Three-dimensional object printing system, control method of three-dimensional object printing system, and three-dimensional object printing apparatus

Abstract

To reduce a user's burden and improve print quality of a three-dimensional workpiece.SOLUTION: A three-dimensional object printing system includes: a three-dimensional object printing apparatus including a print head which discharges a liquid to a three-dimensional workpiece, and a robot which holds the print head; and a server connected with the three-dimensional object printing apparatus in a manner that enables communication therebetween. The server acquires workpiece information regarding the workpiece to create a printing path on which the print head moves relative to the workpiece based on the workpiece information.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] A three-dimensional printing device that uses a robot to print on the surface of a three-dimensional workpiece using an inkjet method, as disclosed in Patent Document 1, for example, uses a robot that holds a print head to print on the surface of a three-dimensional object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-111307 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a three-dimensional printing device as described above, the movement and error of the robot that holds the print head affects the accuracy of the print path, which is the path along which the print head moves, and the accuracy of the print path affects the print quality. However, generating an appropriate print path while taking into account the movement and error of the robot that holds the print head is a large burden for users of the three-dimensional printing device. [Means for solving the problem]

[0005] In order to solve the above problems, one aspect of the three-dimensional object printing system disclosed herein is a three-dimensional object printing system comprising a three-dimensional object printing device having a print head that ejects liquid toward a three-dimensional workpiece and a robot that holds the print head, and a server that is communicatively connected to the three-dimensional object printing device, wherein the server acquires work information regarding the workpiece and, based on the work information, generates a printing path, which is the path along which the print head moves relative to the workpiece.

[0006] One aspect of the control method for a three-dimensional object printing system disclosed herein is a control method for a three-dimensional object printing system that includes a three-dimensional object printing device that includes a print head that ejects liquid toward a three-dimensional workpiece and a robot that holds the print head, and a server that is communicatively connected to the three-dimensional object printing device, and includes a work information acquisition process that acquires work information about the workpiece, and a path generation process that generates a printing path, which is the path along which the print head moves relative to the workpiece, based on the work information.

[0007] One aspect of the three-dimensional object printing device disclosed herein comprises a print head that ejects liquid toward a three-dimensional workpiece, a robot that holds the print head, and a control unit that is communicatively connected to a server, wherein the control unit sends work information regarding the workpiece to the server and receives from the server a printing path, which is the path along which the print head moves relative to the workpiece.

[0008] Another aspect of the three-dimensional object printing system disclosed herein is a three-dimensional object printing system comprising a three-dimensional object printing device having a print head that ejects liquid toward a three-dimensional workpiece, a robot that holds the print head, and a motion detection unit that detects the motion of the robot, and a server that is communicatively connected to the three-dimensional object printing device, wherein the server obtains displacement information regarding the displacement of the print head from the motion detection unit, and corrects the ejection timing of the print head based on the displacement information. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing an example of the configuration of a three-dimensional object printing system according to a first embodiment. [Diagram 2] 1 is a perspective view showing an outline of a three-dimensional object printing device according to a first embodiment. FIG. [Diagram 3] FIG. 2 is a block diagram showing the electrical configuration of the three-dimensional object printing device according to the first embodiment. [Figure 4] FIG. 2 is a schematic diagram showing an example of the configuration of a server used in the three-dimensional object printing system according to the first embodiment [Diagram 5] 5 is a flowchart showing a control method for the three-dimensional object printing system according to the first embodiment. [Figure 6] 11 is a diagram for explaining acquisition of work information and image information. FIG. [Figure 7] FIG. 11 is a schematic diagram showing an example of the configuration of a server used in a three-dimensional object printing system according to a second embodiment. [Figure 8] 10 is a flowchart showing generation of error information in the second embodiment. [Figure 9] FIG. 11 is a diagram for explaining error information for each virtual route. [Figure 10] 10 is a flowchart showing correction of a print path in a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, preferred embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the dimensions and scale of each part in the drawings may differ from the actual dimensions, and some parts are shown diagrammatically to facilitate understanding. In addition, the scope of the present disclosure is not limited to these forms unless otherwise specified in the following description to the effect that the present disclosure is limited.

[0011] 1. First embodiment 1-1. Overview of the three-dimensional object printing system Fig. 1 is a schematic diagram showing an example of the configuration of a three-dimensional object printing system 10 according to the first embodiment. The three-dimensional object printing system 10 has three-dimensional object printing apparatuses 100-1 to 100-3 and a server 300. In the following, the three-dimensional object printing apparatuses 100-1 to 100-3 may be referred to as three-dimensional object printing apparatuses 100 without distinguishing between them. In the example shown in Fig. 1, the three-dimensional object printing system 10 has three three-dimensional object printing apparatuses 100, but the number is not limited to this and may be one, two, four or more.

[0012] The three-dimensional object printing device 100 is a device that performs printing on the surface of a three-dimensional workpiece W by an inkjet method. The three-dimensional object printing device 100 includes a print head 3, which is an inkjet head that ejects liquid toward the three-dimensional workpiece W, and a robot 2 that holds the print head 3. The robot 2 changes the position and posture of the print head 3. Details of the configuration of the three-dimensional object printing device 100 will be described later with reference to Figs. 2 and 3. Note that the configurations of the multiple three-dimensional object printing devices 100 included in the three-dimensional object printing system 10 may be the same as each other or may be different from each other.

[0013] The three-dimensional object printing device 100-1 is used by a user U-1. The three-dimensional object printing device 100-2 is used by a user U-2. The three-dimensional object printing device 100-3 is used by a user U-3. In the following, the users U-1 to U-3 may be referred to as user U without distinction. The users U of the multiple three-dimensional object printing devices 100 in the three-dimensional object printing system 10 may be the same or different.

[0014] Here, the robot 2 is manufactured by a robot manufacturer that is different from the user U. On the other hand, the print head 3 is manufactured by a head manufacturer that is different from the user U. In this embodiment, the head manufacturer is the same as the robot manufacturer. Note that the head manufacturer and the robot manufacturer may be different from each other.

[0015] The three-dimensional object printing device 100 is communicatively connected to the server 300 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 includes information necessary for generating the movement path of the print head 3 by the robot 2 and the ejection timing of the print head 3, as will be described in detail later. The information D2 includes information related to the movement path of the print head 3 by the robot 2 and the ejection timing of the print head 3, as will be described in detail later. Note that the multiple pieces of information included in the information D1 are output from the three-dimensional object printing device 100 at appropriately different timings, as will be described later. Also, the multiple pieces of information included in the information D2 are input to the three-dimensional object printing device 100 at appropriately different timings, as will be described later.

[0016] The server 300 is a computer that functions as a cloud server, and is communicatively connected to the three-dimensional object printing apparatus 100. The server 300 has a function of inputting information D1 from the three-dimensional object printing apparatus 100, and a function of outputting information D2 corresponding to information D1 to the three-dimensional object printing apparatus 100. The configuration of the server 300 will be described later in detail with reference to FIG. 5. Note that, as described later, the multiple pieces of information contained in information D1 are input to the server 300 at appropriately different timings. Also, as described later, the multiple pieces of information contained in information D2 are output from the server 300 at appropriately different timings.

[0017] The server 300 may be owned by the robot manufacturer itself or a third party other than the robot manufacturer, as long as the robot manufacturer is able to provide the services required by the user U. Here, the user U does not own the server 300, but the three-dimensional object printing device 100 owned by the user U is communicatively connected to the server 300 via a communication network NW. Also, when the server 300 is owned by a third party, a processing device (not shown) owned by the robot manufacturer itself is communicatively connected to the server 300 via the communication network NW. The processing device is maintained and managed by the head manufacturer.

[0018] 1-2. Three-dimensional object printing device 2 is a perspective view showing an outline of the three-dimensional object printing apparatus 100 according to the first embodiment. The three-dimensional object printing apparatus 100 is an apparatus that performs printing on the surface of a three-dimensional workpiece W by an inkjet method.

[0019] For convenience of explanation, the following description will use the mutually intersecting X-axis, Y-axis, and Z-axis as appropriate. In addition, in the following description, one direction along the X-axis is the X1 direction, and the direction opposite to the X1 direction is the X2 direction. Similarly, the opposite directions along the Y-axis are the Y1 direction and the Y2 direction. In addition, the opposite directions along the Z-axis are the Z1 direction and the Z2 direction.

[0020] Here, the X-axis, Y-axis, and Z-axis correspond to the coordinate axes of a world coordinate system set in a space in which a robot 2 (described later) is installed. Typically, the Z-axis is a vertical axis, and the Z2 direction corresponds to the downward direction in the vertical direction. A base coordinate system based on the position of a base 210 (described later) of the robot 2 is associated with the world coordinate system by calibration. For convenience, the following describes an example in which the operation of the robot 2 is controlled using the world coordinate system as the robot coordinate system.

[0021] The Z axis does not have to be a vertical axis. The X axis, the Y axis, and the Z axis are typically mutually orthogonal, but are not limited thereto, and may not be orthogonal. For example, the X axis, the Y axis, and the Z axis may intersect each other at an angle within a range of 80° to 100°.

[0022] 2, the workpiece W is a hemisphere having a surface Fa to be printed, and is placed on the placement unit BW. Note that the shape, size, and other aspects of the workpiece W are not limited to the example shown in FIG. 1, and may be any shape or size.

[0023] The placement unit BW is a platform that supports the workpiece W. When the camera 9 measures the three-dimensional shape of the workpiece W, the placement unit BW is placed in any position and orientation within the imaging 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 part of the placement unit BW is placed at a predetermined position associated with the world coordinate system.

[0024] In this embodiment, the placement section BW has a first tray section BW1 and a second tray section BW2. The first tray section BW1 and the second tray section BW2 are removably fixed in a state where they are positioned relative to each other. Here, the first tray section BW1 is provided with a fixing section (not shown) for fixing the workpiece W. When the camera 9 is used to measure the three-dimensional shape of the workpiece W, the first tray section BW1 is attached to the second tray section BW2 and the fixing section supports the workpiece W. On the other hand, when the three-dimensional object printing device 100 is used to print on the workpiece W, the first tray section BW1 is detached from the second tray section BW2 and placed at a predetermined position corresponding to the world coordinate system, and the fixing section supports the workpiece W. The second tray section BW2 is provided with a marker MK. The marker MK is imaged together with the workpiece W by the camera 9, and is used to grasp the position and posture of the workpiece W relative to the placement section BW based on the image capturing result.

[0025] As shown in Fig. 2, the three-dimensional object printing apparatus 100 includes a robot 2, a print head 3, a controller 5, and a camera 9. First, these will be briefly described below in order based on Fig. 2.

[0026] The robot 2 is a robot that changes the position and posture of the print head 3 in the world coordinate system. That is, the robot 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 object printing device 100 prints, the robot 2 moves the print head 3 along a print path RU that follows the surface Fa of the workpiece W. The print path RU is set by path information Da, which will be described later. Note that, although FIG. 2 illustrates an example in which the print path RU is divided into a plurality of paths, the present invention is not limited to this example, and the print path RU may be a path of a single path.

[0027] 2, the robot 2 is a so-called six-axis vertical articulated robot. As shown in FIG. 2, the robot 2 has a base 210 and an arm 220.

[0028] The base 210 is a platform that supports the arm 220. In the example shown in Fig. 2, the base 210 is fixed by screws or the like to an installation surface such as a floor surface or a base facing the Z1 direction. The installation surface to which the base 210 is fixed may be a surface facing any direction and is not limited to the example shown in Fig. 2, and may be, for example, a wall, a ceiling, a surface of a movable dolly, or the like.

[0029] The arm 220 is connected to the base 210 and changes the position and orientation of the print head 3 relative to the workpiece W. In the example shown in Fig. 2, the arm 220 is a six-axis robot arm that three-dimensionally changes the position and orientation of the print head 3 relative to the base 210. Specifically, the arm 220 has arms 221, 222, 223, 224, 225, and 226, which are connected in this order.

[0030] The arm 221 is connected to the base 210 via a joint J1 so as to be rotatable around a rotation axis O1. The arm 222 is connected to the arm 221 via a joint J2 so as to be rotatable around a rotation axis O2. The arm 223 is connected to the arm 222 via a joint J3 so as to be rotatable around a rotation axis O3. The arm 224 is connected to the arm 223 via a joint J4 so as to be rotatable around a rotation axis O4. The arm 225 is connected to the arm 224 via a joint J5 so as to be rotatable around a rotation axis O5. The arm 226 is connected to the arm 225 via a joint J6 so as to be rotatable around a rotation axis O6.

[0031] Each of the joints J1 to J6 is a mechanism that rotatably connects one of two adjacent members among the base 210 and the arms 221 to 226 to the other. Note that, hereinafter, each of the joints J1 to J6 may be referred to as a "joint J."

[0032] Although not shown in Fig. 2, each of the joints J1 to J6 is provided with a drive mechanism for rotating the corresponding joint J. An assembly of the drive mechanisms for the joints J1 to J6 corresponds to an arm drive mechanism 2a shown in Fig. 3 described later.

[0033] The rotation axis O1 is an axis perpendicular to an 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.

[0034] With respect to these rotation axes, "perpendicular" refers not only to the case where the angle between the two rotation axes is exactly 90°, but also to the case where the angle between the two rotation axes is offset within a range of about ±5° from 90°. Similarly, "parallel" refers not only to the case where the two rotation axes are exactly parallel, but also to the case where one of the two rotation axes is inclined relative to the other axis within a range of about ±5°. Furthermore, the orientation of these rotation axes is not limited to the example shown in FIG. 2.

[0035] The print head 3 is attached as an end effector to the arm 226 which is the tip of the arm 220 of the robot 2. In the example shown in Fig. 2, the print head 3 is fixed to the arm 226 by screws or the like.

[0036] The print head 3 is an assembly having a head chip 3a that ejects ink, which is an example of a "liquid," toward the workpiece W. The head chip 3a has a plurality of nozzles n that open to an ejection surface Fn, and although not shown, the head chip 3a is provided with a piezoelectric element, which is a driving element, and a cavity that contains ink for each nozzle n. Here, the piezoelectric element ejects ink from the nozzle corresponding to the cavity by changing the pressure of the cavity corresponding to the piezoelectric element. Such a head chip 3a is obtained, for example, by bonding a plurality of substrates, such as silicon substrates, that have been appropriately processed by etching or the like, with an adhesive or the like. Note that, instead of the piezoelectric element, a heater that heats the ink in the cavity may be used as a driving element for ejecting ink from the nozzle.

[0037] In the example shown in Fig. 2, the multiple nozzles n of the head chip 3a are divided into nozzle rows nL1 and nL2. Each of the nozzle rows nL1 and nL2 is a collection of multiple nozzles n aligned 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. The multiple nozzles n of the head chip 3a may be divided into three or more nozzle rows.

[0038] The ink is not particularly limited, and examples thereof include water-based ink in which a coloring material such as a dye or pigment is dissolved in a water-based solvent, curable ink using a curable resin such as an ultraviolet curable type, and solvent-based ink in which a coloring material such as a dye or pigment is dissolved in an organic solvent. Among them, curable ink is preferably used. The curable ink is not particularly limited, and may be, for example, any of a heat curable type, a photocurable type, a radiation curable type, and an electron beam curable type, but a photocurable type such as an ultraviolet curable type is preferable. The ink is not limited to a solution, and may be an ink in which a coloring material or the like is dispersed as a dispersoid in a dispersion medium. In addition, the ink is not limited to an ink containing a coloring material, and may be, for example, an ink containing conductive particles such as metal particles for forming wiring or the like as a dispersoid, a clear ink, or a treatment liquid for surface treatment of the workpiece W.

[0039] In addition to the head chip 3a, the print head 3 may 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 to harden or solidify the ink on the workpiece W. In addition, the number of head chips 3a that the print head 3 has is not limited to the example shown in Fig. 2, and may be two or more.

[0040] The camera 9 is a three-dimensional camera that measures the three-dimensional shape of a target three-dimensional object. The camera 9 is supported by a support body (not shown) and captures an image of the workpiece W fixed to the mounting part BW together with the mounting part BW. The camera 9 may be any type of sensor that can acquire three-dimensional shape data of the target three-dimensional object, and is not particularly limited to any particular type, and may be any type of sensor also called a three-dimensional sensor or a vision sensor.

[0041] Here, the camera 9 may be a sensor such as a passive sensor or an active sensor based on the principle of triangulation, or may be a sensor such as a focus-based or time-of-flight (TOF) sensor based on the principle of coaxial surveying.

[0042] Although not shown, 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 include various optical elements such as a prism, or may include a zoom lens or a focus lens. The imaging element is, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary MOS) image sensor. The camera 9 may have a light source including a light emitting element such as an LED (light emitting diode) that emits light toward the imaging range. In addition, if the camera 9 itself has an image processing function, it can output CAD data of the object to be imaged to the computer 7.

[0043] Here, a three-axis image capture coordinate system is set for the camera 9. This image capture coordinate system may be associated with a world coordinate system by calibration. Then, the camera 9 generates shape data indicating the three-dimensional shape of a target object in this image capture coordinate system.

[0044] The camera 9 may be installed in any manner as long as it can capture an image of the placement part BW supporting the workpiece W, and may be supported by the robot 2, or may be supported by a moving mechanism such as an articulated robot or a conveyor different from the robot 2. Furthermore, the image capturing by the camera 9 may be performed manually.

[0045] The controller 5 is a robot controller that controls the driving of the robot 2. Below, the electrical configuration of the three-dimensional object printing apparatus 100 will be described with reference to FIG.

[0046] FIG. 3 is a block diagram showing the electrical configuration of the three-dimensional object printing device 100 according to the first embodiment. FIG. 3 shows electrical components of the three-dimensional object printing device 100. As shown in FIG. 3, the three-dimensional object printing device 100 has a motion detection unit 4, a control module 6, and a computer 7 in addition to the components shown in FIG. 2 described above. The control module 6 is communicatively connected to the controller 5. The computer 7 is communicatively connected to the camera 9, the motion detection unit 4, the controller 5, and the control module 6. Here, the controller 5, the control module 6, and the computer 7 constitute a control unit 8. The control unit 8 controls the respective operations of the robot 2 and the print head 3. Below, each part of the control unit 8 will be described in order based on FIG. 3.

[0047] 3 may be appropriately divided, some of them may be included in other components, or they may be integrated with other components. For example, some or all of the functions of the controller 5 or the control module 6 may be realized by a computer 7, or may be realized 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.

[0048] The motion detection unit 4 generates motion information Dm, which will be 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 tip of the arm 220 of the robot 2, i.e., the displacement of the print head 3. For example, the motion detection unit 4 is an acceleration sensor attached to the tip of the arm 220 or the print head 3. Note that the motion detection unit 4 may utilize a signal Sd1 from an arm drive mechanism 2a, which will be described later, or may detect the displacement of the tip of the arm 220 or the print head 3 using a camera such as camera 9.

[0049] The controller 5 has a function of controlling the driving of the robot 2 , and a function of generating a signal Sk 2 for synchronizing the ink ejection operation of the print head 3 with the operation of the robot 2 .

[0050] The controller 5 includes a memory circuit 5a and a processing circuit 5b.

[0051] 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 one or both of semiconductor memories, for example, a volatile memory such as a random access memory (RAM) and a non-volatile memory such as a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM) or a programmable ROM (PROM). Note that a part or the whole of the storage circuit 5a may be included in the processing circuit 5b.

[0052] The storage circuit 5a stores route information Da.

[0053] The path information Da is information indicating a printing path, which is a path along which the print head 3 moves relative to the workpiece W. The path information Da is used to control the operation 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 operation is performed. The position and posture of the print head 3 are defined based on the tool center point of the robot 2. The tool center point may be located, for example, at the center of the nozzle surface, which is the tip surface of the head chip 3a, or may be a position spaced apart from the head chip 3a in the ink ejection direction. The path information Da is expressed, for example, by coordinate values ​​in a coordinate system such as a work coordinate system, a base coordinate system, or a world coordinate system. However, when the path information Da is expressed using coordinate values ​​in the work coordinate system, it is used to control the operation of the robot 2 after converting the coordinate values ​​in the work coordinate system into coordinate values ​​in the base coordinate system or the world coordinate system. The path information Da is generated by the server 300, and is input from the server 300 to the controller 5 via the computer 7. Note that the provisional path information Da may be generated by the computer 7.

[0054] The processing circuit 5b controls the operation 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, a processor such as one or more CPUs (Central Processing Units). Note that the processing circuit 5b may include a programmable logic device such as an FPGA (field-programmable gate array) instead of or in addition to a CPU.

[0055] Here, the arm driving mechanism 2a is an assembly of driving mechanisms for the above-mentioned joints J1 to J6, and for each joint J, it has a motor for driving the joint J of the robot 2 and an encoder for detecting the rotation angle of the joint J of the robot 2.

[0056] The processing circuit 5b performs an inverse kinematic calculation, which is a calculation for converting the path information Da into the amount of movement, such as the rotation angle and rotation speed, of each joint J of the robot 2. The processing circuit 5b then outputs a control signal Sk1 based on the output Sd1 from each encoder of the arm driving mechanism 2a so that the amount of movement, such as the actual rotation angle and rotation speed, of each joint J becomes the above-mentioned calculation result based on the path information Da. The control signal Sk1 is a signal for controlling the driving of the motor of the arm driving mechanism 2a. Here, the control signal Sk1 is corrected by the processing circuit 5b based on the output from a distance sensor (not shown) as necessary. In this way, the processing circuit 5b performs drive control of the robot 2 using the control signal Sk1 for feedback control based on the path information Da and the output Sd1.

[0057] Furthermore, the processing circuit 5b generates a signal Sk2 based on an output Sd1 from at least one of the multiple encoders included in the arm driving mechanism 2a. For example, the processing circuit 5b generates, as the signal Sk2, a trigger signal including a pulse at a timing when the output Sd1 from one of the multiple encoders becomes a predetermined value.

[0058] The control module 6 is a circuit that controls the ink ejection operation of 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 has a timing signal generation circuit 6a, a power supply circuit 6b, a control circuit 6c, and a drive signal generation circuit 6d.

[0059] The timing signal generating circuit 6a generates a timing signal PTS based on the signal Sk2 and timing information Db. The timing signal generating circuit 6a is configured, for example, with a timer that starts generating the timing signal PTS in response to detection of the signal Sk2, and adjusts the timing interval defined by the timing signal PTS based on the timing information Db.

[0060] The power supply circuit 6b receives power from a commercial power supply (not shown) and generates various predetermined potentials. The generated potentials are appropriately supplied to the control module 6 and each section 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. The power supply potential VHV is also supplied to the drive signal generation circuit 6d.

[0061] The control circuit 6c generates a control signal SI, a waveform designation signal dCom, a latch signal LAT, a clock signal CLK, and a change signal CNG based on the timing signal PTS. These signals are synchronized with the timing signal PTS. Of 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.

[0062] The control signal SI is a digital signal for specifying the operating state of the drive element of the head chip 3a of the print head 3. Specifically, the control signal SI is a signal for specifying whether or not to supply a drive signal Com, described later, to the drive element based on the print data Img. This specification, for example, specifies whether or not to eject ink from the nozzle corresponding to the drive element, or specifies the amount of ink ejected from the nozzle. The waveform specification signal dCom is a digital signal for defining the waveform of the drive signal Com. The latch signal LAT and the change signal CNG are signals used in conjunction with the control signal SI to specify the drive timing of the drive element, thereby specifying the ejection timing of ink from the nozzle. The clock signal CLK is a reference clock signal synchronized with the timing signal PTS.

[0063] The control circuit 6c described above includes, for example, one or more processors such as a CPU, etc. Note that the control circuit 6c may include a programmable logic device such as an FPGA instead of or in addition to a CPU.

[0064] The drive signal generating circuit 6d is a circuit that generates 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 has, for example, a DA conversion circuit and an amplifier circuit. In the drive signal generating circuit 6d, the DA conversion circuit converts the waveform designation signal dCom from the control circuit 6c from a digital signal to an analog signal, and the amplifier circuit amplifies the analog signal using the power supply potential VHV from the power supply circuit 6b to generate the drive signal Com. Here, among the waveforms included in the drive signal Com, a signal having a waveform that is actually supplied to the drive element 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.

[0065] Here, the switch circuit 3b is a circuit including a switching element that switches whether or not at least a part of the waveform included in the drive signal Com is supplied as the drive pulse PD based on a control signal SI.

[0066] The computer 7 has a function to supply information such as path information Da to the controller 5, and a function to supply information such as print data Img and timing information Db to the control module 6. In addition, the computer 7 has a function to output information D1 to the server 300, and a function to input information D2 from the server 300.

[0067] The computer 7 includes a memory circuit 7a, a processing circuit 7b, and a communication circuit 7c. The computer 7 may also include an input device such as a keyboard or a mouse for receiving operations from a user, and may also include a display device such as a liquid crystal panel for displaying information required for generating the path information Da.

[0068] 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, one or both of semiconductor memories, a volatile memory such as a RAM, and a non-volatile memory such as a ROM, an EEPROM, or a PROM. Note that a part or the whole of the storage circuit 7a may be included in the processing circuit 7b.

[0069] The memory circuit 7a stores a program PR1, information D1, and information D2.

[0070] The program PR1 is a program for executing the processes required for outputting information D1 to the server 300 and inputting information D2 from the server 300.

[0071] The information D1 is output to the server 300 and includes identification information Did, work information Dw, position information Dal, operation information Dm, and image information Dg.

[0072] The identification information Did is information for specifying the type of robot 2 and print head 3 used in the three-dimensional object printing apparatus 100, and indicates, for example, a unique number such as a serial number unique to the three-dimensional object printing apparatus 100. The identification information Did may include information indicating a unique number such as a serial number unique to the robot 2, and information indicating a unique number such as a serial number unique to the print head 3. The above-mentioned identification information Did is stored in advance in the memory circuit 7a when the three-dimensional object printing apparatus 100 is manufactured or shipped.

[0073] The work information Dw is information about the work W, and indicates, for example, the shape, material, orientation, and position of at least a part of the work W. Specifically, the work information Dw includes, for example, three-dimensional data such as STL (Standard Triangulated Language) format or 3MF (3D Manufacturing Format) format that represents the shape of the work W by a plurality of polygons, and information indicating the material, orientation, and position of the work W. Data in the 3MF format is shape data with data texture in which coordinates on polygon data indicating a three-dimensional shape and color information indicating the color corresponding to the coordinates are integrated. Therefore, when the work information Dw is data in the 3MF format, it may include the image information Dg as color information, or the printing target area of ​​the work W indicated by the work information Dw may be represented by color information. The work information Dw may be data generated by measuring the shape of the work W by a three-dimensional camera such as the camera 9, or may be data obtained by converting CAD (computer-aided design) data indicating the three-dimensional shape of the work W as necessary. The workpiece information Dw may be represented by using coordinate values ​​in the workpiece coordinate system, or may be represented by point cloud data using coordinate values ​​in the base coordinate system or the world coordinate system. The workpiece information Dw may also be represented by a formula or the like, and the format of the workpiece information Dw may be appropriately converted as necessary.

[0074] The position information Dal is information on the positional relationship between the workpiece W and the placement unit BW on which the workpiece W is placed. The position information Dal is, for example, information indicating an image obtained by capturing an image of the marker MK on the placement unit BW together with the workpiece W by the camera 9. The position information Dal may be included in the workpiece information Dw.

[0075] The operation information Dm is information about the operation of the robot 2, and is acquired from the operation detection unit 4 while the robot 2 is operating based on the path information Da. Here, the operation information Dm includes one or both of information detected by the operation detection unit 4 while the three-dimensional object printing device 100 is printing, and information detected by the operation detection unit 4 while the three-dimensional object printing device 100 is performing a preparatory operation. Note that the preparatory operation is an operation in which the robot 2 moves the print head 3 along the printing path indicated by the path information Da, without ejecting liquid from the print head 3.

[0076] The image information Dg is information that indicates an image to be printed on the workpiece W. The format of the image information Dg is not particularly limited, but may be, for example, a bitmap format such as JPEG, or a vector format such as PostScript, Portable Document Format (PDF), or XML Paper Specification (XPS).

[0077] The information D2 is input from the server 300 and includes path information Da, print data Img, and timing information Db.

[0078] The print data Img is information indicating an image to be printed on the work W for each path (pass) of the print path indicated by the path information Da. Here, when it is necessary to divide and print the print image to be printed on the work W over multiple passes, the print data Img includes information indicating multiple divided images obtained by dividing the print image for each pass. The print data Img is image data in a format that can be processed by the control module 6, and 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, density correction processing, quantization processing, distribution processing, and RIP (Raster image processor) processing.

[0079] In this embodiment, the print data Img is represented using coordinate values ​​in a second coordinate system described below, and includes information for correcting first coordinates to the second coordinates described below. Note that the print data Img may be represented using coordinate values ​​in the first coordinate system described below. In this case, the print data Img does not need to include information for correcting first coordinates to the second coordinates described below.

[0080] The timing information Db is information that indicates the ejection timing of the print head 3. The timing information Db is obtained by the server 300 based on the operation information Dm and the head information Dh. By adjusting the ejection timing indicated by the timing information Db, it is possible to reduce errors in the scanning direction of the robot 2 when moving the print head 3 along the printing path.

[0081] The processing circuit 7b realizes each of the above-mentioned functions by executing a program such as the program PR1. The processing circuit 7b includes, for example, one or more processors such as a CPU. Note that the processing circuit 7b may include a programmable logic device such as an FPGA instead of or in addition to a CPU.

[0082] The processing circuit 7b executes the program PR1 to realize various functions required for outputting the information D1 and inputting the information D2. In this manner, the control unit 8 transmits the work information Dw to the server 300 and receives from the server 300 the printing path indicated by the path information Da.

[0083] As described above, the driving of the robot 2 is controlled based on the path information Da, and the driving of the print head 3 is controlled based on the print data Img, timing information Db, and signal Sk2, thereby performing a printing operation. In the printing operation, the robot 2 changes the position and posture of the head tip 3a based on the path information Da, while the head tip 3a ejects ink from the print head 3 toward the workpiece W at appropriate timing based on the print data Img, timing information Db, and signal Sk2. As a result, an image based on the print data Img is formed on the workpiece W.

[0084] 1-3. Server configuration Fig. 4 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. As shown in Fig. 4, the server 300 has a display device 310, an input device 320, a communication device 330, a memory circuit 340, and a processing circuit 350. These are connected to each other so that they can communicate with each other. The memory circuit 340 is an example of a "memory unit."

[0085] The display device 310 displays various images under the control of the processing circuit 350. Here, the display device 310 has a display panel such as a liquid crystal display panel or an organic EL (electro-luminescence) display panel.

[0086] The input device 320 is a device that accepts operations from a user. For example, the input device 320 has a pointing device such as a touch pad, a touch panel, or a mouse. Here, when the input device 320 has a touch panel, it may also function as the display device 310. Note that the input device 320 may be provided outside the server 300. The input device 320 may also have other input devices such as a keyboard.

[0087] The communication device 330 is a circuit capable of communicating with the three-dimensional 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 information D1 and transmits information D2 by communicating with the three-dimensional object printing apparatus 100. The communication device 330 may be integrated with the processing circuit 350.

[0088] The storage circuitry 340 is a device that stores various programs executed by the processing circuitry 350 and various data processed by the processing circuitry 350. The storage circuitry 340 includes, for example, a hard disk drive or a semiconductor memory. Note that a part or the whole of the storage circuitry 340 may be provided in an external storage device or computer of the server 300.

[0089] The storage circuitry 340 of this embodiment stores a program PR2, information D1, information D2, robot information Dr, head information Dh, device information Ds, and error information De.

[0090] The program PR2 is a program for executing the processes required for inputting information D1 from the three-dimensional object printing apparatus 100 and outputting information D2 to the three-dimensional object printing apparatus 100.

[0091] The robot information Dr is information about 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 linked to the identification information Did. This makes it possible to identify the robot information Dr based on the identification information Did. The performance information Dr2 is information about the performance of the robot 2, and includes, for example, information indicating the range of motion, extension amount, movement and deceleration speeds of the robot 2. Note that the robot information Dr may include, in addition to the individual information Dr1 and performance information Dr2, for example, operation information Dm, and may include information indicating changes in the characteristics of the robot 2 over time.

[0092] The head information Dh is information about 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 linked to the identification information Did. This makes it possible to identify the head information Dh based on the identification information Did. The performance information Dh2 is information about the performance of the print head 3, and includes information indicating, for example, the nozzle row width and droplet volume of the print head 3. Note that in addition to the individual information Dh1 and performance information Dh2, the head information Dh may also include, for example, information indicating the size or length of the print head 3, or information indicating the type of ink used in the print head 3.

[0093] The device information Ds is information about the settings or usage state of the three-dimensional object printing device 100. The device information Ds includes environmental information Ds1 and coordinate information Ds2. The environmental information Ds1 is information about the environment in which the robot 2 is installed, and includes, for example, information about factors that may affect the characteristics of the robot 2 or the print head 3, such as temperature, humidity, the installation direction of the robot 2, and the presence or absence of obstacles. The coordinate information Ds2 is information indicating a standard coordinate system that is the coordinate system of the three-dimensional object printing device 100. The standard coordinate system is, for example, the above-mentioned world coordinate system. In this way, the server 300 stores the standard coordinate system that is the coordinate system of the three-dimensional object printing device 100. The device information Ds is linked to the identification information Did and is identified based on the identification information Did.

[0094] The error information De is information relating to errors in the operation of the robot 2. In this embodiment, the error information De indicates the difference between the position and orientation of the print head 3 indicated by the operation information Dm and the position and orientation of the print head 3 indicated by the path information Da.

[0095] The processing circuit 350 is a device having a function of controlling each part of the server 300 and a function of processing various data. The processing circuit 350 has a processor such as a CPU (Central Processing Unit). The processing circuit 350 may be configured with a single processor or multiple processors. In addition, some or all of the functions of the processing circuit 350 may be realized 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).

[0096] The processing circuitry 350 functions as an acquisition unit 351, a generation unit 352, and a transmission unit 353 by reading and executing the program PR2 from the memory circuitry 340.

[0097] 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.

[0098] Specifically, the acquisition unit 351 acquires information D1 from the three-dimensional object printing apparatus 100, and stores the acquired information D1 in the memory circuit 340. The acquisition unit 351 also acquires robot information Dr, head information Dh, and device information Ds by any method, and stores the acquired information in the memory circuit 340.

[0099] 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.

[0100] Furthermore, the operation information Dm included in the information D1 is acquired from the operation detection unit 4 during the period in which the robot 2 is operated based on the path information Da. This acquisition may be performed during the execution of a printing operation in which ink is ejected from the print head 3, or during the execution of a preparatory operation in which ink is not ejected from the print head 3. In other words, the acquisition unit 351 may acquire the operation information Dm during the period in which the three-dimensional object printing device 100 is printing, or during the execution of a preparatory operation in which the print head 3 is moved along the printing path indicated by the path information Da without ejecting liquid from the print head 3.

[0101] 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.

[0102] Specifically, the generation unit 352 generates a printing path indicated by the path information Da based on the work information Dw. For this generation, the image information Dg is used as necessary. This makes it possible to set the number of printing passes in consideration of, for example, the position and size of the printing area relative to the work W.

[0103] Here, the generating unit 352 corrects the coordinate system of the workpiece W placed on the placement unit BW based on the position information Dal and the standard coordinate system indicated by the coordinate information Ds2. The position, size and shape of each marker MK of the placement unit BW described above are known and are expressed as fixed values ​​of a first coordinate system associated with the placement unit BW. In addition, since the positional relationship between each marker MK and the workpiece W is fixed, the position and posture of the workpiece W relative to the placement unit BW can be expressed in the first coordinate system. The correction is performed by converting the position information Dal from the first coordinate system to the second coordinate system, which is a standard coordinate system. This allows information to be obtained that expresses the positional relationship between the workpiece W and the placement unit BW on which the workpiece W is placed in the standard coordinate system.

[0104] Then, the generating unit 352 generates path information Da based on the work information Dw in the second coordinate system, which is the coordinate system after the correction of the above-mentioned coordinate system, using the robot information Dr and the device information Ds specified by the identification information Did. The method of generating the path information Da is not particularly limited, but for example, the method described in JP 2023-31611 A is used. Note that the generating unit 352 may generate the path information Da represented in the second coordinate system using the robot information Dr and the device information Ds specified by the identification information Did based on the work information Dw in the second coordinate system, and then convert it into the path information Da represented in the first coordinate system. In this case, the above-mentioned correction of the coordinate system may not be performed.

[0105] The generating unit 352 also corrects the printing path indicated by the path information Da based on the robot information Dr and the operation information Dm. This correction mainly reduces the meandering of the print head 3 relative to the printing path. Here, the generating unit 352 generates error information De by calculating the change over time of the operation of the robot 2 based on the operation information Dm, and corrects the printing path indicated by the path information Da based on the change over time indicated by the error information De. The change over time corresponds to the change over time of 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. The generating unit 352 also corrects the printing path indicated by the path information Da based on the result of a simulation using the environmental information Ds1. For example, the generating unit 352 corrects the printing path Da so that the robot 2 and the print head 3 do not come into contact with obstacles based on the result of a simulation in which the robot 2 is operated in a virtual space that mimics the environment in which the robot 2 is installed using the environmental information Ds1. The path information Da indicating the corrected print path generated as described above is stored in the memory circuit 340.

[0106] Furthermore, the generation unit 352 generates timing information Db by correcting the ejection timing of the print head 3 based on the operation information Dm. This correction mainly reduces degradation of image quality caused by speed unevenness in the main scanning direction of the print head 3. In this embodiment, the generation unit 352 corrects the ejection timing indicated by the timing information Db based on the operation information Dm and the head information Dh. The timing information Db generated as described above is stored in the memory circuit 340.

[0107] The generation unit 352 also generates print data Img based on the corrected path information Da and image information Dg. Here, when it is necessary to divide and print the print image to be printed on the work W by a plurality of passes, the generation unit 352 creates divided images by dividing the print image to be printed on the work W based on the work information Dw and the print path indicated by the corrected path information Da. This results in print data Img including information indicating the plurality of divided images. The print data Img generated as described above is stored in the memory circuit 340.

[0108] The transmission unit 353 performs processing to transmit the various information included in the information D2 to the three-dimensional object printing apparatus 100 at appropriate timing.

[0109] As described above, the server 300 acquires the work information Dw related to the work W, and generates a printing path indicated by the path information Da based on the work information Dw. This reduces the burden on the user of the three-dimensional object printing apparatus 100. In addition, as described above, the server 300 is communicably connected to the three-dimensional object printing apparatus 100, so that an appropriate printing path can be applied from the server 300 to the three-dimensional object printing apparatus 100 at the appropriate time. This improves the printing quality of the three-dimensional work W.

[0110] 1-4. Processing of 3D object printing system Fig. 5 is a flowchart showing a control method for the three-dimensional object printing system 10 according to the first embodiment. In the three-dimensional object printing system 10, first, as shown in Fig. 6, in step S101, which is an example of a "work information acquisition process", the three-dimensional object printing apparatus 100 acquires work information Dw. Then, in step S102, the three-dimensional object printing apparatus 100 acquires image information Dg. Details of the acquisition of the work information Dw and image information Dg will be described later with reference to Fig. 6.

[0111] Then, in step S103, the three-dimensional object printing apparatus 100 transmits the identification information Did, the work information Dw, the position information Dal, and the image information Dg to the server 300. As a result, the acquisition unit 351 of the server 300 acquires the identification information Did, the work information Dw, the position information Dal, and the image information Dg. The acquisition unit 351 may acquire the identification information Did, the work information Dw, the position information Dal, and the image information Dg at different times. The acquisition unit 351 may acquire the image information Dg before step S106, or after step S103.

[0112] After that, in step S104, the server 300 corrects the coordinate system of the workpiece W placed on the placement unit BW based on the position information Dal and the standard coordinate system. This correction is performed by the generation unit 352 as described above.

[0113] Next, in step S105, which is an example of a "path generating step", the server 300 generates path information Da based on the work information Dw, the robot information Dr, and the device information Ds. This generation is performed by the generation unit 352 as described above.

[0114] Next, in step S106, the server 300 generates the print data Img. This generation is performed by the generation unit 352 as described above. Note that the print data Img may be generated after the timing at which the image information Dg is acquired by the acquisition unit 351, and may be generated before step S104 or step S105. Furthermore, if printing is not performed in step S108, the print data Img may be generated after step S107.

[0115] Next, in step S107, the server 300 transmits the path information Da and the print data Img to the three-dimensional object printing device 100. This transmission is performed by the transmission unit 353 as described above. As a result, the three-dimensional object printing device 100 acquires the path information Da and the print data Img. Note that if printing is not performed in step S108, the print data Img may be transmitted after step S106.

[0116] After that, in step S108, the three-dimensional object printing apparatus 100 acquires the operation information Dm. This acquisition is performed by the acquisition unit 351 as described above.

[0117] Then, in step S109, the three-dimensional object printing apparatus 100 transmits the operation information Dm to the server 300. This transmission is performed by the transmitting unit 353 as described above, and the acquiring unit 351 of the server 300 acquires the operation information Dm.

[0118] After that, 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.

[0119] Next, in step S111, the server 300 corrects the route information Da based on the error information De. This correction is performed by the generation unit 352 as described above.

[0120] Next, in step S112, the server 300 generates the timing information Db based on the motion information Dm and the head information Dh. This generation is performed by the generation unit 352 as described above.

[0121] After that, in step S113, the server 300 transmits the path information Da and the timing information Db to the three-dimensional object printing device 100. This transmission is performed by the transmission unit 353 as described above. As a result, the three-dimensional object printing device 100 acquires the corrected path information Da and timing information Db.

[0122] As described above, the control method for the three-dimensional object printing system 10 includes step S101, which is an example of a "work information acquisition step", and step S105, which is an example of a "path generation step".

[0123] Fig. 6 is a diagram for explaining the acquisition of work information Dw and image information Dg. The acquisition of the work information Dw in step S101 and the acquisition of the image information Dg in step S102 are each performed using an image UI, which is a GUI (Graphical User Interface) image shown in Fig. 6. Note that the image UI shown in Fig. 6 is an example and is not limited thereto.

[0124] The image UI includes regions R1, R2, and R3 and buttons B1, B2, B3, and B4.

[0125] The area R1 is an area for selecting a job file that records past settings using an image UI. In the example shown in Fig. 6, the area R1 has buttons B11, B12, and B13.

[0126] Button B11 is a button for selecting one job file from multiple existing job files. Operating button B11 causes the file name of the selected job file to be displayed in button B11. Button B12 is a button for loading the selected job file. Operating button B11 causes the settings of the selected job file to be reflected in areas R2 and R3. Button B13 is a button for specifying the file name of a new job file when creating the file. Operating button B13 makes it possible to create a new job file.

[0127] The area R2 is an area for selecting the workpiece W. In the example shown in Fig. 6, the area R2 has an area R2a and buttons B21 and B22.

[0128] Area R2a is an area for displaying a preview of an image of a selected workpiece W. Button B21 is a button for selecting one piece of workpiece information Dw from a plurality of pieces of workpiece information Dw. By operating button B21, the file name of the selected workpiece information Dw is displayed in button B21, and a preview image of the selected workpiece information Dw is displayed in area R2a. Button B22 is a button for reading the selected workpiece information Dw. By operating button B22, the selected workpiece information Dw is acquired by acquisition unit 351 in step S101.

[0129] Region R3 is an area 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 indicated by the workpiece information Dw, and in region R3, a display according to the number of surfaces to be printed is performed. In the example shown in FIG. 6, region R3 has regions R3-1, R3-2, and R3-3 corresponding to different surfaces of the workpiece W to be printed. Each of regions R3-1, R3-2, and R3-3 is an area for setting image information Dg for the corresponding surface to be printed, and has region R3a and buttons B31 and B32.

[0130] Area R3a is an area for displaying a preview of an 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. Operating button B31 causes the file name of the selected image information Dg to be displayed in button B31, and also causes a preview image of the selected image information Dg to be displayed in area R3a. Operating button B31 also causes the selected image information Dg to be acquired by acquisition unit 351 in step S102. Button B32 is a button for canceling the selection of image information Dg. Operating button B32 cancels the selection of image information Dg.

[0131] Button B1 is a button for creating path information Da and print data Img using the settings entered in areas R2 and R3. Pressing button B1 executes step S103 described above. As a result, steps S104 to S107 are executed by server 300, and the path information Da and print data Img are acquired by three-dimensional object printing device 100.

[0132] Button B2 is a button for executing a preparatory operation using the acquired path information Da and print data Img. By operating button B2, step S108 is executed in a state in which the preparatory operation has been executed.

[0133] Button B3 is a button for executing a printing operation using the acquired path information Da and print data Img. By operating button B3, step S108 is executed in a state in which the printing operation is being executed.

[0134] The button B4 is a button for saving a job file of the setting contents input in the areas R2 and R3. By operating the button B4, the job file of the setting contents input in the areas R2 and R3 is stored in the memory circuit 7a.

[0135] In the above three-dimensional object printing system 10, the print path is generated by the server 300, which reduces the burden on the user of the three-dimensional object printing device 100. In addition, since the server 300 is communicably connected to the three-dimensional object printing device 100, an appropriate print path can be applied from the server 300 to the three-dimensional object printing device 100 at the appropriate time. This makes it possible to improve the print quality of the three-dimensional workpiece W.

[0136] Furthermore, as described above, the server 300 acquires 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. This makes it possible to correct the printing path taking into account the operation error of the robot 2. This makes it possible to improve the printing quality.

[0137] Furthermore, as described above, the robot information Dr includes individual information Dr1 for identifying the robot 2 and performance information Dr2 regarding the performance of the robot 2. The server 300 includes a memory circuit 340, which is an example of a "storage unit." The memory 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, the robot 2 can be identified based on the individual information Dr1 and then the printing path can be appropriately corrected according to the performance of each robot 2 based on the performance information Dr2. This allows the printing path to be corrected more accurately. In addition, since the robot information Dr is stored in the memory circuit 340 of the server 300, there is no need to store the robot information Dr in the three-dimensional object printing device 100. In addition, by accumulating the robot information Dr in the memory circuit 340 of the server 300, the server 300 can provide added value such as progress monitoring or failure response of the three-dimensional object printing device 100.

[0138] As described above, the three-dimensional object printing apparatus 100 also includes a motion detection unit 4 that detects the motion of the robot 2. The server 300 acquires motion information Dm relating to the motion of the robot 2 from the motion detection unit 4, and corrects the printing path indicated by the path information Da based on the motion information Dm. This makes it possible to correct the printing path indicated by the path information Da in consideration of the actual motion of the robot 2. This makes it possible to further improve the printing quality.

[0139] Furthermore, as described above, the server 300 acquires the operation information Dm from the operation detection unit 4 while the three-dimensional object printing device 100 is printing. This makes it possible to correct the printing path indicated by the path information Da in consideration of the operation of the robot 2 during actual printing. This makes it possible to improve the printing quality without reducing the throughput.

[0140] As described above, the three-dimensional object printing apparatus 100 executes a preliminary operation of moving the print head 3 along the printing path indicated by the path information Da without ejecting liquid from the print head 3. The server 300 acquires operation information Dm detected by the operation detection unit 4 during the execution period of the preliminary operation. This makes it possible to correct the printing path indicated by the path information Da in consideration of the operation of the robot 2 during actual printing without actually performing printing. This makes it possible to stably improve print quality.

[0141] Furthermore, as described above, the server 300 includes a memory circuit 340, which is an example of a "memory unit." The memory circuit 340 stores the operation information Dm. The server 300 calculates the change over time in the operation of the robot 2 based on the operation information Dm, and corrects the printing path indicated by the path information Da based on the change over time. This makes it possible to appropriately correct the printing path indicated by the path information Da even if the operation of the robot 2 changes due to the change over time. This makes it possible to stably improve print quality.

[0142] As described above, the operation detector 4 detects the displacement of the print head 3. The server 300 corrects the ejection timing of the print head 3 based on the operation information Dm. This corrects the ejection timing of the print head 3, thereby reducing the burden on the user and improving print quality.

[0143] Furthermore, as described above, the server 300 acquires head information Dh related to the print head 3, and corrects the ejection timing indicated by the timing information Db based on the operation 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, the ejection timing is corrected for each print head 3, so print quality can be improved more stably than in a mode in which the ejection timing is corrected in common.

[0144] As described above, the server 300 obtains the environmental 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 results of a simulation using the environmental information Ds1. This makes it possible to appropriately correct the printing path indicated by the path information Da, taking into account the installation environment of the robot 2.

[0145] Furthermore, as described above, the server 300 creates divided images by dividing the print image to be printed on the workpiece W based on the print path indicated by the corrected path information Da. As a result, the server 300 creates the divided images, and the burden on the user can be reduced accordingly.

[0146] As described above, the server 300 includes a memory circuit 340, which is an example of a "storage unit." The memory circuit 340 stores the print path indicated by the corrected path information Da. The server 300 creates divided images 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 path information Da. This allows the print path indicated by the path information Da once generated to be applied to another image. This improves the processing efficiency for correcting the print path indicated by the path information Da in the server 300.

[0147] Furthermore, as described above, the server 300 acquires information that combines color information about the color of the workpiece W with the workpiece information Dw, and divides this information into the color information and the workpiece information Dw. This makes it possible to use image-attached shape data as the information.

[0148] As described above, the server 300 also stores the standard coordinate system, which is the coordinate system of the three-dimensional object printing apparatus 100. The server 300 acquires position information Dal relating to the positional relationship between the work W and the placement unit BW on which the work W is placed, and corrects the coordinate system of the work W placed on the placement unit BW based on the position information Dal and the standard coordinate system. This makes it possible to correct the standard coordinate system while reducing the burden on the user, even if the correspondence between the placement position of the work W and the standard coordinate system is shifted.

[0149] 2. Second embodiment A second embodiment of the present disclosure will be described below. In the following example, for elements whose actions and functions are similar to those of the first embodiment, the reference numerals used in the description of the first embodiment will be used and detailed descriptions of each will be omitted as appropriate.

[0150] 7 is a schematic diagram showing a configuration example of a server 300A used in a three-dimensional object printing system according to the second embodiment. The server 300A is configured similarly to the server 300 of the first embodiment, except that the server 300A uses a program PR3 instead of the program PR2.

[0151] 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 similar to the generation unit 352 of the first embodiment, except that it has an additional function of correcting the path information Da based on the error information De-1 to De-N. N is a natural number equal to or greater than 1. Note that, hereinafter, the error information De-1 to De-N may be referred to as the error information De without distinction.

[0152] Each of the error information De-1 to De-N is information about an error in the operation of the robot 2 when moving the print head 3 along the virtual path indicated by the path information Da. The error information De-1 to De-N is acquired in advance before the shipment of the three-dimensional object printing apparatus 100, and is stored in the memory circuit 340.

[0153] Fig. 8 is a flowchart showing generation of error information De-1 to De-N in the second embodiment. When generating the error information De-1 to De-N, first, as shown in Fig. 8, in step S201, a route assumed as a printing route is generated as a virtual route.

[0154] Next, in step S202, the generated virtual path is used to perform a preparatory operation before shipping of the three-dimensional object printing apparatus 100. In this preparatory operation, the print head 3 moves at a moving speed determined for each virtual path.

[0155] 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 preparatory movement. Here, for example, motion information Dm is acquired by detection by the motion detection unit 4 at multiple points on the virtual route.

[0156] Next, in step S204, error information De-k is generated using the obtained motion information Dm, where k is a natural number between 1 and N.

[0157] Next, in step S205, the error information De-k is stored in the storage circuit 340.

[0158] Next, in step S206, it is determined whether or not other possible printing routes should be generated as virtual routes.

[0159] When another route assumed as a printing route is to be generated as a virtual route (step S206: YES), a virtual route different from the already generated virtual route is generated, and then the above-mentioned step S202 is executed. As a result, error information De-1 to De-N corresponding to the N virtual routes are stored in the memory circuit 340.

[0160] If there is no other route that can be assumed as the print route, the process ends (step S206: NO).

[0161] Fig. 9 is a diagram for explaining error information De-1 to De-N for each virtual route. An example of the error information De-1 to De-N is shown in Fig. 9. In the example shown in Fig. 9, each of the error information De-1 to De-N indicates, as an error, a deviation of each of the coordinate values ​​of the X-axis, Y-axis, and Z-axis of the position indicated by the motion information Dm with respect to the virtual route at each of 200 points on the virtual route.

[0162] As described above, in this embodiment, the above-mentioned error information De-1 to De-N is already stored in the memory circuit 340 before the shipment of the three-dimensional object printing apparatus 100, and the path information Da can be corrected without performing a preliminary operation after the shipment of the three-dimensional object printing apparatus 100. This point will be described in detail below.

[0163] 10 is a flowchart showing the correction of the print path in the second embodiment. In this embodiment, when correcting the print path indicated by the path information Da, first, in step S301, the print path indicated by the path information Da is generated, as in the first embodiment.

[0164] Next, in step S302, it is determined whether or not there is a virtual route that matches the generated print route among the multiple virtual routes described above.

[0165] If there is a virtual route that matches the generated print route (step S302: YES), in step S303, the print route indicated by the route information Da is corrected based on the error information De that corresponds to the virtual route.

[0166] On the other hand, if there is no virtual route that matches the generated print route (step S302: NO), in step S304, it is determined whether or not to further acquire error information De. This determination may be made based on an instruction by a user's operation, for example, or it may be determined to acquire error information De based on the difference between the generated print route and the virtual route if the difference is equal to or greater than a predetermined value.

[0167] If error information De is to be further acquired (step S304: YES), in step S305, similar to the above-mentioned step S203, operation information Dm is acquired. Then, in step S306, similar to the above-mentioned steps S204 and S205, error information De is acquired and stored. Then, in step S307, path information Da is corrected based on the error information De.

[0168] On the other hand, if no further error information De is to be acquired (step S304: NO), in step S308, a virtual route that is most similar to the generated print route is searched for among the above-mentioned multiple virtual routes.

[0169] Then, in step S309, the printing route indicated by the route information Da is corrected based on the error information De corresponding to the most similar virtual route.

[0170] The second embodiment described above also improves the print quality of the three-dimensional workpiece W while reducing the burden on the user. In this embodiment, as described above, the server 300A includes a memory circuit 340, which is an example of a "storage unit." The memory circuit 340 stores error information De-1 to De-N related to errors in the operation of the robot 2 when moving the print head 3 along the virtual path. The server 300 corrects the print path indicated by the path information Da based on the error information De-1 to De-N. This eliminates the need for a preparatory operation for the user of the three-dimensional object printing apparatus 100, thereby improving throughput.

[0171] As described above, the server 300A determines whether the print path indicated by the path information Da matches the virtual path, and if it determines that the print path indicated by the path information Da matches the virtual path (step S302: YES), it corrects the print path indicated by the path information Da based on the error information De corresponding to the virtual path (step S303). This makes it possible to speed up the correction process of the print path indicated by the path information Da by referring to information previously stored in the memory circuit 340.

[0172] Furthermore, as described above, the three-dimensional object printing apparatus 100 includes a motion detection unit 4 that detects the motion of the robot 2. If the server 300A determines that the printing path indicated by the path information Da does not match the virtual path (step S302: NO), it acquires motion information Dm relating to the motion of the robot 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, S307). This improves the printing quality compared to a mode that uses error information De corresponding to the virtual path.

[0173] Furthermore, as described above, if the server 300A determines that the print path indicated by the path information Da does not match the virtual path (step S302: NO), it searches for a virtual path similar to the print path indicated by the path information Da (step S308) and corrects the print path indicated by the path information Da based on the error information De corresponding to the virtual path (step S309). This makes it possible to speed up the correction process for the print path indicated by the path information Da by referring to information previously stored in the memory circuit 340.

[0174] 2. Variations Although the three-dimensional object printing system of the present disclosure has been described above based on the illustrated embodiment, the present disclosure is not limited thereto. In addition, the configuration of each part of the present disclosure can be replaced with any configuration that exhibits the same function as the above-mentioned embodiment, and any configuration can be added.

[0175] 2-1. Variation 1 In the above embodiment, the server 300 is a cloud server, but is not limited to this configuration. For example, the server 300 may be a server other than a cloud server, a virtual server, or an on-premise server.

[0176] 3. Notes The following is a summary of this disclosure.

[0177] (Appendix 1) A three-dimensional object printing system according to a first aspect of the present disclosure comprises a three-dimensional object printing device having a print head that ejects liquid toward a three-dimensional workpiece and a robot that holds the print head, and a server that is communicatively connected to the three-dimensional object printing device, wherein the server acquires work information relating to the workpiece and generates a printing path, which is the path along which the print head moves relative to the workpiece, based on the work information.

[0178] In the above aspect, since the print path is generated by the server, the burden on the user of the three-dimensional printing device can be reduced. Also, since the server is communicatively connected to the three-dimensional printing device, an appropriate print path can be applied from the server to the three-dimensional printing device at the appropriate time. This can improve the print quality of the three-dimensional workpiece.

[0179] (Note 2) In the second aspect, which is a preferred example of the first aspect, the server acquires robot information about the robot and corrects the print path based on the robot information. In the above aspect, the print path can be corrected taking into account the motion error of the robot. This can improve print quality.

[0180] (Additional Note 3) In a third aspect, which is a preferred example of the second aspect, the robot information includes individual information for identifying the robot and performance information regarding the performance of the robot, and the server has a storage unit that stores the robot information, and corrects the printing path based on the robot information. In the above aspect, the robot can be identified based on the individual information, and then the printing path can be appropriately corrected according to the performance of each robot based on the performance information. This allows the printing path to be corrected more accurately. In addition, since the robot information is stored in the storage unit of the server, there is no need to store the robot information in the three-dimensional object printing device. In addition, by accumulating the robot information in the storage unit of the server, added value such as progress monitoring or failure response of the three-dimensional object printing device can also be provided from the server.

[0181] (Appendix 4) In a fourth aspect, which is a preferred example of any of the first to third aspects, the three-dimensional object printing device includes a motion detection unit that detects the motion of the robot, and the server acquires motion information related to the motion of the robot from the motion detection unit and corrects the printing path based on the motion information. In the above aspect, the printing path can be corrected taking into account the actual motion of the robot. This can further improve the printing quality.

[0182] (Note 5) In the fifth aspect, which is a preferred embodiment of the fourth aspect, the server acquires the motion information from the motion detection unit while the three-dimensional object printing device is printing. In the above aspect, the printing path can be corrected taking into account the motion of the robot during actual printing. This makes it possible to improve print quality without reducing throughput.

[0183] (Appendix 6) In the sixth aspect, which is a preferred example of the fourth aspect, the three-dimensional object printing device executes a preliminary operation of moving the print head along the print path without ejecting liquid from the print head, and the server acquires the operation information detected by the operation detection unit during the execution period of the preliminary operation. In the above aspect, the print path can be corrected taking into account the operation of the robot during actual printing without actually printing. This makes it possible to stably improve print quality.

[0184] (Appendix 7) In the seventh aspect, which is a preferred example of the fourth aspect, the server includes a storage unit that stores the operation information, calculates changes in the robot's operation over time based on the operation information, and corrects the printing path based on the changes over time. In the above aspect, even if the robot's operation changes due to changes over time, the printing path can be appropriately corrected. This makes it possible to stably improve print quality.

[0185] (Note 8) In the eighth aspect, which is a preferred example of any of the first to seventh aspects, the server includes a storage unit that stores error information related to an error in the operation of the robot when moving the print head along a virtual path, and corrects the print path based on the error information. In the above aspect, no preparatory action is required for the user of the three-dimensional object printing device, thereby improving throughput.

[0186] (Appendix 9) In the ninth aspect, which is a preferred example of the eighth aspect, the server determines whether the print path matches the virtual path, and if it determines that the print path matches the virtual path, corrects the print path based on the error information corresponding to the virtual path. In the above aspect, the print path correction process can be accelerated by referring to information stored in advance in a storage unit.

[0187] (Appendix 10) In the tenth aspect, which is a preferred example of the eighth aspect, the three-dimensional object printing device includes a motion detection unit that detects the motion of the robot, and when the server determines that the printing path does not match the virtual path, the server obtains motion information about the robot's motion from the motion detection unit and corrects the printing path based on the motion information. In the above aspect, the printing quality can be improved compared to an aspect that uses error information corresponding to a virtual path.

[0188] (Appendix 11) In the eleventh aspect, which is a preferred example of the eighth aspect, when the server determines that the print route does not match the virtual route, it searches for a virtual route similar to the print route and corrects the print route based on the error information corresponding to the virtual route. In the above aspect, the print route correction process can be accelerated by referring to information stored in advance in a storage unit.

[0189] (Appendix 12) In the twelfth aspect, which is a preferred example of any of the fourth to seventh aspects, the operation detector detects the displacement of the print head, and the server corrects the ejection timing of the print head based on the operation information. In the above aspect, the ejection timing of the print head is corrected, so that the burden on the user is reduced and print quality can be improved.

[0190] (Appendix 13) In the thirteenth aspect, which is a preferred example of the twelfth aspect, the server acquires head information about the print heads, and corrects the ejection timing of the print heads based on the operation information and the head information. In the above aspect, the ejection timing is corrected for each print head, so print quality can be improved more stably than in an aspect in which the ejection timing is corrected in common.

[0191] (Appendix 14) In the fourteenth aspect, which is a preferred example of the second aspect, the server acquires environmental information about the environment in which the robot is installed, and corrects the printing path based on the results of a simulation using the environmental information. In the above aspect, the printing path can be appropriately corrected taking into account the installation environment of the robot.

[0192] (Note 15) In the 15th aspect, which is a preferred example of any one of the 1st to 14th aspects, the server creates divided images by dividing the print image to be printed on the work based on the corrected print path. In the above aspects, the server creates the divided images, which reduces the burden on the user.

[0193] (Appendix 16) In the 16th aspect, which is a preferred example of the 15th aspect, the server includes a storage unit that stores the corrected print path, and creates divided images by dividing the print image to be printed on the work based on the work information and the print path. In the above aspect, the print path once generated can be applied to another image. This can improve the processing efficiency for correcting the print path in the server.

[0194] (Appendix 17) In the 17th aspect, which is a preferred example of any one of the 1st to 16th aspects, the server acquires information in which color information on the color of the workpiece and the workpiece information are integrated, and divides the information into the color information and the workpiece information. In the above aspects, image-attached shape data can be used as the information.

[0195] (Appendix 18) In the 18th embodiment, which is a preferred example of any of the 1st to 17th embodiments, the server stores a standard coordinate system that is the coordinate system of the three-dimensional object printing device, acquires position information regarding the positional relationship between the work and a placement unit on which the work is placed, and corrects the coordinate system of the work placed on the placement unit based on the position information and the standard coordinate system. In the above embodiment, even if the correspondence between the placement position of the work and the standard coordinate system is shifted, the standard coordinate system can be corrected while reducing the burden on the user.

[0196] (Appendix 19) A control method for a three-dimensional object printing system that is a preferred example of the present disclosure is a control method for a three-dimensional object printing system that includes a three-dimensional object printing device that includes a print head that ejects liquid toward a three-dimensional workpiece and a robot that holds the print head, and a server that is communicatively connected to the three-dimensional object printing device, and includes a work information acquisition process that acquires work information about the workpiece, and a path generation process that generates a printing path, which is the path along which the print head moves relative to the workpiece, based on the work information.

[0197] In the above aspect, since the print path is generated by the server, the burden on the user of the three-dimensional printing device can be reduced. Also, since the server is communicatively connected to the three-dimensional printing device, an appropriate print path can be applied from the server to the three-dimensional printing device at the appropriate time. This can improve the print quality of the three-dimensional workpiece.

[0198] (Appendix 20) A three-dimensional printing device that is a preferred example of the present disclosure comprises a print head that ejects liquid toward a three-dimensional workpiece, a robot that holds the print head, and a control unit that is communicatively connected to a server, and the control unit transmits work information regarding the workpiece to the server and receives from the server a printing path, which is the path along which the print head moves relative to the workpiece.

[0199] In the above aspect, since the print path is generated by the server, the burden on the user of the three-dimensional printing device can be reduced. Also, since the server is communicatively connected to the three-dimensional printing device, an appropriate print path can be applied from the server to the three-dimensional printing device at the appropriate time. This can improve the print quality of the three-dimensional workpiece.

[0200] (Appendix 21) A three-dimensional printing system that is a preferred example of the present disclosure is a three-dimensional printing system comprising a three-dimensional printing device that includes a print head that ejects liquid toward a three-dimensional workpiece, a robot that holds the print head, and a motion detection unit that detects the motion of the robot, and a server that is communicatively connected to the three-dimensional printing device, wherein the server obtains displacement information regarding the displacement of the print head from the motion detection unit, and corrects the ejection timing of the print head based on the displacement information.

[0201] In the above aspect, the server corrects the ejection timing, which reduces the burden on the user of the three-dimensional printing device. In addition, the server is communicably connected to the three-dimensional printing device, so that the server can apply the appropriate ejection timing to the three-dimensional printing device at the appropriate time. This improves the print quality of the three-dimensional workpiece. [Explanation of symbols]

[0202] 2...robot, 2a...arm drive mechanism, 3...print head, 3a...head chip, 3b...switch circuit, 4...motion detection unit, 5...controller, 5a...memory circuit, 5b...processing circuit, 6...control module, 6a...timing signal generation circuit, 6b...power supply circuit, 6c...control circuit, 6d...drive signal generation circuit, 7...computer, 7a...memory circuit, 7b...processing circuit, 7c...communication circuit, 8...control unit, 9...camera, 10...three-dimensional object printing system, 100...three-dimensional object printing device, 100-1...three-dimensional object printing device, 100-2...three-dimensional object printing device, 100-3...three-dimensional object 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...generation unit, 353...transmission unit, 354...generation unit, B1...button, B11...button, B12...button, B13...button, B2...button, B21...button, B22...button, B3...button, B31...button, B32...button, B4...button, BW...mounting unit, BW1 ...first tray section, BW2...second tray section, CLK...clock signal, CNG...change signal, Com...drive 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...head information, Dh1...individual information, Dh2...performance information, Did...identification information, Dm...operation information, Dr...robot information, Dr1...individual information, Dr2...performance information, Ds...device information, Ds1...environmental information, Ds2...coordinate information, Dw...work information, Fn...ejection surface, Img...print data, J...joint, J1...joint, J2...joint, J3...joint, J4...joint, J5...joint, J6...joint, LAT...latch signal, MK...marker, NW...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 (work 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, S30 4...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...work, dCom...waveform designation signal, n...nozzle, nL1...nozzle row, nL2...nozzle row.

Claims

1. A three-dimensional printing device including a print head that ejects liquid toward a three-dimensional workpiece and a robot that holds the print head; A three-dimensional object printing system comprising: a server communicably connected to the three-dimensional object printing device, The server, Acquire work information relating to the work; generating a print path, which is a path along which the print head moves relative to the work, based on the work information; A three-dimensional object printing system.

2. The server, acquiring robot information relating to the robot; correcting the printing path based on the robot information; The three-dimensional object printing system according to claim 1 .

3. the robot information includes individual information for identifying the robot and performance information related to performance of the robot; The server, A storage unit for storing the robot information, correcting the printing path based on the robot information; 3. The three-dimensional object printing system according to claim 2.

4. The three-dimensional object printing device includes a motion detection unit that detects a motion of the robot, The server, acquiring motion information relating to a motion of the robot from the motion detection unit; correcting the printing path based on the operational information; The three-dimensional object printing system according to claim 1 .

5. the server acquires the operation information from the operation detection unit while the three-dimensional object printing device is printing; 5. The three-dimensional object printing system according to claim 4.

6. the three-dimensional object printing apparatus executes a preliminary operation of moving the print head along the printing path without ejecting liquid from the print head; the server acquires the motion information detected by the motion detection unit during a period in which the preparatory movement is being performed.

5. The three-dimensional object printing system according to claim 4.

7. The server, A storage unit that stores the operation information, Calculating a change in the motion of the robot over time based on the motion information; correcting the print path based on the aging change; 5. The three-dimensional object printing system according to claim 4.

8. The server, a storage unit that stores error information regarding an error in the operation of the robot when moving the print head along a virtual path; correcting the printing path based on the error information; The three-dimensional object printing system according to claim 1 .

9. The server, determining whether the print path matches the virtual path; when it is determined that the printing path coincides with the virtual path, correcting the printing path based on the error information corresponding to the virtual path; 9. The three-dimensional object printing system according to claim 8.

10. The three-dimensional object printing device includes a motion detection unit that detects a motion of the robot, The server, If it is determined that the print path does not match the virtual path, acquiring motion information relating to a motion of the robot from the motion detection unit; correcting the printing path based on the operational information; 9. The three-dimensional object printing system according to claim 8.

11. The server, If it is determined that the print path does not match the virtual path, Searching for the virtual path similar to the print path; correcting the printing path based on the error information corresponding to the virtual path; 9. The three-dimensional object printing system according to claim 8.

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

13. The server, Acquire head information regarding the print head; correcting the ejection timing of the print head based on the operation information and the head information; The three-dimensional object printing system according to claim 12 .

14. The server, Acquire environmental information regarding an environment in which the robot is installed; correcting the printing path based on a result of a simulation using the environmental information; 4. The three-dimensional object printing system according to claim 2 or 3.

15. The server creates divided images by dividing a print image to be printed on the work based on the corrected print path. The three-dimensional object printing system according to any one of claims 1 to 11.

16. The server, a storage unit that stores the corrected printing path; creating a divided image by dividing a print image to be printed on the work based on the work information and the print path; The three-dimensional object printing system according to claim 15 .

17. The server, Acquire information that combines color information related to the color of the workpiece and the workpiece information; Dividing the information into the color information and the work information; The three-dimensional object printing system according to any one of claims 1 to 11.

18. The server, A standard coordinate system which is a coordinate system of the three-dimensional object printing device is stored, Acquire position information regarding a positional relationship between the workpiece and a placement portion on which the workpiece is placed; correcting a coordinate system of the workpiece placed on the placement unit based on the position information and the standard coordinate system; The three-dimensional object printing system according to any one of claims 1 to 11.

19. A three-dimensional printing device including a print head that ejects liquid toward a three-dimensional workpiece and a robot that holds the print head; A control method for a three-dimensional object printing system including a server communicably connected to the three-dimensional object printing device, A work information acquisition step of acquiring work information related to the work; A path generating process for generating a printing path, which is a path along which the print head moves relative to the work, based on the work information. A control method for a three-dimensional object printing system.

20. A print head that ejects liquid onto a three-dimensional workpiece; A robot that holds the print head; A control unit connected to the server so as to be able to communicate with the server, The control unit is Transmitting work information relating to the work to the server; receiving from the server a print path, which is a path along which the print head moves relative to the workpiece; A three-dimensional object printing device.

21. A three-dimensional printing device including a print head that ejects liquid toward a three-dimensional workpiece, a robot that holds the print head, and a motion detection unit that detects the motion of the robot; A three-dimensional object printing system comprising: a server communicably connected to the three-dimensional object printing device, The server, acquiring displacement information relating to the displacement of the print head from the operation detection unit; correcting the ejection timing of the print head based on the displacement information; A three-dimensional object printing system.

Images