Liquid ejecting apparatus, liquid ejecting method, and storage medium

Abstract

The present application relates to a liquid ejecting apparatus, a liquid ejecting method, and a storage medium storing a program, which are excellent in a quality of a liquid applied to an application surface. The liquid ejecting apparatus includes: a head that ejects the liquid and applies the liquid to the application surface; and a control section that controls the liquid ejected by the head based on a height in a vertical direction of an application position of the liquid applied to the application surface.

Description

TECHNICAL FIELD

[0001] The present application relates to a liquid ejecting apparatus, a liquid ejecting method, and a storage medium storing a program. BACKGROUND

[0002] Conventionally, a liquid ejecting apparatus that applies liquid ejected from a nozzle to an application surface is known.

[0003] As the liquid ejecting apparatus described above, there is disclosed a configuration in which, in order to apply liquid to an object having a three-dimensional curved surface shape (curved in two directions), a reference length serving as a reference is compared with a curve length directly below a plurality of nozzles at a position of the three-dimensional curved surface to be applied, and a liquid droplet amount ejected from the plurality of nozzles of the inkjet head is changed in accordance with a ratio of the reference length to the curve length (for example, refer to Patent Literature 1).

[0004] In the liquid ejecting apparatus, an apparatus in which application quality of liquid to an application surface is excellent is required.

[0005]

Patent Literature 1

[0006] An object of the present application is to provide a liquid ejecting apparatus in which application quality of liquid to an application surface is excellent.

[0007] A liquid ejecting apparatus according to one embodiment of the present application is a liquid ejecting apparatus that applies liquid to an application surface, including: a nozzle that ejects the liquid and applies the liquid to the application surface; and a control section that controls ejection of the liquid by the nozzle based on a height in a vertical direction of an application position of the liquid on the application surface.

[0008] According to the present application, it is possible to provide a liquid ejecting apparatus in which application quality of liquid to an application surface is excellent. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 FIG. 1 is a side view showing an overall configuration of a liquid ejecting apparatus according to an embodiment of the present application.

[0010] Figure 2 FIG. 2 is a front view showing an overall configuration of the liquid ejecting apparatus according to the embodiment of the present application.

[0011] Figure 3 FIG. 3 is a diagram showing one example of a hardware configuration of a control section according to the embodiment of the present application.

[0012] Figure 4 FIG. 4 is a diagram showing a configuration example of a supply unit according to the embodiment of the present application.

[0013] Figure 5A perspective view illustrating the configuration of the head involved in the embodiment is shown.

[0014] Figure 6 A sectional view of the head taken along the plane S1 is shown. Figure 5

[0015] Figure 7 An example view illustrating the functional configuration of the control section involved in the first embodiment is shown.

[0016] Figure 8 A flow example view illustrating the operation of the liquid ejecting apparatus involved in the first embodiment is shown.

[0017] Figure 9 An example view illustrating the ink ejection involved in the comparative example is shown.

[0018] Figure 10 An example view of the ink being applied to the application surface by the ejection of Figure 9

[0019] An example view of the state after the ink has sagged from the state of Figure 11 Figure 10 An example view of the ink ejection involved in the first embodiment is shown.

[0020] Figure 12 An example view of the ink just after being applied to the application surface by the ejection of

[0021] Figure 13 Figure 12 An example view of the ink just after being applied to the application surface by the ejection of

[0022] Figure 14 An example view of the state after the ink has sagged from the state of Figure 12

[0023] An example view illustrating the functional configuration of the control section involved in the second embodiment is shown. Figure 15

[0024] An example view of the relationship between the height and the amount of ink in the case where the inclination of the application surface is small is shown. Figure 16

[0025] An example view of the relationship between the height and the amount of ink in the case where the inclination of the application surface is large is shown. Figure 17

[0026] An example view of the ink ejection involved in the second embodiment is shown. Figure 18

[0027] An example view of the ink being applied to the application surface by the ejection of Figure 19 Figure 18 An example view of the ink being applied to the application surface by the ejection of​​​​

[0028] Figure 20 An example diagram illustrating a state after ink sagging is shown. Figure 19

[0029] Figure 21 An example diagram illustrating a state after ink sagging is shown. Figure 20

[0030] Figure 22 An example diagram illustrating ink ejection when a tilt surface is imparted to a surface that is planar is shown.

[0031] Figure 23 An example diagram illustrating the functional configuration of the control section according to the third embodiment is shown.

[0032] Figure 24 An example diagram illustrating ink ejection according to the third embodiment is shown.

[0033] Figure 25 An example diagram illustrating ink just after being imparted to an imparted surface by ejection is shown. Figure 24

[0034] An example diagram illustrating an application example of the liquid ejection device according to the embodiment to a spray painting robot is shown. Figure 26 DETAILED DESCRIPTION

[0035] The liquid ejection device according to the embodiment will be described in detail with reference to the drawings. However, the mode shown below is an example of a liquid ejection device for specifically implementing the technical idea of the embodiment, and is not limited to the mode shown below. In addition, the dimensions, materials, shapes, relative arrangement, and the like of the constituent sections described in the embodiment are not meant to limit the scope of the present application only to this, but are merely illustrative. In addition, the size, positional relationship, and the like of the components shown in each drawing are sometimes exaggerated in order to make the description clear. In addition, in the following description, the same names and symbols indicate the same or similar components, and detailed description is appropriately omitted.

[0036] In the drawings shown below, directions are sometimes indicated by an X axis, a Y axis, and a Z axis, the X direction along the X axis indicates a main scanning direction in which a carriage provided in the liquid ejection device according to the embodiment moves, the Y direction along the Y axis indicates a sub scanning direction that intersects the main scanning direction, and the Z direction along the Z axis indicates a direction that intersects the X direction and the Y direction, respectively.

[0037] ​​​The direction in which the arrow-shaped head faces in the X direction is referred to as the +X direction, and the opposite direction of the +X direction is referred to as the -X direction. The direction in which the arrow-shaped head faces in the Y direction is referred to as the +Y direction, and the opposite direction of the +Y direction is referred to as the -Y direction. In addition, the direction in which the arrow-shaped head faces in the Z direction is referred to as the +Z direction, and the opposite direction of the +Z direction is referred to as the -Z direction. In the embodiment, as an example, the Y direction is along the vertical direction, and the Z direction is along the horizontal direction that is substantially orthogonal to the vertical direction. However, these do not limit the orientation of the liquid ejecting apparatus when used, and the orientation of the liquid ejecting apparatus is arbitrary.

[0038] [Embodiment]

[0039] <Overall Configuration Example of Liquid Ejecting Apparatus 1000>

[0040] Reference Figure 1 and Figure 2 The configuration of the liquid ejecting apparatus 1000 according to the present embodiment will be described. Figure 1 and Figure 2 is an example of the overall configuration of the liquid ejecting apparatus 1000, Figure 1 is a side view, Figure 2 is a front view.

[0041] The liquid ejecting apparatus 1000 applies ink, which is an example of a liquid, to the applied surface 100a of the object 100. The ink applied to the applied surface 100a is dried and fixedly adhered to the applied surface 100a. In the liquid ejecting method of the liquid ejecting apparatus 1000, either of a continuous ejection method and a droplet ejection method can be adopted. In the continuous ejection method, a valve method in which ejection control is performed by opening and closing a nozzle by controlling the operation of a valve, or a continuous method in which ink particles continuously ejected from a nozzle are charged and bent by a deflection electrode and blown onto an applied surface, or the like can be adopted.

[0042] The applied surface 100a of the object 100 can be exemplified by a surface of a car body, a truck body, an aircraft body, or the like, which has non-permeability. The non-permeability refers to a property in which a liquid applied to a surface does not permeate into the inside. The liquid ejecting apparatus 1000 can perform painting of a car body or an aircraft body by applying ink to the car body or the aircraft body. In Figure 1 In the embodiment, the applied surface 100a is exemplified by a planar surface.

[0043] However, the applied surface 100a is not limited to a surface having non-permeability, and can be a surface having permeability. In addition, the applied surface 100a is not limited to a planar surface, and can be a surface having a curvature in the X direction or the Y direction. The use of the liquid ejecting apparatus 1000 is not limited to painting, and can be a use for image formation (printing) on a recording medium such as paper or a film, or the like.

[0044] As Figure 1 and Figure 2 shown, the liquid ejecting apparatus 1000 has a head 300, a moving mechanism 110, and a control section 500. The liquid ejecting apparatus 1000 is configured such that the head 300 faces the applied surface 100a.

[0045] The head 300 has a plurality of nozzles arranged at a prescribed interval in the Y direction, and applies ink liquid ejected from the plurality of nozzles respectively to the applied surface 100a. The head 300 is mounted on the carriage 1. However, the head 300 does not necessarily have a plurality of nozzles, and can be configured to have only one nozzle.

[0046] The moving mechanism 110 is a mechanism that relatively moves the head 300 and the applied surface 100a along the surface of the applied surface 100a. In the present embodiment, the moving mechanism 110 relatively moves the head 300 and the applied surface 100a in the X direction and the Y direction respectively along the surface of the applied surface 100a. The moving mechanism 110 includes an X-axis guide rail 101 and a Y-axis guide rail 102.

[0047] A Z-axis guide rail 103 holds the carriage 1 in such a manner that the carriage 1 is movable in the Z direction. The X-axis guide rail 101 holds the Z-axis guide rail 103 in such a manner that the Z-axis guide rail 103 is movable in the X direction. The Y-axis guide rail 102 holds the X-axis guide rail 101 in such a manner that the X-axis guide rail 101 is movable in the Y direction.

[0048] A Z-direction driving section 92 moves the carriage 1 in the Z direction along the Z-axis guide rail 103. An X-direction driving section 72 moves the Z-axis guide rail 103 in the X direction along the X-axis guide rail 101. A Y-direction driving section 82 moves the X-axis guide rail 101 in the Y direction along the Y-axis guide rail 102. In addition, the movement of the carriage 1 and the head 300 in the Z direction can not be parallel to the Z direction, and can be oblique movement as long as it contains at least a component in the Z direction.

[0049] The control section 500 controls the application operation of the liquid ejecting apparatus 1000 to the applied surface 100a. The control section 500 is configured by a processor or an electrical circuit mounted on an electrical substrate, or the like. The control section 500 electrically connects at least each driving section that drives the moving mechanism 110 and the head 300 by wire or wirelessly. However, the configuration position of the electrical substrate on which the control section 500 is mounted is arbitrary, and the electrical substrate can be configured remotely with respect to the head 300 or the like.

[0050] The liquid ejecting apparatus 1000 ejects ink liquid from the head 300 to the applied surface 100a while moving the carriage 1 in the X direction, the Y direction, and the Z direction respectively, to apply ink liquid to the applied surface 100a.

[0051] More specifically, the liquid ejecting apparatus 1000 relatively moves the nozzle head 300 and the applied surface 100a in the X direction as the main scanning direction while ejecting ink from the nozzle head 300 to apply the ink to the applied surface 100a.

[0052] After one relative movement in the X direction is completed, the liquid ejecting apparatus 1000 relatively moves the nozzle head 300 and the applied surface 100a in the Y direction as the sub scanning direction. In addition, the liquid ejecting apparatus 1000 relatively moves the nozzle head 300 and the applied surface 100a in the X direction again while ejecting ink from the nozzle head 300 to apply the ink to the applied surface 100a after one relative movement in the Y direction is completed. The liquid ejecting apparatus 1000 repeatedly performs such relative movements in the X direction and the Y direction to apply the ink to the applied surface 100a.

[0053] When the applied surface 100a is a planar object along the X direction and the Y direction, the liquid ejecting apparatus 1000 does not perform relative movement in the Z direction between the nozzle head 300 and the applied surface 100a in the ink application operation. When the applied surface 100a has a shape different in height in the Z direction, the liquid ejecting apparatus 1000 performs relative movement in the Z direction between the nozzle head 300 and the applied surface 100a in the ink application operation according to the shape of the applied surface 100a.

[0054] <Hardware Configuration Example of Control Section 500>

[0055] Figure 3 A block diagram illustrating a hardware configuration of the control section 500 included in the liquid ejecting apparatus 1000 is shown. The control section 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 through a system bus. The control section 500 is constituted by, for example, a computer.

[0056] In addition, the control section 500 is electrically connected to the nozzle head 300, the X direction driving section 72, the Y direction driving section 82, the Z direction driving section 92, the storage section 511, the display section 512, the operation panel 513, and the like.

[0057] The CPU 501 controls the operation of the entire control section 500 by using the RAM 503 as a work area and executing a program stored in the ROM 502.

[0058] The ROM 502 is a nonvolatile memory that stores a program for controlling a recording operation of the CPU 501 and the like and other fixed data.

[0059] The RAM 503 is a volatile memory that temporarily stores image data of a pattern and characters, etc. drawn on the application surface 100a, shape information of the body of the object 100, etc.

[0060] The I / F 504 is an interface that enables communication between an external device such as a host PC (personal computer) and the control section 500.

[0061] The storage section 511 is an external storage device such as an HDD (hard disk drive) or an SSD (solid state drive) that stores set values set in advance. Information stored in the storage section 511 is sometimes used when the CPU 501 executes a read program.

[0062] The display section 512 displays a setting screen of an application condition of ink of the liquid ejecting apparatus 1000, etc. under the control of the control section 500.

[0063] The operation panel 513 is an operation input device such as a touch panel, a keyboard, or a mouse that accepts an operation of the liquid ejecting apparatus 1000. The operation panel 513 is used to input a value (coordinates) for deciding an area on which ink is to be ejected on the application surface 100a, a moving speed of the carriage 1, image data and three-dimensional coordinate information (body data) for applying ink to the application surface 100a, a distance between the nozzle 300 and the application surface 100a, etc.

[0064] In addition, the display section 512 and the operation panel 513 can be on one screen by a touch panel, etc.

[0065] The X-direction drive section 72 drives the carriage 1 in the X-direction according to an instruction from the control section 500. The Y-direction drive section 82 drives the carriage 1 in the Y-direction according to an instruction from the control section 500. The Z-direction drive section 92 drives the carriage 1 in the Z-direction according to an instruction from the control section 500.

[0066] The control section 500 controls the movement of the carriage 1 on which the nozzle 300, etc. is mounted in the X-direction and the Y-direction by controlling the actions of the X-direction drive section 72 and the Y-direction drive section 82. In addition, the control section 500 controls the movement of the nozzle 300 in the Z-direction with respect to the carriage 1 by controlling the action of the Z-direction drive section 92. Furthermore, the control section 500 controls the ejection of ink from the nozzle 300.

[0067] <Configuration Example of Supply Unit 200>

[0068] Figure 4 An example of the configuration of the supply unit 200 in the liquid ejecting apparatus 1000 is shown. The supply unit 200 supplies ink to the nozzle 300.

[0069] The head 300 includes a head 300Y that ejects yellow (Y) ink, a head 300M that ejects magenta (M) ink, a head 300C that ejects cyan (C) ink, and a head 300K that ejects black (K) ink. In addition, the head 300 is a general term for the heads 300Y, 300M, 300C, and 300K when they are not distinguished by color.

[0070] In addition, the head 300 can also have a head 300Q that ejects overcoat ink, a head 300P that ejects primer ink or white ink, and the like, which are heads that eject other inks. The supply unit 200 is capable of supplying each color of ink to each of the heads 300.

[0071] The supply unit 200 includes an ink tank 330 that is a closed container that stores each color of ink 325 that is ejected from each of the heads 300. The ink tank 330 and the injection port (supply port) of the head 300 are connected via a tube 333 in a manner that allows the ink to flow.

[0072] On the other hand, the ink tank 330 is connected to the compressor 230 that supplies pressurized air via a tube 331 that includes an air regulator 332. Thereby, each color of ink 325 that is pressurized is supplied to the injection port of each of the heads 300, and the liquid ejection device 1000 ejects the ink 325 from the nozzle of each of the heads 300.

[0073] <Configuration Example of Head 300>

[0074] Figure 5 and Figure 6 An example of the configuration of the head 300 is shown. Figure 5 is a perspective view, Figure 6 is a cross-sectional view of the head 300 taken along the plane S1 of Figure 5 .

[0075] The head 300 has a plurality of ejection modules 310 arranged in one or more rows within a housing 10.

[0076] The head 300 has a supply port 11 that supplies the ejection modules 310 with ink pressurized from the outside and a recovery port 12 that discharges un-ejected ink to the outside. In addition, the housing 10 has a connector 2.

[0077] The ejection module 310 includes a nozzle plate 311 that has a nozzle 321 that ejects ink, a flow path 322 that communicates with the nozzle 321 and supplies pressurized liquid, and a piezoelectric element 324 that drives a needle-like valve body that opens and closes the nozzle 321.

[0078] The nozzle plate 311 is joined to the case 10. The flow path 322 is a flow path common to the plurality of ejection modules 310 provided on the case 10, and supplies the pressurized ink liquid from the supply port 11 and discharges the ink liquid from the recovery port 12. In addition, during the period in which the ink liquid is ejected to the imparted surface 100a, the discharge of the ink liquid from the recovery port 12 can be temporarily not performed in order not to reduce the ejection efficiency of the ink liquid from the nozzle 321.

[0079] [First Embodiment]

[0080] <Function Configuration Example of Control Section 500>

[0081] Figure 7 An example block diagram of the functional configuration of the control section 500 is shown. The control section 500 has an acquisition section 51, an ink liquid amount decision section 52, an ejection control section 53, and a movement control section 54.

[0082] The control section 500 controls the operation of the liquid ejection apparatus 1000 and imparts the ink liquid to the imparted surface 100a. In particular, in the present embodiment, the control section 500 decides the amount of the ink liquid 325 ejected from the nozzle head 300 by the ink liquid amount decision section 52 based on the shape information of the imparted surface 100a acquired from the host PC or the like by the acquisition section 51, and ejects the ink liquid 325 from the nozzle head 300 by the ejection control section 53. In addition, the control section 500 controls the movement mechanism 110 by the movement control section 54 based on the shape information of the imparted surface 100a, and relatively moves the nozzle head 300 and the imparted surface 100a.

[0083] The control section 500 realizes each function of the acquisition section 51, the ink liquid amount decision section 52, the ejection control section 53, and the movement control section 54 by the CPU 501 expanding the program stored in the ROM 502 to the RAM 503 and executing it.

[0084] In addition, the control section 500 other than the nozzle head 300 or the like can have at least a part of each function of the control section 500. In addition, the control section 500 and the control section 500 other than the nozzle head 300 or the like can disperse at least a part of each function of the control section 500.

[0085] The acquisition section 51 acquires the shape information Sd of the applied surface 100a by inputting it from an external device such as a host PC. The shape information Sd is three-dimensional information indicating the shape of the applied surface 100a. However, the acquisition section 51 can also acquire the shape information Sd by reading it out from the storage section 511 or the like, in which it is stored in advance. Alternatively, the liquid ejecting apparatus 1000 can have a detection section for detecting the shape of the applied surface 100a, and the acquisition section 51 can acquire the shape information Sd of the applied surface 100a detected by the detection section by inputting it from the detection section. The acquisition section 51 outputs the acquired shape information Sd to the ink amount decision section 52.

[0086] The ink amount decision section 52 decides the amount m of ink to be ejected from the nozzle 300 on the basis of the shape information Sd input from the acquisition section 51. In the present embodiment, the decision method of the ink amount decision section 52 is such that the higher the height h in the vertical direction of the applied position at which the ink 325 is applied in the applied surface 100a, the larger the amount m of ink.

[0087] For example, the ink amount decision section 52 decides the amount m of ink with reference to a table 520 stored in the storage section 511 on the basis of the shape information Sd and the height h in the vertical direction of the applied position at which the ink 325 is applied in the applied surface 100a, at which the ink 325 is ejected from the nozzle 300. The table 520 is a table indicating the relationship between the height h decided in advance and the amount m of ink. The ink amount decision section 52 outputs the information of the amount m of ink for each applied position P to the ejection control section 53.

[0088] The ejection control section 53 causes the nozzle 300 to eject the ink 325 in the amount m decided by the ink amount decision section 52. The ejection control section 53 temporarily stores the information of the amount m of ink for each applied position P input from the ink amount decision section 52 in a RAM 503 or the like, and controls the amount m of ink to be ejected from the nozzle 300 in accordance with the applied position P which changes due to the relative movement of the nozzle 300 by the moving mechanism 110.

[0089] The ejection control section 53 can control the amount m of ink to be ejected from the nozzle 300 by controlling the time at which the nozzle 300 ejects the ink 325, the ejection speed of the ink 325, or the opening area of the nozzle, or the like in the case of the continuous ejection method. In addition, the ejection control section 53 can control the amount m of ink to be ejected from the nozzle 300 by controlling the volume of the ink droplet formed by the ink 325, or the pressure applied to the ink in the nozzle 300, or the like in the case of the droplet ejection method. The ejection control section 53 can increase the volume of the ink droplet, for example, by combining a plurality of ink droplets.

[0090] The movement control section 54 controls the relative movement of the movement mechanism 110. In the present embodiment, the movement control section 54 controls the relative movement of the movement mechanism 110 by controlling the X-direction drive section 72, the Y-direction drive section 82, and the Z-direction drive section 92. In particular, in the present embodiment, the movement control section 54 controls the ink ejection by the inkjet head 300 and the relative movement of the movement mechanism 110 in such a manner that the ink 325 ejected from the inkjet head 300 is applied to the application surface 100a by multiple relative movements of the movement mechanism 110.

[0091]

[0092] Figure 8 An example flowchart of the operation of the liquid ejection apparatus 1000 is shown. Figure 8 The ink application operation to the application surface 100a by the liquid ejection apparatus 1000 is exemplified. The liquid ejection apparatus 1000 starts the operation of the ink application operation to the application surface 100a, for example, when the liquid ejection apparatus 1000 receives an ink application instruction to the application surface 100a input by a user using, for example, the operation panel 513. Figure 8

[0093] First, in step S81, the liquid ejection apparatus 1000 acquires the shape information Sd of the application surface 100a input from an external device such as a host PC by the acquisition section 51.

[0094] Next, in step S82, the liquid ejection apparatus 1000 determines the ink amount m to be ejected from the inkjet head 300 based on the shape information Sd input from the acquisition section 51 by the ink amount determination section 52. The ink amount determination section 52 outputs the information of the determined ink amount m to the ejection control section 53.

[0095] Next, in step S83, the liquid ejection apparatus 1000 controls the relative movement of the inkjet head 300 and the application surface 100a by the movement mechanism 110 by the movement control section 54. In addition, the liquid ejection apparatus 1000 controls the ejection of the ink 325 by the inkjet head 300 by the ejection control section 53, thereby applying the ink 325 to the application surface 100a.

[0096] Next, in step S84, the liquid ejection apparatus 1000 determines whether to end the ink application operation to the application surface 100a by the control section 500. For example, the control section 500 can determine whether to end the ink application operation to the application surface 100a based on the operation input by a user using the operation panel 513 or the image data.

[0097] ​​In the step S84, in a case where it is determined to end (step S84, Yes), the liquid ejecting apparatus 1000 ends the operation. On the other hand, in a case where it is determined not to end (step S88, No), the liquid ejecting apparatus 1000 performs the operation after the step S83 again.

[0098] As described above, the liquid ejecting apparatus 1000 can impart the ink liquid 325 to the imparted surface 100a. In addition, in the present embodiment, the operation in which the ink liquid amount decision section 52 decides the ink liquid amount m for each imparted position P in the entire imparted surface 100a in advance before the imparted surface 100a is imparted with the ink liquid 325 in the step S83 is exemplified, but is not limited thereto. The liquid ejecting apparatus 1000 can also be such that the ink liquid amount m is decided by the ink liquid amount decision section 52 and output to the ejection control section 53 each time the imparted position P of the imparted surface 100a is changed by the relative movement of the head 300.

[0099] <Effects of the liquid ejecting apparatus 1000>

[0100] Reference Signs Figures 9 to 14 The operation of the liquid ejecting apparatus 1000 will be described.

[0101] Figures 9 to 11 is a view showing ink liquid imparting according to a comparative example. Figure 9 is a view showing ink liquid ejection, Figure 10 is an example view of ink liquid immediately after being imparted to an imparted surface by Figure 9 is a view showing a state of ink liquid sag after a certain time has passed from Figure 11 is a view showing a state of ink liquid sag after a certain time has passed from Figure 10 is a view showing a state of ink liquid sag after a certain time has passed from

[0102] Here, the ink liquid sag refers to ink liquid imparted to an imparted surface falling from a high position to a low position on the imparted surface due to the action of gravity.

[0103] Figures 12 to 14 is an example view of ink liquid imparting according to the present embodiment. Figure 12 is an example view of ink liquid ejection, Figure 13 is an example view of ink liquid immediately after being imparted to an imparted surface by Figure 12 is an example view of a state of ink liquid sag after a certain time has passed from Figure 14 is an example view of a state of ink liquid sag after a certain time has passed from Figure 12 is an example view of a state of ink liquid sag after a certain time has passed from

[0104] As shown in Figure 9 , the head 300X according to the comparative example ejects ink liquid 325X onto an imparted surface 100aX. In Figure 9 , the head 300X ejects three ink liquid droplets formed of the ink liquid 325X. In the comparative example, the volumes of the three ink liquid droplets are substantially equal.

[0105] As Figure 10 shown, the ink 325X ejected from the nozzle 300X forms an ink film 326X on the application surface 100aX immediately after being applied thereto. Immediately after being applied to the application surface 100aX, the ink 325X has fluidity since it is not dried yet, and thus the ink flows by gravity and moves from a high position to a low position on the application surface 100aX. Then, with the passage of time, the amount of movement decreases as drying proceeds, and soon stops and is fixedly adhered to the application surface 100aX.

[0106] The ink 325X in the ink film 326X flows downward (-Y direction side) by gravity, as Figure 11 shown, an ink film 327X is formed on the application surface 100aX, which is thicker on the lower side.

[0107] As described above, in the comparative example, the ink film 327X formed on the application surface 100a is not uniform in thickness.

[0108] In the present embodiment, as Figure 12 shown, the higher the application position P on the application surface 100a, the greater the amount of ink m of the ink 325 ejected from the liquid ejecting apparatus 1000. The application positions Pl, P2, and P3 indicate three application positions P different in height in the vertical direction.

[0109] The application position Pl is a position of height hi from a reference height, the application position P2 is a position of height h2 from the reference height, and the application position P3 is a position of height h3 from the reference height. The reference height can be arbitrarily determined, and is, for example, the height of the floor on which the liquid ejecting apparatus 1000 is installed. The height hi is higher than the heights h2 and h3, and the height h2 is higher than the height h3. That is, the heights hi, h2, and h3 have a relationship of hi > h2 > h3.

[0110] The nozzle 300 ejects and applies to the application position Pl of the application surface 100a the ink droplets, i.e., large droplets 325a, formed from the ink 325. In addition, the nozzle 300 ejects and applies to the application position P2 the ink droplets, i.e., medium droplets 325b, formed from the ink 325, which are smaller in volume than the large droplets 325a. Further, the nozzle 300 ejects and applies to the application position P3 the ink droplets, i.e., small droplets 325c, formed from the ink 325, which are smaller in volume than the medium droplets 325b. The greater the volume of the ink droplets, the greater the amount of ink.

[0111] As Figure 13As shown, the ink 325 ejected from the nozzle 300 forms an ink film 326 on the application surface 100a immediately after being applied thereto. The thickness of the ink film 326 is thick at the application position PI and becomes thinner in the order of the application position P2 and the application position PI, depending on the volume of the ink droplets applied to the application positions PI, P2, and P3. In other words, the ink film 326 is thicker on the upper side (+Y direction side) immediately after being applied to the application surface 100a, and the thickness is not uniform.

[0112] As shown, when sagging of the ink 325 occurs due to the flowability of the ink 325 from the state of the ink film 326, a part of the ink 325 applied to the application position PI flows to the lower side. As a result, as shown, the ink film 326 becomes thinner on the upper side (+Y direction side) than on the lower side (-Y direction side) immediately after being applied to the application surface 100a. Figure 14 As shown, by making the amount of ink at each application position P in the vertical direction substantially uniform, an ink film 327 having a substantially uniform thickness is obtained.

[0113] <Effect of the liquid ejecting apparatus 1000>

[0114] As described above, the liquid ejecting apparatus 1000 according to the present embodiment is configured to apply the ink 325 to the application surface 100a. The liquid ejecting apparatus 1000 includes the nozzle 300 that ejects the ink 325 and applies it to the application surface 100a, and the control section 500 that controls the ejection of the ink 325 by the nozzle 300 based on the height h of the application position P on the application surface 100a in the vertical direction along which the ink 325 is applied.

[0115] For example, the control section 500 controls the amount m of the ink 325 ejected from the nozzle 300, and the higher the height h of the application position P, the more the amount m of the ink 325 ejected from the nozzle 300.

[0116] The ink film 326 formed on the application surface 100a by the ink 325 ejected from the nozzle 300 is thicker at the application position P with a higher height h immediately after being applied to the application surface 100a. However, the ink 325 having flowability sags due to the effect of gravity and flows from the upper side where the thickness is thicker to the lower side where the thickness is thinner. As a result, by making the amount of ink at each application position P in the vertical direction substantially uniform, an ink film 327 having a substantially uniform thickness is obtained. In this way, in the present embodiment, it is possible to provide the liquid ejecting apparatus 1000 in which the application quality of the ink 325 to the application surface 100a is excellent.

[0117] In the present embodiment, an example in which the ink amount m is changed by changing the volume of the ink droplets is shown, but the present application is not limited to this. In the case where the head 300 is of the continuous jet type, the ink amount m can also be changed by changing the time or speed at which the ink 325 is jetted from the head 300, or the cross-sectional area of the nozzle provided to the head 300, and the like. In addition, in the case where the head 300 is of the droplet jet type, the ink amount m can also be changed by the head 300 changing the jetting frequency of the ink 325, or the pressure applied to the ink 325 within the head 300 for jetting, and the like.

[0118] In addition, in the present embodiment, the liquid jet system 1000 has the moving mechanism 110 that relatively moves the application surface 100a and the head 300 at least in the X direction (the prescribed direction). The control section 500 controls the jetting of the ink 325 by the head 300 and the relative movement of the moving mechanism 110 in a manner in which the ink 325 jetted by the head 300 is applied to the application surface 100a by the multiple relative movements of the moving mechanism 110. Thus, the liquid jet apparatus 1000 can apply the ink 325 by the moving mechanism 110 to a larger range of the application surface 100a by the head 300. Furthermore, the liquid jet system 1000 can also apply the ink 325 to an even larger range of the application surface 100a by relatively moving the application surface 100a and the head 300 in the Y direction by the moving mechanism 110. Still further, the liquid jet apparatus 1000 can also apply the ink 325 to a desired position of the application surface 100a even if the application surface 100a is a three-dimensional curved surface by relatively moving the application surface 100a and the head 300 in the Z direction.

[0119] In addition, in the present embodiment, the liquid jet apparatus 1000 has the acquisition section 51 that acquires the shape information Sd of the application surface 100a, and the control section 500 controls the jetting of the ink 325 by the head 300 based on the shape information Sd of the application surface 100a acquired by the acquisition section 51. Thus, even if the application surface 100a is a surface of a vehicle body or the like that has a known three-dimensional shape, it is possible to apply the ink 325 of the ink amount m corresponding to the height h.

[0120] [Second Embodiment]

[0121] Next, the liquid jet apparatus 1000a according to the second embodiment will be described. In addition, the same reference numerals are assigned to the same components as those of the already described embodiments, and the overlapping description will be appropriately omitted. This is also the same in the following embodiments and modified examples.

[0122] In the present embodiment, the control section 500a of the liquid ejecting apparatus 1000a controls the ink amount m of the ink 325 of the nozzle 300 based on the height h of the application position P along the vertical direction and the inclination angle θ of the applied surface 100b in the application position P with respect to the horizontal direction.

[0123] Figure 15 An example block diagram of the functional configuration of the control section 500a is shown. The control section 500a has an ink amount decision section 52a.

[0124] The ink amount decision section 52a decides the ink amount m to be ejected from the nozzle 300 based on the shape information Sd input from the acquisition section 51. In the present embodiment, the higher the height h of the application position P, the more the ink amount m of the ink 325 to be ejected from the nozzle 300 is made by the ink amount decision section 52a. Further, the manner in which the ink amount decision section 52a decides the ink amount m is that the greater the inclination angle θ of the applied surface 100b at the application position P, the greater the change in the ink amount m according to the prescribed height difference.

[0125] For example, based on the shape information Sd, the ink amount decision section 52a acquires the height h along the vertical direction of the application position P at which the ink 325 to be ejected from the nozzle 300 is applied in the applied surface 100b and the inclination angle θ of the applied surface 100b at the application position P by calculation. The ink amount decision section 52a refers to a table 520a stored in the storage section 511 to decide the ink amount m according to the acquired height h and inclination angle θ. The table 520a is a table indicating the relationship of the prescribed height h and inclination angle θ and the ink amount m. The ink amount decision section 52a can output the information of the ink amount m of each application position P to the ejection control section 53.

[0126] Here, Figure 16 An example graph of one relationship of the height h and the ink amount m in the case where the inclination angle θ of the applied surface 100b is small is shown. Further, Figure 17 An example graph of one relationship of the height h and the ink amount m in the case where the inclination angle θ of the applied surface 100b is large is shown.

[0127] In Figure 16 and Figure 17 the horizontal axis indicates the height h and the vertical axis indicates the ink amount m. The height difference Δh is the height difference per unit length and is an example of the prescribed height difference. The unit length is, for example, 1 mm.

[0128] As Figure 16 shown, in the case where the inclination angle θ of the applied surface 100b is small, the change in the ink amount m corresponding to the height difference Δh is Δm1. On the other hand, as Figure 17As shown, in a case where the inclination θ of the applied surface 100b at the application position P is large, the change Δm2 in the ink amount m corresponding to the height difference Δh is larger than the change Δm1.

[0129] As described above, the ink amount decision section 52a is able to decide the ink amount m in such a manner that the larger the inclination θ of the applied surface 100b at the application position P, the larger the change Δm in the ink amount m corresponding to the height difference Δh.

[0130] <Effect of liquid ejecting apparatus 1000a>

[0131] Reference Figures 18 to 21 The effect of the liquid ejecting apparatus 1000a will be described. Figure 18 is a view illustrating the ejection of the ink 325 by the liquid ejecting apparatus 1000a. Figure 19 As shown, the ink 325 is applied to the applied surface 100b by the ejection of the liquid ejecting apparatus 1000a. Figure 18 is an example view of the ink 325 applied to the applied surface 100b by the ejection of the liquid ejecting apparatus 1000a. Figure 20 is a view of the state of the liquid ejecting apparatus 1000a as viewed from the side. Figure 19 is an example view of the state of the liquid ejecting apparatus 1000a as viewed from the side. Figure 21 is an example view of the state of the liquid ejecting apparatus 1000a after a lapse of time from the state of Figure 20 .

[0132] As shown in Figure 18 , the application positions P4, P5, and P6 indicate positions at which the ink 325 is applied to the applied surface 100b. The application position P4 is a position at a height h4 from the reference height, the application position P5 is a position at a height h5 from the reference height, and the application position P6 is a position at a height h6 from the reference height. The height h4 is higher than the heights h5 and h6, and the height h5 is higher than the height h6. That is, the heights h4, h5, and h6 satisfy the relation h4 > h5 > h6.

[0133] The inclination θ indicates the inclination of the applied surface 100b at the application position P5 with respect to the horizontal direction (Z direction). The applied surface 100b is a surface having a curvature in at least one direction, and in the present embodiment, is a curved surface having a curvature in the Y direction. The inclination with respect to the horizontal direction at the application position P4 is smaller than the inclination θ, and the inclination with respect to the horizontal direction at the application position P6 is larger than the inclination θ.

[0134] The liquid ejecting apparatus 1000a, for example, applies a larger ink amount m at the application position P4 than at the application position P6. In addition, the liquid ejecting apparatus 1000a makes the change Δm in the ink amount m corresponding to the height difference Δh at the application position P6 larger than the change Δm in the ink amount m corresponding to the height difference Δh at the application position P4.

[0135] In Figure 18In the example, the liquid jetting device 1000a jets large droplets 325a formed from ink 325 from the printhead 300 and delivers them to the delivery position P4. Additionally, the liquid jetting device 1000a jets medium droplets 325b, smaller than the large droplets 325a, from the printhead 300 and delivers them to the delivery position P5. Furthermore, the liquid jetting device 1000a jets small droplets 325c, smaller than the medium droplets 325b, from the printhead 300 and delivers them to the delivery position P6. However, since the inclination at delivery position P4 is less than that at delivery position P6, the difference between the ink volume m at delivery position P4 and the ink volume m at delivery position P6 will be less than the difference in ink volume m based on the difference between height h4 and height h6.

[0136] like Figure 19 As shown, a first region 111 and a second region 112 are formed on the surface 100b by applying ink 325. The first region 111 is formed by applying large droplets 325a, and the second region 112 is formed by applying small droplets 325c. The first region 111 is located at a higher position in the vertical direction than the second region 112.

[0137] The ink 325, immediately applied to the surface 100b, is fluid and moves from a high position to a low position on the surface 100b due to gravity. Then, over time, the amount of movement decreases as drying progresses, and soon stops and becomes fixedly adhered to the surface 100b.

[0138] Because large droplets 325a are applied in the first region 111, the amount of ink drooping is greater, while because small droplets 325c are applied in the second region 112, the amount of ink drooping is less.

[0139] like Figure 20 As shown, the ink 325 ejected from the printhead 300 forms an ink film 326 on the surface 100a immediately after being applied. Depending on the volume of the ink droplets applied to the application positions P1, P2, and P3, the ink film 326 exhibits a non-uniform thickness, becoming thicker towards the upper side. For example, the upper region 326a of the ink film 326 has a thicker film thickness.

[0140] from Figure 20 The ink film 326 begins to move downwards due to the fluidity of the ink 325, causing a portion of the ink 325 to flow downwards. As a result, as... Figure 21 As shown, the amount of ink at each application position P in the application surface 100b is approximately equalized, resulting in an ink film 327 with approximately uniform film thickness.

[0141] <Effects of Liquid Jet Device 1000a>

[0142] As described above, the control section 500a of the liquid ejecting apparatus 1000a according to the present embodiment controls the ink amount m of the ink 325 of the nozzle 300 based on the height h of the application position P in the vertical direction and the inclination θ of the applied surface 100b in the application position P with respect to the horizontal direction.

[0143] For example, the higher the height h of the application position P in the vertical direction, the more the ink amount m applied to the applied surface 100b is controlled by the control section 500a. In addition, the control by the control section 500a is such that the larger the inclination θ of the applied surface 100b in the application position P, the larger the change Δm in the ink amount m corresponding to the height difference Δh (a prescribed height difference) is.

[0144] The ink film 326 formed on the applied surface 100b by the ink 325 ejected from the nozzle 300 is thicker the higher the height h of the application position P when the ink film 326 is just applied to the applied surface 100b. However, the ink 325 having fluidity due to the effect of gravity flows from the upper portion where the film is thick to the lower portion where the film is thin. As a result, by making the ink amount of each application position P in the vertical direction substantially uniform, an ink film 327 having a substantially uniform film thickness is obtained. In this way, in the present embodiment, it is possible to provide a liquid ejecting apparatus 1000a in which the application quality of the ink 325 to the applied surface 100b is excellent.

[0145] In addition, in the present embodiment, the applied surface 100b is a surface having a curvature in at least one direction. Even in the case of the applied surface 100b, the liquid ejecting apparatus 1000a can ensure the application quality of the ink 325 to the applied surface 100b.

[0146] Effects other than the above in the liquid ejecting apparatus 1000a are the same as those of the liquid ejecting apparatus 1000 according to the first embodiment.

[0147] Here, in the present embodiment, a curved surface having a curvature in at least one direction is exemplified as the applied surface 100b, but the applied surface 100b can be a planar inclined surface. Figure 22 An example of the ejection of the ink 325 in the case where the applied surface 100b is a planar inclined surface is shown.

[0148] As Figure 22The assigned surface 100b is a planar inclined surface inclined by an inclination angle θ with respect to the Z direction (horizontal direction). The liquid ejecting device 1000a controls the ink amount m of the ink 325 ejected from the nozzle 300 by the control section 500a based on the height h of the assigned position P along the vertical direction and the inclination θ of the assigned surface 100b with respect to the horizontal direction at the assigned position P. Thus, the same advantageous effects as the liquid ejecting device 1000a described above can be obtained.

[0149] [Third Embodiment]

[0150] Next, a liquid ejecting device 1000b according to the third embodiment will be described.

[0151] In the present embodiment, the control section 500b of the liquid ejecting device 1000b controls the interval d between the adjacent inks 325 ejected from the nozzle 300 and assigned to the assigned surface 100b.

[0152] Figure 23 An example block diagram of the functional configuration of the control section 500b is shown. The control section 500b has an interval determining section 55.

[0153] The interval determining section 55 determines the interval d between the adjacent inks 325 ejected from the nozzle 300 and assigned to the assigned surface 100b based on the shape information Sd input from the acquisition section 51. In the present embodiment, the higher the height h of the assigned position P along the vertical direction, the narrower the interval d between the adjacent inks 325 assigned to the assigned surface 100b. In addition, the interval determining section 55 determines the interval d in such a manner that the larger the inclination θ of the assigned surface 100b with respect to the horizontal direction at the assigned position P, the larger the change Δd of the interval d between the adjacent inks 325 assigned to the assigned surface 100b corresponding to a prescribed height difference.

[0154] For example, based on the shape information Sd, the interval determining section 55 acquires the height h of the assigned position P along the vertical direction at which the ink 325 ejected from the nozzle 300 is assigned in the assigned surface 100b and the inclination θ of the assigned surface 100b with respect to the horizontal direction at the assigned position P by calculation. The interval determining section 55 refers to a table 520b stored in the storage section 511 to determine the interval dm in accordance with the acquired height h and inclination θ. The table 520b is a table indicating the relationship between the predetermined height h and inclination θ and the interval dm. The interval determining section 55 can output the information of the interval dm for each assigned position P to the ejection control section 53.

[0155] <Effects of Liquid Ejecting Device 1000b>

[0156] Reference Signs Figure 24 and Figure 25The operation of the liquid ejecting device 1000b will be described. Figure 24 An example of ink ejection by the liquid ejecting device 1000a is shown. Figure 25 An example of ink 325 being applied to the application surface 100b by Figure 24 ejection is shown.

[0157] The height h4 of the application position P4 is higher than the height h6 of the application position P6. In addition, the inclination θ of the application surface 100b in the application position P6 is greater than the inclination θ of the application surface 100b in the application position P4.

[0158] The liquid ejecting device 1000b is such that the interval d4 between adjacent inks 325 applied to the application surface 100b at the application position P4 is narrower than the interval d6 between adjacent inks 325 applied to the application surface 100b at the application position P6. In addition, the liquid ejecting device 1000b is such that the greater the inclination θ of the application surface 100b at the application position P, the greater the change Δd in the interval d between adjacent inks 325 applied to the application surface 100b corresponding to the difference Δh in height.

[0159] In the example shown in Figure 24 , the interval between adjacent inks 325 at the application position P4 is d4. In addition, the interval between adjacent inks 325 at the application position P6 is d6. The interval d4 is narrower than the interval d6. However, since the inclination at the application position P4 is smaller than the inclination at the application position P6, the difference between the interval d at the application position P4 and the interval d at the application position P6 will be smaller than the difference in the interval d based on the difference between the height h4 and the height h6.

[0160] As shown in Figure 25 , on the application surface 100b, a third region 113 and a fourth region 114 are formed by applying the inks 325. The third region 113 is located at a higher position in the vertical direction than the fourth region 114. With respect to the interval d between adjacent inks 325, the interval d4 in the third region 113 is narrower than the interval d6 in the fourth region 114. In addition, the volumes of the ink droplets applied to the third region 113 and the fourth region 114 are substantially equal.

[0161] The inks 325 applied to the application surface 100b have fluidity, and by the action of gravity, the inks sag and move from a higher position to a lower position on the application surface 100b. Then, by the passage of time, the amount of movement decreases as drying progresses, and soon stops and is fixedly adhered to the application surface 100b.

[0162] Since the narrower the interval d between the inks 325 on the application surface 100b, the greater the amount m of ink, the amount m of ink in the third region 113 is greater than the amount m of ink in the fourth region 114.

[0163] In Figure 25 When sagging of the ink 325 occurs due to the fluidity of the ink 325, a part of the ink 325 applied to the third region 113 and the fourth region 114, respectively, flows to the lower side. As a result, the amount of the ink applied to each of the application positions P in the application surface 100b is substantially equalized, and an ink film having a substantially uniform thickness is obtained.

[0164] Effects of the liquid ejecting apparatus 1000b

[0165] As described above, the control section 500b of the liquid ejecting apparatus 1000b according to the present embodiment controls the interval d between the adjacent inks 325 ejected from the nozzle 300 and applied to the application surface 100b.

[0166] For example, the higher the height h of the application position P, the narrower the interval d between the adjacent inks 325 applied to the application surface 100b is made by the control section 500. In addition, the control section 500 controls such that the larger the inclination θ of the application surface 100b at the application position P, the larger the change Ad of the interval d between the adjacent inks 325 applied to the application surface 100b corresponding to the difference in height Ah.

[0167] The ink film formed on the application surface 100b by the ink 325 ejected from the nozzle 300 is thicker as the height h of the application position P is higher when the ink film is just applied to the application surface 100b. However, the ink 325 having fluidity sags due to the gravity, and flows from the upper side where the film thickness is thicker to the lower side where the film thickness is thinner. As a result, an ink film having a substantially uniform thickness is obtained by substantially equalizing the amount of the ink at each of the application positions P along the vertical direction. In this way, in the present embodiment, it is possible to provide the liquid ejecting apparatus 1000b in which the application quality of the ink 325 to the application surface 100b is excellent.

[0168] In addition, the liquid ejecting apparatus 1000b can control the interval d based on only the height h of the application position P. In addition, the liquid ejecting apparatus 1000b can control the amount of the ink m and the interval d based on only the height h of the application position P. Furthermore, the liquid ejecting apparatus 1000b can control the amount of the ink m and the interval d based on the height h of the application position P and the inclination θ of the application surface 100b at the application position P. The effects other than the above in the liquid ejecting apparatus 1000b are the same as those of the liquid ejecting apparatus 1000 according to the first embodiment.

[0169] [Other Preferred Embodiments]

[0170] The liquid ejecting apparatus 1000, 1000a, or 1000b can be applied to various uses.Figure 26 An example of application of the liquid ejection device 1000 to a painting robot 8000 is shown. The painting robot 8000 paints a body of an automobile.

[0171] The painting robot 8000 has a robot arm 810 that can freely move like a human arm through a plurality of joints, and has a nozzle 820 that ejects ink at a front end of the robot arm 810. In addition, the robot arm 810 has a 3D sensor 830 near the nozzle 820.

[0172] As the painting robot 8000, a multi-joint robot having a suitable number of axes such as 5 axes, 6 axes, 7 axes, or the like can be used. The painting robot 8000 detects a position of the nozzle 820 with respect to an object 100 (a body in this embodiment) by the 3D sensor 830, and moves the robot arm 810 based on the detection result to paint the object 100. In this case, as the nozzle 820, the nozzle 300 according to the embodiment can be used.

[0173] Although the embodiments have been described above, the present application is not limited to the above-described embodiments. That is, various modifications and improvements can be made within the scope of the present application.

[0174] In the embodiments, the liquid ejected from the nozzle 300 can be a solution, a suspension, an emulsion, or the like of a solvent including water or an organic solvent, a coloring agent such as a dye and a pigment, a functional material such as a polymer compound, a resin, and a surfactant, a biological material such as DNA, an amino acid, and a protein, a calcium, an edible material such as a natural pigment, and the like. For example, they can be used as an ink for inkjet, a paint for painting, a surface treatment liquid, a material liquid for a three-dimensional modeling, a constituent element of an electronic component and a light emitting element, and a formation of an electronic circuit resist pattern.

[0175] The object 100 to which the surface 100a is given refers to an object to which a liquid is attached and adhered, attached and penetrated, and the like. As specific examples, it can be a recorded medium such as a body of an automobile, a building material, paper, a recording paper, a recording sheet, a film, cloth, and the like, and an electronic part such as an electronic substrate, a piezoelectric element, and the like, and a medium such as a powder layer, an organ model, a test cell, and the like, and includes all substances to which a liquid can be attached without particular limitation.

[0176] Further, the embodiment also includes a liquid ejecting method. For example, the liquid ejecting method is a liquid ejecting method performed by a liquid ejecting apparatus that ejects a liquid to an applied surface, characterized by: the liquid ejecting apparatus ejecting the liquid by a nozzle and applying to the applied surface, and a control section controlling the nozzle based on a height in a vertical direction of an applied position of the liquid applied to the applied surface to control the ejection of the liquid. By such a liquid ejecting method, the same effects as the above-described liquid ejecting apparatus can be obtained.

[0177] Further, the embodiment also includes a storage medium storing a program. For example, the program stored in the storage medium causes a liquid ejecting apparatus that ejects a liquid to an applied surface to execute the following processing: the liquid ejecting apparatus ejecting the liquid by a nozzle and applying to the applied surface, and a control section controlling the nozzle based on a height in a vertical direction of an applied position of the liquid applied to the applied surface to control the ejection of the liquid. By such a program, the same effects as the above-described liquid ejecting apparatus can be obtained.

[0178] Each function of the embodiment can be realized by one or a plurality of processing circuits. Here, the "processing circuit" in the present specification includes a processor like a processor programmed to execute each function by software, an ASIC (Application Specific Integrated Circuit) designed to execute each function described above, a DSP (Digital Signal Processor), a FPGA (Field Programmable Gate Array), or a device of a conventional circuit module, and the like.

Claims

1. A liquid ejecting apparatus that ejects a liquid onto a surface to be applied, comprising: a head that ejects the liquid and applies it onto the surface to be applied, and a control section that controls an amount of the liquid ejected from the head based on a height in a vertical direction of an application position at which the liquid is applied onto the surface to be applied and an inclination of the surface to be applied with respect to a horizontal direction at the application position, the control by the control section being such that the higher the height of the application position, the more the amount of the liquid ejected from the head, and the greater the inclination of the surface to be applied at the application position, the greater a change in the amount of the liquid corresponding to a prescribed height difference.

2. The liquid ejecting apparatus according to claim 1, characterized in that: the surface to be applied is a surface having a curvature in at least one direction.

3. The liquid ejecting apparatus according to claim 1 or 2, characterized in that: the control section controls a spacing of adjacent ones of the liquid ejected from the head and applied onto the surface to be applied from each other.

4. The liquid ejecting apparatus according to claim 3, characterized in that: the higher the height in the vertical direction of the application position, the narrower the control section makes the spacing of adjacent ones of the liquid applied onto the surface to be applied from each other.

5. The liquid ejecting apparatus according to claim 3, characterized in that: the control by the control section is such that the greater the inclination of the surface to be applied at the application position, the greater a change in the spacing of adjacent ones of the liquid applied onto the surface to be applied from each other corresponding to a prescribed height difference.

6. The liquid ejecting apparatus according to claim 1 or 2, characterized in that: there is a moving mechanism that relatively moves the surface to be applied and the head at least in a prescribed direction, the control section controls the ejection of the liquid by the head and the relative movement by the moving mechanism so as to apply the liquid ejected from the head onto the surface to be applied by a plurality of the relative movements by the moving mechanism.

7. The liquid ejecting apparatus according to claim 1 or 2, characterized in that: there is an acquisition section that acquires shape information of the surface to be applied, the control section controls the ejection of the liquid by the head based on the shape information of the surface to be applied acquired by the acquisition section.

8. A liquid ejection method performed by a liquid ejecting apparatus that ejects a liquid onto a surface to be applied, characterized in that: the liquid ejecting apparatus ejects the liquid by a head and applies it onto the surface to be applied, and an amount of the liquid ejected from the head is controlled by a control section based on a height in a vertical direction of an application position at which the liquid is applied onto the surface to be applied and an inclination of the surface to be applied with respect to a horizontal direction at the application position, the control by the control section being such that the higher the height of the application position, the more the amount of the liquid ejected from the head, and the greater the inclination of the surface to be applied at the application position, the greater a change in the amount of the liquid corresponding to a prescribed height difference.

9. A storage medium storing a program that causes a liquid ejecting apparatus that ejects a liquid onto a surface to be applied to perform the following processing: ​ ​ spraying the liquid from a nozzle and applying the liquid to the application surface, and controlling the amount of liquid sprayed from the nozzle based on the height in the vertical direction of the application position at which the liquid is applied to the application surface and the inclination of the application surface with respect to the horizontal direction at the application position, the control by the control section being such that the higher the height of the application position, the greater the amount of liquid sprayed from the nozzle, and the greater the inclination of the application surface at the application position, the greater the change in the amount of liquid corresponding to a prescribed height difference.

Images