Processing system, processing method, and droplet discharging apparatus

Abstract

To reduce man-hours required for a user to input coordinate information.SOLUTION: A processing system 1 includes a printer 3 (a droplet discharging apparatus) that performs processing of discharging ink (droplets) onto a medium M placed on a table 31, and a robot 5 that places the medium M on the table 31, wherein the printer 3 and the robot 5 share at least one of coordinate information including first coordinate information indicating placement locations Pa to Pd of the media M (positions of the media M at which the printer 3 discharges ink) and second coordinate information indicating a position at which the robot 5 places the medium M on the table 31.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a processing system, a processing method, and a droplet ejection device. [Background technology]

[0002] The processing system includes, for example, a droplet ejection device (e.g., a printer). The droplet ejection device performs processing by ejecting droplets onto media placed on a table. In order to perform processing using the droplet ejection device, it is necessary to supply the media to the table and then collect the processed media from the table. If workers are assigned to transport the media, labor costs increase. In order to reduce personnel costs, it has been proposed to introduce a robot that transports media into a processing system (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-183595 Summary of the Invention [Problem to be solved by the invention]

[0004] In order for the robot and the droplet ejection device to perform processing, it is necessary to input coordinate information indicating the position of the medium to each of them. Here, if the user has to input coordinate information separately into the robot and the droplet discharge device, it takes time and effort, which may affect user convenience. Furthermore, if there is an input error in the coordinate information into either the robot or the droplet discharge device, not only will it cause problems with the operation of each, but it may also cause problems with the coordination between the robot and the droplet discharge device.

[0005] In a processing system, there is a demand for improving user convenience by reducing the number of steps required for a user to input coordinate information. [Means for solving the problem]

[0006] In one aspect of the present invention, a processing system includes: (1) a droplet ejection device that ejects droplets onto a medium placed on a table; a robot that places the media on the table, the droplet ejection device and the robot share at least one of first coordinate information indicating a position on the medium onto which the droplet ejection device ejects the droplets, and second coordinate information indicating a position on the table onto which the robot places the medium; Based on the shared coordinate information, the robot places the medium on the table, and the droplet ejection device ejects droplets onto the medium.

[0007] (2) In the processing system of (1), The coordinate information is the origin of the table; the number of the media arranged on the table in a first direction; the number of the media arranged on the table in a second direction intersecting the first direction; and an offset of the media placed on the table relative to adjacent media in the first direction and the second direction.

[0008] (3) In the processing system of (1) or (2), The droplet ejection device and the robot share information about handling of the media that either of them holds with the other.

[0009] (4) In any one of the processing systems (1) to (3), The droplet ejection device and the robot share information regarding changes to the media after the droplet ejection process.

[0010] (5) In any one of the processing systems (1) to (4), The droplet ejection device and the robot share information about the processing time of the droplet ejection device.

[0011] (6) In any one of the processing systems (1) to (5), an information processing device that creates control data for controlling the operation of the droplet ejection device; Either the robot or the information processing device transmits the coordinate information to the other to share it.

[0012] (7) In any one of the processing systems (1) to (6), a control device for controlling the operation timing of the robot and the droplet ejection device; The control device transmits the coordinate information to the robot and the droplet ejection device to share the coordinate information.

[0013] (8) In any one of the processing systems (1) to (7), The droplet ejection device and the robot share information about the operation history of the robot.

[0014] (9) In any one of the processing systems (1) to (8), the robot is equipped with a camera capable of photographing the media placed on the table; The robot shares information about the results of the camera's photography with the droplet ejection device.

[0015] (10) In the processing system according to (9), If the robot determines that there is a defect in the droplet ejection process onto the media based on the image captured by the camera, it transports the media determined to be defective to a discharge location different from the usual collection location.

[0016] (11) In any one of the processing systems (1) to (10), The droplet ejection device and the robot share information about the operation history of the droplet ejection device.

[0017] In one embodiment of the present invention, the processing method comprises: (12) The robot places the media on the table of the droplet ejection device; A processing method for performing a process of discharging droplets onto the medium by the droplet discharge device, the droplet ejection device and the robot share at least one of first coordinate information indicating a position on the medium onto which the droplet ejection device ejects the droplets, and second coordinate information indicating a position on the table onto which the robot places the medium; Based on the shared coordinate information, the robot places the medium on the table, and the droplet ejection device ejects droplets onto the medium.

[0018] In one aspect of the present invention, a droplet ejection device includes: (13) A droplet ejection device that ejects droplets onto a medium placed on a table by a robot, an information sharing unit that shares at least one of first coordinate information indicating the position of the medium onto which the droplet discharge device discharges the droplets and second coordinate information indicating the position onto which the robot places the medium on the table with the robot; and and an operation control unit that controls the operation of discharging droplets onto the medium based on the shared coordinate information. [Effects of the Invention]

[0019] According to the present invention, the number of steps required for the user to input coordinate information can be reduced, thereby improving user convenience. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a processing system according to an embodiment. [Figure 2] FIG. 1 is a block diagram showing a configuration of a processing system. [Figure 3] FIG. 2 is a schematic diagram illustrating a manner in which a robot supplies media to a printer. [Figure 4] FIG. 2 is a diagram illustrating an example of a hardware configuration of an information processing device. [Figure 5] 10A and 10B are schematic diagrams illustrating an example of setting coordinate information of a location where a medium is placed in a table. [Figure 6] 10 is a flowchart illustrating a flow of processing by the information processing device. [Figure 7] 10A and 10B are diagrams illustrating an example of adjustment of printer and robot operations based on the thickness of a medium in a processing system according to a first modified example. [Figure 8] 10A and 10B are diagrams illustrating an example of adjustment of the robot's operation based on print data in the processing system according to the first modification. [Figure 9] FIG. 10 is a block diagram showing the configuration of a processing system according to Modification 2. [Figure 10] FIG. 11 is a block diagram showing the configuration of a processing system according to Modification 3. [Figure 11] FIG. 10 is a diagram showing the configuration of a processing system according to a fourth modification. DETAILED DESCRIPTION OF THE INVENTION

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an example of the configuration of a processing system 1 according to an embodiment. FIG. 2 is a block diagram showing the configuration of the processing system 1. As shown in FIG. 1, the processing system 1 includes, for example, a printer 3 which is an example of a droplet ejection device, and a robot 5. In the following explanation, the positional relationship will be described based on the X, Y, and Z directions in FIG. 1. The Z direction is the direction along the direction of gravity, and is the direction from the front side to the back side of the paper in FIG. 1. The X and Y directions are directions perpendicular to the Z direction. The X direction is the up-down direction in the drawing, and the Y direction is the left-right direction in the drawing that is perpendicular to the X direction. Furthermore, the upper side in the drawing in the X direction is the X1 side, the lower side in the drawing is the X2 side, the right side in the Y direction is the Y1 side, and the left side in the drawing is the Y2 side.

[0022] The printer 3 performs a printing process in which ink (droplets) is ejected onto the medium M placed on the table 31. In FIG. 1, the medium M is illustrated with cross-hatching. The robot 5 can transport the media M and supply and collect the media M to and from the printer 3. FIG. 1 shows an example in which the processing system 1 includes one printer 3 and one robot 5, but the number of printers 3 and robots 5 can be changed as appropriate. The processing system 1 may include, for example, multiple printers 3 or multiple robots 5. In this case, for example, robots 5 may be provided according to the number of printers 3, and each robot 5 may transport media M to its corresponding printer 3. Alternatively, the number of printers 3 and the number of robots 5 may be different. In this case, one robot 5 may transport media M to multiple printers 3, or multiple robots 5 may transport media M to one printer 3. In the following example, a case in which a robot 5 both collects and supplies media M to a printer 3 is described, but collection and supply of media M may be performed by different robots 5.

[0023] 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 printer 3 and 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, 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.

[0024] 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 it to printer 3. Robot 5 also acquires media M after printing processing from printer 3 and stocks it 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.

[0025] 1, the processing system 1 can include an information processing device 9. The information processing device 9 creates print data that controls the operation of the printer 3. The information processing device 9 also functions as a control device that controls the operation timing of the printer 3 and the robot 5. Under the control of the information processing device 9, the printer 3 and the robot 5 can operate in cooperation with each other in the processing system 1. The printer 3 and robot 5 are communicatively connected to an information processing device 9 via a LAN network or the like, or by wireless communication or the like. The information processing device 9 can be located, for example, in an area A2 where workers are stationed, separate from the processing area A1 where the printer 3 and robot 5 are located. The information processing device 9 is a device that comprehensively manages the progress of processing of media M, and transmits data necessary for processing media M to the printer 3 and robot 5.

[0026] <Printer> As shown in FIG. 1, the printer 3 includes a table 31 on which the medium M is placed, a carriage 34 disposed above the table 31, and a guide bar 36 that supports the carriage 34. The surface of the table 31 facing upward in the Z direction is a placement surface 31a for the media M. The placement surface 31a extends along the horizontal direction (X direction and Y direction). The media M is placed by the robot 5 at placement locations Pa to Pd set on the placement surface 31a. Only one placement location may be set, or multiple placement locations may be set, based on the size of the media M and the size of the table 31. FIG. 1 shows an example in which four placement locations Pa to Pd are set.

[0027] 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. A guide rail (not shown) is provided on the guide bar 36 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 (discharge unit) that discharges 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.

[0028] A plurality of nozzles (not shown) for ejecting ink are provided on the underside of the head 35. The underside of the head 35 faces the table 31 with a small gap in the Z direction. This allows ink ejected from the nozzles 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.

[0029] 1, a maintenance station 41 is provided at the Y1-side end of the guide bar 36 that extends beyond the table 31. Although not shown, the maintenance station 41 has a built-in device that performs flushing and cleaning of the nozzles of the head 35. When the carriage 34 moves to the maintenance station 41, the head 35 is flushed and cleaned.

[0030] 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.

[0031] Movement mechanisms 37, 37 are provided at the ends of the table 31 on the Y1 side and the Y2 side. 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.

[0032] 2, the printer 3 includes a controller 30 that controls the operation of each unit. The controller 30 is communicably connected to an information processing device 9. The controller 30 performs printing processing by controlling the operation of each unit of the printer 3 based on print data PD input from the information processing device 9. The print data PD includes, for example, coordinate information (first coordinate information) of placement locations Pa to Pd of the medium M in the table 31 described above. The controller 30 of the printer 3 also transmits a signal to the information processing device 9 to notify the state of the printer 3. The information processing device 9 outputs an operation command to the robot 5 based on the state of the printer 3, so that the printer 3 and the robot 5 can operate in cooperation with each other.

[0033] <Robot> FIG. 3 is a schematic diagram illustrating how the robot 5 supplies the media M to the printer 3. As shown in FIG. The robot 5 is not limited to a specific type as long as it can acquire and transport media M, but for example, a horizontally articulated robot (a so-called SCARA robot) or a vertically articulated robot as shown in Figure 1 can be used. A SCARA robot is made up of a combination of multiple arms that rotate horizontally. To ensure the safety of the worker, the area including the rotation range of the arm of the robot 5 may be isolated by a safety fence or the like. Alternatively, in cases where a collaborative robot whose operating speed is set relatively slow to ensure safety is used, the robot 5 may not be isolated and may be able to operate in the same space as the worker.

[0034] 1, 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 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 supported on 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).

[0035] As shown in FIG. 3, a gripping mechanism 55 that grips the media M is provided at the lower end of the shaft 54. The gripping mechanism 55 can be, for example, a suction pad. The suction pad can adhere to the media M by applying negative pressure while in contact with the surface of the media M. The suction pad can also release the media M by applying positive pressure when it has adhered the media M. The gripping mechanism 55 is not limited to a suction pad, but may be, for example, a mechanism that clamps the medium M from above and below.

[0036] Although not shown in the drawings, the robot 5 can be equipped with various sensors such as an image sensor, an ultrasonic sensor, a pressure sensor, and a force sensor. By using sensors, the robot 5 can perform more precise operations and can detect the possibility of a collision with a person or other equipment and stop operation or take avoidance action. Furthermore, by using sensors, direct teaching can be performed, in which an operator manually moves the robot 5 to teach it how to operate.

[0037] The robot 5 can move the shaft 54 ​​at 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 ​​up and down at a desired position. The rotation range of the robot 5 may be limited to a predetermined angle, for example, to avoid interference with a cable connected to a power source. In FIG. 1, an example of the rotation range RA of the arms 52 and 53 of the robot 5 is indicated by a dashed line. The robot 5 can move back and forth within the range RA in both clockwise and counterclockwise directions from the initial position Ip. In the processing area A1, the printer 3, supply point 7, and collection point 8 are arranged within the range RA. In the example of FIG. 1, the supply point 7, collection point 8, and printer 3 are arranged in this order in a counterclockwise direction from the initial position Ip. This arrangement allows the robot 5 to both supply and collect media M to and from the printer 3 by moving back and forth along the same movement path.

[0038] FIG. 3 shows an example in which the robot 5 supplies the media M to the placement location Pa on the table 31. 3, the robot 5 first moves the shaft 54 ​​from the initial position Ip to the supply point 7. The robot 5 grips the media M stored in the stocker St at the supply point 7 with the gripping mechanism 55 provided at the tip of the shaft 54. Next, the robot 5 moves the shaft 54 ​​holding the medium M to above the location Pa where the printer 3 is located. The robot 5 moves the shaft 54 ​​downward in the Z direction, bringing the gripped media M close to a position facing the placement surface 31a with a small gap between them. The robot 5 releases the media M from the gripping mechanism 55 and places the media M in the placement location Pa. The robot 5 moves the shaft 54 ​​upward in the Z direction and then returns to the initial position Ip.

[0039] Although not shown in the figures, when the robot 5 retrieves the media M from the table 31 after printing, it moves the shaft 54 ​​from the initial position Ip to above the placement position Pa of the table 31 of the printer 3. The robot 5 moves the tip of the shaft 54 ​​downward in the Z direction and grips the media M with the gripping mechanism 55. After gripping the media M, the robot 5 moves the shaft 54 ​​upward in the Z direction and moves to the retrieval location 8. The robot 5 releases the media M to the stocker St (see Figure 1) at the retrieval location 8 and returns to the initial position Ip.

[0040] 2, the robot 5 is equipped with a controller 50 that controls the operation of each part. Teaching data for automatically operating the robot 5 is set in the controller 50 through a teaching operation in advance. The controller 50 is also communicably connected to the information processing device 9. The controller 50 controls the operation of the robot 5 based on an operation command input from the information processing device 9.

[0041] The teaching data may include, for example, the following data: Media M information (type, thickness, size, etc.) Coordinate information indicating the movement path of the robot 5 (including coordinate information of the initial position, supply point 7, collection point 8, and printer 3) The position on the table 31 where the media M is to be placed (hereinafter also referred to as "second coordinate information") Height (Z-position) when retrieving or releasing media M Robot 5 movement speed - Output setting of gripping mechanism 55

[0042] Here, the second coordinate information is coordinate information that is common to the coordinate information (first coordinate information) of the placement location of the medium M in the table 31, which is set in the printer 3 described above. As described above, the placement location of the media M may change depending on the type of media M used, etc. If the robot 5 needs to be taught again to reset the second coordinate information every time the placement location of the media M is changed, this increases the workload of the user and may affect the processing efficiency of the processing system 1. Details will be described later, but in this embodiment, the information processing device 9 sets coordinate information of the placement location of the medium M in response to user input, and causes the printer 3 and the robot 5 to share this information. Therefore, for example, in a pre-teaching operation, the robot 5 is set with initial second coordinate information. Then, if a change occurs in the placement location of the media M, the controller 50 of the robot 5 can correct the second coordinate information of the teaching data based on the coordinate information shared by the information processing device 9. This allows the robot 5 to operate in response to the change in placement location without having to perform teaching operation again.

[0043] <Information processing device> FIG. 4 is a diagram illustrating an example of the hardware configuration of the information processing device 9. As shown in FIG. 4, the information processing 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.

[0044] The CPU 901 controls the entire information processing device 9. The CPU 901 can load the OS, various programs, etc. stored in the ROM 902 or the 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, etc. The information processing device 9 may include a GPU (Graphics Processing Unit) and the like in addition to 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.

[0045] 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 907 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.

[0046] In this embodiment, the CPU 901 of the information processing device 9 executes an application program loaded onto the RAM 903, thereby realizing the functional configuration of the information processing device 9 shown in FIG. The information processing device 9 displays an operation screen on the display 905 for inputting information required for managing the processing system 1 in response to an operation input by the user. The information processing device 9 also controls the operations of the printer 3 and the robot 5 for processing the media M in response to operational inputs from the user. As shown in FIG. 2, the information processing device 9 includes a job management unit 91, a print data creation unit 92, and a coordinate setting 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. 4), and displays the processing results on the screen of a display 905 (see FIG. 4). Each functional unit also obtains data required for processing from a storage unit 97, and temporarily stores the processing results in the storage unit 97 as needed. The storage unit 97 is composed of a ROM 902, a RAM 903, a HDD 904, etc., shown in FIG. 4.

[0047] The job management unit 91 creates print jobs based on image data uploaded by the user and registers them in the job list JL. The job management unit 91 also manages the operations of the printer 3 and the robot 5 to execute each print job. When the user selects a print job to be executed from the job list JL and inputs an instruction to start printing, the job management unit 91 outputs the image data of the specified print job to the print data creation unit 92 .

[0048] The print data creation unit 92 creates print data PD 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 PD according to the print conditions.

[0049] The print data creation unit 92 creates print data PD by performing RIP (Raster Image Processing) on ​​the 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 color inks (C, M, Y, and K) and the spot color ink. Furthermore, various commands for controlling the printer 3 according to the specified printing conditions are added to the generated raster image, and the print data PD is created.

[0050] The job management unit 91 communicates with the printer 3 and the robot 5 to send and receive data required to execute a print job. The job management unit 91 outputs, for example, operation commands to the printer 3 and the robot 5. The operation commands can be, for example, commands to stand by, start an operation, end an operation, interrupt, and the like. The job management unit 91 transmits the print data PD created by the print data creation unit 92 to the printer 3 . The job management unit 91 transmits to the robot 5 a data set DS constructed by a coordinate setting unit 93, which will be described later. The job management unit 91 receives, for example, notifications such as operation start and operation completion, status information, and the like from the printer 3 and the robot 5 .

[0051] As described above, the user can specify various printing conditions via the operation screen. As an example of the printing conditions, the user can specify the arrangement condition of the medium M in the table 31 of the printer 3. The placement conditions for media M may include, for example: Number of media M placed on table 31 The offset of each medium M placed on the table 31 relative to the adjacent medium M The coordinate setting unit 93 can set coordinate information (first coordinate information) of the placement location of the medium M on the table 31 of the printer 3 based on the placement conditions for the medium M input by the user.

[0052] The placement conditions for the medium M may be specified by the user by directly inputting numerical values. Alternatively, the coordinate setting unit 93 may calculate and set corresponding numerical values ​​based on other printing conditions specified by the user. For example, information such as the product name, product number, size, shape, and thickness of the medium M may be stored in the storage unit 97. The user selects the medium M to be used from a pull-down menu or the like on the operation screen.

[0053] The maximum number of media M that can be placed on the table 31 varies depending on the size and shape of the media M. The coordinate setting unit 93 may calculate the maximum number of media M that can be placed on the table 31 and the offset according to the media M selected by the user, and automatically input these values ​​into the operation screen. The user may change the automatically input values ​​as needed. Instead of acquiring the information on the medium M from the storage unit 97, the coordinate setting unit 93 may acquire the information from a database on the cloud via the network NW (see FIG. 4).

[0054] FIG. 5 is a schematic diagram illustrating an example of setting coordinate information for placement locations Pa to Pd of media M in the table 31. In FIG. As shown in FIG. 5, the medium M is, for example, rectangular, with a side along the Y direction having a length L and a side along the X direction having a length H. Moreover, the arrangement conditions of the media M in the table 31 are set as follows, for example. Number of media M placements: 4 (2 in the X direction, 2 in the Y direction) Offset of each medium M relative to the adjacent medium M: S in the X direction, T in the Y direction

[0055] Based on these placement conditions, the coordinate setting unit 93 sets the coordinates of placement locations Pa to Pd for four media M within the area SA on the placement surface 31a of the table 31 for media M, where media M can be placed. 5, as an example, the lower right corner of placement location Pa is set to be located at the origin O(0,0) of table 31. Placement location Pb is set at a position offset by a length S on the X1 side in the X direction with respect to placement location Pa. Placement location Pc is set at a position offset by a length T on the Y2 side in the Y direction with respect to placement location Pa. Placement location Pd is set at a position offset by a length S on the X1 side in the X direction with respect to placement location Pa, and offset by a length T on the Y2 side in the Y direction with respect to placement location Pa.

[0056] The coordinate setting unit 93 can set the coordinates (X, Y) of the corners of each of the arrangement locations Pa to Pd as follows. Pa:(0,0)(H,0)(H,L)(0,L) ·Pb:(H+S,0)(2H+S,0)(2H+S,L)(H+S,L) ·Pc:(0,L+T)(H,L+T)(H,2L+T)(0,2L+T) ·Pd:(H+S,L+T)(2H+S,L+T)(2H+S,2L+T)(H+S,2L+S)

[0057] As described above, the coordinate information (first coordinate information) of the placement locations Pa to Pd set by the coordinate setting unit 93 is shared by the printer 3 and the robot 5. Sharing is not limited to a specific form, but an example will be described. The coordinate setting unit 93 outputs, for example, coordinate information of the set arrangement locations Pa to Pd to the print data creation unit 92. The print data creation unit 92 creates parameters indicating the positions at which the nozzles of the head 35 eject ink based on the coordinate information of the arrangement locations Pa to Pd, and includes the parameters in the print data PD. In this way, the coordinate information of the arrangement locations Pa to Pd is shared with the printer 3.

[0058] For example, the individual coordinate information of the placement locations Pa to Pd may be transmitted to the robot 5 and shared. However, in this case, if the number of media M arranged increases, the amount of data of the coordinate information increases, which may cause a communication load between the information processing device 9 and the robot 5. The coordinate setting unit 93 can construct a data set DS including the following parameters as coordinate information to be transmitted to the robot 5, instead of the coordinate information of the individual placement locations Pa to Pd. Length L in the Y direction and length H in the X direction of the media M Origin of table 31 The number N1 of media M arranged on the table 31 in the X direction Number N2 of media M arranged on table 31 in the Y direction The offset S in the X direction of the media M placed on the table 31 relative to the adjacent media M The offset T in the Y direction of the media M placed on the table 31 relative to the adjacent media M

[0059] The job management unit 91 can transmit, for example, the data set DS constructed by the coordinate setting unit 93 to the robot 5 together with an operation command. As explained using FIG. 5, the coordinate information for each of the placement locations Pa to Pd can be calculated using parameters included in the data set DS. That is, the controller 50 of the robot 5 can calculate the position (second coordinate information) at which the robot 5 will place the medium M on the table 31, based on the data set DS received from the information processing device 9. The controller 50 of the robot 5 can then correct the teaching data set in the prior teaching work using the calculated second coordinate information. This allows the robot 5 to place the medium M on the table 31 of the printer 3 according to the placement conditions for the medium M input by the user, without having to perform the teaching work again.

[0060] As described above, the job management unit 91, print data creation unit 92, and coordinate setting unit 93 of the information processing device 9 function as an information sharing unit that shares coordinate information between the printer 3 and the robot 5. In addition, the print data creation unit 92 functions as an operation control unit that controls the operation of ejecting ink onto the medium M based on the shared coordinate information.

[0061] FIG. 6 is a flowchart illustrating the flow of processing by the information processing device 9. FIG. 6 shows the process of the information processing device 9 from when a user specifies a print job to when printing starts. The user specifies a print job to be printed from the job list JL, inputs print conditions on the operation screen, and instructs the start of printing (step S01). The job management unit 91 of the information processing device 9 acquires the image data and printing conditions of the print job specified by the user (step S02). The job management unit 91 outputs the placement conditions of the media M (the number of media M to be placed, offset) included in the printing conditions to the coordinate setting unit 93. The coordinate setting unit 93 calculates coordinate information of the placement location of the medium M in the table 31 based on the input placement conditions (step S03). The coordinate setting unit 93 also constructs a data set DS to be output to the robot 5 (step S04).

[0062] The job management unit 91 outputs the image data, printing conditions, and coordinate information calculated by the coordinate setting unit 93 to the print data creation unit 92, causing it to create print data PD (step S05). The job management unit 91 sends the data set DS to the robot 5 along with an operation command to supply the medium M (step S06). The job management unit 91 sends the print data PD to the printer 3 along with a command to prepare for printing (step S07). The robot 5 calculates the coordinate information of the placement location of the media M based on the data set DS received from the information processing device 9. The robot 5 supplies the media M to the calculated placement location. When the job management unit 91 receives a notification from the robot 5 that the supply of the medium M has been completed (step S08: Yes), it instructs the printer 3 to start printing on the medium M (step S09).

[0063] As described above, the processing system 1 according to this embodiment has, for example, the following configuration. (1) The processing system 1 is a printer 3 (a droplet ejection device) that ejects ink (droplets) onto a medium M placed on a table 31; and a robot 5 that places the media M on the table 31. The printer 3 and the robot 5 can share at least one of the coordinate information: first coordinate information indicating the placement location Pa to Pd of the media M (the position of the media M where the printer 3 ejects ink), and second coordinate information indicating the position where the robot 5 places the media M on the table 31. For example, the job management unit 91, print data creation unit 92, and coordinate setting unit 93 of the information processing device 9 function as an information sharing unit that allows the printer 3 and robot 5 to share coordinate information. The coordinate setting unit 93 sets coordinate information of the placement location of the medium M, which is first coordinate information, based on the printing conditions input by the user. The print data creation unit 92 (operation control unit) creates print data PD that controls the operation of the printer 3 based on the coordinate information set by the coordinate setting unit 93. The job management unit 91 outputs an operation command to the robot 5 that includes the coordinate information set by the coordinate setting unit 93. As a result, the robot 5 places the medium M on the table 31 based on the shared coordinate information, and the printer 3 ejects ink onto the medium M placed on the table 31.

[0064] The processing method according to this embodiment includes, for example, the following steps. (12) In the processing method, the robot 5 places the medium M on the table 31 of the printer 3; The printer 3 performs a printing process in which ink is ejected onto the medium M. In the processing method, the printer 3 and the robot 5 share at least one of first coordinate information indicating the position of the medium M onto which the printer 3 ejects droplets and second coordinate information indicating the position onto which the robot 5 places the medium M on the table 31; Based on the shared coordinate information, the robot 5 places the medium M on the table 31, and the printer 3 ejects ink onto the medium M.

[0065] The processing system 1 and processing method according to this embodiment can reduce the number of steps required for the user to input coordinate information. When the printer 3 and the robot 5 are operated in cooperation with each other in the processing system 1, it is necessary to input coordinate information indicating the location of the medium M on the table 31 of the printer 3 to both the printer 3 and the robot 5. Here, if the coordinate information is input separately for the printer 3 and the table 31, the user's input work hours will increase. Here, the first coordinate information used by the printer 3 and the second coordinate information used by the robot 5 indicate the placement locations Pa to Pd of the same media M, and the coordinate information set by either one can be shared by the other. Therefore, in this embodiment, the coordinate information of either the printer 3 or the robot 5 is shared with the other, and each performs its own operation based on the shared coordinate information. This reduces the amount of work required for the user to input coordinate information.

[0066] In particular, the teaching work of inputting coordinate information into the robot 5 requires skill from the user and tends to be a heavy workload. Furthermore, if the teaching work for the robot 5 has to be performed again every time the placement location of the media M on the table 31 of the printer 3 is changed, this could lead to an increase in personnel costs. Therefore, in the above-described embodiment, as an example, the information processing device 9 calculates the placement locations Pa to Pd of the medium M, which are the first coordinate information, based on the placement conditions of the medium M input by the user, and shares this information with the printer 3 and the robot 5. This simplifies the teaching work of the robot 5 by the user, and improves user convenience.

[0067] Furthermore, if coordinate information is input separately to the printer 3 and the robot 5, an input error in either of the coordinate information could lead to misprinting by the printer 3 or poor gripping by the robot 5. The printer 3 and the robot 5 operate based on common coordinate information. This reduces input errors in the coordinate information, thereby reducing the possibility of malfunctions in the printer 3 and the robot 5. Furthermore, by having the printer 3 and the robot 5 operate based on common coordinate information, the amount of data related to coordinate information can be reduced for the processing system 1 as a whole.

[0068] In the above embodiment, the information processing device 9 provided separately from the printer 3 has the functional configurations of the job management unit 91, print data creation unit 92, and coordinate setting unit 93, but is not limited to this. The controller 30 built into the printer 3 may have the functional configuration of at least one of the job management unit 91, print data creation unit 92, and coordinate setting unit 93. That is, the printer 3 (droplet ejection device) can have the following configuration. (13) The controller 30 of the printer 3 includes a job management unit 91, a print data creation unit 92, and a coordinate setting unit 93 as an information sharing unit that shares with the robot 5 at least one of the following coordinate information: first coordinate information indicating the position of the medium M onto which the printer 3 ejects droplets; and second coordinate information indicating the position onto which the robot 5 places the medium M on the table 31. The printer 3 also includes a print data creation unit 92 as an operation control unit that controls the operation of discharging droplets onto the medium M based on the shared coordinate information.

[0069] The printer 3 having such a configuration can also achieve the same effects as the processing system 1 and processing method described above. The controller 30 of the printer 3 may directly transmit the set coordinate information to the controller 50 of the robot 5 to share it, or may transmit it via another information processing device 9.

[0070] (2) The coordinate setting unit 93 sets the coordinate information to be transmitted to the robot 5 as follows: The origin O of table 31, The number N1 of media M arranged on the table 31 in the X direction (first direction), The number N2 of media M arranged on the table 31 in the Y direction (a second direction intersecting the first direction), A data set DS can be constructed that includes offsets S, T of a medium M placed on the table 31 relative to adjacent media M in the X and Y directions.

[0071] It is possible to transmit to the robot 5 individual coordinate information for the placement locations Pa to Pd of all media M, but as the number of placement locations increases, the amount of data increases, leading to a communication load on the processing system 1. By having the coordinate setting unit 93 transmit to the robot 5 a data set DS that can calculate the coordinate information for each placement location Pa to Pd, instead of individual coordinate information, the amount of data can be reduced and the placement locations Pa to Pd of the media M can be appropriately calculated on the robot 5 side.

[0072] (6) The processing system 1 includes an information processing device 9 that creates print data PD (control data) that controls the operation of the printer 3. Either the robot 5 or the information processing device 9 can transmit coordinate information to the other to share it. For example, the coordinate setting unit 93 of the information processing device 9 can transmit a data set DS constructed based on the placement conditions of the media M specified by the user to the robot 5 to share it.

[0073] For example, printing conditions specified by a user are input to the information processing device 9 that creates the print data PD. A coordinate setting unit 93 of the information processing device 9 can set coordinate information for the placement location of the medium M based on the input printing conditions. By having the information processing device 9 send the set coordinate information to the robot 5, it is not necessary to input the coordinate information separately into the information processing device 9 and the controller 50 of the robot 5, and input man-hours can be reduced.

[0074] (7) The information processing device 9 has the functional configuration of a job management unit 91 and can function as a control device that controls the operation timing of the robot 5 and the printer 3. The information processing device 9 can transmit coordinate information to the robot 5 and the printer 3 to share it.

[0075] The job management unit 91 of the information processing device 9 controls the operation timing of the robot 5 and the printer 3, allowing the robot 5 and the printer 3 to work together and efficiently carry out the media printing process. For example, the information processing device 9 can easily share the coordinate information by sending coordinate information together with the operation command to the robot 5 and the printer 3.

[0076] In the above embodiment, an example has been described in which the control device is an integrated device with the information processing device 9 that creates the print data PD, but the functional configuration of the control device may be realized in a separate information processing device 9. In this case, the control device is communicably connected to the printer 3, the robot 5, and the information processing device 9 that creates the print data PD. Alternatively, the controller 30 of the printer 3 or the controller 50 of the robot 5 may have the function of the control device.

[0077] The effects mentioned with respect to the processing system 1 can also be obtained in the above-described processing method for media M and the printer 3. The scope of the present invention also extends to media M obtained by the processing method (manufacturing method) of the processing system 1.

[0078] (Variation 1) In the following modifications, the same components as those in the embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. In the above embodiment, an example was described in which coordinate information was shared between the printer 3 and the robot 5, but in variant example 1, an example is described in which the printer 3 and the robot 5 share information other than coordinate information. The printer 3 and the robot 5 can share, for example, the following information: Information about handling of Media M Information about changes in the media M after the printing process (after the droplet ejection process) For example, this information includes information such as the thickness and weight of the media M input to the printer 3 or the robot 5, information on the head gap set in the printer 3, the print data PD that controls the operation of the printer 3, print error information, etc. The printer 3 and the robot 5 share this information held by either one of them and adjust their operations, thereby enabling the printer 3 and the robot 5 to work in cooperation with each other.

[0079] FIG. 7 is a diagram showing an example of adjustment of the operations of the printer 3 and the robot 5 based on the thickness of the medium M in the processing system 1A according to the first modification. The robot 5 can set the height (Z-direction position) at which it acquires or releases the media M at the supply point 7 (see Figure 1), the table 31 of the printer 3, and the recovery point 8, depending on the thickness W1 of the media M, for example. FIG. 7 shows an example in which the robot 5 adjusts the height Zh1 at which the medium M is released on the table 31 of the printer 3. 7, when the robot 5 releases the media M onto the table 31 of the printer 3, the media M held by the gripping mechanism 55 at the tip of the shaft 54 ​​is positioned at a height Zh1 opposite the placement surface 31a with a small gap D1 between them. In this way, by not allowing the media M to come into contact with the placement surface 31a, it is possible to prevent pressure from being applied to the media M, causing it to shift from the placement location Pa, or to prevent damage to the media M. Here, if the thickness W1 of the media M changes, the appropriate height Zh1 at which the robot 5 releases the media M also changes. In other words, the robot 5 can appropriately release the media M by adjusting the height Zh1 at which the media M is released based on information about the thickness W1 of the media M. Furthermore, the robot 5 can set the output of the gripping mechanism 55 for the media M, for example, according to the weight of the media M. For example, if the gripping mechanism 55 is a suction pad, the negative pressure that is applied to the media M from the suction pad can be set according to the weight of the media M.

[0080] Furthermore, when performing printing processing, the printer 3 displaces the head 35 from the position shown in FIG. 7 toward the X1 side so that it faces the medium M placed at the placement location Pa in the Z direction. The printer 3 ejects ink from the nozzles N of the head 35 onto the medium M. If the head 35 gets too close to the medium M, the ink ejected onto the medium M may be rubbed by the head 35, resulting in printing errors or clogging of the nozzles N. On the other hand, if the head 35 gets too far away from the medium M, the ink ejection position onto the medium M may be shifted, which may affect print quality. Therefore, in the printer 3, a head gap HG is set so that when the head 35 faces the medium M in the Z direction, the bottom surface of the head 35 faces the top surface of the medium M with a small gap between them. The head gap HG refers to the distance between the bottom surface of the head 35 and the placement surface 31a of the table 31. Here, if the thickness W1 of the medium M changes, the appropriate head gap HG also changes. In other words, the printer 3 can perform appropriate printing processing by adjusting the head gap HG based on information about the thickness W1 of the medium M.

[0081] FIG. 8 is a diagram showing an example of adjustment of the operation of the robot 5 based on the print data PD in the processing system 1A according to the first modification. In Fig. 8, the ink ik ejected onto the medium M by the printing process is indicated by hatching. Note that in Fig. 8, the thickness of the ink ik is exaggerated. The print data PD created to control the operation of the printer 3 includes data relating to the content of the print processing of the printer 3, as well as information relating to changes in the medium M after the print processing. As described above, the print data PD includes, for example, parameters indicating the type of ink used in the printing process, and the ink ejection position and ejection amount on the medium M. Based on these parameters, for example, the robot 5 can determine the appropriate location for gripping the media M after the printing process. For example, as shown in the area surrounded by the dashed line in Figure 8, depending on the content of the printing process, a large amount of ink may be ejected onto one part of the media M, making it thicker than other parts. When the robot 5 retrieves the media M, if it grips the thicker part of the media M, excessive pressure may be applied to the media M, which could result in a gripping error or affect the print quality.

[0082] The robot 5 can determine the areas of the medium M where the thickness will increase after printing, for example, based on parameters that indicate the ink ejection position and ejection amount contained in the print data PD. The robot 5 can then adjust the gripping position to avoid the areas of the medium M where the thickness will increase. This reduces gripping errors by the robot 5 and the impact of the robot 5's gripping on the image of the medium M. If the printer 3 is a 3D printer, the print data PD will be modeling data of a three-dimensional shape. In this case, the robot 5 can also determine the portion of the model that is suitable for grasping based on the modeling data. The adjustment of the gripping position based on the print data PD may be performed by the controller 50 of the robot 5 (see FIG. 2), or may be performed by the information processing device 9.

[0083] Furthermore, the printer 3 and the robot 5 may share printing error information of the printer 3. For example, if the printer 3 outputs printing error information after a printing process, the robot 5 can discharge the media M after the printing process to a discharge point or the like that is provided separately from the collection point 8.

[0084] The manner in which the printer 3 and the robot 5 share such information is not limited to a particular one. As in the embodiment, the user can input information such as the thickness W1 and weight of the media M and the setting information for the head gap HG of the printer 3 as printing conditions on the operation screen of the information processing device 9. The information processing device 9 can reflect the input information in the parameters of the print data PD and transmit it to the printer 3. The information processing device 9 can include the input information in an operation command and transmit it to the robot 5. Note that, for example, when the user specifies the head gap HG of the printer 3, the information processing device 9 may determine the thickness W1 of the medium M from the setting information of the head gap HG. In other words, the head gap HG can be treated as indirect information related to the thickness W1 of the medium M.

[0085] The robot 5 may share the information input during the teaching operation with the printer 3. In this case, the robot 5 may send the information to the printer 3 via the information processing device 9, or may send the information directly to the printer 3.

[0086] Although not shown, the processing system 1A can also include a processing device that performs processing that is a pre-processing step for the printer 3. The processing device can be, for example, a coating device that coats the media M or a cutting plotter that cuts the media M. In this case, the robot 5 can, for example, supply the media M that has been pre-processed by the processing device to the printer 3. In this case, the information processing device 9 can acquire control data that controls the operation of the processing device and share the data with at least one of the printer 3 and the robot 5. For example, the robot 5 can determine, based on the control data of the processing device, a location that is suitable for gripping the media M after the pre-processing step.

[0087] As described above, the processing system 1A according to the first modification has, for example, the following configuration. (3) The printer 3 and the robot 5 can share information about the handling of the media M that either of them holds with the other.

[0088] By sharing information held by either the printer 3 or the robot 5 with the other, the printer 3 and the robot 5 can adjust their operations to match the processing performed on the media M. This reduces operational errors and enables more coordinated operations.

[0089] (4) The printer 3 and the robot 5 can share information regarding changes in the medium M after the printing process (after the droplet ejection process).

[0090] By sharing, for example, print data PD as information regarding changes in media M after printing, the robot 5 can determine the appropriate location for grasping media M after printing. This reduces grasping errors by the robot 5 and reduces the impact on the print quality of the media M. Furthermore, by sharing printing error information as information regarding changes in media M after printing, the robot 5 can discharge media M with printing errors to a discharge location separate from the collection location 8. This reduces the labor costs involved in sorting media M with printing errors from the collection location 8.

[0091] (Variation 2) FIG. 9 is a block diagram showing the configuration of a processing system 1B according to the second modification. In the second modification, a mode will be described in which the printer 3 and the robot 5 share information about the processing time PT of the printer 3. As shown in FIG. 9, the information processing device 9 of a processing system 1B according to the second modification includes a time estimation unit 94 that estimates the processing time PT of the printer 3 in addition to the functional configuration shown in FIG. The processing time PT of the printer 3 can be, for example, the end time of the printing process of ejecting droplets onto the medium M, the end time of the drying process of the medium M performed after the printing process, the end time of the cleaning process of the head 35, etc.

[0092] The time estimation unit 94 can estimate the processing time PT of the printer 3 using, for example, the print data PD created by the print data creation unit 92, the printing conditions specified by the user, environmental information of the processing area A1, statistical data on past actual processing times, etc. The time estimation unit 94 can estimate the processing time PT using an algorithm that is set by machine learning these data in advance.

[0093] The robot 5 can adjust the operation timing of the robot 5 based on the processing time PT estimated by the time estimation unit 94. The robot 5 can adjust the timing of its movement from the initial position Ip (see FIG. 1) to the table 31 of the printer 3, for example, to coincide with the completion time of the printing process or the drying process. This allows the robot 5 to quickly collect the medium M from the printer 3 after the printing process has been completed. For example, the robot 5 can adjust the timing of its movement from the initial position Ip to the supply location 7 of the media M to coincide with the completion time of the cleaning process that the printer 3 performs after the printing process. This allows the robot 5 to quickly supply the media M to the printer 3 that is ready for the next printing process. In this way, by adjusting the operation timing of the robot 5 based on the processing time PT of the printer 3, the waiting time of the printer 3 and the robot 5 can be reduced, and the processing efficiency in the processing system 1B can be improved.

[0094] The adjustment of the operation timing of the robot 5 may be performed by the robot 5 itself or by the information processing device 9. For example, the job management unit 91 of the information processing device 9 adjusts the timing of outputting operation commands to the robot 5 to collect and supply media M based on the processing time PT of the printer 3 estimated by the time estimation unit 94. This allows the operation timing of the robot 5 to be adjusted. The functional configuration of the time estimation unit 94 may be provided in the controller 30 of the printer 3 or the controller 50 of the robot 5.

[0095] As described above, the processing system 1B according to the second modification has, for example, the following configuration. (5) The printer 3 and the robot 5 can share information about the processing time PT of the printer 3.

[0096] By sharing the processing time PT of the printer 3, the robot 5 can adjust its operation timing to match the processing time PT of the printer 3. This reduces the waiting time of the printer 3 and the robot 5, thereby improving the processing efficiency of the processing system 1B.

[0097] (Variation 3) In the third modification, a mode will be described in which the printer 3 and the robot 5 share information about their respective operation histories. FIG. 10 is a block diagram showing the configuration of a processing system 1C according to the third modification. As shown in FIG. 10, the information processing device 9 includes a positional deviation amount estimation unit 95 that estimates the amount of positional deviation that occurs in the operation of the printer 3 and the robot 5 based on the operation history of each of them. Alternatively, the memory unit 97 of the information processing device 9 stores information OL relating to the operation history of the printer 3 and the robot 5. The information OL relating to the operation history can be created, for example, by the job management unit 91. The job management unit 91 can create or update the information OL relating to the operation history each time a print job is executed, and accumulate it in the memory unit 97 as statistical data.

[0098] The storage unit 97 can store, as information OL relating to the operation history of the printer 3, at least one of information relating to the number of times the printer 3 has been driven, the driving time of the printer 3, and the like. As the number of times and duration of operation of the printer 3 increases, a deviation may occur between the set value of the height (position in the Z direction) of the table 31 of the printer 3 and the actual height due to changes over time. As described above, the teaching data for the robot 5 includes the height (position in the Z direction) at which the media M is picked up or released from the table 31 of the printer 3, which is set based on the set value for the height of the table 31. If there is a discrepancy between the set value for the height of the table 31 and the actual height, when the robot 5 operates based on the teaching data, there is a possibility that it will fail to grasp the media M.

[0099] The misalignment amount estimation unit 95 can estimate the amount of misalignment, for example, the height of the table 31, based on information OL relating to the operation history of the printer 3 stored in the storage unit 97. For example, an algorithm for the misalignment amount estimation unit 95 to estimate the misalignment amount can be set by performing machine learning or the like on statistical data to determine the correlation between the number of times and driving time of the printer 3 and the misalignment amount.

[0100] The robot 5 can reduce grasping errors even if there are changes over time in the printer 3 by adjusting the height (position in the Z direction) at which it releases or acquires the media M based on the estimated amount of positional deviation in the height of the table 31.

[0101] The storage unit 97 can store, as information OL relating to the operation history of the robot 5, at least one of information relating to the number of times the robot 5 is driven, the operation time of the robot 5, and information relating to operational errors of the robot 5, for example. As the number of times and duration of driving of the robot 5 increases, misalignment may occur over time when placing the media M. If the media M placed on the table 31 of the printer 3 is misaligned, the ink of the printer 3 may not be ejected in the appropriate position on the media M, which may result in a printing error.

[0102] The misalignment amount estimation unit 95 can estimate the amount of misalignment of the media M placed on the table 31 of the printer 3 from information about the number of times or driving time of the robot 5 stored in the memory unit 97. For example, an algorithm for the misalignment amount estimation unit 95 to estimate the amount of misalignment can be set by performing machine learning or the like from statistical data to determine the correlation between the number of times and driving time of the robot 5 and the amount of misalignment.

[0103] The misalignment amount estimation unit 95 can also estimate the amount of misalignment of the media M placed on the table 31 of the printer 3 from information about operational errors of the robot 5 stored in the memory unit 97. The information about the operational error can be, for example, data indicating the correlation between the type of operational error and the amount of misalignment caused by the operational error.

[0104] For example, when the robot 5 releases the media M onto the table 31, an excessive force may be applied to the media M due to an operational error, causing the media M to shift position. At this time, the amount of positional deviation of the media M can be measured using a sensor such as a camera provided on the printer 3 or the robot 5. In addition, the force acting on the media M due to an operational error of the robot 5 can be measured using various sensors such as a force sensor, an acceleration sensor, a gyro sensor, and a motion sensor. The job management unit 91 of the information processing device 9 communicates with the printer 3 or the robot 5, acquires these measurement values, and stores them in the memory unit 97. This makes it possible to acquire data relating to the correlation between the amount of misalignment of the media M and the force applied to the media M. If the robot 5 makes an operational error when releasing the media M onto the table 31, the robot 5 can send a notification of the operational error to the information processing device 9. The robot 5 can include in the notification a measurement value of the force acting on the media M due to the operational error. The positional deviation amount estimation unit 95 can estimate the amount of positional deviation of the media M by referring to the measurement value included in the notification and the correlation data in the storage unit 97 .

[0105] The print data creation unit 92 can correct the parameters indicating the ink ejection position when creating the print data PD based on the estimated amount of positional deviation of the medium M. This allows the printer 3 to eject ink at the appropriate position on the medium M even if the robot 5 changes over time, thereby reducing printing errors.

[0106] As described above, the processing system 1C according to the third modification has, for example, the following configuration. (8) The printer 3 and the robot 5 can share information OL about the operation history of the robot 5.

[0107] By sharing information OL about the operation history of the robot 5 between the printer 3 and the robot 5, it is possible to estimate, for example, the amount of misalignment of the media M that occurs due to changes over time in the robot 5. The printer 3 can reduce printing errors by adjusting the ink ejection position of the printer 3 based on the estimated amount of misalignment.

[0108] (11) The printer 3 and the robot 5 can share information OL about the operation history of the printer 3.

[0109] By sharing the printer 3's operation history between the printer 3 and the robot 5, it is possible to estimate, for example, the amount of misalignment in the height of the table 31 that occurs due to changes over time in the printer 3. The robot 5 can reduce gripping errors by adjusting the height (position in the Z direction) at which it releases or retrieves the media M on the table 31 based on the estimated amount of misalignment.

[0110] (Variation 4) 11(a) and 11(b) are diagrams showing the configuration of a processing system 1D according to Modification 4. In FIG. 11(b), the image IM printed on the medium M by the printing process is shown by hatching. The thickness of the image IM is also exaggerated in the illustration. As described above, various sensors can be provided to the robot 5. As shown in (a) of Figure 11, in Modification 4, the robot 5 is provided with a camera 56 (image sensor) that can photograph the medium M. In the fourth modification, the printer 3 and the robot 5 share information about the photographing results of the camera 56 provided on the robot 5. Here, the information about the photographing results is not limited to the image data itself photographed by the camera 56, but may also be the analysis results of the photographed image or parameters calculated based on the analysis results for controlling the operation of the printer 3 or the robot 5.

[0111] The camera 56 can be provided in a position where the robot 5 can photograph the media M placed on the table 31 of the printer 3. As an example, the camera 56 can be provided on the shaft 54 ​​of the robot 5. As described above, when the robot 5 supplies or retrieves media M to or from the printer 3, the shaft 54 ​​is positioned above the table 31 of the printer 3. At that time, the camera 56 provided on the shaft 54 ​​can photograph the media M placed on the table 31 of the printer 3 from above.

[0112] 11(a), the robot 5 releases the medium M at the placement location Pa on the table 31 of the printer 3, and then moves the shaft 54 ​​upward in the Z direction. At this time, the camera 56 attached to the shaft 54 ​​can photograph the medium M placed on the table 31 before printing processing. 11(b), when the robot 5 retrieves the media M after printing, the shaft 54 ​​is positioned above the location of the table 31. At this time, the camera 56 attached to the shaft 54 ​​can photograph the media M placed on the table 31 after printing. The robot 5 can transmit, for example, an image captured by the camera 56 to the information processing device 9 together with a notification of the completion of the media M supplying or collecting operation.

[0113] 11(a) and 11(b), in Modification 4, the information processing device 9 includes an image analysis unit 96. Note that functional components of the information processing device 9 other than the image analysis unit 96 are omitted in FIG. The image analysis unit 96 uses known image processing to analyze the image captured by the camera 56. The robot 5 and the printer 3 can adjust their respective operations based on the analysis results of the image analysis unit 96, which are information related to the captured image.

[0114] As shown in (a) of Figure 11, the image analysis unit 96 can, for example, analyze a captured image of the media M placed on the table 31 before the printing process, and detect any positional deviation from the placement location Pa of the media M set on the table 31. If the image analysis unit 96 detects misalignment of the medium M, it can, for example, adjust the operation of the printer 3. In this case, the print data creation unit 92 (see FIG. 2) can correct the parameters that indicate the ink ejection position of the print data PD based on the amount of misalignment of the medium M. This allows the printer 3 to eject ink at the appropriate position on the medium M, reducing printing errors. Alternatively, if the image analysis unit 96 detects a positional deviation of the medium M, it can adjust the operation of the robot 5. In this case, the job management unit 91 (see FIG. 2) can transmit an operation command containing parameters for correcting the operation of the robot 5 based on the amount of positional deviation of the medium M. Based on the received parameters, the robot 5 can adjust the output of the gripping mechanism 55, adjust the coordinate information of the placement location Pa, and the height (position in the Z direction) at which the media M is released and acquired. Furthermore, the positional deviation of the media M can be treated as information regarding an operational error of the robot 5. The job management unit 91 can record the positional deviation of the media M as information OL regarding the operational history of the storage unit 97 (see FIG. 10, Modification 3).

[0115] As shown in FIG. 11(b), the image analysis unit 96 can also analyze a captured image of the medium M after printing processing, for example, to determine printing errors on the medium M. Printing errors include, for example, missing or missing parts in the image IM printed on the medium M, or smeared or blurred ink. If the image analysis unit 96 determines that a printing error has occurred, for example, the job management unit 91 can instruct the printer 3 to clean the head 35. Alternatively, the job management unit 91 can output an operation command to the robot 5 to transport the media M after the printing process to a discharge location 8A that is separate from the collection location 8.

[0116] The image analysis unit 96 is not limited to being provided in the information processing device 9, and may be provided in the controller 50 of the robot 5, for example. In this case, the robot 5 can transmit the analysis results of the image analysis unit 96 to the information processing device 9 instead of the image captured by the camera 56. This makes it possible to reduce the amount of data in communication between the robot 5 and the information processing device 9.

[0117] The camera 56 that captures the medium M may be provided in the printer 3. In this case, the image analysis unit 96 that analyzes the image captured by the camera 56 may be provided in the controller 30 of the printer 3.

[0118] As described above, the processing system 1D according to the fourth modification has the following configuration. (9) The robot 5 is equipped with a camera 56 that can capture an image IM of the medium M placed on the table 31 of the printer 3. The robot 5 can share information about the image captured by the camera 56 with the printer 3.

[0119] The robot 5 and the printer 3 can adjust their respective operations based on information about the photographing results of the camera 56, which can lead to improved processing efficiency and improved print quality of the media M.

[0120] (10) If the robot 5 determines that there is a printing error (defective droplet ejection process) on the media M based on the image captured by the camera 56, it can transport the media M determined to have a printing error to a discharge point 8A different from the usual collection point 8.

[0121] By configuring in this way, the labor costs involved in sorting misprinted media M from collection point 8 can be reduced.

[0122] The above-described modified examples can be applied not only to the embodiment but also to combinations of the modified examples with each other. 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]

[0123] 1, 1A, 1B, 1C, 1D Processing Systems 3. Printer 30 Controllers 31 Table 31a Placement surface 35 head 5. Robot 50 Controllers 54 Shaft 55 Gripping mechanism 56 Camera 7 Supply points 8 Collection points 8A Discharge point Pa, Pb, Pc, Pd placement locations 9. Information processing equipment 91 Job Management Unit (Information Sharing Unit) 92 Print data creation unit (information sharing unit, operation control unit) 93 Coordinate setting section (information sharing section) 94 Time Estimation Section 95 Position deviation estimation unit 96 Image Analysis Unit 97 Memory section DS dataset PD print data Information about OL operation history M Media IM Image

Claims

1. a droplet ejection device that ejects droplets onto a medium placed on a table; a robot that places the media on the table, the droplet ejection device and the robot share at least one of first coordinate information indicating a position on the medium onto which the droplet ejection device ejects the droplets, and second coordinate information indicating a position on the table onto which the robot places the medium; A processing system, characterized in that the robot places the medium on the table based on the shared coordinate information, and the droplet ejection device ejects droplets onto the medium.

2. １ In claim 1, The coordinate information is the origin of the table; the number of the media arranged on the table in a first direction; the number of the media arranged on the table in a second direction intersecting the first direction; and an offset of the media placed on the table relative to adjacent media in the first direction and the second direction.

3. In claim 1 or 2, The processing system is characterized in that the droplet ejection device and the robot share information regarding handling of the media that either one of them possesses with the other.

4. In claim 1 or 2, The processing system is characterized in that the droplet discharge device and the robot share information regarding changes in the medium after the droplet discharge process.

5. In claim 1 or 2, The processing system is characterized in that the droplet discharge device and the robot share information about processing time of the droplet discharge device.

6. In claim 1 or 2, an information processing device that creates control data for controlling the operation of the droplet ejection device; A processing system characterized in that either the robot or the information processing device transmits the coordinate information to the other to share it.

7. In claim 1 or 2, a control device for controlling the operation timing of the robot and the droplet ejection device; The control device transmits the coordinate information to the robot and the droplet discharge device to share the coordinate information.

8. In claim 1 or 2, The processing system is characterized in that the droplet discharge device and the robot share information about the operation history of the robot.

9. In claim 1 or 2, the robot is equipped with a camera capable of photographing the media placed on the table; The processing system is characterized in that the robot shares information relating to the photographing results of the camera with the droplet ejection device.

10. In claim 9, A processing system characterized in that if the robot determines that there is a defect in the droplet ejection process onto the media based on the image taken by the camera, it transports the media that has been determined to be defective to a discharge location different from the usual collection location.

11. In claim 1 or 2, The processing system is characterized in that the droplet discharge device and the robot share information about the operation history of the droplet discharge device.

12. The robot places the media on the table of the droplet ejection device. A processing method for performing a process of discharging droplets onto the medium by the droplet discharge device, the droplet ejection device and the robot share at least one of first coordinate information indicating a position on the medium onto which the droplet ejection device ejects the droplets, and second coordinate information indicating a position on the table onto which the robot places the medium; The processing method is characterized in that the robot places the medium on the table based on the shared coordinate information, and the droplet ejection device ejects droplets onto the medium.

13. A droplet ejection device that ejects droplets onto a medium placed on a table by a robot, an information sharing unit that shares at least one of first coordinate information indicating the position of the medium onto which the droplet discharge device discharges the droplets and second coordinate information indicating the position at which the robot places the medium on the table with the robot; and an operation control unit that controls an operation of discharging droplets onto the medium based on the shared coordinate information.

Images