Processing system, processing method, and program

Abstract

To reduce a time for turning on a servo motor of a robot.SOLUTION: The robot 5 performs at least one of supply and collection of the medium M with respect to the printer 3. The arms 52 and 53 of the robot 5 grip and transport the medium M. The servo motor 57 drives the arms 52 and 53. The controller 50 switches an ON state and an OFF state of the servo motor 57 by outputting a command signal to a servo amplifier 59 that supplies electric power to the servo motor 57. When the robot 5 stands by at a predetermined position, the controller 50 turns off the servo motor 57. The controller 50 turns on the servo motor 57 at a timing when at least one of a supply command and a collection command of the medium M is input to the robot 5.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] The processing system includes, for example, a droplet ejection device that ejects 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 removed from the table. Deploying workers to supply and remove media increases labor costs.

[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 media processing 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] A robot generally has an arm for gripping and transporting media and a servo motor for driving the arm. In order to operate the robot efficiently in accordance with the timing of processing by the droplet ejection device, it is possible to supply power to the servo motor at all times and keep it on. However, if the servo motor is always in an on state, a load is placed on the electric circuitry of the servo motor, and power consumption may increase.

[0006] In a processing system, it is desired to reduce the time that the servo motor of a robot is turned on, thereby reducing the load on the robot and reducing power consumption. [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 droplet ejection process on a medium; a robot that performs at least one of supplying and recovering the medium to and from the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The control unit When the robot is waiting at a predetermined position, the servo motor is turned off; The servo motor is turned on at the timing when at least one of a command to supply the media and a command to collect the media is input to the robot.

[0008] In one aspect of the present invention, a processing system includes: (2) a droplet ejection device that performs a droplet ejection process on the medium; a robot that performs at least one of supplying and recovering the medium to and from the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The control unit If the robot remains inactive at a predetermined position for a period of time longer than a predetermined time after at least one of supplying and collecting the media, the servo motor is turned off.

[0009] In one aspect of the present invention, a processing system includes: (3) a droplet ejection device that performs a droplet ejection process on the medium; a robot that performs at least one of supplying and recovering the medium to and from the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The control unit The robot waits at a predetermined position, and the servo motor is turned off at the timing when the droplet discharge device performs a predetermined operation.

[0010] (4) In any one of the processing systems (1) to (3), a management device that creates a job for managing the progress of the droplet discharge process in the droplet discharge device and transmits print data for controlling the droplet discharge process to the droplet discharge device; the supply command is input to the robot from the management device or the droplet ejection device, The supply command is input to the robot at the timing when the management device instructs the droplet ejection device to start executing the job, when the management device sends the printing data to the droplet ejection device, or when the droplet ejection device receives the printing data.

[0011] (5) In any one of the processing systems (1) to (4), The droplet discharge device includes: a table on which the medium to be subjected to the droplet discharge process is placed; a sensor capable of detecting the medium placed on the table; The supply command is input to the robot when the sensor does not detect the medium on the table.

[0012] (6) In any one of the processing systems (1) to (5), a management device that creates a job for managing the progress of the droplet discharge process in the droplet discharge device based on conditions specified by a user, including the number of media to be processed, and transmits print data for controlling the droplet discharge process to the droplet discharge device; the recovery command is input to the robot from the management device or the droplet ejection device, The recovery command is input to the robot when the management device or the droplet ejection device determines that the droplet ejection process for each media in the job has been completed, when the droplet ejection device notifies the management device of the completion of the droplet ejection process, or when the management device receives notification of the completion of the droplet ejection process from the droplet ejection device.

[0013] (7) In any one of the processing systems (1) to (6), The droplet discharge device performs droplet discharge processing continuously on a number of media designated by a user, The control unit maintains the servo motor in the on state if the medium is collected and the next medium is supplied consecutively within a predetermined time interval.

[0014] (8) In any one of the processing systems (1) to (7), The droplet ejection device a head that ejects droplets onto the medium; a maintenance unit that performs maintenance processing on the head, The predetermined time interval is determined based on the time required for the maintenance process.

[0015] (9) In any one of the processing systems (1) to (8), The predetermined time interval is determined based on the sum of the time it takes for the robot to retrieve the media and the time it takes for the robot to supply the media.

[0016] (10) In any one of the processing systems (1) to (9), The predetermined position is a home position where the robot is located before and after supplying or collecting the media.

[0017] (11) In any one of the processing systems (1) to (10), the droplet discharge device includes a table on which the medium to be subjected to the droplet discharge process is placed, In the predetermined position, the arm of the robot is positioned above the table.

[0018] (12) In any one of the processing systems (1) to (11), a stocker for stocking the media to be supplied to the droplet ejection device; The predetermined position is a position above the stocker.

[0019] (13) In any one of the processing systems (1) to (12), The predetermined position is a discharge location where the robot discharges the medium collected from the droplet discharge device.

[0020] (14) In any one of the processing systems (1) to (13), The droplet ejection device a table on which the medium to be subjected to the droplet discharge process is placed; a head disposed opposite the table and configured to eject droplets onto the medium; a movement mechanism that moves the head relatively between an initial position where the head is offset to the medium placed on the table when viewed in a vertical direction and a printing position where the head overlaps the medium, The control unit of the robot The servo motor is turned off at the timing when the head starts to move from the initial position toward the printing position.

[0021] (15) In any one of the processing systems (1) to (14), The droplet ejection device a head that ejects droplets onto the medium; The control unit of the robot The servo motor is turned off at the timing when the head starts to eject droplets onto the medium.

[0022] (16) In any one of the processing systems (1) to (15), When the supply or recovery of the media to the first droplet ejection device and the supply or recovery of the media to the second droplet ejection device are performed consecutively within a predetermined time interval, the robot maintains the on state of the servo motor.

[0023] (17) In any one of the processing systems (1) to (16), The predetermined time interval is determined based on the time it takes for the robot to move to the predetermined position after finishing supplying or collecting the media.

[0024] In one embodiment of the present invention, the processing method comprises: (18) A droplet ejection device that performs a droplet ejection process on a medium; a robot that performs at least one of supplying and recovering the medium to and from the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The control unit When the robot is waiting at a predetermined position, the servo motor is turned off; The servo motor is turned on at the timing when at least one of a command to supply the media and a command to collect the media is input to the robot.

[0025] In one embodiment of the present invention, the program (19) A droplet ejection device that performs a droplet ejection process on a medium; a robot that performs at least one of supplying and recovering the medium to the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The electronic device outputs a command to the control unit to turn the servo motor off when the robot is waiting at a predetermined position, and to the robot to turn the servo motor on when at least one of a media supply command and a media recovery command is input. [Effects of the Invention]

[0026] According to the present invention, the time during which the servo motor of the robot is in the ON state can be reduced, thereby reducing the load on the robot and reducing power consumption. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of the configuration of a processing system according to an embodiment. [Figure 2] FIG. 1 is a block diagram illustrating an example of the configuration of a processing system. [Figure 3] FIG. 1 is a diagram illustrating an example of a hardware configuration of an electronic device. [Figure 4] 10 is a flowchart showing the flow of processing in the electronic device when executing a print job. [Figure 5] 10 is a flowchart showing the flow of the robot's operation. [Figure 6] FIG. 10 is a diagram illustrating the supply of media by a robot. [Figure 7] FIG. 10 is a diagram illustrating collection of media by a robot. [Figure 8] 10A and 10B are diagrams illustrating a mode in which a printer inputs a supply command to a robot in a processing system according to a first modification. [Figure 9] FIG. 10 is a block diagram showing an example of the configuration of a processing system according to Modification 2. [Figure 10] 10 is a flowchart showing the flow of processing by an electronic device according to Modification 2. [Figure 11] 10 is a flowchart showing the flow of processing by an electronic device according to Modification 2. [Figure 12] 10 is a diagram showing a specific example of a predetermined operation of a printer in a processing system according to a third modification. FIG. [Figure 13] FIG. 10 is a schematic diagram showing a configuration example of a processing system according to a fourth modification. [Figure 14] FIG. 11 is a block diagram showing an example of the configuration of a processing system according to a fourth modification. [Figure 15] 10 is a time chart illustrating the operation timing of the robot and the printer. DETAILED DESCRIPTION OF THE INVENTION

[0028] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing an example of the configuration of a processing system 1 according to an embodiment. FIG. 2 is a block diagram showing an example of the configuration of the processing system 1. In FIG. 1, the medium M and the moving mechanisms 37, 37 of the printer 3 are shown with hatching. 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 along the vertical line (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. In addition, the lower side in the X direction in the drawing is the X1 side, and the upper side in the drawing is the X2 side, and the left side in the Y direction in the drawing is the Y1 side, and the right side in the drawing is the Y2 side.

[0029] The printer 3 performs a printing process (droplet ejection process) of ejecting ink (droplets) onto the medium M. The robot 5 is capable of grasping and carrying media M. The robot 5 is capable of at least one of supplying and collecting media M to the printer 3. In the embodiment, an example will be described in which the robot 5 both supplies and collects media M. While FIG. 1 shows an example in which the processing system 1 includes one printer 3 and one robot 5, 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 supply and collect media M from 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 from multiple printers 3, or multiple robots 5 may supply and collect media M from one printer 3. Furthermore, different robots 5 may supply and collect media M.

[0030] 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.

[0031] 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.

[0032] 1, the processing system 1 can include an electronic device 9. As a management device, the electronic device 9 outputs operation commands to the printer 3 and the robot 5, thereby managing the printing process of the media M in the processing system 1 in an integrated manner. The printer 3 and 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 printer 3 and robot 5 are placed. The electronic device 9 can also communicate with a sensor installed in the processing area A1 to acquire environmental information about the processing area A1 detected by the sensor. The environmental information can be, for example, temperature, humidity, etc.

[0033] <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 table 31 has a placement surface 31a for the media M. The placement surface 31a extends horizontally (X direction and Y direction). A placement area Pa (area indicated by virtual lines in the figure) is set on the placement surface 31a where the media M is placed. Note that although only one placement area Pa is shown in Figure 1, multiple placement areas Pa can be provided depending on the size of the table 31, the size of the media M to be used, etc.

[0034] 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 (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.

[0035] A plurality of nozzles N (see FIG. 6) for ejecting ink are provided on the underside of the head 35. The underside of the head 35 faces the table 31 in the Z direction with a small gap between them. By facing the head 35 to the medium M placed on the table 31, ink ejected from the nozzles can be made to land on the medium M.

[0036] 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, process color inks such as C (cyan), M (magenta), Y (yellow), and K (black). 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.

[0037] 1, a maintenance station 41 that performs maintenance processing on the head 35 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 wipes the underside of the head 35, flushes the nozzles, and so on. The carriage 34 moves to the maintenance station 41, whereby the maintenance processing is performed.

[0038] 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.

[0039] 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 in the X direction. When the guide bar 36 moves in the X direction, the carriage 34, the head 35, the maintenance station 41, and the ink supply device 42 move integrally in the X direction.

[0040] 1, an initial position Ip of the head 35 is set on the table 31. When viewed from the Z direction, the initial position Ip is set at a position offset toward the X2 side with respect to the placement location Pa of the medium M. When the printer 3 performs printing processing, the head 35 moves from the initial position Ip to the placement position Pa of the medium M (printing position). When viewed from the Z direction, the head 35 faces the medium M at the placement location Pa with a small gap in the Z direction. The head 35 ejects ink onto the medium M while moving in the Y direction. After completing one reciprocating movement (one pass) in the Y direction, the head 35 moves a predetermined distance toward the X1 side. The head 35 ejects ink from the nozzles while moving again in the Y direction. In other words, the printer 3 can print on the medium M by alternately repeating one reciprocating movement (one pass) of the head 35 in the Y direction and an operation of moving a predetermined distance toward the X1 side. When the printing process is complete, the head 35 returns to its initial position Ip on the X2 side.

[0041] It is sufficient that head 35 is movable in the X direction relative to table 31. Therefore, movement mechanisms 37, 37 may move table 31 in the X direction relative to fixed guide bar 36. Alternatively, movement mechanisms 37, 37 may move both guide bar 36 and table 31 in the X direction.

[0042] 2, 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 PD input from the electronic device 9, thereby performing printing processing. The controller 30 of the printer 3 also sends a signal to the electronic device 9 to notify the status of the printer 3. The electronic device 9 outputs an operation command to the robot 5 based on the status of the printer 3, allowing the printer 3 and the robot 5 to operate in cooperation with each other.

[0043] <Robot> The robot 5 is not limited to a specific type as long as it can grasp and transport the media M. FIG. 1 illustrates, as an example, a horizontally articulated robot (a so-called SCARA robot) having multiple arms that rotate horizontally. Alternatively, a vertically articulated robot may be used as the robot 5. 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.

[0044] 1, the robot 5 has arms 52 and 53 that grip and carry the media M. The arm 52 is supported by a base 51 that is installed on the floor of the processing area A1, for example, and the arm 53 is supported by the arm 52. The arms 52 and 53 each extend horizontally. The base end of the arm 52 is connected to 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).

[0045] A gripping mechanism 55 (see FIG. 6) that grips the media M is provided at the lower end of the shaft 54. The gripping mechanism 55 can be configured, for example, as a suction pad. The suction pad can adsorb 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 while adsorbing the media M. Note that the gripping mechanism 55 is not limited to a suction pad, and other configurations can also be used as appropriate.

[0046] 1, the robot 5 can move the tip of the arm 53 in the X and Y directions by combining the rotations of the arms 52 and 53. Then, by moving the shaft 54 ​​attached to the tip of the arm 53 up and down at a desired position, the robot 5 can acquire or release the media M. The range in which the robot 5 can rotate may be limited, for example, to avoid interference with cables connected to a power source. In the processing area A1, as an example, a range RA that can be reached by rotating the arms 52 and 53 from the home position Hp of the robot 5 is shown. The printer 3, supply location 7, and collection location 8 are located within the range RA. This allows the robot 5 to transport media M between the supply location 7, collection location 8, and printer 3.

[0047] The robot 5 is provided with a driving unit 56 (see FIG. 2) that drives each unit (for example, the arms 52, 53, shaft 54, etc.). The driving unit 56 may include, for example, a servo motor 57 that performs rotational motion, an encoder 58 that detects the phase and number of rotations of the servo motor 57, a servo amplifier 59 that supplies power to the servo motor 57, and the like. The arms 52 and 53 can be rotated by the rotational motion of the servo motor 57. Although not shown, the drive unit 56 that drives the shaft 54 ​​can be equipped with a link mechanism that converts the rotational motion of the servo motor 57 into up and down motion.

[0048] 2, the robot 5 includes a controller 50 (control unit) communicatively connected to the electronic device 9. Teaching data is set in the controller 50 through a teaching operation in advance so that the robot 5 can supply and collect the media M. The controller 50 controls the driving unit 56 of the robot 5 based on a supply command or an operation command input from the electronic device 9 and pre-set teaching data, thereby causing the robot 5 to operate.

[0049] Specifically, the controller 50 outputs a command signal to the servo amplifier 59 of the drive unit 56. The command signal includes, for example, a command to switch the servo motor 57 between an on state and an off state, a command to rotate the servo motor 57, etc. The on state means that the servo amplifier 59 supplies power to the servo motor 57, making the servo motor 57 rotatable. The off state means that the servo amplifier 59 stops supplying power to the servo motor 57, making the servo motor 57 non-rotatable. The command to rotate the servo motor 57 includes target values ​​such as the phase, rotation speed, and torque of the servo motor 57. The servo amplifier 59 supplies power to the servo motor 57 so that it operates according to the target values ​​included in the command signal. The phase and rotation speed of the servo motor 57 detected by the encoder 58 are input to the servo amplifier 59 as feedback. The servo amplifier 59 adjusts the power supplied to the servo motor 57 based on the error between the feedback and the target value. This feedback control of the servo motor 57 enables the robot 5 to perform precise operations.

[0050] If the servo motor 57 is always kept on, a load is placed on the power circuits of the servo motor 57 and peripheral devices, and power consumption increases. Therefore, in this embodiment, when the robot 5 is in a standby state and there is no need to rotate the servo motor 57, the robot 5 is controlled to turn the servo motor 57 off. Details of the control of the robot 5 will be described later.

[0051] <Electronic equipment> FIG. 3 is a diagram showing an example of the hardware configuration of the electronic device 9. As shown in FIG. 3, 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.

[0052] 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.

[0053] The HDD 904 stores programs executed by the CPU 901, data used by the programs, and the like. Note that a solid state drive (SSD) may be provided instead of or in addition to the HDD 904. 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 local area network (LAN). 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 constituting 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.

[0054] 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.

[0055] 2, the electronic device 9 includes, as functional components, a job management unit 91 and a print data creation unit 92. The storage unit 96 includes a ROM 902, a RAM 903, an HDD 904, etc., as shown in FIG. Each functional unit performs processing in response to a user's operation input via an input device 906 (see FIG. 3), and displays the processing results on the screen of a display 905 (see FIG. 3). Each functional unit obtains data required for processing from the storage unit 96, and temporarily stores the processing results in the storage unit 96 as needed.

[0056] 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.

[0057] 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 the job list JL. 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. The user selects a print job to be executed from the job list JL, specifies the number of copies to be printed (number of copies to be processed) on the medium M, and inputs an instruction to start printing. The job management unit 91 manages the operations of the printer 3 and the robot 5, and executes the print job for the specified number of copies to be printed.

[0058] The job management unit 91 outputs the image data of the designated print job to the print data creation unit 92, causing it to create print data PD. The job management unit 91 outputs the print data PD to the printer 3, causing 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 receives signals from the printer 3 and the robot 5 notifying them of their respective states, and controls the timing of their respective operations based on the received signals. When the print job for the number of copies of the specified medium M is completed, the job management unit 91 updates the job list JL.

[0059] 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.

[0060] 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 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 the print data PD is created.

[0061] FIG. 4 is a flowchart showing the flow of processing performed by the electronic device 9 when a print job is executed. FIG. 5 is a flowchart showing the flow of the operation of the robot 5. FIG. 4 shows the processing of the electronic device 9 after the user specifies a print job registered in the job list JL and performs an operation input to start printing. FIG. 6 is a diagram illustrating the supply of media M by the robot 5. As shown in FIG. FIG. 7 is a diagram illustrating collection of media M by the robot 5. 6 and 7 show an example in which the robot 5 moves from the home position Hp to perform an operation of supplying or collecting the media M, and then returns to the home position Hp after completing the operation. 6 and 7, the robot 5 is simplified, and only the shaft 54 ​​and the gripping mechanism 55 provided at the tip of the shaft 54 ​​are shown. 6 and 7, the area of ​​the table 31 of the printer 3 where the medium M is placed is indicated by cross-hatching.

[0062] 4, the job management unit 91 of the electronic device 9 acquires the image data and printing conditions of a print job specified by the user (step S01). The printing conditions specify the number of copies PNm to be printed on the medium M. The job management unit 91 resets to 0 a counter that counts the number PN of media M for which printing has been completed (step S02). The job management unit 91 outputs the image data and printing conditions to the print data creation unit 92, and causes the print data creation unit 92 to create print data PD (step S03). The job management unit 91 sends the print data PD to the controller 30 of the printer 3 together with an instruction to start execution of the print job (step S04). When the printer 3 receives an instruction from the electronic device 9, it starts up each part such as the moving mechanisms 37, 37 and the head 35, processes the received print data PD, cleans the nozzles, and performs other preparations for printing.

[0063] The job management unit 91 sends a command to the robot 5 to supply the media M (step S05). As shown in FIG. 6, the robot 5 is waiting at the home position Hp. As shown in FIG. 5, when a supply command is input from the electronic device 9 (step S101: Yes), if the servo motor 57 of the drive unit 56 is in the off state (step S102: Yes), the robot 5 transitions it to the on state (step S103). The robot 5 supplies the medium M to the printer 3 (step S104). Specifically, as shown in FIG. 6, the robot 5 moves the shaft 54 ​​from the home position Hp to above the stocker St in the supply location 7. The robot 5 lowers the shaft 54 ​​and grips the media M stored in the stocker St with a gripping mechanism 55 attached to the tip of the shaft 54. The robot 5 then raises the shaft 54 ​​gripping the media M and moves it from the supply location 7 to the printer 3. The robot 5 waits with the shaft 54 ​​positioned at the standby position Wp until the printer 3 is ready to print.

[0064] The standby position Wp can be, for example, near the printer 3. Alternatively, the standby position Wp can be a position where at least a portion of the shaft 54 ​​overlaps the table 31 of the printer 3 when viewed vertically. In this case, the lower surface of the shaft 54 ​​is positioned with a gap between it and the upper surface of the table 31 so that the shaft 54 ​​does not interfere with the head 35 of the printer 3 and the like at the standby position Wp. 6 shows an example of the standby position Wp. When viewed vertically, the standby position WP can be a position where the shaft 54 ​​overlaps with the placement location Pa for the media M set on the table 31. In this case, when the printer 3 completes preparations for printing, the robot 5 can release the media M to the placement location Pa simply by lowering the shaft 54 ​​at the standby position Wp, allowing the media M to be supplied smoothly.

[0065] When the printer 3 is ready to print, it sends a notification to the electronic device 9. At this time, the head 35 of the printer 3 is retracted to the initial position Ip where it does not interfere with the shaft 54 ​​of the robot 5. As shown in FIG. 4, when the electronic device 9 receives a notification from the printer 3 that the printing preparation is complete (step S06: Yes), it transmits the notification to the robot 5 (step S07). 6, the robot 5, having received a notification from the electronic device 9 that printing preparation is complete, lowers the shaft 54 ​​and releases the medium M to the placement location Pa on the table 31. After raising the shaft 54, the robot 5 moves it to the home position Hp. As shown in FIG. 5, the robot 5 transmits a notification of the completion of supply to the electronic device 9 (step S105), and switches the servo motor 57 to the OFF state (step S106).

[0066] As shown in FIG. 4, when the electronic device 9 receives a notification of the completion of supply from the robot 5 (step S08: Yes), it instructs the printer 3 to start printing (step S09). The printer 3 moves the head 35 from the initial position Ip (see FIG. 6) to a position facing the medium M placed on the placement location Pa, and ejects ink from the nozzles to start the printing process. While the printer 3 is performing a printing process, the robot 5 is in a standby state. Depending on the content of the printing process, the printing process may take longer than the time it takes the robot 5 to supply or collect the media M. Therefore, by turning off the servo motor 57 during the printing process when the robot 5 is in a standby state, it is possible to reduce the load on the electric circuits of the servo motor 57 and its peripheral devices, as well as power consumption.

[0067] When the printing process is completed, the printer 3 notifies the electronic device 9 of the completion of printing. The printer 3 returns the head 35 to the initial position Ip, and performs maintenance processing at the maintenance station 41 (see FIG. 1) as necessary. As shown in FIG. 4, when the electronic device 9 receives a notification of printing completion from the printer 3 (step S10), it sends a command to the robot 5 to collect the media M (step S11). As shown in FIG. 5, when the robot 5 receives a collection command from the electronic device 9 (step S107: Yes), it switches the servo motor 57 from the OFF state to the ON state (step S108) and collects the media M (step S109). Specifically, as shown in FIG. 7, the robot 5 moves the shaft 54 ​​from the home position Hp to the standby position Wp of the printer 3. The robot 5 lowers the shaft 54 ​​and grips the printed media M placed on the table 31 of the printer 3. The robot 5 then raises the shaft 54 ​​gripping the media M, and moves it above the stocker St of the collection location 8. The robot 5 lowers the shaft 54 ​​and releases the media M gripped at the tip of the shaft 54 ​​into the stocker St. After raising the shaft 54, the robot 5 moves to the home position Hp. As shown in FIG. 5, the robot 5 sends a notification of completion of collection to the electronic device 9 (step S110).

[0068] 4, when the job management unit 91 of the electronic device 9 receives a notification from the robot 5 that collection of the media M has been completed (step S12: Yes), it updates the counter by setting PN=PN+1 (step S13). If the number PN of media M that have been printed has not reached the specified number of print copies PNm (step S14: No), the job management unit 91 returns to step S05 and sends a command to the robot 5 to supply the next media M. In this way, the job management unit 91 of the electronic device 9 operates the printer 3 and robot 5 until the specified number of print copies PNm is reached. If the number PN of media M that has been printed reaches the specified number of copies PNm (step S14: Yes), the job management unit 91 notifies the robot 5 and printer 3 of the end of the print job (step S15) and ends the processing.

[0069] As shown in FIG. 5, when the robot 5 receives a notification of the end of the print job from the electronic device 9 (step S111: Yes), the robot 5 switches the servo motor 57 from the ON state to the OFF state (step S112). If the robot 5 does not receive a notification of the end of the print job from the electronic device 9 (step S111: No), the robot 5 maintains the on state of the servo motor 57. Then, when a command to supply the next medium M is input, the robot 5 performs the operations of steps S101 to S112 again.

[0070] When the printer 3 performs continuous printing on multiple media M, the robot 5 continuously collects media M and supplies the next media M. If the printer 3 performs maintenance or other operations between printing operations, a waiting time may occur between collection and supply. However, this waiting time tends to be shorter than the waiting time while the printer 3 is performing a printing operation. If there is no time interval between collection of media M and supply of the next media M, or if the time interval is short, turning off the servo motor 57 does not reduce the load on the electrical circuit or power consumption. Therefore, when continuous printing operations are performed, the robot 5 maintains the servo motor 57 in an on state. This allows the robot 5 to smoothly collect media M and supply the next media M in succession.

[0071] Note that the time interval between collection and supply may be relatively long, for example, if the specifications of the printer 3 require a relatively long maintenance process. In this case, the robot 5 may switch the servo motor 57 from the ON state to the OFF state at the home position Hp after completing collection of the media M. When a command to supply the next media M is input from the electronic device 9, the robot 5 can transition the servo motor 57 from the OFF state to the ON state.

[0072] 6 and 7 show an example in which the "predetermined position" where the robot 5 waits and the servo motor 57 is switched between the on state and the off state is the home position Hp, but the present invention is not limited to this example. For example, the "predetermined position" may be the standby position Wp (see FIG. 6) above the table 31 of the printer 3. In this case, after the robot 5 has finished supplying the medium M to the printer 3, it transitions to the OFF state at the standby position Wp without moving to the home position Hp. In this case, when the medium M for which printing has been completed is to be collected from the printer 3, it can transition to the ON state at the standby position Wp, allowing for quick collection.

[0073] For example, the "predetermined position" can be above the stocker St at the collection point 8 (see FIG. 7). In this case, after the robot 5 has finished collecting the media M from the printer 3, it does not return to the home position Hp, but instead switches to the off state above the stocker St at the collection point 8. Because the servo motor 57 quickly switches to the off state after the collection of the media M is complete, it is expected that power consumption will be reduced.

[0074] For example, the "predetermined position" can be above the stocker St at the supply point 7 (see FIG. 6). In this case, after the robot 5 has completed collection of the media M from the printer 3, it moves to above the stocker St at the supply point 7 and transitions to the OFF state. When supplying the next media M, the robot 5 transitions to the ON state at the supply point 7, allowing the next media M to be supplied quickly. Note that the robot 5 may return to the home position Hp from the collection point 8 and then move to the supply point 7, or it may move directly from the collection point 8 to the supply point 7.

[0075] The robot 5 may be switched between the on and off states by a command from the electronic device 9, or the switching between the on and off states may be set in advance in the teaching data when teaching the supply and recovery operations.

[0076] In the flowchart of FIG. 4, an example has been described in which the electronic device 9 inputs a supply command and a collection command to the robot 5, but the printer 3 may input at least one of the supply command and the collection command to the robot 5. For example, the printer 3 can input a command to supply media M to the robot 5 when it receives an instruction to start execution of a print job and print data PD from the electronic device 9. During execution of a print job, the printer 3 can also input a command to supply media M to the robot 5, for example, after the completion of maintenance processing that is performed after the printing processing of each medium M. During execution of a print job, the printer 3 can input a collection command to the robot 5, for example, when the printing process for each medium M is completed. Alternatively, the printer 3 can input a collection command to the robot 5 when notifying the electronic device 9 of the completion of the printing process.

[0077] 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) and a robot 5. The printer 3 performs a printing process (a droplet ejection process) on the medium M. The robot 5 supplies and / or collects media M from the printer 3. The robot 5 has arms 52 and 53, a servo motor 57, and a controller 50 (control unit). The arms 52 and 53 grip and transport the media M. The servo motor 57 drives the arms 52 and 53 . The controller 50 outputs a command signal to a servo amplifier 59 that supplies power to the servo motor 57, thereby switching the servo motor 57 between an on state and an off state. The ON state is a state in which power is supplied to the servo motor 57, allowing it to rotate. The OFF state is a state in which power supply to the servo motor 57 is stopped, preventing the servo motor 57 from rotating. When the robot 5 is waiting at a predetermined position (for example, the home position Hp, the waiting position Wp in the printer 3, above the supply point 7, above the collection point 8, etc.), the controller 50 turns off the servo motor 57. The controller 50 turns on the servo motor 57 when at least one of a command to supply the media M and a command to collect the media M is input to the robot 5.

[0078] By configuring in this manner, the processing system 1 can reduce the time that the servo motor 57 of the robot 5 is turned on, thereby reducing the load on the robot 5, particularly the load on the electrical circuits of the servo motor 57 and its peripheral devices, and power consumption. In the processing system 1, the robot 5 supplies and collects the media M to the printer 3, thereby automating the printing process and reducing labor costs. The robot 5 can be precisely controlled by driving the arms 52 and 53 with the servo motor 57. However, if the servo motor 57 is always on, it may place a load on the electric circuits of the servo motor 57 and peripheral devices, and may result in increased power consumption. In the processing system 1, when the robot 5 is waiting at a predetermined position, such as the home position Hp, the waiting position Wp in the printer 3, above the supply point 7, or above the collection point 8, the servo motor 57 is turned off. This reduces the load on the robot 5 and power consumption. Furthermore, when a command to supply or collect media M is input, the robot 5 can transition from an off state to an on state and supply or collect media M. In other words, the robot 5 switches between the on state and off state in accordance with the operation of the printer 3, thereby achieving both reduced load on the electrical circuit and power consumption, and supply and collection operations that are in line with the operation of the printer 3.

[0079] In the above embodiment, an example has been described in which the electronic device 9 comprehensively manages the processing system 1, but the present invention is not limited to this example. 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 the printer 3 or the controller 50 of the robot 5 may be configured as a management device.

[0080] 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 referred to in this embodiment and in each of the modified examples described later can be replaced with other droplet ejection devices or cutting plotters.

[0081] (4) The processing system 1 may include an electronic device 9 (management device). A job management unit 91 of the electronic device 9 creates a print job (job) for managing the progress of the print processing in the printer 3 based on the printing conditions (conditions) specified by the user, including the number of copies PNm (number of processes) to be printed on the medium M. The job management unit 91 also transmits to the printer 3 print data PD, which has been created by a print data creation unit 92, for controlling the print processing in the printer 3. The supply command is input to the robot 5 from, for example, the electronic device 9 or the printer 3. The supply command can be input to the robot 5, for example, when the electronic device 9 instructs the printer 3 to start executing a print job (job), or when the electronic device 9 sends print data PD to the printer 3, or when the printer 3 receives an instruction from the electronic device 9 to start executing a print job, or when it receives the print data PD.

[0082] By inputting a supply command to the robot 5 at such timing, the robot 5 can quickly transition from an ON state to an OFF state and supply the media M in accordance with the timing at which the printer 3 operates. In the above embodiment, an example was described in which the electronic device 9 sends an instruction to start execution of a print job to the printer 3 together with the print data PD (Figure 4, step S04), but the instruction to start execution and the print data PD may also be sent separately.

[0083] (6) The collection command is input to the robot 5 from, for example, the electronic device 9 or the printer 3. The collection command can be input to the robot 5, for example, when the electronic device 9 or the printer 3 determines that the printing process for each media M in the print job has been completed, when the printer 3 notifies the electronic device 9 that the printing process has been completed, or when the electronic device 9 receives a notification from the printer 3 that the printing process has been completed.

[0084] By inputting a collection command to the robot 5 at such a timing, the robot 5 can quickly transition from an ON state to an OFF state and collect the media M in accordance with the timing when the printer 3 operates. Instead of a dedicated signal notifying the end of the printing process, the printer 3 can send to the electronic device 9, for example, a signal notifying the displacement to the home position Hp. The electronic device 9 can determine the end of printing by the printer 3 based on this signal, for example. Alternatively, a camera or the like that takes a picture of the printer 3 may be provided in the processing area A1. The electronic device 9 may determine the end of the printing process based on the image captured by the camera.

[0085] (10) The predetermined position may be, for example, a home position Hp where the robot 5 is located before and after supplying or collecting the media M.

[0086] In the embodiment, an example has been described in which the processing system 1 has one printer 3 and one robot 5 in one-to-one correspondence, but as described above, the processing system 1 may supply and collect media M to multiple printers 3 using fewer robots 5 than the printers 3. In this case, it is preferable for the robot 5 to set a predetermined position as the home position Hp, since it can smoothly respond to any printer 3 when it switches to the on state.

[0087] (11) The printer 3 includes a table 31 on which the medium M to be printed is placed. The predetermined position can be, for example, a standby position Wp above the table 31 of the printer 3.

[0088] For example, once the robot 5 has finished supplying the media M and is waiting for the printer 3 to start printing, it can be in the OFF state at a standby position Wp set above the table 31 of the printer 3. This avoids interference with the head 35 of the printer 3 that is currently printing, and once the printing process is complete, it can transition to the ON state and quickly collect the media M from the table 31 of the printer 3. In particular, if there is a one-to-one correspondence between the printer 3 and the robot 5, the robot 5 does not need to move to another printer 3, so it is preferable to set the standby position Wp as a predetermined position.

[0089] (12) The processing system 1 includes a stocker St at the supply location 7 for stocking the media M to be supplied to the printer 3. The predetermined position can be, for example, above the stocker St at the supply point 7.

[0090] For example, if the robot 5 supplies media M after returning to the on state after completing collection of media M, the arms 52 and 53 can be positioned above the stocker St to quickly acquire and supply media M. This is suitable for both cases where the robot 5 is compatible with one printer 3 and cases where it is compatible with multiple printers 3.

[0091] (13) The predetermined position can be a collection point 8 (discharge point) where the robot 5 discharges the media M collected from the printer 3. For example, once the robot 5 has finished collecting the media M, it can quickly turn off the servo motor 57. This is expected to reduce power consumption. This is suitable for both cases where the robot 5 is compatible with one printer 3 and cases where it is compatible with multiple printers 3.

[0092] (i) The printer 3 performs continuous printing processing on the media M for the number of copies PNm (number) designated by the user. The controller 50 of the robot 5 keeps the servo motor 57 turned on while the media M is collected and the next media M is supplied in succession.

[0093] When a user specifies printing on multiple media M, the printer 3 continuously prints the multiple media M. In this case, in the printing process for the number of print copies PNm, the robot 5 continuously collects and supplies the media M from the collection of the first media M to the supply of the PNmth media M. In this case, turning the servo motor 57 off between collecting and supplying media M may not be very effective in reducing the load on the robot 5 or power consumption. Also, although the time required to switch the servo motor 57 between on and off is very short, if it accumulates, it may affect the processing efficiency of the processing system 1. Therefore, if the robot 5 continuously supplies and collects media M, the effect on processing efficiency can be reduced by keeping the servo motor 57 on.

[0094] The effects described above also apply to the processing method in the processing system 1 and the program that controls the operation of the robot 5. The program can be executed by any one of the electronic device 9, the controller 50 of the robot 5, or the controller 30 of the printer 3, or by a combination of these. The present invention also applies to the media M processed (manufactured) by the processing method (manufacturing method) of the processing system 1.

[0095] (Variation 1) FIG. 8 is a diagram illustrating a mode in which the printer 3 inputs a supply command to the robot 5 in the processing system 1A according to the first modification. In the first modification, the printer 3 includes a sensor 38 that detects the media M placed on the table 31 at the placement location Pa for the media M.

[0096] The sensor 38 may be, for example, a distance sensor that measures the distance to an object. Examples of the distance sensor that may be used include an optical sensor, a millimeter wave sensor, an ultrasonic sensor, and a stereo camera. 8 illustrates, as an example, an optical sensor 38 having a light-projecting unit 381 and a light-receiving unit 382. The sensor 38 is provided on the upper surface of the table 31. The light-projecting unit 381 and the light-receiving unit 382 are arranged opposite each other at the ends of the table 31 on the Y1 side and the Y2 side in the Y direction, with the placement location Pa sandwiched between them. Although not shown in the figure, the light-projecting unit 381 and the light-receiving unit 382 are each provided with a light-emitting element and a light-receiving element.

[0097] The light-projecting unit 381 emits light L toward the light-receiving unit 382. The light-receiving unit 382 detects the light L emitted from the light-projecting unit 381. When a media M is placed at the placement location Pa on the table 31, the light L emitted from the light-projecting unit 381 toward the light-receiving unit 382 is blocked by the media M. The sensor 38 can detect that the media M has been placed at the placement location Pa when the detection of light L by the light-receiving unit 382 is discontinued.

[0098] The controller 30 of the printer 3 is connected to the sensor 38 and can acquire the detection results of the sensor 38. The controller 30 acquires the detection results of the sensor 38 and, if the media M is not placed at the placement location Pa, can input an instruction to the robot 5 to supply the media M. The timing for obtaining the detection result of the sensor 38 is not limited to a specific timing. For example, if maintenance processing is not performed after the printing processing of the medium M is completed, the detection result of the sensor 38 may be obtained at predetermined time intervals after the printing processing is completed. If maintenance processing is performed after printing processing, the controller 30 may begin acquiring the detection results of the sensor 38 after the maintenance processing has finished. Alternatively, the controller 30 may begin acquiring the detection results of the sensor 38 after the maintenance processing has progressed to a certain extent. If the controller 30 does not detect a medium M at the placement location Pa, the controller 30 may input a command to the robot 5 to supply the next medium M before the maintenance processing finishes. During maintenance processing, the head 35 is retracted to the initial position Ip. Therefore, even if the robot 5 attempts to supply a medium M before the maintenance processing finishes, the possibility of interference with the head 35 can be reduced. Furthermore, the printing processing of the next medium M can be performed promptly after the maintenance processing finishes. Although Figure 8 shows an example in which the printer 3 directly inputs a supply command to the robot 5, the printer 3 may transmit the detection result of the sensor 38 to the electronic device 9, and the electronic device 9 may input the supply command to the robot 5.

[0099] The processing system 1A according to the first modification has, for example, the following configuration. (5) The printer 3 includes a table 31 and a sensor 38 . The table 31 is where the medium M to be printed is placed. The sensor 38 is capable of detecting the medium M placed on the table 31 . A command to supply the medium M can be input to the robot 5 from the printer 3 or the electronic device 9 when the sensor 38 does not detect the medium M on the table 31.

[0100] With this configuration, the printer 3 or electronic device 9 can input a command to supply the media M to the robot 5 at flexible timing, thereby improving the processing efficiency of the processing system 1A. For example, once the maintenance process for the printer 3 has progressed to a certain extent, the robot 5 can start supplying media M. This allows the printer 3 to immediately start printing on the next media M after the maintenance process is completed.

[0101] (Variation 2) FIG. 9 is a block diagram showing an example of the configuration of a processing system 1B according to the second modification. As shown in FIG. 9, the electronic device 9 includes an estimation unit 93 in addition to the functional configurations described in the embodiments. The estimation unit 93 estimates waiting times WT1 and WT2 during which the robot 5 is in a waiting state without moving after supplying or collecting the media M. In the second modification, the job management unit 91 inputs, based on the estimation result of the estimation unit 93, a command to the robot 5 to switch the servo motor 57 from the ON state to the OFF state (hereinafter referred to as an “OFF command”).

[0102] After supplying the medium M to the printer 3, the robot 5 is in a standby state until the printer 3 completes the printing process. Therefore, the estimation unit 93 can estimate, for example, the time required for the printer 3 to complete the printing process as the standby time WT1 of the robot 5. The estimation unit 93 can estimate the waiting time WT1 based on data such as the printing conditions specified by the user, the print data PD created by the print data creation unit 92, environmental information about the processing area A1, and statistical data on the times of past print processes. The algorithm used by the estimation unit 93 for estimation can be set, for example, by machine learning data prepared in advance.

[0103] The job management unit 91 inputs an OFF command to the robot 5 when the waiting time WT1 estimated by the estimation unit 93 is longer than the fixed time PT1. The time required for the printing process of the printer 3 tends to be relatively long compared to, for example, the time required for the robot 5 to supply and collect the media M. Therefore, as described above, by turning off the servo motor 57 of the robot 5 while the printer 3 is performing the printing process, it is possible to expect a reduction in the load on the robot 5 and power consumption. However, the time required for the printing process may be shortened depending on the content of the printing process of the printer 3. In such cases, turning off the servo motor 57 during the printing process does not have much effect on reducing the load on the robot 5 and power consumption, so it is desirable to keep the servo motor 57 on and start operating promptly after the printing process is completed.

[0104] That is, the fixed time PT1 is a threshold value for determining whether the standby time WT1 is a time during which a reduction in the load and power consumption of the robot 5 can be expected by turning off the servo motor 57. The fixed time PT1 is not limited to a specific length of time, and can be determined based on various factors. For example, the time required to supply the media M and the time required to collect the media M are indicators of the operation time of the robot 5. Therefore, the fixed time PT1 can be determined based on either one of these times or the sum of these times. The time required to supply or collect the media M can be, for example, the time recorded as past data. Alternatively, the job management unit 91 can measure the time required to supply and collect the first media M after starting a print job. Alternatively, the fixed time PT1 may be determined based on statistical data that indicates the correlation between the duration of the robot 5 being in the ON state and the load or power consumption of the robot 5.

[0105] After retrieving the media M from the printer 3, the robot 5 waits until the printer 3 completes maintenance and other processes and becomes ready to print the next media M. Therefore, the estimation unit 93 can estimate the time it takes for the printer 3 to perform maintenance and other processes after the printing process as the standby time WT2 of the robot 5. The estimation unit 93 can estimate the waiting time WT2 based on, for example, a notification signal from the printer 3, environmental information about the processing area A1, and statistical data on the time of past maintenance processing, etc. The algorithm used by the estimation unit 93 for estimation can be set, for example, by machine learning data prepared in advance.

[0106] The job management unit 91 inputs an OFF command to the robot 5 when the waiting time WT2 estimated by the estimation unit 93 is longer than a fixed time PT2 (predetermined time interval). As described above, when the printer 3 is printing multiple media M in succession in a print job, the robot 5 also continuously collects media M and supplies the next media M. Therefore, the wait time WT2 refers to the time interval between the robot 5 collecting a media M and supplying the next media M. In other words, if the time interval between the robot 5 collecting a media M and supplying the next media M is within the fixed time PT2, the job management unit 91 causes the robot 5 to maintain the servo motor 57 in the on state.

[0107] Like the fixed time PT1, the fixed time PT2 is not limited to a specific length of time and can be determined based on various factors. As an example, the fixed time PT2 can be determined based on the time required for normal maintenance processing that the printer 3 performs after a printing process. The normal maintenance process may be, for example, wiping of the head 35, flushing of the nozzles, etc., performed at the maintenance station 41 (see FIG. 1).

[0108] After the printing process, there are cases where only the normal maintenance process is performed, and cases where other processes are performed in addition to the normal maintenance process. The other processes may be, for example, removing dust from the table 31 with a blower or the like, or removing static electricity with a discharging brush or the like. Also, if the ink remaining in the printer 3 is low, ink may be replenished. The estimation unit 93 estimates whether these other processes will be performed based on a notification signal or the like from the printer 3, and further estimates the time required for these other processes from past statistical data or the like, and adds the estimated time to the waiting time WT2.

[0109] If only normal maintenance processing is performed, the standby time WT2 will be relatively short (WT2≦PT2). In this case, as in the embodiment, the servo motor 57 can be kept on between the collection of media M and the supply of the next media M. On the other hand, when other processes are performed in addition to the normal maintenance process, the standby time WT2 tends to be longer (WT2>PT2). When the standby time WT2 is long, the robot 5 can wait with the servo motor 57 turned off, which is expected to reduce the load on the robot 5 and power consumption.

[0110] Alternatively, like the fixed time PT1, the fixed time PT2 may be determined based on, for example, either the time it takes to supply media M or the time it takes to collect media M, or the sum of these times.

[0111] 10 and 11 are flowcharts showing the flow of processing by the electronic device 9 according to the second modification. The processing of steps S21 to S27 in FIG. 10 is the same as the processing of steps S01 to S07 in FIG. 4, and therefore a detailed description thereof will be omitted. As described in the embodiment, when the robot 5 has completed supplying the media M to the printer 3, it transmits a notification of the completion of supply to the electronic device 9 (see step S105 in FIG. 5). 10, when the job management unit 91 of the electronic device 9 receives a notification of completion of supply from the robot 5 (step S28: Yes), it instructs the printer 3 to start printing (step S29) and causes the estimation unit 93 to estimate the waiting time WT1 of the robot 5 (step S30). If the waiting time WT1 estimated by the estimation unit 93 exceeds a certain time PT1 (step S31: Yes), the job management unit 91 inputs an OFF command to the robot 5 (step S32). When the OFF command is input, the robot 5 switches the servo motor 57 from the ON state to the OFF state and waits until a command to collect the media M is input.

[0112] When the printing process is completed, the printer 3 notifies the electronic device 9 of the completion of printing. As shown in Fig. 11, when the job management unit 91 of the electronic device 9 receives a notification of the completion of printing from the printer 3 (step S33: Yes), it sends a command to the robot 5 to collect the media M (step S34). When the robot 5 receives the collection command from the electronic device 9, if the servo motor 57 is in the off state, the robot 5 switches it to the on state. When the robot 5 completes collection of the media M, it sends a collection completion notification to the electronic device 9. The processing in steps S35 to S38 in FIG. 11 is the same as the processing in steps S12 to S15 in FIG. 4, and therefore detailed description thereof will be omitted. If step S37 is No, the job management unit 91 causes the estimation unit 93 to estimate the waiting time WT2 (step S39). If the waiting time WT2 estimated by the estimation unit 93 exceeds the certain time PT2 (step S40: Yes), the job management unit 91 inputs an OFF command to the robot 5 (step S41). When the OFF command is input, the robot 5 transitions the servo motor 57 from the ON state to the OFF state. When the robot 5 receives a command to supply the next medium M from the electronic device 9 (FIG. 10, step S25), it switches the servo motor 57 ON and supplies the medium M.

[0113] If there is little variation in the time required for the printer 3's printing process or the maintenance process performed after the printing process, the standby times WT1 and WT2 of the robot 5 may remain approximately constant throughout the print job. In this case, the electronic device 9 may perform at least one of the process of comparing the estimated standby time WT1 with the fixed time PT1 (steps S30-S31) and the process of comparing the estimated standby time WT2 with the fixed time PT2 (steps S39-S40) only when printing the first medium M. Then, during the first printing process, the electronic device 9 determines whether to input an OFF command to the robot 5 after supplying and collecting the medium M, and during subsequent printing processes, it can input an OFF command to the robot 5 in accordance with this determination.

[0114] As described above, the processing system 1B according to the second modification has, for example, the following configuration. (2) The processing system 1B includes a printer 3 (a droplet ejection device) and a robot 5. The printer 3 performs a printing process (a droplet ejection process) on the medium M. The robot 5 supplies and / or collects media M from the printer 3. The robot 5 has arms 52 and 53, a servo motor 57, and a controller 50 (control unit). The arms 52 and 53 grip and transport the media M. The servo motor 57 drives the arms 52 and 53 . The controller 50 of the robot 5 outputs a command signal to a servo amplifier 59 that supplies power to the servo motor 57, thereby switching the servo motor 57 between an on state and an off state. The controller 50 of the robot 5 can turn off the servo motor 57 if, after performing at least one of supplying and collecting media M, the robot 5 remains inactive at a predetermined position such as the home position Hp (e.g., the home position Hp, the waiting position Wp in the printer 3, above the supply point 7, above the collection point 8, etc.) for a period longer than a certain period PT1 or PT2.

[0115] When the robot 5 is in a standby state without operating for a long time, the processing system 1B can reduce the load on the robot 5 and power consumption by turning off the servo motor 57.

[0116] As a specific embodiment, for example, the electronic device 9 can be provided with an estimation unit 93 (estimation device) that estimates the time required for the printing process of the printer 3 as the waiting time WT1 of the robot 5. The estimation unit 93 can estimate the waiting time WT1 based on at least one of the printing conditions specified by the user, the print data PD created by the print data creation unit 92, environmental information on the processing area A1, and statistical data on the time of past printing processes. If the waiting time WT1 estimated by the estimation unit 93 exceeds a certain time PT1, the job management unit 91 (management device) of the electronic device 9 can input an off command to the controller 50 of the robot 5 to transition the servo motor 57 to an off state. In this way, the job management unit 91 determines whether to switch to the OFF state based on the waiting time WT1 estimated by the estimation unit 93, and the robot 5 can flexibly switch between the ON state and the OFF state in accordance with the actual operation of the printer 3. This makes it possible to reduce the load on the robot 5 and its power consumption while maintaining the processing efficiency of the processing system 1B.

[0117] In addition, the function as an estimation device that estimates the waiting time WT1 and the function as a management device that compares the waiting time WT1 with a certain time PT1 and outputs an OFF command may be realized in the controller 50 of the robot 5 or the controller 30 of the printer 3.

[0118] (7) The printer 3 continuously performs printing on the media M for the number of copies PNm designated by the user. The controller 50 of the robot 5 keeps the servo motor 57 turned on while the collection of a medium M and the supply of the next medium M are performed consecutively within a certain time PT2 (predetermined time interval).

[0119] When the robot 5 continuously collects and supplies media M, the effect of reducing load and power consumption is small, so it is desirable to keep the servo motor 57 on. However, the printer 3 may perform maintenance or other processes after completing a printing process, which may result in a waiting time WT2 between collecting and supplying media M. If this waiting time WT2 is within a certain time PT2, the servo motor 57 remains on; if it exceeds the certain time PT2, the servo motor 57 is turned off. In this way, the robot 5 flexibly switches between on and off states depending on the process performed by the printer 3 after the printing process, thereby achieving both reduced load and power consumption on the robot 5 while maintaining the processing efficiency of the processing system 1B.

[0120] (8) Printer 3 is a head 35 that ejects ink (droplets) onto the medium M; and a maintenance station 41 (maintenance unit) for performing maintenance processing on the head 35. The fixed time PT2 (predetermined time interval) is determined based on the time required for the maintenance process.

[0121] The printer 3 is more likely to become soiled or have clogged nozzles, especially when printing on multiple media M consecutively, but performing maintenance between printing processes makes it easier to maintain print quality. The robot 5 is in a standby state during maintenance processing, but if the maintenance processing time is long enough not to affect the load or power consumption of the robot 5, it is desirable for the robot 5 to keep the servo motor 57 on. The fixed time PT2 can be set to, for example, the same as the maintenance processing time or a slightly longer time. In this case, if the standby time WT2 of the robot 5 is within the range of the time required for normal maintenance processing (PT2≧WT2), the servo motor 57 of the robot 5 will remain on. This allows the media M to be supplied promptly after the maintenance processing is completed. If the specifications of the printer 3 or the like mean that the time required for normal maintenance processing is long enough to affect the load and power consumption of the robot 5, the fixed time PT2 can be set to a time shorter than the time required for maintenance processing. As a result, when maintenance processing is performed between printing processes, the robot 5 transitions to an off state and waits, thereby reducing the load and power consumption of the robot 5.

[0122] (9) The fixed time PT2 (predetermined time interval) can be determined based on, for example, the sum of the time it takes for the robot 5 to retrieve the media M and the time it takes for the robot 5 to supply the media M.

[0123] The collection and supply of media M by the robot 5 can each be considered a unit of operation of the robot 5. Therefore, for example, the sum of the time required to collect and supply media M can be used as a criterion for determining the length of the standby time of the robot 5.

[0124] (Variation 3) FIG. 12 is a diagram showing a specific example of a predetermined operation of the printer 3 in the processing system 1C according to the third modification. In the third modification, an example will be described in which the robot 5 is waiting at a predetermined position such as the home position Hp, and the servo motor 57 is switched between on and off states at the timing when the printer 3 performs a predetermined operation. The robot 5 can switch between an ON state and an OFF state by receiving, for example, a signal from the printer 3 notifying a predetermined operation (hereinafter referred to as an "operation notification signal NS"). The predetermined operation may be, for example, an operation related to the printing process of the printer 3, which is performed after the robot 5 supplies the medium M to the table 31 of the printer 3. 12(a), the predetermined operation is shown as an operation in which the head 35 mounted on the carrier of the printer 3 starts to move from an initial position Ip on the table 31 toward a placement position Pa (printing position) for the medium M. The controller 30 of the printer 3 sends an operation notification signal NS to the robot 5 at the timing when the head 35 starts to move.

[0125] 12(b), the predetermined operation is shown as an operation in which the head 35 of the printer 3 moves to the placement location Pa (printing position) of the medium M and starts ejecting ink from the nozzles onto the medium M. The controller 30 of the printer 3 sends an operation notification signal NS to the robot 5 at the timing when the nozzles start ejecting ink.

[0126] When the robot 5 receives the operation notification signal NS from the printer 3, it switches the servo motor 57 from the ON state to the OFF state and waits until a command to collect the media M is input. This allows the robot 5 to reduce its load and power consumption in the third modification, just as in the embodiment. In the embodiment, an example has been described in which the servo motor 57 is switched to the OFF state when the supply of the media M is completed (FIG. 5, steps S105 to S106). In this case, the servo motor 57 can be quickly switched to the OFF state after the supply of the media M is completed. However, if a malfunction occurs in the printer 3 after the supply of the media M, the printing process may not start. To deal with a malfunction in the printer 3, the user may input a command to have the robot 5 retrieve the media M from the placement location Pa. The robot 5 needs to switch the servo motor 57, which was temporarily switched to the OFF state, back to the ON state.

[0127] In Modification 3, the robot 5 remains on until the printer 3 performs an action that indicates that the printing process has actually begun (starts moving to the printing position, starts ejecting ink, etc.). This allows the robot 5 to operate quickly if the media M needs to be collected due to a malfunction of the printer 3, etc.

[0128] As described above, the printer 3 may have a fixed head 35 and the table 31 movable in the X direction relative to the head 35. Alternatively, both the head 35 and the table 31 may be movable in the X direction. In this case, the printer 3 may transmit an operation notification signal NS to the robot 5 at the timing when the table 31 starts to move toward the head 35. Alternatively, the printer 3 may also transmit the operation notification signal NS to the robot 5 at a timing between when the head 35 or the table 31 starts to move and when the head 35 starts to eject ink.

[0129] Furthermore, the predetermined operation of the printer 3 is not limited to an operation related to the printing process, but can be, for example, an operation related to a maintenance process or the like that is performed after the printing process. As described in Variation 2, after the printing process, in addition to the normal maintenance process, the printer 3 can perform other processes such as removing dust on the table 31 with a blower or the like, and removing static electricity with an anti-static brush or the like. After completing the printing process, the printer 3 can transmit an operation notification signal NS to the robot 5 at the timing when maintenance processing or the like is started. The operation notification signal NS can include identification information indicating whether the printer 3 will perform only the normal maintenance process or whether it will perform other processes in addition to the normal maintenance process. For example, when only normal maintenance processing is performed, the robot 5 can keep the servo motor 57 in the ON state, and when other processing is additionally performed, can transition the servo motor 57 to the OFF state.

[0130] As described above, the processing system 1C according to the third modification has, for example, the following configuration. (3) The processing system 1C includes a printer 3 (a droplet ejection device) and a robot 5. The printer 3 performs a printing process (a droplet ejection process) on the medium M. The robot 5 supplies and / or collects media M from the printer 3. The robot 5 has arms 52 and 53, a servo motor 57, and a controller 50 (control unit). The arms 52 and 53 grip and transport the media M. The servo motor 57 drives the arms 52 and 53 . The controller 50 of the robot 5 outputs a command signal to a servo amplifier 59 that supplies power to the servo motor 57, thereby switching the servo motor 57 between an on state and an off state. The controller 50 of the robot 5 can turn off the servo motor 57 when the robot 5 is waiting at a predetermined position (e.g., the home position Hp, the waiting position Wp in the printer 3, above the supply point 7, above the recovery point 8, etc.) and the printer 3 is performing a predetermined operation.

[0131] When the printer 3 performs an operation that causes the robot 5 to wait for a long time, such as a printing process, the robot 5 can reduce the load and power consumption of the robot 5 by turning off the servo motor 57.

[0132] The predetermined operation may be, for example, an operation related to the printing process of the printer 3. The predetermined operation may be, for example, an operation in which other processes such as dust removal on the table 31 and static electricity removal are added to normal maintenance processes such as wiping the head 35 and flushing the nozzles. The robot 5 can turn off the servo motor 57 by receiving an operation notification signal NS from the printer 3, for example, to notify the robot 5 of these operations. In the third modification, the robot 5 can switch the servo motor 57 to the OFF state in accordance with the actual operation of the printer 3. For example, the robot 5 maintains the ON state until the printer 3 starts the printing process. Therefore, if a malfunction occurs in the printer 3 before the printing process starts, the robot 5 can quickly take action such as collecting the media M.

[0133] 12, an example has been described in which the robot 5 turns off the servo motor 57 based on the operation notification signal NS from the printer 3, but the present invention is not limited to this example. For example, a sensor such as a camera that detects a predetermined operation of the printer 3 may be provided, and the servo motor 57 may be turned off based on the detection result of the sensor. 12 shows an example in which the printer 3 transmits a status notification signal directly to the robot 5, the printer 3 may transmit the status notification signal to the robot 5 via the electronic device 9.

[0134] (14) The printer 3 includes a table 31, a head 35, and movement mechanisms 37, 37. The table 31 is where the medium M to be printed is placed. The head 35 is disposed opposite the table 31 and ejects ink onto the medium M. The movement mechanisms 37, 37 move the head 35 relatively between an initial position Ip, which offsets the head 35 from the media M placed on the table 31 when viewed from the Z direction (vertical direction), and the placement location Pa of the media M (a printing position overlapping the media M). The controller 50 of the robot 5 can turn off the servo motor 57 at the timing when the head 35 starts to move from the initial position Ip toward the placement position Pa of the medium M.

[0135] When starting a printing process, the printer 3 moves the head 35 from the initial position Ip toward the placement location Pa. That is, by turning off the servo motor 57 of the robot 5 at the timing when the head 35 starts to move, flexible control in accordance with the actual operation of the printer 3 becomes possible.

[0136] (15) The printer 3 includes a head 35 that ejects ink onto the medium M. The controller 50 of the robot 5 can turn off the servo motor 57 at the timing when the head 35 starts discharging ink onto the medium M.

[0137] When starting a printing process, the printer 3 moves from the initial position Ip to the placement location Pa, and then ejects ink onto the medium M placed at the placement location Pa. In other words, by turning off the servo motor 57 of the robot 5 at the timing when the head 35 starts ejecting ink, flexible control that matches the actual operation of the printer 3 becomes possible.

[0138] (Variation 4) FIG. 13 is a schematic diagram showing an example of the configuration of a processing system 1D according to the fourth modification. FIG. 14 is a block diagram showing an example of the configuration of a processing system 1D according to the fourth modification. The processing system 1D can include multiple printers 3. 13 shows an example in which the processing system 1D includes a printer 3A (first droplet ejection device) and a printer 3B (second droplet ejection device). The processing system 1D may include three or more printers 3. In the following description, when referring to the printers 3A and 3B without distinction, they will be referred to as "printer 3."

[0139] The printer 3A and the printer 3B may each have the same configuration as the printer 3 described in the embodiment. 13 illustrates one placement location Pa for media M for both printers 3A and 3B, but similar to the printer 3 of the embodiment, each printer 3 may have multiple placement locations Pa depending on the size of the media M. Also, different numbers of placement locations Pa for media M may be set depending on the size of the table 31 of each printer 3A and 3B. FIG. 13 shows an example in which one robot 5 supplies and collects media M to both printer 3A and printer 3B. The arrangement of the printers 3A and 3B is not limited, and they can be appropriately arranged within the range RA that the arms 52 and 53 of the robot can reach. FIG. 13 shows an example in which the printer 3A, the printer 3B, the supply point 7, and the supply point 8 are arranged so as to surround the periphery of the base 51 of the robot 5.

[0140] As shown in FIG. 14, in the fourth modification, the electronic device 9 includes an estimation unit 93A in addition to the functional configuration described in the embodiment. The estimation unit 93A estimates a waiting time WT3 that occurs in the robot 5 while the multiple printers 3A, 3B are each continuously performing printing processes. If the waiting time WT3 estimated by the estimation unit 93A is longer than a fixed time PT3 (predetermined time interval), the job management unit 91 inputs an OFF command to the robot 5 to turn off the servo motor 57.

[0141] Fig. 15 is a time chart illustrating the operation timing of the robot 5 and the printers 3A and 3B. Fig. 15 shows an example in which the printers 3A and 3B perform printing processing of the same print job. For simplicity of explanation, the maintenance process performed between printing processes of the printer 3 is omitted in FIG. As shown in Figure 15, in Variation 4, when a print job is started, print data PD is input from electronic device 9 to each of printer 3A and printer 3B. Once printers 3A and 3B are ready to print, robot 5 supplies media M to each of printers 3A and 3B. In Figure 15, as an example, robot 5 supplies media M to printer 3A first, then printer 3B. Printers 3A and 3B each start printing as soon as media M are supplied. When printing is completed in printers 3A and 3B, robot 5 collects media M from each printer and supplies the next media M. In this manner, robot 5 sequentially supplies and collects media M to printers 3A and 3B until printing is completed for the number of copies of media M specified in the print job.

[0142] Here, when the robot 5 corresponds to a plurality of printers 3, supplying or retrieving to or from the printer 3A and supplying or retrieving to or from the printer 3B may be performed consecutively without any time interval. 15, the first media M is supplied to printer 3A and printer 3B in succession with no time interval between them. Furthermore, the first media M is collected from printer 3B and the next media M is supplied to printer 3A and printer 3B in succession with no time interval between them. While the robot 5 is operating continuously in this manner, it is desirable to keep the servo motor 57 of the robot 5 in the on state.

[0143] On the other hand, for example, while both printer 3A and printer 3B are performing printing processing, the robot 5 does not operate. Until the printing processing of one of the printers 3 is completed, there is a time interval during which the robot 5 is in a standby state (for example, standby times WT3a and WT3c). Also, for example, if the printing process of printer 3B has not yet finished when robot 5 collects media M from printer 3A, there will be a time interval (e.g., waiting times WT3b, WT3d) during which robot 5 will be in a standby state until printing of printer 3B finishes.

[0144] 15, for example, the standby times WT3a and WT3c that occur when both printer 3A and printer 3B are performing printing processes tend to be relatively long. Therefore, during the standby times WT3a and WT3c, the robot 5 turns off the servo motor 57, thereby reducing the load and power consumption of the robot 5. On the other hand, the wait times WT3b and WT3d caused by the difference in the timing at which the printing processes of printers 3A and 3B finish are shorter than the wait times WT3a and WT3c. In other words, the collection of media M by printers 3A and 3B can be considered to be performed continuously with short time intervals (wait times WT3b and WT3d) in between. In such a case, turning off servo motor 57 has little effect on reducing the load on robot 5 or power consumption, so it is desirable to keep servo motor 57 on to ensure smooth collection operations.

[0145] Therefore, in the fourth modification, the estimation unit 93A estimates the waiting time WT3 (WT3a, WT3b, WT3c, WT3d, . . . ) that occurs in the print job. The estimation unit 93A can estimate the waiting time WT3 based on data such as the printing conditions specified by the user, the print data PD created by the print data creation unit 92, environmental information about the processing area A1, past processing times (printing processes, maintenance processes, etc.) of the printer 3, and statistical data on the operating times of the robot 5. The algorithm used by the estimation unit 93A for estimation can be set, for example, by machine learning data prepared in advance.

[0146] The job management unit 91 performs a comparison process between the waiting time WT3 estimated by the estimation unit 93A and a fixed time PT3 (predetermined time interval). The fixed time PT3 is not limited to a particular length of time and can be determined based on various factors. As in Modification 4, when the robot 5 corresponds to a plurality of printers 3, it is expected that a relatively short waiting time (for example, waiting times WT3b, WT3d) will occur due to a difference in timing when the printing process of each printer 3 ends. In the case of such a short waiting time, the fixed time PT3 can be set to a time shorter than the fixed times PT1, PT2 set in Modification 2, for example, so that the servo motor 57 can be kept on. As an example, the fixed time PT3 can be determined based on the time it takes for the robot 5 to move to the home position Hp (see FIG. 13) after releasing the medium M on the table 31 of the printer 3A or 3B. Alternatively, the fixed time PT3 can be determined based on the time it takes for the robot 5 to retrieve the medium M from the table 31 of the printer 3A or 3B and release the medium M at the collection point 8 and return to the home position Hp. The distance between printer 3A and printer 3B and the home position Hp varies depending on the location where they are placed. When setting the fixed time PT3, a printer 3 that is close to the home position Hp may be selected, or a printer 3 that is far from the home position Hp may be selected.

[0147] If the comparison result indicates that the waiting time WT3 is longer than the fixed time PT3, the job management unit 91 inputs an OFF command to the robot 5 during that waiting time WT3. In other words, if the waiting time WT3 of the robot 5 is within the fixed time PT3 (predetermined time interval), the job management unit 91 does not input an OFF command to the robot 5 during that waiting time WT3. As a result, the robot 5 maintains the ON state of the servo motor 57. 15, an OFF command is input to the robot 5 during standby times WT3a and WT3c. The robot 5 waits with the servo motor 57 in the OFF state during standby times WT3a and WT3c. When a command to collect the media M is input from the electronic device 9, the robot 5 turns the servo motor 57 on and starts operation. On the other hand, during the standby times WT3b and WT3d, no OFF command is input to the robot 5. During the standby times WT3b and WT3d, the robot 5 stands by with the servo motor 57 kept in the ON state.

[0148] The timing of the estimation process by the estimation unit 93A and the comparison process by the job management unit 91 is not limited, but can be performed, for example, after the job management unit 91 creates the print data PD to be sent to the printers 3A and 3B (see step S03 in FIG. 4). At this timing, the estimation unit 93A can estimate all waiting times WT3a, WT3b, WT3c, WT3d, etc. that occur in the print job. The timing at which the job management unit 91 inputs the OFF command to the robot 5 can be, for example, after receiving a notification from the robot 5 that the operation of collecting or supplying the media M has been completed (see Figure 4, steps S08 and S12) before the waiting time WT3.

[0149] As described above, the estimation unit 93A can estimate the waiting time WT3 based on statistical data of the past processing times of the printer 3 and the operation times of the robot 5. However, there may be an error between the time in the statistical data and the actual time. In this case, there may be an error between the waiting time WT3 estimated by the estimation unit 93A and the actual waiting time. If this error exceeds a threshold, the job management unit 91 may cause the estimation unit 93A to re-estimate the waiting time WT3 during the print job. In this case, the estimation unit 93A can make the estimation based on data of the actual processing times of the printer 3 and the operation times of the robot 5.

[0150] When the robot 5 sequentially supplies or retrieves media M to or from the printer 3A and then supplies or retrieves media M to or from the printer 3B, the robot 5 may move via the home position Hp, or may move directly between the printers 3A and 3B. For example, if media M is supplied to printer 3A and then collected from printer 3B in succession, the robot 5 may release media M onto the table 31 of printer 3A, then return to the home position Hp, and then move to printer 3B to retrieve media M from the table 31. Alternatively, after releasing media M onto the table 31 of printer 3A, the robot 5 may move directly to printer 3B and retrieve media M from the table 31.

[0151] As described above, the processing system 1D according to the fourth modification has, for example, the following configuration. (16) The processing system 1D can include multiple printers 3. When the supply or recovery of media M to printer 3A (first droplet ejection device) and the supply or recovery of media M to printer 3B (second droplet ejection device) are performed consecutively within a certain time PT3 (predetermined time interval), the robot 5 can maintain the servo motor 57 in the on state.

[0152] When the robot 5 is compatible with multiple printers 3, the operations of supplying and collecting media M may occur consecutively without a time interval or with short time intervals. In such cases, by keeping the servo motor 57 of the robot 5 in an on state, the robot 5 can perform the consecutive operations smoothly.

[0153] (17) The fixed time PT3 can be determined based on, for example, the time it takes for the robot 5 to move to a predetermined position such as the home position Hp after finishing supplying or collecting the media M.

[0154] When the robot 5 supports multiple printers 3, it is expected that relatively short wait times (e.g., wait time WT3) will occur more frequently due to differences in the timing at which the printing processes of the printers 3 finish. In order to maintain the servo motor 57 in the on state during such short wait times, the fixed time PT3 used in the comparison process with wait time WT3 can be set based on a relatively short period of time during the operation of the robot 5. Examples of such times include the time it takes for the robot 5 to move from supplying media M to the printers 3A and 3B to the home position Hp (predetermined position), and the time it takes for the robot 5 to return to the home position Hp after releasing the media M from the printers 3A and 3B to the collection point 8.

[0155] 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.

[0156] 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]

[0157] 1, 1A, 1B, 1C, 1D Processing Systems 3, 3A, 3B printers 5. Robot 7 Supply points 8 Collection points St Stocker 9 Electronic equipment (management device) 30 Controllers 31 Table 35 head 38 Sensors 50 Controller (control unit) 52, 53 Arms 57 Servo motor 59 Servo amplifier 91 Job Management Department 92 Printing Data Creation Department 93, 93A Estimation unit (estimation device) Pa Placement location (printing position) Wp standby position (predetermined position) Hp Home position (predetermined position) PT1, PT2: fixed time (predetermined time interval) WT1, WT2, WT3 standby time

Claims

1. a droplet ejection device that performs a droplet ejection process on a medium; a robot that performs at least one of supplying and recovering the medium to and from the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The control unit When the robot is waiting at a predetermined position, the servo motor is turned off; a processing system that turns on the servo motor when at least one of a command to supply the media and a command to collect the media is input to the robot;

2. a droplet ejection device that performs a droplet ejection process on a medium; a robot that performs at least one of supplying and recovering the medium to and from the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The control unit a processing system characterized in that, if the robot does not move at a predetermined position for a certain period of time after at least one of supplying and collecting the media, the servo motor is turned off.

3. a droplet ejection device that performs a droplet ejection process on a medium; a robot that performs at least one of supplying and recovering the medium to and from the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The control unit The processing system is characterized in that the robot waits at a predetermined position, and the servo motor is turned off at a timing when the droplet discharge device performs a predetermined operation.

4. In claim 1, a management device that creates a job for managing the progress of the droplet discharge process in the droplet discharge device and transmits print data for controlling the droplet discharge process to the droplet discharge device; the supply command is input to the robot from the management device or the droplet ejection device, A processing system characterized in that the supply command is input to the robot at the timing when the management device instructs the droplet ejection device to start executing the job, when the management device sends the printing data to the droplet ejection device, or when the droplet ejection device receives the printing data.

5. In claim 1, The droplet discharge device includes: a table on which the medium to be subjected to the droplet discharge process is placed; a sensor capable of detecting the medium placed on the table; The processing system is characterized in that the supply command is input to the robot when the sensor does not detect the medium on the table.

6. In claim 1, a management device that creates a job for managing the progress of the droplet discharge process in the droplet discharge device based on conditions specified by a user, including the number of media to be processed, and transmits print data for controlling the droplet discharge process to the droplet discharge device; the recovery command is input to the robot from the management device or the droplet ejection device, A processing system characterized in that the recovery command is input to the robot at the timing when the management device or the droplet ejection device determines that the droplet ejection process for each media in the job has been completed, when the droplet ejection device notifies the management device of the completion of the droplet ejection process, or when the management device receives a notification of the completion of the droplet ejection process from the droplet ejection device.

7. In any one of claims 1 to 3, The droplet discharge device performs droplet discharge processing continuously on a number of media designated by a user, The processing system is characterized in that the control unit maintains the servo motor in an on state if the collection of the medium and the supply of the next medium are performed consecutively within a predetermined time interval.

8. In claim 7, The droplet ejection device a head that ejects droplets onto the medium; a maintenance unit that performs maintenance processing on the head, The processing system, wherein the predetermined time interval is determined based on the duration of the maintenance processing.

9. In claim 7, A processing system, wherein the predetermined time interval is determined based on the sum of the time it takes for the robot to collect the media and the time it takes for the robot to supply the media.

10. In any one of claims 1 to 3, The predetermined position is a home position where the robot is located before and after supplying or collecting the media.

11. In any one of claims 1 to 3, the droplet discharge device includes a table on which the medium to be subjected to the droplet discharge process is placed, A processing system, wherein, at the predetermined position, the arm of the robot is positioned above the table.

12. In any one of claims 1 to 3, a stocker for stocking the media to be supplied to the droplet ejection device; The processing system is characterized in that the predetermined position is a position above the stocker.

13. In any one of claims 1 to 3, The processing system is characterized in that the predetermined position is a discharge location where the robot discharges the medium collected from the droplet discharge device.

14. In claim 3, The droplet ejection device a table on which the medium to be subjected to the droplet discharge process is placed; a head disposed opposite the table and configured to eject droplets onto the medium; a movement mechanism that moves the head relatively between an initial position where the head is offset to the medium placed on the table when viewed in a vertical direction and a printing position where the head overlaps the medium, The control unit of the robot a processing system that turns off the servo motor at the timing when the head starts to move from the initial position toward the printing position;

15. In claim 3, The droplet ejection device a head that ejects droplets onto the medium; The control unit of the robot a processing system that turns off the servo motor at the timing when the head starts to eject droplets onto the medium;

16. In any one of claims 1 to 3, A processing system characterized in that when the supply or recovery of the media to a first droplet ejection device and the supply or recovery of the media to a second droplet ejection device are performed consecutively within a predetermined time interval, the robot maintains the on state of the servo motor.

17. In claim 16, The processing system according to claim 1, wherein the predetermined time interval is determined based on the time it takes for the robot to move to the predetermined position after finishing supplying or collecting the media.

18. a droplet ejection device that performs a droplet ejection process on a medium; a robot that performs at least one of supplying and recovering the medium to and from the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The control unit When the robot is waiting at a predetermined position, the servo motor is turned off; a processing method for turning on the servo motor when at least one of a command to supply the medium and a command to collect the medium is input to the robot;

19. a droplet ejection device that performs a droplet ejection process on a medium; a robot that performs at least one of supplying and recovering the medium to the droplet ejection device, The robot an arm for gripping and transporting the media; a servo motor that drives the arm; a control unit that switches between an ON state in which the servo motor is rotatable and an OFF state in which the servo motor is not rotatable, The electronic device is a program that outputs to the control unit a command to turn the servo motor to the off state when the robot is waiting at a predetermined position, and to the robot a command to turn the servo motor to the on state when at least one of a media supply command and a media recovery command is input.

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