JP2023018392A - SWING TABLE, TABLE SWING METHOD, AND SCREEN PRINTING APPARATUS - Google Patents

Abstract

To provide a table which allows working portions of the table having a flat surface and a curved surface to become horizontal sequentially.SOLUTION: A swing table 200 includes: a housing 50; a table 101 having a shaft 102; a swing part 210 which swings the table 101 around the shaft 102 while holding the table 101 in a manner that the table 101 may move in a vertical direction; a shift part 220 which moves the table 101 and the swing part 210 in a lateral direction relative to the housing 50; and a control unit 230 which causes the swing part 210 and the shift part 220 to operate in a synchronized manner. The control unit 230 uses table inclination data and shaft position data stored in a storage device 231 to control the swing table 200 so that each part of the table 101 becomes horizontal sequentially.SELECTED DRAWING: Figure 14

Description

The present invention relates to a swing table, a table swing method, and a screen printing apparatus for screen printing.

2. Description of the Related Art Conventionally, there has been considered a device for horizontally holding a working portion of a work having a curved surface.

WO2021/048922 pamphlet

The present invention provides a table on which the work site is horizontal.

The swing table of the present invention is
a housing;
a table having a shaft;
a swing portion that swings the table around the shaft while holding the table movably in the vertical direction;
a shift section that laterally moves the table and the swing section with respect to the housing;
a control unit for synchronizing the operation of the swing unit and the shift unit;
The control unit has a storage device storing table tilt data indicating the tilt of the table by the swing unit and shaft position data indicating the left and right positions of the table in the shift unit,
The controller uses the table inclination data and the shaft position data to control each part of the table so that it becomes horizontal in sequence.

According to the present invention, since the table is moved laterally by the shift portion while the table is swung by the swing portion, the work place of the table can be made horizontal.

1 is a front view of a screen printing apparatus 100 and a swing table 200 according to Embodiment 1; FIG. FIG. 2 is a right side view of the screen printing apparatus 100 and the swing table 200 according to Embodiment 1; AA sectional view in FIG. 1 of the swing table 200 according to Embodiment 1. FIG. 4 is an operation flowchart of the screen printing apparatus 100 and the swing table 200 according to Embodiment 1. FIG. FIG. 4 is an explanatory diagram of the operation of the screen printing apparatus 100 and the swing table 200 according to Embodiment 1 at the start of printing; FIG. 5 is an explanatory diagram of operations of the screen printing apparatus 100 and the swing table 200 according to Embodiment 1 during printing. FIG. 4 is an explanatory diagram of operations of the screen printing apparatus 100 and the swing table 200 according to the first embodiment when printing is finished; 4A and 4B are explanatory diagrams of the control operation of the control unit 230 according to the first embodiment; FIG. 4A and 4B are explanatory diagrams of the control operation of the control unit 230 according to the first embodiment; FIG. 4A and 4B are explanatory diagrams of the control operation of the control unit 230 according to the first embodiment; FIG. 4 is a front view of a modification of the holding portion 90 of the swing table 200 according to Embodiment 1. FIG. The front view of the modification of the table 101 of the swing table 200 in Embodiment 1. FIG. AA sectional view in FIG. 1 showing a modification of the shift base 66 of the swing table 200 according to the first embodiment. The front view of the swing table 200 in Embodiment 2. FIG. FIG. 10 is a diagram of control data in the storage device 231 according to the second embodiment; FIG. FIG. 9 is an explanatory diagram of the control operation of the control unit 230 according to the second embodiment; FIG. 9 is an explanatory diagram of the control operation of the control unit 230 according to the second embodiment; The front view of the swing table 200 of the modification 1 in Embodiment 2. FIG. FIG. 10 is a diagram of control data in the storage device 231 according to the second embodiment; FIG. FIG. 9 is an explanatory diagram of the control operation of the control unit 230 according to the second embodiment; The front view of the swing table 200 of the modification 2 in Embodiment 2. FIG.

Embodiments of the present invention are described above with reference to the drawings.
In the description of each embodiment, "top", "bottom", "left", "right", "front", "back", "front", "back", "back", and "height" , ``width'', ``front'', ``vertical'', and ``horizontal'' are only described as such for convenience of explanation, and limit the arrangement or orientation of devices, instruments, parts, etc. isn't it.

Embodiment 1.
*** Configuration description ***
The configurations of the screen printing apparatus 100 and the swing table 200 will be described with reference to FIGS. 1, 2, and 3. FIG.
In FIG. 1, the horizontal direction is also referred to as the horizontal direction.
In FIG. 1, the up-down direction toward the paper surface is also referred to as the vertical direction.
In FIG. 1, the depth direction toward the paper surface is also referred to as the width direction.
In FIG. 1, the printing direction of the screen printer 100 is the left direction.

The screen printing apparatus 100 screen-prints a work 199 placed on the table 101 .
The screen printing apparatus 100 performs screen printing using a screen 192 and a squeegee 191 .

●Swing table 200
A screen printing apparatus 100 has a swing table 200 .
Swing means rocking or swinging.
More specifically, swing means that both ends alternately move up and down with the center as the fulcrum, like a seesaw. Say.
Swing table 200 has table 101 .
Swing table 200 has swing section 210 , shift section 220 and control section 230 .
The swing part 210 swings the table 101 about the shaft 102 while holding the table 101 vertically movably.
The shift section 220 laterally moves the table 101 and the swing section 210 with respect to the housing 50 .
Control unit 230 operates swing unit 210 and shift unit 220 in synchronization.

● Table 101
The table 101 has a curved surface 103 with an arc-shaped cross section along a vertical plane parallel to the left-right direction.
The table 101 has a bottom surface 104 having a linear cross section along a vertical plane parallel to the left-right direction.
The table 101 has a cylindrical shaft 102 elongated in the width direction.
The shaft 102 is arranged in the center of the bottom surface 104 of the table 101 in the left-right direction.
The table 101 swings around the shaft 102 as a rotation axis.

●Case 50
The swing table 200 has a housing 50 .
The housing 50 is a rectangular metal plate elongated in the left-right direction.
The housing 50 is arranged horizontally.
The housing 50 has a pair of openings 51 at the widthwise center on the left side and the widthwise center on the right side.
The opening 51 is a rectangular opening window or notch elongated in the left-right direction.

● Swing part 210
Swing portion 210 has a pair of swing actuators consisting of right swing actuator 70 and left swing actuator 80 .
A pair of swing actuators are arranged below both ends of the bottom surface 104 of the table 101 with the shaft 102 in the middle.
A pair of swing actuators are arranged at the center of the table 101 in the width direction.
The swing portion 210 has a holding portion 90 .
The holding portion 90 holds the shaft 102 rotatably and holds the shaft 102 movably in the vertical direction.
The holding part 90 is arranged only on one side of the table 101 in the width direction.

● Shift section 220
The shift section 220 is a mechanism for moving the table 101 and the swing section 210 in the horizontal direction.
The shift section 220 shifts the table 101 and the swing section 210 parallel to the housing 50 .
The shift portion 220 has a shift base 66 and a shift actuator 69 .

● Shift actuator 69
A shift actuator 69 is attached to the housing 50 .
The shift actuator 69 is an electric actuator mechanism that moves the shift base 66 left and right.
A shift actuator 69 has a motor 61 , a ball screw 62 , a slider 63 , a guide 64 and a block 65 .
The motor 61 is fixed to the housing 50 .
The motor 61 is an electric motor that rotates the ball screw 62 .
The ball screw 62 is rotated by the motor 61 to move the slider 63 in the horizontal direction.
The slider 63 is fixed to the lower surface of the right shift base 66, and the right shift base 66 moves left and right as the slider 63 moves left and right.
The guides 64 are two parallel rails fixed to both ends of the housing 50 in the width direction.
The block 65 is attached to the guide 64 so as to be slidable to the left and right.
There are four blocks 65, two on the left and two on the right.
The guide 64 and the block 65 constitute a linear guide that provides straight movement in the horizontal direction.

● Shift base 66
The shift base 66 is shifted left and right by a shift actuator 69 .
The shift base 66 is a rectangular metal plate elongated in the width direction.
The right shift base 66 is fixed to the top surfaces of the two blocks 65 on the right.
The left shift base 66 is fixed to the top surfaces of the left two blocks 65 .
The right shift base 66 and the left shift base 66 are connected by two side bases 96 .
When the right shift base 66 moves left and right, the left shift base 66 and the two side bases 96 move left and right together with the right shift base 66 .
The shift base 66 has a through portion 41 in the center.
The penetration part 41 is a rectangular opening window or notch.
A shift base 66 rotatably mounts the cylinder of the rocking actuator.

●Right swing actuator 70 and left swing actuator 80
Swing portion 210 has a right swing actuator 70 and a left swing actuator 80 .
The right swing actuator 70 and the left swing actuator 80 are rod-shaped electric actuators.
The right swing actuator 70 and the left swing actuator 80 constitute a pair of swing actuators.
The right swing actuator 70 and the left swing actuator 80 are arranged at both ends of the table 101 in the left-right direction with the shaft 102 interposed therebetween.
As shown in FIG. 1, when the table 101 is in a horizontal state, the right swing actuator 70 and the left swing actuator 80 are mounted so as to be swingable parallel to the vertical direction.

●Right swing actuator 70
The right swing actuator 70 has a rod 71 and a cylinder 72 .
The rod 71 can move forward and backward with respect to the cylinder 72 .
The rod 71 is positioned at the indicated position with respect to the cylinder 72 according to the instruction from the control unit 230 .
The tip of rod 71 is rotatably attached to table 101 .
That is, the upper portion of the rod 71 is rotatable about the pins 97 with respect to the table 101 by two pins 97 and two bearings 47 arranged in the width direction.
Bearing 47 is fixed to bottom surface 104 of table 101 , pin 97 is fixed to rod 71 , and pin 97 is rotatable relative to bearing 47 .
Cylinder 72 is rotatably attached to shift portion 220 .
That is, the upper portion of the cylinder 72 can swing around the swing shaft 67 with respect to the shift portion 220 by two swing shafts 67 and two bearings 68 arranged in the width direction. there is
The bearing 68 is fixed to the upper surface of the shift base 66 , the swing shaft 67 is fixed to the cylinder 72 , and the swing shaft 67 is rotatable with respect to the bearing 68 .
The cylinder 72 passes through the right opening 51 of the housing 50 and the through portion 41 of the right shift base 66 so that the cylinder 72 can swing.
Swing means to swing.
More specifically, rocking means that the top and bottom ends of the rocking actuator alternately rock left and right with the rocking shaft 67 as a fulcrum. swings to the right, and when the upper end of the swing actuator swings to the right, the lower end of the swing actuator swings to the left.

● Left swing actuator 80
Left swing actuator 80 has rod 81 and cylinder 82 .
The mounting structure of the left swing actuator 80 is the same as the mounting structure of the right swing actuator 70 described above.
The cylinder 82 passes through the left opening 51 of the housing 50 and the through portion 41 of the left shift base 66 so that the cylinder 82 can swing.
When the table 101 is in a horizontal state, the horizontal distance D1 between the left and right swing shafts 67 and the horizontal distance D2 between the left and right pins 97 are the same.
When the table 101 is tilted, the horizontal distance D2 between the left and right pins 97 is smaller than the horizontal distance D1 between the left and right swing shafts 67 .

●Holding part 90
The swing portion 210 has a holding portion 90 .
The holding portion 90 has a bearing 91 that rotatably holds the shaft 102 and a linear guide 95 that holds the shaft 102 so as to be vertically movable.
Two bearings 91 are present at both ends of the table 101 in the width direction.
The bearing 91 is a bearing mechanism for the shaft 102 and rotatably holds both ends of the shaft 102 .
A linear guide 95 has a holding plate 92 , a rail 93 and a block 94 .
The rail 93 and block 94 are arranged in the center of a pair of swing actuators.
The holding plate 92 is a vertically elongated rectangular metal plate.
The holding plate 92 has a bearing 91 arranged at its upper portion and a rail 93 fixed vertically at its lower portion.
The holding portion 90 has side bases 96 .
The side base 96 is a trapezoidal metal plate.
The side bases 96 are fixed to both sides of the left and right shift bases 66 and connect the right and left shift bases 66 .
A side base 96 on the front side in the width direction (lower side in FIG. 3) fixes a block 94 vertically in the center in the left-right direction.
The block 94 may also be vertically fixed to the side base 96 on the far side in the width direction (upper in FIG. 3) at the center in the left-right direction.
Alternatively, the block 94 may be fixed to the holding plate 92 and the block 94 may be fixed to the side base 96 .

Since the side bases 96 are fixed to both sides of the left and right shift bases 66, the holding plates 92 are attached to the side bases 96 so as to be able to move up and down in the vertical direction. When the shaft 102 and the bearing 91 move up and down, the holding plate 92 can move up and down along with the vertical movement of the shaft 102 and the bearing 91 .
The holding plate 92 can only move vertically with respect to the side base 96 by means of the rails 93 and blocks 94, and moves up and down only at the center of the pair of rocking actuators. 91 also moves up and down vertically only at the center of the pair of rocking actuators.

●Control unit 230
The control unit 230 controls the entire device.
The control unit 230 can be realized by a central processing unit, programs, memory, and storage device.
The control unit 230 controls the screen printing apparatus 100 and the swing table 200, and controls a table swing operation and a screen printing operation, which will be described later.
A control signal from the control unit 230 is transmitted as an electric signal to each unit through a signal line.
Each operation described below can be realized by the control unit 230 transmitting and receiving commands and signals through signal lines.

***Description of operation***
A table swing method of the swing table and a screen printing method of the screen printing apparatus 100 and the swing table 200 will be described with reference to FIGS. 4 to 7. FIG.
Here, the screen printing apparatus 100 will be described for printing in the left direction.

*Workpiece setting/initial setting process S1*
When the power of the screen printing apparatus 100 is turned on, the control unit 230 starts initial operation and performs initial setting.
The control unit 230 moves the squeegee 191 to the print start position on the right side.
The control unit 230 causes the shift actuator 69 of the shift unit 220 to move the table 101 and the swing unit 210 to the printing start position on the right side.
The control unit 230 places the work 199 on the table 101 and conveys it under the screen 192 using a carry-in/carry-out device (not shown).

*Table setting step S2 by swing actuator and shift unit*
FIG. 5 is a diagram showing a print start state.
The control unit 230 causes the right end of the table 101 to approach the screen 192 by raising the rod 71 of the right swing actuator 70 above the rod 81 of the left swing actuator 80 .
As shown in FIG. 5, in the printing start state, the right side of the table 101 is raised and the left side is lowered.
This tilted state can be realized by causing the control section 230 to raise the rod 71 above the rod 81 .
When the table 101 is tilted, the horizontal distance D2 between the left and right pins 97 is smaller than the horizontal distance D1 between the left and right swing shafts 67, so that the right swing actuator 70 tilts to the left and swings to the left. Motion actuator 80 tilts to the right.

*Swing process S3 of the table by the swing actuator*
After the printing start state of FIG. 5, the control unit 230 starts lowering the rod 71 of the right swing actuator 70 and starts raising the rod 81 of the left swing actuator 80 . By this action, the table 101 starts swinging to the right.
The control unit 230 controls the right swing actuator 70 and the left swing actuator 80 so that the height of the top of the table 101 is constant. Therefore, the distance between the top of table 101 and screen 192 is constant during printing.

* Shift process S4 to the left of the table by the shift unit *
After the printing start state of FIG. 5, the control unit 230 operates the shift actuator 69 of the shift unit 220 to start shifting the right swing actuator 70, the left swing actuator 80, and the holding unit 90 leftward. . This action starts the movement of the table 101 to the left.
The swing process S3 and the shift process S4 are started at the same time.

*Printing process S5*
When the swing step S3 and the shift step S4 are started, the control unit 230 starts moving the squeegee 191 leftward to start printing.
During printing, the control unit 230 continues the swinging of the table to the right by the swing actuator and the shift movement of the table to the left by the shift unit.
During printing, the control unit 230 controls the swing actuator so that the working area of the table 101 is horizontal.
During printing, the control unit 230 drives the shift actuator 69 so that the curved surface of the table 101 and the lower surface of the screen 192 are not misaligned.

FIG. 6 is a diagram showing a state in the middle of printing.
As shown in FIG. 6, at the center of printing, the lift height of the rod 71 of the right swing actuator 70 and the lift height of the rod 81 of the left swing actuator 80 are the same, and the table 101 is in a horizontal state.
After the start of printing, the horizontal distance D2 between the left and right pins 97 gradually approaches the horizontal distance D1 between the left and right swing shafts 67, so that the tilt of the left and right swing actuators decreases, and the table is moved to the center of printing. When 101 is in a horizontal state, both of the pair of rocking actuators are parallel to the vertical direction.

FIG. 7 is a diagram showing a print end state.
As shown in FIG. 7, the table 101 rises to the left when printing is finished.
After the middle of printing, the horizontal distance D2 between the left and right pins 97 gradually becomes smaller than the horizontal distance D1 between the left and right swing shafts 67, so the tilt of the left and right swing actuators increases.
In the printing end state, the left side of the table 101 is raised and the right side is lowered.
The right rocking actuator tilts left and the left rocking actuator tilts right.

*Work unloading process S6*
When the printing is completed, the control unit 230 carries out the work 199 for which the printing has been completed by a carry-in/carry-out device (not shown).
After carrying out the printed work 199, the control unit 230 determines whether or not there is a next print.
If there is no next print, the control unit 230 ends printing.

Synchronous Control of Control Section 230 Synchronous control of swing section 210 and shift section 220 of control section 230 will be described with reference to the conceptual diagram of printing in FIG.
Table 101 has curved surface 103 and bottom surface 104 .
The curved surface 103 is an arc surface, and the bottom surface 104 is a plane containing the chord of the arc.
A shaft 102 is present in the center of the bottom surface 104 of the table 101 .
In FIG. 8, the right end of the curved surface 103 of the table 101 is the printing start position P, and the left end of the curved surface 103 of the table 101 is the printing end position Q. In FIG.
When the squeegee 191 moves a distance L to the left, the shaft 102 moves a distance M to the left.
Also, the shaft 102 moves to the left along a curved line like a trajectory 105 .
Trajectory 105 of shaft 102 rises to the middle of the print and then falls.
Arc length of curved surface 103 of table 101=moving distance of squeegee 191=working distance of printing operation=L,
The distance between the shaft 102 and the starting position P of the printing operation=half the horizontal length (chord length) of the bottom surface 104 of the table 101=N,
The distance between the shaft 102 and the end position Q of the printing operation=half the length (chord length) of the bottom surface 104 of the table 101 in the horizontal direction=N,
Inclination angle of the straight line connecting the shaft 102 and the starting position P of the printing job with respect to the horizontal direction=
Inclination angle with respect to the horizontal direction of the bottom surface 104 of the print job start position P of the table 101=S
Inclination angle of the straight line connecting the shaft 102 and the end position Q of the printing job with respect to the horizontal direction=
Inclination angle of the bottom surface 104 of the print job end position Q of the table 101 with respect to the horizontal direction=S
Horizontal moving distance of shaft 102 of table 101=M
, the control unit 230 assumes an isosceles trapezoid with lower base=L, upper base=M, legs=N, and base angle=S, as indicated by broken lines in FIG.
Lower base=L, upper base=M, legs=N, and base angle=S can be obtained from the structural specifications and operation specifications of the table 101. FIG.

The control unit 230 simultaneously starts and ends the following control at the time of printing.
1. By controlling the pair of swing actuators of the swing part 210, the inclination angle of the bottom surface 104 of the table 101 with respect to the horizontal direction is set clockwise from the angle S to 0 degrees, and further the inclination angle of the bottom surface 104 of the table 101 with respect to the horizontal direction is reduced. clockwise from 0 degrees to angle S. That is, the table 101 is rotated clockwise while changing the angle by an angle 2S at a constant speed.

2. The shift actuator 69 of the shift portion 220 is controlled to move the table 101 to the left by a length M at a constant speed.

3. The squeegee drive unit is used to move the squeegee 191 to the left by a length L at a constant speed while applying printing pressure to the squeegee 191 . A ratio of the moving speed of the squeegee 191 and the moving speed of the table 101 is L:M (L>M).
By the above control 1 and 2 by the control unit 230, the swing unit 210 and the shift unit 220 are synchronized so that the upper surface of the curved surface 103 (the upper surface of the workpiece 199) and the lower surface of the screen 192 are not misaligned. .
In addition, by the above control 3 by the control unit 230, the position of the uppermost part of the curved surface 103 of the table 101 during printing and the printing position of the squeegee 191 match, and the squeegee 191 prints right above the horizontal uppermost part of the table 101. can.

In FIG. 9, the middle position of the curved surface 103 of the table 101 is the print start position, and the middle position of the table 101 is the print end position.
Also in FIG. 9, it is possible to assume an isosceles trapezoid with lower base=L, upper base=M, leg=N, and base angle=S, as indicated by the dashed line.
i.e.
print length=travel distance of squeegee 191=working distance=L,
The distance between the shaft 102 and the starting position P of the printing job = N,
The distance between the shaft 102 and the end position Q of the printing job=N,
Inclination angle of the straight line connecting the shaft 102 and the start position P of the printing operation with respect to the horizontal direction=S
Inclination angle of the straight line connecting the shaft 102 and the end position Q of the printing job with respect to the horizontal direction=S
Horizontal moving distance of shaft 102 of table 101=M
is.
Therefore, the control unit 230 can print by the same control as in FIG.

FIG. 10 shows the case of left-right asymmetric printing in which the printing on the left side of the center C of the curved surface 103 of the table 101 is shorter than the printing on the right side of the center C. FIG.
In the case of asymmetrical printing, assuming that the printed length on the right side of center C and the printed length on the left side of center C are the same, as shown by the dashed line in FIG. Assuming a trapezoidal shape, the control unit 230 controls the printing of the left side of the center C to stop at the stop position R in the middle.
Although not shown, in the case of asymmetrical printing in which the printing on the right side of the center C of the curved surface 103 of the table 101 is shorter than the printing on the left side of the center C, the printing length on the right side of the center C and the printing length on the left side of the center C are different. Assuming that they are the same, and assuming an isosceles trapezoid indicated by the dashed line in FIG.

*** Features of Embodiment 1 ***
In Embodiment 1, the table 101 is actively swung by a pair of swing actuators arranged on both sides of the table 101 .
Further, in the first embodiment, at the same time, the pair of rocking actuators are laterally shifted by the shift portion 220 in accordance with the swing.
Therefore, in the first embodiment, even in the table 101 having the curved surface 103, the tangent to the arc at the top of the table 101 is always horizontal.
Further, since the shaft 102 is rotatably held by the holding portion 90, the table 101 can swing around the shaft 102 as a rotation axis.
Further, since the shaft 102 is held by the holding portion 90 so as to be movable in the vertical direction, the position of the shaft 102 in the height direction is changed following the elevation of the left and right ends of the table 101 by the pair of swing actuators. be able to.

The swing part 210 may be any one that can swing the table 101 with the shaft 102 as a fulcrum.
The shift portion 220 may be any device that can realize lateral movement of the shaft 102 by swinging the table 101 .
The holding part 90 may be of any type as long as it can absorb the vertical movement of the shaft 102 due to the swing of the table 101 .

***Description of the effects of the first embodiment***
According to Embodiment 1, the uppermost working place of the table 101 is horizontal.
According to Embodiment 1, the workpiece 199 having the curved surface is placed on the table 101 having the curved surface 103, thereby enabling curved surface printing.
According to Embodiment 1, driving of the squeegee 191 is the same operation as printing on a flat work, and curved surface printing is possible by changing only the table mechanism without adding any change to the squeegee driving section.

***Modification 1 of Embodiment 1***
● Change in shape of holding part 90 (Fig. 11)
The swing table 200 of FIG. 11 has the structure of the holding part 90 changed.
The holding portion 90 has a holding plate 92 with a longitudinal opening 98 formed therein.
The holding plate 92 is a vertically long rectangular metal plate.
The holding plate 92 is fixed to the side base 96 and stands vertically from the side base 96 .
The holding plate 92 may be formed integrally with the side base 96 .
The vertical opening 98 is a vertically long rectangular hole opened in the center of the holding plate 92 .
The vertical opening 98 holds the shaft 102 rotatably and holds the shaft 102 movably in the vertical direction.
According to the configuration of FIG. 11, the configuration of the holding portion 90 can be simplified.
The holding portion 90 may be provided only on one side base 96 or may be provided on each of the two side bases 96 .

***Modification 2 of Embodiment 1***
● Changing the shape of the table 101 (Fig. 12)
The swing table 200 of FIG. 12 has the shape of the table 101 changed.
The right half of table 101 is flat and the left half is curved.
The work 199 also has a flat right half and a curved left half.
The control unit 230 controls the right swing actuator 70 and the left swing actuator 80 so that the plane portion is horizontal while the plane portion is being printed, and the plane portion is kept horizontal.
The control unit 230 stops the operation of the swing unit 210 and the shift unit 220 during printing of the plane portion.
That is, the control unit 230 controls the right swing actuator 70 and the left swing actuator 80 so that the plane portion is horizontal before printing the plane portion, and controls the right swing actuator 80 while the plane portion is being printed. 70 and the left swing actuator 80 are fixed to keep the plane portion horizontal.
Further, the control section 230 stops the operation with the shift section 220 during printing of the plane portion so that the plane portion and the lower surface of the screen 192 are not misaligned.
As described above, the control unit 230 operates the swing unit 210 and the shift unit 220 so that the uppermost portion of the curved surface of the table 101 is horizontal.
Although not shown, the left halves of the table 101 and the work 199 may be flat, and the right halves may be curved.
Although not shown, the table 101 and the workpiece 199 may have a plurality of flat surfaces and curved surfaces.

***Modification 3 of Embodiment 1***
● Change in shape of shift base 66 (Fig. 13)
The swing table 200 of FIG. 13 has a modified shape of the shift base 66 .
There is only one shift base 66 and it is an H-shaped metal plate.
The shift base 66 is fixed to the top surfaces of the four blocks 65 .
The side base 96 on the far side (upper in FIG. 3) is no longer necessary because there is only one shift base 66 .
A block 94 is installed on a side base 96 on the front side (lower side in FIG. 13).

Although not shown, the housing 50, the side base 96, the holding plate 92, and the shift base 66 may be made of ceramic, resin, or other materials instead of metal.
Although not shown, the housing 50, the side base 96, the holding plate 92, and the shift base 66 may not be plates, but may be frames, assemblies, or other structures.

***Modification 4 of Embodiment 1***
Application of Swing Table 200 to Processing Device or Working Device Although not shown, the swing table 200 can be used for a shearing device, a drilling device, a polishing device, a coating device, and other processing devices or working devices.
In particular, the swing table 200 is suitable for processing or working on a workpiece having a curved surface.
Although not shown, the swing table 200 can be rotated 90 degrees from the state shown in FIG. 1 and used sideways.
Also, the swing table 200 can be rotated 180 degrees from the state shown in FIG. 1 and used facing downward.
Also, the swing table 200 can be used in an inclined state rotated by an arbitrary angle from the state shown in FIG.

Embodiment 2.
In the second embodiment, points different from the first embodiment will be described.
Embodiment 2 differs from Embodiment 1 in the operation of control section 230 .

The configuration of the screen printing apparatus 100 of the second embodiment can be the same as that of the first embodiment.
The features of the configuration of the screen printing apparatus 100 are as follows.
1. The table 101 of the swing table 200 swings around the shaft 102.
2. In the swing table 200, the shaft 102 can move freely and passively only up and down.
3. The swing table 200 moves left and right.

● Table 101 and workpiece 199
14 shows the table 101 and the workpiece 199. FIG.
The table 101 and work 199 have a plurality of surfaces consisting of a flat surface 31, a curved surface 32, a concave surface 33, and a curved surface 34 in this order.
The plane 31 is the same plane as the tangent plane at the right end of the curved surface 32 .
Curved surface 32 is a convex curved surface with radius K<b>1 having a central axis parallel to shaft 102 .
The curved surface 34 is a convex curved surface having a central axis parallel to the shaft 102 and having a radius K2 (K2>K1).
Concave surface 33 is a concave surface formed by the left side of curved surface 32 and the right side of curved surface 34 .
The concave surface 33 is formed between a line tangent to the curved surface 32 and a line tangent to the curved surface 34 by a tangent plane J common to the curved surfaces 32 and 34 .

● Storage device 231 of control unit 230
As shown in FIG. 15, the storage device 231 of the controller 230 stores the following control data.
1. table tilt data indicating the tilt of the table 101 by the swing unit 210;
2. shaft position data indicating the lateral position of the shaft 102 by the shift unit 220;
3. print position data indicating the print position of the squeegee 191;
4. a print setting value consisting of the print speed V of the squeegee 191, the print pressure, and the attack angle;
The storage device 231 uses the rod lengths L and R of the left and right swing actuators as table tilt data.
The storage device 231 uses the distance S between the reference position C and the shaft 102 as shaft position data.
A reference position C is a predetermined reference position of the screen printing apparatus 100 .
The reference position C is preferably the left-right central position of the screen printing apparatus 100 .
The control data may be stored in memory.
Control data may be stored as program variables.
Control data may be stored as files.
When the control data is stored as a file, printing can be performed on workpieces 199 of various shapes simply by replacing the control data in the file.

●Control unit 230
The control unit 230 controls the screen printing apparatus 100 as a whole.
The control unit 230 executes programs placed in the memory by the central processing unit.
The program reads control data from the storage device 231 and controls printing.
Control unit 230 operates swing unit 210, shift unit 220, and squeegee 191 in synchronization.
The control unit 230 uses the table tilt data and the shaft position data to control each part of the table so that it becomes horizontal in sequence at the printing position.

***Description of operation***
A table swing method of the swing table by the control unit 230 and a screen printing method of the screen printing apparatus 100 and the swing table 200 by the control unit 230 will be described with reference to FIGS. 16 to 17 .
Here, the screen printing apparatus 100 will be described for printing in the left direction.

*Plane printing process P1*
The control unit 230 changes the state shown in FIG. 16(a) to the state shown in FIG. 16(b) to carry out flat printing.
In both states (a) and (b), the plane 31 is horizontal.

First, the control unit 230 performs the following operation using the control data of step 1 in FIG. 15 to bring the state of FIG. 16(a).
The length L of the rod 81 of the left swing actuator 80 is set to L1.
The length R of the rod 71 of the right swing actuator 70 is set to R1.
The shift portion 220 sets the shaft position S to S1.
The printing position Q of the squeegee 191 is set to Q1.
The printing speed V is set to the normal speed, which is the speed for plane printing.
The printing pressure is set to normal pressure, which is the pressure for plane printing.
The angle of attack is fixed at the normal angle, which is the angle for flat printing.
The state of (a) is a state in which the plane 31 is horizontal.

The control unit 230 starts planar printing from the state of (a) in FIG. 16 .
The control unit 230 moves the printing position Q of the squeegee 191 from Q1 to Q2 from the state of (a) of FIG. 16 to the end of planar printing, and leaves other settings fixed.
In the case of planar printing, the control unit 230 changes only the printing position of the squeegee 191 without changing the length of the rod and the shaft position.

* Small radius curved surface printing process P2 *
The control unit 230 changes the state of FIG. 16B from the state of FIG. 16B to the state of FIG.
In the state of (b), the rightmost radius of the curved surface 32 is in the vertical direction.
In the state of (c), the tangent plane J is horizontal, and the radius passing through the tangent line between the curved surface 32 and the tangent plane J is vertical.

The control unit 230 performs the following operations using the control data of step 2 in FIG.
The length L of the rod 81 of the left swing actuator 80 is changed from L1 to L2.
The length R of the rod 71 of the right swing actuator 70 is changed from R1 to R2.
The shift portion 220 shifts the shaft position S from S1 to S2.
The printing position Q of the squeegee 191 is changed from Q2 to Q3.
The printing speed V is set to very low, which is the speed for printing on a curved surface with a small radius.
Leave the printing pressure at normal pressure.
Leave the angle of attack at normal angle.
The control unit 230 synchronizes and simultaneously executes movements from L1 to L2, from R1 to R2, from S1 to S2, and from Q2 to Q3.
In the case of curved surface printing, the control unit 230 synchronizes and simultaneously changes the length of the rod, the shaft position, and the printing position.

Synchronous control for curved surface printing by the control unit 230 is as follows.
1. A printing distance QD is obtained from the printing start position Q2 and the printing end position Q3 of the squeegee 191. FIG.
Print distance QD = Q3-Q2
2. A printing time T is obtained from the printing distance QD of the squeegee 191 and the printing speed V. FIG.
Printing time T = printing distance QD / printing speed V
3. The moving speed of each part is obtained from the printing time T of the squeegee 191 and the moving distance of each part.
Moving speed VL of rod 81 of left swing actuator 80=moving distance of rod 81 (L2-L1)/printing time T;
Moving speed VR of rod 71 of right swing actuator 70=moving distance of rod 71 (R2-R1)/printing time T;
Moving speed VS of shaft position S of shaft 102=moving distance of shaft position S (S2-S1)/printing time T.
4. The control unit 230 moves the following four types of parts at the following four types of speed for the printing time T.
(1) Printing speed V of squeegee 191
(2) Movement speed VL of rod 81 of left swing actuator 80
(3) Movement speed VR of rod 71 of right swing actuator 70
(4) Movement speed VS of shaft position S of shaft 102

The reason why the printing speed for curved surface printing is set slower than that for flat surface printing is that the mechanical operation of changing the inclination of the table 101 and the position of the shaft 102 is accompanied, so that the mechanical position change and the printing position change are surely motivated. is.
The control unit 230 slows down the printing speed as the radius decreases, because the smaller the radius, the greater the mechanical position change.

*Concave first half printing process P3*
The control unit 230 performs printing on the concave downward surface from the state of FIG. 16(c) to the state of FIG. 17(d).
The states of (c) and (d) are states in which the tangent plane J is horizontal.

The control unit 230 performs the following operations using the control data of step 3 in FIG.
The length L of the rod 81 of the left swing actuator 80 is left at L2.
The length R of the rod 71 of the right swing actuator 70 is left at R2.
The shift portion 220 keeps the shaft position S at S2.
The printing position Q of the squeegee 191 is changed from Q3 to Q4.
Set the print speed V to a low speed.
Since the front half of the concave surface is formed by the left-hand descending surface of the curved surface 32, the printing pressure is gradually increased.
Since the front half of the concave surface is formed by the downward slope on the left side of the curved surface 32, the angle of attack is gradually increased.

When printing a concave surface, the control unit 230 changes the inclination of the squeegee according to the inclination of the concave surface so that the attack angle of the squeegee 191 is constant.
When printing a concave surface, the control unit 230 changes the printing pressure of the squeegee 191 according to the depth of the concave portion.

The control unit 230 makes the printing speed for concave printing slower than the printing speed for flat printing (normal speed).
The reason why the printing speed for concave printing is set slower than that for flat printing is that the mechanical operation of changing the printing pressure and the attack angle of the squeegee 191 is involved, so that the mechanical position change and the printing position change can be reliably executed. .
The controller 230 slows down the printing speed as the change in printing pressure increases.
The control unit 230 slows down the printing speed as the change in the angle of attack increases.
The speed during concave printing can be calculated by making it inversely proportional to the magnitude of the printing pressure, or by multiplying the magnitude of the printing pressure by a coefficient corresponding to the magnitude of the printing pressure.
The speed during concave printing can be calculated by making it inversely proportional to the magnitude of the change in the angle of attack, or by multiplying it by a coefficient corresponding to the magnitude of the change in the angle of attack.
The velocity during concave printing can be calculated as a function of the magnitude of the printing pressure and the magnitude of the angle of attack change.

*Concave surface second half printing process P4*
The control unit 230 prints the raised surface of the concave surface from the state of (d) to the state of (e) in FIG. 17 .
The states of (d) and (e) are states in which the tangent plane J is horizontal.

The control unit 230 performs the following operations using the control data of step 4 in FIG.
The length L of the rod 81 of the left swing actuator 80 is left at L2.
The length R of the rod 71 of the right swing actuator 70 is left at R2.
The shift portion 220 keeps the shaft position S at S2.
The printing position Q of the squeegee 191 is changed from Q4 to Q5.
Leave the print speed V at low speed.
Since the front half of the concave surface is formed by the rising surface on the right side of the curved surface 34, the printing pressure is gradually reduced.
Since the first half of the concave surface is formed by the rising surface on the right side of the curved surface 34, the angle of attack is gradually reduced.

*Large-radius curved surface printing process P5*
The control unit 230 performs curved surface printing with a large radius from the state of (e) to the state of (f) in FIG. 17 .
In the state (e), the radius passing through the tangent line between the curved surface 34 and the tangential plane J is in the vertical direction.
In the state of (f), the leftmost radius of the curved surface 34 is in the vertical direction.

The control unit 230 performs the following operation using the control data of step 5 in FIG. 15 to change from the state of (e) in FIG. 17 to the state of (f).
The length L of the rod 81 of the left swing actuator 80 is changed from L2 to L3.
The length R of the rod 71 of the right swing actuator 70 is changed from R2 to R3.
The shift portion 220 shifts the shaft position S from S2 to S3.
The printing position Q of the squeegee 191 is changed from Q5 to Q6.
The printing speed V is set to a low speed, which is the speed for printing curved surfaces with a large radius.
Set the printing pressure to normal pressure.
Change the angle of attack to a normal angle.
The control unit 230 synchronizes and simultaneously changes the length of the rod, the shaft position, and the printing position.

The control unit 230 makes the printing speed for curved surface printing slower than the printing speed (normal speed) for flat surface printing.
The control unit 230 makes the printing speed for curved surface printing with a small radius slower than the printing speed for curved surface printing with a large radius.
Normal speed>low speed>slow speed, and the larger the radius, the smaller the mechanical position change. Therefore, the larger the radius, the closer the printing speed to the normal speed.
The speed at the time of curved surface printing can be calculated by making it inversely proportional to the radius of the curved surface, or by multiplying the radius of the curved surface by a coefficient corresponding to the radius of the curved surface.

*** Features of Embodiment 2 ***
In Embodiment 2, table 101 and workpiece 199 have a plurality of surfaces.
Assuming that there are three types of surfaces: flat, curved, and concave, the following printing occurs.
1. When transitioning from planar printing to planar printing, curved surface printing or concave surface printing,
2. When transitioning from curved surface printing to flat surface printing, curved surface printing or concave surface printing,
3. When transitioning from concave printing to flat printing, curved printing or concave printing,

The screen printing apparatus 100 according to the second embodiment pre-stores the setting values at the time of printing transition in the storage device 231 as control data.
The storage device 231 stores the following control data for printing.
1. Control data at the start of planar printing and at the end of planar printing (step 1 in FIG. 15),
2. Control data when curved surface printing is started and when curved surface printing is finished (steps 2 and 5 in FIG. 15),
3. Control data when concave printing is started, during concave printing, and when concave printing is finished (steps 3 and 4 in FIG. 15),
The control unit 230 executes printing while changing the state of the screen printing apparatus 100 using control data for printing.
Printing on a work having a plurality of surfaces can be realized only by the control unit 230 executing each step of FIG. 15 according to the control data.

***Description of the effects of the second embodiment***
According to the second embodiment, the control unit 230 operates each unit according to the control data, so that the print locations of the work 199 can be horizontally arranged sequentially at the print position Q except for the concave surface.
According to Embodiment 1, it is possible to print on the work 199 having a plurality of types of printing surfaces.
According to Embodiment 1, the speed, pressure, or angle of the squeegee 191 is changed depending on the type of printing surface, so printing suitable for the type of printing surface is possible.

***Modification 1 of Embodiment 2***
● Shapes of table 101 and workpiece 199 (Fig. 18)
In FIG. 18(a), the plane 31 and the curved surface 32 of the table 101 and the workpiece 199, which are adjacent to each other, are in contact with each other at the intersection line 39, but they intersect at an angle.
Plane 31 is not in the same plane as the rightmost tangent plane of curved surface 32 .

FIG. 18(b) shows an enlarged conceptual diagram.
The table 101 and the work 199 have three surfaces consisting of a flat surface 31, a bent curved surface 38 and a curved surface 32 in this order.
A bent curved surface 38 lies between the plane 31 and the curved surface 32 .
The curved surface 32 is a curved surface with a radius K4 having a central axis parallel to the shaft 102 .
The bent curved surface 38 is a curved surface with a small radius K3 (K3<<K4) having a central axis parallel to the shaft 102. As shown in FIG.
The bent curved surface 38 has a central axis on the radius of the curved surface 32 .
The bent curved surface 38 and the curved surface 32 have the same tangent plane J1.
The plane 31 is on the same plane as the tangent plane J2 of the curved surface 32 .

Even if the adjacent flat surface 31 and the curved surface 32 appear to sharply intersect as shown in FIG. Between 32 there is a curved curved surface 38 .
If the control data is created regarding the bent curved surface 38 as one small-radius printing curved surface, the control unit 230 executes the small-radius curved surface printing process P2 for the bent curved surface 38 .

***Description of operation***
A screen printing method by the control unit 230 will be described with reference to FIGS. 19 to 20. FIG.

As shown in FIG. 19, the storage device 231 stores the following control data for printing.
1. Control data (process 1) at the start of planar printing of planar surface 31 and at the end of planar printing;
2. Control data at the start of curved surface printing of the folded curved surface 38 and at the end of curved surface printing (step 2);
3. control data at the time of starting curved surface printing of curved surface 32 and at the end of curved surface printing (step 5);
However, since the bent curved surface 38 has a very small radius K3 (K3<<K4), in step 2, the printing speed V is set to very low speed.

As shown in FIG. 20, the control unit 230
Step 1. Printing of the plane 31 by the plane printing process P1 (from the state of (a) to the state of (b) in FIG. 20),
Step 2. Printing of the bent curved surface 38 by the small radius curved surface printing process P2 (from the state (b) to the state (c) in FIG. 20),
Step 5. Printing of the curved surface 32 by the large radius curved surface printing process P5 (from the state of (c) to the state of (d) in FIG. 20),
Executes the same control as

Since the bent curved surface 38 has a very small radius K3 (K3<<K4), the control unit 230 sets the printing speed V to very low speed.
Normal speed > low speed > slow speed > super slow speed.
The control unit 230 makes the printing speed of the folded curved surface 38 slower than the printing speed of the curved surface printing of the curved surface 32 and the printing speed of the planar printing of the flat surface 31 .

As described above, the control unit 230 prints the folded curved surface 38 by the small radius curved surface printing process P2 when the two surfaces that are in contact with each other at the line of intersection 39 are in any of the following cases.
1. bending curved surface 38 from a plane to a curved surface when the plane and the tangent plane of the curved surface are not the same plane;
2. bending surface 38 from a curved surface to a flat surface when the plane and the tangent plane of the curved surface are not the same plane;
3. bending surface 38 from a curved surface to a curved surface when the tangent plane to the curved surface and the tangent plane to the curved surface are not the same plane;
The control unit 230 makes the printing speed of the folded curved surface 38 slower than the printing speed of the curved surface printing and the printing speed of the flat surface printing.

***Modification 2 of Embodiment 2***
● Change in shape of table 101 and workpiece 199 (Fig. 21)
As shown in (a), the concave surface 33 may be composed of a flat surface 35 and a curved surface 34 .
As shown in (b), the concave surface 33 may be composed of planes 35 and 36 .
As shown in (c), the concave surface 33 may be composed of a concave curved surface 37 .
As shown in (d), the portion of the concave surface 33 of the work 199 itself may be omitted, or the concave surface 33 of the work 199 may not be printed. In that case, the control data in FIG. 15 is data for combining steps 3 and 4, setting the printing pressure of the squeegee 191 to zero, and moving the squeegee 191 from the printing position Q from Q3 to Q5.

Although the embodiments and modifications of the present invention have been described above, two or more of these embodiments and modifications may be combined for implementation. Alternatively, one of these embodiments and modifications may be partially implemented. Alternatively, two or more of these embodiments and modifications may be partially combined. It should be noted that the present invention is not limited to these embodiments and modifications, and can be modified in various ways as necessary.

REFERENCE SIGNS LIST 100 screen printer, 101 table, 102 shaft, 103 curved surface, 104 bottom surface, 105 trajectory, 191 squeegee, 192 screen, 199 workpiece, 200 swing table, 210 swing section, 220 shift section, 230 control section, 231 storage device, 31 plane, 32 curved surface, 33 concave surface, 34 curved surface, 35 plane, 36 plane, 37 concave curved surface, 38 bent curved surface, 39 intersection line, 41 penetrating portion, 47 bearing, 50 housing, 51 opening, 61 motor, 62 ball screw, 63 slider, 64 guide, 65 block, 66 shift base, 67 swing shaft, 68 bearing, 69 shift actuator, 70 right swing actuator, 71 rod, 72 cylinder, 80 left swing actuator, 81 rod, 82 cylinder, 90 Holding portion, 91 bearing, 92 holding plate, 93 rail, 94 block, 95 linear guide, 96 side base, 97 pin, 98 vertical opening.

Claims (12)

a housing;
a table having a shaft;
a swing portion that swings the table around the shaft while holding the table movably in the vertical direction;
a shift section that laterally moves the table and the swing section with respect to the housing;
a control unit for synchronizing the operation of the swing unit and the shift unit;
The control unit has a storage device storing table tilt data indicating the tilt of the table by the swing unit and shaft position data indicating the left and right positions of the table in the shift unit,
The swing table, wherein the controller controls each part of the table to be horizontal in sequence using the table inclination data and the shaft position data. The swing part is
a pair of oscillating actuators positioned on opposite sides of the table with the shaft therebetween;
a holding portion that holds the shaft rotatably and holds the shaft movably in the vertical direction;
each rocking actuator of the pair of rocking actuators has a cylinder and a rod;
The cylinder is swingably attached to the shift section,
The rod is rotatably attached to the table,
2. The swing table according to claim 1, wherein the storage device stores the length of the rod of each of the swing actuators as the table inclination data. The shift section is
a shift actuator attached to the housing;
a shift base that is shifted by the shift actuator and that is rockably attached to the cylinder;
has
3. The swing table according to claim 2, wherein the storage device stores the distance between the reference position C and the shaft as the shaft position data. a swing table according to any one of claims 1 to 3;
a squeegee for printing on the work;
The screen printing apparatus, wherein the control section operates the swing section, the shift section, and the squeegee in synchronization. 5. The screen printing apparatus according to claim 4, wherein the control unit makes the printing speed for curved surface printing slower than the printing speed for flat surface printing. 6. The screen printing apparatus according to claim 4, wherein the control unit makes the printing speed for curved surface printing with a small radius slower than the printing speed for curved surface printing with a large radius. 7. The screen printing apparatus according to any one of claims 4 to 6, wherein the control unit makes the printing speed for concave printing slower than the printing speed for flat printing. When printing a concave surface, the control unit changes the inclination of the squeegee according to the inclination of the concave surface so that the attack angle of the squeegee is constant, and changes the printing pressure of the squeegee according to the depth of the concave surface. A screen printing apparatus according to any one of claims 4 to 7. The control unit
1. A curved surface bent from a plane to a curved surface when the plane and the tangent plane of the curved surface are not the same plane, or
2. A curved surface bent from a curved surface to a flat surface when the plane and the tangent plane of the curved surface are not the same plane, or
3. Folding from a curved surface to a curved surface when the tangent plane to the curved surface and the tangent plane to the curved surface are not the same plane When printing a curved surface, the folding speed is faster than either the printing speed for curved surface printing or the printing speed for flat surface printing. 9. The screen printing apparatus according to any one of claims 4 to 8, wherein the printing speed for curved surfaces is slowed down. a swing table according to any one of claims 2 and 3;
a squeegee for printing on a work having a flat surface and a curved surface;
The control unit
In the case of planar printing, only the printing position of the squeegee is changed without changing the length of the rod and the position of the shaft of the pair of swing actuators,
In the case of curved surface printing, a screen printing apparatus for synchronizing and simultaneously changing the length of the rods of the pair of rocking actuators, the position of the shaft, and the printing position of the squeegee. In the case of curved surface printing, the control unit
obtaining a printing distance QD from the printing start position and the printing end position of the squeegee;
A printing time T is obtained from the printing distance QD of the squeegee and the printing speed V of the squeegee,
From the printing time T of the squeegee and the movement distance of the rod and shaft,
a moving speed VL of the rod of the left swing actuator of the pair of swing actuators;
a moving speed VR of the rod of the right swing actuator of the pair of swing actuators;
Obtaining a moving speed VS of the shaft position of the shaft,
The control unit controls the printing time T,
(1) moving the squeegee at a printing speed V;
(2) moving the rod of the left swing actuator at a moving speed VL;
(3) moving the rod of the right swing actuator at a moving speed VR;
(4) The screen printing apparatus according to claim 10, wherein the shaft position of the shaft is moved at a moving speed VS. holding the shaft rotatably and vertically movably by the holding part;
storing table tilt data indicating the tilt of the table having the shaft and shaft position data indicating the position of the shaft in a storage device;
swinging the table by a pair of swing actuators arranged on both sides of the table based on the table tilt data;
A table swing method for laterally shifting the pair of swing actuators and the holding portion according to the swing based on the shaft position data.

Images