  • the upper and lower plates 845 fix two roller units 865 at both ends.
  • the upper and lower plates 846 are fixed to the floating joint 835 of the two upper and lower cylinders 833 and the linear movement shaft 849 of the two linear shafts 843.
  • the upper and lower plates 846 fix two roller units 866 at both ends.
  • Both ends of the upper and lower plates 844 are fixed to floating joints 835 of two upper and lower cylinders 831. Both ends of the upper and lower plates 845 are fixed to floating joints 835 of two upper and lower cylinders 832. Both ends of the upper and lower plates 846 are fixed to floating joints 835 of two upper and lower cylinders 833. Since the upper and lower plates 846 are connected to the upper and lower cylinders via the floating joint 835, there is a possibility that the upper and lower plates 846 may tilt due to the elevation of the upper and lower shafts 839 of the upper and lower cylinders.
  • a linear shaft is disposed on the side of the upper and lower cylinders so that the inclination of the upper and lower plates is suppressed by the elevation of the linear movement shaft 849 of the linear shaft so that the upper and lower plates 846 move horizontally in the vertical direction.
  • the attachment / detachment mechanism 800 has upper and lower guides 850 that restrict the inclination of the jig 400 from side to side.
  • the upper and lower guides 850 are disposed at a position near the rear of the table 820 and at a position closer to the center than the upper and lower cylinders 833, and are disposed at the center in the width direction of the table 820.
  • the upper and lower guides 850 are guides for preventing at least one or both of the movement of the table 820 to the left and right and the inclination to the left and right when the table 820 moves up and down.
  • the upper and lower guides 850 have a plate 851 and cam followers 852.
  • the plate 851 is fixed to the table 820 and extends vertically downward from the lower surface of the table 820.
  • a plurality of cam followers 852 are attached to the plate 851.
  • the plurality of cam followers 852 are arranged in the vertical direction.
  • the upper and lower guides 850 have a guide post 854 and a guide portion 853.
  • the guide post 854 is a post fixed to the floor of the base 510 of the housing 500 and extending vertically upward from the floor surface.
  • the guide portion 853 is a vertical guide which exists in the vertical direction of one side surface of the guide post 854 and sandwiches the cam follower 852.
  • the guide portion 853 allows vertical and longitudinal movement of the cam follower 852 but prohibits movement in the lateral direction.
  • the guide portion 853 prohibits the movement of the jig 400 to the left and right and the inclination to the left and right.
  • the adjustment mechanism 870 is shown in FIG.
  • the raising and lowering mechanism 830 has an adjusting mechanism 870 for adjusting the height of the upper and lower cylinders.
  • the adjusting mechanism 870 has a connecting plate 871, a screw 872 and a dial gauge 873.
  • the connecting plate 871, the screw 872 and the dial gauge 873 are arranged at three positions in front of, in the middle of, and after the table 820.
  • the connecting plate 871 is under the floor of the base 510 and connects the lower ends of linear shafts 849 of the linear shafts on the left and right.
  • the screw 872 is attached to the base 510 through the floor of the base 510. Screws 872 are attached to the centers of the linear shafts at the left and right.
  • the lower end of the screw 872 is in contact with the center of the connecting plate 871.
  • the dial gauge 873 measures the elevation position of the linear movement shaft 849 of the upper and lower cylinders in the height direction in units of 0.1 mm.
  • the rotation mechanism 860 is disposed on the upper portion of the raising and lowering mechanism 830, and moves up and down by the raising and lowering movement of the raising and lowering mechanism 830.
  • the rotation mechanism 860 arranges the table 820 at the top, and is a mechanism for tilting the table 820.
  • the rotation mechanism 860 includes a shaft unit 864, a roller unit 865, and a roller unit 866.
  • the front end of the table 820 is fixed to the rotating shaft 861 of the shaft unit 864.
  • the central and rear ends of the table 820 rest on the roller unit 865 and the roller unit 866.
  • the shaft unit 864 is mounted on the upper and lower cylinders 831 at the front end of the plurality of upper and lower cylinders.
  • the shaft unit 864 has a rotating shaft 861 and a bearing 862.
  • the rotating shaft 861 is fixed to the table 820 at one front end of the table 820 and fixed horizontally.
  • the central axis of the rotation shaft 861 is the rotation axis of the table 820.
  • Two bearings 862 are disposed at the left and right ends of the rotating shaft 861 and rotatably hold the rotating shaft 861.
  • the roller unit 865 and the roller unit 866 are mounted on the central and rear upper and lower cylinders where the rotating shaft 861 is not attached among the plurality of upper and lower cylinders.
  • the roller unit 865 and the roller unit 866 have a roller 868 rotatable around an axis 867.
  • the table 820 has receiving plates 821 that receive the rollers 868 on the left and right of the center and the rear.
  • the roller 868 rotates on the lower surface of the receiving plate 821 about the shaft 867 when the table 820 is tilted.
  • the roller unit 865 and the roller unit 866 are in contact with the lower surface of the table 820 only by the roller 868. If the upper and lower shafts 839 of the upper and lower cylinders 833 and the upper and lower cylinders 832 are lowered while keeping the upper and lower shafts 839 of the upper and lower cylinders 831 raised during printing, the table 820 is inclined with the rotating shaft 861 as a rotation axis. Do.
  • the control unit 110 changes the elevation amounts of the plurality of upper and lower cylinders on which the roller unit is mounted, controls the height position of the roller unit, and tilts the table 820.
  • the printing unit 900 will be described with reference to FIGS. 12, 13 and 14.
  • the articulated robot 600 mounts the printing unit 900 as an end effector.
  • the end effector is a portion having a mechanism in which the robot directly works on the work target.
  • the printing unit 900 includes a squeegee 910 and a scraper 920.
  • the squeegee 910 is exchangeably held by the squeegee unit 930 by the mounting portion 941.
  • the scraper 920 is exchangeably held by the squeegee unit 930 by the mounting portion 942.
  • the squeegee 910 applies pressure to the screen 300 to press the ink in the screen 300 onto the work.
  • the scraper 920 applies pressure to the screen 300 to uniformly coat the screen 300 with the ink present on the screen 300.
  • the squeegee unit 930 is removably attached to the end 680.
  • the attachment portion 941 of the squeegee unit 930 can attach the squeegee 910 by changing the attachment angle of the squeegee 910.
  • the squeegee 910 is shown at three attachment angles. Therefore, it is possible to change the attack angle of the squeegee 910 on the workpiece 200 without making any change to the articulated robot 600 and the robot controller 130.
  • the attachment portion 942 of the scraper 920 of the squeegee unit 930 may attach the scraper 920 by changing the attachment angle of the scraper 920.
  • the squeegee unit 930 mounts a squeegee 910 and a scraper 920 slightly behind or directly below the axis J6.
  • the squeegee unit 930 has a pressurizer 931 and a pressurizer 932.
  • the pressurizer 931 is a pressurizer that applies printing pressure to the squeegee 910, and may be an actuator that is driven to expand and contract by hydraulic pressure, pneumatic pressure, hydraulic pressure, or electric power, and an air cylinder is preferable.
  • the pressure device 932 is a pressure device that applies a coating pressure to the scraper 920, and may be an actuator that is driven to expand and contract by oil pressure, air pressure, water pressure, or electric force, and is preferably an air cylinder.
  • the presser 931 and the presser 932 are fixed to both sides of the fixed plate 933.
  • the pressurizer 931 has a pressure shaft 943 and has a squeegee 910 attached via a floating joint 939.
  • the shaft axis JS of the pressure shaft 943 of the pressurizer 931 is parallel to the axis J6.
  • a pair of linear bushes 938 for securing the linear movement of the squeegee 910 is disposed on both sides of the pressurizer 931.
  • the pair of linear bushes 938 is fixed to a fixing plate 933.
  • the linear bush 938 has a linear movement shaft 940 that linearly moves, and the lower end of the linear movement shaft 940 is fixed to the mounting portion 941 of the squeegee 910.
  • the pressurizer 932 has a pressure shaft 943 and has a scraper 920 attached thereto via a floating joint 939.
  • the shaft axis JS of the pressure shaft 943 of the pressurizer 932 is parallel to the axis J6.
  • a pair of linear bushes 938 for securing the linear motion of the scraper 920 is disposed on both sides of the pressurizer 932.
  • the pair of linear bushes 938 is fixed to a fixing plate 933.
  • the linear bush 938 has a linear movement shaft 940 that linearly moves, and the lower end of the linear movement 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 between two side plates 935.
  • the two side plates 935 are fixed to the lower surface of the upper plate 936.
  • On the upper surface of the upper plate 936 there is a detachable portion 937. Both ends of the upper plate 936 project from the two side plates 935 like wings.
  • One lower plate 934, two side plates 935, and one upper plate 936 form a rectangular space S.
  • a rectangular space S an upper portion of a pressure shaft 943 of a pressure device 931 and a pressure device 932 is disposed.
  • the head of the pressure shaft 943 does not come in contact with the upper plate 936 even when the pressure shaft 943 of the pressure device 931 and the pressure device 932 is at the top.
  • the rectangular space S is a space for securing the free vertical movement of the pressure shaft 943. Because of the rectangular space S, the head of the cylinder shaft does not contact the forearm 660 of the articulated robot 600 regardless of the orientation of the axis J5 of the articulated robot 600 in the squeegee unit 930. .
  • the screen printing apparatus 100 has a camera 690.
  • the camera 690 is fixed to the end 680.
  • the camera 690 is disposed on the side of the end 680 and the squeegee unit 930.
  • the camera axis JC of the camera 690 is the central axis of the lens and is parallel to the axis J6.
  • the camera 690 is arranged at a position that does not disturb the arrangement of the squeegee unit 930.
  • the camera 690 is disposed at a position that does not prevent the squeegee unit 930 from being attached or detached.
  • the camera 690 is positioned so as not to contact the forearm 660 during printing.
  • a specific example of the camera 690 is a CCD camera with 5 million pixels per image.
  • the field of view of the camera is 40 mm in length and width, and the length per pixel is 19.5 micrometers.
  • the workpiece 200 will be described with reference to FIG.
  • the workpiece 200 is a curved surface workpiece having a curved surface with irregularities in the height direction.
  • the workpiece 200 has no unevenness and exhibits a straight line in the left-right direction.
  • the workpiece 200 is a curved plate or a corrugated plate having a constant thickness in a front view.
  • the workpiece 200 is rectangular in plan view.
  • Specific examples of the material of the work 200 are glass, resin, plastic, paper, cloth, and metal. Since the work 200 is a thin plate, it is flexible, easily deformed, and easily broken.
  • the curved surface of the surface of the workpiece 200 has at least one of a concave surface recessed from a horizontal surface and a convex surface protruding from the horizontal surface.
  • the cross-sectional shape in the left-right direction of the surface of the work 200 is rectangular.
  • the cross-sectional shape in the front-rear direction of the surface of the workpiece 200 is corrugated.
  • the workpiece 200 has one convex curved surface and one concave curved surface on the surface.
  • the radius of the convex surface and the radius of the concave 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, and are 20 degrees or more and 40 degrees or less, preferably 30 degrees.
  • At the center of one convex surface there is an apex 220 where the height is the highest.
  • At the center of one concave surface there is a bottom 230 where the height is the lowest.
  • the convex surface and the concave surface are connected at an inflection point 240. In FIG. 15, the inflection point 240 exists at the center of the workpiece 200.
  • the workpiece 200 has a curved surface on the back side.
  • the curved surface on the back surface of the workpiece 200 corresponds to the curved surface on the surface of the workpiece 200, and has the same convex surface and concave surface as the surface of the workpiece 200.
  • the workpiece 200 is a curved plate having a constant thickness.
  • a plurality of print lines 201 are printed on the work 200 as a print pattern.
  • (C) of FIG. 15 shows the case where the print line 201 of width V1 and width V2 is printed on the outer peripheral edge of the work 200 and the print line 201 of width V1 is printed at the center.
  • the straight lines on both sides forming the print line 201 are called outer lines.
  • the center line of the two outer lines is called center line 204.
  • the distance between the outer line 202 and the outer line 213 is a length V3.
  • the distance between the outer line 203 and the outer line 212 is a length V4.
  • the distance between center line 204 and center line 214 is a length V5.
  • Information of a plurality of print lines 201 forming a print pattern, that is, width V1, width V2, length V3, length V4, length V5, and other information are stored in the storage device, and the inspection of the print result is performed. Used for
  • the screen 300 will be described with reference to FIG.
  • the screen 300 is a curved screen having a curved surface with irregularities in the height direction.
  • the screen 300 has no unevenness and presents a straight line in the left-right direction.
  • the screen 300 is rectangular in plan view.
  • the screen 300 is a metal mask screen, a mesh screen, or any other type of screen.
  • the screen 300 has a curved surface of at least one of a concave surface recessed from a horizontal surface and a convex surface protruding from the horizontal surface.
  • the curved surface of the screen 300 has a concave surface recessed from the horizontal surface and a convex surface and a curved surface protruding from the horizontal surface corresponding to the curved surface of the surface of the workpiece 200.
  • the cross-sectional shape in the left-right direction of the surface of the screen 300 is a straight line.
  • the cross-sectional shape in the front-rear direction of the surface of the screen 300 is corrugated.
  • the screen 300 has one convex curved surface and one concave curved surface corresponding to the workpiece 200 shown in FIG.
  • the convex surface At the center of one convex surface, there is an apex 320 where the height is the highest. At the center of one concave surface, there is a bottom 330 with the lowest height.
  • the convex surface and the concave surface are connected at an inflection point 340. In FIG. 15, the inflection point 340 is at the center of the screen 300.
  • the plate frame 310 will be described with reference to FIG.
  • the plate frame 310 is a rectangular metal frame having a frame shape.
  • the plate frame 310 is a rectangular frame whose outer shape is rectangular and whose center is open in a rectangular shape.
  • the plate frame 310 is a frame fixed to the frame fixing portion 760.
  • the plate frame 310 holds the screen 300 by applying tension to the screen 300.
  • the plate frame 310 can be attached to the plate moving mechanism 700 in the reverse direction.
  • FIG. 1 shows a case where the concave surface of the plate frame 310 is on the right side of the paper surface, the convex surface is on the left side of the paper surface, and printing is performed in order from the concave surface to the convex surface.
  • the convex surface of the plate frame 310 may be on the right side of the paper surface, the concave surface may be on the left side of the paper surface, and printing may be performed in order from the convex surface to the concave surface.
  • the jig 400 will be described with reference to FIG.
  • the jig 400 is a curved surface jig that holds the workpiece 200 with a curved surface.
  • the jig 400 is a metal component whose lower surface is a flat surface and whose upper surface is a wave in front view.
  • tool 400 is a rectangle in planar view.
  • the jig 400 has a mounting surface having the same curved surface or curvature as the work 200 on the top surface.
  • Specific examples of the material of the jig 400 are resin, aluminum, iron, stainless steel, and other metals. Since the jig 400 is a thick plate, it is rigid, does not deform, and does not break.
  • the mounting surface of the jig 400 has at least a concave surface recessed from the horizontal surface and a convex surface protruding from the horizontal surface, corresponding to the curved surface on the back surface of the workpiece 200.
  • the mounting surface of the jig 400 has one convex curved surface and one concave curved surface.
  • the jig 400 can be attached to the table 820 in the back and forth direction.
  • FIG. 1 shows the case where the concave surface of the jig 400 is on the right side of the paper surface, the convex surface is on the left side of the paper surface, and printing is performed in order from the concave surface to the convex surface.
  • the convex surface of the jig 400 may be on the right side of the paper surface, and the concave surface may be on the left side of the paper surface, and printing may be performed in order from the convex surface to the concave surface.
  • the jig 400 has a plurality of reference marks 410 on the top surface.
  • An example of the fiducial mark 410 is a circular hole of 3 mm in diameter. The central axis of the hole is parallel to the height direction and exists in the vertical direction.
  • the reference mark 410 can be formed at the time of manufacturing the jig 400.
  • the arrangement position of the reference mark 410 of the jig 400 is determined in advance based on the print pattern.
  • the arrangement position is a coordinate position of orthogonal coordinates of a two-dimensional horizontal surface.
  • the center position of the reference mark 410 can be represented by the value of the orthogonal X axis and the value of the Y axis.
  • the center position of the reference mark P1 and the center position of the reference mark P2 can be expressed as follows.
  • the distance W between the center position of the reference mark P1 and the center position of the reference mark P2 can be obtained by the following formula.
  • the jig 400 has 28 reference marks 410. Of the 28 fiducial marks 410, 12 fiducial marks 410 are formed outside the workpiece 200. Of the 28 fiducial marks 410, 16 fiducial marks 410 are formed inside the workpiece 200. The two fiducial marks 410 formed on both sides of the printing line 201 forming the printing pattern will be referred to as a pair of fiducial marks 410. In (b) of FIG.
  • the jig 400 has 14 pairs of fiducial marks 410.
  • Fourteen pairs of fiducial marks 410 are formed in the vicinity of the intersection where the printing line 201 and the printing line 201 intersect.
  • the pair of fiducial marks 410 is formed at a position where a straight line connecting centers of the pair of fiducial marks 410 is orthogonal to the printing line 201.
  • the pair of fiducial marks 410 are formed such that the printing 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 larger than the width of the print line 201. In (b) of FIG.
  • the lengths of straight lines connecting the centers of the 14 pairs of reference marks 410 are all the same length W1.
  • the length W1 is larger than the maximum width of all the print lines 201 and smaller than the field size 40 mm of the camera.
  • “width V1 ⁇ width V2 ⁇ length W1 ⁇ visual field size 40 mm” is satisfied.
  • the central position of all the fiducial marks 410 is known, and the distance between the central positions of all the fiducial marks 410 is known.
  • the central positions of all the reference marks 410 and the distance between the central positions of the reference marks 410 are stored in the storage device.
  • the housing 500 includes a rack 560 and an ink receiving tray 570.
  • the rack 560 is a base fixed to the base 510.
  • the rack 560 is installed outside the slide mechanism 730 closer to the axis J 1 among the two slide mechanisms 730.
  • the rack 560 has four legs and a space for holding the printing unit 900 in the center.
  • the rack 560 has a suspension 561 for suspending the printing unit 900 at the top of the four legs.
  • the suspension portion 561 detachably secures both ends of the upper plate 936 of the squeegee unit 930 to hold the squeegee unit 930.
  • the suspension unit 561 Since the camera 690 is always fixed to the articulated robot 600, the suspension 561 does not have the function of holding the camera 690.
  • the suspension unit 561 has a space R in which the printing unit 900 and the camera 690 are disposed at the center.
  • the suspension unit 561 detaches the printing unit 900 from the articulated robot 600 with the printing unit 900 and the camera 690 arranged in the space R.
  • the ink tray 570 is a bowl that protrudes like a bowl from the upper side of the rack 560.
  • the ink receiving tray 570 receives ink falling from the printing unit 900 while the printing unit 900 is moving.
  • the height of the ink receiving tray 570 is higher than the height of the slide mechanism 730.
  • the ink receiving tray 570 protrudes horizontally from one side of the suspension 561 of the rack 560.
  • the ink receiving tray 570 covers the slide mechanism 730 and the frame fixing portion 760.
  • the end of the ink receiving tray 570 extends above the screen 300 of the plate frame 310.
  • the planar shape of the screen printing apparatus 100 is a rectangle having a long side and a short side.
  • the two slide mechanisms 730 of the plate moving mechanism 700 are disposed in parallel with the short side of the screen printing apparatus 100.
  • the short side of the printing frame 310 is disposed in parallel with the short side of the screen printing apparatus 100.
  • the long side of the plate frame 310 is disposed in parallel with the long side of the screen printing apparatus 100.
  • the frame 310 slides in parallel with the short side of the screen printing apparatus 100.
  • the slide mechanism 730 has a length twice as long as the short side length of the printing frame 310.
  • the slide of the plate frame 310 creates a printable state in which the plate frame 310 covers the upper surface of the jig 400 and the workpiece 200 and a testable state in which the upper surface of the jig 400 and the workpiece 200 is opened.
  • the short side of the attachment / detachment mechanism 800 is disposed in parallel with the short side of the screen printing apparatus 100.
  • the long side of the attachment / detachment mechanism 800 is disposed in parallel with the long side of the screen printing apparatus 100.
  • the jig 400 is disposed inside the arrangement range of the attachment / detachment mechanism 800.
  • Two circular arcs shown in FIG. 5 indicate the rotation range of the articulated robot 600 about the axis J1.
  • the inner circular arc indicates the maximum movable range of the axis J6 when the axis J6 is disposed in the vertical direction.
  • the outer arc indicates the maximum movable range of the tip of the squeegee unit 930.
  • X1 Length of long side of housing 500
  • X2 Length of long side of screen 300
  • X3 Distance between axis J1 and end SE of housing 500
  • X4 Center of two long sides of housing 500
  • the distance between the connecting straight line S0 and the end SE of the housing 500, that is, X1 ⁇ 2 X4
  • X5 distance between the center position S4 of the printing stroke and the end SE of the housing 500
  • X6 the length of the printing start position S1 to the printing end position S2, ie, the length of the printing stroke
  • X7 two housings 500
  • Distance in plan view between straight line S0 connecting center of long side and printing start position S1 Distance in plan view between straight line S0 connecting center of two long sides of housing 500 and end position of printing
  • X9 case Distance in plan view between a straight line S0 connecting the centers of two long sides of the body 500 and the central position S4 of the printing stroke
  • Y1 Length of the short side of
  • the rotatable range of the axis J1 is 340 degrees.
  • the axis J1 can be rotated 170 degrees clockwise from the center of the rotatable range and can be rotated 170 degrees counterclockwise.
  • the axis J1 is above the straight line connecting the centers of the two short sides of the screen 300.
  • the axis J1 is disposed in the vertical direction. Axis J1 does not rotate during printing.
  • the axis J1 is perpendicular to the direction of the printing stroke, ie the printing direction.
  • the center of the rotatable range of the axis J1 and the printing direction are the same.
  • the axis J2 is disposed parallel to the short side of the housing 500 during printing, and orthogonal to the printing direction.
  • the position of the axis J2 in plan view does not move during printing, and is at the same position as a straight line S0 connecting the centers of the two long sides of the housing 500.
  • the distance X7 is the same as the distance between the axis J2 and the printing start position S1 in plan view.
  • the distance X8 is the same as the distance between the axis J2 and the print end position S2 in plan view.
  • the ratio of the distance X7 to the distance X8 is 1 to 3.
  • the distance X9 is the same as the distance X7.
  • the distances X6, X7, X8 and X9 have the following relationship.
  • the position in plan view of the axis J2 is from the print start position S1 to a quarter of the print stroke length X6.
  • the squeegee unit 930 is behind the axis J2 by a quarter of the print stroke length X6, The next three quarters are in front of axis J2.
  • the position in plan view of the axis J2 may be within the range of the printing stroke, preferably in the first half of the printing stroke, and further in the middle of the first half of the printing stroke.
  • the print start position S1 is directly below or almost directly below the axis J1.
  • the print end position S2 is within 70% of the radius of the maximum movable range of the axis J6. Therefore, the length X6 of the printing stroke is within 70% of the length of the radius of the maximum movable range of the axis J6.
  • the center line connecting the centers of the short sides of the screen 300, ie, the center line of the printing width intersects the axis J1 and is orthogonal to the axis J1.
  • the rack 560 is within the maximum movable range of the axis J6.
  • the distance from the axis J1 to the printing end position S2 is substantially equal to the distance from the axis J1 to the center of the suspension rack of the rack 560.
  • the distance from the axis J1 to the short side of the printing frame 310 having the printing end position S2 is approximately equal to the distance from the axis J1 to the center of the suspension rack of the rack 560.
  • the squeegee unit 930 located at the print end position S2 is rotated clockwise around the axis J1.
  • a rack 560 for holding the squeegee unit 930 is disposed at a position rotated by degrees. 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 printing plate frame 310 and biased to the side on which the rack 560 is located from the center of the long side of the printing frame 310.
  • the distance from the axis J1 of the base 610 to the slide mechanism 730 which is farther from the axis J1 of the two slide mechanisms 730 and the distance from the axis J1 to the farthest corner of the rack 560 are the same. This distance is equal to three quarters of the maximum movable range of the articulated robot 600 about the axis J1.
  • the arrangement relationship and the dimensional relationship described based on FIG. 5 are an example, and the arrangement relationship and the dimensional relationship described above may be changed when the size of the work is changed.
  • the screen printing method of the screen printing apparatus 100 will be described with reference to FIG. The following operation is performed based on the electrical signal from the control unit 110.
  • the control unit 110 controls the articulated robot 600 via the robot controller 130.
  • image processing is performed in the inspection process, the control unit 110 performs image processing using the image processing unit 140.
  • the control unit 110 controls the cylinder or the pressurizer through the vacuum pump 150 and the air pressure circuit 160 when operating the cylinder or the pressurizer.
  • the control unit 110 causes the workpiece 200 to be adsorbed to the jig 400 via the vacuum pump 150 and the air pressure circuit 160 when the workpiece 200 is adsorbed to the jig 400.
  • the workpiece 200 is a transparent glass plate, a transparent resin plate, or a translucent plate.
  • a case where the workpiece 200, the screen 300, and the jig 400 have a convex curved surface and a concave curved surface, and the printing unit 900 prints from the convex curved surface toward the concave curved surface will be described.
  • the squeegee unit 930 is in the rack 560. The distance between the positions of all the reference marks 410 and the center positions of all the reference marks 410 is assumed to be stored in the storage device.
  • the case without test printing will be described.
  • FIG. 20 shows a state in which the attachment / detachment mechanism 800 is at the origin.
  • Home position return control unit 110 of plate movement mechanism 700 returns plate movement mechanism 700 to the origin.
  • the origin of the plate moving mechanism 700 is an open position.
  • the control unit 110 operates the articulated robot 600 and mounts the squeegee unit 930 in the rack 560 on the end 680.
  • the articulated robot 600 fixes the squeegee unit 930 to the end 680.
  • the control unit 110 places the workpiece 200 on the jig 400 by a loading device (not shown). That is, the work 200 having a concave surface and a convex surface is placed on a jig 400 having a concave surface and a convex surface.
  • the back surface of the work 200 overlaps the mounting surface formed on the top surface of the jig 400 without any gap.
  • There is a suction groove on the mounting surface of the jig 400 and the control unit 110 sucks the air of the suction groove.
  • the workpiece 200 is in close contact with and fixed to the mounting surface of the jig 400 by this suction. Even if the work 200 is carried in a flexible and deformed state upon loading, the work 200 is placed on the mounting surface of the rigid jig 400 and attracted to the mounting surface, thereby becoming the original shape. .
  • the control unit 110 operates the articulated robot 600 to take out the squeegee unit 930 from the rack 560 and move the plate frame 310 to the sky via the sky of the ink receiving plate 570.
  • the control unit 110 operates the motor 750 to slide the plate frame 310 from the open position to the printable position.
  • the control unit 110 operates the articulated robot 600 to move the squeegee unit 930 to the sky above the workpiece 200 using the sky above the moving frame 310. That is, the control unit 110 moves the squeegee 910 above the screen 300 when the screen moving mechanism 700 moves the screen 300.
  • the control unit 110 rotates the axis J1 by 140 degrees to move the squeegee unit 930 from the rack 560 to the print end position S2 of the plate frame 310.
  • the control unit 110 operates the articulated robot 600 and coats the screen 300 of the plate frame 310 with the ink by the scraper 920.
  • the controller 110 causes the articulated robot 600 to move the tip of the scraper 920 along the curved surface of the screen 300.
  • the control unit 110 causes the articulated robot 600 to move the scraper 920 from the print end position S2 toward the print start position S1.
  • the control unit 110 controls the angle of the scraper 920 such that the articulated robot 600 makes the attack angle of the scraper 920 on the screen 300 constant.
  • the attack angle of the scraper 920 is preferably 80 degrees to 100 degrees, and preferably 90 degrees.
  • the control unit 110 operates the pressurizer 932 while moving the scraper 920 to press the scraper 920 against the screen 300. Alternatively, the control unit 110 slides the scraper 920 along the surface of the screen 300 without pressing the scraper 920 against the screen 300.
  • the control of the scraper 920 by the articulated robot 600 is the same as the control of the squeegee 910 by the articulated robot 600 in the printing step S17 except that the moving direction is reverse, and the details of the control are described in the printing step S17. Do.
  • the control unit 110 operates the separation and attachment mechanism 800 to raise the jig 400 on which the workpiece 200 is placed.
  • the control unit 110 raises the jig 400 until the distance between the workpiece 200 and the screen 300 reaches a predetermined clearance.
  • the clearance is preset in the range of 1 mm or more and 10 mm or less.
  • the control unit 110 causes the articulated robot 600 to move the squeegee 910 to print on the concave and convex surfaces of the workpiece 200.
  • FIG. 21 shows the print start state.
  • the control unit 110 operates the articulated robot 600 to move the squeegee 910 to the print start position S1.
  • the controller 110 moves the tip of the squeegee 910 along the curved surface of the screen 300. That is, the articulated robot 600 moves the squeegee 910 in a wave direction in the printing direction along the curved surface of the workpiece 200.
  • the articulated robot 600 arranges the three axes of the axis J 2, the axis J 3 and the axis J 5 horizontally and in parallel, and uses the rotation of the axis J 2, the axis J 3 and the axis J 5 to squeegee 910 Move in the print direction.
  • the articulated robot 600 arranges and prints the remaining axes, that is, the axis J1, the axis J4, and the axis J6 on the same vertical plane.
  • the same vertical plane on which the axis J1, the axis J4, and the axis J6 are arranged is a plane parallel to the printing direction and is orthogonal to the plate frame 310 or the screen 300 at the center of the plate frame 310 or the screen 300 in the left-right direction. Plane.
  • the control unit 110 controls the angle of the squeegee 910 so that the attack angle with respect to the surface of the workpiece 200 of the squeegee 910 becomes constant.
  • the articulated robot 600 controls the posture of the squeegee unit 930 so that the attack angle becomes constant at any position on the surface of the workpiece 200.
  • the attack angle of the squeegee 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 printing pressure to the squeegee unit 930.
  • the control unit 110 operates the pressurizer 931 while moving the squeegee 910 to press the squeegee 910 against the screen 300.
  • the reason for applying the printing pressure only by the pressurizer 932 instead of applying the printing pressure by the articulated robot 600 is as follows.
  • Reason 1 The pressurizer 932 is more accurate than the articulated robot 600 in maintaining the printing pressure constant during printing.
  • Reason 2 The pressure control by the articulated robot 600 is eliminated, and by concentrating the articulated robot 600 on movement control and angle control of the squeegee unit 930, the accuracy of movement control and angle control is enhanced.
  • the articulated robot 600 moves the squeegee 910 by rotation of only the horizontally and parallelly arranged axes of the articulated robot 600, that is, rotation of only three axes of the axis J2, the axis J3, and the axis J5. .
  • the articulated robot 600 moves the squeegee 910 along the curved surface of the workpiece 200 while keeping the attack angle of the squeegee 910 on the curved surface of the workpiece 200 constant.
  • the articulated robot 600 does not rotate the remaining axes, ie, the axis J1, the axis J4, and the axis J6, during printing.
  • the control unit 110 does not operate the separation and attachment mechanism 800 in the printing of the uphill from the printing start position S1 to the top 220 of the convex surface of the workpiece 200.
  • the control unit 110 operates the separation mechanism 800 during printing, and after printing the convex top 220 of the workpiece 200, the separation mechanism 800 separates the jig 400 from the screen 300.
  • the control unit 110 separates the jig 400 from the screen 300 using a rotation mechanism 860 that rotates the jig 400 with respect to the screen 300.
  • FIG. 22 shows the operating state of the detachment mechanism 800. As shown in FIG.
  • the separation mechanism 800 As shown in (a) of FIG. 23, if the separation mechanism 800 is not operated during printing and the jig 400 is not pulled away from the screen 300, the plate separation indicated by the arrow is shown after printing of the convex top 220 of the workpiece 200. The angle decreases. That is, after printing the convex top portion 220 of the workpiece 200, 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 separation mechanism 800 after printing the convex top portion 220 of the workpiece 200 to separate the jig 400 from the screen 300, and the plate separation angle or the workpiece 200 and The distance to the screen 300 is maintained.
  • the attachment / detachment mechanism 800 increases the distance between the workpiece 200 and the screen 300 so that the distance between the workpiece 200 and the screen 300 does not decrease after printing the convex top portion 220 of the workpiece 200.
  • the attachment / detachment mechanism 800 is a mechanism that secures the plate separation angle by securing the distance between the work 200 and the screen 300 in the place where the squeegee 910 is printing while printing with the squeegee 910.
  • the control unit 110 increases the distance between the printed convex screen 300 and the jig 400 after printing the convex top 220 of the workpiece 200 by the rotation mechanism 860.
  • the control unit 110 keeps the height of the upper and lower shafts 839 of the upper and lower cylinders 831 at the end of the work 200 on the concave side constant.
  • the control unit 110 lowers the upper and lower shafts 839 of the upper and lower cylinders 832 and the upper and lower cylinders 833 at the end of the work 200 on the convex side.
  • the control unit 110 lowers the upper and lower shafts 839 of the upper and lower cylinders 832 and the upper and lower cylinders 833 by the same amount. For this reason, a gap is created between the roller 868 at the tip of the roller unit 865 on the upper and lower shafts 839 of the upper and lower cylinders 832 and the receiving plate 821 of the table 820.
  • the control unit 110 may lower the upper and lower shafts 839 of the upper and lower cylinders 832 and the upper and lower cylinders 833 at a ratio of one to two so that no gap is generated.
  • the rotation of the rotation shaft 861 of the rotation mechanism 860 causes the table 820 to tilt and the jig 400 to tilt.
  • the control unit 110 pulls the jig 400 away from the screen 300 during printing from the top 220 of the convex curved surface of the workpiece 200 to the bottom 230 of the concave curved surface. That is, the control unit 110 pulls the jig 400 away from the screen 300 during downhill printing.
  • control of the control unit 110 includes the following control.
  • Control 1 The tilt of the jig 400 is increased until the bottom 230 of the concave surface of the workpiece 200 is reached, and the jig 400 is gradually pulled away from the screen 300. When the bottom 230 of the concave surface of the workpiece 200 has elapsed, the increase in the inclination of the jig 400 is stopped. In the printing after the progress of the bottom 230 of the concave curved surface of the work 200, printing is performed while maintaining the tilt of the jig 400 or while gradually reducing the tilt of the jig 400. Control 2.
  • the inclination of the jig 400 is increased until the convex curved surface of the workpiece 200 and the inflection point 240 of the concave curved surface are reached, and the jig 400 is gradually pulled away from the screen 300.
  • the increase in the inclination of the jig 400 is stopped.
  • printing is performed while maintaining the tilt of the jig 400 or while gradually reducing the tilt of the jig 400.
  • the control unit 110 brings the jig 400 closer to the screen 300 until the planned clearance is reached.
  • the control unit 110 does not bring the jig 400 close to the screen 300 until it is less than the planned clearance.
  • control unit 110 operates the separation and attachment mechanism 800 to lower the workpiece 200 and the jig 400 to the origin.
  • Control unit 110 operates motor 750 to retract plate frame 310 from the printable position to the open position. Simultaneously with the retraction of the frame 310, the control unit 110 operates the articulated robot 600 to move the squeegee unit 930 to the open position using the upper space of the moving frame 310. The control unit 110 rotates the axis J1 by 140 degrees to move the squeegee unit 930 from the print end position S2 to the rack 560. If the ink falls from the squeegee 910 or the scraper 920 while the squeegee unit 930 is moving, the ink falls to the plate frame 310.
  • the control unit 110 operates the articulated robot 600 to move the squeegee unit 930 from the space above the printing frame 310 to the rack 560 via the space above the ink receiving plate 570. If the ink falls from the squeegee 910 or the scraper 920 while the squeegee unit 930 is moving, the ink falls to the ink receiver 570.
  • the control unit 110 rotates the axis J6 with the axis J6 of the articulated robot 600 vertical, and inserts the squeegee unit 930 and the camera 690 into the space R of the suspension 561.
  • the control unit 110 separates the squeegee unit 930 mounted on the end 680 from the end 680 and suspends the suspension unit 561 of the rack 560.
  • the control unit 110 controls the plate moving mechanism 700 to move the plate frame 310 after printing so as to open the air above the workpiece 200.
  • the control unit 110 operates the articulated robot 600 in a state where the screen 300 is moved by the plate moving mechanism 700 to open the upper surface of the workpiece 200, and the camera 690 is moved to the workpiece 20. Move over 0.
  • the control unit 110 moves the camera 690 fixed to the articulated robot 600 in a state where the squeegee 910 is removed from the articulated robot 600.
  • the control unit 110 positions the camera 690 above the pair of reference marks 410 by the articulated robot 600.
  • the arrangement position of the fiducial marks 410 is known, and the articulated robot 600 shoots a pair of fiducial marks 410 in order.
  • the control unit 110 causes the articulated robot 600 to position the camera 690 with the camera axis JC of the camera 690 directed downward in the vertical direction.
  • the control unit 110 operates the camera 690 to capture a single image by printing a print line 201 printed between a pair of reference marks 410 and a pair of reference marks in one shooting.
  • the control unit 110 operates the articulated robot 600 to move the camera 690, and the camera 690 sequentially captures all 14 pairs of reference marks 410.
  • 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 above the rack 560.
  • the control unit 110 analyzes the image captured by the camera 690 and executes the following position inspection, width inspection, and distance inspection.
  • the controller 110 analyzes one image taken by the camera 690.
  • the control unit 110 determines the quality of the print pattern based on the position of the pair of reference marks and the position of the print pattern.
  • A. Example of Position Inspection Using One Reference Mark The control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outer line 202 of the printing line 201, as shown in (d) of FIG.
  • the control unit 110 calculates the distance G3 from the center position of the reference mark P1 to the outer line 203 of the print line 201, as shown in (d) of FIG. If the distance G1 and the distance G2 are predetermined distances, the control unit 110 determines that the printing is normal.
  • Control unit 110 determines that the printing is defective if the distances G1 and G2 are other than the predetermined distances.
  • the placement position of the fiducial mark 410 is not used for this position check. That is, the coordinates of the center position of the fiducial mark 410 are not used for position inspection.
  • B. Position inspection example 1 with two fiducial marks The control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outline 202 of the printing line 201, as shown in (d) of FIG.
  • the control unit 110 calculates the distance G4 from the center position of the reference mark P2 to the outer line 203 of the print line 201, as shown in (d) of FIG.
  • the control unit 110 determines that the printing is normal. Control unit 110 determines that the printing is defective if the distances G1 and G4 are other than the predetermined distances.
  • the placement position of the fiducial mark 410 is not used for this position check. That is, the coordinates of the center position of the fiducial mark 410 are not used for position inspection.
  • C. Position inspection example 2 with two fiducial marks The control unit 110 detects the outer line 202 and the outer line 203, calculates the center between the outer line 202 and the outer line 203, and detects the position of the center line 204 of the printing line 201, as shown in FIG. I assume.
  • 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.
  • the control unit 110 calculates a distance K4 from the center position of the reference mark P2 to the center line 204, as shown in (d) of FIG.
  • the control unit 110 determines that the printing is normal if the distances K1 and K4 are predetermined distances.
  • the control unit 110 determines that the printing is defective if the distances K1 and K4 are other than the predetermined distances. If the print line 201 should be printed at the center of the pair of fiducial marks, the control unit 110 further determines whether the center line 204 of the print line 201 is at an intermediate position of the distance W1 of the pair of fiducial marks. Do.
  • the coordinates of the center position of the fiducial mark 410 are not used for position inspection.
  • the print line and one or a pair of reference marks are photographed in one image, the distance between the print line and the reference mark is calculated, and the quality of the print position of the print line is judged. Do.
  • the controller 110 analyzes one image taken by the camera 690.
  • the control unit 110 determines the quality of the print pattern based on the distance W1 of the pair of reference marks and the width of the print pattern.
  • the control unit 110 calculates the width of the print line 201 from the distance W1 of the center position of the pair of reference marks and the image of the print line 201. Specifically, the control unit 110 performs the following calculation.
  • A. Example of Width Inspection Using One Reference Mark The control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outer line 202 of the print line 201, as shown in (d) of FIG.
  • the control unit 110 calculates the distance G3 from the center position of the reference mark P1 to the outer line 203 of the print line 201, as shown in (d) of FIG.
  • the control unit 110 determines that the printing is normal if the width of the print line 201 is the predetermined width V1.
  • the control unit 110 determines that the printing is defective if the width of the print line 201 is other than the predetermined width V1.
  • the arrangement position of the reference mark 410 is not used. That is, the coordinates of the center position of the fiducial mark 410 are not used for position inspection.
  • the control unit 110 calculates the distance G1 from the center position of the reference mark P1 to the outer line 202 of the print line 201, as shown in (d) of FIG.
  • the control unit 110 calculates the distance G4 from the center position of the reference mark P2 to the outer line 203 of the print line 201, as shown in (d) of FIG.
  • the control unit 110 extracts the distance W1 between the center position of the reference mark P1 and the center position of the reference mark P2 from the storage device, and performs the following calculation.
  • Width of print line 201 W1-(G1 + G4)
  • the control unit 110 determines that the printing is normal if the width of the print line 201 is the predetermined width V1.
  • the control unit 110 determines that the printing is defective if the width of the print line 201 is other than the predetermined width V1.
  • the distance W1 of a pair of fiducial marks is used.
  • the arrangement position of the reference mark 410 is not used. That is, the coordinates of the center position of the fiducial mark 410 are not used for position inspection.
  • the width inspection since the printing line and one or a pair of reference marks are captured in one image, the distance between the printing line and the reference marks can be calculated, and the width of the printing line can be calculated. It is possible to determine the quality of the
  • the control unit 110 analyzes images of a plurality of places captured by the camera 690.
  • the control unit 110 calculates the distance between the reference mark of each location and the printing pattern of each location based on the position of the reference mark of each location and the position of the printing pattern of each location.
  • the control unit 110 calculates the distances of the printing patterns at a plurality of locations based on the distance between the fiducial marks and the printing pattern and the distances of the fiducial marks at a plurality of locations.
  • the control unit 110 calculates not the arc length of the curved surface of the workpiece 200 but the linear distance in plan view, and determines the quality of printing.
  • the distance between the two reference marks and the two printing lines 201 and the distance between the two reference marks stored in the storage device are used.
  • the arrangement position of the reference mark 410 is not used. That is, the coordinates of the center position of the fiducial mark 410 are not used for position inspection. If the distance between the two fiducial marks is not stored in the storage device, the distance between the two fiducial marks may be calculated from the coordinates of the center position of the fiducial mark 410.
  • the control unit 110 performs the following inspection.
  • A. Distance inspection example 1 The distance between the center position of the reference mark P1 disposed on the straight line L shown in FIG. 15 and the center position of the reference mark P4 is W2.
  • the control unit 110 obtains the distance G1 between the center position of the reference mark P1 and the outer line 202 of the printing line 201 based on the position of the reference mark P1 and the position of the outer line 202 of the printing line 201.
  • the control unit 110 obtains the distance G2 between the center position of the reference mark P4 and the outer line 213 of the printing line 211 based on the position of the reference mark P4 and the position of the outer line 213 of the printing line 211.
  • Control unit 110 determines that the distance W2 ⁇ (distance G1 + distance G2) is normal if the predetermined length V3. If the distance W2 ⁇ (distance G1 + distance G2) is other than the predetermined length V3, the control unit 110 determines that the condition is defective. Further, it is assumed that the distance between the center position of the reference mark P2 arranged on the straight line L shown in FIG. 15 and the center position of the reference mark P3 is W3. The control unit 110 obtains the distance G4 between the center position of the reference mark P2 and the outer line 203 of the printing line 201 based on the position of the reference mark P2 and the position of the outer line 203 of the printing line 201.
  • the control unit 110 obtains the distance G5 between the center position of the reference mark P3 and the outer line 212 of the printing line 211 based on the position of the reference mark P3 and the position of the outer line 212 of the printing line 211.
  • the control unit 110 determines that the distance W3 + (distance G4 + distance G5) is normal if the predetermined length V4. If the distance W3 + (distance G4 + distance G5) is other than the predetermined length V4, the control unit 110 determines that the condition is defective.
  • B. Distance inspection example 2 The distance between the center position of the reference mark P1 disposed on the straight line L shown in FIG. 15 and the center position of the reference mark P4 is W2.
  • the control unit 110 obtains the distance K1 between the center position of the reference mark P1 and the center line 204 of the printing line 201 based on the position of the reference mark P1 and the position of the center line 204 of the printing line 201.
  • the control unit 110 obtains a distance K2 between the center position of the reference mark P4 and the center line 214 of the printing line 211 based on the position of the reference mark P4 and the position of the center line 214 of the printing line 211.
  • the control unit 110 determines that the distance W2 ⁇ (distance K1 + distance K2) is normal if the predetermined length V5. If the distance W2 ⁇ (distance K1 + distance K2) is other than the predetermined length V5, the control unit 110 determines that the condition is defective.
  • the control unit 110 obtains the distance K4 between the center position of the reference mark P2 and the center line 204 of the printing line 201 based on the position of the reference mark P2 and the position of the center line 204 of the printing line 201.
  • the control unit 110 obtains the distance K5 between the center position of the reference mark P3 and the center line 214 of the printing line 211 based on the position of the reference mark P3 and the position of the center line 214 of the printing line 211.
  • the control unit 110 determines that the distance W3 + (distance K4 + distance K5) is normal if the predetermined length V5. If the distance W3 + (distance K4 + distance K5) is other than the predetermined length V5, the control unit 110 determines that the condition is defective.
  • the distance between the two reference marks and the distance from the reference mark obtained from the two images to the printing line can be calculated by Other inspection contents, inspection methods and calculation methods different from the inspection contents, inspection methods and calculation methods described above may be used.
  • the control unit 110 can display on the monitor 120 an image, a measured value, a calculated value, and an inspection result taken for visual check during or after shooting. Specifically, the control unit 110 sequentially or selectively displays the image, the measured value, the calculated value, and the inspection result on the monitor 120 based on the instruction from the console 170. Further, the control unit 110 displays the image of the print pattern determined to be defective, the measured value, the calculated value, and the inspection result on the monitor 120 based on the instruction from the console 170.
  • control unit 110 unloads the workpiece 200 by a not-shown unloading device.
  • control unit 110 determines whether there is the next printing, and returns to the mounting step S12 of the squeegee unit 930. If there is no next printing, control unit 110 ends printing.
  • the screen printing method having the function capable of printing on the workpiece 200 having both the convex and concave curved surfaces has been described. Also, the screen printing method has been described in which the printing position is measured by the camera 690 after screen printing and the printing result is inspected. According to the screen printing method described above, it is possible to print on a glass substrate having a curved surface shape, a film, and other curved surface workpieces.
  • the articulated robot 600 since the articulated robot 600 is provided, printing can be performed on the workpiece 200 having a curved surface.
  • the advantages of using the articulated robot 600 are as follows. A. In curved surface printing, the squeegee 910 and the scraper 920 can be moved along the curved surface. B. In curved surface printing, the attack angle of the squeegee 910 and the scraper 920 can be made constant. C.
  • the articulated robot 600 can perform two types of operations, printing and inspection. That is, by making the squeegee unit 930 removable, inspection with the camera 690 becomes possible. D.
  • the squeegee unit 930 can be moved to the rack 560, and the air above the workpiece 200 can be completely opened. E. It is also possible to carry in the work 200 and carry out the work 200 by the multi-joint robot 600 instead of the work in / out device.
  • the screen printing apparatus 100 includes the jig 400 having a curved surface corresponding to the curved surface of the workpiece, printing can be performed without deforming the workpiece 200.
  • the articulated robot 600 is a ceiling-mounted type, so the planar area of the screen printing apparatus 100 is reduced.
  • the articulated robot 600 arranges the three axes horizontally and arranges and prints the remaining axes in the same plane, so that the squeegee unit 930 can be operated with high accuracy. Since the articulated robot 600 controls and prints only three horizontally arranged axes, the squeegee unit 930 can be accurately moved linearly in plan view. Since the articulated robot 600 fixes and prints all the remaining axes other than the three horizontally arranged axes, attitude control of the squeegee unit 930 is facilitated.
  • the screen having the concavo-convex surface corresponding to the concavo-convex surface of the surface of the workpiece 200 is provided, printing can be performed on the workpiece 200 having a curved surface. Since the separation mechanism 800 for changing the distance between the work 200 and the screen 300 is provided, the plate separation angle can be optimally adjusted.
  • the separation mechanism 800 separates the jig 400 from the screen 300 after printing the convex top 220 of the workpiece 200, it is possible to avoid a reduction in the plate separation angle between the convex surface of the workpiece 200 and the screen 300.
  • the attachment / detachment mechanism 800 can adjust the plate separation angle between the workpiece 200 and the screen 300 by the up-down mechanism 830 for moving the jig 400 up and down and the rotation mechanism 860 for rotating the jig 400.
  • the printing pattern can be inspected. Since the fiducial marks 410 are formed not on the curved plate workpiece 200 but on the rigid jig 400, the fiducial marks 410 can be accurately inspected without misalignment.
  • the camera 690 can capture the fiducial mark 410 via the workpiece 200.
  • the plate moving mechanism 700 for moving the plate frame 310 since the plate moving mechanism 700 for moving the plate frame 310 is provided, it is possible to inspect the print pattern without moving the work 200. If the inspection is performed after the workpiece 200 is unloaded from the jig 400, the inspection may be performed in a deformed state of the workpiece 200, and an accurate inspection can not be guaranteed.
  • the distance between the printing line and the one fiducial mark can be calculated, and whether the printing position of the printing line is good or not or the printing line width is Good or bad can be determined. That is, since the position of the reference mark is known, by calculating the distance between the reference mark and the printing line, the quality of the position of the printing line can be known and the quality of the printing pattern can be determined.
  • the distance of the printing line can be calculated by the distance between the fiducial marks and the distance from the fiducial mark to the printing line. It can be determined. That is, since the distance between the two fiducial marks 410 is known, the distance between the two printing lines can be calculated based on the positions of the two fiducial marks 410 and the positions of the printing lines, and the quality of the printing pattern is judged. Can.
  • the surface of the work 200 may have a plurality of concave surfaces and a plurality of convex surfaces.
  • the lengths of the radii of the concave surface and the convex surface of the surface of the workpiece 200 may be different.
  • On the surface of the workpiece 200 there may be a portion in which a concave surface with a different radius and a concave surface are continuous.
  • On the surface of the workpiece 200 there may be a portion in which a convex curved surface and a convex curved surface having different radii are continuous.
  • the surface of the workpiece 200 may have a portion in which a curved surface and a plane are continuous.
  • the back surface of the workpiece 200 does not have to have a curved surface corresponding to the surface of the workpiece 200, and the thickness of the workpiece 200 may not be constant.
  • the back surface of the work 200 may be flat.
  • the jig 400 may be a flat surface corresponding 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 in at least a part in the lateral direction as well as in the front-rear direction.
  • the tip of the squeegee 910 may have a protrusion or a recess corresponding to the recess or the protrusion of the work 200.
  • the mounting surface of the jig 400 does not have to match the shape of the back surface of the workpiece 200. If the workpiece 200 has sufficient hardness, the mounting surface of the jig 400 and the back surface of the workpiece 200 There may be a gap between the One reference mark 410 may not exist for the print line 201, and one reference mark 410 may exist for the print line 201. Even when one reference mark 410 exists for the print line 201, the distance between the position of the reference mark 410 and the print line 201 can be calculated because the position of the reference mark 410 is known. In addition, even when one reference mark 410 exists for the print line 201, the distances of the plurality of print lines 201 can also be calculated using the distances of the plurality of reference marks 410.
  • the fiducial marks 410 may be formed to correspond to printing patterns of curves, squares, triangles, polygons, semicircles, and other shapes, instead of the straight printing lines 201.
  • the fiducial marks 410 need not be at each end of the print line 201, but may be present only at places deemed important for quality inspection.
  • the reference mark 410 may not be a hole, but may be a mark or a seal described on the surface of the jig 400.
  • the shape of the fiducial mark 410 may not be circular, and may be square, triangle, polygon, straight line, semicircle, or any other shape.
  • the reference mark 410 may be any one that can be photographed and identified by the camera 690.
  • the fiducial mark 410 may be only on the outside of the workpiece 200.
  • the fiducial marks 410 may be located only inside the workpiece 200. When the fiducial mark 410 can be photographed by the camera 690 via the workpiece 200, the fiducial mark 410 may be only at the position covered by the workpiece 200.
  • a specific example in the case where the reference mark 410 can be photographed by the camera 690 via the workpiece 200 is a case where the workpiece 200 is transparent or a case where the workpiece 200 has a through hole exposing the reference mark 410.
  • the reference mark 410 may be formed so that the central axis of the hole of the reference mark 410 is not vertical but perpendicular to the surface of the workpiece 200.
  • the articulated robot 600 When shooting with the camera 690, the articulated robot 600 shoots with the camera axis JC aligned with the central axis of the hole of the reference mark 410.
  • the controller 110 calculates the size and distance of the print pattern based on the arc length of the curved surface.
  • the articulated robot 600 may not be a six-axis robot, but may be a five-, four-, or three-axis robot. Specifically, the axis J4 may not be present. If there is no inspection by the camera 690 and there is no need to move the squeegee unit 930 to the rack 560, the axis J1 may be absent. If there is no inspection by the camera 690 and it is not necessary to rotate the squeegee unit 930 above the rack 560, the axis J6 may be absent.
  • the plate movement mechanism 700 and the attachment / detachment mechanism 800 can also be used for a screen printing apparatus using a drive mechanism that linearly moves the squeegee unit 930 horizontally.
  • the inspection contents and inspection method using the reference mark described above can also be used for a screen printing apparatus using a drive mechanism for moving the squeegee unit 930 linearly in the horizontal direction.
  • the camera 690 may not be attached to the articulated robot 600, and instead of attaching the camera 690 to the articulated robot 600, it may be attached to a two-dimensional drive mechanism that moves the camera 690 in the horizontal two-dimensional direction.
  • the plate moving mechanism 700 may move the plate frame 310 back and forth without moving the plate frame 310 left and right.
  • the plate moving mechanism 700 may rotate the plate frame 310 around one side of the plate frame 310 as an axis.
  • the plate moving mechanism 700 may move the separating mechanism 800 by placing the separating mechanism 800 on the moving table without moving the plate frame 310.
  • the upper and lower cylinders 832 and the linear shaft 842 at the center of the attachment / detachment mechanism 800 may not be necessary if the table 820 is rigid.
  • the number of linear shafts 841 in front of the attachment / detachment mechanism 800 may be four or two.
  • the attachment / detachment mechanism 800 may not include both the raising and lowering mechanism 830 and the rotation mechanism 860, and may include only the raising and lowering mechanism 830 or only the rotation mechanism 860.
  • the rotation mechanism 860 is a mechanism that tilts to one side only, but the rotation mechanism 860 may be a mechanism that tilts only to the opposite side. Alternatively, the rotation mechanism 860 may be a mechanism that tilts to both sides.
  • a plurality of upper and lower guides 350 may be provided on the left and right of the lower surface of the table 820, or a plurality of upper and lower guides 350 may be provided on the front and rear of the lower surface of the table 820.
  • Modification of printing unit 900 Although the case where the printing unit 900 includes the squeegee 910 and the scraper 920 is shown, either the squeegee 910 or the scraper 920 may be replaced and attached to the printing unit 900. If the printing unit 900 does not contact the forearm 660 due to the rotation of the end 680, the printing unit 900 may not have the space S.
  • the setting process S14 to the unloading process S22 are performed on the work 200. That is, the printing frame 310 and the squeegee unit 930 are moved to the printing position, printing and inspection are performed on the workpiece 200, and the workpiece 200 is unloaded.
  • the inspection step S21 may not be performed each time, and a sampling inspection may be performed.
  • the separation step S20 of the squeegee unit 930 is not performed, and the standby step of the squeegee unit 930 may be performed instead of the separation step S20.
  • the standby step is a step of causing the squeegee unit 930 to stand by over the ink receiving tray 570 while the articulated robot 600 has the squeegee unit 930 attached. Even when ink falls from the squeegee 910 or the scraper 920 during standby, the ink can be received by the ink receiving tray 570.
  • the concave surface of the workpiece 200 may be printed first and the convex surface may be printed later.
  • FIG. 24 shows the case where the concave surface of the workpiece 200 is printed first and the convex surface is printed later.
  • FIG. 24A even after printing the convex top portion 220 of the workpiece 200, printing is performed before the plate separation angle or the distance between the workpiece 200 and the screen 300 is reduced if the height difference on the downhill is small.
  • the control unit 110 uses the up-down mechanism 830 and the rotation mechanism 860 to set the plate separation angle between the work 200 and the screen 300 or The distance between the workpiece 200 and the screen 300 is adjusted. In principle, the control unit 110 controls to separate the work 200 and the screen 300 in printing on the downhill after printing on the uphill.
  • the printing direction may be reversed.
  • Configuration 1 The arrangement of the articulated robot 600 shown in FIG. 1 is reversed.
  • Configuration 2. The printing unit 900 is attached to the articulated robot 600 shown in FIG. Configuration 3. With respect to the printing unit 900 of the articulated robot 600 shown in FIG. 1, the squeegee 910 and the scraper 920 are inverted 180 degrees, and the attachment positions of the squeegee 910 and the scraper 920 are switched.
  • a camera holder for holding the camera 690 may be formed on the rack 560, and the camera 690 may be attached to and detached from the articulated robot 600.
  • the control unit 110 holds the camera 690 in the camera holding unit, and at the time of inspection, the squeegee unit 930 is removed from the articulated robot 600 and the camera 690 is attached to the articulated robot 600.
  • the printing pressure may be applied to the squeegee 910 by the articulated robot 600 instead of the pressor 931.
  • the printing pressure may be applied to the squeegee 910 by the pressurizer 931 and the articulated robot 600 at the time of printing.
  • pressure may be applied to the scraper 920 by the articulated robot 600 instead of the pressurizer 932.
  • pressure may be applied to the scraper 920 by the pressurizer 932 and the articulated robot 600 at the time of ink coating.
  • DESCRIPTION OF SYMBOLS 100 screen printing apparatus, 110 control part, 120 monitor, 130 robot controller, 140 image processing unit, 150 vacuum pump, 160 air pressure circuit, 170 console, 200 work, 201, 211 printing line, 202, 203, 212, 213 outer shell Line, 204, 214 center line, 220 top, 230 bottom, 240 inflection point, 300 screen, 310 plate frame, 320 top, 330 bottom, 340 inflection point, 400 jig, 410 reference mark, 500 housing, 510 Base, 520 control box, 530 pillar frame, 540 beam frame, 550 top plate, 560 rack, 561 suspension, 570 ink receiver, 590 roll holder, 600 articulated robot, 610 base, 6 0 body, 630 shoulder, 640 upper arm, 650 elbow, 660 forearm, 670 list, 680 end, 690 camera, 700 version moving mechanism, 720 legs, 730 slide mechanism, 740 conveyor belt, 750 motor, 760 frame fixing part, 800 attachment / de

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Screen Printers (AREA)
  • Printing Methods (AREA)
PCT/JP2018/027429 2017-08-10 2018-07-23 スクリーン印刷装置及びスクリーン印刷方法 WO2019031205A1 (ja)

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CN114536314A (zh) * 2022-01-21 2022-05-27 重庆智能机器人研究院 一种组合式专用机器人及其使用方法

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