Electro-optical product screen printing alignment device and screen printing robot apparatus

Abstract

The application discloses a kind of electronic optical product silk screen printing alignment device and silk screen printing robot equipment, to be printed product is positioned on printing alignment platform, and image acquisition is carried out to printing alignment platform and the product to be printed thereon by first alignment assembly, and feedback control printing alignment platform adjusts the pose of product to be printed;Printing unit is arranged relative to the positioning plane of printing alignment platform by second alignment platform, and silk screen printing is carried out to the product to be printed positioned on printing alignment platform, second alignment assembly includes second alignment camera and third alignment camera, mark point of silk screen printing screen plate of printing unit and silk screen printing pattern of the rest side of printing product are photographed respectively, and feedback control printing alignment platform and second alignment platform adjust the concentricity of printing surface and the rest side silk screen printing pattern of product to be printed.The application can meet the concentricity requirement of multi-face silk screen printing pattern, and the precision and efficiency of multi-face silk screen printing production of complex optical product are improved.

Description

Technical Field

[0001] This invention discloses a screen printing alignment device and a screen printing robot for electronic optical products, which are particularly suitable for high-precision three-dimensional alignment screen printing technology for products requiring multi-sided printing. Background Technology

[0002] Prism-type components, or similar elongated electro-optical products, are widely used in 3C (computers, communications, and consumer electronics) and automotive fields, with demand continuously increasing. Their production process requires screen printing and dimensional inspection of each light-entering and light-exiting surface. A key critical indicator is that the concentricity of the screen-printed patterns on multiple surfaces in the X-direction must reach 0.01mm. This places extremely high demands on the printing accuracy, positioning stability, and process coordination of the equipment. However, existing screen printing equipment has the following shortcomings, directly making it difficult to achieve this core indicator:

[0003] Existing screen printing equipment mostly features a single-plane printing structure, lacking targeted multi-sided printing alignment design. It can only complete basic planar printing and cannot ensure concentricity and consistency across all four sides through precise multi-directional adjustments. Positioning systems generally employ single- or dual-camera planar positioning, which is prone to grasping failures when facing defects in Mark point reflection technology, and cannot achieve omnidirectional three-dimensional positioning, leading to frequent offsets of the printing reference and directly affecting concentricity accuracy. For example, Chinese patent application CN119974758A discloses a vertical screen printing machine CCD automatic alignment device. This device solves the alignment problem of vertical printing machines by setting up a CCD camera mechanism. It automatically locates the target holes after taking pictures of the PCB board area marking hole positions using four or two diagonally opposite cameras, and uses algorithm software to control the front and rear symmetrical screen frames to automatically adjust their positions to align with the screen pattern. All of its CCD cameras are arranged in a vertical plane, which can only capture and position a single plane of the printed product. It cannot perform concentricity alignment detection on the multi-sided screen printing of three-dimensional products. At the same time, the CCD camera mechanism is adjusted and locked by a handwheel locking module during operation, which is labor-intensive and prone to displacement errors due to uneven external force.

[0004] In addition, traditional printing platforms are mostly dynamic printing modes. During the printing process, the platform is prone to positional shifts due to vibration, which disrupts the concentric relationship of the printing on each side and further widens the gap with the 0.01mm specification. Existing equipment does not fully consider the clean environment requirements of optical products. The cleanliness of key working areas does not meet the standards, and the connection between loading and unloading and printing processes is not smooth, resulting in problems such as low efficiency and a high rate of product damage. Even if the accuracy is barely close to the requirements, it is impossible to achieve stable mass production. Summary of the Invention

[0005] The technical problem solved by this invention is to provide a screen printing alignment device and a screen printing robot for electronic optical products, which are difficult to meet the performance requirements of multi-faceted three-dimensional screen printing of products by existing screen printing equipment.

[0006] This invention is achieved using the following technical solution:

[0007] This invention first discloses a screen printing alignment device for electronic optical products, including...

[0008] The printing alignment platform is where the product to be printed is positioned.

[0009] The first alignment component acquires images of the printing alignment platform and the product to be printed on it, and provides feedback control to the printing alignment platform to adjust the pose of the product to be printed. The first alignment component includes three sets of first alignment cameras, which respectively capture the mark point on the printing alignment platform and the two product edges of the printing surface of the printed product.

[0010] The printing unit performs screen printing on the product to be printed, which is positioned on the printing alignment platform, by setting the positioning plane of the second alignment platform relative to the printing alignment platform.

[0011] The second alignment component includes a second alignment camera and a third alignment camera. The second alignment camera captures the mark points of the screen printing plate of the printing unit and provides feedback control to the second alignment platform to adjust the printing posture of the screen printing plate of the printing unit to align with the printing surface of the product to be printed. The third alignment camera captures the screen printing patterns on the other sides of the product to be printed and provides feedback control to the printing alignment platform and the second alignment platform to adjust the concentricity of the printing surface of the product to be printed with the screen printing patterns on the other sides.

[0012] In the screen printing alignment device for electronic optical products of the present invention, the first alignment component is further disposed between the positioning plane of the printing alignment platform and the printing unit by means of a linear moving unit, and the first alignment camera marks the reference position of the product to be printed on the positioning plane of the printing alignment platform.

[0013] In the screen printing alignment device for electronic optical products of the present invention, the linear moving unit is further provided with a loading and unloading actuator assembly, which is used to load and unload the product to be printed on the printing alignment platform.

[0014] In the screen printing alignment device for electronic optical products of the present invention, the second alignment camera and the third alignment camera are both adjustable and positioned around the printing alignment platform via a movable lead screw mechanism. The second alignment camera is positioned toward the screen printing plate of the printing unit, and the third alignment camera is positioned toward the side of the product to be printed on the printing alignment platform.

[0015] In the screen printing alignment device for electronic optical products of the present invention, the printing alignment platform further adopts an XYR precision alignment platform including two linear degrees of freedom and one rotational degree of freedom; the second alignment platform of the printing unit adopts a micron-level UVW micro-motion platform.

[0016] This invention also discloses a screen printing robot device, which uses the above-mentioned screen printing alignment device for electro-optical products to perform screen printing on products to be printed, and further includes:

[0017] The loading and unloading exchange platform is connected to the printing alignment platform of the screen printing alignment device for the electronic optical products through the loading and unloading moving parts on the linear moving unit, and is equipped with an exchange platform product fixture for product positioning.

[0018] The loading and unloading conveying unit is used for conveying product fixtures. It is composed of several conveying components and has several positioning stations for loading and unloading products within the product fixtures.

[0019] The loading and unloading robotic arm unit includes a robotic arm whose movement range covers each positioning station of the loading and unloading conveying unit and the loading and unloading exchange platform. The robotic arm's moving end is equipped with an end-effector for picking up products.

[0020] In the screen printing robot equipment of the present invention, a storage unit is further included that docks with the product cleaning station. The storage unit adopts a cleaning basket clip structure in which multiple cleaning basket units are stacked vertically. The multiple cleaning basket units are supported and stacked in the cleaning basket clip in the vertical direction and are lifted and lowered by a cleaning basket lifting component. The cleaning basket units in the cleaning basket clip structure are taken out sequentially by a cleaning basket translation component. The cleaning basket translation component is located within the movement range of the loading and unloading robotic arm unit.

[0021] In the screen printing robot equipment of the present invention, a flipping unit is further included to flip the printing surface of the product to be printed. The flipping unit includes a flipping rod, which is driven to rotate by a flipping motor. The flipping rod is provided with a flipping fixture for positioning multiple products to be printed. The flipping fixture has a positioning groove that simultaneously exposes at least two sides of the product to be printed. The flipping unit is located within the movement range of the loading and unloading robotic arm unit.

[0022] In the screen printing robot equipment of the present invention, the loading and unloading robotic arm unit is further provided with an NG fixture tray for storing defective printed products, and the loading and unloading actuator assembly of the electro-optical product screen printing alignment device is integrated with an AOI inspection camera for detecting the screen printing pattern on the product surface. The AOI inspection camera is connected to the robotic arm feedback of the loading and unloading robotic arm unit to move the defective printed products to the NG fixture tray for unloading.

[0023] In the screen printing robot equipment of the present invention, multiple sets of screen printing robot equipment of the present invention are used to achieve integrated automatic screen printing on all printing surfaces of the product to be printed. The multiple sets of screen printing robot equipment are connected to the drying equipment through a loading and unloading conveying unit. After printing on the corresponding printing surface of the product, the product is dried and then conveyed to the screen printing robot corresponding to the next printing surface.

[0024] The first printing surface of the product to be printed is the first color printing. The corresponding storage unit of the first screen printing robot receives the product after it has been cleaned upstream. The loading and unloading robotic arm unit picks up the product from the storage unit and flips it so that the first printing surface is facing upwards. The product is then placed into the product fixture of the loading and unloading conveyor unit and transferred to the loading and unloading exchange platform. The first color printing is performed on the first printing surface by the electronic optical product screen printing alignment device. During the first color printing, the first alignment camera of the first alignment component and the second alignment camera of the second alignment component respectively align the printing surface of the product and the screen printing stencil.

[0025] When printing on the remaining printing surfaces of the product, the screen printing robot equipment corresponding to the remaining printing surfaces directly receives the product fixture that has been printed on the previous printing surface through the loading and unloading conveyor unit. The loading and unloading robotic arm unit picks up the product, flips it over to face up through the flipping unit, and puts it back into the product fixture of the loading and unloading conveyor unit. Then it is transferred to the loading and unloading exchange platform, where the corresponding printing surface is printed through the electro-optical product screen printing alignment device. The first alignment camera of the first alignment component and the second alignment camera and the third alignment camera of the second alignment component respectively align the printing surface of the product, the printed pattern, and the screen printing stencil.

[0026] The present invention, by adopting the above technical solution, has the following beneficial effects:

[0027] This invention constructs a stereo vision alignment system by arranging multiple sets of high-resolution alignment cameras, including a first alignment component and a second alignment component, around the printing alignment platform. The alignment cameras accurately extract the spatial feature information of the printing surface of the product to be printed and the screen printing plate, effectively avoiding the dependence on mark points in traditional single / dual camera positioning and the risk of positioning failure caused by product process defects. It can achieve flexible edge gripping positioning of the product to be printed within a range of 25mm-55mm, greatly improving the positioning accuracy, stability and anti-interference ability of the printing process, reducing the positioning failure rate, and ensuring the continuous and stable operation of the printing process.

[0028] The printing alignment platform of this invention adopts an XYR precision alignment platform, equipped with high-precision servo drive components and precision linear guides. It integrates an X-axis precision ball screw module, a Y-axis linear motor adjustment mechanism, and an R-axis motor to achieve multi-degree-of-freedom micron-level closed-loop fine adjustment of X and Y axis translation and R-axis rotation. This effectively offsets the linear deviation of fixture clamping and the angular offset of product placement during the printing process, significantly improving the alignment repeatability of screen printing on each printing surface of the product. It ensures that the concentricity of screen printing on all four sides is strictly controlled within ±0.02mm, meeting the stringent size control standard of CPK≥1.33, further optimizing the product printing quality and batch consistency, and providing core assurance for the production of high-precision optical products.

[0029] This invention employs a coupled positioning scheme between a positioning camera and a UVW micro-motion platform in the printing unit. The positioning camera accurately identifies the Mark points on the screen printing plate and guides the UVW micro-motion platform to complete the initial micron-level positioning. Then, the printing positioning platform performs secondary fine-tuning and calibration, constructing a "two-level positioning + static printing" technical system. This completely eliminates platform jitter interference during the dynamic printing process, significantly improves the repeatability of printing parameters, the consistency of graphic contours, and dimensional stability, while reducing ink waste and product defect rate, thus balancing accuracy and economy.

[0030] This invention integrates fully automated printing operations for multiple printing surfaces of electronic optical products. Through flexible handling technology and trajectory planning of screen printing robot equipment, it achieves seamless integration of fully automated loading and unloading, positioning, printing, AOI inspection, and transfer of products. This not only meets the high cleanliness requirements of optical product production, but also significantly reduces operational errors and product damage rates caused by human intervention through automated processes, significantly improving production efficiency and equipment uptime, and achieving the goal of high-precision, high-efficiency, and low-loss automated production.

[0031] In summary, the screen printing alignment device and screen printing robot equipment for electronic optical products provided by this invention effectively solve the automation problem in the screen printing process of multiple printing surfaces of optical products, and can achieve the core index of concentricity of multi-sided screen printing patterns, thereby improving the accuracy and efficiency of multi-sided screen printing production of complex optical products.

[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the screen printing alignment device for electronic optical products in Example 1.

[0034] Figure 2 This is a schematic diagram of the linear moving unit in Embodiment 1, as well as the first alignment component and the loading / unloading moving component thereon.

[0035] Figure 3This is a schematic diagram of the printing alignment platform structure in Example 1.

[0036] Figure 4 This is a schematic diagram of the printing unit structure in Example 1.

[0037] Figure 5 This is a schematic diagram showing the position of each alignment camera relative to the printing alignment platform in the second alignment component of Embodiment 1.

[0038] Figure 6 This is a schematic diagram of the structure of the second alignment component in Example 1.

[0039] Figure 7 This is a schematic diagram of the screen printing robot equipment in Example 2.

[0040] Figure 8 This is a schematic diagram of the screen printing robot equipment in Example 2 removing the outer casing.

[0041] Figure 9 This is a schematic diagram of the planar distribution of the screen printing robot equipment removing the outer shell in Example 2.

[0042] Figure 10 This is a schematic diagram of the frame base structure of the screen printing robot equipment in Example 2.

[0043] Figure 11 This is a schematic diagram of the outer casing structure of the screen printing robot equipment in Example 2.

[0044] Figure 12 This is a schematic diagram of the loading and unloading conveying unit of the screen printing robot equipment in Example 2.

[0045] Figure 13 This is a plan view of the loading and unloading conveying unit of the screen printing robot equipment in Example 2.

[0046] Figure 14 This is a schematic diagram of the cleaning basket clip structure of the storage unit of the screen printing robot equipment in Example 2.

[0047] Figure 15 This is a schematic diagram of the lower base support structure of the screen printing robot equipment in Example 2.

[0048] Figure 16 This is a schematic diagram of the loading and unloading robotic arm unit structure of the screen printing robot equipment in Example 2.

[0049] Figure 17 This is a schematic diagram of the flipping unit structure of the screen printing robot equipment in Example 2.

[0050] Figure 18 This is a schematic diagram of the loading and unloading exchange platform structure of the screen printing robot equipment in Example 2.

[0051] Figure 19 This is a structural block diagram showing the docking of multiple sets of screen printing robot equipment with drying equipment in Example 3. Detailed Implementation

[0052] Example

[0053] See Figure 1-6 The figure illustrates a specific embodiment of the screen printing alignment device for electronic optical products according to the present invention. This screen printing alignment device is used for precise alignment of optical products and screen printing stencils during screen printing of electronic optical products. Specifically, it includes a printing alignment platform 10, a printing unit 11, a first alignment component 920, and a second alignment component 12. The product to be printed is transferred from the loading / unloading exchange platform 8 to the printing alignment platform 10 for positioning. The first alignment component 920 acquires images of the printing alignment platform and the product to be printed on it, and provides feedback control to adjust the posture of the product to be printed. The first alignment component 920 includes three sets of first alignment cameras 923, which respectively capture images of the mark points on the printing alignment platform 10 and two lines on the printing surface of the product to be printed. Product edge line; The printing unit 11 sets up the positioning plane of the second alignment platform 1101 relative to the printing alignment platform 10 to screen print the product to be printed positioned on the printing alignment platform 10. The second alignment component 12 includes a second alignment camera 1230 and two sets of third alignment cameras 1210 and 1220. The second alignment camera 1230 captures the mark points of the screen printing plate of the printing unit 11 and feeds back to control the second alignment platform 1101 to adjust the printing posture of the screen printing plate of the printing unit 11 to align with the printing surface of the product to be printed. The third alignment cameras capture the screen printing patterns on the other sides of the product to be printed and feed back to control the printing alignment platform 10 and the second alignment platform 1101 to adjust the concentricity of the printing surface of the product to be printed with the screen printing patterns on the other sides.

[0054] In this embodiment, the printing alignment platform 10 and the printing screen of the printing unit 11 are arranged vertically. The printing module of the printing unit 11 is upgraded and positioned above the printing alignment platform 10 via a lifting module. The entire printing module is supported on the second alignment platform 1101 via the lifting module, and the printing posture of the screen printing module, including the screen printing screen, is adjusted and controlled by the second alignment platform 1101. The first alignment component 920 is moved and positioned between the positioning plane of the printing alignment platform 10 and the screen printing screen of the printing unit 11 via a horizontally arranged linear motion unit 9. The three sets of first alignment cameras 923 of the first alignment component 920 mark the reference position of the product to be printed on the positioning plane of the printing alignment platform, ensuring accurate acquisition of the position signal of the product to be printed by the first alignment cameras.

[0055] like Figure 3As shown, the printing alignment platform 10 adopts an XYR precision alignment platform including two linear degrees of freedom and one rotational degree of freedom. Specifically, it includes an XYR precision platform 1001, an alignment platform U-shaped support 1002, an alignment platform lower plane 1003, an alignment platform upper plane 1004, an alignment platform product fixture 1005, and an alignment platform bracket 1006. The XYR precision platform 100 is equipped with a high-precision servo drive component and a THK precision linear guide rail, integrating an X-axis precision ball screw module, a Y-axis linear motor adjustment mechanism, and an R-axis DD motor to achieve multi-degree-of-freedom micron-level closed-loop fine adjustment of X and Y axis translation and R-axis rotation. The entire printing alignment platform 10 is fixed by the lowest alignment platform bracket 1006. The upper end of the alignment platform bracket 1006 is used to install the XYR precision platform 1001. The alignment platform U-shaped support 1002 is installed on the top of the XYR precision platform 1001 by screws. The two sides of the alignment platform U-shaped support 1002 provide support for the lower plane 1003 of the alignment platform. The internal U-shaped space is used for the installation of the third alignment camera of the second alignment component. The lower plane 1003 of the alignment platform and the upper plane 1004 of the alignment platform are fixed together by bolts. Two alignment platform product clamps 1005 are embedded in the upper plane 1004 of the alignment platform. The alignment platform product clamps 1005 are provided with air holes for negative pressure suction and positioning of the product to be printed. The lower plane 1003 of the alignment platform has corresponding slot positions to provide air passage positions.

[0056] like Figure 4 As shown, the printing unit 11 includes a second alignment platform 1101, a double lifting module 1102, a lifting module support block 1103, a lifting module support rod 1104, and a printing module 1110. The second alignment platform 1101 of the printing unit 11 adopts a micron-level UVW micro-motion platform. The lower end face of the second alignment platform 1101 is fixed to the upper part of the lower base 1 of the frame and the lower part of the alignment platform bracket 1006 by screws. The double lifting module 1102 is located on the alignment platform support of the printing alignment platform 10. The frame 1006 is distributed on both sides and installed at the bottom on the upper surface of the second alignment platform 1101. The double lifting module 1102 includes two lifting modules, each of which is fixedly mounted with two lifting module support blocks 1103 by screws. Each lifting module support block 1103 is fixedly mounted with a lifting module support rod 1104. The entire printing unit 11 has four lifting module support rods 1104. The uppermost part of the lifting module support rods 1104 provides support at the four corners of the printing module 1110.

[0057] The printing module 1110 includes printing side support blocks 1111, screen frame fixing assembly 1112, screen printing screen 1113, ink guiding assembly 1114, printing gantry support frame 1115, printing gantry moving assembly 1116, printing up and down servo moving assembly 1117, printing flexible buffer cylinder 1118, printing head doctor blade assembly 1119, printing head ink return assembly 11110, and printing unit protective cover 11111. The printing module 1110 is connected to the lifting module support rod 1104 via two bottom printing side support blocks 1111. A fixed ink guide assembly 1114 is installed below the printing side support blocks 1111. A screen printing stencil 1113 is placed between the two printing side support blocks 1111, supported by the ink guide assembly 1114. Two screen frame fixing assemblies 1112 are installed on the printing side support blocks 1111 with screws. Each screen frame fixing assembly 1112 has a fixing cylinder and fixing screws to fix the screen printing stencil 1113. The rear of the printing side support blocks 1111 is connected to a printing gantry support frame 1115 via screws. Above the printing gantry support frame 1115... The unit is equipped with a printing gantry moving assembly 1116. The moving block of the printing gantry moving assembly 1116 can move on the gantry beam driven by a motor. Two printing up-and-down servo moving assemblies 1117 are mounted together on the moving block of the printing gantry moving assembly 1116. One printing up-and-down servo moving assembly 1117 is connected to the print head ink return assembly 11110, and the other printing up-and-down servo moving assembly 1117 is connected to the printing flexible buffer cylinder 1118. The piston rod of the printing flexible buffer cylinder 1118 is connected to the print head doctor blade assembly 1119. A printing unit protective cover 11111 is arranged around the printing gantry moving assembly 1116 and the printing flexible buffer cylinder 1118 to provide protection. The workflow of the printing module is similar to existing screen printing technology, and will not be described in detail here.

[0058] The linear motion unit 9 adopts a linear motion unit, with the first alignment component 920 serving as one of the moving sub-units. It is also equipped with a loading and unloading moving sub-component 910. The loading and unloading moving sub-component 910 realizes the loading and unloading of products on the printing alignment platform 10 before and after printing. During printing, the loading and unloading moving sub-component 910 first moves to the loading and unloading exchange platform 8 to pick up the product to be printed and transfer it to the printing alignment platform 10. Then, the first alignment component 920 moves to the printing alignment platform to identify and align the printing surface of the product to be printed. After alignment is completed, all moving sub-components move out of the printing alignment platform and the printing unit, and the printing unit performs screen printing on the printing surface of the product on the printing alignment platform.

[0059] Specifically, such as Figure 2As shown, the linear motion unit 9 includes three parts: a dual-movement linear motor 901, a loading / unloading moving part assembly 910, and a first alignment assembly 920. The loading / unloading moving part assembly 910 and the first alignment assembly 920 are respectively installed on the two moving parts of the dual-movement linear motor 901 and can be independently controlled to move.

[0060] The loading / unloading actuator assembly 910 comprises a loading / unloading nozzle support 911, a loading / unloading nozzle support rib 912, a loading / unloading nozzle movement cylinder 913, a loading / unloading nozzle support beam 914, a loading / unloading nozzle 915, an AOI inspection support 916, and an AOI inspection camera 917. The loading / unloading air nozzle support 911 and the loading / unloading air nozzle support rib 912 are both mounted on the corresponding movers of the dual-motor linear motor 901 by screws. The loading / unloading air nozzle motion cylinder 913 is mounted on both sides of the front end of the loading / unloading air nozzle support 911. The moving parts of the loading / unloading air nozzle motion cylinder 913 are all connected to the loading / unloading air nozzle support beam 914. The front end of the loading / unloading air nozzle support beam 914 is equipped with two loading / unloading air nozzles 915. The air pipes and connectors connected to the loading / unloading air nozzles 915 are all installed inside and on the outer surface of the corresponding loading / unloading air nozzle support beam 914. The AOI inspection camera 917 is fixed on the AOI inspection support 916. The AOI inspection support 916 is mounted on the mover of the loading / unloading mover assembly 910 by screws and is located between the two loading / unloading air nozzle support beams 914.

[0061] The first alignment component 920 comprises an alignment support frame 921, three sets of alignment fixing blocks 922, and three sets of first alignment cameras 923. The alignment support frame 921 is fixed on another mover of the dual-motor linear motor 901. The extended part of the alignment support frame 921 provides three installation positions for the first alignment cameras 923. The three sets of first alignment cameras 923 are fixed on the alignment support frame 921 by the three alignment fixing blocks 922.

[0062] like Figure 5 and Figure 6As shown, the second alignment camera 1230 and the two sets of third alignment cameras 1210 and 1220 are all adjustable and positioned around the printing alignment platform via a movable lead screw mechanism. The movable lead screw mechanism can adjust the fine object distance of the alignment cameras to ensure the image accuracy during camera alignment and shooting. The second alignment camera shoots at the screen printing plate of the printing unit from below, while the third alignment cameras are positioned facing the side of the product to be printed on the printing alignment platform. The three sets of alignment cameras in the second alignment assembly have identical structures. Taking the third alignment camera 1210 as an example, the third alignment camera 1210 includes a movable lead screw mechanism 1211, a moving component 1212, a camera 1213, a camera fixing block 1214, a position detection mechanism 1215, and a position sensing plate 1216. The movable lead screw mechanism 1211 is fixed to the position detection mechanism 1215, the movable component 1212 is connected to the movable part of the movable lead screw mechanism 1211, the camera 1213 is fixed to the front end of the movable component 1212, and a position sensing plate 1216 is mounted on the right side of the movable component 1212. The position sensing plate 1216 works in conjunction with the position detection mechanism 1215 to detect the position of the camera 1213.

[0063] In this embodiment, the first alignment camera of the first alignment component 920 and the second alignment camera and the third alignment camera of the second alignment component 12 are all CCD cameras.

[0064] Example 2

[0065] See Figure 7 , Figure 8 and Figure 9 The illustration shows a specific embodiment of the screen printing robot equipment of the present invention. The screen printing robot uses the screen printing alignment device for electronic optical products in Embodiment 1 to screen print products to be printed. In order to automate the screen printing process, a loading and unloading conveying unit 3, a loading and unloading robotic arm unit 6, and a loading and unloading exchange platform 8 are also provided. The loading and unloading exchange platform 8 is connected to the printing alignment platform 10 of the screen printing alignment device for electronic optical products through the loading and unloading moving part assembly 910 on the linear motion unit 9. It is provided with an exchange platform product fixture for product positioning. The loading and unloading conveying unit 3 is used for product fixture conveying. The products to be printed and the finished printed products are conveyed through the product fixture. The loading and unloading conveying unit 3 is spliced ​​from several conveying components and is provided with several positioning stations for loading and unloading products in the fixture. The loading and unloading robotic arm unit 6 is a robotic arm with a moving range covering each positioning station of the loading and unloading conveying unit 3 and the loading and unloading exchange platform 8. The robotic arm is provided with an end-effector for picking up products at the moving end. The loading and unloading are achieved by suctioning the products by negative pressure.

[0066] Specifically, such as Figure 12 and Figure 13As shown, the loading / unloading conveying unit 3 includes a product fixture 301, a loading / unloading conveying component 310, an intermediate conveying component 320, an exchange conveying component 340, and a PLASMA component 350. The entire loading / unloading conveying unit 3 is composed of the above components arranged in a straight line. In actual applications, different numbers of loading / unloading conveying components 310, intermediate conveying components 320, and exchange conveying components 340 can be spliced ​​together according to different conveying sizes. The PLASMA component 350 is installed on the second intermediate conveying component 320 by bolts, and a product code reader component is installed on the loading / unloading conveying component 310 by bolts.

[0067] The loading / unloading conveyor assembly 310 includes a loading / unloading conveyor support plate 311, a fixture guide strip 312, a fixture conveyor timing belt mechanism 313, a fixture stacking mechanism 314, a fixture stacking guide rod 315, a stacking lifting screw mechanism 316, a stacking lifting screw mounting plate 317, and a fixture stacking adjustment mechanism 318. The loading / unloading conveyor assembly 310 is mounted and fixed via its loading / unloading conveyor support plate 311. The upper sides of the loading / unloading conveyor support plate 311 are connected to the fixture guide strip 312 by screws, providing a channel for the flow of the product fixture 301. The fixture conveyor timing belt mechanism 313 is fixed in the middle of the loading / unloading conveyor support plate 311. The fixture conveyor timing belt is distributed vertically on the loading / unloading conveyor support plate 311. The stacking lifting screw mounting plate 317 is connected via two screws... The jig stacking guide rod 315 is connected to the loading conveyor support plate 311. The jig stacking guide rod 315 passes through the jig stacking mechanism 314. The jig stacking mechanism 314 is sandwiched between the loading and unloading conveyor support plate 311 and the stacking lifting screw mounting plate 317. The motor of the stacking lifting screw mechanism 316 is installed at the bottom of the stacking lifting screw mounting plate 317. The screw of the stacking lifting screw mechanism 316 passes through the jig stacking mechanism 314. The slider is fixed on the jig stacking mechanism 314. The stacking lifting screw mechanism 316 drives the jig stacking mechanism 314 to move up and down. The jig stacking adjustment mechanism 318 is installed at the front position above the loading and unloading conveyor support plate 311. It is used to limit the forward movement of the jig 301 and adjust the front surface of the multiple stacked jigs 301 to be flat.

[0068] The intermediate material transfer assembly 320 includes an intermediate material transfer support plate 321 and an intermediate material transfer timing belt 322. The intermediate material transfer assembly 320 is connected to the fixture guide strip 312 of the loading and unloading conveying assembly 310 through the intermediate material transfer support plate 321, thereby connecting the loading and unloading conveying assembly 310 and the intermediate material transfer assembly 320 together. The intermediate material transfer support plate 321 is also connected to the middle layer aluminum profile on the outer casing frame 201.

[0069] The exchange conveyor assembly 340 includes an exchange moving motor 341, an exchange support plate 342, an exchange assembly support plate 343, an exchange assembly timing belt mechanism 344, and an exchange assembly guide bar 345. The exchange conveyor assembly 340 is used to connect with the front-end loading and unloading conveyor assembly 310. The exchange moving motor 341 is fixedly installed by aluminum profiles. Two exchange support plates 342 are connected to both sides of the moving part of the exchange moving motor 341. The exchange support plates 342 provide support for the exchange assembly support plate 343. The timing belt of the exchange assembly timing belt mechanism 344 passes through the exchange assembly support plate 343. The product fixture 301 is supported by the timing belt during the conveying process.

[0070] like Figure 16 As shown, the loading / unloading robotic arm unit 6 includes a robotic arm support 601, a robotic arm 602, an end coupling 603, an end transverse connecting plate 604, an end upright plate 605, a barcode reader mounting plate 606, an end telescopic cylinder 607, an end suction head connecting plate 608, an end suction head 509, a barcode reader 610, an NG fixture tray bracket 611, and an NG fixture tray 612. The entire loading / unloading robotic arm unit 6 is mounted and fixed by the robotic arm support 601. The upper end of the robotic arm support 601 is bolted to fix the robotic arm 602. The front end of the robotic arm 602 is connected to the end transverse connecting plate 604 via the end coupling 603. The end transverse connecting plate 604 is connected to the end upright plate 605 by screws. The left side of the end upright plate 605 is connected to three end telescopic cylinders 607 by screws, and the right end is connected to... The barcode reader 610 is installed below the barcode reader mounting plate 606 to read the barcode information of the product being picked up. The movable ends of the three end telescopic cylinders 607 are all connected to the end suction head connecting plate 608 by bolts. Each end suction head connecting plate 608 has two installation positions for end suction heads 509. The loading and unloading robotic arm unit 6 uses the end suction head 509 as the end pick-up device, which picks up the product by negative pressure adsorption. Two end suction heads 509 work as a group and can pick up one product at the same time. The robotic arm 602 can pick up three products at a time for position transfer. The NG fixture tray bracket 611 is fixedly installed on one side of the robotic arm support 601 by bolts. The NG fixture tray 612 is placed on top of the NG fixture tray bracket 611 to store unqualified printed products.

[0071] Specifically, such as Figure 18As shown, the loading / unloading exchange platform 8 includes an exchange platform linear motor 801, an exchange platform support 802, an exchange platform U-shaped support 803, an exchange platform lower plane 804, an exchange platform upper plane 805, and an exchange platform product clamp 806. The entire loading / unloading exchange platform 8 is mounted on the support plane 504 by the bottom surface of the exchange platform linear motor 801. The moving part of the exchange platform linear motor 801 is connected to the exchange platform support 802 by screws. The exchange platform linear motor 801 is used for product detection at the unloading position of the loading / unloading exchange platform 8. The adjustment of the exchange platform linear motor 801 ensures the stability of the dual-motor system. The AOI inspection camera on the platform can inspect the products at the unloading position of the loading and unloading exchange platform 8 from different positions. The upper end of the exchange platform support 802 is connected to the U-shaped support 803 of the exchange platform by screws. The two sides of the U-shaped support 803 of the exchange platform are connected to the lower plane 804 of the exchange platform by screws. The lower plane 804 of the exchange platform and the upper plane 805 of the exchange platform are fixed together by bolts. Two product clamps 806 of the exchange platform are embedded in the upper plane 805 of the exchange platform. The product clamps 806 of the exchange platform are provided with air holes for picking up and fixing products. The lower plane 804 of the exchange platform has corresponding slots to provide air passage positions.

[0072] To further match the cleaning process before printing optical products, the screen printing robot is also equipped with a storage unit 4 that docks with the product cleaning station. The storage unit 4 adopts a cleaning basket clip structure in which multiple cleaning basket units are stacked vertically. Multiple cleaning basket units 410 are supported and stacked in the cleaning basket clip in the vertical direction and are driven to lift by the cleaning basket lifting component 420. A space is left between the upper and lower cleaning basket units for the cleaning basket translation component 430 to enter and exit. The cleaning basket units in the cleaning basket clip structure are taken out in sequence by the cleaning basket translation component 430. The cleaning basket translation component is located within the movement range of the loading and unloading robotic arm unit.

[0073] Specifically, such as Figure 14As shown, the storage unit 4 includes a cleaning bracket side plate 401, a cleaning bracket plate 402, a cleaning basket unit 410, a cleaning basket lifting assembly 420, and a cleaning basket translation assembly 430. The cleaning basket clip structure of the storage unit 4 is a box-like structure. The cleaning bracket side plate 401 and the cleaning bracket plate 402 are combined to form the cleaning basket unit storage space of the cleaning basket clip structure. The entire cleaning basket unit storage space is installed on the cleaning basket lifting assembly 420. Multiple cleaning basket units 410 can be stacked and stored vertically by relying on the groove structure on the inner side of the two opposing cleaning bracket side plates 401. The cleaning basket unit 410 includes a cleaning clamp side plate 411, a cleaning clamp core rod 412, and a clamp. The cleaning fixtures include a QR code plate 413, two side cleaning supports 414, and a middle cleaning support 415. The two front and rear cleaning fixture side plates 411 are connected by ten cleaning fixture core rods 412. The cleaning fixture core rods 412 have threads at both ends, pass through the cleaning fixture side plates 411, and are fixed with nuts. The two side cleaning supports 414 and the middle cleaning support 415 are fixed to the upper cleaning fixture core rods 412 with screws. Two fixture QR code plates 413 are installed on the outside of the cleaning fixture side plates 411 with screws to identify the number of the cleaning basket unit 410 and the product number for tracking and tracing. The cleaned products to be printed are placed horizontally on the two side cleaning supports 414 and the middle cleaning support 415. The cleaning basket lifting assembly 420 includes a cleaning basket lifting module 421, a cleaning basket lifting support plate 422, and a cleaning basket right-angle support member 423. The lifting block of the cleaning basket lifting assembly 420 is connected to two cleaning basket right-angle support members 423, and the two cleaning basket right-angle support members 423 provide support for the cleaning basket lifting support plate 422. The cleaning basket translation assembly 430 includes a cleaning basket linear motor 431, a cleaning basket removal bracket 432, and a cleaning basket removal component 433. The cleaning basket linear motor 431 is fixedly installed. The cleaning basket removal bracket 432 is installed on the moving part of the cleaning basket linear motor 431 by screws. The cleaning basket removal component 433 is installed at the front end of the cleaning basket removal bracket 432. The cleaning basket removal component 433 is moved by the cleaning basket linear motor 431 to the bottom of the cleaning basket unit in the cleaning basket clip structure. The cleaning basket unit storage space is driven to descend by the cleaning basket lifting assembly 420, and the cleaning basket unit 410 above is transferred to the cleaning basket removal component 433 for support. Then, the cleaning basket unit 410 is removed from the cleaning basket clip structure by the cleaning basket linear motor 431.

[0074] The cleaning pose of the product to be printed in the cleaning basket unit is inconsistent with the printing pose. In order to move the printing surface of the product to be printed upward and place it in the product fixture for transfer, the screen printing robot in this embodiment further includes a flipping unit 7 for flipping the printing surface of the product to be printed. The flipping rod 705 is driven to rotate by the flipping motor 704. The flipping rod 705 is provided with a flipping fixture 708 for positioning multiple products to be printed. The flipping fixture 708 has a positioning groove that simultaneously exposes at least two sides of the product to be printed. The flipping unit is located within the moving range of the loading and unloading robotic arm unit.

[0075] Specifically, as Figure 17 shown, the flipping unit 7 includes a flipping support 701, a flipping mounting flat plate 702, a flipping vertical plate 703, a flipping motor 704, a flipping rod 705, a flipping encoder 706, a flipping positioning member 707, and a flipping fixture 708. The entire flipping unit 7 is installed and fixed through the flipping support 701 below it. The flipping mounting flat plate 702 is installed above the flipping support 701. The flipping vertical plate 703 is connected to the flipping mounting flat plate 702 by screws. The flipping motor 704 is installed on the right side of the flipping vertical plate 703. The flipping encoder 706 is installed below the left side of the flipping vertical plate 703. The output shaft of the flipping motor 704 is connected to the right end of the flipping rod 705. The flipping positioning member 707 is installed below the flipping rod 705. The flipping positioning member 707 cooperates with the flipping encoder 706 to determine the rotation angle of the flipping rod 705. Three flipping fixtures 708 are installed side by side in front of the flipping rod 705 by screws. There is an L-shaped groove for placing the product above the flipping fixture 708, which can ensure that at least two sides of the product to be printed are exposed. And a negative pressure suction head is equipped in the groove for sucking the product to ensure that the product does not fall during the flipping process.

[0076] Refer to Figure 7 again. The entire screen printing robot is arranged in a dust-free space enclosed by the frame lower base 1 and the machine shell 2.

[0077] Specifically, as Figure 10 and Figure 11 shown, the frame lower base 1 includes a square pipe support 101, a lower base plane 102, a lower base support plate 103, lower base universal wheels 104, and lower base feet 105. The overall frame of the frame lower base 1 is supported by the square pipe support 101. The square pipe support 101 is an overall "day" - shaped frame, which is connected to the lower base plane 102 by bolt positioning above. Four lower base support plates 103 are connected to the four corner positions below the square pipe support 101 by bolts above. A set of lower base universal wheels 104 and lower base feet 105 are connected to the lower side of each lower base support plate 103 by bolts. The entire lower base support 101 provides support and positioning for each actuator unit connected at the upper end.

[0078] The housing 2 includes a housing frame 201, a housing aluminum plate 202, a housing acrylic plate 203, a closed support aluminum plate 204, an equipment control panel 205, an industrial computer assembly 206, a display 207, a warning light 208, an FFU assembly 209, a cooling fan 2010, and housing feet 2011. The overall structure of the housing 2 is supported by the housing frame 201. The front end of the housing frame 201 is supported by the housing feet 2011. The profile at the rear bottom of the housing frame 201 is bolted to the lower base 1 of the frame and supported by the lower base feet 105 of the lower base 1. The upper part of the housing frame 201 is closed by the transparent housing acrylic plate 203, which is connected to the housing frame 201 by hinges. The lower part of the housing frame 201 is closed by the housing aluminum plate 202. 202 is connected to the housing frame 201 via hinges. The top and bottom surfaces of the housing frame 201 are enclosed by a stronger closed support aluminum plate 204, which is bolted to the top and bottom surfaces of the housing frame 201. The equipment control panel 205 consists of two units, which are bolted to the rear sides of the housing frame 201. The industrial control computer component 206 is installed in the lower right corner of the rear side of the housing frame 201 and is enclosed by the closed support aluminum plate 204 on all sides. The display 207 is installed inside the housing frame 201 and is connected to the aluminum profile of the housing frame 201 via a universal joint. The warning light 208 and the FFU component 209 are installed on the top of the entire housing frame 201 and bolted together. The cooling fan 2010 is installed on the lower part of the housing aluminum plate 202 around the entire housing frame 201 and bolted together.

[0079] like Figure 7 As shown, the screen printing robot of this embodiment has a right-angled box-like structure, divided into inner and outer parts: a lower base 1 and a casing 2. The casing 2 contains various actuator units, including a loading / unloading conveyor unit 3, a storage unit 4, a lower base support 5, a loading / unloading robotic arm unit 6, a flipping unit 7, a loading / unloading exchange platform 8, a linear motion unit 9, a printing alignment platform 10, a printing unit 11, and a second alignment component 12. The loading / unloading conveyor unit 3 and the storage unit 4 are installed at corresponding positions on the casing; the loading / unloading robotic arm unit 6, the flipping unit 7, the loading / unloading exchange platform 8, and the linear motion unit 9 are installed on the lower base support 5; the lower base support 6, the printing alignment platform 10, and the printing unit 11 are installed on the lower base; and the second alignment component 12 is installed at a corresponding position on the printing alignment platform 10. The arrangement of each part is as follows: Figure 8 and Figure 9 As shown.

[0080] This embodiment of the screen printing robot comprises three supporting parts: a lower base 1, a housing 2, and a lower base bracket 6. The remaining parts are the actuator units mounted on them. The internal space of the housing 2 above the lower base 1 is the product transfer area. Below the lower base 1 are the electrical control equipment and wiring of each actuator unit. The loading / unloading conveying unit 3 runs through the entire housing 2 from front to back, with the feeding position located on the left side of the housing 2. It is connected to the aluminum profile of the housing frame 201 of the housing 2 via the loading / unloading conveying support plates 311 and 321 of the two loading / unloading conveying components 310 and two intermediate conveying components 320 in the loading / unloading conveying unit 3, and the connection method is bolt fixing. The exchange conveying component 340 in the loading / unloading conveying unit 3 is mounted and fixed to the aluminum profile of the housing frame 201 of the housing 2 via the exchange moving motor 341. The storage unit 4 is fixedly mounted on the closed support aluminum plate 204 inside the housing 2 via the motors on the cleaning basket lifting component 420 and the cleaning basket translation component 430.

[0081] The loading / unloading robotic arm unit 6, the flipping unit 7, the loading / unloading exchange platform 8, and the linear motion unit 9 are mounted on the lower base bracket 5. The lower base bracket 5 is as follows: Figure 15As shown, the lower base support 5 includes a square tube support column 501, a square tube crossbeam 502, a square tube base plate 503, and a support plane 504. The overall frame of the lower base support 5 is constructed from the square tube support column 501 and the square tube crossbeam 502. The lower part is connected to the lower base plane 102 of the lower base 1 of the frame via the square tube base plate 503. The upper part is equipped with the support plane 504, providing support for the loading / unloading robotic arm unit 6, the flipping unit 7, the loading / unloading exchange platform 8, and the linear movement unit 9. Specifically, the loading / unloading robotic arm unit 6 is bolted to the lower end of the robotic arm support 601 and the support plane 504 of the lower base support 5, and is located at the front end of the support plane 504. Behind the loading / unloading robotic arm unit 6 is the flipping unit 7, which is bolted to the support plane 504 of the lower base support 5 via the flipping support 701. The loading / unloading exchange platform 8 is located behind the flipping unit 7 within the coverage area of ​​the robotic arm 602, and is bolted to the support plane 504 of the lower base support 5 via the exchange platform linear motor 801. A linear motion unit 9 is horizontally arranged behind the loading / unloading exchange platform 8. The dual-actuator linear motor 901 of the linear motion unit 9 is fixed to the support plane 504 of the lower base bracket 5 by bolts. The lower base bracket 5, the printing alignment platform 10, and the printing unit 11 are mounted on the lower base of the frame. The lower base bracket 5 is connected and fixed to the lower base plane 102 of the lower base 1 of the frame via a square tube base plate 503. The printing alignment platform 10 is fixedly mounted on the lower base plane 102 of the lower base 1 of the frame via an alignment platform bracket 1006. The printing unit 11 is connected and fixed to the lower base plane 102 of the lower base 1 of the frame via the lower end face of the second alignment platform 1101. The alignment platform bracket 1006 spans across the upper part of the second alignment platform 1101. The three sets of alignment cameras of the second alignment assembly 12 are installed at corresponding positions on the printing alignment platform 10, such as... Figure 5 As shown.

[0082] Example 3

[0083] like Figure 19 As shown in the figure, this invention presents a multi-faceted integrated screen printing solution for the automated screen printing of four sides of a prism. The prism is a long strip of glass electro-optical product with a prismatic cross-section. Ink printing is required on its four long strips used for light entry and exit. In this embodiment, four sets of screen printing robot devices 20A, 20B, 20C, and 20D from Embodiment 2 are used to automatically screen print on the four printing sides of the prism. All screen printing robot devices are connected to the drying equipment 30 through their respective loading and unloading conveyor units. After printing on the corresponding printing surface of the prism, the surface is dried before being sent to the next screen printing robot device corresponding to the next printing side.

[0084] The storage unit of the first screen printing robot 20A, which performs the first color printing on the first printing surface of the prism, receives the product after upstream cleaning and docks with the upstream cleaning equipment 10A. The loading and unloading robotic arm unit of the first screen printing robot 20A picks up the product from the storage unit and flips the first printing surface of the prism to face upwards, placing it into the product fixture of the loading and unloading conveyor unit. Then, it is transferred to the next positioning station of the loading and unloading conveyor unit. The loading and unloading robotic arm unit picks up the prism and positions it on the loading and unloading exchange platform. The first printing surface of the prism is printed with the first color by the electronic optical product screen printing alignment device. During the first color printing, the first alignment camera of the first alignment component and the second alignment camera of the second alignment component respectively align the first printing surface of the prism after positioning and the screen printing stencil.

[0085] When printing the remaining printing surfaces of the product on the prism in sequence, the screen printing robot does not need to dock with the cleaning basket unit, and the material storage unit can be omitted. The loading and unloading conveying units of the second screen printing robot equipment 20B, the third screen printing robot equipment 20C, and the fourth screen printing robot equipment 20D directly receive the product fixture that has been printed and dried on the previous printing surface. The loading and unloading robotic arm unit of each screen printing robot picks up the prism in the product fixture on the loading and unloading conveying unit, flips the corresponding printing surface to face upward through the flipping unit, and puts it back into the product fixture of the loading and unloading conveying unit. Then it is transferred to the loading and unloading exchange platform, and the corresponding printing surface is printed by the electro-optical product screen printing alignment device. When printing and aligning the remaining printing sides of the prism, it is also necessary to consider the concentricity requirements of the already printed pattern. The first alignment camera of the first alignment component and the second alignment camera and the third alignment camera of the second alignment component of the electro-optical product screen printing alignment device respectively align the printing surface of the product, the printed pattern, and the screen printing stencil.

[0086] The following describes in detail the specific process of ink printing on the four printed sides of the above-mentioned tetraprism in conjunction with the various execution units in Embodiment 2.

[0087] First color printing.

[0088] like Figure 19In route a, the worker opens the acrylic plate 203 of the outer casing of the storage unit 4 of the first screen printing robot 20A and puts the product cleaned by the upstream cleaning equipment 10A, along with the cleaning basket unit 410, into the storage unit 4 to complete the first loading of the first color printing. At the same time as the first loading, the worker needs to place a corresponding number of product jigs 301 on the first loading and unloading conveying component 310 of the loading and unloading conveying unit 3 to receive the prism products in the cleaning basket unit. A certain number of product jigs 301 can be stacked on the jig stacking mechanism 314 of the loading and unloading conveying component 310. 1. At this time, the product fixture is in the first positioning station of the loading and unloading conveying unit 3. When the product fixture 301 needs to move, the fixture stacking mechanism 314 will lift up the other stacked fixtures except for the bottom product fixture 301. At the same time, the fixture conveying synchronous belt mechanism 313 starts to operate and transfers the bottom product fixture 301 to the second positioning station of the loading and unloading conveying unit 3. During the transfer process, the product fixture 301 will pass through the product code reading component. The product code reading component 330 will read the QR code on the product fixture 301 and match it with the product placed on the subsequent product fixture 301. After the cleaned prism products enter the storage mechanism of the storage unit 4 along with the cleaning basket unit 410, the cleaning basket linear motor 431 starts to operate and sends the cleaning basket take-out part 433 to the bottom layer of the storage mechanism of the storage unit 4 below the cleaning basket unit 410. The cleaning basket lifting module 421 places the bottom cleaning basket unit 410 on the cleaning basket take-out part 433. The cleaning basket translation component 430 completes one take-out and returns to its original position. When all the prism products in the bottom layer of the cleaning basket unit 410 have been transferred to the product fixture on the loading and unloading conveying component, the cleaning basket translation component 430 sends the cleaning basket unit 410 on it back to its original position. Then, the cleaning basket take-out part 433 returns to its original position under the drive of the cleaning basket linear motor 431. The cleaning basket lifting module 421 continues to descend until the second layer of the cleaning basket unit 410 reaches the take-out position. Then, the above steps are repeated to take out the second layer of the cleaning basket unit 410.

[0089] The robotic arm 602 of the loading / unloading robotic arm unit 6 picks up three products at a time. The barcode reader 610 above the robotic arm reaches the top of the three prism products to be picked up and records the QR codes on the products for the first time. After recording, the three end suction heads 509 remove the three cleaned prism products from the cleaning basket unit 410. At this time, the prism products are positioned in the cleaning basket unit 410 in a cleaning posture, with the top-printed side not facing upwards. The robotic arm 602 picks up the prism products and transfers them to the three flipping fixtures 708 of the flipping unit 7. The flipping motor 704 rotates, turning the top-printed side of the prism products upwards. After the flipping unit 7 turns the top-printed side of the prism products upwards, the robotic arm 602 will again drive the barcode reader 610 above it to reach the top of the three prism products to be picked up by the flipping unit 7 for a second recording of the QR codes on the products. After recording, the robotic arm 602... The three end suction heads 509 of unit 02 pick up the prism products with the first-color printing side flipped upward from the flipping fixture 708, and transfer the three prism products to the product fixture 301 located at the second positioning station of the loading / unloading conveyor unit 3. This completes the flipping of the prism products from the cleaning posture in the cleaning basket unit to the printing posture in the product fixture. The above product picking and flipping actions continue to be repeated until the product fixture 301 is full of prism products to be printed. Driven by the intermediate material transfer synchronous belt 322, the product fixture 301 moves from the second positioning station of the loading / unloading conveyor unit 3 to the third positioning station. When the product fixture 301 is full of prism products and moves from the second positioning station to the third positioning station, it passes through the PLASMA component 350. The PLASMA component 350 processes the first-color printing side of the prism products in the product fixture 301 to ensure that the first-color printing surface is clean and dust-free. The product fixture 301 stops after being conveyed to the third positioning station of the loading / unloading conveyor unit 3. After completing the flipping and transfer of the prism product in the previous product fixture 301, the loading and unloading robotic arm unit 6 will flip and transfer the prism product in the next batch cleaning basket unit at its planned time, ensuring the uninterrupted flow of products in the subsequent printing process.

[0090] After the product fixture 3 is conveyed to the third positioning station of the loading / unloading conveying unit 3, the robotic arm 602 of the loading / unloading robotic arm unit 6 again drives its upper end suction head 509 to reach the product fixture 301 at the third positioning station. The end suction head 509 transfers the tetraprism products one by one to the product clamping fixture 806 on the loading / unloading exchange platform 8. After the products arrive at the product clamping fixture 806 on the loading platform, the linear motion unit 9 starts to work. The double-acting linear motor 901 drives the loading / unloading actuator assembly 910 to move above the loading / unloading exchange platform 8. The loading gripper's loading / unloading air... The nozzle cylinder 913 begins to descend, causing the loading / unloading nozzle 915 to come close to the color printing surface of the prism product head in the product fixture 806 of the exchange platform at the loading position. The prism product is picked up and transferred to the product fixture 1005 of the alignment platform 10 for product printing alignment. After the dual-actuator linear motor 901 drives the loading / unloading actuator assembly 910 to pick up the prism product to be printed at the loading position of the loading / unloading exchange platform 8, the loading / unloading robotic arm unit 6 transfers the next prism product to be printed from the product fixture 301 of the third positioning station to the loading position of the loading / unloading exchange platform 8.

[0091] After the prism product arrives at the alignment platform product fixture 1005, the first alignment component 920 in the linear motion unit 9 moves to directly above the product in the alignment platform product fixture 1005. The three first alignment cameras 923 begin alignment work from top to bottom with the prism product to be printed on the printing alignment platform. One of the first alignment cameras 923 is responsible for detecting the position of the mark point on the alignment platform product fixture 1005, and the other two first alignment cameras 923 are responsible for detecting the two edge lines of the prism lens color printing surface. Since the CCD camera of the first alignment camera has been calibrated, the control system determines whether the position of the prism product in the printing alignment platform 10 is correct based on the pose data of the prism lens color printing surface captured by the three first alignment cameras 923 and the reference position calibrated by the first alignment cameras. If there is an error, the error data is transmitted to the XYR precision platform 1001 of the printing alignment platform 10. The XYR precision platform 1001 adjusts the product in the correct position in the XYR three directions.

[0092] After the product alignment process is completed, the alignment process of printing unit 11 begins. The second alignment camera 1230 in the second alignment component 12 starts working, capturing images from below of the mark points on the screen printing stencil 1113 in printing unit 11 above the printing alignment platform. The camera matches the mark points on the screen printing stencil 1113 with the mark points on the product fixture 1005 of the alignment platform. If the two mark points are correctly positioned, the next step is performed; otherwise, a position adjustment signal is sent to the second alignment platform 1101 of printing unit 11 to adjust printing unit 11, ensuring the printing module 1110 is in the correct position, thus completing the alignment process between printing unit 11 and the prism product. These two alignments ensure accurate product printing position, and both remain static before proceeding to the next printing step.

[0093] The dual-lifting module 1102 drives the entire printing module 1110 downward until the distance between the first color printing surface of the prism product and the screen printing plate 1113 is about two millimeters. The printing up and down servo moving component 1117 drives the printing head squeegee assembly 1119 to make the squeegee contact the screen and the ink return blade of the printing head ink return assembly 11110 move away from the screen printing plate. Then, the printing gantry moving component 1116 drives the squeegee to scrape ink on the screen from the ink end to the other end. At this time, there is printing ink pre-placed by the worker on the screen printing plate 1113. After the ink scraping is completed, the printing up and down servo moving component 1117 drives the printing head squeegee assembly 1119 to make the squeegee move away from the screen printing plate and the ink return blade of the printing head ink return assembly 11110 contact the screen. Then, the printing gantry moving component 1116 drives the ink return blade to return ink on the screen from the other end to the ink end, thus completing the first color printing of the prism product. After printing is completed, the double-lifting module 1102, carrying the printing module 1110, rises and returns to its original position. At this time, the double-acting linear motor 901 first drives the loading / unloading actuator assembly 910 to move above the loading / unloading exchange platform 8 to pick up a new unprinted product. Then, the double-acting linear motor 901 drives the loading / unloading actuator assembly 910 to move above the printing alignment platform 10, so that the loading / unloading nozzle 915 of the unloading gripper is directly above the prism product. The loading / unloading nozzle movement cylinder 913 of the unloading gripper begins to descend, so that its loading / unloading nozzle 915 is close to picking up the printed product and taking the printed product out of the alignment platform product fixture 1005. Before the loading / unloading actuator assembly 910 takes out the printed prism product, the AOI inspection camera 917 inspects the printed prism color printing pattern. Then, the loading / unloading actuator assembly 910 puts the unprinted prism product on the loading gripper back into the alignment platform product fixture 1005 so that the new unprinted prism product can undergo the subsequent alignment and printing process. The dual-actuator linear motor 901 then drives the loading / unloading actuator assembly 910 to transfer the printed prism product to the product fixture 806 of the exchange platform 8 at the corresponding unloading position. If the printed prism product is qualified by the AOI inspection camera 917, the loading / unloading robotic arm unit 6 transfers the product to the original position of the product fixture in the third positioning station of the loading / unloading conveyor unit 3. If the printed product is NG by the AOI inspection camera 917, the loading / unloading robotic arm unit 6 transfers the product to the NG fixture tray 612.

[0094] After all the prism products in the product fixture 301 at the third positioning station of the loading / unloading conveyor unit 3 have been transferred and printed by the loading / unloading robotic arm unit 6, the product fixture 301 at the third positioning station is transferred to the fourth positioning station of the loading / unloading conveyor unit 3 by the fixture conveying synchronous belt mechanism 313 of the second loading / unloading conveyor component 310. The product fixture 301 arriving at the fourth positioning station is then sent to the exchange conveyor component 340 by the fixture conveying synchronous belt mechanism 313 of the second loading / unloading conveyor component 310. When the exchange conveyor component 340 receives the product fixture 301, the exchange moving motor 341 drives the conveyor belt of the exchange component synchronous belt mechanism 344 to be aligned with the synchronous belt of the second loading / unloading conveyor component 310 to ensure the smooth transfer of the product fixture 301. The product fixture 301, filled with products after the first color printing is completed, is then transported by the exchange conveyor component 340 to the drying equipment 30. Figure 19 In route b, the input port of the drying equipment is set to accommodate four product fixtures 301 at the same time, and the product fixtures inside the drying oven are automatically fed, ensuring that the screen printing robots on the four printing sides of the prism connect their respective printed product fixtures to the drying oven.

[0095] Printing on two or four sides.

[0096] Two-sided printing and four-sided printing refer to the two sides that meet the first printed surface of a prism product, respectively. Figure 19In the c, d, e, and f routes, the product fixture 301, filled with products, undergoes initial color printing and drying in the drying equipment 30. It then directly connects to the loading / unloading conveyor unit 3 of the double-sided printing screen printing robot 20B, transferring the products to the second positioning station of the loading / unloading conveyor unit. At this point, the prism products in the product fixture 301 at the second positioning station still maintain an initial color printing face-up posture. The loading / unloading robotic arm unit 6 directly transfers the prism products from the product fixture at the second positioning station sequentially to the flipping unit 7 for a flipping process. The product is flipped so that the corresponding printing surface is facing upwards. After flipping, it is transferred back to the product fixture at the second positioning station. When all the prism products in the product fixture 301 at the second positioning station have been flipped, the product fixture 301 is transferred to the third positioning station of the loading / unloading conveyor unit 3. When the product fixture 301 is full of products and is transferred from the second positioning station to the third positioning station, it passes through the PLASMA component 350. The PLASMA component 350 will process the printing surface of the prism products in the product fixture 301 to ensure that the printing surface is clean and dust-free. After arriving at the third positioning station of the loading / unloading conveyor unit 3, the product fixture 301 stops. The loading / unloading robotic arm unit 6 transfers the prism products in the third positioning station to the loading / unloading exchange platform 8 in sequence, and then to the printing alignment platform 10 by the linear movement unit 9. The products arriving at the printing alignment platform 10 undergo the same color printing action to perform the product alignment process and the alignment process of the printing unit 11.

[0097] In the alignment process of two-sided and four-sided printing, since the prism product has already completed the first-color printing pattern, the concentricity control with the first-color printing pattern must be considered in the subsequent side printing alignment. The second alignment cameras 1210 and 1220 in the second alignment component 12 further participate in the image alignment of the first-color printing pattern. Specifically, one of the first alignment cameras 923 in the first alignment component 920 is responsible for detecting the position of the mark point on the product fixture 1005 of the alignment platform, and the other two first alignment cameras 923 respectively detect the two edge lines of the surface to be printed on the prism product, and provide feedback to control the printing alignment platform 10 to adjust the printing position of the prism product and the silk screen. The process of printing the screen is the same as that of the first-color printing surface. Simultaneously, the second alignment component 12, based on the positional relationship between the first-color printed pattern and the surface to be printed, uses a third alignment camera 1210 or 1220 to detect the screen-printed pattern at the side. By using these alignment cameras to determine the position of the prism product and the relative positional relationship between the prism's surface to be printed and the first-color printed pattern surface, the concentricity of the screen printing between the two-sided and four-sided printing patterns and the first-color printed pattern is controlled within ±0.01mm. After completing the two alignment processes, printing begins. The product transfer after printing is the same as the subsequent processes of the first-color printing. The two-sided and four-sided printing processes are the same and will not be described in detail here.

[0098] Three-sided printing.

[0099] Three-sided printing refers to the side opposite to the first printed side of the first color printing. After the first color printing, second-sided printing, and fourth-sided printing of the prism product, it is output from the drying equipment 30 to the third screen printing robot equipment 20D for three-sided printing. The loading and unloading conveying unit 3 of the third screen printing robot equipment 20D for three-sided printing is the same as that of the screen printing robot equipment for two-sided and four-sided printing. The subsequent loading and unloading conveying process is also the same as that for two-sided and four-sided printing. Only in the printing alignment process of the prism product, one of the first alignment cameras 923 in the first alignment component 920 is responsible for the position of the mark point on the product fixture 1005 of the alignment platform. In addition to detecting the product edge line of the prism product to be printed, the other two first alignment cameras also detect the screen printing pattern of the first printed side of the first color printing from top to bottom through the prism product. Together with the second alignment component 12 detecting the screen printing patterns of the second and fourth sides of the prism product, they adjust the concentricity of the printing position of the last side of the prism product.

[0100] In this document, the terms "upper," "lower," "front," "back," "left," "right," "top," "bottom," "inner," "outer," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used for the clarity of expressing the technical solution and for the convenience of description, and therefore should not be construed as limiting the present invention.

[0101] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0102] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A screen printing alignment device for electronic optical products, characterized in that: include The printing alignment platform is where the product to be printed is positioned. The first alignment component acquires images of the printing alignment platform and the product to be printed on it, and provides feedback control to the printing alignment platform to adjust the pose of the product to be printed. The first alignment component includes three sets of first alignment cameras, which respectively capture the mark point on the printing alignment platform and the two product edges of the printing surface of the printed product. The printing unit performs screen printing on the product to be printed, which is positioned on the printing alignment platform, by setting the positioning plane of the second alignment platform relative to the printing alignment platform. The second alignment component includes a second alignment camera and a third alignment camera. The second alignment camera captures the mark points of the screen printing plate of the printing unit and provides feedback control to the second alignment platform to adjust the printing posture of the screen printing plate of the printing unit to align with the printing surface of the product to be printed. The third alignment camera captures the screen printing patterns on the other sides of the product to be printed and provides feedback control to the printing alignment platform and the second alignment platform to adjust the concentricity of the printing surface of the product to be printed with the screen printing patterns on the other sides.

2. The screen printing alignment device for electro-optical products according to claim 1, characterized in that: The first alignment component is moved and positioned between the positioning plane of the printing alignment platform and the printing unit via a linear motion unit, and the first alignment camera marks the reference position of the product to be printed on the positioning plane of the printing alignment platform.

3. The screen printing alignment device for electro-optical products according to claim 1, characterized in that: The linear motion unit is also equipped with a loading and unloading actuator, which is used to load and unload the product to be printed onto the printing alignment platform.

4. The screen printing alignment device for electro-optical products according to claim 1, characterized in that: Both the second and third alignment cameras are adjustable and positioned around the printing alignment platform via a movable lead screw mechanism. The second alignment camera is positioned facing the screen printing plate of the printing unit, and the third alignment camera is positioned facing the side of the product to be printed on the printing alignment platform.

5. The screen printing alignment device for electro-optical products according to any one of claims 1-4, characterized in that: The printing alignment platform adopts an XYR precision alignment platform with two linear degrees of freedom and one rotational degree of freedom; the second alignment platform of the printing unit adopts a micron-level UVW micro-motion platform.

6. A screen printing robot equipment, characterized in that: The screen printing of the product to be printed using the screen printing alignment device for electro-optical products as described in claims 1-5 further includes: The loading and unloading exchange platform is connected to the printing alignment platform of the screen printing alignment device for the electronic optical products through the loading and unloading moving parts on the linear moving unit, and is equipped with an exchange platform product fixture for product positioning. The loading and unloading conveying unit is used for conveying product fixtures. It is composed of several conveying components and has several positioning stations for loading and unloading products within the product fixtures. The loading and unloading robotic arm unit includes a robotic arm whose movement range covers each positioning station of the loading and unloading conveying unit and the loading and unloading exchange platform. The robotic arm's moving end is equipped with an end-effector for picking up products.

7. The screen printing robot equipment according to claim 6, characterized in that: It also includes a storage unit that docks with the product cleaning station. The storage unit adopts a cleaning basket clip structure in which multiple cleaning basket units are stacked vertically. The multiple cleaning basket units are supported and stacked in the cleaning basket clip in the vertical direction and are lifted and lowered by a cleaning basket lifting component. The cleaning basket units in the cleaning basket clip structure are taken out sequentially by a cleaning basket translation component. The cleaning basket translation component is located within the movement range of the loading and unloading robotic arm unit.

8. The screen printing robot equipment according to claim 6 or 7, characterized in that: It also includes a flipping unit for flipping the printing surface of the product to be printed. The flipping unit includes a flipping rod, which is driven to rotate by a flipping motor. The flipping rod is provided with a flipping fixture for positioning multiple products to be printed. The flipping fixture has a positioning groove that exposes at least two sides of the product to be printed at the same time. The flipping unit is located within the movement range of the loading and unloading robotic arm unit.

9. The screen printing robot equipment according to claim 6, characterized in that: The loading and unloading robotic arm unit is equipped with an NG fixture tray for storing defective printed products. The loading and unloading actuator assembly is integrated with an AOI inspection camera for detecting the silkscreen pattern on the product surface. The AOI inspection camera is connected to the robotic arm of the loading and unloading robotic arm unit to move the defective printed products to the NG fixture tray for unloading.

10. The screen printing robot equipment according to claim 6, characterized in that: Multiple sets of screen printing robots are used to achieve integrated automatic screen printing on all printing surfaces of the product to be printed. These robots are connected to a drying device via a loading and unloading conveyor unit. After printing on the corresponding printing surface, the product is dried and then conveyed to the next screen printing robot for the next printing surface. The first printing surface of the product to be printed is the first color printing. The corresponding storage unit of the first screen printing robot receives the product after it has been cleaned upstream. The loading and unloading robotic arm unit picks up the product from the storage unit and flips it so that the first printing surface is facing upwards. The product is then placed into the product fixture of the loading and unloading conveyor unit and transferred to the loading and unloading exchange platform. The first color printing is performed on the first printing surface by the electronic optical product screen printing alignment device. During the first color printing, the first alignment camera of the first alignment component and the second alignment camera of the second alignment component respectively align the printing surface of the product and the screen printing stencil. When printing on the remaining printing surfaces of the product, the screen printing robot corresponding to the remaining printing surfaces directly receives the product fixture that has been printed on the previous printing surface through the loading and unloading conveyor unit. The loading and unloading robotic arm unit picks up the product, flips the corresponding printing surface to face up through the flipping unit, and puts it back into the product fixture of the loading and unloading conveyor unit. Then it is transferred to the loading and unloading exchange platform, where the corresponding printing surface is printed through the electro-optical product screen printing alignment device. The first alignment camera of the first alignment component and the second alignment camera and the third alignment camera of the second alignment component respectively align the printing surface of the product, the printed pattern, and the screen printing stencil.

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