Liquid ejecting apparatus, liquid ejecting method, and storage medium storing program

Abstract

The present application provides a liquid ejecting apparatus, a liquid ejecting method, and a storage medium storing a program, which are excellent in detection accuracy of ejection abnormality. A liquid ejecting apparatus according to an embodiment of the present application is a liquid ejecting apparatus that applies a liquid to an application target surface, and includes a head that applies the liquid ejected from a nozzle to the application target surface, and an output unit that outputs information on ejection abnormality of the nozzle detected based on a shape of the liquid applied to the application target surface.

Description

Technical Field

[0001] This invention relates to a liquid jetting device, a liquid jetting method, and a storage medium storing a program. Background Technology

[0002] Previously, there was a known liquid injection device that detected nozzle injection abnormalities based on the liquid being injected from a nozzle disposed on a nozzle head and applied to the surface to which it was applied.

[0003] As described above, the liquid injection device discloses a method of reading an image formed on a surface by liquid ejected from a nozzle using a reading mechanism, and detecting nozzle injection abnormalities based on the reading result (for example, see Patent Document 1).

[0004] In liquid jetting devices, excellent accuracy in detecting jetting anomalies is required.

[0005] The purpose of this invention is to provide a liquid jetting device with excellent detection accuracy for jetting anomalies.

[0006] [Patent Document 1] Japanese Patent No. 6344862 Summary of the Invention

[0007] One aspect of the present invention relates to a liquid jetting device that applies liquid to a surface to which it is applied, comprising a nozzle that applies liquid ejected from a nozzle to the surface to which it is applied, and an output unit that outputs jetting abnormality information of the nozzle based on the shape of the liquid applied to the surface to which it is applied.

[0008] According to the present invention, a liquid jetting device with excellent detection accuracy for jetting anomalies can be provided. Attached Figure Description

[0009] Figure 1 The image shown is a side view of the overall configuration of the liquid injection device according to the embodiment.

[0010] Figure 2 The image shown is a front view of the overall configuration of the liquid injection device according to the embodiment.

[0011] Figure 3 The diagram shown is an example of the hardware configuration of the control unit involved in the embodiment.

[0012] Figure 4 The diagram shown is an example of the configuration of the supply unit involved in the implementation method.

[0013] Figure 5 The diagram shown is a three-dimensional illustration of the structure of the nozzle according to the embodiment.

[0014] Figure 6 The image shows along Figure 5 A cross-sectional view of the nozzle taken from plane P1.

[0015] Figure 7 The diagram shown is an example of the functional configuration of the control unit according to the first embodiment.

[0016] Figure 8 The diagram shown is a flowchart illustrating the operation of the liquid injection device according to the first embodiment.

[0017] Figure 9 The figure shown is an example of abnormal jetting detection of the liquid jetting device according to the first embodiment.

[0018] Figure 10 The image shown is along Figure 9 The figure shows an example of the cross-sectional shape detection results of the IX-IX line.

[0019] Figure 11 The image shown is along Figure 9 The image brightness distribution of the IX-IX line is read.

[0020] Figure 12 The diagram illustrates the relationship between the relative movement speed of the printhead and the ink height.

[0021] Figure 13 The figure shown is another first example of jet anomaly detection according to the first embodiment.

[0022] Figure 14 The figure shown is a second example of jet anomaly detection according to the first embodiment.

[0023] Figure 15 The diagram shown is an example of the functional configuration of the control unit of the liquid injection device according to the second embodiment.

[0024] Figure 16 The diagram shown illustrates the ink level according to the second embodiment.

[0025] Figure 17 The figure shown is an example of the application of the liquid spraying device according to the embodiment to a spraying robot. Detailed Implementation

[0026] The liquid injection device according to the embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments shown below are examples of liquid injection devices for specifically implementing the technical concept of the present embodiments, and are not limited to the embodiments shown below. In addition, unless specifically described, the dimensions, materials, shapes, and relative arrangements of the constituent parts described in the embodiments are not intended to limit the scope of the present invention, but are merely illustrative examples. Furthermore, the size and positional relationships of the components shown in the accompanying drawings are sometimes exaggerated for clarity of explanation. In addition, in the following description, the same names and symbols refer to the same or homogeneous components, and detailed descriptions are appropriately omitted.

[0027] In the figures shown below, directions are sometimes indicated by the X-axis, Y-axis, and Z-axis. The X-direction along the X-axis indicates the main scanning direction in which the carriage of the liquid injection device according to the embodiment moves. The Y-direction along the Y-axis indicates the sub-scanning direction that intersects the main scanning direction. The Z-direction along the Z-axis indicates the directions that intersect the X-direction and the Y-direction, respectively.

[0028] The direction in which the nozzle points in the X direction is designated as the +X direction, and the opposite direction is designated as the -X direction. Similarly, the direction in which the nozzle points in the Y direction is designated as the +Y direction, and the opposite direction is designated as the -Y direction. Likewise, in the Z direction, the direction in which the nozzle points is designated as the +Z direction, and the opposite direction is designated as the -Z direction. In this embodiment, as an example, the liquid injection device injects liquid in the +Z direction. However, these designations do not limit the orientation of the liquid injection device during use; the orientation of the liquid injection device is arbitrary.

[0029] [Implementation Method]

[0030] <Example of the overall configuration of the liquid injection device 1000>

[0031] Reference Figure 1 and Figure 2 The configuration of the liquid injection device 1000 according to this embodiment will be described. Figure 1 and Figure 2 This is an example diagram illustrating the overall structure of the liquid injection device 1000. Figure 1 It is a side view. Figure 2 This is the main view.

[0032] The liquid jetting device 1000 applies ink, for example a liquid, to the surface 100a of the object 100. After drying, the applied ink is fixedly adhered to the surface 100a. The liquid jetting device 1000 can employ either a continuous jetting method or a droplet jetting method.

[0033] There are no particular limitations on the surface 100a to which the liquid is applied (e.g., the body of a car, truck, or aircraft). Examples of non-permeable surfaces include the body of a car, truck, or aircraft. Non-permeable means that the liquid applied to the surface does not penetrate into the interior. The liquid spraying device 1000 can spray paint onto the body or fuselage of a car, truck, or aircraft by applying ink to it. Figure 1 In the example, a planar surface 100a is given along the X and Y directions, respectively.

[0034] However, the surface 100a to which the liquid is applied is not limited to a non-permeable surface, but can also be a permeable surface. Furthermore, the surface 100a to which the liquid is applied is not limited to a planar surface, but can also be a curved surface. The application of the liquid jetting device 1000 is not limited to spraying, but can also include applications such as forming images (printing) with ink on recording media such as paper or film.

[0035] like Figure 1 and Figure 2 As shown, the liquid injection device 1000 includes a nozzle 300, a moving mechanism 110, a sensor 120, and a control unit 500. The liquid injection device 1000 is configured such that the nozzle 300 faces the surface 100a to which it is applied.

[0036] The printhead 300 has a plurality of nozzles arranged at predetermined intervals in the Y direction, and applies ink ejected from the plurality of nozzles to the surface 100a to which it is applied. The printhead 300 is mounted on the carriage 1. However, the printhead 300 does not necessarily have a plurality of nozzles, and may also have only a single nozzle.

[0037] The moving mechanism 110 is a mechanism that moves the nozzle 300 and the surface 100a relative to each other along the surface of the surface 100a. In this embodiment, the moving mechanism 110 moves the nozzle 300 and the surface 100a relative to each other along the surface of the surface 100a in the X and Y directions, respectively. The moving mechanism 110 includes an X-axis guide rail 101 and a Y-axis guide rail 102.

[0038] Z-axis guide rail 103 holds the carriage 1 in such a way that the carriage 1 can move along the Z direction. X-axis guide rail 101 holds the Z-axis guide rail 103 in such a way that the Z-axis guide rail 103 holding the carriage 1 can move along the X direction. Y-axis guide rail 102 holds the X-axis guide rail 101 in such a way that the X-axis guide rail 101 can move along the Y direction.

[0039] The Z-direction drive unit 92 moves the carriage 1 along the Z-axis guide rail 103 in the Z-direction. The X-direction drive unit 72 moves the Z-axis guide rail 103 along the X-axis guide rail 101 in the X-direction. The Y-direction drive unit 82 moves the X-axis guide rail 101 along the Y-axis guide rail 102 in the Y-direction. Furthermore, the movement of the carriage 1 and the nozzle 300 in the Z-direction may not be parallel to the Z-direction; as long as it includes at least a Z-direction component, it may also be an oblique movement.

[0040] Sensor 120 outputs shape information of the ink ejected from the nozzle of printhead 300 and applied to the surface 100a. Sensor 120 is mounted side-by-side with printhead 300 on carriage 1 along the X direction.

[0041] The shape of the ink is, for example, a three-dimensional shape with the X, Y, and Z directions as axes. The shape information of the ink includes information representing the shape of the ink or information related to the shape of the ink. In this embodiment, the shape information of the ink includes the height of the ink relative to the surface 100a, that is, the length along the approximate Z direction relative to the surface of the ink on the surface 100a.

[0042] Sensor 120 is an image sensor that projects light with a striped pattern onto ink applied to the surface 100a and outputs shape information of the ink obtained from an image captured of the projected striped pattern. Sensor 120 outputs the shape information of the ink to the control unit 500.

[0043] A stripe pattern is a pattern formed by linear light rays extending along a predetermined stripe extension direction arranged in a direction approximately orthogonal to that stripe extension direction. Such a stripe pattern corresponds to the shape of the ink on which the stripe pattern is projected, with at least a portion of the linear light rays deformed due to bending or other factors. The sensor 120 obtains the shape information of the ink from the deformation of the stripe pattern by performing image processing on the captured image. Fourier transform analysis or moiré interferometry can be applied in the image processing.

[0044] However, the light projected by the sensor 120 is not limited to light with a striped pattern. As long as the pattern is predetermined, it can also have various patterns such as a grid pattern or a dotted pattern.

[0045] Sensor 120 is not limited to an image sensor; it can also be an optical sensor that illuminates ink applied to the surface 100a with light such as laser light and measures the shape of the ink based on the reflected light. Such an optical sensor can employ various methods such as triangulation or knife-edge measurement. However, when an image sensor is used as sensor 120, it is superior in terms of high-speed detection and ease of operation because it can measure the shape of the ink based on a single captured image.

[0046] The sensor 120 does not necessarily need to be installed side-by-side with the nozzle 300 along the X direction on the carriage 1. In addition, the installation position of the sensor 120 is not limited to the carriage 1 on which the nozzle 300 is mounted, but can also be on a carriage or other carriage that is installed separately from the carriage 1.

[0047] Furthermore, in this embodiment, the sensor 120 is illustrated with a calculator, and image processing of the captured image is performed using this calculator, but it is not limited to this. For example, the sensor 120 may also output the captured image as ink shape information to the control unit 500, and the control unit 500 may acquire the ink shape information through image processing. Alternatively, if the sensor 120 is a light sensor, the sensor 120 may also output an electrical signal based on the light intensity of the reflected light from the ink as ink shape information to the control unit 500, and the control unit 500 may acquire the ink shape information based on this electrical signal.

[0048] The control unit 500 controls the liquid injection device 1000 to apply liquid to the surface 100a. The control unit 500 is composed of a processor or electrical circuits mounted on an electrical board. The control unit 500 is electrically connected to each drive unit of the drive movement mechanism 110 and the nozzle 300, at least via wired or wireless means. However, the placement of the electrical board on which the control unit 500 is mounted is arbitrary, and the electrical board can also be remotely configured relative to the nozzle 300, etc.

[0049] The liquid jetting device 1000 sprays ink from the nozzle 300 onto the surface 100a while moving the carriage 1 along the X, Y and Z directions respectively, thereby applying ink to the surface 100a.

[0050] More specifically, the liquid jetting device 1000 jets ink from the printhead 300 onto the surface 100a while moving the printhead 300 and the surface to be applied to it relative to each other in the X direction, which is the main scanning direction.

[0051] After completing one relative movement in the X direction, the liquid jetting device 1000 moves the printhead 300 and the surface to be coated 100a relative to each other in the Y direction, which is a sub-scanning direction. Then, after completing one relative movement in the Y direction, the liquid jetting device 1000 moves the printhead 300 and the surface to be coated 100a relative to each other again in the X direction, while simultaneously jetting ink from the printhead 300 to coat the surface to be coated 100a. The liquid jetting device 1000 repeatedly performs this relative movement in the X and Y directions to coat the surface to be coated 100a with ink.

[0052] When the surface 100a to be applied is a planar object along the X and Y directions, the liquid jetting device 1000 does not perform relative movement between the nozzle 300 and the surface 100a in the Z direction during the ink application operation. When the surface 100a to be applied has a shape with different heights in the Z direction, the liquid jetting device 1000 performs relative movement between the nozzle 300 and the surface 100a in the Z direction according to the shape of the surface 100a to be applied during the ink application operation.

[0053] <Example of hardware configuration of control unit 500>

[0054] Figure 3 The diagram shown illustrates the hardware configuration of the control unit 500 in an example liquid injection device 1000. The control unit 500 includes a CPU (Central Processing Unit) 501, a ROM (Read-Only Memory) 502, a RAM (Random Access Memory) 503, and an I / F (Interface) 504. These components are electrically connected to each other via a system bus. The control unit 500 may be configured as, for example, a computer.

[0055] In addition, the control unit 500 is electrically connected to the nozzle 300, the X-direction drive unit 72, the Y-direction drive unit 82, the Z-direction drive unit 92, the storage unit 511, the display unit 512, the operation panel 513, and the sensor 120.

[0056] CPU 501 controls the operation of the entire control unit 500 by using RAM 503 as the working area and executing the program stored in ROM 502.

[0057] ROM502 is a non-volatile memory that stores programs and other fixed data used to control the recording operations of CPU501.

[0058] RAM503 is a volatile memory used to temporarily store assigned data such as patterns and characters drawn on the assigned surface 100a, and shape data of the body of the object 100.

[0059] I / F504 is an interface that enables external devices such as host PCs (personal computers) to communicate with the control unit 500.

[0060] Storage unit 511 is an external storage device such as an HDD (hard disk drive) or SSD (solid-state drive) that stores preset settings. The information stored in storage unit 511 is sometimes used when CPU 501 executes a read program.

[0061] Under the control of the control unit 500, the display unit 512 displays a setting screen for the ink supply conditions of the liquid jetting device 1000, or a screen notifying the nozzles in the printhead 300 of jetting abnormalities.

[0062] The operation panel 513 is an operation input device such as a touch panel, keyboard, or mouse that accepts the operation of the liquid jetting device 1000. The operation panel 513 is used to input values ​​(coordinates) for determining the area on the surface 100a where ink is jetted, the moving speed of the carriage 1, image data and three-dimensional coordinate information (body data) for applying ink to the surface 100a, the distance between the nozzle 300 and the surface 100a, etc.

[0063] In addition, the display unit 512 and the operation panel 513 can also be operated on the same screen via a touch panel or the like.

[0064] The X-direction drive unit 72 drives the carriage 1 in the X direction according to the instruction from the control unit 500. The Y-direction drive unit 82 drives the carriage 1 in the Y direction according to the instruction from the control unit 500. The Z-direction drive unit 92 drives the carriage 1 in the Z direction according to the instruction from the control unit 500.

[0065] The control unit 500 controls the movement of the carriage 1, which houses the printhead 300 and sensor 120, in the X and Y directions by controlling the operation of the X-direction drive unit 72 and the Y-direction drive unit 82, respectively. Furthermore, the control unit 500 controls the movement of the printhead 300 relative to the carriage 1 in the Z direction by controlling the operation of the Z-direction drive unit 92. In turn, the control unit 500 controls the ejection of ink from the printhead 300.

[0066] <Example of the composition of supply unit 200>

[0067] Figure 4 The diagram shown is an example of the configuration of the supply unit 200 in the liquid jetting device 1000. The supply unit 200 supplies ink to the printhead 300.

[0068] Printhead 300 includes printhead 300Y which sprays yellow (Y) ink, printhead 300M which sprays magenta (M) ink, printhead 300C which sprays cyan (C) ink, and printhead 300K which sprays black (K) ink. Additionally, printhead 300 is a general designation used when printheads 300Y, 300M, 300C, and 300K are not specifically distinguished.

[0069] In addition, the printhead 300 may also include a printhead 300Q for spraying external coating ink and a printhead 300P for spraying primer ink or white ink, etc., for spraying other inks. The supply unit 200 is capable of supplying ink of various colors to the printheads 300 of various colors.

[0070] The supply unit 200 includes an ink tank 330 as a sealed container to hold ink 325 of various colors ejected from each printhead 300. The ink tank 330 and the inlet (supply port) of the printhead 300 are connected via tubes 333 in a manner that allows ink to flow.

[0071] On the other hand, the ink tank 330 is connected to the compressor 230 via a pipe 331 containing an air conditioner 332, and the compressor 230 supplies pressurized air. As a result, pressurized ink 325 of various colors is supplied to the inlet of each printhead 300, and the liquid jetting device 1000 jets ink 325 from the nozzle of each printhead 300.

[0072] <Example of the configuration of nozzle 300>

[0073] Figure 5 and Figure 6 The diagram shown is an example of the structure of the nozzle 300. Figure 5 It's a 3D image. Figure 6 It is along Figure 5 A cross-sectional view of the nozzle 300 cut off by plane P1.

[0074] The nozzle 300 has multiple spray modules 310 arranged in one or more rows within the housing 10.

[0075] The printhead 300 has a supply port 11 and a return port 12. The supply port 11 supplies pressurized ink from the outside to the ejection module 310, and the return port 12 discharges any un-ejected ink to the outside. In addition, the housing 10 has a connector 2.

[0076] The jetting module 310 includes a nozzle plate 311 having a nozzle 321 for jetting ink, a flow path 322 through which the nozzle 321 is connected and supplies pressurized liquid, and a piezoelectric element 324 that drives a needle-shaped valve body to open and close the nozzle 321.

[0077] Nozzle plate 311 engages with housing 10. Flow path 322 is a shared flow path for multiple jetting modules 310 disposed on housing 10, supplying pressurized ink from supply port 11 and discharging ink from recovery port 12. Additionally, during ink jetting onto the surface 100a, ink discharge from recovery port 12 may be temporarily suspended to avoid reducing the jetting efficiency of ink from nozzle 321.

[0078] [First Implementation Method]

[0079] <Example of the functional configuration of control unit 500>

[0080] Figure 7 The diagram shown is an example block diagram illustrating the functional configuration of the control unit 500. The control unit 500 includes an ink type acquisition unit 51, an ink volume determination unit 52, an ejection control unit 53, a speed determination unit 54, a movement control unit 55, an ejection anomaly detection unit 56, and an output unit 57.

[0081] The control unit 500 can control the operation of the liquid jetting device 1000, and while applying ink to the surface 100a, detect jetting abnormalities of the nozzles of the printhead 300 and output nozzle jetting abnormality information.

[0082] Specifically, the control unit 500 determines the ink volume m ejected from the printhead 300 and the relative movement speed v of the printhead 300 relative to the surface 100a based on the ink type information U of the ink type acquisition unit 51, through the ink volume determination unit 52 and the speed determination unit 54. Based on the determined ink volume m and relative movement speed v, the control unit 500 controls the ejection of ink 325 from the printhead 300 via the ejection control unit 53, and controls the movement of the printhead 300 relative to the surface 100a via the movement control unit 55. Furthermore, based on the ink shape information output from the sensor 120, the control unit 500 detects ejection abnormalities of the nozzles in the printhead 300 via the ejection abnormality detection unit 56, and outputs nozzle ejection abnormality information via the output unit 57.

[0083] The control unit 500 uses the CPU 501 to expand the program stored in the ROM 502 into the RAM 503 and execute it to implement the functions of the ink type acquisition unit 51, the ink volume determination unit 52, the jet control unit 53, the speed determination unit 54, the movement control unit 55, and the jet anomaly detection unit 56. Furthermore, the control unit 500 implements the function of the output unit 57 via the I / F 504.

[0084] Alternatively, at least a portion of the functions of the control unit 500 may be performed by components other than the control unit 500, such as the nozzle 300 or the sensor 120. Alternatively, at least a portion of the functions of the control unit 500 may be distributed and implemented by the control unit 500 and components other than the control unit 500.

[0085] The ink type acquisition unit 51 acquires the ink type information U of the ink 325 ejected from the printhead 300 by the liquid ejection device 1000. For example, the ink type acquisition unit 51 can acquire the ink type information U input by the user of the liquid ejection device 1000 (hereinafter referred to as the user) via the operation panel 513. Alternatively, the ink type acquisition unit 51 can also read the ink type information U pre-stored in the storage unit 511, etc. The ink type acquisition unit 51 outputs the ink type information U to the ink volume determination unit 52 and the speed determination unit 54.

[0086] The ink volume determination unit 52 determines the amount of ink (m, liquid volume) to be ejected from the printhead 300 based on the ink type information U input from the ink type acquisition unit 51 and referring to the ink information 520 stored in the storage unit 511. The ink information 520 contains pre-determined information on the relationship between the ink type and the ink volume m. The ink volume determination unit 52 outputs the determined ink volume m information to the ejection control unit 53.

[0087] The ejection control unit 53 controls the ejection of ink 325 from the printhead 300. In particular, in this embodiment, the ejection control unit 53 controls the height of the ink 325 applied to the surface 100a relative to the surface 100a by controlling the amount of ink m ejected from the printhead 300.

[0088] In continuous spray mode, the spray control unit 53 can increase the amount of ink 325 sprayed from the printhead 300 by extending the time for the printhead 300 to spray ink 325, increasing the speed at which ink 325 is sprayed from the printhead 300, or increasing the opening area of ​​the nozzle.

[0089] Furthermore, in the case of droplet ejection, the ejection control unit 53 can increase the amount of ink m ejected from the printhead 300 by increasing the volume of the ink droplets formed by the ink 325 or by increasing the driving voltage of the printhead 300. For example, the ejection control unit 53 can increase the volume of the ink droplets by causing multiple ink droplets to combine.

[0090] The information on the relationship between the type of ink 325 and the amount of ink m includes information on the relationship between the surface tension of ink 325 and the amount of ink m, which is associated with the type of ink 325, or information on the relationship between the viscosity of ink 325 and the amount of ink m, which is associated with the type of ink 325.

[0091] The ink volume determination unit 52 determines the amount of ink m ejected from the printhead 300 by a method that the lower the surface tension of the ink 325, the greater the amount of ink m ejected from the printhead 300. Alternatively, the ink volume determination unit 52 determines the amount of ink m ejected from the printhead 300 by a method that increases the amount of ink m ejected from the printhead 300 by a method that increases the viscosity of the ink 325. The ejection control unit 53 enables the printhead 300 to eject the amount of ink m determined by the ink volume determination unit 52.

[0092] The speed determination unit 54 determines the relative movement speed v between the printhead 300 and the surface 100a based on the ink type information U input from the ink type acquisition unit 51 and referring to the ink information 520 stored in the storage unit 511. The ink information 520 contains pre-determined information on the relationship between the ink type 325 and the relative movement speed v. The speed determination unit 54 outputs the determined relative movement speed v to the movement control unit 55.

[0093] The movement control unit 55 controls the relative movement of the movement mechanism 110. In this embodiment, the movement control unit 55 controls the relative movement of the movement mechanism 110 by controlling the X-direction drive unit 72, the Y-direction drive unit 82, and the Z-direction drive unit 92. Furthermore, particularly in this embodiment, the movement control unit 55 can control the height of the ink 325 applied to the application surface 100a relative to the application surface 100a by controlling the relative movement speed v of the movement mechanism 110.

[0094] The speed determination unit 54 determines the relative movement speed v by adjusting the amount of ink m ejected from the printhead 300. Additionally, the speed determination unit 54 determines the relative movement speed v by adjusting the surface tension of the ink 325. Furthermore, the speed determination unit 54 determines the relative movement speed v by adjusting the viscosity of the ink 325. The movement control unit 55 moves the printhead 300 relative to the surface 100a by adjusting the relative movement speed v determined by the speed determination unit 54.

[0095] The ejection anomaly detection unit 56 detects ejection anomalies in the nozzle based on the shape of the ink 325 applied to the surface 100a. In this embodiment, the ejection anomaly detection unit 56 detects ejection anomaly information Ne based on the shape information of the ink 325 output from the sensor 120. The ejection anomaly detection unit 56 outputs the detected ejection anomaly information Ne via the output unit 57. In this embodiment, the ejection anomaly information Ne includes ejection anomaly nozzle information Nn, which identifies ejection anomaly nozzles among a plurality of nozzles.

[0096] The jetting anomaly detection unit 56 can output the jetting anomaly information Ne of the nozzle to the display unit 512 via the output unit 57, and display it on the display unit 512. Alternatively, the jetting anomaly detection unit 56 can also output the jetting anomaly information Ne of the nozzle to the storage unit 511 via the output unit 57 and store it in the storage unit 511, or it can send the jetting anomaly information Ne of the nozzle to an external device of the liquid jetting device 1000.

[0097] <Example of operation of liquid injection device 1000>

[0098] Figure 8 The diagram shown is an example of the operation of the liquid injection device 1000. Figure 8 This example illustrates the detection action of a spray malfunction in the liquid injection device 1000. For instance, when the liquid injection device 1000 receives a spray malfunction detection instruction input by the user using the operation panel 513, it begins... Figure 8 The action.

[0099] First, in step S81, the liquid jetting device 1000 acquires the type information U of the ink 325 ejected from the printhead 300 by the ink type acquisition unit 51. The ink type acquisition unit 51 then outputs the information about the type of ink 325 to the ink volume determination unit 52 and the speed determination unit 54.

[0100] Next, in step S82, the liquid ejection device 1000 determines the amount of ink m to be ejected from the printhead 300 by the ink volume determination unit 52, based on the ink type information U input from the ink type acquisition unit 51 and referring to the ink information 520 stored in the storage unit 511. The ink volume determination unit 52 outputs the determined ink volume m information to the ejection control unit 53.

[0101] Subsequently, in step S83, the liquid jetting device 1000, through the speed determination unit 54, determines the relative movement speed v between the printhead 300 and the surface 100a, based on the ink type information U input from the ink type acquisition unit 51 and referring to the ink information 520 stored in the storage unit 511. The speed determination unit 54 outputs the determined relative movement speed information to the movement control unit 55.

[0102] In addition, the order of steps S82 and S83 can be reversed, or they can be performed in parallel.

[0103] Subsequently, in step S84, the liquid jetting device 1000 controls the relative movement between the nozzle 300 and the surface to be applied 100a caused by the moving mechanism 110 through the moving control unit 55, and controls the nozzle 300 to jet ink 325 through the jetting control unit 53, thereby applying ink 325 to the surface to be applied 100a.

[0104] Subsequently, in step S85, the liquid jetting device 1000 obtains shape information of the ink 325 applied to the surface 100a from the sensor 120.

[0105] Subsequently, in step S86, the liquid jetting device 1000 detects jetting abnormalities of the nozzle based on the shape of the ink 325 applied to the surface to be applied 100a by the jetting abnormality detection unit 56.

[0106] Next, in step S87, the liquid injection device 1000 outputs the nozzle injection abnormality information Ne detected by the injection abnormality detection unit 56 through the output unit 57.

[0107] Next, in step S88, the liquid injection device 1000 determines whether to terminate the injection anomaly detection operation via the control unit 500. For example, the control unit 500 can determine whether to terminate the injection anomaly detection operation based on the user's operation input using the operation panel 513, or based on the determination result of whether the number of injection anomaly detection operations has reached a preset number.

[0108] In step S88, if the operation is determined to be completed (step S88, Yes), the liquid injection device 1000 terminates its operation. On the other hand, if the operation is determined not to be completed (step S88, No), the liquid injection device 1000 performs the operations after step S84 again.

[0109] As described above, the liquid injection device 1000 is capable of detecting injection abnormalities in the nozzles of the nozzle 300.

[0110] <Function of Liquid Injection Device 1000>

[0111] (Example of jetting anomaly detection based on ink shape)

[0112] Figure 9 and Figure 10 The image shown is an example of the detection results of a jetting anomaly in the liquid jetting device 1000. Figure 10 The image shows along Figure 9 An example diagram illustrating the detection results of the cross-sectional shape of the IX-IX line. Figure 9Examples include nozzles 321a to 321e, which are multiple nozzles of the printhead 300, and line patterns L1 to L5 formed by ink 325 ejected from the printhead 300 and applied to the surface 100a.

[0113] exist Figure 9 In the diagram, nozzles 321a, 321b, 321d, and 321e, indicated by white circles, represent nozzles that normally eject ink 325, while nozzle 321c, indicated by black circles, represents a non-ejecting nozzle that fails to eject ink 325 due to ejection abnormalities.

[0114] While the printhead 300 moves along the X direction via the moving mechanism 110, it ejects ink 325 from each nozzle, thereby forming a linear pattern extending along the X direction on the surface 100a corresponding to each nozzle.

[0115] The X direction is an example of the pattern extension direction. A linear pattern extending along the X direction is an example of a defined pattern, and is an example of multiple linear patterns extending along the X direction formed on the surface 100a by ink 325 ejected from each of the multiple nozzles 321a to 321e.

[0116] exist Figure 9 In the example, the color assigned to surface 100a and the color assigned to ink 325 are colors from the same system. Colors from the same system can also be described as colors with similar hues. For example, if ink 325 is black and surface 100a is a near-black gray, then the colors from the same system are also from the same system. Furthermore, the same system applies when ink 325 is white and surface 100a is a near-white cream, or when ink 325 is red and surface 100a is a carmine.

[0117] like Figure 9 As shown, a line pattern L1 is formed by ink 325 ejected from nozzle 321a, and a line pattern L2 is formed by ink 325 ejected from nozzle 321b. Additionally, a line pattern L4 is formed by ink 325 ejected from nozzle 321d, and a line pattern L5 is formed by ink 325 ejected from nozzle 321e. Since nozzle 321c is a non-ejector nozzle, no line pattern is formed at the position corresponding to the nozzle 321c on the surface 100a.

[0118] Sensor 120 measures the shape of the applied surface 100a and the ink 325 applied to the applied surface 100a. In the shape measured by sensor 120, along... Figure 9 The cross-sectional shape of the IX-IX line is as follows Figure 10 As shown. In Figure 10In the diagram, the horizontal axis represents the position along the Y direction, and the vertical axis represents the height along the Z direction.

[0119] Shape S1 corresponds to the cross-sectional shape of linear pattern L1, shape S2 corresponds to the cross-sectional shape of linear pattern L2, shape S4 corresponds to the cross-sectional shape of linear pattern L4, and shape S5 corresponds to the cross-sectional shape of linear pattern L5.

[0120] The height h of shapes S1, S2, S4, and S5 increases relative to the surface 100a depending on the amount of ink 325 applied. On the other hand, since the linear pattern corresponding to the nozzle 321c is not formed, the height of shape S3 corresponding to the nozzle 321c is approximately the same as the height of the surface 100a. Furthermore, this approximately the same height implies a difference corresponding to the noise of the sensor 120.

[0121] The liquid jetting device 1000 can detect a nozzle as an abnormal jetting nozzle based on the shape of the ink 325 applied to the surface 100a. For example, if a shape that does not exceed a predetermined height threshold is not obtained in the area corresponding to the position of the nozzle of the printhead 300 on the surface 100a.

[0122] exist Figure 9 and Figure 10 In the example, a shape exceeding a predetermined height threshold cannot be obtained in the region corresponding to nozzle 321c. Therefore, the liquid injection device 1000 outputs injection abnormality information Ne indicating that nozzle 321c is experiencing an injection abnormality. Additionally, the liquid injection device 1000 can output injection abnormality nozzle information Nn, which identifies nozzle 321c as the nozzle with the injection abnormality among a plurality of nozzles.

[0123] In other words, in the nozzle ejection anomaly detection method according to the embodiment, the printhead 300 forms a linear pattern as a predetermined pattern on the surface 100a by ejecting ink 325 from each of the plurality of nozzles 321a to 321e. The output unit 57 outputs ejection anomaly nozzle information Nn, which is determined based on a second position of the surface 100a where the height of the ink 325 constituting the linear pattern formed on the surface 100a is lower than the height in a first position of the surface 100a. Figure 10 The positions of shapes S1, S2, S4 and S5 in the Y direction correspond to the first position, and the position of shape S3 corresponds to the second position.

[0124] Here, as a comparative example, the method for detecting nozzle spraying abnormalities could include, for example, reading the linear pattern formed on the surface 100a by a camera or scanner, and detecting nozzle spraying abnormalities based on the read image.

[0125] However, as Figure 9 As shown in the example, when the color of the surface 100a and the color of the ink 325 are from the same system, the contrast of the color of the ink 325 relative to the color of the surface 100a becomes lower. Therefore, in the method involved in the comparative example, sometimes the linear pattern within the read image cannot be determined, thus failing to detect jetting anomalies.

[0126] Figure 11 The image shown is a cross-sectional brightness distribution diagram of the linear pattern in the photographed image of the linear pattern involved in the comparative example above. Figure 11 Indicates, for example, along Figure 9 The profile brightness distribution of the image read from the IX-IX line.

[0127] exist Figure 11 In the image, the horizontal axis represents the position along the Y direction, and the vertical axis represents the pixel brightness values ​​(in gray levels) read from the image. Additionally, in... Figure 9 In the example, because the color of ink 325 is darker than the color of the surface 100a, the pixel brightness value of the line pattern is lower than the pixel brightness value of the surface 100a. Figure 11 For ease of explanation, the brightness and darkness are reversed, and it is represented by the fact that the pixel brightness value 111 of the line pattern is higher than the pixel brightness value 112 of the surface 100a.

[0128] like Figure 11 As shown, the difference between the pixel brightness value 111 in the region where the linear pattern is formed and the pixel brightness value 112 in the region where the linear pattern is not formed (the region to which surface 100a is applied) is small. Therefore, the method involved in the comparative example cannot determine the region where the linear pattern is not formed, and it is difficult to detect nozzle jetting abnormalities.

[0129] Since the liquid jetting device 1000 according to the embodiment detects nozzle jetting abnormalities based on the shape of the ink 325 applied to the surface 100a, it can detect nozzle jetting abnormalities without being affected by the contrast between the color of the surface 100a and the color of the ink 325. Because the liquid jetting device 1000 is unaffected by color contrast, it can detect nozzle jetting abnormalities not only when the color of the surface 100a and the color of the ink 325 are from the same system, but also when they are the same color.

[0130] Furthermore, in this embodiment, an example is given of spraying ink 325 from multiple nozzles 321a to 321e to form a linear pattern, and a method is used to detect nozzles that cannot form a linear pattern as nozzles with spraying abnormalities among the multiple nozzles. However, the method for detecting nozzle spraying abnormalities is not limited to this. For example, when the printhead 300 has only one nozzle, the liquid spraying device 1000 may also spray ink 325 from one nozzle and detect nozzle spraying abnormalities based on whether the pattern of the sprayed ink 325 is formed on the surface 100a.

[0131] The specified pattern is not limited to a linear pattern; it can be any predetermined pattern, including dot patterns or filled patterns. Linear patterns are not limited to those extending in the X direction; they can also be those extending in the Y direction, or those extending within the surface 100a in a direction intersecting the X or Y direction.

[0132] (Example of controlling relative speed v)

[0133] Next, the effect of moving the nozzle 300 relative to the surface 100a by means of the relative movement speed v determined by the speed determination unit 54 will be explained.

[0134] In this embodiment, nozzle ejection abnormalities are detected based on the shape of the ink 325 applied to the surface 100a, particularly the height h of the ink 325. However, due to factors such as the amount of ink ejected from the nozzle m, the viscosity of the ink 325, or surface tension, sometimes a sufficient height h of the ink 325 relative to the surface 100a cannot be obtained. When the height h of the ink 325 is insufficient, the linear pattern formed on the surface 100a by the ink 325 ejected from a normal nozzle cannot be detected by the sensor 120, and the liquid ejection device 1000 may sometimes fail to accurately detect nozzle ejection abnormalities.

[0135] In this embodiment, the movement control unit 55 controls the height of the ink 325 relative to the surface 100a by controlling the relative movement speed v of the movement mechanism 110. This ensures that the height h of the ink 325 relative to the surface 100a is controlled for high-precision detection of nozzle ejection abnormalities.

[0136] Figure 12 The diagram illustrates the relationship between the relative moving speed v of the printhead 300 and the ink height. Figure 12 The diagram shows the height of the ink 325 applied to the surface 100a when the printhead 300 is moved in the direction of movement 170 while spraying three drops of ink 325 using three relative moving speeds v1, v2, and v3. The relationship between the relative moving speeds v1, v2, and v3 is v1 > v2 > v3.

[0137] When the printhead 300 moves at a relative speed v1, the three ink drops 325a, 325b and 325c do not accumulate, and their respective heights are equal to h1.

[0138] When the printhead 300 moves at a relative speed v2, since v2 is slower than v1, a portion of the three ink drops overlaps, increasing the height of the ink droplets. Ink droplet 325d represents the first ink droplet. The height of ink droplet 325d is h1. Ink droplet 325e represents the ink droplet obtained by overlapping the second ink droplet onto ink droplet 325d. Through the overlap of the two ink droplets, the height of ink droplet 325e becomes h2, which is higher than h1. Ink droplet 325f represents the ink droplet obtained by further overlapping the third ink droplet onto ink droplet 325e. Through the overlap of the three ink droplets, the height of ink droplet 325f becomes h3, which is higher than h2.

[0139] When the printhead 300 moves at a relative speed v3, since v3 is slower than v2, the three ink drops overlap more than in the case of v2, resulting in a higher ink height. Ink 325g represents the first ink drop. The height of ink 325g is h1. Ink 325h represents the ink obtained by overlapping the second ink drop onto ink 325g. Through the overlap of two ink drops, the height of ink 325h becomes h4, which is higher than h1. Ink 325i represents the ink obtained by further overlapping the third ink drop onto ink 325h. Through the overlap of three ink drops, the height of ink 325i becomes h5, which is higher than h4.

[0140] As described above, the slower the relative movement speed v, the more the liquid jetting device 1000 is able to increase the height of the ink 325 applied to the surface 100a.

[0141] Since a smaller amount of ink m ejected from the printhead 300 results in a lower height h of the ink 325, it is preferable that the movement control unit 55 slows down the relative movement speed v. Furthermore, since a smaller surface tension of the ink 325 leads to greater wetting and spreading on the surface 100a, resulting in a lower height h of the ink 325, it is preferable that the movement control unit 55 slows down the relative movement speed v. Moreover, since a smaller viscosity of the ink 325 leads to greater spreading on the surface 100a, resulting in a lower height h of the ink 325, it is preferable that the movement control unit 55 slows down the relative movement speed v. Thus, the liquid ejection device 1000 can ensure that the height h of the ink 325 relative to the surface 100a is accurately detected for nozzle ejection abnormalities.

[0142] (Examples of abnormal spraying other than non-spraying)

[0143] The above example illustrates a case of non-spraying in spraying abnormalities, but the spraying abnormalities that the liquid spraying device 1000 can detect are not limited to non-spraying. For example, in addition to non-spraying, the liquid spraying device 1000 can also detect ink volume abnormalities where the amount of ink m sprayed from the nozzle deviates from a predetermined amount, and ink direction abnormalities where the direction of the ink sprayed from the nozzle deviates from a predetermined direction.

[0144] Figure 13 The figure shown is another first example of abnormal ink ejection detection, representing the cross-sectional shape of ink 325 when an abnormal ink volume is detected. Figure 14 The figure shown is a second example of abnormal jetting detection, representing the cross-sectional shape of ink 325 when an abnormal ink velocity is detected. Figure 13 and Figure 14 All indicate that they are related to Figure 9 The cross-sectional shape at the position corresponding to the IX-IX line.

[0145] like Figure 13 As shown, shapes S6 to S10 represent the shapes of ink 325 ejected from five nozzles and applied to the surface 100a. The heights of shapes S6, S7, S9, and S10 are approximately equal to the height h7. In contrast, the height h8 of shape S8 is lower than the height h7.

[0146] The height of the ink 325 applied to the surface 100a increases with the increase of the ink volume m, and conversely decreases with the decrease of the ink volume m. Therefore, the liquid jetting device 1000 can detect cases where the ink volume m ejected from the nozzle corresponding to shape S8 is less than the ink volume m (prescribed amount) ejected from other nozzles based on the height of shapes S6 to S10, and can detect abnormal ink volume of the nozzle corresponding to shape S8.

[0147] In addition, such as Figure 14 As shown, shapes S11 to S15 represent the shapes of ink 325 ejected from five nozzles and applied to the surface 100a. The intervals between shapes S11 and S12, and between shapes S14 and S15, are approximately equal as interval d12. In contrast, the interval d13 between shapes S12 and S13 is wider than interval d12.

[0148] The printhead 300 ejects ink 325 from the nozzle in a predetermined ejection direction. The predetermined ejection direction is, for example, a direction that is approximately orthogonal to the direction in which the plurality of nozzles are arranged. When the direction of the ink 325 ejected from the nozzle deviates from the predetermined ejection direction, the position of the ink on the surface 100a deviates with the deviation, and the spacing between adjacent ink shapes deviates from the predetermined spacing.

[0149] Therefore, based on shapes S11 to S15, the liquid jetting device 1000 can detect, from the spacing between adjacent ink shapes, that the jetting direction of the ink 325 from the nozzle corresponding to shape S13 deviates from the direction (prescribed jetting direction) of the ink 325 jetted from other nozzles, and can detect abnormal ink direction of the nozzle corresponding to shape S13.

[0150] In addition to the above, the liquid jetting device 1000 can also detect jetting abnormalities such as the speed of the ink 325 ejected from the nozzle deviating from the specified speed.

[0151] The liquid jetting device 1000 applies ink 325 to the surface 100a by jetting ink 325 from the printhead 300 while moving the printhead 300 and the surface 100a relative to each other. Therefore, when the speed of the ink 325 jetted from the printhead 300 deviates from a predetermined speed, the timing of applying the ink 325 to the surface 100a deviates from a predetermined timing. As a result, along the relative movement direction between the printhead 300 and the surface 100a (… Figure 9 In the X direction, the ejected ink 325 deviates from the specified position relative to the ink assignment position on the surface 100a.

[0152] Based on the shape of the ink applied to the surface 100a, the liquid jetting device 1000 can detect when the speed of the ink 325 ejected from the abnormal jetting nozzle deviates from the speed (prescribed speed) of the ink ejected from other nozzles from the ink application position along the relative movement direction, and can detect abnormal ink speed of the nozzle.

[0153] <Effects of Liquid Jet Device 1000>

[0154] The effect of the liquid jetting device 1000 will be explained. Previously, known techniques involved binarizing an image obtained by scanning the ink applied to the surface using a scanner or similar means, based on the color difference between the applied surface and the ink, and then detecting jetting anomalies by comparing the processed image with the image obtained during normal jetting.

[0155] However, in the existing technology, when the color of the surface and the color of the ink are the same or the same system, color contrast is sometimes not obtained because proper binarization cannot be performed and spraying anomalies cannot be detected.

[0156] In this embodiment, the liquid jetting device 1000 has a nozzle 300 that imparts ink 325 (liquid) ejected from the nozzle to the surface to which it is imparted 100a, and an output unit 57 that outputs nozzle jetting abnormality information Ne based on the shape of the ink 325 imparted to the surface to which it is imparted 100a.

[0157] For example, the liquid jetting device 1000 includes a sensor 120 that outputs shape information of ink 325 applied to the surface 100a, and an output unit 57 that outputs nozzle jetting abnormality information Ne, which is detected based on the shape information of the ink 325 output from the sensor 120. Furthermore, the shape information of the ink 325 includes height information of the ink 325 relative to the surface 100a.

[0158] Since the liquid jetting device 1000 detects nozzle jetting abnormalities based on the shape of the ink 325 applied to the surface 100a, it is unaffected by the contrast between the color of the surface 100a and the color of the ink 325. Therefore, even when the color of the surface 100a and the ink 325 are the same color or from the same system, the liquid jetting device 1000 can detect nozzle jetting abnormalities with good accuracy. As a result, in this embodiment, a liquid jetting device 1000 with excellent accuracy in detecting jetting abnormalities is provided.

[0159] For example, if the contrast Ct between the brightness Ct1 of the color assigned to surface 100a and the brightness Ct2 of the ink 325 satisfies the following equation (1), it would be difficult to detect nozzle ejection abnormalities in existing methods.

[0160] Ct=Ct1 / Ct2≤4…(1)

[0161] The liquid injection device 1000 has a particularly good effect when the contrast Ct is expressed by equation (1).

[0162] However, the application of this embodiment is not limited to the case where the color of the surface 100a and the color of the ink 325 are the same or from the same system. This embodiment can also be applied when the color of the surface 100a and the color of the ink 325 are different, resulting in high contrast. Since the liquid jetting device 1000 can detect nozzle jetting abnormalities without using a scanner or camera, it can ensure high accuracy in detecting nozzle jetting abnormalities without being affected by reading errors based on uneven illumination during reading. Furthermore, since complex image processing is not required to remove image noise, the liquid jetting device 1000 can ensure high accuracy in detecting nozzle jetting abnormalities through simple processing.

[0163] Furthermore, in this embodiment, the liquid injection device 1000 is illustrated with a configuration including a nozzle 300, a moving mechanism 110, a sensor 120, and a control unit 500. However, apart from the nozzle 300 and the output unit 57 included in the control unit 500, the other components are not essential. The liquid injection device 1000 can achieve the above-mentioned effects by having at least a nozzle 300 and an output unit 57.

[0164] Furthermore, in this embodiment, it is preferable that the surface to which the ink is applied 100a is non-permeable. In a non-permeable surface to which the ink is applied 100a, since the ink 325 applied to the surface to which the ink is applied 100a does not penetrate into the interior of the surface to which the ink is applied 100a or the object 100, the liquid jetting device 1000 can detect the shape of the ink 325 on the surface to which the ink is applied 100a with good accuracy, and can ensure a high accuracy in detecting nozzle jetting abnormalities.

[0165] Furthermore, in this embodiment, nozzle ejection anomalies include at least one of the following: no ejection of ink 325 from the nozzle; ink volume anomaly (liquid volume anomaly) where the amount of ink 325 ejected from the nozzle deviates from a predetermined amount; ink direction anomaly (liquid direction anomaly) where the direction of ink 325 ejected from the nozzle deviates from a predetermined ejection direction; and ink speed anomaly (liquid speed anomaly) where the speed of ink 325 ejected from the nozzle deviates from a predetermined speed. In this embodiment, since these ejection anomalies can be detected based on the shape of the ink 325 applied to the surface 100a, a highly versatile liquid ejection device 1000 can be provided for nozzle ejection anomalies.

[0166] Furthermore, in this embodiment, the printhead 300 has multiple nozzles, and the nozzle ejection anomaly information Ne includes ejection anomaly nozzle information Nn among the multiple nozzles. For example, the printhead 300 forms linear patterns L1 to L5 (prescribed patterns) on the surface 100a by ejecting ink 325 from the multiple nozzles respectively. The output unit 57 outputs ejection anomaly nozzle information Nn, which is determined based on the position (second position) of the shape S3 of the surface 100a, where the height of the ink 325 constituting the linear patterns L1 to L5 formed on the surface 100a is lower than the height h in the respective positions (first positions) of the shapes S1, S2, S4, and S5 of the surface 100a. Therefore, since the liquid ejection device 1000 can detect ejection anomaly nozzles by comparing them with ink 325 ejected from normal nozzles other than the ejection anomaly nozzles and applied to the surface 100a, the detection process can be performed simply. Furthermore, since the liquid injection device 1000 can detect the injection abnormalities of multiple nozzles in parallel, the detection operation can be made highly efficient.

[0167] Furthermore, in this embodiment, the linear patterns L1 to L5 comprise multiple linear patterns extending in the X direction (pattern extension direction) formed on the surface 100a by ink 325 ejected from multiple nozzles 321a to 321e respectively. This pattern extension direction is preferably the direction in which the printhead 300 moves relative to the surface 100a while ejecting the ink 325. Since linear patterns are easily identifiable in the event of ejection abnormalities, the liquid ejection device 1000 can easily detect nozzle ejection abnormalities by detecting the shape of the ink 325 within the multiple linear patterns.

[0168] Furthermore, in this embodiment, a moving mechanism 110 is provided to move the printhead 300 and the surface to be applied 100a relative to each other along the surface of the surface to be applied 100a, and a moving control unit 55 is provided to control the relative movement of the moving mechanism 110. The moving control unit 55 controls the height h of the ink 325 relative to the surface to be applied 100a by controlling the relative movement speed v of the moving mechanism 110.

[0169] For example, the less ink 325 is ejected from the printhead 300, the slower the relative movement speed v is caused by the movement control unit 55. Additionally, the lower the surface tension of the ink 325 ejected from the printhead 300, the slower the relative movement speed v is caused by the movement control unit 55. Alternatively, the lower the viscosity of the ink 325 ejected from the printhead 300, the slower the relative movement speed v is caused by the movement control unit 55.

[0170] The slower the relative movement speed v, the higher the ink 325 accumulates relative to the surface 100a. Therefore, when the ink 325 cannot reach a sufficient height h for detecting ejection anomalies due to wetting and spreading on the surface 100a, for example, by controlling the relative movement speed v to slow down, the liquid ejection device 1000 can ensure a sufficient height h of ink 325 for detecting ejection anomalies, thereby ensuring higher detection accuracy of nozzle ejection anomalies.

[0171] In addition, this embodiment includes a jetting control unit 53, which controls the height of the ink 325 relative to the surface 100a by controlling the amount of ink 325 jetted from the printhead 300.

[0172] For example, the lower the surface tension of the ink 325, the more the ejection control unit 53 increases the amount of ink 325 ejected from the printhead 300. Furthermore, the lower the viscosity of the ink 325, the more the ejection control unit 53 increases the amount of ink 325 ejected from the printhead 300.

[0173] As the amount of ink 325 ejected from the printhead 300 increases, the amount of ink 325 applied to the surface 100a becomes higher relative to the surface 100a. Therefore, the liquid ejection device 1000 can ensure a sufficient height h of ink 325 for ejection anomaly detection, for example, in situations where the ink 325 easily spreads and wets the surface 100a, making it difficult to obtain a sufficient height h for ejection anomaly detection, by controlling the amount of ink 325 ejected from the printhead 300. This ensures a higher accuracy in detecting nozzle ejection anomalies.

[0174] [Second Implementation]

[0175] Next, the liquid injection device 1000a according to the second embodiment will be described. Furthermore, the same reference numerals are used for components that are the same as in the previously described embodiment, and repeated descriptions are omitted where appropriate.

[0176] In this embodiment, the printhead 300 performs multiple sprays on the surface 100a in such a way that the ink 325 overlaps in the height direction, and the output unit 57 outputs nozzle spraying abnormality information Ne based on the shape of the ink 325 accumulated on the surface 100a.

[0177] Figure 15 The diagram shown is an example block diagram illustrating the functional configuration of the control unit 500a in the liquid injection device 1000a according to this embodiment. The control unit 500a includes an injection control unit 53a and a movement control unit 55a.

[0178] The ejection control unit 53a causes the printhead 300 to eject ink 325 multiple times on the surface to accumulate ink 325 in the height direction. The movement control unit 55a controls the relative movement between the printhead 300 and the surface 100a by the movement mechanism 110, so that the ink 325 ejected multiple times by the printhead 300 accumulates in the height direction.

[0179] The output unit 57 outputs nozzle ejection abnormality information Ne, which is detected based on the shape of the ink 325 that is deposited in the height direction in the surface 100a under the control of the ejection control unit 53a.

[0180] Figure 16 The diagram shown is an illustration of an example of ink 325 applied by the liquid jetting device 1000a to the surface 100a. Figure 16 The image shows the accumulation of ink 325 sprayed three times from the nozzle 300 onto the surface 100a.

[0181] exist Figure 16In the first injection (1st), ink 325j is applied to the surface 100a. The height of ink 325j relative to the surface 100a is height h11.

[0182] In the second injection, ink 325k is applied to ink 325j applied to the surface 100a. As a result of the accumulation of ink 325j and ink 325k, the height of ink 325 relative to the surface 100a becomes height h12, which is higher than height h11.

[0183] In the third injection, ink 325m is applied to ink 325j and ink 325k applied to the surface 100a. As a result of the accumulation of ink 325j, ink 325k and ink 325m, the height of ink 325 relative to the surface 100a becomes height h13, which is higher than height h12.

[0184] As described above, in this embodiment, the printhead 300 performs multiple sprays, causing the ink 325 to overlap along the height direction on the surface 100a. Furthermore, the output unit 57 outputs nozzle spraying anomaly information Ne, detected based on the shape of the ink 325 overlapping on the surface 100a. Therefore, the liquid spraying device 1000a can ensure a sufficient height h of ink 325 for spraying anomaly detection, thus ensuring higher accuracy in detecting nozzle spraying anomalies. Other than that, the effects are the same as in the first embodiment.

[0185] [Other preferred embodiments]

[0186] The liquid injection device 1000 or 1000a is suitable for a variety of applications.

[0187] Figure 17 The diagram shows an example of the application of the liquid spraying device 1000 to a painting robot 8000. The painting robot 8000 sprays paint on the body (body) of a car.

[0188] The painting robot 8000 has a robotic arm 810 that can move freely like a human arm through multiple joints, and a nozzle 820 for spraying ink is located at the front end of the robotic arm 810. In addition, the robotic arm 810 has a 3D sensor 830 near the nozzle 820.

[0189] As the painting robot 8000, a multi-joint robot with an appropriate number of axes, such as 5, 6, or 7 axes, can be used. The painting robot 8000 uses a 3D sensor 830 to detect the position of the nozzle 820 relative to the object 100 (a vehicle body in this embodiment), and moves the robot arm 810 to paint the object 100 based on the detection result. In this case, the nozzle 300 described in the embodiment can be used as the nozzle 820.

[0190] While the embodiments have been described above, the present invention is not limited to the embodiments described above. That is, various modifications and improvements can be made within the scope of the present invention.

[0191] In this embodiment, the liquid ejected from the printhead 300 may be a solution, suspension, latex, or UV-curable ink, including solvents such as water or organic solvents, colorants such as dyes and pigments, polymeric compounds, resins, functional materials such as surfactants, biocompatible materials such as DNA, amino acids and proteins, and calcium, and edible materials such as natural pigments. For example, these can be used as inkjet inks, spray coatings, surface treatment liquids, components of electronic components and light-emitting elements, liquids for forming resist patterns in electronic circuits, and material liquids for three-dimensional modeling.

[0192] The object 100 with the surface 100a is an object to which a liquid adheres and is attached or permeated. Specific examples include recording media such as vehicle bodies, building materials, paper, recording paper, film, and cloth; electronic components such as electronic substrates and piezoelectric elements; and media such as powder layers, organ models, and inspection units. Unless otherwise specified, it includes all substances to which liquids can adhere.

[0193] Additionally, the embodiments also include liquid jetting methods. For example, a liquid jetting method is a liquid jetting method performed by applying liquid to a surface using a liquid jetting device. This device applies liquid jetting from a nozzle to the surface via a nozzle and outputs jetting anomaly information detected by the nozzle based on the shape of the liquid applied to the surface via an output unit. Such a liquid jetting method can achieve the same effects as the liquid jetting device described above.

[0194] Furthermore, the implementation also includes a storage medium storing a program. For example, the program in the storage medium is a program that causes a liquid jetting device to apply liquid to a surface, and the liquid jetting device performs a process that applies liquid ejected from a nozzle through a nozzle head to the surface, and outputs information about nozzle ejection anomalies detected based on the shape of the liquid applied to the surface via an output unit. With such a program, the same effect as the liquid jetting device described above can be obtained.

[0195] Each function of the implementation method can be implemented by one or more processing circuits. Here, "processing circuit" in this specification includes a processor, such as a processor assembled by electronic circuits, which is programmed to perform each function by software, an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), or a conventional circuit module designed to perform the above functions.

Claims

1. A liquid injection device for applying liquid to a surface, comprising: A nozzle that applies the liquid ejected from the nozzle to the surface to which it is applied. The output unit outputs information about nozzle ejection anomalies detected based on the shape of the liquid applied to the surface to which it is applied. A moving mechanism that causes the nozzle and the surface to be applied to move relative to each other along the surface of the surface to be applied, and The movement control unit controls the relative movement performed by the movement mechanism. The movement control unit controls the height of the liquid relative to the surface by controlling the relative movement speed performed by the movement mechanism. The nozzle has multiple nozzles. The nozzle ejection anomaly information includes information identifying the nozzles with ejection anomalies among the plurality of nozzles. The nozzle forms a predetermined pattern on the surface to which the liquid is applied by spraying the liquid from the plurality of nozzles respectively. The output unit outputs jetting abnormal nozzle information, which is determined based on a second position of the applied surface where the height of the liquid constituting the predetermined pattern formed on the applied surface is lower than the height in a first position of the applied surface.

2. The liquid injection device according to claim 1, comprising: The sensor outputs shape information of the liquid applied to the surface. The output unit outputs information about the nozzle's spraying anomalies, which is detected based on the shape of the liquid output from the sensor.

3. The liquid injection device according to claim 1 or 2, wherein: The shape information of the liquid includes the height information of the liquid relative to the surface to which it is applied.

4. The liquid injection device according to claim 1 or 2, wherein: The contrast Ct between the brightness C1 of the color applied to the surface and the brightness C2 of the liquid color is expressed by the following formula: Ct = Ct1 / Ct2 ≤ 4.

5. The liquid injection device according to claim 1 or 2, wherein: The surface being treated is non-permeable.

6. The liquid injection device according to claim 1 or 2, wherein: The nozzle sprays multiple times to deposit the liquid along the height direction on the surface to be treated. The output unit outputs information about nozzle ejection anomalies detected based on the shape of the liquid accumulated on the applied surface.

7. The liquid injection device according to claim 1 or 2, wherein the injection abnormality of the nozzle includes: The liquid is not ejected from the nozzle; The amount of liquid ejected from the nozzle deviates from the specified amount, which is an abnormal liquid volume. The direction of the liquid ejected from the nozzle deviates from the prescribed injection direction, indicating an abnormal liquid direction. At least one of the following is a liquid velocity anomaly where the velocity of the liquid ejected from the nozzle deviates from the prescribed velocity:

8. The liquid injection device according to claim 1, wherein: The specified pattern includes multiple linear patterns formed on the surface to which the pattern is applied by liquids sprayed from the multiple nozzles and extending in the specified pattern extension direction.

9. The liquid injection device according to claim 1, wherein: The less liquid is ejected from the nozzle, the slower the relative movement speed is.

10. The liquid injection device according to claim 1 or 2, wherein: The lower the surface tension of the liquid, the slower the relative movement speed is reduced by the movement control unit.

11. The liquid injection device according to claim 1 or 2, wherein: The lower the viscosity of the liquid, the slower the relative movement speed is reduced by the movement control unit.

12. The liquid injection device according to claim 1 or 2, wherein: The system has a spray control unit that controls the height of the liquid relative to the surface being applied by controlling the amount of liquid sprayed from the nozzle.

13. The liquid injection device according to claim 12, wherein: The lower the surface tension of the liquid, the more liquid the injection control unit can spray from the nozzle.

14. The liquid injection device according to claim 12, wherein: The lower the viscosity of the liquid, the more liquid is sprayed from the nozzle by the injection control unit.

15. A liquid injection method performed by a liquid injection device for injecting liquid onto a surface, wherein: The liquid injection device applies the liquid ejected from the nozzle to the surface being applied via a nozzle. The output unit outputs information about nozzle ejection anomalies detected based on the shape of the liquid applied to the surface to which it is applied. The nozzle and the surface to be applied are moved relative to each other along the surface of the surface to be applied by a moving mechanism. The relative movement performed by the moving mechanism is controlled by the moving control unit. The movement control unit controls the height of the liquid relative to the surface by controlling the relative movement speed performed by the movement mechanism. The nozzle has multiple nozzles. The nozzle ejection anomaly information includes information identifying the nozzles with ejection anomalies among the plurality of nozzles. The nozzle forms a predetermined pattern on the surface to which the liquid is applied by spraying the liquid from the plurality of nozzles respectively. The output unit outputs jetting abnormal nozzle information, which is determined based on a second position of the applied surface where the height of the liquid constituting the predetermined pattern formed on the applied surface is lower than the height in a first position of the applied surface.

16. A storage medium storing a program that causes a liquid jetting device for applying liquid to a surface to perform the following processes: The liquid ejected from the nozzle is applied to the surface being applied by the nozzle, and The output unit outputs information about nozzle ejection anomalies detected based on the shape of the liquid applied to the surface. The nozzle and the surface to be applied are moved relative to each other along the surface of the surface to be applied by a moving mechanism. The relative movement performed by the moving mechanism is controlled by the moving control unit. The movement control unit controls the height of the liquid relative to the surface by controlling the relative movement speed performed by the movement mechanism. The nozzle has multiple nozzles. The nozzle ejection anomaly information includes information identifying the nozzles with ejection anomalies among the plurality of nozzles. The nozzle forms a predetermined pattern on the surface to which the liquid is applied by spraying the liquid from the plurality of nozzles respectively. The output unit outputs jetting abnormal nozzle information, which is determined based on a second position of the applied surface where the height of the liquid constituting the predetermined pattern formed on the applied surface is lower than the height in a first position of the applied surface.

Images