JP7670801B2 - Printing machine, work system, and printing method - Google Patents

Description

The present invention relates to a printing machine, a work system, and a printing method for printing a viscous fluid onto a pallet.

As described in the following patent document, a technology has been developed to print viscous fluid onto a pallet.

JP 2018-171778 A

The objective of this specification is to print viscous fluid appropriately onto a pallet.

In order to solve the above problems, this specification discloses a printing machine comprising a determination device that determines the set direction of a pallet on which a viscous fluid is to be printed, and a printing device that prints the viscous fluid on the pallet using printing data corresponding to the set direction determined by the determination device, wherein when the printing of the viscous fluid on the pallet is interrupted and the pallet is set again, the determination device determines the set direction of the pallet, and the printing device resumes printing of the viscous fluid on the pallet using the printing data corresponding to the determined set direction .

Furthermore, in order to solve the above-mentioned problems, this specification discloses a printing method for printing a viscous fluid on a pallet, the printing method including a determination step of determining a set direction of the pallet, and a printing step of printing the viscous fluid on the pallet using printing data corresponding to the set direction determined in the determination step, wherein when the printing of the viscous fluid on the pallet is interrupted and the pallet is set again, the determination step determines the set direction of the pallet, and the printing step resumes printing of the viscous fluid on the pallet using printing data corresponding to the determined set direction .

In the present disclosure, the viscous fluid is printed on the pallet using printing data that corresponds to the orientation of the pallet. This allows the viscous fluid to be printed appropriately on the pallet.

FIG. FIG. 2 is a block diagram showing a control device of the molding apparatus. FIG. 11 is a diagram showing a schematic representation of first printing data. FIG. 13 is a diagram showing a palette on which characters are printed. FIG. 13 is a diagram showing a palette on which characters are printed. FIG. 13 is a diagram showing a palette on which characters are printed. FIG. 13 is a diagram showing a palette on which characters are printed. FIG. 2 is a diagram showing a pallet set in a first setting direction. FIG. 13 is a diagram showing a pallet set in a second setting direction. FIG. 13 shows a pallet in a first set orientation with characters printed thereon. FIG. 13 shows a pallet in a first set orientation with characters printed thereon. FIG. 13 shows a pallet in a second set orientation with characters printed thereon. FIG. 11 is a diagram showing a schematic representation of second print data. FIG. 13 shows a pallet in a second set orientation with characters printed thereon. FIG. 1 is a diagram showing a working system. FIG. 2 is a block diagram showing a control device of the molding operation machine. FIG. 2 is a block diagram showing a control device for the mounting work machine. FIG. 2 is a cross-sectional view showing a circuit in a state in which a resin laminate has been formed. FIG. 2 is a cross-sectional view showing a circuit in a state in which wiring is formed on a resin laminate. FIG. 2 is a cross-sectional view showing a circuit in a state where electronic components are mounted on the resin laminate. FIG. 11 is a diagram showing a schematic representation of first printing data. FIG. 13 shows a pallet in a first set orientation with wiring printed thereon. FIG. 11 is a diagram showing a schematic representation of second print data. FIG. 13 shows a pallet in a second set orientation with wiring printed thereon. FIG. 2 is a diagram showing a pallet in a first setting orientation with electronic components mounted thereon; FIG. 13 is a diagram showing the pallet in the second setting orientation with electronic components mounted thereon;

Below, an embodiment of the present invention will be described in detail with reference to the drawings as a form for implementing the present invention.

Figure 1 shows a modeling apparatus 10 of the first embodiment. The modeling apparatus 10 includes a conveying device 20, a modeling unit 22, an imaging unit 24, and a control device (see Figure 2) 26. The conveying device 20, the modeling unit 22, and the imaging unit 24 are arranged on a base 28 of the modeling apparatus 10. The base 28 is generally rectangular in shape, and in the following explanation, the longitudinal direction of the base 28 is referred to as the X-axis direction, the lateral direction of the base 28 as the Y-axis direction, and the direction perpendicular to both the X-axis direction and the Y-axis direction as the Z-axis direction.

The transport device 20 includes an X-axis slide mechanism 30 and a Y-axis slide mechanism 32. The X-axis slide mechanism 30 includes an X-axis slide rail 34 and an X-axis slider 36. The X-axis slide rail 34 is disposed on the base 28 so as to extend in the X-axis direction. The X-axis slider 36 is held by the X-axis slide rail 34 so as to be slidable in the X-axis direction. The X-axis slide mechanism 30 also includes an electromagnetic motor (see FIG. 2) 38, and the X-axis slider 36 is moved to any position in the X-axis direction by the drive of the electromagnetic motor 38. The Y-axis slide mechanism 32 also includes a Y-axis slide rail 50 and a stage 52. The Y-axis slide rail 50 is disposed on the base 28 so as to extend in the Y-axis direction and is movable in the X-axis direction. One end of the Y-axis slide rail 50 is connected to the X-axis slider 36. The stage 52 is held on the Y-axis slide rail 50 so as to be slidable in the Y-axis direction. Furthermore, the Y-axis slide mechanism 32 has an electromagnetic motor (see FIG. 2) 56, and the stage 52 moves to an arbitrary position in the Y-axis direction by driving the electromagnetic motor 56. As a result, the stage 52 moves to an arbitrary position on the base 28 by driving the X-axis slide mechanism 30 and the Y-axis slide mechanism 32.

The stage 52 has a base 60, a holding device 62, and a lifting device (see Figure 2) 64. The base 60 is formed in a flat plate shape, and a pallet (see Figure 4) 70 is placed on the upper surface. The holding devices 62 are provided on both sides of the base 60 in the X-axis direction. The pallet 70 is fixedly held by clamping both edges in the X-axis direction of the substrate placed on the base 60 between the holding devices 62. The lifting device 64 is disposed below the base 60, and raises and lowers the base 60.

The modeling unit 22 is a unit that models a resin layer on the pallet 70 placed on the base 60 of the stage 52, and has a printing section 72 and a curing section 74. The printing section 72 has an inkjet head (see FIG. 2) 76, and ejects ultraviolet curable resin onto the pallet 70 placed on the base 60. The inkjet head 76 may be, for example, a piezo type that uses a piezoelectric element, or a thermal type that heats the resin to generate bubbles and ejects them from a nozzle.

The curing section 74 has a flattening device (see FIG. 2) 78 and an irradiation device (see FIG. 2) 80. The flattening device 78 flattens the top surface of the UV-curable resin discharged onto the pallet 70 by the inkjet head 76, for example by leveling the surface of the UV-curable resin while scraping off excess resin with a roller or blade, thereby making the thickness of the UV-curable resin uniform. The irradiation device 80 has a mercury lamp or LED as a light source, and irradiates the UV-curable resin discharged onto the pallet 70 with UV rays. This causes the UV-curable resin discharged onto the pallet 70 to harden.

The imaging unit 24 is a unit that images the pallet 70 placed on the base 60 of the stage 52, and has a camera 82. The camera 82 is disposed above the base 28 in a downward facing position, and images the top surface of the pallet 70 placed on the base 60 of the stage 52 from above.

2, the control device 26 includes a controller 84, a plurality of drive circuits 86, an image processing device 87, and a storage device 88. The plurality of drive circuits 86 are connected to the electromagnetic motors 38, 56, the holding device 62, the lifting device 64, the inkjet head 76, the flattening device 78, and the irradiation device 80. The controller 84 includes a CPU, a ROM, a RAM, etc., and is mainly a computer, and is connected to the plurality of drive circuits 86. As a result, the operation of the conveying device 20 and the modeling unit 22 is controlled by the controller 84. The controller 84 is also connected to the image processing device 87. The image processing device 87 processes the image data obtained by the camera 82, and the controller 84 acquires various information from the image data. The storage device 88 stores various data for modeling a model, and is connected to the controller 84. As a result, the controller 84 controls the operation of the conveying device 20 and the modeling unit 22 according to the data stored in the storage device 88.

In the modeling device 10, with the above-mentioned configuration, ultraviolet curable resin is ejected onto the pallet 70 in accordance with the data stored in the memory device 88, and is cured by irradiation with ultraviolet light to form a modeled object having a shape corresponding to the data. Specifically, the pallet 70 is set on the base 60 of the stage 52. A release film 100 is laid on the top surface of the pallet 70, as shown in FIG. 4. Then, when the pallet 70 is set on the base 60 of the stage 52, the stage 52 is moved below the modeling unit 22.

Then, in the modeling unit 22, the inkjet head 76 ejects and prints the ultraviolet curing resin on the pallet 70 according to the data stored in the storage device 88. The storage device 88 stores printing data for printing the characters "FUJI" as shown in FIG. 3, for example. Note that FIG. 3 is a schematic representation of the printing data, and the actual printing data is data of the coordinates at which the ultraviolet curing resin is ejected for each pixel. Then, the inkjet head 76 ejects the ultraviolet curing resin on the pallet 70 according to the data stored in the storage device 88, so that the characters "FUJI" are printed on the release film 100 of the pallet 70 as shown in FIG. 4. Note that when the inkjet head 76 ejects the ultraviolet curing resin on the pallet 70 according to the data stored in the storage device 88, it ejects the ultraviolet curing resin for each pixel. Then, the controller 84 sequentially stores the coordinates of the pixels where ejection has been completed.

Next, the UV-curable resin is ejected to print the letters "FUJI" on the pallet 70, and in the curing section 74, the UV-curable resin is flattened by a flattening device 78 so that the film thickness of the UV-curable resin is uniform. Then, an irradiation device 80 irradiates the UV-curable resin with UV rays. This forms a model of the letters "FUJI" on the pallet 70.

However, if an error occurs while the letters "FUJI" are being printed in the molding device 10, and the worker removes the pallet 70 from the molding device 10, and then sets the pallet 70 on the stage 52 again to resume work, there is a risk that printing will not be performed properly. Specifically, an error may occur while the inkjet head 76 is discharging ultraviolet curable resin onto the pallet 70 in the printing section 72 of the molding unit 22, and the worker may remove the pallet 70 from the molding device 10 to resolve the error. At this time, as shown in FIG. 5, only the letter "F" may be printed on the pallet 70. In other words, an error may occur at the timing when the inkjet head 76 in the printing section 72 completes printing the letter "F" but before printing the letter "U," and the worker may remove the pallet 70 with only the letter "F" printed on it from the molding device 10. Then, the worker removes the pallet 70 from the molding device 10, and after correcting the error, the worker resets the pallet 70 on the base 60 of the stage 52 to resume work.

At this time, the worker needs to reset the pallet 70 on the base 60 in the same orientation as the pallet was set in when it was removed from the molding device 10. That is, for example, when the pallet is set on the base 60 in the orientation in which the letter "F" faces the correct direction from the viewpoint of the worker who removes the pallet, as shown in FIG. 5, the worker needs to reset the pallet in the orientation in which the letter "F" faces the correct direction after removing the pallet. However, even if the pallet was set on the base 60 in the orientation in which the letter "F" faces the correct direction as shown in FIG. 5, the worker may reset the pallet in the orientation in which the letter "F" is upside down 180 degrees as shown in FIG. 6 after removing the pallet. Then, when the printing operation is resumed in the molding device 10 in such a state, the letter "UJI" is printed in the correct orientation on the pallet 70 on which the upside-down letter "F" is printed, as shown in FIG. 7. As described above, when printing is performed by the inkjet head 76, the ultraviolet curing resin is discharged for each pixel, and the coordinates of the pixel where the discharge is completed are stored in the controller 84. Therefore, when the printing operation is resumed after the letter "F" is completed and the printing operation is stopped, the letters "UJI" are printed on the pallet. In addition, in FIG. 7, the upside-down "F" and the letter "I" facing the correct direction are entirely overlapping, so the letter "I" cannot be seen.

In this way, if an error occurs during printing of the UV-curable resin, and the worker removes the pallet 70 from the modeling device 10, and then sets the pallet 70 on the stage 52 again to resume work, there is a risk that printing will not be performed properly. In consideration of this, in the modeling device 10, the imaging unit 24 captures an image of the pallet set on the base 60, the setting direction of the pallet is identified, and UV-curable resin is printed on the pallet using printing data corresponding to the setting direction of the pallet.

Specifically, as shown in FIG. 8, three of the four corners of the pallet 70 are marked with three reference marks 110, and no reference mark 110 is marked on the remaining corner. The pallet 70 is set on the base 60 in either a pallet orientation in which the corner without the reference mark 110 is located at the lower right (hereinafter referred to as the "first orientation": see FIG. 8) or a pallet orientation in which the corner without the reference mark 110 is located at the upper left (hereinafter referred to as the "second orientation": see FIG. 9). In other words, the pallet 70 is set on the base 60 in either a pallet setting direction in which the pallet 70 is in the first orientation (hereinafter referred to as the "first setting direction": see FIG. 8) or a pallet setting direction in which the pallet 70 is in the second orientation (hereinafter referred to as the "second setting direction": see FIG. 9).

Then, when the pallet 70 is set on the base 60 of the stage 52, the stage 52 is moved below the imaging unit 24, and the camera 82 in the imaging unit 24 captures an image of the pallet 70 set on the base 60. The imaging data from the image capture is then analyzed in the controller 84, and based on the imaging data, it is determined whether the setting direction of the pallet 70 on the base 60 is the first setting direction or the second setting direction.

Next, the stage 52 is moved below the modeling unit 22. Then, in the printing section 72 of the modeling unit 22, the inkjet head 76 ejects and prints the ultraviolet curing resin onto the pallet 70 according to the printing data corresponding to the set direction of the pallet calculated by the controller 84. As described above, the memory device 88 stores printing data (see FIG. 3) for printing the characters "FUJI", but this printing data is printing data corresponding to the first set direction (hereinafter referred to as "first printing data"). In other words, the first printing data for printing the characters "FUJI" on the pallet 70 set on the base 60 in the first position is stored in the memory device 88. On the other hand, the printing data corresponding to the second set direction (hereinafter referred to as "second printing data"), that is, the second printing data for printing the characters "FUJI" on the pallet 70 set on the base 60 in the second position, is not stored in the memory device 88.

When the controller 84 determines that the setting direction of the pallet 70 is the first setting direction (see FIG. 8), the inkjet head 76 in the printing section 72 of the modeling unit 22 ejects and prints ultraviolet curing resin onto the pallet 70 according to the first printing data stored in the storage device 88. At this time, an error may occur when the inkjet head 76 completes printing the letter "F" but before printing the letter "U", and the worker may take out the pallet 70 with only the letter "F" printed on it from the modeling device 10 as shown in FIG. 10. After the worker removes the pallet 70 from the modeling device 10 and resolves the error, the worker resets the pallet 70 on the base 60 of the stage 52 to resume work.

Next, when the pallet 70 is reset on the base 60, the stage 52 is moved below the imaging unit 24, and the camera 82 in the imaging unit 24 captures an image of the pallet 70 set on the base 60. The imaging data from the image is then analyzed by the controller 84, and it is determined based on the imaging data whether the setting direction of the pallet 70 on the base 60 is the first setting direction or the second setting direction. At this time, if it is determined that the setting direction of the pallet 70 is the first setting direction (see FIG. 10), the inkjet head 76 in the printing section 72 of the modeling unit 22 prints the ultraviolet curing resin on the pallet 70 with the letters "UJI" according to the first printing data stored in the storage device 88. As described above, since the controller 84 stores the coordinates of the pixel where the discharge has been completed, the letters "UJI" are printed on the pallet 70 on which the letter "F" has been printed. As a result, the letter "UJI" is printed in the correct direction on pallet 70 (see Figure 10) on which the letter "F" is printed in the correct direction, and the letter "FUJI" is properly printed on pallet 70, as shown in Figure 11.

On the other hand, if it is determined that the set direction of the reset pallet 70 is the second set direction (see FIG. 12) after the pallet 70 is reset on the base 60, the inkjet head 76 in the printing section 72 of the modeling unit 22 prints the ultraviolet curing resin on the pallet 70 according to the second printing data. However, as described above, the first printing data for printing the ultraviolet curing resin on the pallet in the first set direction is stored in the memory device 88, but the second printing data for printing the ultraviolet curing resin on the pallet in the second set direction is not stored. Therefore, the controller 84 creates the second printing data based on the first printing data stored in the memory device 88. In other words, the controller 84 creates the second printing data (see FIG. 13) for printing the characters "FUJI" upside down based on the first printing data (see FIG. 3) for printing the characters "FUJI" facing the correct direction. The method of creating the second printing data is a well-known technology and will not be described in detail, but for example, the second printing data can be created by rotating the position of the pixel where the UV-curable resin is ejected 180 degrees vertically while maintaining the pixel coordinates.

Then, when the controller 84 creates the second printing data, the inkjet head 76 prints the letters "UJI" with ultraviolet curing resin on the pallet 70 in accordance with the second printing data. As a result, the letters "UJI" are printed upside down on the pallet 70 (see FIG. 12) on which the letter "F" is printed upside down, and the letters "FUJI" are appropriately printed on the pallet 70 as shown in FIG. 14.

In this way, the setting direction of the pallet is identified based on the imaging data of the pallet, and UV-curable resin is printed on the pallet using printing data corresponding to that setting direction, allowing appropriate printing to be performed even if the printing work is interrupted. Also, even if the printing work is not interrupted, UV-curable resin can be printed in a shape that corresponds to the setting direction of the pallet.

In addition, when the set direction of the pallet is different from the specified direction, the operation of the modeling device 10 can be stopped and an error screen or the like can be displayed to prompt the operator to correct the set direction of the pallet. For example, since the first printing data is stored in the storage device 88, when the set direction of the pallet is the first set direction, the printing process according to the first printing data can be executed, and when the set direction is the second set direction, the operation of the modeling device 10 can be stopped and an error screen can be displayed. However, if the operation of the modeling device 10 is stopped in this way, the operation time of the modeling device will be extended. On the other hand, by executing the printing process on the pallet using the printing data corresponding to the set direction, the operation of the modeling device can be continued without stopping the operation of the modeling device. This makes it possible to shorten the operation time.

After printing of UV-curable resin on the pallet according to the second printing data is completed, the second printing data is erased. Furthermore, if printing of UV-curable resin on the pallet according to the first printing data is not interrupted and the letters "FUJI" are printed on the pallet 70, the second printing data is not created. In other words, the second printing data is created only when printing on a pallet in the second position is required, and if the second printing data is created, the second printing data is erased after printing according to the second printing data is completed. This makes it possible to prevent an increase in the storage capacity of the storage device 88.

As shown in Fig. 2, the controller 84 also has a determination unit 120, a data creation unit 122, and a printing unit 124. The determination unit 120 is a functional unit for determining whether the setting direction of the pallet is the first setting direction or the second setting direction based on the imaging data. The data creation unit 122 is a functional unit for creating second printing data based on the first printing data. The printing unit 124 is a function for printing ultraviolet curing resin using printing data according to the setting direction of the pallet.

In the above embodiment, the modeling device 10 is an example of a printing machine. The pallet 70 is an example of a pallet. The inkjet head 76 is an example of a printing device. The memory device 88 is an example of a memory device. The judgment unit 120 is an example of a judgment device. The data creation unit 122 is an example of a data creation device. Furthermore, the process performed by the judgment unit 120 is an example of a judgment process. The process performed by the printing unit 124 is an example of a printing process.

In addition, while the molding device 10 of the first embodiment above molds a character "FUJI" object, the working system 150 of the second embodiment shown in Fig. 15 forms a circuit. In detail, the working system 150 includes a molding work machine 152 and an installation work machine 154.

The modeling work machine 152 includes a stage moving device 160, a resin layer modeling unit 162, a wiring modeling unit 164, a carry-in device 166, an unloading device 168, a transfer device 170, and a control device (see FIG. 16) 172. The stage moving device 160, the resin layer modeling unit 162, the wiring modeling unit 164, the carry-in device 166, the unloading device 168, and the transfer device 170 are arranged on a base 176 of the modeling work machine 152. The base 176 is generally rectangular in shape, and in the following description, the short side direction of the base 176 is referred to as the X-axis direction, the long side direction of the base 176 is referred to as the Y-axis direction, and the direction perpendicular to both the X-axis direction and the Y-axis direction is referred to as the Z-axis direction.

The stage movement device 160 has a slide rail 180 and a stage 182. The slide rail 180 is disposed so as to extend in the Y-axis direction at the center of the base 176, and the stage 182 is held by the slide rail 180 so as to be slidable in the Y-axis direction. The stage 182 is driven by an electromagnetic motor (see FIG. 16) 184 to move to any position in the Y-axis direction. The stage 182 is a mounting table for placing the pallet 70, and a circuit is formed on the pallet 70 placed on the stage 182.

The resin layer forming unit 162 is a unit that forms a resin layer on the upper surface of the pallet 70 placed on the stage 182, and has a resin discharge device 190, a flattening device 192, and an irradiation device 194. The resin discharge device 190 is composed of a guide rail 196 and an inkjet head 198. The guide rail 196 is disposed above the base 176 at one end of the base 176 in the Y-axis direction so as to extend in the X-axis direction, and the inkjet head 198 is held by the guide rail 196 so as to be slidable in the X-axis direction. The inkjet head 198 is moved to an arbitrary position in the X-axis direction by the drive of an electromagnetic motor (see FIG. 16) 200. The inkjet head 198 also discharges ultraviolet curing resin onto the pallet 70 placed on the stage 182.

The flattening device 192 is disposed above the slide rail 180, adjacent to the resin discharge device 190 in the Y-axis direction. The flattening device 192 flattens the upper surface of the ultraviolet curing resin discharged onto the pallet 70 by the inkjet head 198. The irradiation device 194 is disposed above the slide rail 180, on the opposite side of the flattening device 192 from the resin discharge device 190. The irradiation device 194 has a mercury lamp or LED as a light source, and irradiates the ultraviolet curing resin discharged onto the pallet 70 with ultraviolet light.

The wiring forming unit 164 is a unit that forms wiring on the upper surface of the pallet 70 placed on the stage 182, and has an ink discharge device 202 and an infrared irradiation device 204. The ink discharge device 202 is composed of a guide rail 206 and an inkjet head 208. The guide rail 206 is disposed above the base 176 so as to extend in the X-axis direction on the opposite side of the flattening device 192 across the irradiation device 194, and the inkjet head 208 is held by the guide rail 206 so as to be slidable in the X-axis direction. The inkjet head 208 is moved to an arbitrary position in the X-axis direction by the drive of an electromagnetic motor (see FIG. 16) 210. The inkjet head 208 also discharges metal ink in a linear shape onto the pallet 70 placed on the stage 182. The metal ink is a dispersion of metal particles in a solvent. The inkjet head 208 discharges a conductive material from multiple nozzles, for example, by a piezoelectric method using a piezoelectric element.

The infrared irradiation device 204 is disposed above the slide rail 180 at the end of the base 176 opposite to the side where the resin discharge device 190 is disposed in the Y-axis direction. The infrared irradiation device 204 is a device that irradiates infrared rays to the metal ink discharged onto the pallet 70, and the metal ink dries by irradiation with infrared rays. At this time, the solvent evaporates as the metal ink dries, and the metal particles come into contact with each other or aggregate to form metal wiring. Alternatively, the metal ink is baked by irradiation with infrared rays, and metal wiring is formed. Note that baking of metal ink is a phenomenon in which the conductivity increases when energy is applied to evaporate the solvent and decompose the protective film of the metal particles, i.e., the dispersant, etc., and the metal particles come into contact or fuse.

The loading device 166 is a device that loads the pallet 70 into the molding machine 152, and has a pair of transport lanes 212. The pair of transport lanes 212 are disposed on the upper surface of the base 176 between the ink ejection device 202 and the infrared irradiation device 204, and extend in the X-axis direction. When the pallet 70 is placed on the pair of transport lanes 212, the pair of transport lanes 212 are driven by an electromagnetic motor (see FIG. 16) 214 to load the pallet 70 into the molding machine 152 and transport it toward the stage movement device 160.

The unloading device 168 is a device that unloads the pallet 70 from the modeling work machine 152 to the mounting work machine 154, and has a pair of transport lanes 216. The pair of transport lanes 216 are arranged on the upper surface of the base 176 in contrast to the pair of transport lanes 212 of the loading device 166, sandwiching the stage movement device 160 therebetween. Then, when the pallet 70 is placed on the pair of transport lanes 216, the pair of transport lanes 216 are driven by an electromagnetic motor (see FIG. 16) 218 to transport the pallet 70 in a direction away from the stage movement device 160, and unloads the pallet 70 from the modeling work machine 152 to the mounting work machine 154.

The transfer device 170 is a device for transferring the pallet 70, and is disposed between the pair of conveyor lanes 212, 216 and the infrared irradiation device 204. The transfer device 170 has a guide rail 220, a holding device 222, a lifting device (see FIG. 16) 224, and a camera 226. The guide rail 220 is disposed above the base 176 between the pair of conveyor lanes 212, 216 and the infrared irradiation device 204 so as to extend in the X-axis direction, and the holding device 222 is held by the guide rail 220 so as to be slidable in the X-axis direction. The holding device 222 is moved to any position in the X-axis direction by the drive of an electromagnetic motor (see FIG. 16) 228. The holding device 222 is a device for holding the pallet 70, and extends upward from the pair of conveyor lanes 212, 216. The holding device 222 is composed of a pair of arms 230, a device body 232 that holds the pair of arms 230 so that they can approach and separate, and an air cylinder (see FIG. 16) 234 that moves the pair of arms 230 toward and away from each other. The holding device 222 holds the pallet 70 by moving the pair of arms 230 toward each other by driving the air cylinder 234, and releases the held pallet 70 by moving the pair of arms 230 away from each other. The lifting device 224 raises and lowers the holding device 222. The camera 226 is disposed on the lower surface of the device body 232 of the holding device 222 in a position facing downward, and captures an image of the upper surface of the pallet 70 placed on the stage 182 from a viewpoint from above.

With this structure, the transfer device 170 transfers the pallet 70 carried in by the carry-in device 166 onto the stage 182 of the stage moving device 160. In detail, the pallet 70 is carried into the inside of the molding machine 152 by a pair of conveying lanes 212 of the carry-in device 166 and conveyed to a position facing the stage moving device 160. At this time, in the stage moving device 160, the stage 182 is positioned between the carry-in device 166 and the carry-out device 168. Then, the holding device 222 moves above the pallet 70 carried in by the carry-in device 166. Next, the holding device 222 descends by driving the lifting device 224 and holds the pallet carried in by the carry-in device 166. Next, the holding device 222 rises by driving the lifting device 224, and then moves above the stage 182. Then, the holding device 222 descends by driving the lifting device 224 and releases the held pallet 70. As a result, the pallet 70 that has been carried into the modeling work machine 152 is transferred onto the stage 182 .

The transfer device 170 also transfers the pallet 70 placed on the stage 182 to the unloading device 168. More specifically, the holding device 222 moves above the stage 182. Next, the holding device 222 is lowered by the drive of the lifting device 224, and holds the pallet 70 placed on the stage 182. Next, the holding device 222 is raised by the drive of the lifting device 224, and then moves above the pair of conveying lanes 216 of the unloading device 168. Then, the holding device 222 is lowered by the drive of the lifting device 224, and releases the pallet 70 it is holding. As a result, the pallet 70 on the stage 182 is transferred onto the pair of conveying lanes 216 of the unloading device 168.

As shown in FIG. 16, the control device 172 includes a controller 250, a plurality of drive circuits 252, an image processing device 254, and a storage device 256. The plurality of drive circuits 252 are connected to the electromagnetic motors 184, 200, 210, 214, 218, 228, the inkjet head 198, the flattening device 192, the irradiation device 194, the inkjet head 208, the infrared irradiation device 204, the lifting device 224, and the air cylinder 234. The controller 250 includes a CPU, ROM, RAM, etc., and is mainly a computer, and is connected to the plurality of drive circuits 252. As a result, the operation of the stage moving device 160, the resin layer modeling unit 162, the wiring modeling unit 164, the carry-in device 166, the carry-out device 168, and the transfer device 170 is controlled by the controller 250. The controller 250 is also connected to the image processing device 254. The image processing device 254 processes the image data obtained by the camera 226, and the controller 250 acquires various information from the image data. The storage device 256 stores various data for forming a molded object, and is connected to the controller 250. In this way, the controller 250 controls the operations of the stage moving device 160, the resin layer forming unit 162, the wire forming unit 164, etc., in accordance with the data stored in the storage device 256.

In addition, as shown in Figure 15, the mounting work machine 154 is arranged next to the molding work machine 152, and is equipped with a conveying device 260, a moving device 262, a mounting head 264, a supply device 266, a camera 268, and a control device (see Figure 17) 270.

The transport device 260 has a pair of conveyor belts 272 extending in the X-axis direction and an electromagnetic motor (see FIG. 17) 274 that rotates the conveyor belts 272. The pair of conveyor belts 272 of the transport device 260 are connected to a pair of transport lanes 216 of the discharge device 168 of the modeling work machine 152. As a result, the pallet 70 discharged from the modeling work machine 152 by the discharge device 168 is supported by the pair of conveyor belts 272 of the transport device 260 and is transported in the X-axis direction inside the mounting work machine 154 by the drive of the electromagnetic motor 274. The transport device 260 also has a substrate holding device (see FIG. 12) 276. The substrate holding device 276 holds the pallet 70 supported by the conveyor belt 272 fixedly at a predetermined position.

The moving device 262 is composed of an X-axis slide mechanism 280 and a Y-axis slide mechanism 282. The X-axis slide mechanism 280 has an X-axis slider 286 that is movable in the X-axis direction. The X-axis slider 286 is moved to any position in the X-axis direction by the drive of an electromagnetic motor (see FIG. 17) 288. The Y-axis slide mechanism 282 has a Y-axis slider 290 that is mounted on the X-axis slider 286 and is movable in the Y-axis direction. The Y-axis slider 290 is moved to any position in the Y-axis direction by the drive of an electromagnetic motor (see FIG. 17) 292. The mounting head 264 is attached to the Y-axis slider 290. With this structure, the mounting head 264 is moved to any position by the moving device 262.

The mounting head 264 mounts electronic components. The mounting head 264 has a suction nozzle 300 provided on its lower end surface. The suction nozzle 300 is connected to a positive/negative pressure supply device (see FIG. 17) 302 via negative pressure air and positive pressure air passages. The suction nozzle 300 suctions and holds the electronic component by negative pressure, and releases the held electronic component by positive pressure. The mounting head 264 also has a nozzle lifting device (see FIG. 17) 304 that raises and lowers the suction nozzle 300. The nozzle lifting device 304 allows the mounting head 264 to change the vertical position of the electronic component it holds.

The supply device 266 is a feeder-type supply device and has multiple tape feeders 306. The tape feeders 306 house taped components in a wound state. The taped components are electronic components that have been taped. The tape feeders 306 then feed the taped components using a feed device (see FIG. 17) 308. In this way, the feeder-type supply device 266 feeds the electronic components at the supply position by feeding out the taped components.

The camera 268 is fixed to the Y-axis slider 290 of the moving device 262 in a downward facing state, and is moved to any position by the operation of the moving device 262. In this way, the camera 268 captures an image of the pallet 70 held by the substrate holding device 276.

The control device 270 also includes a controller 310, a plurality of drive circuits 312, and an image processing device 314. The plurality of drive circuits 312 are connected to the electromagnetic motors 274, 288, 292, the substrate holding device 276, the positive and negative pressure supply device 302, the nozzle lifting device 304, and the feed device 308. The controller 310 includes a CPU, ROM, RAM, etc., and is mainly a computer, and is connected to the plurality of drive circuits 312. As a result, the operation of the transport device 260, the moving device 262, etc. is controlled by the controller 310. The controller 310 is also connected to the image processing device 314. The image processing device 314 is a device for processing the image data captured by the camera 268. As a result, the controller acquires various information from the image data. The control device 172 of the molding work machine 152 and the control device 270 of the mounting work machine 154 are capable of communicating with each other, and information is sent and received between the control device 172 of the molding work machine 152 and the control device 270 of the mounting work machine 154.

In the working system 150, a circuit is formed on the pallet 70 by the above-mentioned configuration. Specifically, the pallet 70 is carried into the inside of the molding machine 152 by a pair of conveying lanes 212 of the carry-in device 166. As described above, the pallet 70 has three reference marks 110 written on three of the four corners of the pallet 70, and no reference mark 110 is written on the remaining corner. The pallet 70 can be transported by the pair of conveying lanes 212 of the carry-in device 166 only in either the first position (see FIG. 8) or the second position (see FIG. 9). The transfer device 170 is operated to transfer the pallet 70 from the pair of conveying lanes 212 of the carry-in device 166 onto the stage 182. Therefore, the pallet 70 is set on the stage 182 in either the first position or the second position. That is, the pallet 70 is set on the stage 182 in either the first setting direction (see FIG. 8) or the second setting direction (see FIG. 9). A release film 100 is laid on the pallet 70.

Then, in the resin layer forming unit 162, a resin laminate 330 is formed on the release film 100 of the pallet 70 set on the stage 182, as shown in Fig. 18. The resin laminate 330 is formed by repeatedly discharging ultraviolet curable resin from the inkjet head 198 and irradiating the discharged ultraviolet curable resin with ultraviolet light by the irradiation device 194.

In more detail, when the pallet 70 is placed on the stage 182, the stage 182 moves below the resin discharge device 190 of the resin layer forming unit 162. Then, in the resin discharge device 190, the inkjet head 198 discharges ultraviolet curing resin in a thin film on the upper surface of the pallet 70. Next, when the ultraviolet curing resin is discharged in a thin film, the stage 182 moves below the flattening device 192, and the ultraviolet curing resin is flattened by the flattening device 192 so that the film thickness of the ultraviolet curing resin is uniform. Then, the stage 182 moves below the irradiation device 194, and the irradiation device 194 irradiates the thin ultraviolet curing resin with ultraviolet light. As a result, a thin resin layer 332 is formed on the release film 100 of the pallet 70.

Next, the stage 182 moves below the resin ejection device 190, and the inkjet head 198 ejects the ultraviolet curing resin in a thin film on the thin-film resin layer 332. Next, the stage 182 moves below the flattening device 192, and the flattening device 192 flattens the thin-film ultraviolet curing resin. Then, the stage 182 moves below the irradiation device 194, and the irradiation device 194 irradiates the ultraviolet curing resin ejected in a thin film with ultraviolet light, thereby laminating the thin-film resin layer 332 on the thin-film resin layer 332. In this way, the ejection of the ultraviolet curing resin onto the thin-film resin layer 332 and the irradiation of ultraviolet light are repeated, and a plurality of resin layers 332 are laminated to form the resin laminate 330.

Once the resin laminate 330 has been formed by the above-described procedure, the stage 182 moves below the ink ejection device 202 of the wiring formation unit 164. Then, in the ink ejection device 202, as shown in FIG. 19, the inkjet head 208 ejects the metal ink 336 in a line shape according to the circuit pattern onto the upper surface of the resin laminate 330. Next, the stage 182 moves below the infrared irradiation device 204, which irradiates the metal ink 336 with infrared rays. This causes the metal ink 336 to dry, and wiring 338 is formed on the resin laminate 330.

Next, when the resin laminate 330 and wiring 338 are formed on the release film 100 of the pallet 70, the stage 182 moves between the carry-in device 166 and the carry-out device 168. Next, the pallet 70 is transferred from above the stage 182 onto a pair of conveying lanes 216 of the carry-out device 168 by the transfer device 170. Then, the pallet 70 is carried out of the molding work machine 152 by operation of the carry-out device 168, and carried into the interior of the mounting work machine 154.

In the mounting work machine 154, the loaded pallet 70 is transported to the work position by a pair of conveyor belts 272 of the transport device 260, and is fixedly held at that position by the substrate holding device 276. Also, the tape feeder 306 feeds out the taped components and supplies the electronic components (see FIG. 20) 340 at the supply position. Then, the mounting head 264 moves above the supply position of the electronic components 340 and sucks and holds the electronic components 340 with the suction nozzle 300. Next, the mounting head 264 moves above the pallet 70 and mounts the held electronic components 340 on the upper surface of the resin laminate 330 formed on the pallet 70, as shown in FIG. 20. At this time, the electronic components 340 are mounted on the upper surface of the resin laminate 330 so that the electrodes 342 of the electronic components 340 contact the wiring 338. As a result, a circuit including the electronic components 340 connected to the wiring 338 is formed on the upper surface of the resin laminate 330.

In the modeling machine 152 of the work system 150 for forming a circuit in this manner, as in the first embodiment, the pallet 70 set on the stage 182 is imaged by the camera 226, and based on the image data obtained by the image capture, it is determined whether the set direction of the pallet 70 is the first set direction or the second set direction. Then, printing of the ultraviolet curing resin and printing of the metal ink are performed according to the printing data corresponding to the set direction of the pallet. Below, printing according to the printing data corresponding to the set direction of the pallet is described. However, since the difference between the first printing data of the ultraviolet curing resin corresponding to the first set direction and the second printing data of the ultraviolet curing resin corresponding to the second set direction is difficult to understand when diagrammed, the case where the metal ink is printed according to the printing data corresponding to the set direction of the pallet is described.

First, when the pallet 70 is set on the stage 182, the camera 226 captures an image of the stage 182. The captured image data is then analyzed by the controller 250 of the control device 172, and a determination is made based on the captured image data as to whether the set direction of the pallet 70 is the first set direction or the second set direction.

Next, the stage 182 moves below the resin layer forming unit 162, and the resin laminate 330 is formed on the release film 100 of the pallet 70 according to the procedure described above. At this time, the ultraviolet curing resin is printed according to printing data corresponding to the set direction of the pallet, but the printing method of the ultraviolet curing resin here is the same as the printing method of the ultraviolet curing resin in the first embodiment described above, so the description is omitted. Then, when the resin laminate 330 is formed on the release film 100 of the pallet 70, the stage 182 moves below the wiring forming unit 164, and in the wiring forming unit 164, the inkjet head 208 ejects metal ink onto the resin laminate 330 according to the printing data corresponding to the set direction of the pallet to print.

As printing data for metal ink, the memory device 256 stores first printing data for printing metal ink on the pallet 70 set on the stage 182 in the first position. A diagram of the first printing data is shown in FIG. 21. On the other hand, second printing data for printing metal ink on the pallet 70 set on the stage 182 in the second position is not stored in the memory device 256. In other words, in the second embodiment, as in the first embodiment, the second printing data is not stored in the memory device 256, and only the first printing data is stored in the memory device 256.

When it is determined based on the imaging data that the setting direction of the pallet 70 is the first setting direction (see FIG. 8), the inkjet head 208 in the wiring formation unit 164 ejects metal ink according to the first printing data stored in the memory device 256. When the printing of the metal ink according to the first printing data is completed, the metal ink 336 is printed on the resin laminate 330, as shown in FIG. 22. Note that a description of what happens when the printing of the metal ink is interrupted will be omitted, as it overlaps with the description of the first embodiment.

On the other hand, when it is determined based on the imaging data that the set direction of the pallet 70 is the second set direction (see FIG. 9), the inkjet head 208 in the wiring formation unit 164 ejects metal ink according to the second printing data. However, as described above, the first printing data for printing metal ink on the pallet in the first set direction is stored in the memory device 256, but the second printing data for printing metal ink on the pallet in the second set direction is not stored. Therefore, the controller 250 creates the second printing data based on the first printing data stored in the memory device 256. At this time, for example, the position of the pixel indicating the ejection position of the metal ink in the first printing data shown in FIG. 21 is rotated 180 degrees to create the second printing data that is diagrammed as shown in FIG. 23. Then, in the wiring formation unit 164, the inkjet head 208 ejects metal ink according to the second printing data. At this time, when printing of the metal ink according to the second print data is completed, the metal ink 336 is printed on the resin laminate 330 as shown in FIG.

In this way, in the modeling work machine 152 of the work system 150, as in the modeling device 10, it is possible to print metal ink according to printing data corresponding to the set direction of the pallet 70, and it is possible to obtain the same effect as the modeling device 10. Also, in the work system 150, the mounting work machine 154 mounts the electronic component 340 on the resin laminate 330 modeled by the modeling work machine 152. At this time, the mounting work machine 154 images the pallet 70 with the camera 268, and determines the mounting position of the electronic component 340 based on the image data obtained by the image capture.

In more detail, in the modeling work machine 152, the inkjet head 208 prints metal ink according to printing data corresponding to the set direction of the pallet 70, and the infrared irradiation device 204 irradiates the metal ink with infrared rays to form wiring. The pallet is then removed from the modeling work machine 152 and carried into the mounting work machine 154. Next, in the mounting work machine 154, the pallet is transported to the work position by the transport device 260 and held by the substrate holding device 276, and the pallet is imaged by the camera 268. The positions of the three reference marks 110 are then calculated in the controller 310 of the control device 270 based on the image data.

In addition, the controller 310 is set with mounting positions of electronic components according to the positions of the reference marks 110. Specifically, when the three reference marks 110 are in the positions shown in FIG. 25, that is, when the set direction of the pallet is the first set direction, mounting position A (X1, Y1) of the electronic component 340 is set. When the three reference marks 110 are in the positions shown in FIG. 26, that is, when the set direction of the pallet is the second set direction, mounting position B (X2, Y2) of the electronic component 340 is set. Note that mounting position A (X1, Y1) is set at a position where the wiring 338 formed by the metal ink printed according to the first printing data and the electrode 342 of the electronic component 340 come into contact. On the other hand, mounting position B (X2, Y2) is set at a position where the wiring 338 formed by the metal ink printed according to the second printing data and the electrode 342 of the electronic component 340 come into contact. Then, when it is calculated based on the imaging data that the three reference marks 110 are in the positions shown in Fig. 25, the electronic component is placed at placement position A (X1, Y1). On the other hand, when it is calculated based on the imaging data that the three reference marks 110 are in the positions shown in Fig. 26, the electronic component is placed at placement position B (X2, Y2). This allows the electronic component 340 to be placed in an appropriate position regardless of whether the pallet is set in the first set orientation or the second set orientation.

In addition, the electronic component 340 can be mounted in an appropriate position in the mounting machine by using the set direction of the pallet identified by the molding machine 152. Specifically, the mounting position A (X1, Y1) and the mounting position B (X2, Y2) are stored in the memory device 256 of the molding machine 152, and the mounting position A (X1, Y1) is associated with the first set direction, and the mounting position B (X2, Y2) is associated with the second set direction. Then, when the molding machine 152 determines that the set direction of the pallet is the first set direction, the control device 172 of the molding machine 152 transmits a mounting command to the mounting position A (X1, Y1) associated with the first set direction to the control device 270 of the mounting machine 154. On the other hand, when it is determined that the set direction of the pallet in the molding work machine 152 is the second set direction, the control device 172 of the molding work machine 152 transmits a mounting command to the mounting position B (X2, Y2) associated with the second set direction to the control device 270 of the mounting machine 154. The control device 270 of the mounting machine 154 then mounts the electronic component 340 at the mounting position received from the control device 172 of the molding work machine 152. This makes it possible to mount the electronic component 340 at an appropriate position in the mounting machine 154 without capturing an image of the pallet with the camera 268, thereby shortening the image capturing time by the camera 268.

The controller 250 of the control device 172 of the modeling work machine 152 has a determination unit 350, a data creation unit 352, and a printing unit 354, as shown in FIG. 16. The determination unit 350 is a functional unit for determining whether the setting direction of the pallet is the first setting direction or the second setting direction based on the imaging data. The data creation unit 352 is a functional unit for creating second printing data based on the first printing data. The printing unit 354 is a function for printing metal ink using printing data according to the setting direction of the pallet.

In the above embodiment, the work system 150 is an example of a work system. The modeling work machine 152 is an example of a printing work machine. The mounting work machine 154 is an example of a mounting work machine. The inkjet head 208 is an example of a printing device. The memory device 256 is an example of a memory device. The judgment unit 350 is an example of a judgment device. The data creation unit 352 is an example of a data creation device. Also, the process performed by the judgment unit 350 is an example of a judgment process. The process performed by the printing unit 354 is an example of a printing process.

The present invention is not limited to the above embodiment, and can be embodied in various forms with various modifications and improvements based on the knowledge of those skilled in the art. For example, in the above embodiment, the first print data is stored in the storage device 88, 256, and the second print data is created based on the first print data, but the first print data and the second print data may be stored in the storage device 88, 256.

In the above embodiment, the pallet is set on the stage 52, 182 in either the first or second orientation. That is, the pallet is set in a predetermined orientation and an orientation obtained by rotating the predetermined orientation by 180 degrees. On the other hand, the pallet may be set in a predetermined orientation and an orientation obtained by rotating the predetermined orientation by an angle other than 180 degrees. For example, the pallet may be set in a predetermined orientation and an orientation obtained by rotating the predetermined orientation by an angle that is a multiple of 90 degrees. In such a case, printing data is required for printing a viscous fluid such as ultraviolet curing resin on the pallet set in an orientation obtained by rotating the predetermined orientation by an angle that is a multiple of 90 degrees. Furthermore, the pallet may be set on the stage 52, 182 at any rotation angle. In such a case, printing data is required for calculating the rotation angle of the pallet and printing a viscous fluid such as ultraviolet curing resin on the pallet set at that rotation angle.

In addition, in the above embodiment, ultraviolet curing resin and metal ink are used as the viscous fluid, but various viscous fluids such as thermosetting resin, viscous adhesive, cream solder, etc. can be used.

In the second embodiment described above, a mounting position command according to the setting direction of the pallet, i.e., information regarding the setting direction of the pallet, is transmitted from the modeling work machine 152 to the mounting work machine 154, but the information regarding the setting direction is not limited and various information can be used. For example, it may be the setting direction itself, or it may be information for identifying the setting direction. This information for identifying the setting direction may be position information of the reference mark 110, or image data of the pallet.

In addition, in the above embodiment, the present invention is applied to a technique for creating character shapes and circuits, but the present invention may also be applied to a technique for creating three-dimensional objects such as figures.

10: Modeling device (printing machine) 70: Pallet 76: Inkjet head (printing device) 88: Memory device 120: Determination unit (determination device) (determination process) 122: Data creation unit (data creation device) 124: Printing unit (printing process) 150: Work system 152: Modeling machine (printing machine) 154: Mounting machine 208: Inkjet head (printing device) 256: Memory device 350: Determination unit (determination device) (determination process) 352: Data creation unit (data creation device) 354: Printing unit (printing process)

Claims (5)

A determination device that determines a set direction of a pallet on which a viscous fluid is printed;
a printing device that prints a viscous fluid on the pallet using printing data corresponding to the set direction determined by the determination device;
Equipped with
When the printing of the viscous fluid on the pallet is interrupted and the pallet is set again, the determination device determines the setting direction of the pallet, and the printing device resumes printing of the viscous fluid on the pallet using printing data corresponding to the determined setting direction. A determination device that determines a set direction of a pallet on which a viscous fluid is printed;
a printing device that prints a viscous fluid on the pallet using printing data corresponding to the set direction determined by the determination device;
A printing machine comprising:
a resin layer forming unit including a first inkjet head as the printing device, the first inkjet head discharging an ultraviolet curable resin as the viscous fluid, the resin layer being formed by discharging the ultraviolet curable resin by the first inkjet head ;
a wiring forming unit including a second inkjet head as the printing device, the second inkjet head discharging a metal ink as the viscous fluid, the wiring forming unit forming a wiring by discharging the metal ink by the second inkjet head;
Equipped with
When the printing of the viscous fluid on the pallet is interrupted and the pallet is set again, the determination device determines the setting direction of the pallet, and the printing device resumes printing of the viscous fluid on the pallet using printing data corresponding to the determined setting direction. a storage device that stores print data corresponding to a first set direction of the pallet;
a data creation device that creates print data corresponding to a set direction of a second direction different from the first direction based on the print data corresponding to the set direction of the first direction stored in the storage device;
the printing device that prints a viscous fluid on the pallet using at least one of printing data corresponding to the set direction of the first direction stored in the storage device and printing data corresponding to the set direction of the second direction created by the data creation device;
The printing machine according to claim 1 or 2, further comprising: The printing machine according to any one of claims 1 to 3,
a mounting machine that mounts components on the pallet transported from the printing machine;
Equipped with
The printing machine includes:
The setting direction determined by the determination device is output to the mounting work machine,
The mounting work machine is
A work system that mounts components at mounting positions corresponding to the set direction output by the printing work machine. 1. A printing method for printing a viscous fluid onto a pallet, comprising:
a determination step of determining a set direction of the pallet;
a printing step of printing a viscous fluid on the pallet using printing data corresponding to the set direction determined in the determination step;
Including,
A printing method in which, when the printing of the viscous fluid on the pallet is interrupted and the pallet is set again, the determination step determines the setting direction of the pallet, and the printing step resumes printing of the viscous fluid on the pallet using printing data corresponding to the determined setting direction.

Images