Surface determination device and surface modification device

Abstract

To provide a surface determination device and a surface modification device that can easily and consistently determine whether or not foamed polyurethane can be bonded to the surface of a resin substrate.SOLUTION: There is provided a surface determination device, which is a surface determination device 17 for determining whether or not a surface property of a resin substrate 11 having a three-dimensional shape and to which foamed polyurethane is to be directly bonded is suitable for bonding to a surface of the resin substrate, which comprises: a dyne pen 23 capable of applying a test reagent; a robot arm 21 that supports and moves the dyne pen 23; a control unit 31 that operates the robot arm 21 so that the test reagent is applied to a predetermined position on a surface of the resin substrate 11 along a predetermined contour shape by the dyne pen 23; a photographing unit 27 that photographs an applied pattern 25 formed by the test reagent; and a determining unit 29 that determines pass / fail by comparing extracted data obtained from a photographed image of the applied pattern 25 with a threshold value.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a surface determination device and a surface modification device. [Background technology]

[0002] Components in which polyurethane foam is directly bonded to the surface of a three-dimensional resin substrate are widely used in vehicle interiors such as instrument panels. In many cases, the polyurethane foam is directly bonded to the resin substrate and the surface by foaming the polyurethane between them.

[0003] Patent Document 1 and other documents describe that, since foamed polyurethane has low adhesiveness to olefin resins such as polypropylene, adhesiveness can be improved by blending other components such as plant fibers into the resin of the resin substrate, or by modifying the surface of the resin substrate by performing surface treatment such as flame treatment, corona treatment, or plasma treatment.

[0004] In the case of modifying the surface of a resin, Patent Document 2 discloses that after improving the wettability of the surface of a resin film, water vapor is sprayed onto the resin film and the wettability is confirmed by processing an image of the surface to which the water vapor has adhered. Also, after modifying the surface of a resin substrate, an operator applies a reagent for determining wettability to the surface and checks whether the reagent is repelled to confirm the wettability of the surface. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-186844 [Patent Document 2] Patent Publication No. 2021-71399 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in conventional techniques for checking the state of modification after modifying a resin surface, the adhesion state of water vapor or reagents is judged visually by an operator based on experience, etc., which requires the operator's experience and makes it difficult to judge suitability. In addition, the judgment results tend to vary, and bonding failures can occur when bonding with foamed polyurethane.

[0007] Therefore, an object of the present invention is to provide a surface evaluation device and a surface modification device that can easily and consistently determine whether or not foamed polyurethane can be bonded to the surface of a resin substrate. [Means for solving the problem]

[0008] The surface evaluation device of the present invention, which achieves the above-mentioned object, is a surface evaluation device for determining whether the surface properties are suitable for bonding foamed polyurethane when directly bonding foamed polyurethane to the surface of a resin substrate having a three-dimensional shape, and is equipped with a dyne pen that can apply a determination reagent, a robot arm that supports and moves the dyne pen, a control unit that operates the robot arm so that the determination reagent is applied to a predetermined position on the surface of the resin substrate along a predetermined contour shape using the dyne pen, an imaging unit that photographs the applied pattern formed by the determination reagent, and a judgment unit that compares extracted data obtained from the photographed image of the applied pattern with a threshold value to determine whether the bonding to the surface of the resin substrate is successful.

[0009] According to this surface evaluation device, the operation of the robot arm is controlled to apply the evaluation reagent along a predetermined contour shape to a predetermined position on the surface of a three-dimensional resin substrate using a dyne pen, so that the evaluation reagent can be accurately applied to the surface of the resin substrate in the predetermined contour shape. Therefore, if the surface properties such as shape and wettability at a predetermined position of the resin substrate are the same among a plurality of resin substrates, the shape and thickness of the applied pattern using the determination reagent can be accurately formed. If there are differences in the surface properties such as shape and wettability of the resin substrates, the amount of the applied determination reagent will vary or the determination reagent will be repelled, and the shape and line thickness of the applied pattern will change depending on the degree of the difference.

[0010] Therefore, the extracted data obtained from the photographed images of the coating patterns formed by the evaluation reagent can accurately grasp the differences in the coating shapes among multiple resin substrates. Then, by comparing this extracted data with a threshold value, it is possible to accurately and consistently determine whether the surface properties of the resin substrate are suitable for bonding polyurethane foam. Therefore, according to the present invention, it is possible to provide a surface evaluation device that can easily and consistently determine whether the surface of a resin substrate has properties that allow it to be bonded to foamed polyurethane, without requiring the operator to have any experience.

[0011] In the surface evaluation device of the present invention, it is preferable that the dyne pen has a pen tip with a cross-sectional shape whose lengths in two perpendicular directions are different from each other, and the robot arm applies the evaluation reagent to the surface by moving the pen tip along the annular contour shape while keeping the orientation of the cross-sectional shape of the dyne pen constant and bringing it into contact with the surface of the resin substrate.

[0012] As a result, while the robot arm is moving the pen tip of the dyne pen along the annular contour while contacting the surface of the resin substrate, the orientation of the cross-sectional shape of the pen tip is kept constant, so the width of the contact surface of the pen tip in contact with the surface of the resin substrate, perpendicular to the direction of travel, changes as the pen tip moves along the annular contour. As a result, the line thickness of the coated pattern formed by the evaluation reagent changes at each position. Moreover, this change will be the same if the surface shapes at predetermined positions on multiple resin substrates are the same, but will be different if the surface shapes at predetermined positions are different. Therefore, by measuring the coated pattern formed by the evaluation reagent, the surface shape of the resin substrate can be accurately determined.

[0013] The surface modification device of the present invention, which achieves the above-mentioned object, includes a modification unit that modifies the surface of a resin substrate having a three-dimensional shape, and a surface determination unit that is the above-mentioned surface determination device. This surface modification device modifies the surface of a resin substrate having a three-dimensional shape using the modification unit, and can determine whether the modified surface is suitable for bonding to foamed polyurethane, thereby easily achieving appropriate surface modification without variation.

[0014] In the surface modification device of the present invention, the modification unit preferably has a frame processing unit that is positioned opposite a portion of the surface of the resin substrate and frames that portion, and the frame processing unit is movably supported on a robot arm together with the dyne pen, and the operation of the robot arm is controlled by a control unit so that the modification unit moves along the surface of the resin substrate.

[0015] In this way, the robot arm moves along the surface of the resin substrate in both the frame processing section that performs the frame processing and the surface evaluation section that evaluates whether the surface properties modified by the frame processing are suitable for bonding polyurethane foam, so the robot arm can be used in common for both. Moreover, since the target resin substrate has the same three-dimensional shape and the arrangement of obstacles and the like around the device is also common, the settings for the robot arm's operation and operation restrictions are also common. Therefore, various facilities can be shared, and the device configuration can be simplified. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a surface evaluation device and a surface modification device that can easily and consistently determine whether or not foamed polyurethane can be bonded to the surface of a resin substrate. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a schematic diagram showing a surface modification apparatus incorporating a surface determination apparatus according to an embodiment of the present invention, illustrating a frame processing state. [Figure 2]2 shows the state of evaluation of the surface of a resin substrate by the surface modification device shown in FIG. 1. [Figure 3] 1A and 1B are schematic perspective views showing an example of a resin substrate to be treated by a surface modification device according to an embodiment of the present invention, in which (a) shows the movement path of a modification unit, and (b) shows the movement path of a dyne pen. [Figure 4] 1 shows a coating shape formed on the surface of a resin substrate by a surface modification device according to an embodiment of the present invention, and shows the result of being determined to be a non-defective product. [Figure 5] 1 shows a coating shape formed on the surface of a resin substrate by a surface modification device according to an embodiment of the present invention, and shows the result of being determined to be a defective product. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In this embodiment, an example of a surface modification device incorporating a surface determination device will be described. This surface modification device is used in the manufacturing process of so-called soft instrument panels of vehicles.

[0019] The resin substrate to be treated has a three-dimensional shape corresponding to the soft instrument panel of the vehicle to be manufactured, and is made of an olefin resin such as polypropylene. This resin substrate is placed in a mold together with a skin material, and a urethane raw material suitable for soft instrument panels is injected between the resin substrate and the skin material and foamed, directly bonding the foamed polyurethane to the surface of the resin substrate.

[0020] 1 and 2 are schematic diagrams showing a surface modification apparatus according to this embodiment. The surface modification device 10 includes a jig 13 for supporting the resin substrate 11 at a fixed position, a modification section 15 for modifying the surface of the resin substrate 11, and a surface evaluation section 17 for evaluating the quality of the modified surface of the resin substrate 11.

[0021] The modifying unit 15 has a frame processing unit 19 that is disposed opposite to a portion of the surface of the resin substrate 11 and frames the portion, and the frame processing unit 19 is movably supported by a robot arm 21 . The flame processing unit 19 of this embodiment is configured to be able to spray flames in one direction, and is configured to spray flames facing the surface of the resin substrate 11 at a predetermined distance, thereby modifying the surface and improving its wettability.

[0022] The surface determination unit 17 is a surface determination device that determines whether the surface properties of the modified resin substrate 11 are suitable for bonding polyurethane foam. The surface determination unit 17 has a dyne pen 23 that can apply a determination reagent, and the dyne pen 23 is movably supported on the robot arm 21 together with the frame processing unit 19 of the modification unit 15. The surface determination unit 17 also includes an imaging unit 27 that captures an image of a coated pattern 25 (see FIG. 4) formed on the surface of the resin substrate 11 with the determination reagent, and a determination unit 29 that determines whether the surface of the resin substrate 11 is good or bad based on extracted data obtained from the captured image of the coated pattern.

[0023] The robot arm 21 used in common by the modifying unit 15 and the surface determination unit 17 is made up of an articulated robot. The frame processing unit 19 of the modifying unit 15 and the dyne pen 23 of the surface determination unit 17 are supported at the tip. The tip is arranged so that the flame ejection direction of the frame processing unit 19 and the protruding direction of the pen core 23a of the dyne pen 23 are opposite each other.

[0024] The robot arm 21 is configured to be controllable by a control unit 31. The control unit 31 selectively controls the operation of the robot arm 21 in the modifying unit 15 and the surface determining unit 17. In the modification section 15, as shown in Figures 1 and 3(a), the operation of the robot arm 21 is controlled so that the flame ejection direction faces the surface of the resin substrate 11, the frame processing section 19 is kept at a predetermined distance, and the robot arm 21 moves along the surface along a predetermined movement path 19a. In the surface determination unit 17, as shown in Figures 2 and 3(b), the operation of the robot arm 21 is controlled so that the pen tip 23a of the dyne pen 23 is brought into contact with predetermined positions on the surface of the resin substrate 11, in this embodiment, three predetermined positions (indicated by circles in the figures) on the surface of the resin substrate 11 in sequence, while moving along a predetermined contour shape.

[0025] The dyne pen 23 of the surface determination unit 17 has a pen tip 23a for applying a determination reagent by contacting it with the surface of the resin substrate 11. The pen tip 23a is formed so that the determination reagent can be applied to the surface of the resin substrate 11 within the width of the pen tip 23a by contacting it with the resin substrate 11 and moving it. The determination reagent is selected so that it is suitable for determining whether the wettability of the surface of the resin substrate 11 is such that foamed polyurethane can be directly bonded, and also suitable for photographing using the photographing unit 27 described below and performing the specified data processing.

[0026] This determination reagent can be one that, when applied in a strip shape to the surface of the resin substrate 11, can maintain the desired strip shape if the surface wettability is within a range suitable for bonding with foamed polyurethane, but if the wettability is within a range not suitable for bonding with foamed polyurethane, the determination reagent is repelled by the surface, forming numerous droplets and not maintaining the desired strip shape. The determination reagent may be one that can maintain a predetermined band shape when the surface energy value of the surface of the resin substrate 11 is 40 mN / m or less, but cannot maintain a band shape when the surface energy value is 50 mN / m or more. For example, an example of such a determination reagent is a reagent prepared by gradually mixing ethylene glycol monoethyl ether (ethyl cellosolve), formamide, methanol, and water.

[0027] The pen core 23a has a cross-sectional shape perpendicular to the protruding direction of the tip, with lengths in two perpendicular directions different from each other. In this embodiment, the pen core 23a has a substantially square prism shape with rectangular cross-sectional shapes continuing in one axial direction. This shape allows the line width to be changed according to the moving direction 23d of the pen core 23a that moves in contact with the surface of the resin substrate 11.

[0028] When the robot arm 21 moves the pen core 23a in a predetermined shape while contacting the surface of the resin substrate 11, the determination reagent is applied in a predetermined shape. In this embodiment, when the robot arm 21 moves the pen core 23a in contact with the surface of the resin substrate 11, the pen core 23a is moved along the ring shape while keeping the up, down, left, and right directions of the cross-sectional shape of the pen core 23a constant relative to the up, down, left, and right directions of the resin substrate 11.

[0029] As shown in FIG. 4, when the determination reagent is applied in a circular or elliptical shape to the surface of the resin base material 11 at a predetermined position (see FIG. 3(b)), the orientation of the pen core 23a is kept constant, so that on the left and right sides of the paper, the determination reagent is applied to the width of the long side of the rectangle in the movement direction 23d of the pen core 23a. On the other hand, on the upper and lower sides of the paper, the determination reagent is applied to the width of the short side of the rectangle in the movement direction 23d of the pen core 23a. Furthermore, between these, the width perpendicular to the movement direction 23d of the contact surface of the pen core 23a gradually decreases or increases, so that the width of the applied reagent changes. Therefore, by moving the pen core 23a in a circular or elliptical shape, the determination reagent is applied in a circular or elliptical band shape in which the line width changes continuously and regularly.

[0030] The photographing unit 27 of the surface evaluation unit 17 is a camera for photographing the applied pattern 25 formed by the evaluation reagent at a predetermined position on the surface of the resin substrate 11 supported by the jig 13 .

[0031] When the image of the applied pattern 25 photographed by the photographing unit 27 is converted to black and white by binarization, the portions of the photographed image where the determination reagent remains after application appear darker than the surface of the resin substrate 11. Meanwhile, areas that appear whiter than the surface of the resin substrate 11 appear around these black portions. These white portions occur when the surface of the resin substrate 11 repels the determination reagent after application, and the greater the degree of repulsion, the larger the area of the white portion. This may be because highlights in the repelled portions are converted to white on the image, but this is not clear. The reason for binarizing the photographed image is that high-speed image processing is possible by converting the information into two types: black and white.

[0032] The determination unit 29 of the surface determination unit 17 obtains extracted data from pixel data of the photographed image of the coating pattern 25 and determines pass / fail by comparing the extracted data with a threshold value. This threshold value is set in advance in the determination unit 29 according to various conditions such as the material of the resin substrate 11, the shape of a predetermined position on the surface of the resin substrate 11, and the material of the determination reagent.

[0033] The extracted data may be, for example, the area of a region of a predetermined color in the coated pattern, or various shapes such as the overall shape of the coated pattern or the shape of a band. In this embodiment, the determination is made using the shape of the coated pattern and the area of the region that appears white on the surface of the resin substrate 11. Here, using the area of white rather than the area of black or intermediate gradation regions is preferable because it reduces the amount of information and enables high-speed image processing.

[0034] The pass / fail judgment in the judgment unit 29 of this embodiment includes whether the wettability of the surface of the resin substrate 11 is such that sufficient bonding strength can be obtained when foamed polyurethane is bonded, and whether deformation of the resin substrate 11 has occurred to an extent that would cause problems in subsequent processes.By comparing each extracted data with a threshold value, it can be determined whether the surface properties of the resin substrate 11 are suitable for bonding foamed polyurethane.

[0035] To perform surface treatment of the resin substrate 11 using the surface modification device 10 described above, various setting values, threshold values, and three-dimensional data of the resin substrate 11 are set in advance via the input / output unit 33, and the operating position is set in advance by teaching or the like.

[0036] First, the resin base material 11 having a predetermined shape, which has been produced in the previous step, is supported and fixed on a jig 13 . 1 and 3, a flame treatment is first applied to the surface of the resin substrate 11. The frame treatment unit 19 of the modifying unit 15 is placed opposite the surface of the resin substrate 11, and the operation of the robot arm 21 is controlled to spray flames onto the surface of the resin substrate 11 while moving the frame treatment unit 19 along the surface, thereby applying the flame treatment to the entire surface of the resin substrate 11 to which the foamed polyurethane will be bonded.

[0037] After the frame treatment, the operation of the robot arm 21 is controlled to move the dyne pen 23 along a circular or elliptical outline while contacting the pen core 23a of the dyne pen 23 with one predetermined position on the surface of the resin substrate 11. At this time, the pen core 23a is moved while maintaining a constant orientation of the cross-sectional shape relative to the resin substrate 11. This causes the determination reagent to be applied to the predetermined position in a circular or elliptical shape.

[0038] Next, the coated pattern 25 formed in the predetermined position is photographed by the photographing unit 27, and image data of the photographed black and white image of the coated pattern 25 is obtained. At this time, if the wettability of the surface of the resin substrate 11 is appropriate for bonding foamed polyurethane and if the deformation of the resin substrate 11 from the design value is small, the photographed image of the coated pattern 25 will approximately match the shape of the evaluation reagent when applied, and a photographed image such as that shown in Figure 4 will be obtained. In this state, foamed polyurethane can be bonded to the surface of the resin substrate 11.

[0039] However, even if the wettability of the surface of the resin substrate 11 is appropriate, if the resin substrate 11 is slightly deformed compared to the design shape, the change in the width of the band shape in the photographed image of the coated pattern 25 will be greater than that shown in Figure 4. If the deformation is even greater, the shape of the photographed image of the coated pattern 25 will become blurred or have discontinuous portions depending on the degree of deformation. In this state, it will be impossible to bond foamed polyurethane to the surface of the resin substrate 11.

[0040] Furthermore, when the wettability of the surface of the resin substrate 11 is low, even if the measurement reagent is continuously applied, in the photographed image of the applied pattern 25, the areas that appear black on the surface of the resin substrate 11 are separated into many discrete droplets, and there are many areas that appear white around them, as shown in Figure 5. In this state, it is not possible to bond foamed polyurethane to the surface of the resin substrate 11.

[0041] Therefore, the judgment unit 29 photographs these coating patterns 25 and extracts data necessary for judgment from the photographed image, such as the overall shape of the coating pattern 25, the width of each position of the band shape, and the area of the white area, and compares each extracted data with a preset threshold value. This determines whether the surface properties of the resin substrate 11 are suitable for bonding with foamed polyurethane. In this way, only non-defective products can be sent to the subsequent bonding process by foaming the foamed polyurethane, and defective products can be treated by re-modifying the surface or correcting any bending.

[0042] As described above, the surface determination unit 17 incorporated in the surface modification device 10 of this embodiment controls the operation of the robot arm 21, and applies the determination reagent to a predetermined position on the surface of the resin substrate 11 along a predetermined contour shape using the dyne pen 23, so that the determination reagent can be accurately applied to the surface of the resin substrate 11 in the predetermined contour shape.

[0043] When evaluating a plurality of resin substrates 11, if the properties such as the surface shape and wettability at a predetermined position of the resin substrates 11 are the same, the shape and thickness of the applied figure 25 made of the determination reagent can be accurately formed to be the same. If there is a difference in the properties such as the surface shape and wettability of the resin substrates 11, the amount of the applied determination reagent will vary or the determination reagent will be repelled, and the shape and line thickness of the applied figure 25 will change depending on the degree of the difference.

[0044] In this way, by measuring the area of a region of a predetermined color in a photographed image of the coated pattern 25 formed with the evaluation reagent, it is possible to accurately measure the difference in the coated shape among a plurality of resin substrates 11, and by comparing this with a threshold value, it is possible to accurately and consistently determine whether the surface properties of the resin substrates 11 are suitable for bonding with foamed polyurethane. Therefore, it is possible to easily and consistently determine whether the surface of the resin substrate 11 has properties suitable for bonding with foamed polyurethane without requiring the operator to have any experience.

[0045] In this embodiment, the dyne pen 23 has a pen tip 23a with a cross-sectional shape whose lengths in two perpendicular directions are different from each other, and the robot arm 21 is configured to apply the determination reagent to the surface by moving the pen tip 23a along the annular contour shape while keeping the orientation of the cross-sectional shape constant and bringing it into contact with the surface of the resin substrate 11.

[0046] While the robot arm 21 moves the pen core 23a along the annular contour while bringing the pen core 23a into contact with the surface of the resin substrate 11, the orientation of the cross-sectional shape of the pen core 23a is kept constant, and the width of the contact surface of the pen core 23a in contact with the surface of the resin substrate 11, perpendicular to the direction of travel, changes as the robot arm 21 moves along the annular contour. As a result, the line thickness of the coated figure 25 formed by the evaluation reagent changes at each position. Moreover, this change will be the same if the surface shapes at predetermined positions on multiple resin substrates 11 are the same, but will be different if the surface shapes at predetermined positions are different from one another. Therefore, the surface shape of the resin substrate 11 can be accurately determined by measuring the coated figure 25 formed by the evaluation reagent.

[0047] The surface modification device 10 of this embodiment includes a modification unit 15 that modifies the surface of a resin substrate 11 having a three-dimensional shape, and a surface determination unit 17 that is made up of a surface determination device. Therefore, the modification unit 15 can modify the surface of a resin substrate 11 having a three-dimensional shape and determine whether or not the modified surface is suitable for bonding polyurethane foam, making it possible to easily and consistently achieve appropriate surface modification.

[0048] In this surface modification device 10, the modification section 15 has a frame processing section 19 that is positioned opposite a portion of the surface of the resin substrate 11 and frames that portion, and the frame processing section 19 is movably supported on the robot arm 21 together with the dyne pen 23, and the operation of the robot arm 21 is controlled by the control section 31 so that the modification section 15 moves along the surface of the resin substrate 11.

[0049] Therefore, both the frame processing section 19 that performs the frame processing and the surface evaluation section 17 that evaluates whether the surface properties modified by the frame processing are suitable for bonding polyurethane foam are moved along the surface of the resin substrate 11 by the robot arm 21, so the robot arm 21 can be used in common for both. Moreover, since the target resin substrate 11 has the same three-dimensional shape and the arrangement of obstacles and the like around the device is also common, the settings for the operation of the robot arm 21 and the settings for operation restrictions are also common. Therefore, various facilities can be standardized, and the device configuration can be simplified.

[0050] The present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the present invention. For example, in the above-described embodiment, an example of modifying and determining a substrate for a soft instrument panel as the resin substrate 11 was described, but the resin substrate is not particularly limited as long as it is a resin substrate to which foamed polyurethane is directly bonded. Furthermore, although a molded body made of polypropylene was used as the resin substrate 11 in the above, a molded body made of another resin may also be used, and any resin can be appropriately selected as long as the properties of the surface of the resin substrate, such as wettability, can be adjusted by surface modification. [Explanation of symbols]

[0051] 10 Surface modification equipment 11 Resin substrate 13 Jig 15. Modification section 17 Surface determination section 19 Frame Processing Section 19a Movement Route 21 Robotic Arm 23 Dyne Pen 23a Pen tip 23d direction of movement 25 Application Pattern 27 Photography Department 29 Judgment section 31 Control Unit

Claims

1. A surface evaluation device for evaluating whether or not a surface of a resin substrate having a three-dimensional shape is suitable for bonding a foamed polyurethane to the surface, the device comprising: a dyne pen capable of applying a determination reagent; a robotic arm that supports and moves the dyne pen; a control unit that operates the robot arm so as to apply the determination reagent to a predetermined position on the surface of the resin substrate along a predetermined contour shape using the dyne pen; an imaging unit that images the applied pattern formed by the determination reagent; and a determination unit that determines pass / fail by comparing extracted data obtained from the photographed image of the coating pattern with a threshold value.

2. The dyne pen has a pen core with a cross-sectional shape whose lengths in two perpendicular directions are different from each other, 2. The surface evaluation device according to claim 1, wherein the robot arm applies the evaluation reagent to the surface by bringing the pen tip into contact with the surface of the resin substrate and moving the pen tip along the annular contour shape while keeping the orientation of the cross-sectional shape of the pen tip constant.

3. A surface modification device comprising: a modification unit that performs a surface modification treatment on a surface of a resin substrate having a three-dimensional shape; and a surface determination unit that comprises the surface determination device according to claim 1 or 2.

4. the modifying unit has a frame processing unit that is disposed opposite to a portion of the surface of the resin substrate and that performs a frame processing on the portion, The surface modification apparatus according to claim 3, wherein the frame processing unit is movably supported on the robot arm together with the dyne pen, and the operation of the robot arm is controlled by the control unit so that the modification unit moves along the surface of the resin substrate.

Images