JP6989938B2 - Screen printing device and screen printing method - Google Patents

Description

The present invention relates to, for example, a screen printing apparatus and a screen printing method for screen printing on a work having a curved surface.

Conventionally, a device for printing on a workpiece having a curved surface has been considered.
In curved surface printing, when the attack angle of the squeegee is made constant, the squeegee mounting portion on which the squeegee is mounted is rotated according to the printing position.
However, when the squeegee mounting portion is rotated according to the printing position, the position of the tip portion (printing point) of the squeegee in which the squeegee contacts the screen changes with the rotation angle of the squeegee mounting portion.
For example, if the squeegee is rotated once from 90 degrees (vertical) to the rear, the tip (printing point) of the squeegee will rise compared to when printing at 90 degrees (vertical). It is necessary to control the tip (printing point) to be lowered.
Similarly, when the squeegee is rotated 1 degree backward from 90 degrees (vertical), the tip of the squeegee (printing point) shifts backward as compared with the case of printing at 90 degrees (vertical), so the amount shifted backward. Only the tip of the squeegee (printing point) must be controlled to move forward.
As described above, in curved surface printing, when the attack angle of the squeegee is made constant, it is necessary to control the position of the printing point.

Japanese Unexamined Patent Publication No. 6-31895 Japanese Unexamined Patent Publication No. 11-320820 Japanese Unexamined Patent Publication No. 2005-0887577

The present invention provides an apparatus and a method for screen printing on a workpiece having a curved surface with a configuration different from the conventional one.

The screen printing apparatus of the present invention is
In a screen printing device that performs screen printing on a workpiece having a curved surface
A holding part that holds the squeegee,
A regulating portion to which the holding portion is attached by restricting the rotation direction of the holding portion so that the holding portion rotates around the tip of the squeegee.
A rotation control unit for rotating the holding unit attached to the regulation unit is provided.

According to the present invention, the attack angle of the squeegee becomes constant without adjusting the position of the printing point, and accurate screen printing can be performed on a workpiece having a curved surface.

The side view of the screen printing apparatus 100 in Embodiment 1. FIG. The front view of the screen printing apparatus 100 in Embodiment 1. FIG. The plan view of the screen printing apparatus 100 in Embodiment 1. The block diagram of the printing part 90 in Embodiment 1. FIG. The block diagram of the holding part 40, the regulation part 70, and the rotation control part 80 in Embodiment 1. FIG. The explanatory view of the screen printing method in Embodiment 1. FIG. The flow chart of the screen printing method in Embodiment 1. FIG. The explanatory view of the control method of the control part 110 in Embodiment 1. FIG. Another block diagram of the printing unit 90 in the first embodiment. Another operation configuration diagram of the printing unit 90 in the first embodiment. The block diagram of the curved surface jig 47 in Embodiment 1. FIG. The side view of the screen printing apparatus 100 in Embodiment 2. FIG. The front view of the screen printing apparatus 100 in Embodiment 2. FIG. The plan view of the screen printing apparatus 100 in Embodiment 2. The block diagram of the printing part 90 in Embodiment 2. FIG. The explanatory view of the screen printing method in Embodiment 2. Another block diagram of the printing unit 90 in the second embodiment. The side view of the screen printing apparatus 100 in Embodiment 3. FIG. The side view of the screen printing apparatus 100 in Embodiment 3. FIG. The side view of the screen printing apparatus 100 in Embodiment 4. FIG. The front view of the screen printing apparatus 100 in Embodiment 4. FIG. The plan view of the screen printing apparatus 100 in Embodiment 4. FIG. The side perspective block diagram of the printing part 90 of the screen printing apparatus 100 in Embodiment 4. FIG. The front perspective block diagram of the printing part 90 of the screen printing apparatus 100 in Embodiment 4. FIG. The plan view block diagram of the printing part 90 of the screen printing apparatus 100 in Embodiment 4. FIG. The block diagram of the holding part 40, the regulation part 70, and the rotation control part 80 in Embodiment 4. FIG. The flow chart of the screen printing method in Embodiment 4. The explanatory view of the screen printing method in Embodiment 4.

Embodiment 1.
*** Explanation of configuration ***
The screen printing device 100 of FIGS. 1, 2, and 3 is a device that operates a work 49 having a curved surface with a curved surface jig 47 to perform screen printing by screen plate making.
In FIGS. 1, 2, and 3, the direction in which the curved surface jig 47 and the work 49 are carried in and out of the printing position is referred to as a front-back and lateral direction. The printing direction is the front horizontal direction.
The height direction is called the vertical direction. Further, as shown in FIG. 2, both side directions of the curved surface jig 47 and the work 49 are referred to as left-right directions.
In FIG. 1, the loading / unloading mechanism 60 is shown in two places for convenience of explanation, but in reality, there is only one place.

<< Work 49 >>
The work 49 has a curved surface. The work 49 is a rectangular thin plate in a plan view, but is an arc-shaped thin plate having a constant thickness in a side view. Specific examples of the material of the work 49 are glass, resin, plastic, paper, cloth, and metal.

<< Curved surface jig 47 >>
The curved surface jig 47 is a jig that holds the work 49 on a curved surface.
The curved surface jig 47 is a rectangular metal plate in a plan view, but is an arc-shaped thin metal plate having a constant thickness in a side view. The curved surface jig 47 has the same curved surface or curved surface as the work 49. Specific examples of the material of the curved surface jig 47 are aluminum, iron, and stainless steel.
As shown in FIG. 3, the front-rear length of the curved surface jig 47 is larger than the front-rear length of the work 49, and the left-right width of the curved surface jig 47 is larger than the left-right width of the work 49.

<< Control unit 110 >>
The screen printing device 100 has a control unit 110.
The control unit 110 controls the entire device. The control unit 110 can be realized by a central processing unit, a program, a memory, and other electronic circuit components. The signal from the control unit 110 is transmitted to each unit described below by the signal line 111. The operation described below can be realized by the control unit 110 transmitting a command by the signal line 111.

<< Housing 50 >>
The screen printing device 100 has a housing 50.
The housing 50 has a box-shaped base 51, a pillar frame 53, and a beam frame 54.
The base 51 houses a control unit 110 and a signal line 111, and further houses a drive device such as a power supply device, a pump device, a robo cylinder, a linear guide, and an aspirator (not shown).
Four pillar frames 53 stand on the upper surface of the base 51. A beam frame 54 lies on the two front and rear pillar frames 53. The beam frame 54 houses a robo-cylinder 97 that moves the printing unit 90 back and forth and laterally as a driving device.
Further, the support cylinder 55 is housed in the base 51. Two support cylinders 55 exist just below the center of the screen frame 96, and the table 61 is moved up and down by moving the support pins 56 up and down.

<< Carry-in / out mechanism 60 >>
The screen printing device 100 has a loading / unloading mechanism 60 for loading / unloading the curved surface jig 47 and the work 49 to the printing position.
The carry-in / out mechanism 60 has a table 61 capable of moving the base 51 in the front-rear and lateral directions. The table 61 slides by the robo cylinder 64 housed in the base 51 and moves in the front-rear and lateral directions.
Four support pillars 62 that support the corners of the curved surface jig 47 stand on the upper surface of the table 61, and the four support pillars 62 hold the corner ends of the curved surface jig 47 from below and the curved surface jig 47. 47 is fixed.

<< Printing unit 90 >>
The screen printing device 100 has a printing unit 90.
The printing unit 90 has a slide unit 91, an upper and lower cylinder 93, and an upper and lower base plate 94.
As shown in FIGS. 2 and 3, the slide portion 91 is arranged between the two beam frames 54.
The slide portion 91 slides back and forth from the robo cylinder 97 housed in the beam frame 54. That is, the printing unit 90 is attached to the beam frame 54 so as to be linearly movable in the front-rear and lateral directions.

The upper and lower base plates 94 are attached to the slide portion 91 via the upper and lower cylinders 93.
The upper and lower cylinders 93 move the upper and lower base plates 94 up and down with respect to the slide portion 91, and generate downward printing pressure during screen printing.
A squeegee 92 is attached to the lower center of the printing unit 90.
The printing position of the work 49 is the tip C of the squeegee 92.
As the tip C of the squeegee 92 moves, the print position of the work 49 moves.

<< Screen plate making >>
Below the squeegee 92 is a screen plate.
The screen plate making has a screen 95 and a screen frame 96.
The screen frame 96 is detachably attached to the pillar frame 53 by an attachment mechanism (not shown).
The screen 95 is glazed on the screen frame 96, and a print pattern is formed.
A specific example of the screen 95 is a mesh screen or a metal mask screen.
The screen 95 and the screen frame 96 have a curved surface.
The screen 95 and the screen frame 96 are each rectangular in a plan view, but arcuate in a side view.
The screen 95 and the screen frame 96 have a curved surface or a curved surface having the same radius as the surface of the work 49.

<< Characteristic configuration of printing unit 90 >>
2 and 4 show the detailed configuration of the printing unit 90.
The printing unit 90 has a holding unit 40, a regulating unit 70, and a rotation control unit 80.
The holding portion 40 holds the squeegee 92.
The regulating portion 70 is rotatably attached to the holding portion 40.
The rotation control unit 80 rotates the holding unit 40 attached to the regulation unit 70.

<< Configuration of holding unit 40 >>
As shown in FIG. 5, the holding portion 40 has a squeegee mounting portion 41, a guide rail 42, a bracket 43, and a slide cam follower 44.
The squeegee mounting portion 41 is a rectangular plate existing in the left-right direction, and the squeegee 92 is replaceably mounted by a mounting mechanism (not shown).

The holding portion 40 has an arc-shaped guide rail 42.
The guide rail 42 is an arcuate rail fixed to both the left and right sides of the squeegee mounting portion 41.
The guide rail 42 has an arc shape as a whole, the center of the arc is the tip portion C of the squeegee 92, and the central angle is 90 degrees.
The guide rail 42 has a mountain-shaped protrusion 45 on the upper surface and a curved surface on the lower surface.
The radial cross section of the guide rail 42 is a pentagon in the shape of a home base.

The bracket 43 has a concave shape when viewed from the front, and the bottom surface of the bracket 43 is fixed to the central upper surface of the squeegee mounting portion 41.
Two arms extend upward on both sides of the bracket 43, and slide cam followers 44 are rotatably attached to the inside of the tips of the arms on both sides.

<< Configuration of Regulatory Department 70 >>
As shown in FIG. 5, the regulating portion 70 has a holding portion 77 to which the guide rail 42 is rotatably attached, and the holding portion 40 rotates so that the holding portion 40 rotates around the tip portion C of the squeegee 92. Regulate the direction of rotation of.

As shown in FIGS. 4 and 5, the regulating unit 70 has a side plate 71, a guide roller 72, and a guide cam follower 73.
The side plates 71 are fixed to both sides of the upper and lower base plates 94.
The side plate 71 has a rectangular shape or a trapezoidal shape when viewed from the side.

As shown in FIG. 4, the sandwiching portion 77 has three guide rollers 72 and three guide cam followers 73.
As shown in FIG. 4, the guide roller 72 is arranged on the circumference of the radius R1 with the tip end C of the squeegee 92 as the center.
As shown in FIG. 2, the guide roller 72 has a V-shaped recess 74 on the entire circumference. The protruding portion 45 of the guide rail 42 fits into the recessed portion 74, and the guide rail 42 does not shift to the left or right.

As shown in FIG. 4, the guide cam follower 73 is arranged on the circumference of the radius R2 with the tip end C of the squeegee 92 as the center.
As shown in FIG. 2, the guide cam follower 73 has a cylindrical shape.
As shown in FIG. 4, the rotation axes of the three guide rollers 72 and the three guide cam followers 73 are arranged on three radii about the tip C of the squeegee 92, respectively. The central angle of the adjacent radii of the three radii is 30 degrees.

The sandwiching portion 77 has a guide roller 72 that sandwiches the guide rail 42 from above and below, and a cam follower guide cam follower 73, and the guide rail 42 is sandwiched between the guide roller 72 and the guide cam follower 73. Further, since the center of the guide roller 72, the guide cam follower 73, and the guide rail 42 is the tip portion C, the guide rail 42 can rotate about the tip portion C of the squeegee 92, and the guide rail 42 , Only the movement that rotates around the tip C is possible.

<< Configuration of rotation control unit 80 >>
The rotation control unit 80 linearly moves the groove block 85, and controls the rotation of the squeegee 92 by the linear movement of the groove block 85.
As shown in FIGS. 4 and 5, the rotation control unit 80 includes a drive motor 87 and a fixing plate 88.
The drive motor 87 is fixed to the fixing plate 88.
A specific example of the drive motor 87 is a servo motor or a stepping motor.
The fixing plate 88 is fixed to the upper and lower base plates 94.

As shown in FIGS. 4 and 5, the rotation control unit 80 includes a linear guide 81, a moving block 82, a nut 83, and a ball screw 84.
The linear guide 81 is fixed to the lower surface of the slide portion 91, and is fixed horizontally in the front-rear direction.
The moving block 82 is attached to the linear guide 81 so as to be movable in the front-rear direction.
The nut 83 is fixed to the moving block 82.
The ball screw 84 is fixed to the rotation shaft of the drive motor 87 and rotates by the rotation of the drive motor 87.
When the drive motor 87 rotates, the nut 83 moves in the front-rear direction while being guided by the linear guide 81 and the moving block 82.

As shown in FIGS. 2, 4, and 5, the rotation control unit 80 has a groove block 85.
The groove block 85 is a rectangular plate, has a hole through which the ball screw 84 is passed in the center, and is fixed to the nut 83.
The groove block 85 is fixed to the nut 83, and is moved in the front-rear direction by the nut 83.
The groove block 85 has slide grooves 86 that guide the slide cam follower 44 on both the left and right sides.
The slide groove 86 is a groove formed in the vertical direction.
The slide groove 86 is a concave groove for fitting and guiding the slide cam follower 44.
The slide cam follower 44 can move up and down while being inserted into the slide groove 86.

*** Explanation of operation ***
A schematic printing method of the screen printing apparatus 100 will be described with reference to FIG.
FIG. 6 shows a screen printing method for screen printing on a work 49 having a curved surface.

As shown in FIG. 6A, when the control unit 110 starts printing the work 49, the guide rail 42 is rotated in the clockwise direction, and the attack angle formed by the squeegee 92 and the work 49 is an angle θ. To be.
When printing from the rear end to the center of the work 49, the control unit 110 gradually rotates the guide rail 42 in the counterclockwise direction. Since the guide rail 42 is gradually rotated in the counterclockwise direction, the attack angle can be maintained at the angle θ.
When printing from the center to the front end of the work 49, the control unit 110 gradually rotates the guide rail 42 in the counterclockwise direction. Since the guide rail 42 is gradually rotated in the counterclockwise direction, the attack angle can be maintained at the angle θ.

In this way, the screen printing device 100 holds the squeegee 92 in the holding portion 40, and performs screen printing while rotating the holding portion 40 around the tip end portion C of the squeegee 92.
The holding portion 40 has an arc-shaped guide rail 42, sandwiches the guide rail 42, and performs screen printing while restricting the moving direction of the guide rail 42.
The sandwiching portion 77 moves the guide rail 42 between the guide roller 72 and the guide cam follower 73.
In this way, the screen printing device 100 performs screen printing with the attack angle of the squeegee 92 set to a constant angle θ with respect to the work 49 having a curved surface.

Hereinafter, the detailed operation of the printing method of the screen printing apparatus 100 will be described with reference to FIG. 7.
The following operations are executed by the control unit 110 provided in the screen printing device 100.

Step S11: Work set process With the curved surface jig 47 mounted on the support pillar 62 of FIG. 1, the work 49 is mounted on the curved surface jig 47.
The curved surfaces of the curved surface jig 47 and the work 49 have the same radius, and the work 49 is arranged on the curved surface jig 47 without a gap.

Step S12: Table movement process The control unit 110 moves the table 61 in the front lateral direction, and stops the movement of the table 61 at a position directly below the printing unit 90.

Step S13: Curved surface jig raising process When the table 61 carries the curved surface jig 47, the control unit 110 raises the support pin 56 of the support cylinder 55, lifts the table 61, and raises the curved surface jig 47. The control unit 110 raises the curved surface jig 47 until the work 49 and the screen frame 96 have a predetermined clearance.
The curved surfaces of the screen frame 96 and the work 49 have the same radius, and the entire surface of the work 49 is arranged with a predetermined clearance with respect to the screen frame 96.

Step S14: Printing unit setting process The control unit 110 moves the printing unit 90 to the rear end of the work 49 by the robo cylinder 97.
The control unit 110 lowers the squeegee 92 to the screen frame 96 using the upper and lower cylinders 93.
At this time, the control unit 110 rotates the drive motor 87 to move the nut 83 in the forward direction.
When the nut 83 moves in the forward direction, the groove block 85 also moves in the forward direction.
When the groove block 85 moves in the forward direction, the slide cam follower 44 fitted in the slide groove 86 also moves in the forward direction while descending the slide groove 86.
When the slide cam follower 44 moves forward, the bracket 43 tilts clockwise about the tip C of the squeegee 92.
When the bracket 43 is tilted clockwise around the tip C of the squeegee 92, the squeegee mounting portion 41 is also tilted clockwise around the tip C of the squeegee 92.
When the squeegee mounting portion 41 is tilted clockwise around the tip end C of the squeegee 92, the guide rail 42 is also tilted clockwise around the tip end C of the squeegee 92.
The control unit 110 rotates the drive motor 87 until the attack angle formed by the squeegee 92 and the work 49 becomes an angle θ.

Step S15: The printing process control unit 110 controls the upper and lower cylinders 93 to apply printing pressure to the upper and lower base plates 94.
The printing pressure applied to the upper and lower base plates 94 is transmitted to the side plates 71 and further transmitted to the three guide rollers 72.
The printing pressure applied to the three guide rollers 72 is transmitted to the guide rail 42 and further transmitted to the squeegee mounting portion 41.
The printing pressure applied to the squeegee mounting portion 41 is transmitted to the squeegee 92 and is transmitted to the tip portion C of the squeegee 92.
In this way, the printing pressure from the upper and lower cylinders 93 is transmitted to the tip C of the squeegee 92.
In this way, the holding portion 77 applies printing pressure to the holding portion 40 by the guide roller 72.

This state is the printing start state shown in FIG. 6A.
As shown in FIG. 6A, in the printing start state of the work 49, the rotation axis of the slide cam follower 44 is in front of the vertical line L passing through the tip end portion C of the squeegee 92.

The control unit 110 moves the printing unit 90 forward by the robo cylinder 97 to start printing.
The control unit 110 rotates the drive motor 87 as the printing unit 90 moves forward, and moves the nut 83 in the rear direction.
When the nut 83 moves in the rear direction, the groove block 85 also moves in the rear direction.
When the groove block 85 moves in the rear direction, the slide cam follower 44 fitted in the slide groove 86 also moves in the rear direction while ascending the slide groove 86.
When the slide cam follower 44 moves backward, the bracket 43 moves counterclockwise around the tip C of the squeegee 92.
When the bracket 43 moves counterclockwise around the tip C of the squeegee 92, the squeegee mounting portion 41 also moves counterclockwise around the tip C of the squeegee 92.
When the squeegee mounting portion 41 moves in the counterclockwise direction around the tip end portion C of the squeegee 92, the guide rail 42 also moves in the counterclockwise direction around the tip end portion C of the squeegee 92.
The control unit 110 controls the rotation of the drive motor 87 so that the attack angle formed by the squeegee 92 and the work 49 is an angle θ.

In printing from the printing start state of the work 49 to the center of the work 49, the rotation axis of the slide cam follower 44 is in front of the vertical line L passing through the tip end portion C of the squeegee 92.
As shown in FIG. 6B, when printing the center of the work 49, the tip C of the squeegee 92 and the rotation axis of the slide cam follower 44 are on the vertical line L.
From the printing in the center of the work 49 to the printing end state of the work 49, the rotation axis of the slide cam follower 44 is behind the vertical line L passing through the tip end portion C of the squeegee 92.

As shown in FIG. 6C, at the end of printing of the work 49, the rotation axis of the slide cam follower 44 is behind the vertical line L passing through the tip end portion C of the squeegee 92.

Since the guide rail 42 is sandwiched by the sandwiching portion 77, it is possible to swing between the guide roller 72 and the guide cam follower 73 like a rocking chair or a cradle, and the rotation control unit 80 is the holding portion 40. The guide rail 42 swings by moving the slide cam follower 44 at the upper tip of the back and forth.

<Control of the movement speed of the squeegee in the front-back direction>
FIG. 8A is a conceptual diagram illustrating a control method of the robo-cylinder 97 of the control unit 110.
When the control unit 110 operates the robo-cylinder 97, if the moving speed of the printing unit 90 is made uniform, the surface of the work 49 is a curved surface, so the printing length is not constant. Therefore, it is desirable that the control unit 110 changes the amount of movement of the printing unit 90 by the robo cylinder 97 in the forward direction to keep the printing speed for the work 49 constant.
Specifically, the control unit 110 changes the amount of movement of the printing unit 90 by the robo cylinder 97 in the forward direction according to the inclination angle of the squeegee 92 as follows.

The meanings of the symbols in FIG. 8 (a) are as follows.
E is a locus of the RoboCylinder 97 moving in the forward direction of the printing unit 90.
F is the curved surface of the work 49.
K is a unit angle, for example, π / 180.
K0 is the start tilt angle of the squeegee 92 with respect to the horizontal direction at the start of printing.
M is the length of a straight line when the curved surface of the work 49 per unit angle K is approximated by a straight line.
N1, N2, and N3 are the amounts of movement of the printing unit 90 by the robo cylinder 97 in the forward direction.
H is the angle between the extending direction (radial direction) of the squeegee 92 and the straight line having a length M obtained by approximating the curved surface F of the work 49 per unit angle K with a straight line.

If the unit angle K is reduced, the angle H approaches 90 degrees. Therefore, in the figure, the angle H is set to 90 degrees.
If the unit angle K is reduced, the arc length of the curved surface of the work 49 per unit angle K approaches the straight line connecting both ends of the arc of the curved surface of the work 49 per unit angle K, so that the work 49 per unit angle K The arc length of the curved surface of the work 49 is approximated by a straight line of length M connecting both ends of the arc of the curved surface of the work 49 per unit angle K.
If the inclination angle of the squeegee 92 changes by the unit angle K, printing can be performed by the length M on the curved surface of the work 49.

When the starting tilt angle K0 of the squeegee 92 with respect to the horizontal direction at the start of printing changes by a unit angle K, the amount of movement N1 in the forward direction of the printing unit 90 by the robo cylinder 97 corresponding to the length M is calculated by the following formula. be able to.
N1 / M = cos (π / 2-K0)
N1 = M · cos (π / 2-K0)

When the tilt angle K0 + K of the squeegee 92 further changes by a unit angle K, the amount N2 of movement in the forward direction of the printing unit 90 by the robo cylinder 97 corresponding to the length M can be calculated by the following formula.
N2 / M = cos (π / 2- (K0 + K))
N2 = M · cos (π / 2- (K0 + K))

When the inclination angle K0 + K + K = K0 + 2K of the squeegee 92 is further changed by a unit angle K, the amount N3 of movement in the forward direction of the printing unit 90 by the robo cylinder 97 corresponding to the length M can be calculated by the following formula.
N3 / M = cos (π / 2- (K0 + 2K))
N3 = M · cos (π / 2- (K0 + 2K))

When the unit angle K increases by n from the start inclination angle K0, the control unit 110 increases.
Nn = M · cos (π / 2- (K0 + nK))
The Robo Cylinder 97 controls the printing unit 90 to move forward by the length Nn obtained in.
Since n is small at the start of printing from the rear end of the work 49, K0 + nK has a small value, and cos (π / 2- (K0 + nK)) has a small value. Therefore, when starting printing of the work 49, the control unit 110 controls the printing unit 90 to move shortly in the forward direction by the robo cylinder 97.
When printing from the rear end to the center of the work 49, n gradually increases, K0 + nK gradually increases, and cos (π / 2- (K0 + nK)) gradually increases. Therefore, after starting printing of the work 49, the control unit 110 controls the printing unit 90 to gradually move forward and longer by the robo cylinder 97.
When printing the center of the work 49, K0 + nK is π / 2, and cos (π / 2- (K0 + nK)) is a maximum value of 1. Therefore, when printing the center of the work 49, the control unit 110 controls the printing unit 90 to move forward by the length M by the robo cylinder 97.
When printing from the center to the front end of the work 49, n gradually increases, K0 + nK gradually increases, and cos (π / 2- (K0 + nK)) gradually decreases. Therefore, when printing from the center to the front end of the work 49, the control unit 110 controls the printing unit 90 to gradually move shorter in the forward direction by the robo cylinder 97.
As described above, the control unit 110 changes the linear movement speed of the printing unit 90 in the printing direction depending on the printing position.

<Control of the moving speed of the groove block in the front-back direction>
FIG. 8B is a conceptual diagram illustrating a control method of the drive motor 87 of the control unit 110.
When the control unit 110 operates the drive motor 87, if the moving speed of the groove block 85 is made uniform, the squeegee 92 rotates about the tip portion C, so that the rotation speed of the squeegee 92 is not constant. Therefore, it is desirable that the control unit 110 changes the amount of movement of the groove block 85 by the drive motor 87 to keep the rotation angle of the squeegee 92 constant.
Specifically, it is desirable that the control unit 110 changes the amount of movement of the groove block 85 by the drive motor 87 according to the inclination angle of the squeegee 92 to make the rotation angle of the squeegee 92 constant.
Change the amount.

The meanings of the symbols in FIG. 8 (b) are as follows.
D is a locus in which the groove block 85 moves in the backward direction.
G is a locus on which the rotation axis of the slide cam follower 44 moves. An arc centered on the tip C of the squeegee 92.
K is a unit angle, for example, π / 180.
K0 is the start tilt angle of the squeegee 92 with respect to the horizontal direction at the start of printing.
I is the length of a straight line when the curved surface of the work 49 per unit angle K is approximated by a straight line.
D1, D2, and D3 are the amounts of movement of the groove block 85 by the drive motor 87 in the backward direction.
H is an angle between the extending direction (radial direction) of the squeegee 92 and the straight line when the locus G on which the rotation axis of the slide cam follower 44 moves per unit angle K is approximated by a straight line.

If the unit angle K is reduced, the angle H approaches 90 degrees. Therefore, in the figure, the angle H is set to 90 degrees.
If the unit angle K is reduced, the arc length of the locus G on which the rotation axis of the slide cam follower 44 moves per unit angle K can be obtained by setting both ends of the arc of the locus G on which the rotation axis of the slide cam follower 44 moves per unit angle K. Since it approaches the connected straight line, the arc length of the locus G where the rotation axis of the slide cam follower 44 moves per unit angle K is connected to both ends of the arc of the locus G where the rotation axis of the slide cam follower 44 moves per unit angle K. It is approximated by a straight line of length I.

In order to change the inclination angle of the squeegee 92 evenly by the unit angle K, the rotation axis of the slide cam follower 44 may move evenly by the length I. In order for the rotation axis of the slide cam follower 44 to move evenly by the length I, the control unit 110 calculates the movement amounts D1, D2, and D3 of the groove block 85 by the drive motor 87 in the rear direction as follows.

When the squeegee 92 changes from the start tilt angle K0 of the squeegee 92 with respect to the horizontal direction at the start of printing by a unit angle K, the amount of movement D1 of the groove block 85 by the drive motor 87 corresponding to the length I in the backward direction is calculated by the following formula. be able to.
D1 / I = cos (π / 2-K0)
D1 = I · cos (π / 2-K0)

When the inclination angle K0 + K of the squeegee 92 is further changed by a unit angle K, the amount of movement D2 in the backward direction of the groove block 85 by the drive motor 87 corresponding to the length I can be calculated by the following formula.
D2 / I = cos (π / 2- (K0 + K))
D2 = I · cos (π / 2- (K0 + K))

When the inclination angle K0 + K + K = K0 + 2K of the squeegee 92 is further changed by a unit angle K, the amount of movement D3 in the backward direction of the groove block 85 by the drive motor 87 corresponding to the length I can be calculated by the following formula.
D3 / I = cos (π / 2- (K0 + 2K))
D3 = I · cos (π / 2- (K0 + 2K))

When the unit angle K increases by n from the start inclination angle K0, the control unit 110 increases.
Dn = I · cos (π / 2- (K0 + nK))
The groove block 85 is controlled to move backward by the drive motor 87 by the length Dn obtained in.
Since n is small at the start of printing from the rear end of the work 49, K0 + nK has a small value, and cos (π / 2- (K0 + nK)) has a small value. Therefore, when printing of the work 49 is started, the control unit 110 controls the groove block 85 to move shortly in the rear direction by the drive motor 87.
When printing from the rear end to the center of the work 49, n gradually increases, K0 + nK gradually increases, and cos (π / 2- (K0 + nK)) gradually increases. Therefore, after the printing of the work 49 is started, the control unit 110 is controlled by the drive motor 87 so that the groove block 85 is gradually moved longer in the rear direction.
When printing the center of the work 49, K0 + nK is π / 2, and cos (π / 2- (K0 + nK)) is a maximum value of 1. Therefore, when printing the center of the work 49, the control unit 110 controls the groove block 85 to move backward by the length I by the drive motor 87.
When printing from the center to the front end of the work 49, n gradually increases, K0 + nK gradually increases, and cos (π / 2- (K0 + nK)) gradually decreases. Therefore, when printing from the center to the front end of the work 49, the control unit 110 controls the groove block 85 to gradually move shorter in the rear direction by the drive motor 87.
As described above, the control unit 110 controls the rotation control unit 80 to change the linear movement speed of the groove block 85 in the backward direction depending on the printing position.

Step S16: Squeegee raising step When printing is completed, the control unit 110 raises the squeegee 92 by the upper and lower cylinders 93.

Step S17: Curved surface jig lowering step The control unit 110 lowers the support pin 56 to lower the curved surface jig 47.

Step S18: Table return step The control unit 110 moves the table 61 in the rear lateral direction, and carries out the curved surface jig 47 and the work 49.
After that, the work 49 is replaced and new printing is started.

As described above, in the printing method of this embodiment, the guide rail 42 is used and the tip C (printing position) of the squeegee 92 is used as the center of rotation, and the tilt angle of the squeegee 92 is changed to keep the attack angle constant. It keeps the angle θ. The rotation control unit 80 controlled by the control unit 110 executes the change control of the tilt angle with the tip C (printing position) of the squeegee 92 as the center of rotation. That is, the rotation of the squeegee 92 is automatically performed by the ball screw drive of the drive motor 87, and the squeegee 92 rotates so as to keep the attack angle at a constant angle θ in conjunction with the movement of the printing position.

The rotation control unit 80 fixes the groove block 85 to the moving block 82 and the nut 83 of the linear guide 81, and moves the groove block 85 back and forth with the nut 83.
Two slide cam followers 44 attached to the inside of the upper ends of the two arms of the bracket 43 fixed to the squeegee mounting portion 41 are firmly inserted into the slide grooves 86 on both sides of the groove block 85.
When the ball screw 84 rotates due to the rotation of the drive motor 87, the nut 83 moves back and forth. As the nut 83 moves back and forth, the groove block 85 also moves back and forth. As the groove block 85 moves back and forth, the slide cam follower 44 moves back and forth, and the squeegee mounting portion 41 rotates.

*** Effect of Embodiment 1 ***
According to this embodiment, screen printing can be performed on a curved work.
According to this embodiment, since the attack angle of the squeegee can be made constant with respect to the workpiece having a curved surface, printing with the optimum attack angle can be performed even for the workpiece having a curved surface.

*** Other configurations ***
<Other configurations of rotation control unit 80>
FIG. 9 is a diagram showing another configuration of the rotation control unit 80 of the printing unit 90.
FIG. 9 is different from FIG. 4 in that the drive motor 87 is fixed to the upper surface of the upper and lower base plates 94.
The rotation of the drive motor 87 is transmitted to the ball screw 84 by the pulley belt mechanism 89.
The pulley belt mechanism 89 includes a pulley fixed to the rotating shaft of the drive motor 87, a pulley fixed to the ball screw 84, and a belt mounted on two pulleys.
In the configuration of FIG. 9, since the drive motor 87 is fixed to the upper surface of the upper and lower base plates 94, the length of the printing unit 90 in the front-rear direction can be shortened as compared with the configuration of FIG.
Although not shown, the rotation of the drive motor 87 may be transmitted to the ball screw 84 using a gear, a coupling, or other transmission mechanism.

<Printing on a convex curved surface>
FIG. 10 shows a case where the curved surface jig 47, the work 49, and the screen frame 96 have a convex curved surface instead of a concave curved surface. By changing the control of the control unit 110, printing can be performed on the work 49 having a convex curved surface by the printing unit 90 having the same configuration as the printing unit 90 described above.
That is, the control unit 110 rotates the drive motor 87 in the print start state to move the guide rail 42 counterclockwise, and rotates the drive motor 87 from the print start state to the print end state to the guide rail. Move 42 clockwise. In this way, printing can be performed on the work 49 having a convex curved surface while keeping the attack angle at the angle θ.

<Other configurations of curved surface jig 47>
FIG. 11 is a block diagram of the side surface of the curved surface jig 47.
The curved surface jig 47 of (a) has a flat surface in the center and curved surfaces at both ends.
The curved surface jig 47 of (b) has a curved surface in the center and flat surfaces at both ends.
The curved surface jig 47 of (c) has a downward convex curved surface.
The curved surface jig 47 of (d) has an upwardly convex curved surface and a downwardly convex curved surface.
The curved surface jig 47 of (e) has an upward convex curved surface in the center and a downward convex curved surface at both ends.

By combining convex processing, concave processing, or bending processing in the bending process of the curved surface jig 47, the curved surface jig 47 as shown in FIG. 11 can be formed, and convex surface printing or concave surface printing can be performed. Although not shown in FIG. 11, the work 49 also has the same side surface shape as the curved surface jig 47.
The control unit 110 rotates the drive motor 87 to move the guide rail 42 according to the shapes of the curved surface jig 47 and the work 49. In this way, it is possible to print on the work 49 in which the curved surface and the flat surface are combined while keeping the attack angle at the angle θ.

<Other configurations of elevating mechanism>
It is not necessary to raise and lower the loading / unloading mechanism 60 by the support cylinder 55 and the support pin 56 to raise and lower the curved surface jig 47 and the work 49. The curved surface jig 47 and the work 49 may be raised and lowered by the cylinder of.
The upper and lower base plates 94 may be raised and lowered by a servomotor or other raising and lowering mechanism regardless of the upper and lower cylinders 93.

Embodiment 2.
In this embodiment, the differences from the first embodiment will be described.

*** Explanation of configuration ***
The screen printing device 100 of FIGS. 12, 13, and 14 is a device that operates a work 49 having a curved surface with a curved surface jig 47 to perform screen printing by screen plate making.
As shown in FIG. 15, the rotation control unit 80 has two foot portions 801 fixed to the front and rear of the holding portion 40. The central angle of the two feet 801 is 90 degrees.
The foot portion 801 is a foot extending linearly from both end faces of the arc-shaped guide rail 42. The shape of the side view of the guide rail 42 and the foot portion 801 is a round mountain shape.
The foot portion 801 has a foot cam follower 802 at the tip thereof, which moves on the surface of the curved surface of the curved surface jig 47.
As shown in FIG. 13, the rotation control unit 80 is located on the left and right sides, and the left-right width of the rotation control unit 80 is smaller than the left-right width of the curved surface jig 47.

*** Explanation of operation ***
The work set step in step S11, the table moving step in step S12, and the curved surface jig raising step in step S13 are the same as those in the first embodiment.

Step S14: Printing unit setting process The control unit 110 moves the printing unit 90 to the rear end of the work 49 by the robo cylinder 97.
The control unit 110 lowers the squeegee 92 to the screen frame 96 using the upper and lower cylinders 93.
When the squeegee 92 descends, the rear foot cam follower 802 comes into contact with the surface of the curved surface jig 47, and the rear foot cam follower 802 cannot descend. When the control unit 110 further lowers the squeegee 92, the guide rail 42 starts to move clockwise around the tip C of the squeegee 92, and the front foot cam follower 802 starts to lower.
When the front foot cam follower 802 is lowered, the front foot cam follower 802 comes into contact with the surface of the curved surface jig 47, and the front foot cam follower 802 cannot be lowered.
When the rear foot cam follower 802 and the front foot cam follower 802 come into contact with the surface of the curved surface jig 47, the descent of the squeegee 92 stops.
This state is the printing start state shown in FIG. 16A, in which an appropriate printing pressure is applied to the tip portion C of the squeegee 92 and the attack angle is an angle θ.

Step S15: Printing process The control unit 110 moves the printing unit 90 forward by the robo cylinder 97 to start printing.
The control unit 110 controls the upper and lower cylinders 93 to apply printing pressure to the upper and lower base plates 94 during printing.

When the printing unit 90 moves forward, the foot cam follower 802 moves forward while rolling on the surface of the curved surface jig 47.
When the foot cam follower 802 moves from the rear to the center while rolling on the surface of the curved surface jig 47, the straight line connecting the two foot cam followers 802 approaches the horizontal from the front lowering, so that the guide rail 42 is centered on the tip C of the squeegee 92. And move counterclockwise.
Further, when the foot cam follower 802 moves from the center to the front while rolling on the surface of the curved surface jig 47, the straight line connecting the two foot cam followers 802 rises from the horizontal to the front, so that the guide rail 42 moves to the tip C of the squeegee 92. Move counterclockwise around.
In this way, the rotation control unit 80 controls the rotation of the guide rail 42 so that the attack angle formed by the squeegee 92 and the work 49 is the angle θ.

The squeegee raising step in step S16, the curved surface jig lowering step in step S17, and the table return step in step S18 are the same as those in the first embodiment.

*** Effect of Embodiment 2 ***
According to this embodiment, screen printing can be performed on a curved work with a simple configuration of a rotation control unit 80 including two foot portions 801.
According to this embodiment, the attack angle of the squeegee can be made constant by abutting the two foot portions 801 against the curved surface jig 47 having a curved surface.
Further, the guide rail 42 and the two foot portions 801 can be manufactured as one part.

*** Other configurations ***
<Structure of foot 801>
As shown in FIG. 17, the foot portion 801 does not have to be rod-shaped and may be bent left and right in an L-shape. In FIG. 17, the foot portion 801 is bent at a right angle twice.
Even when the foot portion 801 is bent to the left and right in an L shape, the left and right widths of the curved surface jig 47 and the foot cam follower 802 have the same width.
When the foot portion 801 is bent left and right in an L shape, the space below the printing portion 90 can be widened.

Embodiment 3.
In this embodiment, points different from the above-described embodiment will be described.

*** Explanation of configuration ***
As shown in FIG. 18, the entire printing unit 90 may be moved in an arc shape.
In FIG. 18, a moving mechanism 99 for moving the printing unit 90 holding the squeegee 92 in an arc shape is provided.
The moving mechanism 99 has a robo cylinder 97 and a curved rail 112. The slide portion 91 of the printing portion 90 is slidably attached to the curved rail 112. Due to the driving force of the robo-cylinder 97, the slide portion 91 of the printing portion 90 moves in an arc shape along the curved rail 112.
The centers of the arc of the rail 112, the arc of the work 49, and the arc of the screen frame 96 are at the same center point.
The tip portion C of the squeegee 92 mounted on the printing portion 90 moves in an arc centered on the center point of the arc of the rail 112.
Therefore, the attack angle θ becomes constant while the printing unit 90 is moving.

*** Explanation of effect ***
According to the configuration of FIG. 18, it is possible to print on the work 49 having a curved surface at a constant attack angle θ with a simple configuration. Further, the control unit 110 moves the printing unit 90 at a constant speed by the robo cylinder 97, so that the work 49 having a curved surface can be printed at a constant speed.

*** Other configurations ***
The moving mechanism 99 may have other configurations.
As shown in FIG. 19, a moving mechanism 99 that moves the printing unit 90 like a pendulum may be used. The moving mechanism 99 has an arm 98 and a drive motor 87, and when the drive motor 87 rotates, the arm 98 rotates about the rotation axis of the drive motor 87. When the arm 98 rotates, the printing unit 90 fixed to the lower end of the arm 98 also rotates. The rotation axis of the drive motor 87 is located at the center of the arc of the work 49 and the arc of the screen frame 96.
In this way, the moving mechanism 99 moves the printing unit 90 so that the tip end C of the squeegee 92 mounted on the printing unit 90 moves the arc centered on the arc of the work 49 and the arc of the screen frame 96. Anything that rotates.
The moving mechanism 99 can be realized by combining existing parts such as a motor, a slider, a rail, a cylinder, a belt, a screw, and a conversion mechanism.
Alternatively, the configuration of the rotation control unit 80 shown in FIG. 4 is applied to the robo cylinder 97, the configuration of the regulation unit 70 shown in FIG. 4 is applied to the beam frame 54, and the configuration of the holding unit 40 is applied to the printing unit 90. The entire printing portion 90 may be rotated around the tip portion C of the squeegee 92 by applying to the slide portion 91 of the above.

Embodiment 4.
In this embodiment, points different from the above-described embodiment will be described.

*** Explanation of configuration ***
The screen printing device 100 of FIGS. 20, 21, and 22 is a device that operates a work 49 having a curved surface with a curved surface jig 47 to perform screen printing by screen plate making.
23, 24, and 25 are detailed perspective views showing the printing unit 90 used in the screen printing apparatus 100.
In FIGS. 23, 24, and 25, the printing unit 90 has a scraper 310 and a scraper cylinder 320 for moving the scraper 310 up and down as a scraper mechanism.
In FIGS. 20, 21, and 22, the scraper mechanism is not shown for the sake of simplicity.

<< Printing unit 90 >>
The screen printing device 100 has a printing unit 90.
The printing unit 90 has a slide unit 91.
As shown in FIGS. 21 and 22, the slide portion 91 is arranged between the two beam frames 54.
The slide portion 91 slides back and forth from the robo cylinder 97 housed in the beam frame 54.
The printing unit 90 is attached to the beam frame 54 so as to be linearly movable in the front-rear and lateral directions.
A squeegee 92 is attached to the lower center of the printing unit 90.
The printing position of the work 49 is the tip C of the squeegee 92.
As the tip C of the squeegee 92 moves, the print position of the work 49 moves.

<< Configuration of printing unit 90 >>
The printing unit 90 has a holding unit 40, a regulating unit 70, and a rotation control unit 80.
The holding portion 40 holds the squeegee 92.
The regulating portion 70 is rotatably attached to the holding portion 40.
The rotation control unit 80 rotates the holding unit 40 attached to the regulation unit 70.

<< Configuration of holding unit 40 >>
As shown in FIG. 21, the holding portion 40 has a back plate 210 and a horizontal plate 211.

<Back plate 210>
The back plate 210 is a flat plate parallel to the slide portion 91.
The printing pressure cylinder 221 is fixed to the center of the back plate 210.
A squeegee mounting portion 41 is fixed under the printing pressure cylinder 221.
The squeegee mounting portion 41 fixes the squeegee 92.
The printing pressure cylinder 221 is a cylinder that raises and lowers the squeegee 92.
The printing pressure cylinder 221 is a cylinder that applies printing pressure to the squeegee 92 during screen printing.

<Horizontal plate 211>
The horizontal plate 211 is a flat plate fixed to both ends of the back plate 210.
The horizontal plate 211 has a rectangular shape or a trapezoidal shape when viewed from the side.
The horizontal plate 211 is orthogonal to the back plate 210.

<Pinching part 77>
As shown in FIG. 26 (a), the horizontal plate 211 has a holding portion 77.
The sandwiching portion 77 has two guide rollers 72 and two guide cam followers 73.
The guide roller 72 is arranged on the circumference centered on the tip end portion C of the squeegee 92.
The guide cam follower 73 is arranged on the circumference centered on the tip end portion C of the squeegee 92.
The rotation axes of the two guide rollers 72 and the rotation axes of the two guide cam followers 73 are arranged on two radii about the tip C of the squeegee 92, respectively.
The central angle α of the two radii is preferably 30 degrees or more and 50 degrees or less, and 40 degrees is preferable.

<Pin 212>
As shown in FIG. 26 (a), the horizontal plate 211 has a pin 212.
The pin 212 is a cylindrical rod protruding from the horizontal plate 211.
The pin 212 is arranged directly above the tip C of the squeegee 92, and is arranged on a vertical line L passing through the tip C of the squeegee 92.

<< Configuration of rotation control unit 80 >>
As shown in FIG. 21, the rotation control unit 80 is on the left and right.
The left-right width of the pair of rotation control units 80 is smaller than the left-right width of the curved surface jig 47.
The rotation control unit 80 has a foot portion 801 fixed to the lower end of the holding portion 40.
The foot portion 801 has a foot cam follower 802 that moves on the curved surface of the curved surface jig 47.
The foot portion 801 is rotatably attached to the foot cam follower 802.

As shown in FIG. 26 (a), the foot portion 801 is located before and after the lower end of the horizontal plate 211.
The line connecting the centers of the two foot cam followers 802 is orthogonal to the vertical line L passing through the tip portion C of the squeegee 92.
The radii of the two foot cam followers 802 are the same.
The distance between the center of the two foot cam followers 802 and the vertical line L passing through the tip end portion C of the squeegee 92 is the same.

<< Configuration of Regulatory Department 70 >>
As shown in FIG. 26 (c), the regulating unit 70 has an upper and lower cylinder 93 and an upper and lower plate 290.
The upper and lower cylinders 93 and the upper and lower plates 290 each have a pair, and exist on the left and right sides of the slide portion 91.
The upper and lower cylinders 93 are fixed to the slide portion 91.
The upper and lower cylinders 93 move the upper and lower plates 290 up and down, and generate downward pressure during screen printing.
The upper and lower plates 290 are flat plates parallel to each other in the front-rear direction.
The upper and lower plates 290 are orthogonal to the slide portion 91.
The upper and lower plates 290 have a rectangular shape or a trapezoidal shape when viewed from the side.
The upper and lower plates 290 are arranged in parallel with the horizontal plate 211.
The front-rear width of the upper and lower plates 290 is the same as or almost the same as the front-rear width of the horizontal plate 211.

<Guide rail 42>
As shown in FIG. 26 (c), there is an arc-shaped guide rail 42 at the lower end of the horizontal plate 211.
The guide rail 42 has an arc shape as a whole, the center of the arc is the tip portion C of the squeegee 92, and the central angle is 90 degrees.
The guide rail 42 has a mountain-shaped protrusion 45 on the upper surface and a curved surface on the lower surface.
The radial cross section of the guide rail 42 is a pentagon in the shape of a home base.
As shown in FIG. 21, the guide rail 42 and the holding portion 77 are arranged between the upper and lower plates 290 and the horizontal plate 211.
As shown in FIG. 26 (b), the guide rail 42 has the sandwiching portion 77 rotatably attached around the tip end portion C of the squeegee 92.
The guide rail 42 regulates the rotation direction of the holding portion 40 so that the holding portion 40 rotates around the tip end portion C of the squeegee 92.

Since the holding portion 77 sandwiches the guide rail 42, the guide roller 72 and the guide cam follower 73 of the holding portion 77 can swing like a rocking chair or a cradle.

<Regulatory hole 291>
As shown in FIG. 26 (c), the horizontal plate 211 has an arc-shaped regulation hole 291.
The center of the regulation hole 291 is the tip C of the squeegee 92.
A suitable value for the central angle of the regulation hole 291 is 30 degrees.
As shown in FIG. 26 (b), the regulation hole 291 is a hole into which the pin 212 is inserted and the pin 212 is slid in an arc shape.
The regulation hole 291 regulates the rotation of the pin 212 within the range of the central angle of the regulation hole 291.

<Spring 213>
As shown in FIG. 21, the regulating unit 70 has a pair of springs 213.
The spring 213 is a tension spring connected to the slide portion 91 and the horizontal plate 211.
The spring 213 is directly above the squeegee 92 and is arranged on a vertical line L passing through the tip end portion C of the squeegee 92.

*** Explanation of operation ***
The detailed operation of the printing method of the screen printing apparatus 100 will be described with reference to FIG. 27.
FIG. 28 is a perspective view showing the printing operation.
In FIG. 28, the screen 95 and the screen frame 96 are not shown.
The following operations are executed by the control unit 110 provided in the screen printing device 100.
In this embodiment, a case of printing from the front horizontal direction to the rear horizontal direction will be described.

Step S11: Work set process With the curved surface jig 47 mounted on the support pillar 62 of FIG. 20, the work 49 is mounted on the curved surface jig 47.
The curved surfaces of the curved surface jig 47 and the work 49 have the same radius, and the work 49 is arranged on the curved surface jig 47 without a gap.

Step S12: Table movement process The control unit 110 moves the table 61 in the front lateral direction, and stops the movement of the table 61 at a position directly below the printing unit 90.

Step S13: Curved surface jig raising process When the table 61 carries the curved surface jig 47, the control unit 110 raises the support pin 56 of the support cylinder 55, lifts the table 61, and raises the curved surface jig 47. The control unit 110 raises the curved surface jig 47 until the work 49 and the screen frame 96 have a predetermined clearance.
The curved surfaces of the screen frame 96 and the work 49 have the same radius, and the entire surface of the work 49 is arranged with a predetermined clearance with respect to the screen frame 96.

Step S24: Printing unit setting process The control unit 110 moves the printing unit 90 to the front end of the work 49 by the robo cylinder 97.
As shown in FIG. 26B, the holding portion 40 and the regulating portion 70 are aligned in the vertical direction by the spring 213, and the holding portion 40 does not rotate with respect to the regulating portion 70.

<Descent of upper and lower cylinder 93>
The control unit 110 lowers the upper and lower plates 290 of the regulation unit 70 by using the upper and lower cylinders 93.
The pressure applied to the upper and lower plates 290 by the upper and lower cylinders 93 is transmitted to the guide rail 42. The pressure transmitted to the guide rail 42 is transmitted to the two guide cam followers 73, and further transmitted to the horizontal plate 211.
The downward pressure on the horizontal plate 211 lowers the entire holding portion 40.
When the holding portion 40 is lowered, the spring 213 starts to extend.
Further, when the holding unit 40 is lowered, the rotation control unit 80 is also lowered.
When the rotation control unit 80 descends, the front foot cam follower 802 comes into contact with the surface of the curved surface jig 47, and the front foot cam follower 802 cannot descend.
When the control unit 110 further lowers the regulation unit 70 using the upper and lower cylinders 93, the spring 213 extends, and the holding unit 77 moves counterclockwise along the guide rail 42 around the tip portion C of the squeegee 92. At the beginning, the rear foot cam follower 802 begins to fall.
When the rear foot cam follower 802 is lowered, the rear foot cam follower 802 comes into contact with the surface of the curved surface jig 47, and the rear foot cam follower 802 cannot be lowered.
When the front foot cam follower 802 and the rear foot cam follower 802 come into contact with the surface of the curved surface jig 47, the lowering of the holding portion 40 stops, and the lowering of the regulating portion 70 using the upper and lower cylinders 93 stops.
As described above, when the holding portion 40 is lowered, the rotation control unit 80 hits the surface of the curved surface jig 47, and the holding portion 40 rotates about the tip portion C of the squeegee 92. In this way, the attack angle of the squeegee 92 becomes the angle θ.

<Descent of printing pressure cylinder 221>
The control unit 110 lowers the squeegee 92 using the printing pressure cylinder 221 and applies printing pressure to the squeegee 92.
The pressure applied to the two guide cam followers 73 from the guide rail 42 is received by the rotation control unit 80, and the pressure applied to the two guide cam followers 73 from the guide rail 42 is not directly transmitted to the squeegee 92.
The printing pressure cylinder 221 is provided to directly apply printing pressure to the squeegee 92.
The printing pressure applied from the printing pressure cylinder 221 to the squeegee mounting portion 41 is transmitted to the squeegee 92 and transmitted to the tip end portion C of the squeegee 92.
In this way, the printing pressure from the printing pressure cylinder 221 is transmitted to the tip end portion C of the squeegee 92.
FIG. 27A shows a printing start state.

Step S25: The printing process control unit 110 moves the printing unit 90 backward by the robo cylinder 97 to start printing.
As shown by the downward arrow in FIG. 28, the control unit 110 moves the printing unit 90 backward while applying downward pressure to both the upper and lower cylinders 93 and the printing pressure cylinder 221 during printing. To print.

When the printing unit 90 moves backward, the foot cam follower 802 moves backward while rolling on the surface of the curved surface jig 47.
When the foot cam follower 802 moves from the front to the center while rolling on the surface of the curved surface jig 47, the straight line connecting the two foot cam followers 802 approaches the horizontal from the rear lowering, so that the pinching portion 77 is centered on the tip portion C of the squeegee 92. And move clockwise.
FIG. 28 (b) shows the state of the work 49 at the intermediate time point.

When the foot cam follower 802 moves from the center to the rear while rolling on the surface of the curved surface jig 47, the straight line connecting the two foot cam followers 802 rises backward from the horizontal, so that the pinching portion 77 is centered on the tip portion C of the squeegee 92. And move clockwise.
In this way, the rotation control unit 80 controls the rotation of the guide rail 42 so that the attack angle formed by the squeegee 92 and the work 49 is the angle θ.

When the rotation control unit 80 moves clockwise around the tip C of the squeegee 92, the holding portion 77 also moves clockwise around the tip C of the squeegee 92.
During printing, the attack angle formed by the squeegee 92 and the work 49 is maintained at the angle θ.
FIG. 28 (c) shows the print end state of the work 49.

Step S26: Squeegee raising step When printing is completed, the control unit 110 raises the regulating unit 70 by the upper and lower cylinders 93, and raises the squeegee 92 by the printing pressure cylinder 221.
When the regulating portion 70 rises, the holding portion 40 is rotated around the tip portion C of the squeegee 92 by the spring 213. In this way, the holding portion 40 and the regulating portion 70 are returned to the state of being aligned in the vertical direction by the spring 213, and the holding portion 40 is in a state of not rotating with respect to the regulating portion 70.
The control unit 110 lowers the scraper 310 by the scraper cylinder 320.
The control unit 110 moves the printing unit 90 to the front end of the work 49 by the robo cylinder 97 while returning the ink with the scraper 310.

Step S17: Curved surface jig lowering step The control unit 110 lowers the support pin 56 to lower the curved surface jig 47.

Step S18: Table return step The control unit 110 moves the table 61 in the rear lateral direction, and carries out the curved surface jig 47 and the work 49.
After that, the work 49 is replaced and new printing is started.

In this way, the screen printing device 100 holds the squeegee 92 in the holding portion 40, and performs screen printing while rotating the holding portion 40 around the tip end portion C of the squeegee 92.
The holding portion 40 has a holding portion 77, holds the guide rail 42 by the holding portion 77, and performs screen printing while restricting the moving direction of the holding portion 77.
The regulating unit 70 has a guide rail 42, and moves the guide roller 72 and the guide cam follower 73 along the guide rail 42.
In this way, the screen printing device 100 performs screen printing with the attack angle of the squeegee 92 set to a constant angle θ with respect to the work 49 having a curved surface.

<Characteristics of Embodiment 4>
In the fourth embodiment, the screen printing device 100 that performs screen printing on the work 49 having a curved surface has been described.
The screen printing device 100 includes a holding unit 40, a regulating unit 70, and a rotation control unit 80.
The holding portion 40 holds the squeegee 92.
The regulating portion 70 regulates the rotation direction of the holding portion 40 so that the holding portion 40 rotates around the tip of the squeegee 92, and attaches the holding portion 40.
The rotation control unit 80 rotates the holding unit 40 attached to the regulation unit 70.

The regulating unit 70 has an arc-shaped guide rail 42.
The holding portion 40 has a holding portion 77 rotatably attached to the guide rail 42.

The sandwiching portion 77 has a guide roller 72 and a guide cam follower 73 that sandwich the guide rail 42 from above and below.
The guide rail 42 applies downward pressure to the holding portion 40.
The holding portion 40 sandwiches the arc-shaped guide rail 42 by the holding portion 77, and performs screen printing while restricting the moving direction of the holding portion 77.

The regulating unit 70 has an upper and lower cylinder 93 that raises and lowers the holding unit 40.
The holding portion 40 has a printing pressure cylinder 221 that raises and lowers the squeegee 92.

The screen printing device 100 uses a curved surface jig 47 on which the work 49 is placed.
The rotation control unit 80 has a foot portion 801 fixed to the front and rear of the holding portion 40.
The foot portion 801 moves on the surface of the curved surface of the curved surface jig 47.

*** Effect of Embodiment 4 ***
According to this embodiment, screen printing can be performed on a curved work.
According to this embodiment, the rotation control unit 80 can make the attack angle of the squeegee constant with respect to the work having a curved surface.
According to this embodiment, the printing pressure cylinder 221 can independently apply a desired printing pressure to the squeegee 92.
According to this embodiment, since the regulation hole 291 limits the movement range of the pin 212, the rotation angle of the holding portion 40 with respect to the regulation portion 70 can be regulated.

*** Other configurations ***
The holding portion 40 may be provided with a guide rail 42, and the regulating portion 70 may be provided with a holding portion 77.
The number of guide rollers 72 and guide cam followers 73 may be two or more.
The spring 213 is a mechanism for preventing the holding portion 40 from wobbling while the printing portion 90 is moving forward and keeping the holding portion 40 vertical. If the holding portion 40 does not fluctuate with respect to the regulating portion 70, the spring 213 is a spring. 213 may not be present.
The regulation unit 70 does not have to be on the left and right, and may be located at only one central location.
The foot portion 801 is a portion that rotatably holds the foot cam follower 802, and the shape of the foot portion 801 may be any shape as long as the foot cam follower 802 is rotatably held.

*** Supplement to the embodiment ***
The function of the control unit 110 may be realized by a combination of software and hardware. That is, a part of the control unit 110 may be realized by software, and the rest of the control unit 110 may be realized by hardware.

The embodiments are examples of preferred embodiments and are not intended to limit the technical scope of the invention. The embodiment may be partially implemented or may be implemented in combination with other embodiments. Further, the above-described embodiments may be combined.
The procedure described using a flowchart or the like is an example of the procedure of the method or program according to the present invention.

40 holding part, 41 squeegee mounting part, 42 guide rail, 43 bracket, 44 slide cam follower, 45 protrusion, 47 curved jig, 49 work, 50 housing, 51 base, 53 pillar frame, 54 beam frame, 55 support cylinder , 56 support pin, 60 loading / unloading mechanism, 61 table, 62 support pillar, 64 robo cylinder, 70 regulation part, 71 side plate, 72 guide roller, 73 guide cam follower, 77 pinching part, 80 rotation control part, 81 linear guide, 82 Moving block, 83 nut, 84 ball screw, 85 groove block, 86 slide groove, 87 drive motor, 88 fixing plate, 89 pulley belt mechanism, 90 printing part, 91 slide part, 92 squeegee, 93 upper and lower cylinder, 94 upper and lower base plate, 95 screen, 96 screen frame, 97 robo cylinder, 98 arm, 99 moving mechanism, 100 screen printing device, 110 control unit, 111 signal line, 112 rail, C tip, L vertical line, 210 back plate, 211 horizontal plate, 212 pins, 213 springs, 221 printing pressure cylinders, 290 upper and lower plates, 291 regulation holes, 310 scrapers, 320 scraper cylinders, 801 foot parts, 802 foot cam followers.

Claims (12)

In a screen printing device that performs screen printing on a workpiece having a curved surface
A holding part that holds the squeegee,
A regulating portion to which the holding portion is attached by restricting the rotation direction of the holding portion so that the holding portion rotates around the tip of the squeegee.
A rotation control unit for rotating the holding unit attached to the regulation unit is provided.
The holding portion has an arcuate guide rail and has an arcuate guide rail.
The restricting portion has a holding portion to which the guide rail is rotatably attached.
The pinching part is
It has a guide roller and a guide cam follower that sandwich the guide rail from above and below.
A screen printing device that applies printing pressure to the holding portion by the guide roller. In a screen printing device that performs screen printing on a workpiece having a curved surface
A holding part that holds the squeegee,
A regulating portion to which the holding portion is attached by restricting the rotation direction of the holding portion so that the holding portion rotates around the tip of the squeegee.
A rotation control unit for rotating the holding unit attached to the regulation unit is provided.
The holding portion has a slide cam follower and has a slide cam follower.
The rotation control unit is a screen printing device that moves the slide cam follower back and forth. The rotation control unit includes a groove block in which a slide groove for guiding the slide cam follower is formed, and a groove block.
The screen printing apparatus according to claim 2 , further comprising a ball screw for moving the groove block in the front-rear direction. The screen printing apparatus according to claim 3 , further comprising a control unit that changes the linear movement speed of the groove block depending on the printing position. In a screen printing device that performs screen printing on a workpiece having a curved surface
A holding part that holds the squeegee,
A regulating portion to which the holding portion is attached by restricting the rotation direction of the holding portion so that the holding portion rotates around the tip of the squeegee.
A rotation control unit for rotating the holding unit attached to the regulation unit is provided.
A printing unit having the holding unit, the restricting unit, and the rotation control unit,
A screen printing device having a control unit that changes the linear movement speed of the printing unit depending on the printing position. In a screen printing device that performs screen printing on a workpiece having a curved surface
A holding part that holds the squeegee,
A regulating portion to which the holding portion is attached by restricting the rotation direction of the holding portion so that the holding portion rotates around the tip of the squeegee.
A rotation control unit for rotating the holding unit attached to the regulation unit is provided.
The restricting part has an arcuate guide rail and has an arcuate guide rail.
The holding portion is a screen printing device having a holding portion rotatably attached to the guide rail. The pinching part is
It has a guide roller and a guide cam follower that sandwich the guide rail from above and below.
The screen printing apparatus according to claim 6 , wherein a downward pressure is applied to the holding portion by the guide rail. The restricting portion has an upper and lower cylinder that raises and lowers the holding portion.
The screen printing apparatus according to claim 6 , wherein the holding portion has a printing pressure cylinder for moving the squeegee up and down. In a screen printing device that performs screen printing on a workpiece having a curved surface
A holding part that holds the squeegee,
A regulating portion to which the holding portion is attached by restricting the rotation direction of the holding portion so that the holding portion rotates around the tip of the squeegee.
A rotation control unit for rotating the holding unit attached to the regulation unit is provided.
The screen printing device has a curved surface jig on which a work is placed.
The rotation control unit
It has a fixed foot part in front of and behind the holding part, and has a fixed foot part.
The foot is a screen printing device that moves on the surface of the curved surface of the curved surface jig. In the screen printing method of screen printing on a workpiece having a curved surface,
Hold the squeegee in the holding part,
A screen printing method in which screen printing is performed while rotating the holding portion around the tip of the squeegee during screen printing.
The holding portion has an arcuate guide rail and has an arcuate guide rail.
A screen printing method in which the guide rail is sandwiched by a holding portion arranged between the guide roller and the guide cam follower, and screen printing is performed while restricting the moving direction of the guide rail. In the screen printing method of screen printing on a workpiece having a curved surface,
Hold the squeegee in the holding part,
A screen printing method in which screen printing is performed while rotating the holding portion around the tip of the squeegee during screen printing.
The holding portion has a holding portion in which an arc-shaped guide rail is arranged between the guide roller and the guide cam follower.
A screen printing method in which the guide rail is sandwiched by the pinching portion and screen printing is performed while restricting the moving direction of the pinching portion. The screen printing method according to claim 10 or 11 , wherein screen printing is performed on a work having a curved surface with the attack angle of the squeegee set to a constant angle θ.

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