Three-dimensional object printing system, method for controlling three-dimensional object printing system, and three-dimensional object printing apparatus

Abstract

The invention provides a three-dimensional object printing system, a control method of the three-dimensional object printing system, and a three-dimensional object printing apparatus, which can reduce the burden of a user and improve the printing quality of a three-dimensional workpiece. A three-dimensional object printing system includes a three-dimensional object printing apparatus including a print head that ejects a liquid toward a three-dimensional workpiece and a robot arm that holds the print head, and a server that is connected to the three-dimensional object printing apparatus so as to be capable of communicating with the three-dimensional object printing apparatus and performs the following operations. Workpiece information relating to a workpiece is acquired, and a print path, which is a path along which a print head moves with respect to the workpiece, is generated on the basis of the workpiece information.

Description

Technical Field

[0001] The present disclosure relates to a three-dimensional object printing system, a control method of the three-dimensional object printing system, and a three-dimensional object printing device. Background Art

[0002] A three-dimensional object printing apparatus that performs inkjet printing on the surface of a three-dimensional workpiece using a robot, as disclosed in Patent Document 1, for example, performs printing on the surface of a three-dimensional object using a robot that holds a printing head.

[0003] In the above-mentioned three-dimensional printing device, the movement and error of the mechanical arm holding the printing head will affect the accuracy of the printing path as the path for the printing head to move, and the accuracy of the printing path will affect the printing quality. However, the operation of generating an appropriate printing path in consideration of the movement and error of the mechanical arm holding the printing head is a heavy burden for the user of the three-dimensional printing device.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2014-111307 Summary of the invention

[0005] In order to solve the above problems, one method of the three-dimensional object printing system disclosed in the present invention includes a three-dimensional object printing device and a server, wherein the three-dimensional object printing device includes a printing head that sprays liquid toward a three-dimensional workpiece, and a robot arm that holds the printing head, and the server is connected to the three-dimensional object printing device in a communicative manner, and the server performs the following operations, namely: obtaining workpiece information related to the workpiece, and generating a printing path as a path for the printing head to move relative to the workpiece based on the workpiece information.

[0006] One aspect of the control method of the three-dimensional object printing system disclosed in the present invention is that the three-dimensional object printing system comprises: a three-dimensional object printing device, which comprises a printing head for spraying liquid toward a three-dimensional workpiece, and a robot arm for holding the printing head; a server, which is connected to the three-dimensional object printing device in a communicative manner, and the control method of the three-dimensional object printing system includes: a workpiece information acquisition step for acquiring workpiece information related to the workpiece; and a path generation step for generating a printing path as a path for the printing head to move relative to the workpiece based on the workpiece information.

[0007] One mode of the three-dimensional object printing device disclosed in the present invention comprises: a printing head that sprays liquid toward a three-dimensional workpiece; a robotic arm that holds the printing head; and a control unit that is connected to a server in a communicative manner, wherein the control unit performs the following operations, namely: sending workpiece information related to the workpiece to the server, and receiving a printing path that is a path for the printing head to move relative to the workpiece from the server. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a schematic diagram showing a configuration example of the three-dimensional object printing system according to the first embodiment.

[0009] Figure 2 It is a perspective view schematically showing the three-dimensional object printing apparatus according to the first embodiment.

[0010] Figure 3 It is a block diagram showing the electrical structure of the three-dimensional object printing apparatus according to the first embodiment.

[0011] Figure 4 It is a schematic diagram showing a configuration example of a server used in the 3D object printing system according to the first embodiment.

[0012] Figure 5 It is a flowchart showing a control method of the 3D object printing system according to the first embodiment.

[0013] Figure 6 This is a diagram for explaining how to obtain workpiece information and image information.

[0014] Figure 7 It is a schematic diagram showing a configuration example of a server used in the 3D object printing system according to the second embodiment.

[0015] Figure 8 This is a flowchart showing the generation of error information in the second embodiment.

[0016] Fig. 9 A diagram for explaining error information for each hypothetical path.

[0017] Fig.10 This is a flowchart showing the correction of the printing path in the second embodiment. DETAILED DESCRIPTION

[0018] Hereinafter, preferred embodiments of the present disclosure will be described with reference to the accompanying drawings. In addition, in each of the drawings, the size and scale of each part are appropriately different from the actual situation, and there are also parts schematically shown for easy understanding. In addition, in the following description, as long as there is no special description limiting the present disclosure, the scope of the present disclosure is not limited to these methods.

[0019] 1. First Implementation

[0020] 1-1. Overview of 3D Object Printing System

[0021] Figure 1 1 is a schematic diagram showing a configuration example of a 3D printing system 10 according to the first embodiment. The 3D printing system 10 includes 3D printing devices 100-1 to 100-3 and a server 300. In the following, the 3D printing devices 100-1 to 100-3 may be referred to as the 3D printing device 100 without distinguishing them from each other. Figure 1 In the illustrated example, the number of the 3D object printing devices 100 included in the 3D object printing system 10 is three, but the number is not limited thereto and may be one, two, or four or more.

[0022] The three-dimensional printing device 100 is a device for printing on the surface of a three-dimensional workpiece W by inkjet printing. The three-dimensional printing device 100 includes a printing head 3 as an inkjet head for ejecting liquid toward the three-dimensional workpiece W, and a robot arm 2 for holding the printing head 3. The robot arm 2 changes the position and posture of the printing head 3. The details of the structure of the three-dimensional printing device 100 will be described later based on the Figure 2 as well as Figure 3 In addition, the structures of the plurality of 3D object printing devices 100 included in the 3D object printing system 10 may be the same as or different from each other.

[0023] The 3D printing apparatus 100-1 is used by the user U-1. The 3D printing apparatus 100-2 is used by the user U-2. The 3D printing apparatus 100-3 is used by the user U-3. In addition, in the following text, the users U-1 to U-3 are sometimes referred to as the user U without distinguishing them from each other. In addition, the users U of the plurality of 3D printing apparatuses 100 included in the 3D printing system 10 may be the same as or different from each other.

[0024] Here, the robot arm 2 is manufactured by a robot arm manufacturer who is a different person from the user U. On the other hand, the print head 3 is manufactured by a head manufacturer who is a different person from the user U. In this embodiment, the head manufacturer is the same as the robot arm manufacturer. In addition, the head manufacturer and the robot arm manufacturer may be different from each other.

[0025] The three-dimensional object printing apparatus 100 is connected to the server 300 in a communicative manner via a communication network NW including the Internet, and has a function of outputting information D1 to the server 300, a function of inputting information D2 from the server 300, and a function of executing a printing operation based on the information D2. The information D1 will be described in detail later, but it includes information required for generating the moving path of the printing head 3 and the ejection timing of the printing head 3 implemented by the robot 2. The information D2 will be described in detail later, but it includes information related to the moving path of the printing head 3 and the ejection timing of the printing head 3 implemented by the robot 2. In addition, as described later, the multiple information included in the information D1 is output from the three-dimensional object printing apparatus 100 at appropriately different timings. In addition, as described later, the multiple information included in the information D2 is input to the three-dimensional object printing apparatus 100 at appropriately different timings.

[0026] The server 300 is a computer that functions as a cloud server and is connected to the 3D object printing apparatus 100 in a communicable manner. The server 300 has a function of inputting information D1 from the 3D object printing apparatus 100 and a function of outputting information D2 corresponding to the information D1 to the 3D object printing apparatus 100. The configuration of the server 300 will be described later based on Figure 5 The plurality of information included in the information D1 is input to the server 300 at appropriately different timings as described later. The plurality of information included in the information D2 is output from the server 300 at appropriately different timings as described later.

[0027] The server 300 only needs to enable the robot manufacturer to provide the service required by the user U. The server 300 may be owned by the robot manufacturer itself or by a third party other than the robot manufacturer. Here, the user U does not own the server 300, but the three-dimensional object printing device 100 owned by the user U is connected to the server 300 via the communication network NW in a communicative manner. In addition, when the server 300 is owned by a third party, a processing device (not shown) owned by the robot manufacturer itself is connected to the server 300 via the communication network NW in a communicative manner. The processing device is maintained and managed by the head manufacturer.

[0028] 1-2. 3D printing device

[0029] Figure 2 1 is a perspective view schematically showing a 3D object printing apparatus 100 according to the first embodiment. The 3D object printing apparatus 100 is an apparatus for performing printing on the surface of a 3D workpiece W by an inkjet method.

[0030] In the following, for the convenience of explanation, the X-axis, Y-axis, and Z-axis that intersect each other are appropriately used for explanation. In addition, in the following, one direction along the X-axis is the X1 direction, and the direction opposite to the X1 direction is the X2 direction. Similarly, the directions opposite to each other along the Y-axis are the Y1 direction and the Y2 direction. In addition, the directions opposite to each other along the Z-axis are the Z1 direction and the Z2 direction.

[0031] Here, the X-axis, Y-axis, and Z-axis correspond to the coordinate axes of the universal coordinate system set in the space where the robot 2 described later is set. Typically, the Z-axis is a vertical axis, and the Z2 direction corresponds to the downward direction in the vertical direction. The reference coordinate system based on the position of the base 210 described later of the robot 2 is calibrated to establish a corresponding relationship with the universal coordinate system. In the following, for the sake of convenience, the case where the universal coordinate system is used as the robot coordinate system to control the movement of the robot 2 is exemplified.

[0032] In addition, the Z axis may not be a vertical axis. In addition, although the X axis, the Y axis, and the Z axis are typically orthogonal to each other, this is not limited to this, and there may be non-orthogonal situations. For example, as long as the X axis, the Y axis, and the Z axis intersect each other at an angle within a range of 80° or more and 100° or less, it will be sufficient.

[0033] exist Figure 2 In the example shown, the workpiece W is a hemispherical body having a surface Fa to be printed, and is placed on the placement portion BW. The shape and size of the workpiece W are not limited to Figure 1 Examples are not shown, but may be of any shape or size.

[0034] The mounting portion BW is a table for supporting the workpiece W. When the three-dimensional shape of the workpiece W is measured by the camera 9, the mounting portion BW is mounted at an arbitrary position and posture within the imageable range of the camera 9. On the other hand, when the three-dimensional object printing device 100 prints on the workpiece W, at least a portion of the mounting portion BW is mounted at a predetermined position corresponding to the universal coordinate system.

[0035] In this embodiment, the loading part BW has a first tray part BW1 and a second tray part BW2. The first tray part BW1 and the second tray part BW2 are fixed together in a mutually positioned state and can be detached. Here, a fixing part (not shown) for fixing the workpiece W is provided on the first tray part BW1. When the three-dimensional shape of the workpiece W is measured by the camera 9, the first tray part BW1 is mounted on the second tray part BW2 and supports the workpiece W through the fixing part. On the other hand, when the workpiece W is printed by the three-dimensional object printing device 100, the first tray part BW1 is removed from the second tray part BW2 and placed at a predetermined position corresponding to the universal coordinate system, and the workpiece W is supported by the fixing part. A marker MK is provided on the second tray part BW2. The marker MK is photographed together with the workpiece W by the camera 9, and is used when the position and posture of the workpiece W relative to the loading part BW are grasped based on the photographing result.

[0036] like Figure 2 As shown, the three-dimensional object printing device 100 includes a robot arm 2, a printing head 3, a controller 5, and a camera 9. Figure 2 These components will be briefly described one by one.

[0037] The robot arm 2 is a robot arm that changes the position and posture of the print head 3 in the universal coordinate system. That is, the robot arm 2 moves the print head 3 while changing the posture of the print head 3 relative to the three-dimensional workpiece W. When the three-dimensional printing device 100 prints, the robot arm 2 moves the print head 3 along the printing path RU according to the surface Fa of the workpiece W. The printing path RU is set by the path information Da described later. In addition, although Figure 2 In the embodiment, the printing path RU is divided into a plurality of routes, but the present invention is not limited to this embodiment, and the printing path RU may be a path composed of one route.

[0038] exist Figure 2 In the example shown, the robot arm 2 is a so-called six-axis vertical multi-joint robot arm. Figure 2 As shown, the robot arm 2 has a base 210 and an arm 220 .

[0039] The base 210 is a platform for supporting the arm 220. Figure 2 In the example shown, the base 210 is fixed to a floor surface or a base or other installation surface facing the Z1 direction by screwing or the like. In addition, the installation surface to which the base 210 is fixed is not limited to Figure 2 The examples shown may also be surfaces of a wall, a ceiling, a movable flatbed truck, or the like.

[0040] The arm 220 is connected to the base 210 to change the position and posture of the printing head 3 relative to the workpiece W. Figure 2 In the example shown, the arm 220 is a six-axis robot arm that three-dimensionally changes the position and posture of the print head 3 relative to the base 210. Specifically, the arm 220 includes arms 221, 222, 223, 224, 225, and 226, which are connected in this order.

[0041] The arm 221 is connected to the base 210 via a joint J1 so as to be rotatable around the rotation axis O1. The arm 222 is connected to the arm 221 via a joint J2 so as to be rotatable around the rotation axis O2. The arm 223 is connected to the arm 222 via a joint J3 so as to be rotatable around the rotation axis O3. The arm 224 is connected to the arm 223 via a joint J4 so as to be rotatable around the rotation axis O4. The arm 225 is connected to the arm 224 via a joint J5 so as to be rotatable around the rotation axis O5. The arm 226 is connected to the arm 225 via a joint J6 so as to be rotatable around the rotation axis O6.

[0042] Each of the joints J1 to J6 is a mechanism that rotatably connects one of two mutually adjacent members of the base 210 and the arm portions 221 to 226 to the other. In addition, hereinafter, each of the joints J1 to J6 may be referred to as a "joint J".

[0043] Although in Figure 2 Although not shown in the figure, each joint J1 to J6 is provided with a driving mechanism for rotating the corresponding joint J. The assembly of the driving mechanisms of the joints J1 to J6 is equivalent to the following description. Figure 3 The arm driving mechanism 2a is shown.

[0044] The rotation axis O1 is an axis perpendicular to the installation surface (not shown) to which the base 210 is fixed. The rotation axis O2 is an axis perpendicular to the rotation axis O1. The rotation axis O3 is an axis parallel to the rotation axis O2. The rotation axis O4 is an axis perpendicular to the rotation axis O3. The rotation axis O5 is an axis perpendicular to the rotation axis O4. The rotation axis O6 is an axis perpendicular to the rotation axis O5.

[0045] In addition, for these rotation axes, "perpendicular" includes not only the case where the angle formed by the two rotation axes is strictly 90°, but also the case where the angle formed by the two rotation axes deviates from 90° within a range of about ±5°. Similarly, "parallel" includes not only the case where the two rotation axes are strictly parallel, but also the case where one of the two rotation axes is inclined relative to the other within a range of about ±5°. In addition, the orientation of these rotation axes is not limited to Figure 2 Example shown.

[0046] The print head 3 is mounted as an end effector on the arm portion 226 at the top of the arm portion 220 of the robot arm 2. Figure 2 In the example shown, the print head 3 is fixed to the arm portion 226 by screwing or the like.

[0047] The print head 3 is a component having a head chip 3a that ejects ink as an example of "liquid" toward the workpiece W. The head chip 3a has a plurality of nozzles n opened on a ejection surface Fn, and although not shown in the figure, a piezoelectric element as a driving element and a cavity for storing ink are provided for each nozzle n on the head chip 3a.

[0048] In addition, as a driving element for ejecting ink from the nozzle, a heater for heating the ink in the cavity may be used instead of the piezoelectric element.

[0049] exist Figure 2 In the example shown, the plurality of nozzles n of the head chip 3a are divided into nozzle row nL1 and nozzle row nL2. The nozzle row nL1 and the nozzle row nL2 are respectively a set of a plurality of nozzles n arranged in the width direction of the head chip 3a. Here, the head chip 3a is configured so that the type of ink used in the nozzle row nL1 can be different from the type of ink used in the nozzle row nL2. In addition, the plurality of nozzles n of the head chip 3a can also be divided into three or more nozzle rows.

[0050] The ink is not particularly limited, and examples thereof include water-based inks in which color materials such as dyes or pigments are dissolved in water-based solvents, UV-curable inks using curable resins, and solvent-based inks in which color materials such as dyes or pigments are dissolved in organic solvents. Among them, curable inks are preferably used. Curable inks are not particularly limited, and for example, they may be any one of thermosetting, photocurable, radiation-curable, and electron-beam-curable inks, but preferably photocurable inks such as UV-curable. In addition, the ink is not limited to a solution, and may be an ink in which a color material, etc., is dispersed in a dispersant. In addition, the ink is not limited to an ink containing a color material, and for example, may be an ink containing conductive particles such as metal particles for forming wiring, etc., as a dispersed substance, or may be a transparent ink, or may be a treatment liquid for surface treatment of a workpiece W.

[0051] In addition to the head chip 3a, the print head 3 may also have, for example, a valve mechanism that opens and closes according to the pressure of the ink in the head chip 3a, or a light source that emits energy such as light, heat, electron beams, or radiation for hardening or solidifying the ink on the workpiece W. The number of head chips 3a that the print head 3 has is not limited to Figure 2 The examples shown may be two or more.

[0052] The camera 9 is a three-dimensional camera that measures the three-dimensional shape of the three-dimensional object. The camera 9 is supported by a support body (not shown) and captures the workpiece W fixed on the mounting portion BW together with the mounting portion BW. The camera 9 is not particularly limited as long as it can obtain the three-dimensional shape data of the three-dimensional object, but the camera 9 is a variety of sensors also called three-dimensional sensors or visual sensors.

[0053] Here, the camera 9 may be a passive sensor or an active sensor based on the principle of triangulation, or a focus utilizing type or time of flight (TOF) sensor based on the principle of coaxial measurement.

[0054] Although not shown in the figure, the camera 9 includes, for example, an imaging optical system and an imaging element. The imaging optical system is an optical system including at least one imaging lens, and may also include various optical elements such as a prism, and may also include a zoom lens or a focusing lens. The imaging element is, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary MOS) image sensor. In addition, the camera 9 may also have a light source including a light emitting element such as an LED (light emitting diode) that emits light toward the imaging range for illumination. In addition, when the camera 9 itself has an image processing function, it can output the CAD data of the object to be photographed to the computer 7.

[0055] Here, a three-axis imaging coordinate system is set in the camera 9. The imaging coordinate system can also be associated with the universal coordinate system by calibration. The camera 9 generates shape data representing the three-dimensional shape of the target object in the imaging coordinate system.

[0056] In addition, the camera 9 only needs to be installed in a manner that can capture the loading portion BW supporting the workpiece W. The camera 9 may be supported on the robot arm 2, or on a moving mechanism such as a multi-joint robot arm or a conveyor belt that is different from the robot arm 2. In addition, the capture by the camera 9 may also be performed manually.

[0057] The controller 5 is a robot controller that controls the driving of the robot 2. Figure 3 The electrical structure of the 3D object printing apparatus 100 will be described below including a detailed description of the controller 5 .

[0058] Figure 3 is a block diagram showing the electrical structure of the 3D object printing apparatus 100 according to the first embodiment. Figure 3 , electrical components of the components of the three-dimensional object printing device 100 are shown. Figure 3 As shown, the three-dimensional object printing device 100 has Figure 2 In addition to the structural elements shown in the figure, there is also a motion detection unit 4, a control module 6, and a computer 7. The control module 6 is connected to the controller 5 in a manner that allows communication. The computer 7 is connected to the camera 9, the motion detection unit 4, the controller 5, and the control module 6 in a manner that allows communication. Here, the controller 5, the control module 6, and the computer 7 constitute a control unit 8. The control unit 8 controls the respective motions of the robot arm 2 and the printing head 3. Figure 3Each part of the control unit 8 will be described in sequence.

[0059] in addition, Figure 3 Each of the electrical components shown may be appropriately divided, a part of which may be included in other components, or may be integrally formed with other components. For example, a part or all of the functions of the controller 5 or the control module 6 may be implemented by the computer 7, or by other external devices such as a PC (personal computer) connected to the controller 5 via a network such as a LAN (Local Area Network) or the Internet.

[0060] The motion detection unit 4 generates motion information Dm described later by detecting the motion of the robot 2. Specifically, the motion detection unit 4 outputs a signal corresponding to the displacement of the top of the arm 220 of the robot 2, that is, the displacement of the print head 3. For example, the motion detection unit 4 is an acceleration sensor installed on the top of the arm 220 or the print head 3. In addition, the motion detection unit 4 can also be a component that uses the signal Sd1 from the arm drive mechanism 2a described later, and can also be a component that detects the displacement of the top of the arm 220 or the print head 3 using a camera such as a camera 9.

[0061] The controller 5 has a function of controlling the driving of the robot arm 2 and a function of generating a signal Sk2 for synchronizing the ink ejection operation of the print head 3 with the operation of the robot arm 2 .

[0062] The controller 5 has a storage circuit 5 a and a processing circuit 5 b .

[0063] The storage circuit 5a stores various programs executed by the processing circuit 5b and various data processed by the processing circuit 5b. The storage circuit 5a includes, for example, a volatile memory such as RAM (Random Access Memory) and a non-volatile memory such as ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory) or PROM (Programmable ROM) or a semiconductor memory, one or both of which are included. In addition, a part or all of the storage circuit 5a may also be included in the processing circuit 5b.

[0064] The storage circuit 5 a stores path information Da.

[0065] The path information Da is information indicating a printing path as a path along which the print head 3 moves relative to the workpiece W. The path information Da is used in the control of the movement of the robot 2, and indicates the position and posture of the print head 3 on the path along which the print head 3 should move when the printing movement is executed. The position and posture of the print head 3 are defined with the tool center point of the robot 2 as a reference. The tool center point can be configured, for example, at the center of the nozzle surface as the top surface of the head chip 3a, or at a position spaced apart from the head chip 3a in the direction of ink ejection. The path information Da is represented, for example, by coordinate values ​​of a coordinate system such as a workpiece coordinate system, a reference coordinate system, or a universal coordinate system. However, when the path information Da is represented by the coordinate values ​​of the workpiece coordinate system, it is used in the control of the movement of the robot 2 after being converted from the coordinate values ​​of the workpiece coordinate system to the coordinate values ​​of the reference coordinate system or the universal coordinate system. The path information Da is generated by the server 300, and is input to the controller 5 from the server 300 via the computer 7. In addition, the tentative path information Da can also be generated by the computer 7.

[0066] The processing circuit 5b controls the movement of the arm driving mechanism 2a of the robot 2 based on the path information Da, and generates a signal Sk2. The processing circuit 5b includes, for example, one or more processors such as a CPU (Central Processing Unit). In addition, the processing circuit 5b may also include a programmable logic device such as an FPGA (field-programmable gate array) instead of the CPU or in addition to the CPU.

[0067] Here, the arm driving mechanism 2 a is an aggregate of the driving mechanisms of the joints J1 to J6 described above, and has, for each joint J, a motor for driving the joint J of the robot arm 2 and an encoder for detecting the rotation angle of the joint J of the robot arm 2 .

[0068] The processing circuit 5b implements the calculation of converting the path information Da into the movement amount such as the rotation angle and the rotation speed of each joint J of the robot 2, that is, the inverse kinematics calculation. Moreover, the processing circuit 5b outputs the control signal Sk1 based on the output Sd1 of each encoder from the arm driving mechanism 2a, so that the actual movement amount such as the rotation angle and the rotation speed of each joint J becomes the calculation result described above obtained based on the path information Da. The control signal Sk1 is a signal for controlling the drive of the motor of the arm driving mechanism 2a. Here, the control signal Sk1 can also be corrected by the processing circuit 5b based on the output from the distance sensor not shown in the figure as needed. In this way, the processing circuit 5b implements the drive control of the robot 2 through the control signal Sk1 used for feedback control based on the path information Da and the output Sd1.

[0069] In addition, the processing circuit 5b generates a signal Sk2 based on an output Sd1 from at least one of the plurality of encoders included in the arm driving mechanism 2a. For example, as the signal Sk2, the processing circuit 5b generates a trigger signal including a pulse at a timing when the output Sd1 from one of the plurality of encoders reaches a predetermined value.

[0070] The control module 6 is a circuit that controls the ejection of ink from the print head 3 based on the signal Sk2 output from the controller 5 and the print data Img and timing information Db from the computer 7. The control module 6 includes a timing signal generating circuit 6a, a power supply circuit 6b, a control circuit 6c, and a drive signal generating circuit 6d.

[0071] The timing signal generating circuit 6a generates the timing signal PTS based on the signal Sk2 and the timing information Db. The timing signal generating circuit 6a is composed of, for example, a timer that starts generating the timing signal PTS upon detection of the signal Sk2, and adjusts the timing interval specified by the timing signal PTS based on the timing information Db.

[0072] The power supply circuit 6b receives power from a commercial power supply (not shown) and generates various predetermined potentials. The generated various potentials are appropriately supplied to the control module 6 and various parts of the print head 3. For example, the power supply circuit 6b generates a power supply potential VHV and an offset potential VBS. The offset potential VBS is supplied to the print head 3. In addition, the power supply potential VHV is supplied to the drive signal generation circuit 6d.

[0073] The control circuit 6c generates a control signal SI, a waveform designation signal dCom, a latch signal LAT, a clock signal CLK, and a switching signal CNG based on the timing signal PTS. These signals are synchronized with the timing signal PTS. Among these signals, the waveform designation signal dCom is input to the drive signal generation circuit 6d, and the other signals are input to the switch circuit 3b of the print head 3.

[0074] The control signal SI is a digital signal for specifying the operating state of the driving element possessed by the head chip 3a of the print head 3. Specifically, the control signal SI is a signal for specifying whether to supply the driving signal Com described later to the driving element based on the printing data Img. Through this specification, for example, it is specified whether to eject ink from the nozzle corresponding to the driving element, or the amount of ink ejected from the nozzle is specified. The waveform designation signal dCom is a digital signal for specifying the waveform of the driving signal Com. The latch signal LAT and the exchange signal CNG are signals for specifying the timing of ejecting ink from the nozzle by specifying the driving timing of the driving element in combination with the control signal SI. The clock signal CLK is a clock signal that serves as a reference for synchronization with the timing signal PTS.

[0075] The control circuit 6c described above includes, for example, one or more processors such as CPUs. In addition, the control circuit 6c may include a programmable logic device such as FPGA instead of or in addition to the CPU.

[0076] The drive signal generating circuit 6d is a circuit for generating a drive signal Com for driving each drive element of the head chip 3a of the print head 3. Specifically, the drive signal generating circuit 6d includes, for example, a DA conversion circuit and an amplifier circuit. In the drive signal generating circuit 6d, the waveform designation signal dCom from the control circuit 6c is converted from a digital signal to an analog signal by the DA conversion circuit, and the analog signal is amplified by the amplifier circuit using the power supply potential VHV from the power supply circuit 6b, thereby generating the drive signal Com. Here, the signal of the waveform actually supplied to the drive element among the waveforms included in the drive signal Com is the drive pulse PD. The drive pulse PD is supplied from the drive signal generating circuit 6d to the drive element via the switch circuit 3b of the print head 3.

[0077] Here, the switch circuit 3 b is a circuit including a switch element that switches whether or not to supply at least a part of the waveform included in the drive signal Com as the drive pulse PD based on the control signal SI.

[0078] The computer 7 has a function of supplying information such as route information Da to the controller 5 and a function of supplying information such as print data Img and timing information Db to the control module 6. The computer 7 also has a function of outputting information D1 to the server 300 and a function of inputting information D2 from the server 300.

[0079] The computer 7 has a storage circuit 7a, a processing circuit 7b and a communication circuit 7c. In addition, the computer 7 may also have an input device such as a keyboard or a mouse for accepting operations from a user, and may also have a display device such as a liquid crystal panel for displaying information required for generating the path information Da.

[0080] The storage circuit 7a stores various programs executed by the processing circuit 7b and various data processed by the processing circuit 7b. The storage circuit 7a includes, for example, a semiconductor memory that is one or both of a volatile memory such as RAM and a non-volatile memory such as ROM, EEPROM or PROM. In addition, a part or all of the storage circuit 7a may also be included in the processing circuit 7b.

[0081] The storage circuit 7a stores the program PR1, the information D1, and the information D2.

[0082] The program PR1 is a program for executing processing required for outputting the information D1 to the server 300 and inputting the information D2 from the server 300 .

[0083] The information D1 , which is information output to the server 300 , includes identification information Did, workpiece information Dw, position information Da1, motion information Dm, and image information Dg.

[0084] The identification information Did is information for specifying the types of the robot arm 2 and the printing head 3 used in the 3D object printing apparatus 100, and indicates, for example, a unique number such as a serial number unique to the 3D object printing apparatus 100. The identification information Did may also include information indicating a unique number such as a serial number unique to the robot arm 2 and information indicating a unique number such as a serial number unique to the printing head 3. The identification information Did as described above is pre-stored in the storage circuit 7a when the 3D object printing apparatus 100 is manufactured or shipped.

[0085] The workpiece information Dw is information related to the workpiece W, and indicates, for example, the shape, material, orientation, and position of at least a portion of the workpiece W. Specifically, the workpiece information Dw includes, for example, three-dimensional data in the STL (Standard Triangulated Language) format or the 3MF (3D Manufacturing Format) format in which the shape of the workpiece W is represented by a plurality of polygons, and information indicating the material, orientation, and position of the workpiece W. Data in the 3MF format is shape data with a data texture in which coordinates on polygon data representing a three-dimensional shape and color information indicating the color corresponding to the coordinates are integrated. Therefore, when the workpiece information Dw is data in the 3MF format, the image information Dg may be integrally included as color information, or the printing target area in the workpiece W indicated by the workpiece information Dw may be represented by color information. The workpiece information Dw may be data generated by measuring the shape of the workpiece W using a three-dimensional camera such as the camera 9, or may be data obtained by converting CAD (computer-aided design) data representing the three-dimensional shape of the workpiece W as needed. In addition, the workpiece information Dw can be expressed using the coordinate values ​​of the workpiece coordinate system, or can be expressed by point group data using the coordinate values ​​of the reference coordinate system or the universal coordinate system. In addition, the workpiece information Dw can also be expressed by a mathematical formula, etc., and the format of the workpiece information Dw can be appropriately converted as needed.

[0086] The position information Dal is information related to the positional relationship between the workpiece W and the mounting portion BW on which the workpiece W is mounted. The position information Dal is, for example, information indicating an image obtained by photographing the marker MK of the mounting portion BW together with the workpiece W using the camera 9. The position information Dal may also be included in the workpiece information Dw.

[0087] The motion information Dm is information related to the motion of the robot 2, and is obtained from the motion detection unit 4 while the robot 2 is being moved based on the path information Da. Here, the motion information Dm includes one or both of information obtained by detection by the motion detection unit 4 while the 3D printing apparatus 100 is printing, and information obtained by detection by the motion detection unit 4 while the 3D printing apparatus 100 is performing a preliminary motion. The preliminary motion is an action of moving the printing head 3 along the printing path indicated by the path information Da by the robot 2 without ejecting liquid from the printing head 3.

[0088] The image information Dg is information indicating an image to be printed on the workpiece W. The format of the image information Dg is not particularly limited, but may be a bitmap format such as JPEG, or a vector format such as PostScript, PDF (Portable Document Format), or XPS (XML Paper Specification).

[0089] Information D2 includes path information Da, print data Img, and timing information Db as information input from server 300 .

[0090] The print data Img is information indicating an image to be printed on the workpiece W for each path (route) of the print path indicated by the path information Da. Here, when it is necessary to divide the print image to be printed on the workpiece W into a plurality of routes and print them, the print data Img includes information indicating a plurality of divided images obtained by dividing the print image into each route. The print data Img is image data in a form that can be processed by the control module 6, and the print data Img is obtained by processing the image information Dg by the server 300. The processing includes at least one of image processing such as color conversion processing, concentration correction processing, quantization processing, distribution processing, and RIP (Raster image processor) processing.

[0091] In this embodiment, the print data Img is expressed using the coordinate values ​​of the second coordinate system described later, and includes information for correcting the first coordinates described later to the second coordinates. Alternatively, the print data Img may be expressed using the coordinate values ​​of the first coordinate system described later. In this case, the print data Img may not include information for correcting the first coordinates described later to the second coordinates.

[0092] The timing information Db is information indicating the ejection timing of the print head 3. The timing information Db is obtained by the server 300 based on the motion information Dm and the head information Dh. By adjusting the ejection timing indicated by the timing information Db, it is possible to reduce the error in the scanning direction of the robot 2 when the print head 3 is moved along the printing path.

[0093] The processing circuit 7b implements the above-mentioned functions by executing programs such as the program PR1. The processing circuit 7b includes, for example, one or more processors such as CPUs. In addition, the processing circuit 7b may include a programmable logic device such as an FPGA instead of or in addition to the CPU.

[0094] The processing circuit 7 b implements various functions required for outputting the information D1 and inputting the information D2 by executing the program PR1 . In this way, the control unit 8 transmits the workpiece information Dw to the server 300 and receives the printing route indicated by the route information Da from the server 300 .

[0095] As described above, the printing operation is performed by controlling the driving of the robot 2 based on the path information Da, and controlling the driving of the print head 3 based on the print data Img, the timing information Db, and the signal Sk2. In the printing operation, the robot 2 changes the position and posture of the head chip 3a based on the path information Da, and the head chip 3a ejects ink from the print head 3 toward the workpiece W at an appropriate timing obtained based on the print data Img, the timing information Db, and the signal Sk2. Thus, an image based on the print data Img can be formed on the workpiece W.

[0096] 1-3. Server structure

[0097] Figure 4 1 is a schematic diagram showing a configuration example of a server 300 used in the three-dimensional object printing system 10 according to the first embodiment. Figure 4 As shown, the server 300 includes a display device 310, an input device 320, a communication device 330, a storage circuit 340, and a processing circuit 350. These components are connected together so as to be able to communicate with each other. The storage circuit 340 is an example of a "storage unit".

[0098] The display device 310 displays various images based on control by the processing circuit 350. Here, the display device 310 includes a display panel such as a liquid crystal display panel or an organic EL (electro-luminescence) display panel.

[0099] The input device 320 is a device that accepts operations from the user. For example, the input device 320 has a pointing device such as a touch pad, a touch panel, or a mouse. Here, the input device 320 may also serve as the display device 310 when it has a touch panel. In addition, the input device 320 may also be provided outside the server 300. In addition, the input device 320 may also have other input devices such as a keyboard.

[0100] The communication device 330 is a circuit capable of communicating with the 3D object printing apparatus 100. For example, the communication device 330 is a communication circuit having an interface such as a wireless or wired LAN, USB, etc. The communication device 330 receives the information D1 or sends the information D2 by communicating with the 3D object printing apparatus 100. In addition, the communication device 330 may be integrated with the processing circuit 350.

[0101] The storage circuit 340 is a device for storing various programs executed by the processing circuit 350 and various data processed by the processing circuit 350. The storage circuit 340 includes, for example, a hard disk drive or a semiconductor memory. In addition, part or all of the storage circuit 340 may also be provided in a storage device or a computer external to the server 300.

[0102] In the storage circuit 340 of the present embodiment, the program PR2, information D1, information D2, robot information Dr, head information Dh, device information Ds, and error information De are stored.

[0103] The program PR2 is a program for executing processing required for inputting the information D1 from the 3D object printing apparatus 100 and outputting the information D2 to the 3D object printing apparatus 100 .

[0104] The robot information Dr is information related to the robot 2. The robot information Dr includes individual information Dr1 and performance information Dr2. The individual information Dr1 is information for identifying the robot 2, and is associated with the identification information Did. Thus, the robot information Dr can be identified based on the identification information Did. The performance information Dr2 is information related to the performance of the robot 2, and includes, for example, information indicating the movable range, extension amount, movement and deceleration speed of the robot 2. In addition, in addition to the individual information Dr1 and the performance information Dr2, the robot information Dr may also include, for example, motion information Dm, and may also include information indicating the temporal changes in the characteristics of the robot 2.

[0105] The head information Dh is information related to the print head 3. The head information Dh includes individual information Dh1 and performance information Dh2. The individual information Dh1 is information for identifying the print head 3, and is associated with the identification information Did. Thus, the head information Dh can be specified based on the identification information Did. The performance information Dh2 is information related to the performance of the print head 3, and includes, for example, information indicating the nozzle column width, droplet amount, etc. of the print head 3. In addition to the individual information Dh1 and the performance information Dh2, the head information Dh may also include, for example, information indicating the size or length of the print head 3, and may also include information indicating the type of ink used in the print head 3.

[0106] The device information Ds is information related to the setting or use status of the three-dimensional object printing apparatus 100. The device information Ds includes environmental information Ds1 and coordinate information Ds2. The environmental information Ds1 is information related to the environment in which the robot 2 is installed, and includes, for example, information indicating temperature, humidity, the installation direction of the robot 2, the presence or absence of obstacles, etc. as information related to factors that may affect the characteristics of the robot 2 or the printing head 3. The coordinate information Ds2 is information indicating a standard coordinate system as the coordinate system of the three-dimensional object printing apparatus 100. The standard coordinate system is, for example, the universal coordinate system described above. In this way, the server 300 stores the standard coordinate system as the coordinate system of the three-dimensional object printing apparatus 100. In addition, the device information Ds is associated with the identification information Did, so that it can be identified based on the identification information Did.

[0107] The error information De is information on the error in the operation of the robot arm 2. The error information De of this embodiment indicates the difference between the position and posture of the print head 3 indicated by the operation information Dm and the position and posture of the print head 3 indicated by the path information Da.

[0108] The processing circuit 350 is a device having the function of controlling each part of the server 300 and the function of processing various data. The processing circuit 350 has a processor such as a CPU (Central Processing Unit). In addition, the processing circuit 350 can be composed of a single processor or a plurality of processors. In addition, a part or all of the functions of the processing circuit 350 can also be implemented by hardware such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array).

[0109] The processing circuit 350 reads and executes the program PR2 from the storage circuit 340 , thereby functioning as an acquisition unit 351 , a generation unit 352 , and a transmission unit 353 .

[0110] The acquisition unit 351 executes a process of acquiring the information D1 , the robot information Dr, the head information Dh, and the device information Ds.

[0111] Specifically, the acquisition unit 351 acquires the information D1 from the 3D object printing apparatus 100 and causes the storage circuit 340 to store the acquired information D1. The acquisition unit 351 acquires the robot information Dr, the head information Dh, and the device information Ds by any method and causes the storage circuit 340 to store the acquired information.

[0112] Here, the acquisition unit 351 may acquire information in which the image information Dg and the workpiece information Dw are integrated. In this case, for example, the image information Dg is included in the information as color information related to the color of the workpiece W.

[0113] Furthermore, the motion information Dm included in the information D1 is acquired from the motion detection unit 4 while the robot arm 2 is being operated based on the path information Da. This acquisition may be performed during the execution of the printing operation for ejecting ink from the print head 3, or during the execution of the preliminary operation for not ejecting ink from the print head 3. That is, the acquisition of the motion information Dm by the acquisition unit 351 may be performed while the three-dimensional object printing apparatus 100 is printing, or during the execution of the preliminary operation for moving the print head 3 along the printing path indicated by the path information Da without ejecting liquid from the print head 3.

[0114] The generation unit 352 generates information D2 based on the information D1 , the robot information Dr, the head information Dh, and the device information Ds.

[0115] Specifically, the generation unit 352 generates a printing path indicated by the path information Da based on the workpiece information Dw. In this generation, the image information Dg is used as needed. Thus, for example, the number of printing paths can be set in consideration of the position and size of the printing area relative to the workpiece W.

[0116] Here, the generating unit 352 corrects the coordinate system of the workpiece W placed on the loading part BW based on the position information Dal and the standard coordinate system shown in the coordinate information Ds2. The position, size and shape of each mark MK of the loading part BW mentioned above are known, and are represented as fixed values ​​of the first coordinate system that has established a corresponding relationship with the loading part BW. In addition, since the positional relationship between each mark MK and the workpiece W is fixed, the position and posture of the workpiece W relative to the loading part BW can be represented by the first coordinate system. The correction is implemented by converting the position information Dal from the first coordinate system to the second coordinate system as the standard coordinate system. Thus, information representing the positional relationship between the workpiece W and the loading part BW on which the workpiece W is placed in the standard coordinate system can be obtained.

[0117] Moreover, after the correction of the coordinate system described above, the generating unit 352 generates path information Da based on the workpiece information Dw and using the robot information Dr and device information Ds specified by the identification information Did on the basis of the second coordinate system as the corrected coordinate system. The method for generating the path information Da is not particularly limited, but for example, the method described in Japanese Patent Laid-Open No. 2023-31611 can be used. In addition, the generating unit 352 may also generate path information Da represented by the second coordinate system based on the workpiece information Dw and using the robot information Dr and device information Ds specified by the identification information Did on the basis of the second coordinate system, and then convert the path information Da into path information Da represented by the first coordinate system. In this case, the correction of the coordinate system described above may not be implemented.

[0118] In addition, the generating unit 352 corrects the printing path indicated by the path information Da based on the robot information Dr and the motion information Dm. Through this correction, the meandering of the print head 3 relative to the printing path can be mainly reduced. Here, the generating unit 352 generates the error information De by calculating the temporal change of the motion of the robot 2 based on the motion information Dm, and corrects the printing path indicated by the path information Da based on the temporal change indicated by the error information De. The temporal change is equivalent to the temporal change of the difference between the position and posture of the print head 3 indicated by the motion information Dm and the position and posture of the print head 3 indicated by the path information Da. In addition, the generating unit 352 corrects the printing path indicated by the path information Da based on the result obtained by simulating using the environment information Ds1. For example, the generating unit 352 corrects the printing path Da in a way that avoids the robot 2 or the print head 3 from contacting an obstacle based on the result of the simulation obtained by causing the robot 2 to move in a virtual space formed by using the environment information Ds1 to simulate the environment in which the robot 2 is set. The path information Da indicating the corrected printing path generated in the above-described manner is stored in the storage circuit 340 .

[0119] Furthermore, the generation unit 352 generates the timing information Db by correcting the ejection timing of the print head 3 based on the action information Dm. This correction can reduce the image quality degradation caused by the uneven speed in the main scanning direction of the print head 3. In this embodiment, the generation unit 352 corrects the ejection timing shown in the timing information Db based on the action information Dm and the head information Dh. The timing information Db generated in the above manner is stored in the storage circuit 340.

[0120] Furthermore, the generation unit 352 generates the print data Img based on the corrected path information Da and the image information Dg. Here, when it is necessary to divide the print image to be printed on the workpiece W into a plurality of routes and print them, the generation unit 352 creates divided images obtained by dividing the print image to be printed on the workpiece W based on the workpiece information Dw and the print path indicated by the corrected path information Da. Thus, the print data Img including information indicating a plurality of divided images can be obtained. The print data Img generated in the above manner is stored in the storage circuit 340.

[0121] The transmission unit 353 performs a process of transmitting various information included in the information D2 to the 3D object printing apparatus 100 at appropriate timing.

[0122] As described above, the server 300 obtains the workpiece information Dw related to the workpiece W, and generates the printing path indicated by the path information Da based on the workpiece information Dw. Thus, the burden on the user of the three-dimensional object printing apparatus 100 can be reduced. In addition, since the server 300 and the three-dimensional object printing apparatus 100 are connected in a communicative manner as described above, an appropriate printing path can be applied from the server 300 to the three-dimensional object printing apparatus 100 in a timely manner. Thus, the printing quality of the three-dimensional workpiece W can be improved.

[0123] 1-4. Processing of 3D printing system

[0124] Figure 5 FIG. 1 is a flow chart showing a control method of the three-dimensional object printing system 10 according to the first embodiment. In the three-dimensional object printing system 10, first, Figure 6 As shown in FIG. 1 , in step S101 as an example of the “workpiece information acquisition process”, the 3D object printing apparatus 100 acquires workpiece information Dw. Then, in step S102, the 3D object printing apparatus 100 acquires image information Dg. The details of acquiring the workpiece information Dw and the image information Dg will be described later based on FIG. Figure 6 Provide explanation.

[0125] Thereafter, in step S103, the three-dimensional object printing apparatus 100 transmits the identification information Did, the workpiece information Dw, the position information Da1, and the image information Dg to the server 300. Thus, the acquisition unit 351 of the server 300 acquires the identification information Did, the workpiece information Dw, the position information Da1, and the image information Dg. In addition, the acquisition timing of the identification information Did, the workpiece information Dw, the position information Da1, and the image information Dg by the acquisition unit 351 may be different from each other. In addition, the acquisition timing of the image information Dg by the acquisition unit 351 only needs to be earlier than step S106, or may be later than step S103.

[0126] Thereafter, in step S104, the server 300 corrects the coordinate system of the workpiece W placed on the placing unit BW based on the position information Da1 and the standard coordinate system. This correction is performed by the generating unit 352 as described above.

[0127] Next, in step S105 as an example of a “path generation process”, the server 300 generates path information Da based on the workpiece information Dw, the robot information Dr, and the device information Ds. This generation is performed by the generation unit 352 as described above.

[0128] Next, in step S106, the server 300 generates the print data Img. This generation is performed by the generation unit 352 as described above. In addition, the print data Img only needs to be generated later than the acquisition timing of the image information Dg by the acquisition unit 351, and may be generated before step S104 or step S105. In addition, when printing is not performed in step S108, the print data Img may be generated later than step S107.

[0129] Next, in step S107, the server 300 transmits the path information Da and the print data Img to the 3D object printing apparatus 100. This transmission is performed by the transmission unit 353 as described above. Thus, the 3D object printing apparatus 100 obtains the path information Da and the print data Img. In addition, when printing is not performed in step S108, the print data Img may be transmitted later than in step S106.

[0130] Thereafter, in step S108 , the 3D object printing apparatus 100 acquires the operation information Dm. This acquisition is performed by the acquisition unit 351 as described above.

[0131] Then, in step S109 , the 3D object printing apparatus 100 transmits the action information Dm to the server 300 . This transmission is performed by the transmission unit 353 as described above, and the action information Dm is acquired by the acquisition unit 351 of the server 300 .

[0132] Thereafter, in step S110 , the server 300 generates error information De based on the motion information Dm. This generation is performed by the generation unit 352 as described above.

[0133] Next, in step S111, the server 300 corrects the path information Da based on the error information De. This correction is performed by the generation unit 352 as described above.

[0134] Next, in step S112, the server 300 generates the timing information Db based on the action information Dm and the header information Dh. This generation is performed by the generation unit 352 as described above.

[0135] Thereafter, in step S113, the server 300 transmits the path information Da and the timing information Db to the 3D object printing apparatus 100. This transmission is performed by the transmission unit 353 as described above. Thus, the 3D object printing apparatus 100 obtains the corrected path information Da and timing information Db.

[0136] As described above, the control method of the three-dimensional object printing system 10 includes step S101 as an example of the “work information acquisition step” and step S105 as an example of the “path generation step”.

[0137] Figure 6 FIG. 1 is a diagram for explaining the acquisition of workpiece information Dw and image information Dg. The acquisition of workpiece information Dw in step S101 and the acquisition of image information Dg in step S102 described above are respectively performed using Figure 6 The GUI (Graphical User Interface) image shown in the figure is implemented as a graphic UI. Figure 6 The illustrated graphic UI is an example and is not limited thereto.

[0138] The image UI includes regions R1 , R2 , R3 and buttons B1 , B2 , B3 , B4 .

[0139] Region R1 is a region for selecting a job file that records past setting contents using the image UI. Figure 6 In the example shown, the region R1 has buttons B11 , B12 , B13 .

[0140] Button B11 is a button for selecting a task file from a plurality of existing task files. By operating button B11, the file name of the task file being selected is displayed in button B11. Button B12 is a button for reading the task file being selected. By operating button B12, the setting contents of the task file being selected are reflected in regions R2 and R3. Button B13 is a button for specifying the file name of the file when a new task file is created. By operating button B13, a new task file can be created.

[0141] Region R2 is a region for selecting workpieces W. Figure 6 In the example shown, the region R2 includes a region R2a and buttons B21 and B22.

[0142] The area R2a is an area for displaying a preview of the image of the selected workpiece W. The button B21 is a button for selecting one workpiece information Dw from a plurality of workpiece information Dw. By operating the button B21, the file name of the workpiece information Dw being selected is displayed in the button B21, and a preview image of the workpiece information Dw being selected is displayed in the area R2a. The button B22 is a button for reading the workpiece information Dw being selected. By operating the button B22, the workpiece information Dw being selected is acquired by the acquisition unit 351 in step S101.

[0143] Region R3 is a region for setting image information Dg for each surface of the workpiece W to be printed. Here, the surfaces of the workpiece W to be printed are extracted based on the shape shown in the workpiece information Dw, and are displayed in region R3 in accordance with the number of surfaces to be printed. Figure 6 In the example shown, the region R3 includes regions R3-1, R3-2, and R3-3 corresponding to different printing target surfaces of the workpiece W. Each of the regions R3-1, R3-2, and R3-3 is a region for setting image information Dg for the corresponding printing target surface, and includes a region R3a and buttons B31 and B32.

[0144] Region R3a is a region for displaying a preview of the image of the selected image information Dg. Button B31 is a button for selecting one image information Dg from a plurality of image information Dg. By operating button B31, the file name of the image information Dg being selected is displayed in button B31, and a preview image of the image information Dg being selected is displayed in region R3a. In addition, by operating button B31, the image information Dg being selected is acquired by acquisition unit 351 in step S102. Button B32 is a button for canceling the selection of image information Dg. By operating button B32, the selection of image information Dg is canceled.

[0145] The button B1 is used to create the path information Da and the printing data Img using the setting contents input into the area R2 and the area R3. By operating the button B1, the aforementioned step S103 can be executed. Thus, the server 300 executes steps S104 to S107, thereby obtaining the path information Da and the printing data Img by the 3D object printing apparatus 100.

[0146] The button B2 is a button for executing a preliminary operation using the acquired path information Da and print data Img. By operating the button B2, step S108 can be executed in a state where the preliminary operation is executed.

[0147] The button B3 is a button for executing the printing operation using the acquired path information Da and the printing data Img. By operating the button B3, step S108 can be executed while the printing operation is being executed.

[0148] The button B4 is a button for saving the job file of the setting contents input into the regions R2 and R3. By operating the button B4, the job file of the setting contents input into the regions R2 and R3 is stored in the storage circuit 7a.

[0149] In the above three-dimensional object printing system 10, since the printing path is generated by the server 300, the burden on the user of the three-dimensional object printing apparatus 100 can be reduced. In addition, since the server 300 is connected to the three-dimensional object printing apparatus 100 in a communicable manner, an appropriate printing path can be applied from the server 300 to the three-dimensional object printing apparatus 100 in a timely manner. As a result, the printing quality of the three-dimensional workpiece W can be improved.

[0150] In addition, as described above, the server 300 obtains the robot information Dr related to the robot 2, and corrects the printing path indicated by the path information Da based on the robot information Dr. Thus, the printing path can be corrected taking into account the motion error of the robot 2. Thus, the printing quality can be improved.

[0151] Furthermore, as described above, the robot information Dr includes individual information Dr1 for identifying the robot 2 and performance information Dr2 related to the performance of the robot 2. The server 300 has a storage circuit 340 as an example of a "storage unit". The storage circuit 340 stores the robot information Dr. The server 300 corrects the printing path indicated by the path information Da based on the robot information Dr. Therefore, after the robot 2 is identified based on the individual information Dr1, the printing path can be appropriately corrected according to the performance of each robot 2 based on the performance information Dr2. Thus, the printing path can be corrected more accurately. In addition, since the robot information Dr is stored in the storage circuit 340 of the server 300, it is not necessary for the three-dimensional object printing device 100 to store the robot information Dr in advance. In addition, by storing the robot information Dr in the storage circuit 340 of the server 300, it is also possible to provide added value such as observation of the three-dimensional object printing device 100 or troubleshooting from the server 300.

[0152] In addition, as described above, the three-dimensional object printing device 100 includes a motion detection unit 4 for detecting the motion of the robot arm 2. The server 300 obtains the motion information Dm related to the motion of the robot arm 2 from the motion detection unit 4, and corrects the printing path indicated by the path information Da based on the motion information Dm. Thus, the printing path indicated by the path information Da can be corrected under the condition that the actual motion of the robot arm 2 is taken into consideration. Thus, the printing quality can be further improved.

[0153] Furthermore, as described above, the server 300 obtains the motion information Dm from the motion detection unit 4 while the 3D object printing apparatus 100 is printing. Thus, the printing path indicated by the path information Da can be corrected in consideration of the motion of the robot arm 2 during actual printing. Thus, the printing quality can be improved without reducing productivity.

[0154] Furthermore, as described above, the three-dimensional object printing apparatus 100 performs a preliminary operation to move the printing head 3 along the printing path indicated by the path information Da without ejecting liquid from the printing head 3. The server 300 obtains the motion information Dm obtained by the detection of the motion detection unit 4 during the execution of the preliminary operation. Thus, the printing path indicated by the path information Da can be corrected in a manner that takes into account the motion of the robot 2 during actual printing without actually performing printing. Thus, the printing quality can be stably improved.

[0155] Furthermore, as described above, the server 300 has a storage circuit 340 as an example of a "storage unit". The storage circuit 340 stores the motion information Dm. The server 300 calculates the temporal change of the motion of the robot 2 based on the motion information Dm, and corrects the printing path indicated by the path information Da based on the temporal change. Thus, even if the motion of the robot 2 changes due to the temporal change, the printing path indicated by the path information Da can be appropriately corrected. Thus, the printing quality can be stably improved.

[0156] As described above, the motion detection unit 4 detects the displacement of the print head 3. The server 300 corrects the ejection timing of the print head 3 based on the motion information Dm. Thus, since the ejection timing of the print head 3 is corrected, the burden on the user can be reduced and the printing quality can be improved.

[0157] Furthermore, as described above, the server 300 obtains the head information Dh related to the print head 3, and corrects the ejection timing indicated by the timing information Db based on the action information Dm and the head information Dh. The ejection timing indicated by the timing information Db is the ejection timing of the print head 3. In this way, since the ejection timing is corrected for each print head 3, the printing quality can be stably improved compared to a method of commonly correcting the ejection timing.

[0158] In addition, as described above, the server 300 obtains the environment information Ds1 related to the environment in which the robot 2 is installed, and corrects the printing path indicated by the path information Da based on the result obtained by simulation using the environment information Ds1. Thus, the printing path indicated by the path information Da can be appropriately corrected in consideration of the installation environment of the robot 2.

[0159] As described above, the server 300 creates divided images by dividing the print image printed on the workpiece W based on the print path indicated by the corrected path information Da. Thus, since the divided images are created by the server 300 , the burden on the corresponding user can be reduced.

[0160] In addition, as described above, the server 300 includes a storage circuit 340 as an example of a "storage unit". The storage circuit 340 stores the printing path indicated by the corrected path information Da. The server 300 creates a segmented image obtained by segmenting the printed image printed on the workpiece W based on the workpiece information Dw and the printing path indicated by the path information Da. Thus, the printing path indicated by the path information Da generated once can be used in another image. Thus, the processing efficiency for correcting the printing path indicated by the path information Da in the server 300 can be improved.

[0161] Furthermore, as described above, the server 300 obtains information in which the color information related to the color of the workpiece W and the workpiece information Dw are integrated, and divides the information into the color information and the workpiece information Dw. Thus, the shape data with an image can be used as the information.

[0162] In addition, as described above, the server 300 stores the standard coordinate system as the coordinate system of the three-dimensional object printing apparatus 100. The server 300 obtains the position information Dal related to the positional relationship between the workpiece W and the mounting portion BW on which the workpiece W is mounted, and corrects the coordinate system of the workpiece W mounted on the mounting portion BW based on the position information Dal and the standard coordinate system. Thus, even if the corresponding relationship between the mounting position of the workpiece W and the standard coordinate system deviates, the standard coordinate system can be corrected while reducing the burden on the user.

[0163] 2. Second Implementation

[0164] In the following exemplary embodiments, elements having the same functions and effects as those of the first embodiment are assigned the same reference numerals as those used in the first embodiment, and detailed descriptions thereof are appropriately omitted.

[0165] Figure 7 1 is a schematic diagram showing a configuration example of a server 300A used in the 3D object printing system according to the second embodiment. The server 300A is configured similarly to the server 300 according to the first embodiment, except that the program PR3 is used instead of the program PR2.

[0166] The processing circuit 350 of the server 300A reads and executes the program PR2 from the storage circuit 340, thereby functioning as an acquisition unit 351, a generation unit 354, and a transmission unit 353. The generation unit 354 is the same as the generation unit 352 of the first embodiment, except that a function of correcting the path information Da based on the error information De-1 to De-N is added. N is a natural number greater than or equal to 1. In addition, in the following, the error information De-1 to De-N may be referred to as error information De without distinguishing them from each other.

[0167] The error information De-1 to De-N are information related to the error of the operation of the robot arm 2 when the printing head 3 is moved along the virtual path indicated by the path information Da. The error information De-1 to De-N are acquired in advance before the three-dimensional object printing apparatus 100 is shipped, and are stored in the storage circuit 340.

[0168] Figure 8 FIG. 1 is a flowchart showing the generation of error information De-1 to De-N in the second embodiment. When the error information De-1 to De-N is generated, first, Figure 8 As shown, in step S201 , a path assumed to be a printing path is generated as a virtual path.

[0169] Next, in step S202, the three-dimensional object printing apparatus 100 is pre-shipped using the generated virtual path. In this pre-shipment, the printing head 3 moves at a moving speed determined for each virtual path.

[0170] Next, in step S203, motion information Dm is acquired based on the detection result of the motion detection unit 4 during the execution of the preliminary motion. Here, for example, the motion information Dm is acquired by the detection of the motion detection unit 4 at a plurality of points on the virtual path.

[0171] Next, in step S204, error information De-k is generated using the obtained motion information Dm. k is a natural number greater than or equal to 1 and less than or equal to N.

[0172] Next, in step S205 , the error information De-k is stored in the storage circuit 340 .

[0173] Next, in step S206 , it is determined whether another path assumed to be a printing path is generated as a virtual path.

[0174] When another path assumed to be a printing path is to be generated as a virtual path (step S206: Yes), after generating a virtual path different from the generated virtual path, the above-mentioned step S202 is executed. Thus, error information De-1 to De-N corresponding to the N virtual paths are stored in the storage circuit 340.

[0175] When there is no other path assumed to be a printing path, the process ends (step S206 : No).

[0176] Fig. 9 FIG. 4 is a diagram for explaining error information De-1 to De-N for each virtual path. Fig. 9 In FIG. 1 , an example of error information De-1 to De-N is shown. Fig. 9 In the example shown, error information De-1 to De-N represent the deviation of the coordinate values ​​of the position shown in the action information Dm relative to the X-axis, Y-axis and Z-axis of the virtual path as errors at each of the 200 points on the virtual path.

[0177] As described above, in this embodiment, the error information De-1 to De-N described above is stored in the storage circuit 340 before the 3D object printing apparatus 100 is shipped, so that the path information Da can be corrected even if the pre-operation is not performed after the 3D object printing apparatus 100 is shipped. This point will be described in detail below.

[0178] Fig.10 3 is a flowchart showing the correction of the printing path in the second embodiment. In the present embodiment, when the printing path indicated by the path information Da is corrected, first, in step S301 , the printing path indicated by the path information Da is generated similarly to the first embodiment.

[0179] Next, in step S302 , it is determined whether there is a virtual path that matches the generated printing path among the plurality of virtual paths described above.

[0180] When there is a virtual path that matches the generated printing path (step S302 : Yes), in step S303 , the printing path indicated by the path information Da is corrected based on the error information De corresponding to the virtual path.

[0181] On the other hand, if there is no virtual path that matches the generated printing path (step S302: No), in step S304, it is determined whether to further obtain error information De. This determination may be performed based on an instruction given by a user operation, or may be based on the difference between the generated printing path and the virtual path, and it may be determined to obtain error information De when the difference is greater than a predetermined value.

[0182] If the error information De is to be further acquired (step S304: Yes), in step S305, the motion information Dm is acquired in the same manner as in step S203 described above. Thereafter, in step S306, the error information De is acquired and stored in the same manner as in steps S204 and S205 described above. Then, in step S307, the path information Da is corrected based on the error information De.

[0183] On the other hand, when the error information De is not further acquired (step S304: No), in step S308, the virtual path most similar to the generated printing path is searched for among the plurality of virtual paths described above.

[0184] Then, in step S309 , the printing path indicated by the path information Da is corrected based on the error information De corresponding to the most similar virtual path.

[0185] According to the above second embodiment, it is also possible to improve the printing quality for the three-dimensional workpiece W while reducing the burden on the user. In this embodiment, as described above, the server 300A has a storage circuit 340 as an example of a "storage unit". The storage circuit 340 stores error information De-1 to De-N related to the error of the action of the robot arm 2 when the print head 3 is moved along the imaginary path. The server 300 corrects the printing path shown by the path information Da based on the error information De-1 to De-N. As a result, since the user of the three-dimensional object printing device 100 does not need to perform pre-action, productivity can be improved.

[0186] In addition, as described above, the server 300A determines whether the printing path indicated by the path information Da is consistent with the virtual path, and when it is determined that the printing path indicated by the path information Da is consistent with the virtual path (step S302: Yes), the printing path indicated by the path information Da is corrected based on the error information De corresponding to the virtual path (step S303). Thus, the correction process of the printing path indicated by the path information Da can be accelerated by referring to the information pre-stored in the storage circuit 340.

[0187] Furthermore, as described above, the three-dimensional object printing apparatus 100 includes a motion detection unit 4 for detecting the motion of the robot arm 2. When the server 300A determines that the printing path indicated by the path information Da is inconsistent with the virtual path (step S302: No), it obtains the motion information Dm related to the motion of the robot arm 2 from the motion detection unit 4 (step S305), and corrects the printing path indicated by the path information Da based on the motion information Dm (steps S306 and S307). Thus, the printing quality can be improved compared to the method of using the error information De corresponding to the virtual path.

[0188] In addition, as described above, when the server 300A determines that the printing path indicated by the path information Da is inconsistent with the virtual path (step S302: No), it searches for a virtual path similar to the printing path indicated by the path information Da (step S308), and corrects the printing path indicated by the path information Da based on the error information De corresponding to the virtual path (step S309). Thus, the correction process of the printing path indicated by the path information Da can be accelerated by referring to the information pre-stored in the storage circuit 340.

[0189] 2. Modifications

[0190] The above is a description of the three-dimensional object printing system of the present disclosure based on the illustrated embodiments, but the present disclosure is not limited thereto. In addition, the structure of each part of the present disclosure can be replaced with any structure that performs the same function as the above-mentioned embodiments, and any structure can also be added.

[0191] 2-1. Modification 1

[0192] In the above-described embodiment, the server 300 is exemplified as a cloud server, but the present invention is not limited to this structure. For example, the server 300 may be a server other than a cloud server or a virtual server, or may be a local deployment server.

[0193] 3. Notes

[0194] Hereinafter, a summary of the present disclosure will be provided.

[0195] (Supplementary Note 1) A three-dimensional object printing system according to a first embodiment of the present disclosure comprises a three-dimensional object printing device and a server, wherein the three-dimensional object printing device comprises a printing head for ejecting liquid toward a three-dimensional workpiece and a robot arm for holding the printing head, wherein the server is connected to the three-dimensional object printing device in a communicative manner, and the server performs the following operations, namely, obtaining workpiece information related to the workpiece, and generating a printing path as a path for the printing head to move relative to the workpiece based on the workpiece information

[0196] In the above manner, since the printing path is generated by the server, the burden on the user of the three-dimensional object printing device can be reduced. In addition, since the server is connected to the three-dimensional object printing device in a communicative manner, an appropriate printing path can be applied from the server to the three-dimensional object printing device in a timely manner. As a result, the printing quality of the three-dimensional workpiece can be improved.

[0197] (Supplementary Note 2) In a second embodiment as a preferred example of the first embodiment, the server performs the following operation, namely, obtaining robot information related to the robot, and correcting the printing path based on the robot information. In the above embodiment, the printing path can be corrected under the condition that the movement error of the robot is taken into account. Thus, the printing quality can be improved.

[0198] (Supplementary Note 3) In the third method which is a preferred example of the second method, the robot information includes individual information for identifying the robot and performance information related to the performance of the robot, and the server has a storage unit for storing the robot information, and performs the following operation, namely: correcting the printing path based on the robot information. In the above method, after the robot is identified based on the individual information, the printing path can be appropriately corrected according to the performance of each robot based on the performance information. Thereby, the printing path can be corrected more accurately. In addition, since the robot information is stored in the storage unit of the server, there is no need for the three-dimensional object printing device to store the robot information in advance. In addition, by storing the robot information in the storage unit of the server, it is also possible to provide added value such as observation of the three-dimensional object printing device or fault response from the server.

[0199] (Supplementary Note 4) In a fourth aspect which is a preferred example of any one of the first aspect to the third aspect, the three-dimensional object printing device includes a motion detection unit, the motion detection unit detects the motion of the robot arm, and the server performs the following operation, namely, obtaining motion information related to the motion of the robot arm from the motion detection unit, and correcting the printing path based on the motion information. In the above aspect, the printing path can be corrected under the condition that the actual motion of the robot arm is taken into consideration. Thus, the printing quality can be further improved.

[0200] (Supplementary Note 5) In a fifth embodiment which is a preferred example of the fourth embodiment, the server obtains the motion information from the motion detection unit while the three-dimensional object printing device is printing. In the above embodiment, the printing path can be corrected under the condition that the motion of the robot arm during actual printing is taken into consideration. Thus, the printing quality can be improved without reducing productivity.

[0201] (Supplementary Note 6) In a sixth embodiment which is a preferred example of the fourth embodiment, the three-dimensional object printing device performs a preliminary operation of moving the printing head along the printing path without ejecting liquid from the printing head, and the server obtains the action information obtained by the detection of the action detection unit during the execution of the preliminary operation. In the above embodiment, the printing path can be corrected in a manner that takes into account the action of the robot arm during actual printing without actually performing printing. In this way, the printing quality can be stably improved.

[0202] (Supplementary Note 7) In the seventh mode, which is a preferred example of the fourth mode, the server has a storage unit for storing the motion information, and performs the following operations, namely, calculating the temporal change of the motion of the robot arm based on the motion information, and correcting the printing path based on the temporal change. In the above mode, even if the motion of the robot arm changes due to the temporal change, the printing path can be appropriately corrected. In this way, the printing quality can be stably improved.

[0203] (Supplementary Note 8) In the eighth aspect which is a preferred example of any one of the first to seventh aspects, the server includes a storage unit for storing error information related to an error in the movement of the robot arm when the printing head is moved along the imaginary path, and performs the following operation, namely, correcting the printing path based on the error information. In the above aspect, since the user of the three-dimensional object printing device does not need to perform pre-action, productivity can be improved.

[0204] (Supplementary Note 9) In a ninth aspect which is a preferred example of the eighth aspect, the server performs the following operation, namely: judging whether the printing path is consistent with the imaginary path, and when judging that the printing path is consistent with the imaginary path, correcting the printing path based on the error information corresponding to the imaginary path. In the above aspect, the correction process of the printing path can be accelerated by referring to the information pre-stored in the storage unit.

[0205] (Supplementary Note 10) In a tenth aspect which is a preferred example of the eighth aspect, the three-dimensional object printing device includes a motion detection unit, the motion detection unit detects the motion of the robot arm, and the server performs the following operation, namely, when it is determined that the printing path is inconsistent with the virtual path, the motion information related to the motion of the robot arm is obtained from the motion detection unit, and the printing path is corrected based on the motion information. In the above aspect, compared with the aspect using error information corresponding to the virtual path, the printing quality can be improved.

[0206] (Supplementary Note 11) In the eleventh mode as a preferred example of the eighth mode, the server performs the following operation, namely, when it is determined that the printing path is inconsistent with the virtual path, the virtual path similar to the printing path is searched, and the printing path is corrected based on the error information corresponding to the virtual path. In the above mode, the correction process of the printing path can be accelerated by referring to the information pre-stored in the storage unit.

[0207] (Supplementary Note 12) In the twelfth mode which is a preferred example of any one of the fourth to seventh modes, the motion detection unit detects the displacement of the print head, and the server corrects the ejection timing of the print head based on the motion information. In the above mode, since the ejection timing of the print head is corrected, the printing quality can be improved while reducing the burden on the corresponding user.

[0208] (Supplementary Note 13) In the thirteenth mode as a preferred example of the twelfth mode, the server performs the following operation, namely: obtaining head information related to the print head, and correcting the ejection timing of the print head based on the action information and the head information. In the above mode, since the ejection timing is corrected for each print head, the printing quality can be stably improved compared to a method of commonly correcting the ejection timing.

[0209] (Supplementary Note 14) In a fourteenth aspect as a preferred example of the second aspect, the server performs the following operation, namely, obtaining environmental information related to the environment in which the robot is installed, and correcting the printing path based on the result obtained by simulation using the environmental information. In the above aspect, the printing path can be appropriately corrected under the condition that the installation environment of the robot is taken into consideration.

[0210] (Supplementary Note 15) In the fifteenth aspect which is a preferred example of any one of the first to fourteenth aspects, the server creates a segmented image by segmenting the printed image printed on the workpiece based on the corrected printing path. In the above aspect, since the segmented image is created by the server, the burden on the corresponding user can also be reduced.

[0211] (Supplementary Note 16) In a sixteenth aspect as a preferred example of the fifteenth aspect, the server includes a storage unit for storing the corrected printing path, and performs the following operation: based on the workpiece information and the printing path, a segmented image is created by segmenting the printed image printed on the workpiece. In the above aspect, the printing path generated once can be used in another image. As a result, the processing efficiency for correcting the printing path in the server can be improved.

[0212] (Supplementary Note 17) In the seventeenth aspect which is a preferred example of any one of the first to sixteenth aspects, the server performs the following operation, namely, obtaining information in which color information related to the color of the workpiece and the workpiece information are integrated, and dividing the information into the color information and the workpiece information. In the above aspects, shape data with an accompanying image can be used as the information.

[0213] (Supplementary Note 18) In the eighteenth mode which is a preferred example of any one of the first to seventeenth modes, the server performs the following operations, namely, storing a standard coordinate system as a coordinate system of the three-dimensional object printing device, obtaining position information related to the positional relationship between the workpiece and the mounting portion on which the workpiece is mounted, and correcting the coordinate system of the workpiece mounted on the mounting portion based on the position information and the standard coordinate system. In the above mode, even if the corresponding relationship between the mounting position of the workpiece and the standard coordinate system deviates, the standard coordinate system can be corrected while reducing the burden on the user.

[0214] (Note 19) In a control method of a three-dimensional object printing system which is a preferred example of the present disclosure, the three-dimensional object printing system comprises: a three-dimensional object printing device comprising a printing head for ejecting liquid toward a three-dimensional workpiece, and a robot arm for holding the printing head; a server connected to the three-dimensional object printing device in a communicative manner, and the control method of the three-dimensional object printing system comprises: a workpiece information acquisition step for acquiring workpiece information related to the workpiece; and a path generation step for generating a printing path as a path for the printing head to move relative to the workpiece based on the workpiece information.

[0215] In the above manner, since the printing path is generated by the server, the burden on the user of the three-dimensional object printing device can be reduced. In addition, since the server is connected to the three-dimensional object printing device in a communicative manner, an appropriate printing path can be applied from the server to the three-dimensional object printing device in a timely manner. As a result, the printing quality of the three-dimensional workpiece can be improved.

[0216] (Note 20) A three-dimensional object printing device as a preferred example of the present invention comprises: a printing head that sprays liquid toward a three-dimensional workpiece; a robotic arm that holds the printing head; and a control unit that is connected to a server in a communicative manner, wherein the control unit performs the following operations, namely: sending workpiece information related to the workpiece to the server, and receiving a printing path that is a path for the printing head to move relative to the workpiece from the server.

[0217] In the above manner, since the printing path is generated by the server, the burden on the user of the three-dimensional object printing device can be reduced. In addition, since the server is connected to the three-dimensional object printing device in a communicative manner, an appropriate printing path can be applied from the server to the three-dimensional object printing device in a timely manner. As a result, the printing quality of the three-dimensional workpiece can be improved.

[0218] (Note 21) A three-dimensional object printing system as a preferred example of the present disclosure comprises: a three-dimensional object printing device, which comprises a printing head for ejecting liquid toward a three-dimensional workpiece, a robot arm for holding the printing head, and a motion detection unit for detecting the motion of the robot arm; a server, which is connected to the three-dimensional object printing device in a communicative manner, and in the three-dimensional object printing system, the server performs the following operations, namely: obtaining displacement information related to the displacement of the printing head from the motion detection unit, and correcting the ejection timing of the printing head based on the displacement information.

[0219] In the above manner, since the ejection timing is corrected by the server, the burden on the user of the three-dimensional object printing device can be reduced. In addition, since the server is connected to the three-dimensional object printing device in a communicative manner, the appropriate ejection timing can be applied from the server to the three-dimensional object printing device in a timely manner. Thus, the printing quality of the three-dimensional workpiece can be improved.

[0220] Explanation of symbols

[0221] 2…Robotic arm; 2a…Arm driving mechanism; 3…Printing head; 3a…Head chip; 3b…Switching circuit; 4…Action detection unit; 5…Controller; 5a…Storage circuit; 5b…Processing circuit; 6…Control module; 6a…Timing signal generating circuit; 6b…Power supply circuit; 6c…Control circuit; 6d…Drive signal generating circuit; 7…Computer; 7a…Storage circuit; 7b…Processing circuit; 7c…Communication circuit; 8…Control unit; 9…Camera; 10…Three-dimensional printing system; 100…Three-dimensional printing device; 100-1…Three-dimensional printing device; 100-2…Three-dimensional printing device; 100-3…Three-dimensional printing device; 210…Base; 220…Arm; 221…Arm; 222…Arm; 223…arm; 224…arm; 225…arm; 226…arm; 300…server; 300A…server; 310…display device; 320…input device; 330…communication device; 340…storage circuit; 350…processing circuit; 351…acquisition unit; 352…generating unit; 353…transmitting unit; 354…generating unit; B1…button; B11…button; B12…button; B13…button; B2…button; B21…button; B22…button; B3…button; B31…button; B32…button; B4…button; BW…loading unit; BW1…first tray unit; BW2…second tray unit; CLK…clock signal; CNG…switching signal; Com…driving signal; D1…information; D2…information; Da…path information; Dal…position information; Db…timing information; De…error information; De-1…error information; De-k…error information; Dg…image information; Dh…header information; Dh1…individual information; Dh2…performance information; Did…identification information; Dm…motion information; Dr…robot information; Dr1…individual information; Dr2…performance information; Ds…device information; Ds1…environmental information; Ds2…coordinate information; Dw…workpiece information; Fn…ejection surface; Img…printing data; J…joint; J1…joint; J2…joint; J3…joint; J4…joint; J5…joint; J6…joint; LAT…latch signal; MK…marker; N W…communication network; O1…rotation axis; O2…rotation axis; O3…rotation axis; O4…rotation axis; O5…rotation axis; O6…rotation axis; PD…drive pulse; PR1…program; PR2…program; PR3…program; PTS…timing signal; R1…area; R2…area; R2a…area; R3…area; R3-1…area; R3a…area; S101…step (workpiece information acquisition process); S102…step; S103…step; S104…step; S105…step (path generation process); S106…step; S107…step; S108…step; S109…step; S110…step; S111…step; S112…step; S113…step;S201…step; S202…step; S203…step; S204…step; S205…step; S206…step; S301…step; S302…step; S303…step; S304…step; S305…step; S306…step; S307…step; S308…step; S309…step; SI…control signal; Sd1…output; Sk1…control signal; Sk2…signal; U…user; U-1…user; U-2…user; U-3…user; UI…image; VBS…offset potential; VHV…power supply potential; W…workpiece; dCom…waveform designation signal; n…nozzle; nL1…nozzle column; nL2…nozzle column. ;

Claims

1. A three-dimensional object printing system, characterized in that: A three-dimensional object printing device and a server are provided, wherein the three-dimensional object printing device includes a printing head for ejecting liquid toward a three-dimensional workpiece and a robot arm for holding the printing head, and the server is connected to the three-dimensional object printing device in a communicable manner. The server performs the following operations, namely: obtaining artifact information related to the artifact, A printing path, which is a path along which the print head moves relative to the workpiece, is generated based on the workpiece information.

2. The three-dimensional object printing system according to claim 1, characterized in that: The server performs the following operations, namely: Obtaining robot information related to the robot, The printing path is corrected based on the robot arm information.

3. The three-dimensional object printing system according to claim 2, wherein: The robot arm information includes individual information for identifying the robot arm and performance information related to the performance of the robot arm. The server includes a storage unit for storing the robot arm information and performs the following operations, namely: The printing path is corrected based on the robot arm information.

4. The three-dimensional object printing system according to claim 1, wherein: The three-dimensional object printing device includes a motion detection unit, which detects the motion of the robot arm. The server performs the following operations, namely: Acquire motion information related to the motion of the robot arm from the motion detection unit, The printing path is corrected based on the motion information.

5. The three-dimensional object printing system according to claim 4, characterized in that: The server acquires the motion information from the motion detection unit while the 3D object printing apparatus is printing.

6. The three-dimensional object printing system according to claim 4, characterized in that: The three-dimensional object printing device performs a preliminary operation of moving the printing head along the printing path without ejecting liquid from the printing head. The server acquires the motion information obtained by detection by the motion detection unit during the execution period of the preliminary motion.

7. The three-dimensional object printing system according to claim 4, wherein: The server includes a storage unit for storing the action information and performs the following operations, namely: Calculating the temporal change of the motion of the robot arm based on the motion information, The printing path is corrected based on the temporal change.

8. The three-dimensional object printing system according to claim 1, wherein: The server includes a storage unit for storing error information related to an error in the operation of the robot arm when the print head is moved along the virtual path, and performs the following operations, namely: The printing path is corrected based on the error information.

9. The three-dimensional object printing system according to claim 8, wherein: The server performs the following operations, namely: Determine whether the printing path is consistent with the imaginary path, When it is determined that the printing path coincides with the virtual path, the printing path is corrected based on the error information corresponding to the virtual path.

10. The three-dimensional object printing system according to claim 8, wherein: The three-dimensional object printing device includes a motion detection unit, which detects the motion of the robot arm. The server performs the following operations, namely: When it is determined that the printing path is inconsistent with the imaginary path, Acquire motion information related to the motion of the robot arm from the motion detection unit, The printing path is corrected based on the motion information.

11. The three-dimensional object printing system according to claim 8, wherein: The server performs the following operations, namely: When it is determined that the printing path is inconsistent with the imaginary path, searching for the imaginary path similar to the printing path, The printing path is corrected based on the error information corresponding to the virtual path.

12. The three-dimensional object printing system according to any one of claims 4 to 7, characterized in that: The motion detection unit detects the displacement of the printing head. The server corrects the ejection timing of the print head based on the operation information.

13. The three-dimensional object printing system according to claim 12, wherein: The server performs the following operations, namely: obtaining head information related to the printing head, The ejection timing of the print head is corrected based on the operation information and the head information.

14. The three-dimensional object printing system according to claim 2 or 3, characterized in that: The server performs the following operations, namely: Obtaining environmental information related to the environment in which the robot arm is set up, The printing path is corrected based on a result obtained by simulation using the environmental information.

15. The three-dimensional object printing system according to any one of claims 1 to 11, characterized in that: The server creates a segmented image by segmenting a print image printed on the workpiece based on the corrected print path.

16. The three-dimensional object printing system according to claim 15, wherein: The server includes a storage unit for storing the corrected printing path, and performs the following operations, namely: Based on the workpiece information and the printing path, a segmented image is created by segmenting a print image printed on the workpiece.

17. The three-dimensional object printing system according to any one of claims 1 to 11, characterized in that: The server performs the following operations, namely: Acquire information that integrates color information related to the color of the workpiece with the workpiece information, The information is divided into the color information and the workpiece information.

18. The three-dimensional object printing system according to any one of claims 1 to 11, characterized in that: The server performs the following operations, namely: storing a standard coordinate system as a coordinate system of the three-dimensional object printing device, acquiring position information related to the positional relationship between the workpiece and a placement portion on which the workpiece is placed, The coordinate system of the workpiece placed on the placement unit is corrected based on the position information and the standard coordinate system.

19. A control method for a three-dimensional object printing system, characterized in that: The three-dimensional object printing system comprises: A three-dimensional object printing device, comprising a printing head for ejecting liquid toward a three-dimensional workpiece, and a robot arm for holding the printing head; a server connected to the three-dimensional object printing device in a communicable manner; The control method of the three-dimensional object printing system includes: a workpiece information obtaining step of obtaining workpiece information related to the workpiece; The path generating step generates a printing path as a path along which the printing head moves relative to the workpiece based on the workpiece information.

20. A three-dimensional object printing device, characterized in that: have: A printing head that ejects liquid toward a three-dimensional workpiece; A robot arm that holds the printing head; a control unit connected to the server in a communicable manner, The control unit implements the following operations, namely: sending artifact information related to the artifact to the server, A printing path, which is a path along which the print head moves relative to the workpiece, is received from the server.

Images