Processing system, processing method, instruction device and robot operation control program

Abstract

To enable a robot to efficiently supply and recover a medium to and from a printer.SOLUTION: A processing system 1 includes: a printer 3 for performing processing of discharging ink to a medium M; and a robot 5 for supplying and recovering the medium M to / from the printer 3, in response to a supply request and a recovery request from the printer 3. When there are the printer 3 for outputting the supply request and the printer 3 for outputting the recovery request, the robot 5 supplies the medium M to the printer 3 for outputting the supply request and then recovers the medium M from the printer 3 for outputting the recovery request, as a series of operations.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a processing system, a processing method, a command device, and a robot operation control program. Regarding. [Background technology]

[0002] The processing system includes, for example, a droplet ejection device that performs a process of ejecting droplets onto media. To perform processing using the droplet ejection device, the media must be placed on a table, and the processed media must be collected from the table. If workers are assigned to supply and collect the media, labor costs increase.

[0003] In order to reduce personnel costs, it has been proposed to build a system that includes, for example, a droplet ejection device and a robot that supplies and collects media from the droplet ejection device (see, for example, Patent Document 1). This makes it possible to automate the printing process on media and reduce personnel costs. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-183595 Summary of the Invention [Problem to be solved by the invention]

[0005] For example, if a processing system is provided with a plurality of droplet ejection devices, a situation may arise in which the robot is required to both supply and collect media at the same time. However, a robot typically cannot accept another operation command until it has completed an operation based on one operation command, which may result in the robot being unable to efficiently complete both supply and collection in a single operation, affecting the efficiency of media processing in the processing system.

[0006] In a processing system, a robot is required to efficiently supply and retrieve media to and from a droplet ejection device. [Means for solving the problem]

[0007] In one aspect of the present invention, a processing system includes: (1) a droplet ejection device that performs a process of ejecting droplets onto a medium; a robot that supplies and collects the medium to and from the droplet ejection device in response to a supply request and a collection request from the droplet ejection device, The robot When there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, As a series of operations, the medium is supplied to the droplet ejection device that outputs the supply request, and then the medium is collected from the droplet ejection device that outputs the collection request.

[0008] (2) In the processing system of (1), the robot supplies or collects the medium along a movement path that is set in advance for each of the droplet ejection devices; The robot performs the series of operations when the droplet ejection device that outputs one of the supply and collection requests is located on the movement path to the droplet ejection device that outputs the other request.

[0009] (3) In the processing system of (1), The robot is provided with a path creation device that creates a movement path for the robot in the series of operations based on the positional relationship between the droplet ejection device that outputs either the supply or recovery request and the droplet ejection device that outputs the other request.

[0010] (4) In the processing system of (3), the droplet ejection device includes a table on which a plurality of media can be placed; The path creation device creates a movement path for the robot in the series of operations based on the positional relationship and the position of the media placement location on each droplet ejection device.

[0011] (5) In any one of the processing systems (1) to (4), When the droplet ejection device outputs one of the supply request and the recovery request, if there is a droplet ejection device that is estimated to output the other request, The robot waits for the time until the other request is output, and then performs the series of operations.

[0012] (6) In the processing system of (5), The robot includes a determination device that determines whether to wait for a time until the other request is output based on data relating to the time required for the droplet ejection device to perform a process and the time required for the robot to operate.

[0013] (7) In any one of the processing systems (1) to (6), the droplet ejection device includes a table on which a plurality of media can be placed, and is capable of outputting the supply request and the collection request for each medium placed on the table; The processing system is characterized in that, when there is a droplet discharge device that outputs both the supply request and the recovery request, the robot performs the series of operations by giving priority to that droplet discharge device.

[0014] (8) In any one of the processing systems (1) to (7), the droplet ejection device includes a table on which the medium is placed, and a head unit that is disposed opposite the table and ejects the droplets onto the medium placed on the table while being displaced relative to the table; At least one of the supply request and the collection request is configured from a signal notifying the relative displacement of the head portion with respect to the table.

[0015] (9) In any one of the processing systems (1) to (8), the droplet ejection device performs a process of ejecting the droplets onto the medium based on a print job; At least one of the supply request and the collection request is configured from a signal notifying the input or completion of the print job.

[0016] (10) In any one of the processing systems (1) to (9), the droplet ejection device includes a first droplet ejection device that forms a first layer on the medium with the droplets, and a second droplet ejection device that forms a second layer on the medium with the droplets; As part of the series of operations, the robot supplies the medium collected from the first droplet ejection device that outputs the collection request to the second droplet ejection device that outputs the supply request.

[0017] (11) In the processing system according to (10), the droplet ejection device includes a table on which a plurality of media can be placed, and is capable of outputting the supply request and the collection request for each medium placed on the table; The robot supplies the medium collected from a predetermined position on the table of the first droplet ejection device to a position on the table of the second droplet ejection device that corresponds to the predetermined position.

[0018] (12) In any one of the processing systems (1) to (11), a processing device that performs pre-processing or post-processing on the medium for the droplet ejection device; As part of the series of operations, the robot, together with the droplet ejection device, supplies and recovers the media to and from the processing device.

[0019] In one embodiment of the present invention, the processing method comprises: (13) A droplet ejection device that performs a process of ejecting droplets onto a medium; a robot that supplies and collects media to and from the droplet ejection device in response to a supply request and a collection request from the droplet ejection device, The robot When there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, As a series of operations, the medium is supplied to the droplet ejection device that outputs the supply request, and then the medium is collected from the droplet ejection device that outputs the collection request.

[0020] In one aspect of the present invention, a command device (14) A droplet ejection device that performs a process of ejecting droplets onto a medium; a robot that supplies and recovers the medium to and from the droplet discharge device, a command device that outputs an operation command to the robot in response to a supply request and a recovery request from the droplet discharge device, The command device When there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, A command is output to the robot to instruct a series of operations to supply the medium to the droplet discharge device that issued the supply request and then recover the medium from the droplet discharge device that issued the recovery request.

[0021] In one aspect of the present invention, a robot movement control program includes: (15) A droplet ejection device that performs a process of ejecting droplets onto a medium; a robot that supplies and recovers media to and from the droplet discharge device in response to a supply request and a recovery request from the droplet discharge device, For electronic devices, When there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, The robot is caused to output a command instructing a series of operations to supply the medium to the droplet discharge device that issued the supply request, and then collect the medium from the droplet discharge device that issued the collection request. [Effects of the Invention]

[0022] According to the present invention, in a processing system, a robot can efficiently supply and collect media to and from a droplet ejection device. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a diagram illustrating an example of the configuration of a processing system 1. FIG. [Figure 2] FIG. 2 is a diagram illustrating the configuration of a printer and a robot. [Figure 3] FIG. 2 is a schematic diagram illustrating the operation of the printer in a printing process. [Figure 4] FIG. 10 is a conceptual diagram illustrating the path of movement of the robot when supplying and collecting media. [Figure 5] FIG. 1 is a diagram illustrating an example of a hardware configuration of an electronic device. [Figure 6] FIG. 2 is a block diagram showing the functional configuration of the electronic device. [Figure 7] 10A and 10B are diagrams illustrating operation commands when a robot performs media supply and collection as independent operations. [Figure 8] 10A and 10B are diagrams illustrating operation commands when a robot performs a series of operations to supply and collect media. [Figure 9] 10 is a flowchart illustrating processing of the electronic device according to the embodiment. [Figure 10] FIG. 10 is a schematic diagram showing the configuration of a processing system according to Modification 1. [Figure 11] 10A and 10B are diagrams illustrating examples of output of a supply request and a collection request. [Figure 12] FIG. 10 is a block diagram showing the functional configuration of an electronic device according to a first modification. [Figure 13]FIG. 10 is a diagram showing an example of creating a movement path for a robot to perform a series of operations. [Figure 14] 10 is a flowchart showing the processing of an electronic device according to Modification 1. [Figure 15] 10A and 10B are diagrams illustrating an example of an operation when a robot supplies and collects media by giving priority to the same printer. [Figure 16] 10 is a block diagram showing the functional configuration of an electronic device in a processing system according to a second modification. FIG. [Figure 17] 10 is a flowchart showing the processing of an electronic device according to Modification 2. [Figure 18] FIG. 11 is a diagram illustrating an example of the configuration of a processing system according to a third modification. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating an example of the configuration of a processing system 1. As shown in FIG. FIG. 2 is a diagram illustrating the configuration of the printer 3 and the robot 5. As shown in FIG. 1 and 2, the medium M is cross-hatched. In FIG. 2, the movement mechanisms 37, 37 of the printer 3 are hatched. As shown in FIG. 1, the processing system 1 includes, for example, printers 3A, 3B, and 3C, which are examples of droplet ejection devices, and a robot 5. In the following explanation, the positional relationship will be explained based on the X, Y, and Z directions in Figure 1. The Z direction is the direction along the direction of gravity, and is the direction from the front to the back of the paper in Figure 1. The X and Y directions are directions perpendicular to the Z direction. The X direction is the up-down direction in the figure, and the Y direction is the left-right direction in the figure that is perpendicular to the X direction.

[0025] The printers 3A, 3B, and 3C eject ink (droplets) onto the medium M to perform printing processing. The robot 5 supplies and collects media M to and from the printers 3 in response to supply and collection requests from the printers 3A, 3B, and 3C. In the example of FIG. 1, the processing system 1 includes a plurality of printers 3A, 3B, and 3C. The robot 5 supplies and collects media M to each of the multiple printers 3A, 3B, and 3C. The number of printers 3 and robots 5 is not limited to the illustrated example and can be changed as appropriate. For example, multiple robots 5 may be provided. In this case, for example, robots 5 corresponding to the number of printers 3 may be provided, and each robot 5 may supply and collect media M to one printer 3. Alternatively, the number of printers 3 and the number of robots 5 may be different. In this case, one robot 5 may supply and collect media M to multiple printers 3, or multiple robots 5 may supply and collect media M to one printer 3.

[0026] As shown in Figure 1, processing area A1, where printing processing of media M is performed, is provided with a supply point 7 and a collection point 8 for media M. Robot 5 acquires media M stocked at supply point 7 before printing processing and supplies them to printers 3A, 3B, and 3C. Robot 5 also acquires media M after printing processing from printers 3A, 3B, and 3C and stocks them at collection point 8. At the supply point 7 and the recovery point 8, for example, a stocker St can be disposed, which stores the media M by stacking them in the Z direction. A belt conveyor capable of transporting media M may be provided at the supply point 7 or the collection point 8 instead of the stocker St. By providing a belt conveyor at the supply point 7, media M before printing can be transported to the processing area A1 from other areas. The other areas can be, for example, a storage room for media M or an area where pre-processing for printing is performed on media M. By providing a belt conveyor at the collection point 8, the media M after printing can be transported from the processing area A1 to another area. The other area can be, for example, a storage room for the media M or an area where post-printing processing of the media M is performed.

[0027] 1, the processing system 1 may include an electronic device 9 (command device). The electronic device 9 outputs operational commands to the printers 3A, 3B, and 3C and the robot 5, thereby managing the printing process of the media M in the processing system 1 in an integrated manner. The printers 3A, 3B, and 3C and the robot 5 are communicatively connected to the electronic device 9 via a LAN network or the like, or by wireless communication or the like. The electronic device 9 can be placed, for example, in an area A2 where a user resides, separate from the processing area A1 where the printers 3A, 3B, and 3C and the robot 5 are placed.

[0028] The shape and material of the medium M used in the printing process are not limited to any particular one, as long as they can be printed on by the printers 3A, 3B, and 3C and can be transported by the robot 5. The medium M can be made of, for example, synthetic resins such as acrylic, vinyl chloride, and polyester, paper, cloth (woven fabric and nonwoven fabric), wood, ceramics, metal, food, leather, etc. FIG. 1 shows a thin panel as an example of the medium M. The image printed on the medium M includes, for example, characters, figures, patterns, colors, etc., and combinations of these.

[0029] <Printer> Printers 3A and 3C are arranged in processing area A1 with their main scanning direction aligned with the X direction and their sub-scanning direction aligned with the Y direction. Printer 3B is arranged with its main scanning direction aligned with the Y direction and its sub-scanning direction aligned with the X direction. 2, the X and Y directions are referred to based on the placement of printer 3B, but by switching the X and Y directions, it can also be applied to the placement of printers 3A and 3C. In the following description, when referring to printers 3A, 3B, and 3C without distinction, they will simply be referred to as "printer 3."

[0030] As shown in FIG. 2, the printer 3 includes a table 31 on which the medium M is placed, a carriage disposed above the table 31, and a guide bar that supports the carriage . The guide bar 36 extends horizontally in the Y direction above the table 31. When viewed from the Z direction, the guide bar 36 crosses the table 31 in the Y direction. The ends of the guide bar 36 in the Y direction protrude beyond the table 31 on the Y1 side and the Y2 side, respectively. The guide bar 36 is provided with a guide rail (not shown) along the Y direction, and the carriage 34 is driven by a drive mechanism (not shown) to be movable in the Y direction along the guide rail. A head 35 (head unit) that ejects ink is mounted on the carriage 34. By moving the carriage 34 in the Y direction, the head 35 mounted on the carriage 34 also moves in the Y direction.

[0031] The underside of the head 35 is provided with a plurality of nozzles N (see FIG. 3(a)) for ejecting ink. The underside of the head 35 faces the table 31 in the Z direction with a small gap between them. This allows ink ejected from the nozzles N on the underside of the head 35 to land on the medium M placed on the table 31. The ink used in the printer 3 is not limited to a specific type, but may be, for example, ultraviolet curable ink that is cured by ultraviolet rays or heat curable ink that is cured by heat. In this case, although not shown, the carriage 34 of the printer 3 may be equipped with an ultraviolet irradiation device or a heating device for curing the ink ejected onto the medium M. Furthermore, the droplets ejected by the printer 3 are not limited to ink, and any droplets having viscosity that allows them to adhere to the medium M can be used as appropriate. The head 35 may be one that ejects ink of a single color, or may be one that ejects ink of multiple colors. The inks may be, for example, C (cyan), M (magenta), Y (yellow), and K (black) process color inks (hereinafter referred to as "color inks"). Alternatively, the inks may be special color inks such as LC (light cyan), LM (light magenta), Gy (gray), W (white), CL (clear), Pr (primer), O (orange), violet, metallic colors (gold, silver), and fluorescent colors. Furthermore, the droplets ejected by the printer 3 are not limited to ink, and any droplets having viscosity that allows them to adhere to the medium M can be used as appropriate.

[0032] As shown in Fig. 2, a maintenance station 41 is provided at the end of the guide bar 36 on the Y1 side that protrudes from the table 31. Although not shown, the maintenance station 41 has a built-in device that performs flushing, cleaning, etc. of the nozzles N (see Fig. 3(a)) of the head 35. When the carriage 34 moves to the maintenance station 41, the head 35 is flushed and cleaned.

[0033] An ink supply device 42 is provided at the Y2-side end of the guide bar 36 that protrudes beyond the table 31. Although not shown, an ink tank is built into the ink supply device 42. The ink tank and the head 35 are connected via an ink tube (not shown), and ink is supplied from the ink tank to the head 35.

[0034] Movement mechanisms 37, 37 are provided at the Y1-side and Y2-side ends of the table 31. The movement mechanisms 37, 37 are hatched in Fig. 2 . The movement mechanisms 37, 37 move the guide bar 36, the maintenance station 41, and the ink supply device 42 together in the X direction. When the guide bar 36 moves in the X direction, the carriage 34 supported by the guide bar 36 and the head 35 mounted on the carriage 34 also move in the X direction.

[0035] The printer 3 includes a controller 30 that controls the operation of each unit. The controller 30 is communicably connected to the electronic device 9. The controller 30 controls the operation of each unit of the printer 3 based on print data input from the electronic device 9, thereby performing print processing. The printer 3 can send a request to supply and collect the media M to the electronic device 9. The electronic device 9 outputs an operation command to the robot 5 based on the request from the printer 3, allowing the printer 3 and the robot 5 to operate in cooperation with each other. The printer 3 may generate dedicated signals as the supply request and the collection request, for example, or the signals notifying the status of the printer 3 may be treated as the supply request and the collection request.

[0036] FIG. 3 is a schematic diagram illustrating the operation of the printer 3 in the printing process. In FIG. 3, the X and Y directions are mentioned based on the placement of printer 3B, but by switching the X and Y directions, it can also be applied to the placement of printers 3A and 3C. In FIG. 3, one side in the X direction (the left side in the drawing) is the X1 side, and the other side (the right side in the drawing) is the X2 side. Fig. 3(a) shows a state in which the head 35 is at the home position Hp, and Fig. 3(b) shows a state in which the head 35 has been displaced from the home position Hp and is performing a printing process.

[0037] The head 35 can be displaced in the X direction above the table 31 by movement mechanisms 37, 37 (see FIG. 2). As shown in FIG. 3(a), when print data is input from the electronic device 9, the controller 30 of the printer 3 displaces the head 35 to the home position Hp and transitions to a standby state for printing processing. The home position Hp is set at a position that overlaps the end of the table 31 on the X2 side when viewed from the Z direction, for example. The controller 30 of the printer 3 can send a signal to the electronic device 9 notifying the displacement of the printer 3 to the home position Hp as a request to supply the medium M. Upon receiving the supply request, the electronic device 9 outputs an operation command to the robot 5. The robot 5 places the medium M on the table 31 of the printer 3 based on the operation command. The placement location of the medium M on the table 31 is set at a position offset from the home position Hp of the table 31 toward the X1 side when viewed from the Z direction, for example.

[0038] As shown in (b) of FIG. 3, when performing printing processing, the head 35 is displaced from the home position Hp to the X1 side. The head 35 is displaced to a position facing the medium M with a small gap in the Z direction. The head 35 ejects ink from the nozzles N while moving in the Y direction. After completing one reciprocating movement in the Y direction (one pass), the head 35 moves a predetermined distance in the X direction, and then moves in the Y direction again while ejecting ink from the nozzles N. In other words, the printer 3 can print on the medium M by alternately repeating one reciprocating movement of the head 35 in the Y direction (one pass) and an operation of feeding the medium M a predetermined distance in the X direction.

[0039] When the printing process is completed, the head 35 moves to the X2 side and returns to the home position Hp. The controller 30 of the printer 3 sends a signal to the electronic device 9 notifying that the head 35 has moved to the home position Hp as a request to collect the medium M. Upon receiving the collection request, the electronic device 9 outputs an operation command to the robot 5. The robot 5 collects the media M from the table 31 based on the operation command. When the head 35 returns to the home position Hp, maintenance, etc. is performed as needed by the maintenance station 41 (see FIG. 2). When maintenance of the head 35 is completed, the controller 30 of the printer 3 sends a supply request for the next medium M to the electronic device 9. In this way, the printer 3 can sequentially perform printing processes on the media M supplied to the table 31.

[0040] It should be noted that the head 35 may be any mechanism that can move relative to the table 31. Therefore, the movement mechanisms 37, 37 of the printer 3 (see FIG. 2) may move the table 31 in the X direction instead of the guide bar 36. Alternatively, the movement mechanisms 37, 37 may move both the guide bar 36 and the table 31 in the X direction.

[0041] <Robot> The robot 5 is not limited to a specific type as long as it is capable of acquiring and transporting the media M. For example, a horizontally articulated robot (a so-called SCARA robot) or a vertically articulated robot, as shown in FIG. 2, can be used. A SCARA robot is composed of a combination of multiple arms that rotate horizontally. To ensure the safety of workers, the area including the rotation range of the arms of the robot 5 may be isolated by a safety fence or the like. Alternatively, the robot 5 may be a collaborative robot that can operate in the same space as workers.

[0042] 2, the robot 5 includes a base 51, an arm 52 supported by the base 51, and an arm 53 supported by the arm 52. The arms 52 and 53 each extend horizontally. The base 51 is installed, for example, on the floor surface of the processing area A1. The base end of the arm 52 is supported on the upper surface of the base 51 so as to be rotatable about an axis Z1 along the Z direction. The base end of the arm 53 is connected to the tip of the arm 52 so as to be rotatable about an axis Z2 parallel to the axis Z1. A shaft 54 ​​extending in the Z direction passes through the tip of the arm 53. The shaft 54 ​​is movable up and down by a drive mechanism (not shown).

[0043] A mechanism for acquiring media M is provided at the lower end of shaft 54. The mechanism for holding media M can be, for example, a suction pad 55 (see FIG. 3(a)). When suction pad 55 comes into contact with the surface of media M and negative pressure is applied, suction pad 55 adsorbs media M. When positive pressure is applied to suction pad 55 with media M adsorbed, suction pad 55 releases media M. The mechanism by which the robot 5 acquires the media M is not limited to the suction pad 55, and other configurations may be used as appropriate.

[0044] The robot 5 can move the tip of the arm 53 in the X and Y directions by combining the rotation angles of the arms 52 and 53. The robot 5 can then pick up or release the media M by moving the shaft 54 ​​attached to the tip of the arm 53 up and down at a desired position. 1, in the processing area A1, printers 3A, 3B, and 3C, a supply point 7, and a collection point 8 are located within the reach of arms 52 and 53 of the robot 5. This allows the robot 5 to transport media M between the supply point 7, the collection point 8, and each printer 3.

[0045] FIG. 4 is a conceptual diagram illustrating the movement path of the robot 5 when supplying and collecting the media M. As mentioned above, the robot 5 can move in various directions by combining the rotation of multiple arms 52, 53, but in Figure 4, the movement path of the robot 5 is simplified and shown by an arc-shaped virtual line. The range in which the robot 5 can turn may be limited to a predetermined angle, for example, to avoid interference with a cable connected to a power source. The robot 5 can move back and forth in clockwise and counterclockwise directions between 0° (initial position) and a predetermined angle. As shown in Fig. 4, printers 3A, 3B, 3C, supply point 7, and collection point 8 can be arranged so as to be located within the rotational range of robot 5. In the example of Fig. 4, the supply point 7, collection point 8, printer 3A, printer 3B, and printer 3C are arranged in this order in a counterclockwise direction from the initial position. By arranging the robot 5 in this manner, the robot 5 can both supply and collect media M to the printer 3 along the same movement path.

[0046] For example, FIG. 4 shows a movement route R1 from the initial position to the printer 3C and a movement route R2 from the initial position to the printer 3B. For example, when supplying media M to printer 3C, robot 5 moves counterclockwise from its initial position, stops at supply point 7 on movement path R1, and acquires media M. Robot 5 moves counterclockwise again on movement path R1, stops at printer 3C, and releases media M. Robot 5 then moves clockwise on movement path R1, returning to its initial position. For example, when robot 5 retrieves media M from printer 3C, it moves counterclockwise from its initial position, stops at printer 3C on movement path R1, and retrieves media M. Robot 5 moves clockwise on movement path R1, stops at retrieval point 8, and releases media M. Robot 5 then moves clockwise on movement path R1, and returns to its initial position.

[0047] In this way, by changing the stopping position of the robot 5 and the action performed at the stopping position along the same movement path R1, it is possible to both supply and collect media M to the printer 3C. Similarly, for the printer 3B, the robot 5 can both supply and collect the media M along the same movement path R2. Although not shown, the robot 5 can also supply and collect media M along the same movement path in the printer 3A.

[0048] The movement path shown in FIG. 4 is merely an example, and can be changed as appropriate depending on the range in which the robot 5 can turn and the locations of the printers 3A, 3B, and 3C, the supply point 7, and the collection point 8.

[0049] The robot 5 includes a controller 50 (see FIG. 2) that is communicatively connected to the control device 2. Teaching data is set in the controller 50 through a prior teaching operation so that the robot 5 can supply and collect the media M.

[0050] The teaching data includes, for example, the following data: Media M information (type, thickness, size, etc.) Movement path of the robot 5 for each printer 3A, 3B, and 3C Stop positions of the robot 5 (initial position, supply point 7, collection point 8, printers 3A, 3B, 3C) Robot 5 movement speed Acquisition position of the media M at the supply point 7 (position in the height direction) Release position of media M at collection point 8 (height position) - Acquisition and release positions of media M in printers 3A, 3B, and 3C (height direction) Pressure setting of suction pad 55 when retrieving media M

[0051] The controller 50 of the robot 5 is also communicably connected to an electronic device 9 (see FIG. 1). Operation commands are input to the controller 50 from the electronic device 9. When the electronic device 9 receives a supply request from the printer 3, it inputs an operation command to the robot 5 to instruct it to supply the media M. When the electronic device 9 receives a collection request from the printer 3, it inputs an operation command to the robot 5 to instruct it to collect the media M. The operation command includes a parameter that specifies the teaching data set in the robot 5 according to the printer 3 that is outputting the supply request or the collection request. The robot 5 operates based on teaching data corresponding to parameters included in the operation command, and is thereby able to supply or collect media M from the printer 3 that is outputting the notification.

[0052] <Electronic equipment> FIG. 5 is a diagram showing an example of the hardware configuration of the electronic device 9. As shown in FIG. FIG. 6 is a block diagram showing the functional configuration of the electronic device 9. 5, the electronic device 9 includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, a RAM (Random Access Memory) 903, an HDD (Hard Disk Drive) 904, a display 905 (display unit), an input device 906, a communication I / F 907, and a media I / F 908. Each component is interconnected by a bus.

[0053] The CPU 901 controls the entire electronic device 9. The CPU 901 can load the OS and various programs stored in the ROM 902 or HDD 904 into the RAM 903 and execute them. Alternatively, the CPU 901 can load a program stored in a storage medium RM into the RAM 903 via the media I / F 908 and execute it. The storage medium RM can be an optical storage medium, a magneto-optical storage medium, a magnetic storage medium, a conductive memory tape medium, a semiconductor memory, or the like. The electronic device 9 may include a GPU (Graphics Processing Unit) and the like as well as the CPU 901 as a processor. The CPU 901 performs processing in response to user operations via the input device 906, and displays the processing results on the display 905. The input device 906 can be, for example, a keyboard, a mouse, a touchpad, or the like.

[0054] The HDD 904 stores programs executed by the CPU 901, data used by the programs, etc. The communication I / F 907 outputs data received from other devices to the CPU 901 via a network NW such as the Internet or a LAN (Local Area Network). The communication I / F also transmits data generated by the CPU 901 to other devices. The other devices may be devices such as the robot 5 and printer 3 that constitute the processing system 1, or devices external to the processing system 1. The CPU 901 may load required programs onto the RAM 903 from other devices via the network NW.

[0055] In this embodiment, the CPU 901 of the electronic device 9 executes an application program loaded onto the RAM 903, thereby realizing the functional configuration of the electronic device 9 shown in FIG.

[0056] As shown in FIG. 6, the electronic device 9 includes a job management unit 91, a print data creation unit 92, and an operation adjustment unit 93 as functional components. Each functional unit performs processing in response to a user's operation input via an input device 906 (see FIG. 5), and displays the processing results on the screen of a display 905 (see FIG. 5). Each functional unit also obtains data required for processing from a storage unit 96, and temporarily stores the processing results in the storage unit 96 as needed. The storage unit 96 is composed of a ROM 902, a RAM 903, a HDD 904, etc. shown in FIG. 5. The storage unit 96 stores, as an example, a job list.

[0057] The job management unit 91 displays on the display 905 an operation screen for the user to upload image data to be printed on the medium M. On the operation screen, the user can input printing conditions to be specified when printing image data on the medium M. The user can specify the printing conditions, such as the type of media M, the number of copies to print, the print quality (normal mode, high quality mode, ink saving mode, etc.), white printing, clear gloss finish, etc.

[0058] The job management unit 91 creates a print job in response to a user's operation via the operation screen, and registers the print job in a job list. The print job includes image data uploaded by the user and the details of the print process according to the printing conditions specified by the user.

[0059] As mentioned above, the processing system 1 may include multiple printers 3A, 3B, 3C. In this embodiment, one print job can be executed by multiple printers 3A, 3B, and 3C. The user may specify the printer to perform the printing process as the printing conditions, or the job management unit 91 may refer to the printing functions of each of the printers 3A, 3B, and 3C and select a printer that can execute the printing conditions specified by the user. For example, when a large number of copies are specified, the job management unit 91 can create a print job so that each of the multiple printers 3A, 3B, and 3C prints the same content onto the medium M. Alternatively, if the printing conditions specified by the user cannot be executed on any one printer, the job management unit 91 can create a print job to transfer one medium M between multiple printers 3A, 3B, and 3C and perform printing processing.

[0060] When the user selects a print job to be executed from the job list, specifies the number of copies to be printed on the medium M, and inputs an instruction to start printing, the job management unit 91 manages the operation of the printer 3 and the robot 5 to execute the print job for the specified number of copies. The job management unit 91 outputs the image data of the specified print job to the print data creation unit 92, causing it to create print data. The job management unit 91 outputs a print job together with print data to the printer 3, and causes the printer 3 to perform printing processing on the medium M. The job management unit 91 outputs operation commands to the robot 5 to cause it to supply and collect media M to and from the printer 3. The job management unit 91 communicates with the printer 3 and the robot 5 to manage the progress of the print job, and updates the job list when the print job for the number of copies of the specified media M is completed.

[0061] The print data creation unit 92 creates print data for controlling the operation of the printer 3. When uploading image data or inputting a command to start printing, the user can specify various print conditions via the operation screen. The job management unit 91 outputs the specified print conditions together with the image data to the print data creation unit 92. The print data creation unit 92 creates print data according to the print conditions.

[0062] The print data creation unit 92 creates print data by performing RIP (Raster Image Processing) on ​​image data according to the specified printing conditions. RIP is a process for generating a raster image that specifies the ejection positions for ejecting ink of a color corresponding to the image data. In RIP, a raster image is generated by performing halftone processing on a grayscale image corresponding to each of the C, M, Y, and K color inks and spot color inks. Furthermore, various commands for controlling the printer 3 according to the specified printing conditions are added to the generated raster image, and print data is created.

[0063] The job management unit 91 sends operation commands to the printer 3 and the robot 5, and receives various notifications from the printer 3 and the robot 5. The job management unit 91 receives, for example, a supply request and a collection request from the printer 3 . The job management unit 91 basically accepts notifications from the printer 3 in the order in which they are received and outputs operation commands. When the job management unit 91 receives the supply request, it outputs an operation command to the robot 5 to supply the media M. When the job management unit 91 receives a collection request, it outputs an operation command to the robot 5 to collect the media M. That is, the robot 5 performs the supply and collection of the media M as independent operations.

[0064] As described above, since the processing system 1 includes multiple printers 3A, 3B, and 3C, notifications may be output at the same time from multiple printers 3A, 3B, and 3C. When the job management unit 91 processes notifications in the order in which they are received, a printer 3 that outputs a notification later will be in a standby state until processing for the printer 3 that output a notification earlier is completed. If the standby state becomes long, there is a possibility that the processing efficiency of the media M may not be improved sufficiently even if multiple printers 3A, 3B, and 3C are provided. In this embodiment, when there is a printer 3 that outputs a supply request and a printer 3 that outputs a collection request, the job management unit 91 outputs an operation command to the robot 5 to supply and collect the media M as a series of operations. A series of operations means that the robot 5 seamlessly supplies and collects media M without returning to its initial position and stopping midway through the operation. Specifically, the robot 5 supplies media M to the printer 3 that outputs the supply request, and then collects the media M from the printer 3 that outputs the collection request without returning to its initial position. This reduces the time that the printer 3 is in a standby state.

[0065] For example, the job management unit 91 can cause the robot 5 to perform a series of operations when it receives either a supply request or a collection request from any printer 3 and then receives the other request within a predetermined time. The predetermined time can be set, for example, taking into consideration the time required to supply and collect the media M separately.

[0066] When the job management unit 91 causes the robot 5 to perform a series of operations, the job management unit 91 causes the operation adjustment unit 93 to adjust parameters included in the operation command to the robot 5. As described above, the parameters included in the operation command specify teaching data that is set in advance in the robot 5. The operation command may include parameters that specify, for example, the following: Robot 5's movement path Stop positions of the robot 5 on the movement path (position information of the supply point 7, collection point 8, and printers 3A, 3B, and 3C) and the order of stopping Actions performed by the robot 5 at each stop position (except the initial position) (acquisition or release of the media M)

[0067] FIG. 7 is a diagram illustrating an operation command when the robot 5 performs supply and collection of the media M as independent operations. FIG. 8 is a diagram illustrating an operation command when the robot 5 supplies and collects the media M as a series of operations. 7 and 8, for the sake of convenience, the movement path of the robot 5 is shown as a straight line.

[0068] FIG. 7(a) shows an operation command when a supply request is input from the printer 3C. In response to a supply request from the printer 3C, the job management section 91 outputs an operation command including the following parameters. Robot 5's movement path: R1 Stop positions and stopping order of the robot 5 on the movement path R1: (1) supply point 7, (2) printer 3C, (3) initial position Actions performed by the robot 5 at each stop position (except the initial position): (1) obtaining the media M at the supply point 7, (2) releasing the media M at the printer 3C

[0069] FIG. 7(b) shows an operation command when a collection request is input from the printer 3B. In response to a collection request from the printer 3B, the job management section 91 outputs an operation command including the following parameters: Robot 5's movement path: R2 Stopping positions and stopping order of the robot 5 on the movement path R2: (1) printer 3B, (2) collection point 8, (3) initial position Actions performed by the robot 5 at each stop position (except the initial position): (1) obtaining the media M from the printer 3B, (2) releasing the media M at the collection point 8

[0070] Here, if the printer 3 that output the notification and the robot 5's operation (supply or collection of media M) corresponding to the content of the notification are the same, the parameters included in the operation command will be common. Therefore, in the electronic device 9, for example, supply and collection operation commands corresponding to each of the printers 3A, 3B, and 3C can be set in advance. The job management unit 91 can select and output the operation command corresponding to the printer 3 that output the notification and the content of the notification from the pre-set operation commands.

[0071] When causing the robot 5 to perform a series of operations, the operation adjustment unit 93 adjusts parameters of operation commands that have been set in advance. 7(a), printer 3B is also located on movement path R1 from the initial position to printer 3C. In this case, when robot 5 moves back and forth along movement path R1 to supply media M to printer 3B, it can also retrieve media M from printer 3B located on movement path R1. In this way, if a printer 3 that outputs either a supply request or a collection request is located on the movement path to a printer 3 that outputs the other request, the robot 5 can perform a series of operations to supply and collect the media M. In this case, the job management unit 91 causes the operation adjustment unit 93 to adjust the parameters of the operation command. The operation adjustment unit 93 can adjust the parameters of the operation commands by, for example, adding the parameters of the operation command corresponding to one request to the parameters of the operation command corresponding to the other request.

[0072] As shown in Figure 8, the operation adjustment unit 93 adjusts the stop order by adding the parameters included in the operation command in Figure 7(b) (acquisition of media M by printer 3B, release of media M at collection point 8) to the parameters of the operation command in Figure 7(a). The job management unit 91 outputs to the robot 5 an adjusted operation command including the following parameters: Robot 5's movement path: R1 Stopping positions and stopping order of the robot 5 on the movement path R1: (1) supply point 7, (2) printer 3C, (3) printer 3B, (4) collection point 8, (5) initial position Actions performed by the robot 5 at each stop position (except the initial position): (1) acquiring the media M at the supply point 7, (2) releasing the media M at the printer 3C, (3) acquiring the media M at the printer 3B, (4) releasing the media M at the collection point 8. The robot 5 operates based on the adjusted operation command to supply and collect media M as a series of operations. Specifically, the robot 5 moves from its initial position to the supply location 7 to obtain media M before printing, then moves to the printer 3C to supply media M. The robot 5 moves directly to the printer 3B from the printer 3C to obtain media M after printing, without returning to its initial position. The robot 5 releases media M at the collection location 8 and returns to its initial position.

[0073] FIG. 9 is a flowchart showing the processing of the electronic device 9 according to the embodiment. FIG. 9 shows the processing of the electronic device 9 related to the adjustment of the operation of the robot 5 when a print job is being executed by each of the multiple printers 3A, 3B, and 3C in the processing system 1. As shown in FIG. 9, when a request for either supply or collection is input from any of the printers 3 (step S01: Yes), the job management unit 91 determines whether the other request is input within a predetermined time (step S02). For example, the job management unit 91 can wait a predetermined time after input of one request and determine whether the other request is input. If one request is a supply request and the other request, a recovery request, is received within the predetermined time, the job management unit 91 determines Yes in step S02. If one request is a recovery request and the other request, a supply request, is received within the predetermined time, the job management unit 91 determines Yes in step S02. If one request is not input within a predetermined time after the other request is input, or if only a notification with the same content as one request is input, the job management unit 91 judges No in step S02.

[0074] If the other request has not been input (step S02: No), the job management unit 91 proceeds to step S05. The job management unit 91 selects an operation command corresponding to the supply request or the collection request input in step S01, and outputs it to the robot 5 (step S05). If the other request is input (step S02: Yes), the job management unit 91 determines whether the printer 3 that output one of the requests is located on the movement route to the printer 3 that output the other request (step S03). For example, as shown in Figures 7(a) and 7(b), when one request is input from printer 3C and the other request is input from printer 3B, printer 3B is located on the movement path R1 of printer 3C. In this case, job management unit 91 determines Yes in step S03. Also, for example, if one request is input from printer 3B and the other request is input from printer 3C, printer 3C is not located on the movement path of printer 3B. In this case, job management unit 91 determines No in step S03.

[0075] If the result of determination in step S03 is No, the job management unit 91 proceeds to step S05. The job management unit 91 selects an operation command corresponding to the supply request or the collection request input in step S01, and outputs the operation command to the robot 5 (step S05).

[0076] If the result of the determination in step S03 is Yes, job management section 91 proceeds to step S04, where it causes operation adjustment section 93 to adjust the parameters of the operation command. The operation adjustment unit 93 adjusts the parameters of the operation commands by, for example, adding the parameters of the operation command corresponding to one request to the parameters of the operation command corresponding to the other request. The job management unit 91 outputs the operation command adjusted by the operation adjustment unit 93 to the robot 5 (step S05).

[0077] After outputting the operation command, if all print jobs are not completed (step S06: No), the job management unit 91 returns to step S01 and performs the next notification process. If the job management unit 91 determines No in step S03, an operation command for only one of the requests is output in step S05. In this case, when the job management unit 91 returns to step S01, it outputs an operation command for the other request that was not processed in step S05.

[0078] As described above, the processing system 1 described in the embodiment has, for example, the following configuration. (1) The processing system 1 includes a printer 3 (a droplet ejection device) that ejects ink (droplets) onto a medium M; The printer 3 includes a robot 5 that supplies and collects media M to and from the printer 3 in response to supply and collection requests from the printer 3. When there is a printer 3 that outputs a supply request and a printer 3 that outputs a collection request, the robot 5 As a series of operations, the media M is supplied to the printer 3 that issued the supply request, and then the media M is collected from the printer 3 that issued the collection request.

[0079] Moreover, the electronic device 9 (command device) explained in the embodiment has, for example, the following configuration. (14) In the processing system 1, the electronic device 9 outputs an operation command to the robot 5 in response to a supply request and a collection request from the printer 3. When there is a printer 3 that outputs a supply request and a printer 3 that outputs a collection request, the electronic device 9 outputs a series of instructions to the robot 5 to supply the media M to the printer 3 that outputs the supply request and then collect the media M from the printer 3 that outputs the collection request.

[0080] By configuring the processing system 1 and the electronic device 9 in this way, the robot 5 can efficiently supply and collect the media M to and from the printer 3. If the processing system 1 includes, for example, multiple printers 3A, 3B, and 3C, a situation may arise in which the robot 5 is required to both supply and collect media M. However, the robot 5 usually cannot accept another operation command until it completes an operation based on one operation command. Therefore, after the robot 5 operates based on an operation command corresponding to one request, it returns to its initial position and then operates based on an operation command corresponding to the other request. In this way, if the robot 5 returns to its initial position and stops between supplying and collecting the media M, the printer 3 will have to wait for a longer time, which may affect the efficiency of the printing process for the media M. In the processing system 1 of this embodiment, when there is a printer 3 that outputs a supply request and a printer 3 that outputs a collection request, the robot 5 performs a series of operations: supplies media M to the printer 3 that outputs the supply request, and then collects media M from the printer 3 that outputs the collection request. This allows the robot 5 to efficiently supply and collect media M to and from the printer 3 without having to return to its initial position and stop between supplying and collecting media M. Furthermore, by reducing the time spent by the printer 3, the efficiency of the printing process for media M can be improved.

[0081] In the above embodiment, an example (see FIG. 8) has been described in which the supply request and the collection request are output from different printers 3B and 3C, but this is not limiting. For example, the processing system 1 may be equipped with a printer 3 that can place multiple media M on the table 31. In this case, both the supply request and the collection request may be output from the same printer 3.

[0082] In the above embodiment, an example has been described in which the electronic device 9, as a command device, outputs operation commands to the robot 5 to perform a series of operations, but this is not limiting. For example, the processing system 1 may perform printing processing by directly communicating between the controller 30 of the printer 3 and the controller 50 of the robot 5 without using the electronic device 9. In this case, for example, the controller 30 of any one of the printers 3 may be configured as a command device, or the controller 50 of the robot 5 may be configured as a command device.

[0083] Furthermore, in the above-described embodiment, when causing the robot 5 to perform a series of operations, an example has been described in which the job management unit 91 outputs a single operation command whose parameters have been adjusted by the operation adjustment unit 93, but this is not limiting. The number of operation commands corresponding to a series of operations of the robot 5 is not limited as long as it is possible to reduce the time that the robot 5 takes to return to its initial position and stop between supplying and collecting media M. For example, the operation adjustment unit 93 may adjust the parameters of both an operation command corresponding to either a supply request or a collection request, and an operation command corresponding to the other request, so that the robot 5 can perform a series of operations.

[0084] Furthermore, in the embodiment, the printer 3 is exemplified as the droplet ejection device, but the droplet ejection device is not limited to the printer 3. The droplet ejection device may be, for example, a dispenser capable of ejecting a fixed amount of liquid, or a coating device capable of ejecting a coating agent or the like. Furthermore, the processing system 1 may be equipped with a cutting plotter (cutting device) that cuts the medium M, instead of the droplet discharge device. The cutting plotter can form a cut line in the medium M, form a V-shaped groove in the medium M, and so on, by pressing a cutting tool (blade) against the medium M and moving it relative to the medium M. That is, the printer 3 shown in the drawings to which reference is made in this embodiment and in each of the modified examples described later can be replaced with other droplet ejection devices or cutting plotters.

[0085] (2) The robot 5 supplies or collects the media M along a movement path that is set in advance for each printer 3 . When a printer 3 that outputs one of the supply and collection requests is located on the path of movement to a printer 3 that outputs the other request, the robot 5 performs a series of operations.

[0086] The robot 5 moves along a movement path set in advance by teaching work, and supplies and collects media M. When making the robot 5 perform a series of operations, the operation adjustment unit 93 can adjust the parameters simply by adding the stop position and operation of the robot 5 related to the printer 3 that output one request to the movement path to the printer 3 that output the other request. This simplifies the processing in the electronic device 9.

[0087] (8) The printer 3 includes a table 31 on which the media M is placed, and a head 35 (head unit) that is arranged opposite the table 31 and ejects ink onto the media M placed on the table 31 while displacing relative to the table 31. When the printer 3 displaces the head 35 to the home position Hp and becomes ready to print, it sends a supply request to the electronic device 9. When the printer 3 completes the printing process and displaces the head 35 to the home position Hp, it sends a collection request to the electronic device 9. That is, in this embodiment, the supply request and collection request for the media M can be signals that notify the relative displacement of the head 35 with respect to the table 31.

[0088] The head 35 of the printer 3 is normally displaced to the home position Hp during standby and when printing is completed. By treating the signals notifying the displacement of the head 35 to the home position Hp as supply requests and recovery requests, it is not necessary to generate dedicated signals for the supply requests and recovery requests, and the processing load on the printer 3 can be reduced. It should be noted that the signals treated as supply requests and collection requests are not limited to signals notifying the displacement of the head 35 . (9) For example, at least one of the supply request and the collection request may be composed of a signal notifying the input or completion of a print job. The electronic device 9 outputs a print job to the printer 3 each time it performs printing on the medium M. When a print job is input from the electronic device 9, the printer 3 returns an ACK (Acknowledgement) signal. This ACK signal may be treated as a request to supply the medium M. Furthermore, when the printing process on the medium M is complete, the printer 3 can send a signal notifying the completion of the print job as a collection request. The signal notifying the completion of the print job may be, for example, a signal notifying the displacement of the head 35 to the home position Hp, as described above. Alternatively, the electronic device 9 may send a signal to the printer 3 confirming the completion of the print job, and the response signal from the printer 3 may be treated as a request to collect the medium M. In this case, the electronic device 9 can estimate the time when the printing process on the printer 3 will end, for example, from the print data, and send a signal to the printer 3 confirming the completion of the print job near the end time. This also eliminates the need to generate dedicated signals for the supply request and the collection request, thereby reducing the processing load on the printer 3.

[0089] The effects described above also apply to the processing method in the processing system 1 and the operation control program for the robot 5. The present invention also applies to the media M processed (manufactured) by the processing method (manufacturing method) of the processing system 1.

[0090] (Variation 1) FIG. 10 is a schematic diagram showing the configuration of a processing system 1A according to the first modification. 11 is a diagram illustrating an example of output of a supply request and a collection request. In FIG. 11, the X and Y directions are mentioned based on the placement of printer 3B, but by switching the X and Y directions, it can also be applied to the placement of printers 3A and 3C. FIG. 12 is a block diagram showing the functional configuration of the electronic device 9 according to the first modification. In the modifications described below, the same components as those in the embodiment are denoted by the same reference numerals, and detailed descriptions thereof will be omitted. In the above-described embodiment (see FIG. 1), an example is shown in which one medium M is placed on the table 31 of each printer 3A, 3B, 3C, but as shown in FIG. 10, the table 31 of the printers 3A, 3B, 3C may be capable of placing multiple media M on it. 10 shows an example in which the table 31 of each of the printers 3A, 3B, and 3C is provided with four placement areas Pa, Pb, Pc, and Pd for the media M. Figure 10 is merely an example, and the number of placement areas may differ for each of the printers 3A, 3B, and 3C. Furthermore, the number of placement areas for the media M on the table 31 and the position of each placement area can be changed as appropriate depending on the size of the media M used in the printing process.

[0091] As in the embodiment, the printer 3 moves the head 35 (see FIG. 2) in the X and Y directions, and performs printing while sequentially facing the placement locations Pa to Pd of the media M. The printer 3 may perform the same printing process on the media M placed on all of the placement locations Pa to Pd, or may perform printing process on at least some of the placement locations with different content from that on the other placement locations.

[0092] The printer 3 may simultaneously output requests to collect and supply media M from multiple placement locations Pa to Pd. In this case, the printer 3 may use the signal (see FIGS. 3A and 3B) notifying that the head 35 has been moved to the home position Hp as a request to collect and supply media M from all placement locations Pa to Pd, as in the embodiment.

[0093] Alternatively, the printer 3 may output at least one of a collection request and a supply request for the media M for each of the placement locations Pa to Pd. 11, for example, when print data is input to the printer 3, the printer 3 displaces the head 35 to the home position Hp. The printer 3 outputs a supply request for the placement locations Pa to Pd. The printer 3 displaces the head 35 from the home position Hp toward the X1 side and first performs printing on the media M at the placement locations Pc and Pd. The printer 3 then displaces the head 35 further toward the X1 side and performs printing on the media M at the placement locations Pa and Pb. When the head 35 is displaced in the X direction to a position offset from the placement locations Pc and Pd, the printer 3 outputs a request to collect the media M from the placement locations Pc and Pd. For example, the robot 5 extends the arms 52, 53 (see FIG. 2) so that they pass over the top of the head 35 that is printing on the media M at the placement locations Pa, Pb, and lowers the shaft 54 ​​at the positions of the placement locations Pc, Pd. This allows the robot 5 to collect the media M without interfering with the head 35. When media M are collected from placement areas Pc and Pd, printer 3 may output a request to supply media M from placement areas Pc and Pd. This allows printer 3 to both collect media M from placement areas Pc and Pd and supply the next media M while printing on media M from placement areas Pa and Pb.

[0094] Although not shown in Figure 11, when the head 35 completes the printing process for the media M at the placement locations Pa and Pb and returns to the home position Hp, the printer 3 can output a collection request for the media M at the placement locations Pa and Pb. This allows the robot 5 to supply the next media to the placement locations Pa and Pb while the printer 3 is performing printing processing on the placement locations Pc and Pd. In this way, in the processing system 1A, the efficiency of the printing process can be improved by quickly collecting the media M after printing has been completed and supplying the next media M to each of the placement locations Pa to Pd of the printer 3.

[0095] When a collection request and a supply request are output for each of the media M placement locations Pa to Pd of the printer 3 as in the first modification, the same printer 3 may output both a collection request and a supply request for the media M. As in the embodiment, teaching data for supplying and collecting media M is set for the robot 5. As described above, the teaching data includes the stopping position of the robot 5 and the movement path of the robot 5. In Modification 1, the positions of the placement locations Pa to Pd for the media M in each of the printers 3A, 3B, and 3C are set as the stopping position of the robot 5. In addition, the movement path of the robot 5 is set for each of the placement locations Pa to Pd for the media M in each of the printers 3A, 3B, and 3C.

[0096] As shown in FIG. 12, the electronic device 9 of the first modification includes a path creation unit 94 in addition to the functional configuration of the embodiment. As in the embodiment, when there is a printer 3 that outputs a request to supply media M and a printer 3 that outputs a request to collect media M, the job management unit 91 outputs an operation command to the robot 5 to supply and collect media M as a series of operations. As described above, in Modification 1, the same printer 3 may output both a supply request and a collection request. In other words, the "printer 3 that outputs a supply request for media M" and the "printer 3 that outputs a collection request" may be the same printer 3 or different printers 3. When a placement location corresponding to one of the supply and collection requests is located on the movement path of a placement location corresponding to the other request, the job management unit 91 causes the operation adjustment unit 93 to adjust the parameters of the operation command, as in the embodiment. This allows the robot 5 to perform a series of operations to supply and collect the media M. Furthermore, if the placement location corresponding to one request is not located on the movement path of the placement location corresponding to the other request, the job management unit 91 causes the path creation unit 94 to create a movement path that includes the placement location corresponding to one request and the placement location corresponding to the other request. The operation adjustment unit 93 adjusts the parameters of the operation command using the movement path created by the path creation unit 94. This allows the robot 5 to supply and collect the media M through a series of operations, regardless of the movement path set in advance.

[0097] As described above, in the first modification, the movement path of the robot 5 is set for each of the placement locations Pa to Pd of the media M of each of the printers 3A, 3B, and 3C, so the movement path is subdivided. In this case, there is a possibility that the placement location for one request of media M may not be located on the movement path of the placement location for the other request. In Variation 1, even in such cases, the robot 5 can supply and collect the media M in a series of operations. Creation of a movement path is not limited to cases where each printer 3A, 3B, 3C has multiple placement locations Pa to Pd for media M. As in the embodiment, a movement path may also be created even when each printer 3A, 3B, 3C can only place one media M.

[0098] If each printer 3A, 3B, 3C can only hold one media M, the path creation unit 94 can create a movement path based on, for example, the positional relationship between the printer 3 that output one request and the printer 3 that output the other request. If each printer 3A, 3B, 3C has multiple media M placement locations Pa to Pd, the path creation unit 94 can create a movement path based on the positional relationship of each printer 3A, 3B, 3C, as well as the positional relationship between the media M placement location of the printer 3 corresponding to one request and the media M placement location of the printer 3 corresponding to the other request.

[0099] The path creation unit 94 can create a movement path that minimizes, for example, the transport time or transport distance of the robot 5. This can reduce unnecessary movements of the robot 5 and improve the effectiveness of the series of operations of the robot 5. The algorithm used by the path creation unit 94 to create a movement path can be set in advance by machine learning, for example, data related to the performance of the robot 5 and the printer 3, and data related to the layout of the processing system 1A. The path creation unit 94 may accumulate data on actual measurements obtained by performing printing processing in the processing system 1A, and update the algorithm.

[0100] Alternatively, a table showing a movement path for performing a series of operations for each of the placement locations Pa to Pd of each of the printers 3A, 3B, and 3C may be created in advance and stored in the storage unit 96. In this case, the path creation unit 94 only needs to acquire the movement path by referring to the table, which simplifies the process of creating the path.

[0101] FIG. 13 is a diagram showing an example of creating a movement path for the robot 5 to perform a series of operations. FIG. 13 shows an example in which a supply request (one-sided request) is output from the printer 3A for the placement location Pa, and a collection request is output from the printer 3B for the placement location Pb. As shown in FIG. 13, the placement position Pb of the printer 3B is not located on the movement path from the initial position to the placement position Pa of the printer 3A. In this case, the path creation unit 94 creates a movement path R3 that includes the placement location Pa of the printer 3A and the placement location Pb of the printer 3B.

[0102] The movement adjustment unit 93 adjusts the parameters of the movement command to be output to the robot 5 based on the movement route R3 created by the route creation unit 94 as follows. Robot 5's movement path: R3 Stop positions and stopping order of the robot 5 on the movement path R3: (1) supply point 7, (2) placement point Pa of the printer 3A, (3) placement point Pb of the printer 3B, (4) collection point 8, (5) initial position Actions performed by the robot 5 at each stop position (except the initial position): (1) acquiring the media M at the supply point 7, (2) releasing the media M at the placement point Pa of the printer 3A, (3) acquiring the media M at the placement point Pb of the printer 3B, and (4) releasing the media M at the collection point 8.

[0103] FIG. 14 is a flowchart showing the processing of the electronic device 9 according to the first modification. Steps S11 and S12 in FIG. 14 can be performed in the same manner as steps S01 and S02 in FIG. 9, and therefore a description thereof will be omitted.

[0104] In step S13, the job management unit 91 determines whether a placement location corresponding to one of the supply request and the collection request is located on the movement path of a placement location corresponding to the other request. If the answer to step S13 is Yes, the job management unit 91 proceeds to step S16 and causes the operation adjustment unit 93 to adjust the parameters of the operation command corresponding to one of the requests, similar to the embodiment. If the job management unit 91 determines No in step S13, it proceeds to step S14 and causes the path creation unit 94 to create a movement path including a placement location corresponding to one request and a placement location corresponding to the other request. Subsequently, in step S15, the job management unit 91 causes the operation adjustment unit 93 to adjust parameters of the operation command. At this time, the operation adjustment unit 93 makes the adjustment based on the movement path created in step S15. The processing in steps S16 and S17 in FIG. 14 is the same as the processing in steps S05 and S06 in FIG. 9, and therefore a description thereof will be omitted.

[0105] Here, in step S12 of FIG. 14, if another request is input within a predetermined time, the job management section 91 may proceed to step S13 without waiting for the predetermined time to elapse. Alternatively, the job management section 91 may wait for the input of another request until a predetermined time has elapsed. In this case, multiple other requests may be input to the electronic device 9. If one of the multiple other requests is input from the same printer 3 as another request, the job management unit 91 can process the other request with priority. In other words, the robot 5 can perform a series of operations of supplying and collecting media M from the same printer 3 with priority.

[0106] FIG. 15 shows an example of the operation of the robot 5 when it supplies and collects media M from the same printer 3 with priority. For example, if printer 3A prints media M in the order of placement locations Pd, Pc, Pb, and Pa, printer 3A outputs collection requests for placement locations Pd, Pc, Pb, and Pa. Printer 3A also outputs supply requests for media M sequentially for the placement locations from which media M were collected. In other words, when media M is collected from placement location Pd of printer 3A, both a supply request and a collection request are output from printer 3A. In this case, the job management unit 91 of electronic device 9 prioritizes and processes the request from printer 3A, even if a supply request or collection request has been output from a printer 3 other than printer 3A. This allows the robot 5 to supply and collect media M to the same printer 3A as a series of operations.

[0107] As shown in FIG. 15(a), first, in response to a collection request for the placement location Pd of the printer 3A, the robot 5 independently collects the media M from the placement location Pd. As shown in FIG. 15(b), in a series of operations, the robot 5 supplies the media M to the placement location Pd of the printer 3A, and then retrieves the media M from the placement location Pc. As shown in FIG. 15(c), in a series of operations, the robot 5 supplies the media M to the placement location Pc of the printer 3A, and then retrieves the media M from the placement location Pb. Although not shown in the drawings, the robot 5 further performs a series of operations, supplying the media M to the placement area Pb of the printer 3A, and then retrieving the media M from the placement area Pa. After finally supplying the media M to the placement location Pa of the printer 3A, the robot 5 can respond to requests from the other printers 3B and 3C. In this way, by prioritizing the collection and supply of media M by the same printer 3A, the printer 3A can quickly start the next printing process after printing is completed, thereby improving the efficiency of the printing process as a whole in the processing system 1A. Furthermore, by having the robot 5 perform a series of operations with priority given to the same printer 3A, the distance traveled by the robot 5 during the series of operations can be reduced. This reduces the power consumption required for the operation of the robot 5. Furthermore, because the robot 5 moves by rotating its arm, if the travel distance increases, there is a higher possibility that the media M will become misaligned due to centrifugal force. By reducing the travel distance of the robot 5, the possibility of the media M becoming misaligned can be reduced.

[0108] As described above, the processing system 1A according to the first modification has, for example, the following configuration. (3) In the processing system 1A, the electronic device 9 can function as a route generation device. The electronic device 9 is equipped with a path creation unit 94 that creates a movement path for the robot 5 in a series of operations based on the positional relationship between the printer 3 that outputs either a request for supplying or a request for collecting media M and the printer 3 that outputs the other request.

[0109] With this configuration, the robot 5 is not limited to a movement path set in advance as teaching data, and can perform a series of operations to supply and collect the media M. Also, by creating a movement path based on the positional relationship of the printer 3, unnecessary movement of the robot 5 can be reduced.

[0110] (4) The printer 3 can be equipped with a table 31 on which multiple media M can be placed. The path creation unit 94 of the electronic device 9 can create a movement path based on the positional relationship between the printer 3 that outputs one request and the printer 3 that outputs the other request, and the positions of the placement locations Pa to Pd of the media M in each printer 3.

[0111] For example, if multiple printers 3A, 3B, and 3C each have multiple placement locations Pa-Pd for media M, the path creation unit 94 creates a movement path based on the placement locations Pa-Pd for media M at each printer 3A, 3B, and 3C, allowing for more detailed path creation. Furthermore, by having the robot 5 efficiently supply and collect media M to and from the multiple placement locations Pa-Pd for media M at each printer 3A, 3B, and 3C, the advantage of the printer 3 being able to print multiple media M at one time can be fully utilized.

[0112] (7) The printer 3 includes a table 31 on which multiple media M can be placed, and is capable of outputting a supply request and a collection request for each medium M placed on the table 31. If there is a printer 3 that outputs both a supply request and a collection request, the robot 5 gives priority to that printer 3 and performs a series of operations.

[0113] By having the robot 5 give priority to the same printer 3 and perform a series of operations to supply and collect media M, the printer 3 can start the next printing process quickly after completing printing, thereby improving the efficiency of printing processes in the processing system 1A. Furthermore, by reducing the distance that the robot 5 moves in a series of operations, it is possible to reduce power consumption and reduce the possibility of the media M being misaligned.

[0114] (Variation 2) FIG. 16 is a block diagram showing the functional configuration of the electronic device 9 in a processing system 1B according to the second modification. As shown in FIG. 16, the electronic device 9 (estimation device, determination device) according to the second modification includes an estimation unit 95 in addition to the functional configurations described in the embodiment and the first modification. In the embodiment, an example has been described in which, when a request for supplying or collecting media M is input, the job management unit 91 determines whether the other request is input within a predetermined time. In the second modification, when a request for supplying or collecting media M is input, the job management unit 91 causes the estimation unit 95 to estimate the printer 3 that will output the other request.

[0115] The estimation unit 95, for example, communicates with each of the printers 3A, 3B, and 3C to acquire status information of each of the printers 3A, 3B, and 3C. The status information may be, for example, the progress of the printing process in each of the printers 3A, 3B, and 3C. The estimation unit 95 estimates the printer 3 that will output the other request based on the status information of each printer 3A, 3B, 3C. For example, if the status of a printer 3 is in the middle of printing, the estimation unit 95 estimates that printer 3 as the printer that will output the collection request. The estimation unit 95 also estimates the time until the printer 3 finishes the printing process and outputs the collection request based on the progress of the printing process. For example, if the status of a printer 3 is that the printing process has been completed and maintenance of the head 35 is being performed, the estimation unit 95 estimates that printer 3 as the printer that will output the supply request. The estimation unit 95 also estimates the time until the printer 3 outputs the supply request based on the progress of the maintenance.

[0116] Based on the estimation result of the estimation unit 95, the job management unit 91 determines whether to wait until the other request is input. The job management unit 91 can make a determination based on, for example, data regarding the time required for printing processing by each of the printers 3A, 3B, and 3C, and data regarding the time required for the robot 5 to supply or retrieve media M to the printers 3A, 3B, and 3C. The job management unit 91 can determine to wait, for example, when waiting until the other request is input and then supplying and collecting the media M as a series of operations is more efficient than supplying and collecting the media M separately without waiting until the other request is input.

[0117] An example of the determination made by the job management unit 91 will now be described. For example, a supply request is input as one of the requests from the printer 3A to the electronic device 9. The estimation unit 95 estimates that a collection request will be output as the other of the requests from the printer 3B after a time T1 has elapsed. In this case, the job management unit 91 estimates, for example, the total time T2 required to supply media M to printer 3A and collect media M from printer 3B separately. The job management unit 91 also estimates the total time T3 required to wait for time T1 and then supply media M to printer 3A and collect media M from printer 3B as a series of operations. For example, if time T3 is shorter than time T2, the job management unit 91 can determine to wait until the other request is input. By performing such a judgment process, the job management unit 91 can wait for the input of another request and have the robot 5 perform a series of operations, within a range that does not affect the processing efficiency of the entire processing system 1B.

[0118] The estimation process algorithm in the estimation unit 95 and the determination process algorithm in the job management unit 91 can be set in advance by machine learning the necessary data. Alternatively, the respective algorithms can be updated by accumulating data on actual measurements obtained by performing printing processes in the processing system 1B. Alternatively, a table listing the time required for printing processes for each of the printers 3A, 3B, and 3C and the time required for the operation of the robot 5 can be created in advance and stored in the storage unit 96.

[0119] FIG. 17 is a flowchart showing the processing of the electronic device 9 according to the second modification. As shown in FIG. 17, when a request for either a supply or a collection is input from any of the printers 3 (step S21: Yes), the job management unit 91 causes the estimation unit 95 to estimate the printer 3 that will output the other request (step S22). Based on the estimation result of the estimation unit 95, the job management unit 91 determines whether to wait until the other request is input (step S23). If the job management unit 91 determines not to wait (step S23: No), the process proceeds to step S28. The job management unit 91 selects an operation command corresponding to the supply request or collection request input in step S21, and outputs the operation command to the robot 5 (step S28). If the job management section 91 determines to wait (step S23: Yes), it waits until the other request is input (step S24). When the other request is input (step S24: Yes), the job management unit 91 performs the processes of steps S25 to S29. Steps S25 to S29 are the same as the processes of steps S13 to S17 (see FIG. 14) in the first modification, and therefore a description thereof will be omitted.

[0120] In step S22 of FIG. 17, the estimation unit 95 may estimate a plurality of printers 3 as the printer 3 that outputs the other request. In this case, the job management unit 91 may select, for example, from among the printers 3 estimated by the estimation unit 95, the printer 3 that takes the shortest time to output the other request, and make the determination in step S23. Alternatively, if there is a printer 3 that is the same as the printer 3 that outputs one of the requests among the printers 3 estimated by the estimation unit 95, the job management unit 91 may select that printer 3 and make the determination in step S23. This allows the robot 5 to prioritize the same printer 3 and perform the supply and collection of media M as a series of operations, as in Modification 1 (see FIG. 15). Also, while FIG. 17 shows an example in which the processing of Modification 2 is applied to the processing of Modification 1 (see FIG. 14), the processing of Modification 2 may also be applied to the processing of the embodiment (see FIG. 9).

[0121] As described above, the processing system 1B according to the second modification has the following configuration. (5) When a printer 3 outputs either a supply request or a collection request, if there is a printer 3 that is expected to output the other request, the robot 5 can wait until the other request is output and then perform a series of operations. Specifically, the estimation unit 95 (estimation device) of the electronic device 9 estimates the printer 3 that outputs the other request based on, for example, the status information of each printer 3.

[0122] This increases the number of times that the robot 5 performs a series of operations to supply and collect media M, thereby reducing the distance and number of movements of the robot 5. This reduces the power consumption required for the operation of the robot 5 and reduces the occurrence of misalignment of the media M.

[0123] (6) The job management unit 91 of the electronic device 9 (determination device) determines whether the robot 5 should wait for the time required for the output of the other request based on data regarding the time required for the printer 3 to process and the time required for the robot 5 to operate.

[0124] This allows the job management section 91 to select to wait for the input of the other request when, for example, this appropriately contributes to the efficiency of the print processing in the processing system 1B.

[0125] (Variation 3) FIG. 18 is a diagram showing an example of the configuration of a processing system 1C according to the third modification. As shown in FIG. 18, a processing system 1C according to the third modification can include a processing device 6 that performs pre-processing or post-processing on the printer 3. FIG. 18 shows an example of a coating device that performs a coating process on a medium M. The processing device 6 is not limited to a coating device, but may be, for example, a pen plotter, a cutting plotter, a foil stamping device, or the like. The processing device 6, like the printer 3, is communicatively connected to the electronic device 9. The processing device 6 receives data necessary for processing the media M from the electronic device 9. The processing device 6 also outputs requests to supply and collect the media M to the electronic device 9. The job management unit 91 of the electronic device 9 outputs an operation command to the robot 5 in response to the request input from the processing device 6. The robot 5 supplies and collects the media M from the processing device 6 in response to the operation command.

[0126] In addition, in variant example 3, an example is described in which the same media M is transferred between printer 3A (first printer), printer 3B (second printer), and processing device 6, and each device performs processing to produce a single product. The printers 3A and 3B can be configured, for example, to have at least some different printing functions. For example, the printer 3A can be configured to eject CMYK color inks, while the printer 3B can be configured to eject special color inks. In the second modification, a variety of print contents that cannot be achieved with a single printer 3 can be achieved by combining a plurality of printers 3 and processing devices 6.

[0127] As an example, printer 3A ejects ink onto medium M to form a first layer. Printer 3B ejects ink onto medium M to form a second layer. The first and second layers may or may not overlap at least partially. Processing device 6 can perform, for example, a coating process on medium M on which the first and second layers have been formed.

[0128] The robot 5 transfers media M between the printers 3A, 3B and the processing device 6. As in the embodiment, the robot 5 operates in response to requests to supply and collect media M from the printers 3A, 3B and the processing device 6. Furthermore, if there is a printer 3 or processing device 6 that outputs a supply request and a printer 3 or processing device 6 that outputs a collection request, the robot 5 can supply and collect media M as a series of operations, as in the embodiment.

[0129] First, the robot 5 supplies the medium M to the printer 3A from the supply point 7. When the printing process for the first layer is completed in the printer 3A, the robot 5 retrieves the medium M from the printer 3A and supplies it to the printer 3B. Here, if printers 3A and 3B can each hold multiple media M, robot 5 can transfer media M between the same placement locations of printers 3A and 3B. For example, robot 5 can place media M placed at placement location Pa of printer 3A at the corresponding placement location Pa of printer 3B. Robot 5 can also place media M placed at placement locations Pb, Pc, and Pd of printer 3A at the corresponding placement locations Pb, Pc, and Pd of printer 3B.

[0130] For example, when different images are printed on the media M at each of the placement locations Pa to Pd of the printers 3A and 3B, it is desirable to have the media M positioned in the same way among the multiple printers 3A and 3B. When printing different images on media M at each of the placement locations Pa to Pd of printers 3A and 3B, the print data input to printer 3 is linked to the position information of each of the multiple media M and the image data to be printed at each position. When the placement of media M is changed between printers 3A and 3B, the association between the position information of multiple media M and image data must be changed to match each printer 3. By making the arrangement of media M the same between printers 3A and 3B, it is possible to make the linking of position information and image data of multiple media M the same. This reduces the processing load on the print data creation unit 92 of the electronic device 9.

[0131] When the printing process for the second layer is completed in the printer 3B, the robot 5 retrieves the medium M from the printer 3B and supplies it to the processing device 6. In addition, if the processing device 6 has multiple placement locations Pa to Pd for media M, like the printer 3, the robot 5 can transfer the media M so that the arrangement of the media in the processing device 6 is the same as in the printers 3A and 3B. Although not shown in FIG. 18, once post-processing is completed in the processing device 6, the robot 5 retrieves the media M from the processing device 6 and releases them to the retrieval location 8.

[0132] As described above, the processing system 1C according to the third modification can have the following configuration, for example. (10) The printer 3 includes a printer 3A (first printer) that forms a first layer on the medium M with ink, and a printer 3B (second printer) that forms a second layer on the medium M with ink. As a series of operations, the robot 5 supplies the media M collected from the printer 3A that issued the collection request to the printer 3B that issued the supply request.

[0133] In this way, by performing printing processes using printer 3A and printer 3B respectively to produce a single product, a variety of print contents can be realized. Furthermore, by having the robot 5 transfer the media M between the printer 3A and the printer 3B as a series of operations, the media M can be efficiently supplied and collected, just as in the embodiment.

[0134] The number of ink layers formed on the medium M is not limited to two. For example, three or more printers 3 may be provided in the processing system 1C, and three or more ink layers may be formed on the medium M. Furthermore, the number of ink layers formed on the medium M does not have to match the number of printers 3. For example, after forming a second layer on the medium M with printer 3B, the medium M may be transferred back to printer 3A to form a third layer.

[0135] (11) The printers 3A and 3B are provided with a table 31 on which multiple media M can be placed, and are capable of outputting a supply request and a collection request for each medium M placed on the table 31. The robot 5 supplies the media M collected from the placement positions Pa, Pb, Pc, and Pd (predetermined positions) on the table 31 of the printer 3A to the corresponding placement positions Pa, Pb, Pc, and Pd on the table 31 of the printer 3B.

[0136] In this way, by making the arrangement of media M the same between multiple printers 3A and 3B, the link between the position information of each medium M and the image data to be printed on each medium M can be made the same between multiple printers 3. This reduces the processing load on the print data creation unit 92 of the electronic device 9.

[0137] (12) The processing system 1C may include a processing device 6 that performs pre-processing or post-processing on the media M for the printer 3. As a series of operations, the robot 5, together with the printer 3, supplies and collects the media M to and from the processing device 6.

[0138] The processing system 1C is provided with the processing device 6, so that it is possible to perform a variety of processes on the media M according to the needs of the user. Furthermore, the robot 5 performs a series of operations on the processing device 6 in addition to the printer 3, thereby improving the processing efficiency of the entire processing system 1C. The processing device 6 only needs to perform pre-processing or post-processing for at least one printer. Therefore, the processing device 6 can perform processing between the printing processes of multiple printers. For example, the processing device 6 may perform processing between the printing processes of printer 3A and printer 3B.

[0139] The above-described modified examples may not only be applied to the embodiment, but also at least a part of the content of each may be applied to other modified examples.

[0140] The present invention is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the technical concept of the present invention. [Explanation of symbols]

[0141] 1, 1A, 1B, 1C Processing Systems 3 (3A, 3B, 3C) Printers 5. Robot 6 Processing equipment 7 Supply points 8 Collection points 9 Electronic devices (command devices, route planning devices, estimation devices, judgment devices) 31 Table 35 Head (head part) 91 Job Management Department 93 Operation adjustment section 94 Route Creation Department 95 Estimation part Pa, Pb, Pc, Pd placement location

Claims

1. a droplet ejection device that ejects droplets onto a medium; a robot that supplies and recovers the medium to and from the droplet discharge device in response to a supply request and a recovery request from the droplet discharge device, The robot When there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, A processing system characterized in that, as a series of operations, the medium is supplied to the droplet ejection device that outputs the supply request, and then the medium is collected from the droplet ejection device that outputs the collection request.

2. In claim 1, the robot supplies or collects the medium along a movement path that is set in advance for each of the droplet ejection devices; A processing system characterized in that the robot performs the series of operations when the droplet ejection device that outputs either the supply or recovery request is located on the movement path to the droplet ejection device that outputs the other request.

3. In claim 1, A processing system characterized by comprising a path creation device that creates a movement path for the robot in the series of operations based on the positional relationship between the droplet ejection device that outputs either the supply or recovery request and the droplet ejection device that outputs the other request.

4. In claim 3, the droplet ejection device includes a table on which a plurality of media can be placed; The processing system is characterized in that the path creation device creates a movement path for the robot in the series of operations based on the positional relationship and the position of the media placement location on each droplet ejection device.

5. In claim 1, When the droplet ejection device outputs one of the supply request and the recovery request, if there is a droplet ejection device that is estimated to output the other request, A processing system characterized in that the robot waits for a time until the other request is output and then performs the series of operations.

6. In claim 5, A processing system characterized by comprising a determination device that determines whether the robot will wait for a certain period of time until the other request is output, based on data regarding the time required for processing by the droplet ejection device and the time required for the robot to operate.

7. In claim 1, the droplet ejection device includes a table on which a plurality of media can be placed, and is capable of outputting the supply request and the collection request for each medium placed on the table; The processing system is characterized in that, when there is a droplet discharge device that outputs both the supply request and the recovery request, the robot performs the series of operations by giving priority to that droplet discharge device.

8. In claim 1, the droplet ejection device includes a table on which the medium is placed, and a head unit that is disposed opposite the table and ejects the droplets onto the medium placed on the table while being displaced relative to the table; A processing system, wherein at least one of the supply request and the collection request is configured from a signal notifying a relative displacement of the head unit with respect to the table.

9. In claim 1, the droplet ejection device performs a process of ejecting the droplets onto the medium based on a print job; A processing system, wherein at least one of the supply request and the collection request is configured from a signal notifying input or completion of the print job.

10. In claim 1, the droplet ejection device includes a first droplet ejection device that forms a first layer on the medium with the droplets, and a second droplet ejection device that forms a second layer on the medium with the droplets; A processing system characterized in that, as a series of operations, the robot supplies the media collected from the first droplet ejection device that outputs the collection request to the second droplet ejection device that outputs the supply request.

11. In claim 10, the droplet ejection device includes a table on which a plurality of media can be placed, and is capable of outputting the supply request and the collection request for each medium placed on the table; The processing system is characterized in that the robot supplies the media collected from a predetermined location on a table of the first droplet ejection device to a position on a table of the second droplet ejection device corresponding to the predetermined location.

12. In claim 1, a processing device that performs pre-processing or post-processing on the medium for the droplet ejection device; The processing system is characterized in that the robot, together with the droplet ejection device, supplies and recovers the media to and from the processing device as part of the series of operations.

13. a droplet ejection device that ejects droplets onto a medium; a robot that supplies and collects media to and from the droplet ejection device in response to a supply request and a collection request from the droplet ejection device, The robot When there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, A processing method comprising the steps of: supplying the medium to a droplet ejection device that outputs the supply request; and then recovering the medium from a droplet ejection device that outputs the recovery request, as a series of operations.

14. a droplet ejection device that ejects droplets onto a medium; a robot that supplies and recovers the medium to and from the droplet discharge device, a command device that outputs an operation command to the robot in response to a supply request and a recovery request from the droplet discharge device, The command device When there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, A command device characterized by outputting a command to the robot that instructs a series of operations to supply the media to the droplet ejection device that outputs the supply request and then recover the media from the droplet ejection device that outputs the recovery request.

15. a droplet ejection device that ejects droplets onto a medium; a robot that supplies and recovers media to and from the droplet discharge device in response to a supply request and a recovery request from the droplet discharge device, For electronic devices, When there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, A robot operation control program that causes a robot to output a command instructing a series of operations to supply the media to a droplet ejection device that outputs the supply request, and then retrieve the media from the droplet ejection device that outputs the retrieve request.

Images