3D printing device

Abstract

To apply wide-range printing to three-dimensional workpieces of various shapes.SOLUTION: There is provided a three-dimensional object printing apparatus including a first robot supporting a head having a nozzle for discharging a liquid and changing a position and a posture of the head, a second robot supporting a three-dimensional workpiece and changing a position and a posture of the workpiece, a curing unit that emits energy to cure or solidify the liquid discharged from the head, and a maintenance unit that performs maintenance on the head. The first robot has a first base portion fixed to a base. The second robot has a second base portion fixed to the base. In a plan view of the base, a virtual line segment connecting the first base portion and the second base portion passes between the curing unit and the maintenance unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a three-dimensional object printing device. [Background technology]

[0002] There is known a three-dimensional printing device that performs printing on the surface of a three-dimensional workpiece by an inkjet method. For example, Patent Document 1 describes a printing device that uses an articulated robot to change the relative position between the print medium and the print head while printing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-19183 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the printing device described in Patent Document 1, the position and orientation of the print medium are fixed, so depending on the shape of the print medium, there are likely to be areas where the print head cannot be brought close to the print medium by the operation of the articulated robot alone. Therefore, the printing device described in Patent Document 1 has the problem that it cannot print appropriately on three-dimensional print mediums of various shapes. [Means for solving the problem]

[0005] In order to solve the above problems, one embodiment of a three-dimensional object printing device according to the present invention comprises a first robot that supports a head having a nozzle that ejects liquid and changes the position and posture of the head, a second robot that supports a three-dimensional workpiece and changes the position and posture of the workpiece, a curing unit that emits energy to harden or solidify the liquid from the head, and a maintenance unit that performs maintenance on the head, wherein the first robot has a first base fixed to a base, and the second robot has a second base fixed to the base, and in a planar view of the base, a virtual line segment connecting the first base and the second base passes between the curing unit and the maintenance unit. [Brief description of the drawings]

[0006] [Figure 1] 1 is a perspective view showing an outline of a three-dimensional object printing device according to a first embodiment. FIG. [Diagram 2] FIG. 2 is a block diagram showing the electrical configuration of the three-dimensional object printing device according to the first embodiment. [Diagram 3] FIG. 2 is a perspective view of a first robot. [Figure 4] FIG. 2 is a perspective view showing a schematic configuration of a liquid ejection unit. [Diagram 5] FIG. 1 is a plan view of a three-dimensional object printing device according to a first embodiment. [Figure 6] 5 is a flowchart showing the flow of operations of the three-dimensional object printing device according to the first embodiment. [Figure 7] FIG. 13 is a diagram for explaining a material supply step. [Figure 8] FIG. 11 is a diagram for explaining the operation of the first robot in the first printing step. [Figure 9] FIG. 2 is a diagram for explaining the printing area of ​​the workpiece in the first printing step. [Figure 10] FIG. 13 is a diagram for explaining a retreat step. [Figure 11] FIG. 13 is a diagram for explaining a movement step. [Figure 12] FIG. 13 is a diagram for explaining a curing step and a maintenance step. [Figure 13] FIG. 13 is a diagram for explaining a material removing step. [Figure 14] 10 is a flowchart showing the flow of operations of a three-dimensional object printing device according to a second embodiment. [Figure 15] 10 is a flowchart showing the flow of operations of the three-dimensional object printing device according to the first modified example. [Figure 16] FIG. 1 is a plan view of a three-dimensional object printing device according to a first modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Note that the dimensions or scale of each part in the drawings may differ from the actual dimensions, and some parts are shown diagrammatically to facilitate understanding. Furthermore, the scope of the present invention is not limited to these embodiments unless otherwise specified in the following description to the effect that the present invention is limited thereto.

[0008] In the following description, the mutually intersecting X-axis, Y-axis, and Z-axis are used as appropriate. Furthermore, one direction along the X-axis is referred to as the X1 direction, and the direction opposite to the X1 direction is referred to as the X2 direction. Similarly, the opposite directions along the Y-axis are referred to as the Y1 direction and the Y2 direction. Furthermore, the opposite directions along the Z-axis are referred to as the Z1 direction and the Z2 direction.

[0009] Here, the X-axis, Y-axis, and Z-axis are coordinate axes of a world coordinate system set in a space in which the first robot 3 and the second robot 4 described below are installed. Typically, the Z-axis is a vertical axis, and the Z2 direction corresponds to the downward direction in the vertical direction. The base coordinate systems based on the bases of the first robot 3 and the second robot 4 are associated with the world coordinate system by calibration. For convenience, the following will exemplify a case in which the operations of the first robot 3 and the second robot 4 are controlled using the world coordinate system as the robot coordinate system.

[0010] The Z axis does not have to be a vertical axis. The X axis, the Y axis, and the Z axis are typically mutually orthogonal, but are not limited thereto, and may not be orthogonal. For example, the X axis, the Y axis, and the Z axis may intersect each other at an angle within a range of 80° to 100°.

[0011] 1. First embodiment 1-1. Overview of the three-dimensional printing device 1 is a perspective view showing an outline of a three-dimensional object printing apparatus 1 according to a first embodiment. The three-dimensional object printing apparatus 1 is an apparatus that performs printing on the surface of a three-dimensional workpiece W by an inkjet method using a first robot 3 and a second robot 4.

[0012] 1, the workpiece W is a rugby ball having an elongated spheroid shape. Note that the shape, size, and other aspects of the workpiece W are not limited to the example shown in FIG. 1, and may be any shape or size.

[0013] As shown in Fig. 1, the three-dimensional object printing apparatus 1 has a base 2, a first robot 3, a second robot 4, a liquid ejection unit 5, an ink supply unit 6, an imaging unit 7, a maintenance unit 8, a placement unit 9, a curing unit 10, a controller 11, a control module 12, and a computer 13. Below, first, each part of the three-dimensional object printing apparatus 1 shown in Fig. 1 will be briefly described in order.

[0014] The base 2 is a platform having a surface 2a that supports the first robot 3 and the second robot 4. The surface 2a faces the Z1 direction. In this embodiment, the surface 2a supports the first robot 3 and the second robot 4 as well as the ink supply unit 6, the imaging unit 7, the maintenance unit 8, the mounting unit 9, and the curing unit 10. Here, each of the first robot 3, the second robot 4, the ink supply unit 6, the imaging unit 7, the maintenance unit 8, the mounting unit 9, and the curing unit 10 is fixed to the base 2 directly by screws or the like or indirectly via other members.

[0015] 1, the base 2 is box-shaped, and the base 2 houses a controller 11 and a control module 12. An exhaust port 2b is provided on a surface 2a of the base 2. An exhaust mechanism (not shown) is connected to the exhaust port 2b. The exhaust mechanism sucks in gas on the surface 2a through the exhaust port 2b, and discharges the sucked gas to the outside after processing such as purification.

[0016] Although detailed illustration is omitted, a case 20 is disposed at a position in the Z1 direction relative to the base 2, as indicated by a two-dot chain line in FIG. 1. The case 20 is a structure that forms a space between the surface 2a and the surface 2a to accommodate structures such as the first robot 3 and the second robot 4 supported by the base 2. The case 20 has, for example, a plurality of columns and beams made of metal or the like, and a plurality of plate members such as a top plate and wall plates made of a transparent material such as acrylic resin. The case 20 is also provided with a window for supplying and removing the workpiece W to and from the placement unit 9.

[0017] The configuration of the base 2 is not limited to the example shown in FIG. 1, and is arbitrary. The base 2 may be provided as necessary, and may be omitted. In this case, each component of the three-dimensional object printing device 1 is installed on, for example, the floor, wall, or ceiling of a building. In other words, the base 2 does not have to be a component of the three-dimensional object printing device 1, and may be, for example, the floor, wall, or ceiling of a building. In this embodiment, each component of the three-dimensional object printing device 1 except for the base 2 is supported on a surface 2a that is the same plane, but the components may be supported on surfaces facing in different directions. For example, the first robot 3 may be installed on one of the floor, wall, and ceiling, and the second robot 4 may be installed on the other. Also, the first robot 3 may be installed on one of a plurality of walls facing in different directions, and the second robot 4 may be installed on the other.

[0018] The first robot 3 is a robot that changes the position and orientation of the liquid discharge unit 5 in the world coordinate system. In the example shown in Fig. 1, the first robot 3 is a so-called six-axis vertical articulated robot, and the liquid discharge unit 5 is attached as an end effector to the tip of the arm of the first robot 3 in a state of being fixed by screws or the like. The configuration of the first robot 3 will be described later with reference to Fig. 3.

[0019] The liquid ejection unit 5 is a device having a head 5a that ejects ink, which is an example of a "liquid," toward the workpiece W. In this embodiment, the liquid ejection unit 5 has a pressure adjustment valve 5b and a temporary curing light source 5c in addition to the head 5a. The configuration of the liquid ejection unit 5 will be described later with reference to FIG.

[0020] The ink is not particularly limited, and examples thereof include water-based inks in which a coloring material such as a dye or pigment is dissolved in a water-based solvent, curable inks using a curable resin such as an ultraviolet curable type, and solvent-based inks in which a coloring material such as a dye or pigment is dissolved in an organic solvent. Among them, curable inks are preferably used. The curable ink is not particularly limited, and may be, for example, any of a heat curable type, a photocurable type, a radiation curable type, and an electron beam curable type, but a photocurable type such as an ultraviolet curable type is preferable. The ink is not limited to a solution, and may be an ink in which a coloring material or the like is dispersed as a dispersoid in a dispersion medium. The ink is not limited to an ink containing a coloring material, and may be, for example, an ink containing conductive particles such as metal particles for forming wiring or the like as a dispersoid, a clear ink, or a treatment liquid for surface treatment of the workpiece W.

[0021] On the other hand, the second robot 4 is a robot that changes the position and posture of the workpiece W in the world coordinate system. In the example shown in Fig. 1, the second robot 4 is a six-axis vertical articulated robot, and a hand mechanism 40 is attached as an end effector to the tip of the arm of the second robot 4 in a state of being fixed by screws or the like.

[0022] The second robot 4 is configured similarly to the first robot 3, except for the end effector attached thereto. However, the first robot 3 and the second robot 4 may have different configurations, and in this embodiment, the configurations such as arm length or payload capacity may differ from each other as necessary. In addition, the first robot 3 and the second robot 4 may have different numbers of joints from each other.

[0023] The hand mechanism 40 is a robot hand that detachably holds the workpiece W. Here, "holding" is a concept that includes both suction and gripping. In the example shown in FIG. 1, the hand mechanism 40 is a mechanism that suctions the workpiece W by negative pressure. The configuration of the hand mechanism 40 is appropriately determined depending on the shape, size, material, and the like of the workpiece W. The hand mechanism 40 is not limited to a suction mechanism that uses negative pressure, and may be, for example, a suction mechanism that uses magnetic force, or a gripping hand mechanism having multiple fingers or claws.

[0024] The ink supply unit 6 is a mechanism for supplying ink to the liquid ejection unit 5. In the example shown in FIG. 1, the ink supply unit 6 has an ink tank 6a, a supply tube 6b, a sub-tank 6c, and a supply tube 6d. The ink tank 6a is a container for storing ink, and is made of, for example, a flexible film. The supply tube 6b is a tube that connects the ink tank 6a and the sub-tank 6c, and is made of, for example, a rubber material or an elastomer material. The sub-tank 6c is a container for storing ink supplied from the ink tank 6a through the supply tube 6b, and is made of, for example, a resin material or a metal material. For example, ink can be supplied from the ink tank 6a to the sub-tank 6c by a pump (not shown) or the like provided in the middle of the supply tube 6b. The supply tube 6d is a tube that connects the sub-tank 6c and the liquid ejection unit 5, and is made of, for example, a rubber material or an elastomer material. The flexibility of the supply tube 6d allows the liquid ejection unit 5 to change in position and attitude.

[0025] Here, the sub-tank 6c is fixed to the case 20 so as to be located vertically above the movement area of ​​the liquid ejection unit 5. Therefore, the sub-tank 6c is always located in the Z1 direction relative to the liquid ejection unit 5, so that ink can be supplied from the sub-tank 6c to the liquid ejection unit 5 at a predetermined pressure without using a mechanism such as a pump. The sub-tank 6c may be omitted. In this case, for example, a pump may be used to supply ink from the ink tank 6a to the liquid ejection unit 5 at a predetermined pressure.

[0026] The imaging unit 7 is a device for detecting the position and posture of the workpiece W. The imaging unit 7 has an imaging device 7a and an illumination unit 7b. The imaging device 7a is generally called a vision sensor, and is a camera including an imaging optical system and an imaging element, and captures an object located inside the imaging range. The imaging optical system is an optical system including at least one imaging lens, and may include various optical elements such as a prism, or may include a zoom lens or a focus lens. The imaging element is, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary MOS) image sensor. A two-axis or three-axis imaging coordinate system based on an arbitrary point of the captured image is set in the imaging device 7a. This imaging coordinate system is associated with the above-mentioned base coordinate system or world coordinate system by calibration. The illumination unit 7b is a light source including a light emitting element such as an LED (light emitting diode), and emits light toward the imaging range of the imaging device 7a. When the workpiece W is captured as the object by illumination of the illumination unit 7b, the contrast of the captured image of the imaging device 7a can be increased. As a result, it is possible to improve the detection accuracy of the position and posture of the workpiece W based on the imaging result of the imaging device 7a. The illumination unit 7b is appropriately provided with optical components such as lenses or reflectors for adjusting the light emission direction or emission range. The light emission direction of the illumination unit 7b is the Y1 direction, and the light emitted from the illumination unit 7b diffuses in the X and Z directions as it moves from the illumination unit 7b to the Y1 direction.

[0027] The maintenance unit 8 is a mechanism for performing maintenance on the head 5a of the liquid ejection unit 5. In the example shown in FIG. 1, the maintenance unit 8 is divided into a unit 8a and a unit 8b. The unit 8a has a cap, a wiper, and a suction mechanism, which are not shown. The cap is made of an elastic material such as rubber, and covers the nozzles and nozzle surface of the head 5a described later to prevent the ink near the nozzles of the head 5a from drying. In addition, when the ink is a photocurable ink, the cap covers the nozzle surface of the head 5a to block external light, thereby preventing the ink near the nozzles of the head 5a from thickening or solidifying. The wiper cleans the nozzle surface of the head 5a by wiping the nozzle surface. The suction mechanism refreshes the ink in the nozzles by sucking ink from the nozzles of the head 5a with the nozzle surface covered by the cap. The unit 8b is a mechanism for inspecting the ink ejection function of the head 5a. For example, the unit 8b supports a medium such as paper or film for printing a test pattern. The configuration of the maintenance unit 8 is not limited to the above-mentioned configuration, and for example, the unit 8b may be omitted.

[0028] The placement unit 9 is a platform having a surface 9a on which the workpiece W is placed for material supply and removal. The placement unit 9 is disposed at a position where the workpiece W can be supplied and removed from the outside of the case 20. In the example shown in FIG. 1, the surface 9a can place two workpieces W. Since the surface 9a can place a plurality of workpieces W in this way, the workpiece W for the next printing can be placed on the surface 9a while leaving an area for removing the workpiece W being printed. Although not shown, the surface 9a is appropriately formed with a shape such as a concave or convex portion for stabilizing the position and posture of the placed workpiece W. The configuration of the placement unit 9 is not limited to the example shown in FIG. 1 and is arbitrary.

[0029] The curing unit 10 is a mechanism for curing or solidifying the ink on the workpiece W. In the example shown in FIG. 1, the curing unit 10 has a light-shielding member 10a and a light source 10b. The light-shielding member 10a is a box-shaped light-shielding member that opens in the Z1 direction so that the workpiece W can enter, and is made of, for example, a resin material or a metal material. The light source 10b is disposed inside the light-shielding member 10a. The light source 10b emits energy such as light, heat, electron beams, or radiation for curing or solidifying the ink. For example, when the ink is ultraviolet-curable, the energy is ultraviolet light, and is made of a light-emitting element such as an LED (light emitting diode) that emits ultraviolet light. The light source 10b may have optical components such as a lens for adjusting the emission direction or emission range of the energy. In addition to the light source 10b, a mirror for reflecting light from the light source 10b may be provided inside the light-shielding member 10a.

[0030] The controller 11 is a robot controller that controls the driving of the first robot 3 and the second robot 4. The control module 12 is a circuit module that is communicatively connected to the controller 11 and controls the liquid ejection unit 5. A computer 13 is communicatively connected to the controller 11 and the control module 12. In the example shown in FIG. 1, the computer 13 is a notebook type, but is not limited to this, and for example, the computer 13 may be a desktop type or the like. Hereinafter, the electrical configuration of the three-dimensional object printing device 1 will be described with reference to FIG. 2.

[0031] 1-2. Electrical configuration of the 3D printing device FIG. 2 is a block diagram showing the electrical configuration of the three-dimensional object printing device 1 according to the first embodiment. FIG. 2 shows electrical components among the components of the three-dimensional object printing device 1. Note that each electrical component shown in FIG. 1 may be appropriately divided, a part of it may be included in other components, or it may be configured integrally with other components. For example, some or all of the functions of the controller 11 or the control module 12 may be realized by a computer 13, or may be realized by other external devices such as a PC (personal computer) connected to the controller 11 via a network such as a LAN (Local Area Network) or the Internet.

[0032] The controller 11 has a function of controlling the driving of the first robot 3 and the second robot 4, and a function of generating a signal D3 for synchronizing the ink ejection operation of the liquid ejection unit 5 with the operation of the first robot 3. The controller 11 has a memory circuit 11a and a processing circuit 11b.

[0033] The memory circuit 11a stores various programs executed by the processing circuit 11b and various data processed by the processing circuit 11b. The memory circuit 11a includes one or both of semiconductor memories, for example, a volatile memory such as a random access memory (RAM) and a non-volatile memory such as a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM) or a programmable ROM (PROM). Note that a part or the whole of the memory circuit 11a may be included in the processing circuit 11b.

[0034] The memory circuit 11a stores path information Da and path information Db. The path information Da is information indicating the path along which the liquid discharge unit 5 should move and the attitude of the liquid discharge unit 5 on the path. The path information Db is information indicating the path along which the hand mechanism 40 should move and the attitude of the hand mechanism 40 on the path. Each of these pieces of information is expressed using, for example, coordinate values ​​in a base coordinate system or a world coordinate system. Each of these pieces of information is determined based on the shape of the workpiece W, etc. The shape of the workpiece W is obtained, for example, from CAD (computer-aided design) data indicating the three-dimensional shape of the workpiece W.

[0035] Here, the path information Db includes information regarding the position and orientation of the workpiece W during printing. Furthermore, the path information Da includes information regarding the position and orientation of the liquid ejection unit 5 during printing. The position and orientation of the liquid ejection unit 5 during printing is determined based on information such as CAD data of the workpiece W and the position and orientation of the workpiece W during printing. Each of the above path information Da and path information Db is input from the computer 13 to the memory circuit 11a.

[0036] The processing circuit 11b controls the operation of the arm driving mechanism 3a of the first robot 3 based on the path information Da, and generates a signal D3. The processing circuit 11b also controls the operation of the arm driving mechanism 4a of the second robot 4 based on the path information Db. Here, the processing circuit 11b corrects the operation of at least one of the arm driving mechanism 3a and the arm driving mechanism 4a during printing based on the imaging result of the imaging unit 7. In this embodiment, the processing circuit 11b corrects the operation of the arm driving mechanism 4a during printing based on the imaging result of the imaging unit 7. The processing circuit 11b includes, for example, one or more processors such as a CPU (Central Processing Unit). Note that the processing circuit 11b may include a programmable logic device such as an FPGA (field-programmable gate array) instead of or in addition to the CPU.

[0037] The arm driving mechanism 3a has a motor for driving each joint of the first robot 3, and an encoder for detecting the rotation angle of each joint of the first robot 3. Similarly, the arm driving mechanism 4a has a motor for driving each joint of the second robot 4, and an encoder for detecting the rotation angle of each joint of the second robot 4.

[0038] The processing circuit 11b performs inverse kinematic calculation, which is a calculation for converting the path information Da into movement amounts such as the rotation angle and rotation speed of each joint of the first robot 3. Then, the processing circuit 11b outputs a control signal Sk1 based on the output D1 from each encoder of the arm driving mechanism 3a so that the movement amounts such as the actual rotation angle and rotation speed of each joint become the above-mentioned calculation results. The control signal Sk1 controls the driving of the motor of the arm driving mechanism 3a.

[0039] Similarly, the processing circuit 11b performs inverse kinematic calculation, which is a calculation to convert the path information Db into movement amounts such as the rotation angle and rotation speed of each joint of the second robot 4. Then, the processing circuit 11b outputs a control signal Sk2 based on the output D2 from each encoder of the arm driving mechanism 4a so that the movement amounts such as the actual rotation angle and rotation speed of each joint become the above-mentioned calculation results. The control signal Sk2 controls the driving of the motor of the arm driving mechanism 4a.

[0040] Here, the processing circuit 11b detects the position and orientation of the workpiece W at the time of printing based on the imaging result of the imaging device 7a of the imaging unit 7. Then, based on the detection result and the path information Db, the processing circuit 11b corrects the control signal Sk2 at the time of printing so that the difference between the detection result and the position and orientation indicated by the path information Db is reduced. The position and orientation of the workpiece W are obtained, for example, by converting the position and orientation of the workpiece W in the image captured by the imaging device 7a from the imaging coordinate system to the world coordinate system. In addition, the position and orientation of the workpiece W in the imaging coordinate system are calculated, for example, based on the position of the feature point of the workpiece W in the captured image and the shape information of the workpiece W. The detection of the position and orientation of the workpiece W based on the imaging result of the imaging device 7a may be performed by an image processing circuit included in the imaging device 7a, or may be performed by the computer 13.

[0041] Furthermore, the processing circuit 11b generates a signal D3 based on an output D1 from at least one of the multiple encoders of the arm driving mechanism 3a. For example, the processing circuit 11b generates, as the signal D3, a trigger signal including a pulse at a timing when the output D1 from one of the multiple encoders becomes a predetermined value.

[0042] The control module 12 is a circuit that controls the ink ejection operation of the liquid ejection unit 5 based on a signal D3 output from the controller 11 and print data from the computer 13. The control module 12 has a timing signal generation circuit 12a, a power supply circuit 12b, a control circuit 12c, and a drive signal generation circuit 12d.

[0043] The timing signal generating circuit 12a generates a timing signal PTS based on the signal D3. The timing signal generating circuit 12a is formed of, for example, a timer that starts generating the timing signal PTS in response to detection of the signal D3.

[0044] The power supply circuit 12b receives power from a commercial power supply (not shown) and generates various predetermined potentials. The generated various potentials are appropriately supplied to the control module 12 and each part of the liquid ejection unit 5. For example, the power supply circuit 12b generates a power supply potential VHV and an offset potential VBS. The offset potential VBS is supplied to the liquid ejection unit 5. In addition, the power supply potential VHV is supplied to the drive signal generation circuit 12d.

[0045] The control circuit 12c generates a control signal SI, a waveform designation signal dCom, a latch signal LAT, a clock signal CLK, and a change signal CNG based on the timing signal PTS. These signals are synchronized with the timing signal PTS. Of these signals, the waveform designation signal dCom is input to the drive signal generation circuit 12d, and the other signals are input to the switch circuit 5d of the liquid ejection unit 5.

[0046] The control signal SI is a digital signal for specifying the operating state of the drive element of the head 5a of the liquid ejection unit 5. Specifically, the control signal SI specifies whether or not to supply the drive signal Com described below to the drive element. This specification, for example, specifies whether or not to eject ink from the nozzle corresponding to the drive element, or specifies the amount of ink ejected from the nozzle. The waveform specification signal dCom is a digital signal for defining the waveform of the drive signal Com. The latch signal LAT and the change signal CNG are used in conjunction with the control signal SI to specify the drive timing of the drive element, thereby specifying the ejection timing of ink from the nozzle. The clock signal CLK is a reference clock signal synchronized with the timing signal PTS.

[0047] The control circuit 12c includes, for example, one or more processors such as a CPU (Central Processing Unit). Note that the control circuit 12c may include a programmable logic device such as an FPGA (field-programmable gate array) instead of or in addition to a CPU.

[0048] The drive signal generating circuit 12d is a circuit that generates a drive signal Com for driving each drive element of the head 5a of the liquid ejection unit 5. Specifically, the drive signal generating circuit 12d has, for example, a DA conversion circuit and an amplifier circuit. In the drive signal generating circuit 12d, the DA conversion circuit converts the waveform designation signal dCom from the control circuit 12c from a digital signal to an analog signal, and the amplifier circuit amplifies the analog signal using the power supply potential VHV from the power supply circuit 12b to generate the drive signal Com. Here, among the waveforms included in the drive signal Com, a signal having a waveform that is actually supplied to the drive element is a drive pulse PD. The drive pulse PD is supplied from the drive signal generating circuit 12d to the drive element via a switch circuit 5d of the liquid ejection unit 5. The switch circuit 5d switches whether or not to supply at least a part of the waveform included in the drive signal Com as the drive pulse PD based on a control signal SI.

[0049] The computer 13 has a function of supplying information such as path information Da and path information Db to the controller 11, and a function of supplying information such as print data to the control module 12. The imaging device 7a described above may be connected to the controller 11 via the computer 13. In this case, the computer 13 may input the imaging results of the imaging device 7a directly to the controller 11, or may calculate the position and orientation of the workpiece W based on the imaging results of the imaging device 7a and input information indicating the calculation results to the controller 11.

[0050] 1-3. Configuration of the first robot 3 is a perspective view of the first robot 3. The configuration of the first robot 3 will be described below. Note that the configuration of the second robot 4 is similar to that of the first robot 3 except for the end effector attached thereto, and therefore a description thereof will be omitted. However, as described above, the configurations of the first robot 3 and the second robot 4 may differ from each other, and this point will be appropriately described in 1-5. etc. described later.

[0051] As shown in FIG. 3, the first robot 3 has a base 310 which is an example of a “first base” and an arm 320.

[0052] The base 310 is a platform that supports the arm 320. In the example shown in Fig. 3, the base 310 is attached in the Z direction to the surface 2a of the base 2 described above, and is fixed by screws or the like.

[0053] Arm 320 is a six-axis robot arm having a base end attached to base 310 and a tip end that changes its position and posture three-dimensionally relative to the base end. Specifically, arm 320 has arms 321, 322, 323, 324, 325, and 326, which are connected in this order.

[0054] The arm 321 is connected to the base 310 via a joint 330_1 so as to be rotatable around a rotation axis O1. The arm 322 is connected to the arm 321 via a joint 330_2 so as to be rotatable around a rotation axis O2. The arm 323 is connected to the arm 322 via a joint 330_3 so as to be rotatable around a rotation axis O3. The arm 324 is connected to the arm 323 via a joint 330_4 so as to be rotatable around a rotation axis O4. The arm 325 is connected to the arm 324 via a joint 330_5 so as to be rotatable around a rotation axis O5. The arm 326 is connected to the arm 325 via a joint 330_6 so as to be rotatable around a rotation axis O6.

[0055] Each of the joints 330_1 to 330_6 is a mechanism that rotatably couples one of two adjacent members among the base 310 and the arms 321 to 326 to the other. Although not shown in FIG. 3, each of the joints 330_1 to 330_6 is provided with a drive mechanism that rotates one of the two adjacent members relative to the other. The drive mechanism includes, for example, a motor that generates a drive force for the rotation, a reducer that reduces the speed of the drive force and outputs it, and an encoder such as a rotary encoder that detects an amount of movement such as an angle of the rotation. An assembly of the drive mechanisms of the joints 330_1 to 330_6 corresponds to the arm drive mechanism 3a shown in FIG. 2 described above.

[0056] The rotation axis O1 is an axis perpendicular to the surface 2a to which the base 310 is fixed. The rotation axis O2 is an axis perpendicular to the rotation axis O1. The rotation axis O3 is an axis parallel to the rotation axis O2. The rotation axis O4 is an axis perpendicular to the rotation axis O3. The rotation axis O5 is an axis perpendicular to the rotation axis O4. The rotation axis O6 is an axis perpendicular to the rotation axis O5.

[0057] With regard to these rotation axes, "perpendicular" refers not only to the case where the angle between the two rotation axes is exactly 90°, but also to the case where the angle between the two rotation axes is offset within a range of about ±5° from 90°. Similarly, "parallel" refers not only to the case where the two rotation axes are exactly parallel, but also to the case where one of the two rotation axes is inclined relative to the other axis within a range of about ±5°.

[0058] The arm located at the most distal end of the above arms 320, ie, arm 326, is equipped with a liquid discharge unit 5 as an end effector.

[0059] 1-4. Configuration of liquid ejection unit 4 is a perspective view showing a schematic configuration of the liquid ejection unit 5. The following description will be made appropriately using the mutually intersecting a-axis, b-axis, and c-axis. Moreover, one direction along the a-axis is called the a1 direction, and the direction opposite to the a1 direction is called the a2 direction. Similarly, the opposite directions along the b-axis are called the b1 direction and the b2 direction. Moreover, the opposite directions along the c-axis are called the c1 direction and the c2 direction.

[0060] Here, the a-axis, the b-axis, and the c-axis are coordinate axes of a tool coordinate system set in the liquid discharge unit 5, and the relative position and posture relationship with the X-axis, the Y-axis, and the Z-axis changes due to the operation of the first robot 3 described above. In the example shown in FIG. 4, the c-axis is an axis parallel to the rotation axis O6 described above. The a-axis, the b-axis, and the c-axis are typically perpendicular to each other, but are not limited to this, and may intersect at an angle within a range of 80° to 100°, for example. The tool coordinate system and the base coordinate system described above are associated with each other by calibration. The tool coordinate system is set, for example, so that the center of the nozzle surface F described later is the reference (tool center point).

[0061] As described above, the liquid discharge unit 5 has the head 5a, the pressure adjustment valve 5b, and the temporary curing light source 5c. These are supported by the support 5e shown by the two-dot chain line in Fig. 4. In the example shown in Fig. 4, the liquid discharge unit 5 has one head 5a and one pressure adjustment valve 5b, but the numbers are not limited to the example shown in Fig. 4 and may be two or more. In addition, the installation position of the pressure adjustment valve 5b is not limited to the arm 326 and may be, for example, another arm or the like, or may be a fixed position relative to the base 310.

[0062] The support 5e is made of, for example, a metal material, and is substantially rigid. Although the support 5e has a flat box shape in Fig. 4, the shape of the support 5e is not particularly limited and may be any shape.

[0063] The support body 5e is attached to the above-mentioned arm 326. In this manner, the head 5a, the pressure adjustment valve 5b, and the provisional curing light source 5c are collectively supported by the support body 5e on the arm 326. Therefore, the relative positions of the head 5a, the pressure adjustment valve 5b, and the provisional curing light source 5c with respect to the arm 326 are fixed.

[0064] The head 5a has a nozzle surface F and a plurality of nozzles N opening on the nozzle surface F. In the example shown in FIG. 4, the normal direction of the nozzle surface F is the c2 direction, and the plurality of nozzles N are divided into a first nozzle row La and a second nozzle row Lb arranged at intervals in the direction along the a-axis. Each of the first nozzle row La and the second nozzle row Lb is a collection of a plurality of nozzles N linearly arranged in the direction along the b-axis. Here, elements related to each nozzle N of the first nozzle row La in the head 5a and elements related to each nozzle N of the second nozzle row Lb are configured to be approximately symmetrical to each other in the direction along the a-axis.

[0065] However, the positions of the multiple nozzles N in the first nozzle row La and the multiple nozzles N in the second nozzle row Lb in the direction along the b-axis may be the same or different. Also, elements related to each nozzle N of one of the first nozzle row La and the second nozzle row Lb may be omitted. In the following, a configuration in which the positions of the multiple nozzles N in the first nozzle row La and the multiple nozzles N in the second nozzle row Lb in the direction along the b-axis are the same will be exemplified.

[0066] Although not shown, the head 5a has a piezoelectric element as a drive element and a cavity for accommodating ink for each nozzle N. Here, the piezoelectric element changes the pressure in the cavity corresponding to the piezoelectric element to eject ink from the nozzle corresponding to the cavity. Such a head 5a is obtained, for example, by bonding together a plurality of substrates such as silicon substrates that have been appropriately processed by etching or the like, with an adhesive or the like. Note that instead of the piezoelectric element, a heater for heating the ink in the cavity may be used as a drive element for ejecting ink from the nozzle.

[0067] 4, the pressure regulating valve 5b is located in the c1 direction relative to the head 5a, and the provisional curing light source 5c is located in the a2 direction relative to the head 5a.

[0068] The pressure regulating valve 5b is connected to the sub-tank 6c via the supply pipe 6d of the ink supply unit 6 described above. The pressure regulating valve 5b is a valve mechanism that opens and closes according to the pressure of the ink in the head 5a. This opening and closing maintains the pressure of the ink in the head 5a at a negative pressure within a predetermined range even if the positional relationship between the head 5a and the sub-tank 6c changes. This stabilizes the meniscus of the ink formed in the nozzle N of the head 5a. As a result, it is possible to prevent air bubbles from entering the nozzle N and the ink from overflowing from the nozzle N. The ink from the pressure regulating valve 5b is appropriately distributed to multiple locations in the head 5a via branch channels (not shown).

[0069] The provisional curing light source 5c emits energy such as light, heat, electron beams, or radiation to semi-cure or semi-solidify the ink on the workpiece W. "Semi-cure" refers to a state in which the ink is partially cured without being completely cured. Similarly, "semi-solidification" refers to a state in which the ink is partially solidified without being completely solidified. The provisional curing light source 5c is composed of a light emitting element such as an LED (light emitting diode) that emits ultraviolet light, as with the light source 10b of the curing unit 10 described above. The provisional curing light source 5c may have optical components such as a lens for adjusting the emission direction or emission range of energy. The provisional curing light source 5c may be provided as necessary, and may be omitted. The provisional curing light source 5c may be used to completely cure the ink on the workpiece W.

[0070] 1-5. Placement of the curing unit and maintenance unit Fig. 5 is a plan view of the three-dimensional object printing apparatus 1 according to the first embodiment. Fig. 5 shows the three-dimensional object printing apparatus 1 as viewed in the Z2 direction.

[0071] As described above, the first robot 3 has a base 310, which is an example of a "first base" fixed to the base 2, and an arm 320, and a head 5a is attached to the tip of the arm 320. On the other hand, as shown in Fig. 5, the second robot 4 has a base 410, which is an example of a "second base" fixed to the base 2, and an arm 420, and a hand mechanism 40 that supports a workpiece W is attached to the tip of the arm 420. Note that the base 410, like the base 310, is attached to the surface 2a of the base 2 in the Z direction and fixed by screws or the like.

[0072] In a plan view of the base 2, the positions of the bases 310 and 410 in the direction along the X-axis are different from each other, and the base 310 is located further in the X1 direction than the base 410. Therefore, in a plan view of the base 2, a virtual line segment LV connecting the bases 310 and 410 extends mainly along the X-axis. Note that the virtual line segment LV may connect any position of the base 310 and any position of the base 410 in a plan view of the base 2. In the example shown in FIG. 5, the virtual line segment LV passes through the first axis, which is the rotation axis of the joint closest to the base 2 of each of the first robot 3 and the second robot 4.

[0073] 5, the positions of the base 310 and the base 410 in the direction along the Y axis are slightly different from each other, and the base 310 is located further in the Y1 direction than the base 410. Therefore, in a plan view of the base 2, the virtual line segment LV is slightly inclined with respect to the X axis. Note that in this embodiment, the virtual line segment LV may be considered to be parallel to the X axis in a plan view of the base 2. Also, the virtual line segment LV may be parallel to the X axis in a plan view of the base 2.

[0074] A maintenance unit 8 is disposed in a position in the Y1 direction with respect to the imaginary line segment LV. On the other hand, an ink supply unit 6, an imaging unit 7, a maintenance unit 8 and a mounting portion 9 are disposed in a position in the Y2 direction with respect to the imaginary line segment LV.

[0075] Therefore, in a plan view of the base 2, the virtual line segment LV passes between the curing unit 10 and the maintenance unit 8. In addition, in a plan view of the base 2, the virtual line segment LV passes through the imaging range RI. Therefore, an object located close to the virtual line segment LV can be imaged by the imaging unit 7.

[0076] Furthermore, the maintenance unit 8 is located inside the operating range RR1 of the first robot 3, and outside the operating range RR2 of the second robot 4. Here, since the first robot 3 uses the maintenance unit 8 to perform maintenance on the head 5a, it is necessary to position the maintenance unit 8 inside the operating range RR1 of the first robot 3. On the other hand, since the second robot 4 does not use the maintenance unit 8, it is not necessary to position the maintenance unit 8 inside the operating range RR2 of the second robot 4. Note that the maintenance unit 8 may be located inside the operating range RR2 of the second robot 4 if it does not interfere with the operation of the second robot 4.

[0077] Here, the operating range RR1 is an area inside a circle centered at an arbitrary part of the base 310 in a plan view of the base 2 and having a radius equal to the length LR1 of the arm 320. The length LR1 is the distance between both ends of the arm 320 when it is stretched out in a straight line. Similarly, the operating range RR2 is an area inside a circle centered at an arbitrary part of the base 410 in a plan view of the base 2 and having a radius equal to the length LR2 of the arm 420. The length LR2 is the distance between both ends of the arm 420 when it is stretched out in a straight line.

[0078] The length LR1 and the length LR2 may be equal to or different from each other. In the example shown in Fig. 5, the length LR1 of the arm 320 of the first robot 3 is shorter than the length LR2 of the arm 420 of the second robot 4. This is to increase the degree of freedom of handling the workpiece W by the second robot 4 and to reduce vibration during operation of the first robot 3. Here, from the viewpoint of reducing vibration during operation of the first robot 3, it is preferable that the payload capacity of the first robot 3 is greater than the payload capacity of the second robot 4.

[0079] In addition, the maintenance unit 8 is located outside the imaging range RI. This is to prevent the processing using the imaging results of the imaging device 7a from becoming complicated when the maintenance unit 8 is imaged by the imaging device 7a. In addition, the maintenance unit 8 is located outside the illumination range RL of the illumination section 7b. This is to prevent the light from the illumination section 7b from shining on the head 5a during maintenance by the maintenance unit 8. Note that the illumination range RL in this embodiment is a range located on the Y1 direction side with respect to the illumination section 7b.

[0080] In addition, in a plan view of the base 2, the placement unit 9 is located on the same side as the maintenance unit 8 with respect to the virtual line segment LV, but is arranged outside the imaging range RI. This is to prevent not only the workpiece W located on the placement unit 9 from being imaged by the imaging device 7a, but also the processing using the imaging results of the imaging device 7a from becoming complicated if the workpiece W is imaged.

[0081] In addition, in a plan view of the base 2, the curing unit 10 and the maintenance unit 8 are each located between a first straight line LS1 that passes through the base 310 of the first robot 3 and is perpendicular to the virtual line segment LV, and a second straight line LS2 that passes through the base 410 of the second robot 4 and is perpendicular to the virtual line segment LV. This is to make the three-dimensional object printing device 1 more compact.

[0082] 1-6. Operation of the three-dimensional printing device Fig. 6 is a flowchart showing the flow of operations of the three-dimensional object printing apparatus 1 according to the first embodiment. As shown in Fig. 6, the three-dimensional object printing apparatus 1 executes a material supply step S10, an information acquisition step S20, an adjustment step S30, a first printing step S40, a retreat step S50, a movement step S60, a second printing step S70, a post-processing step S80, and a material removal step S90 in this order.

[0083] Here, the material supply step S10 includes a holding step S11. The post-processing step S80 includes a hardening step S81 and a maintenance step S82, and the hardening step S81 includes a first hardening step S81a and a second hardening step S81b. Each step will be described below in order.

[0084] 1-6-1. Material supply step S10 Fig. 7 is a diagram for explaining the material supply step S10. In the material supply step S10, first, a holding step S11 is executed. In the holding step S11, as shown by a solid line in Fig. 7, the second robot 4 brings the hand mechanism 40 close to the placement unit 9, and the hand mechanism 40 holds the workpiece W located on the placement unit 9. As a result, the hand mechanism 40 receives the supply of the workpiece W from the placement unit 9. Thereafter, as shown by a two-dot chain line in Fig. 7, the second robot 4 moves the workpiece W from the outside to the inside of the imaging range RI.

[0085] In this step, the operating state of the first robot 3 is not particularly limited and is arbitrary. In addition, in this step, the operating states of the imaging unit 7 and the curing unit 10 are also not particularly limited, but when the head 5a is not covered by the maintenance unit 8, it is preferable to turn off the illumination unit 7b of the imaging unit 7 and the light source 10b of the curing unit 10 depending on the position or posture of the head 5a.

[0086] 1-6-2. Information acquisition step S20 In the information acquisition step S20, while the second robot 4 is holding the workpiece W as indicated by the dotted line in Figure 7, the controller 11 acquires information regarding the relative position of the workpiece W with respect to the base 2 based on the imaging results of the imaging device 7a.

[0087] In this step, the illumination unit 7b is turned on. Therefore, from the viewpoint of preventing the ink near the nozzle N from being cured or solidified by the light from the illumination unit 7b, it is preferable that the first robot 3 positions the nozzle surface F outside the illumination range RL of the illumination unit 7b, or faces the nozzle surface F in a direction that is shaded by the light from the illumination unit 7b. From the same viewpoint, it is preferable that the nozzle N is covered by the maintenance unit 8 in this step.

[0088] In addition, in this step, from the viewpoint of improving the accuracy of the information related to the position based on the imaging result of the imaging device 7a, it is preferable that the head 5a is located outside the imaging range RI. Here, in this step, at least one of the first robot 3 and the second robot 4 may have a part located inside the imaging range RI. However, in this case, from the viewpoint of improving the accuracy of the information related to the position, it is preferable that the color of the workpiece W and the color of the part of the first robot 3 and the second robot 4 are different from each other. For example, by painting the part of the first robot 3 and the second robot 4 in a color different from the workpiece W, it is possible to increase the contrast between the workpiece W and the part that is the background in the image captured by the imaging device 7a. This makes it easier to process the imaging result in the processing circuit 11b, thereby improving the accuracy of the information related to the position. Note that if the part is black, it is easier to maintain the contrast in the captured image even if the workpiece W has a different color.

[0089] 1-6-3. Adjustment step S30 In the adjustment step S30, the controller 11 controls the operation of the second robot 4 based on the information acquired in the information acquisition step S20, thereby adjusting the position of the workpiece W located inside the imaging range RI.

[0090] The position and posture of the workpiece W after adjustment in this step is the first state, which is the position and posture of the workpiece W when the first printing step S40 is performed. Here, in a plan view of the base 2, the position of the workpiece W after adjustment in this step is closer to the virtual line segment LV than the position of the workpiece W when the above-mentioned holding step S11 is performed. Also, in a plan view of the base 2, the position of the workpiece W after adjustment in this step is closer to the virtual line segment LV than when the curing step S81 and the maintenance step S82 are performed.

[0091] 1-6-4. First printing step S40 8 is a diagram for explaining the operation of the first robot 3 in the first printing step S40. In the first printing step S40, as shown in FIG. 8, in a state in which the second robot 4 fixes the position and posture of the workpiece W in a first state, the first robot 3 relatively moves the head 5a and the workpiece W inside the imaging range RI, while the head 5a ejects ink onto the workpiece W. In the example shown in FIG. 8, the first robot 3 moves the head 5a in a direction along the major axis of the workpiece W. Note that the posture of the workpiece W in the first printing step S40 is not particularly limited and is arbitrary.

[0092] Thus, in this step, the second robot 4 does not operate, and the first robot 3 operates. Therefore, vibration of the workpiece W can be prevented. The vibration is likely to occur because the workpiece W is held detachably by the hand mechanism 40, and becomes prominent when the second robot 4 operates in the first printing step, causing a shift in the landing position of the ink droplets, leading to a deterioration in image quality. Also, even if the rigidity of the workpiece W is low due to its material or shape, the vibration of the workpiece W becomes prominent, similarly leading to a deterioration in image quality. In contrast, the head 5a attached to the first robot is not held by a hand mechanism or the like, and is less likely to vibrate than the workpiece W. Therefore, in this step, the second robot 4 does not operate, and the first robot 3 operates, thereby suppressing the deterioration in image quality due to the above-mentioned vibration. Here, from the viewpoint of reducing the meandering of the movement path of the head 5a, it is preferable to operate the first robot 3 in this step by as few joints as possible, and it is also preferable to operate the first robot 3 by operating the joints of three mutually parallel rotation axes. In the example shown in FIG. 8, the three rotation axes are rotation axis O2, rotation axis O3, and rotation axis O5.

[0093] In this step, from the viewpoint of preventing the ink in the vicinity of the nozzle N from being cured or solidified by the light from the illumination unit 7b, it is preferable to turn off the illumination unit 7b.

[0094] 9 is a diagram for explaining the printing area of ​​the workpiece W in the first printing step S40. As shown in FIG. 9, in this step, the first robot 3 causes the head 5a to scan along the first area RP1 of the first area RP1 and the second area RP2 that are different from each other on the workpiece W, while the head 5a ejects ink onto the first area RP1. In the example shown in FIG. 9, the first area RP1 and the second area RP2 partially overlap each other. Note that the first area RP1 and the second area RP2 do not have to overlap each other. For example, the first area RP1 and the second area RP2 may be on the front and back sides.

[0095] In this step, the provisional curing light source 5c may be turned on. In this case, it is possible to provisionally cure the ink on the workpiece W. After this step, the provisional curing light source 5c may be turned on while the first robot 3 scans the provisional curing light source 5c along the first region RP1 in a state in which ink is not discharged from the head 5a.

[0096] 1-6-5. Evacuation step S50 FIG. 10 is a diagram for explaining the retreat step S50. In the retreat step S50, as shown in FIG. 10, the first robot 3 increases the distance between the head 5a and the workpiece W compared to when the first printing step S40 is performed. In the example shown in FIG. 10, a state in which the head 5a is covered by the maintenance unit 8 is illustrated. Note that in this step, the head 5a does not have to be covered by the maintenance unit 8. However, in this case, depending on the position or posture of the head 5a, it is preferable to turn off the illumination unit 7b of the imaging unit 7 or the light source 10b of the curing unit 10.

[0097] 1-6-6. Movement step S60 FIG. 11 is a diagram for explaining the moving step S60. In the moving step S60, the second robot 4 changes the position and posture of the workpiece W from a first state to a second state different from the first state. In the example shown in FIG. 11, the first state is the state shown by the two-dot chain line in FIG. 11, and the second state is the state shown by the solid line in FIG. 11. The second state is the state of the position and posture of the workpiece W when the second printing step S70 is performed. Note that this step may include a step of adjusting the position of the workpiece W in the same manner as the above-mentioned adjustment step S30.

[0098] 1-6-7. Second printing step S70 In the second printing step S70, as shown in Fig. 11, printing is performed in the same manner as in the first printing step S40 described above, except that printing is performed on the second region RP2. Here, in the second printing step S70, with the second robot 4 fixing the position and orientation of the workpiece W in the second state, the first robot 3 moves the head 5a and the workpiece W relatively inside the imaging range RI, while the head 5a ejects ink onto the workpiece W. Also, the operation of the first robot 3 in this step is the same as the operation of the first robot 3 in the first printing step S40 described above.

[0099] In this step, the provisional curing light source 5c may be turned on. In this case, it is possible to provisionally cure the ink on the workpiece W. After this step, the provisional curing light source 5c may be turned on while the first robot 3 scans the provisional curing light source 5c along the second region RP2 in a state in which ink is not discharged from the head 5a.

[0100] 1-6-8. Post-processing step S80 12 is a diagram for explaining the curing step S81 and the maintenance step S82. As described above, the post-processing step S80 includes the curing step S81 and the maintenance step S82.

[0101] 12, in a state in which the second robot 4 brings the workpiece W close to the curing unit 10, the curing unit 10 irradiates energy onto the ink on the workpiece W. Here, in this embodiment, as described above, the curing step S81 includes a first curing step S81a and a second curing step S81b.

[0102] In the first curing step S81a, the curing unit 10 irradiates energy onto the ink on the first region RP1 while the second robot 4 changes the relative position and posture of the curing unit 10 and the workpiece W. In the second curing step S81b, the curing unit 10 irradiates energy onto the ink on the second region RP2 while the second robot 4 changes the relative position and posture of the curing unit 10 and the workpiece W. In these steps, it is sufficient to irradiate energy onto the ink, and no problems due to vibration of the workpiece W as in the first printing step S40 and the second printing step S70 occur. Here, it is preferable that the first curing step S81a and the second curing step S81b are performed in this order. This is because the difference in image quality between the first region RP1 and the second region RP2 can be reduced by reducing the difference in time between when the ink is ejected onto the ink on the first region RP1 and when the ink is irradiated onto the ink on the second region RP2, respectively. It should be noted that the first curing step S81a and the second curing step S81b may be performed substantially simultaneously.

[0103] In the maintenance step S82, as shown in FIG. 12, the first robot 3 brings the head 5a close to the maintenance unit 8, and the maintenance unit 8 performs maintenance on the head 5a. The maintenance includes covering the nozzles and nozzle surface with the cap of the unit 8a, sucking ink from the nozzles of the head 5a with the nozzles and nozzle surface covered by the cap, cleaning the nozzle surface of the head 5a with the wiper of the unit 8a, and printing a test pattern with the head 5a in the unit 8b. However, when the illumination unit 7b or the curing unit 10 emits light during the execution of the maintenance step S82, the maintenance is preferably an operation in which the nozzles and nozzle surface are covered with the cap. Here, from the viewpoint of shortening the processing time, etc., the maintenance step S82 is preferably performed during the execution of the first curing step S81a.

[0104] Furthermore, from the viewpoint of reducing bleeding of the image due to the flow of the ink on the workpiece W by immediately curing the ink on the workpiece W, it is preferable that the position of the workpiece W when the curing step S81 is performed is close to the position of the workpiece W when the first printing step S40 or the second printing step S70 is performed. For this reason, it is preferable that the work movement distance DW, which is the movement distance of the workpiece W required to move from the first printing step S40 or the second printing step S70 to the curing step S81, is shorter than the head movement distance DH, which is the movement distance of the head 5a required to move from the first printing step S40 or the second printing step S70 to the maintenance step S82.

[0105] The workpiece movement distance DW is the distance between the workpiece W when the first printing step S40 or the second printing step S70 is performed and the workpiece W when the curing step S81 is performed, in a planar view of the base 2. The head movement distance DH is the distance between the head 5a when the first printing step S40 or the second printing step S70 is performed and the head 5a when the maintenance step S82 is performed, in a planar view of the base 2.

[0106] 1-6-9. Material removal step S90 Fig. 13 is a diagram for explaining the material removing step S90. In the material removing step S90, first, as shown in Fig. 13, the second robot 4 moves the workpiece W to the placement unit 9. In this state, the hand mechanism 40 detaches the workpiece W, thereby placing the printed workpiece W on the placement unit 9. The printed workpiece W placed on the placement unit 9 is taken out of the case 20 by, for example, a user.

[0107] In this step, the operating state of the first robot 3 is not particularly limited and is arbitrary. In addition, in this step, the operating states of the imaging unit 7 and the curing unit 10 are also not particularly limited, but when the head 5a is not covered by the maintenance unit 8, it is preferable to turn off the illumination unit 7b of the imaging unit 7 and the light source 10b of the curing unit 10 depending on the position or posture of the head 5a. Note that the maintenance step S82 may also be executed in this step.

[0108] As described above, the three-dimensional object printing apparatus 1 prints on a three-dimensional workpiece W. Here, as described above, the three-dimensional object printing apparatus 1 has an imaging device 7a, a first robot 3, and a second robot 4. The imaging device 7a is fixed to the base 2, and captures an image of an object located inside the imaging range RI. The first robot 3 supports a head 5a having a nozzle N that ejects ink, which is an example of a "liquid," and changes the position and orientation of the head 5a. The second robot 4 supports the workpiece W, and changes the position and orientation of the workpiece W.

[0109] Then, as described above, the three-dimensional object printing apparatus 1 executes the material supply step S10 and the first printing step S40 or the second printing step S70, which are examples of a "printing step." In the material supply step S10, the second robot 4 moves the workpiece W from the outside to the inside of the imaging range RI. In the first printing step S40 or the second printing step S70, the head 5a ejects ink onto the workpiece W while at least one of the first robot 3 and the second robot 4 moves the head 5a and the workpiece W relatively inside the imaging range RI.

[0110] In the above three-dimensional object printing device, the position and posture of the head 5a and the workpiece W can be changed independently by using the first robot 3 and the second robot 4. Therefore, compared to a configuration in which the position and posture of only one of the head 5a and the workpiece W is changed, the head 5a can be brought closer to a wider range of the workpiece W. As a result, even if the workpiece W has various three-dimensional shapes, printing can be performed appropriately on the workpiece W.

[0111] In addition, in the first printing step S40 or the second printing step S70, at least one of the first robot 3 and the second robot 4 moves the head 5a and the workpiece W relatively inside the imaging range RI of the imaging device 7a. Therefore, based on the imaging result of the imaging device 7a, the position and posture of the workpiece W at the time of performing the first printing step S40 or the second printing step S70 can be detected. Therefore, even if the support position of the workpiece W by the second robot 4 shifts in the first printing step S40 or the second printing step S70, the error occurring in the relationship between the relative position and posture of the head 5a and the workpiece W can be reduced by correction by controlling the operation of at least one of the first robot 3 and the second robot 4 based on the imaging result of the imaging device 7a. From the above, in the first printing step S40 or the second printing step S70, it is possible to reduce the deterioration of image quality compared to a configuration in which the operation of the first robot 3 and the second robot 4 is controlled without using the imaging result of the imaging device 7a.

[0112] As described above, the second robot 4 has the hand mechanism 40 that detachably holds the workpiece W. When the hand mechanism 40 is used for the second robot, the support position of the workpiece W by the second robot 4 is likely to deviate from the desired position. Therefore, in this case, the effect obtained by controlling the operation of at least one of the first robot 3 and the second robot 4 based on the imaging result of the imaging device 7a becomes significant.

[0113] As described above, each of the first robot 3 and the second robot 4 is a vertical articulated robot. Therefore, the positions and postures of the head 5a and the workpiece W can be changed in various ways, compared to a configuration using other mechanisms such as a horizontal articulated robot.

[0114] Here, as described above, it is preferable that the length LR1 of the arm 320 of the first robot 3 is shorter than the length LR2 of the arm 420 of the second robot 4. In this case, there is an advantage that the vibration during operation of the first robot 3 can be made smaller than that of the second robot 4. This advantage contributes to improving image quality. In addition, by making the length of the arm 420 of the second robot 4 longer than the length of the arm 320 of the first robot 3, the operating range of the second robot 4 can be increased. Therefore, at any point within a wide range, it is possible to supply or remove the workpiece W, or to harden or solidify the ink on the workpiece W.

[0115] As described above, it is preferable that the weight capacity of the first robot 3 is greater than that of the second robot 4. In this case, there is an advantage that it is easier to reduce vibrations during operation of the first robot 3 compared to the second robot 4. This advantage contributes to improving image quality. In particular, the greater the weight of the end effector of the first robot 3, the more remarkable the effect obtained by this advantage becomes.

[0116] As described above, the three-dimensional printing apparatus 1 further includes a placement unit 9. The placement unit 9 is arranged outside the imaging range RI and can place the workpiece W thereon. The hand mechanism 40 receives the supply of the workpiece W from the placement unit 9. Since the placement unit 9 is arranged outside the imaging range RI of the imaging device 7a in this manner, fluctuations in the imaging conditions of the imaging device 7a due to the presence or absence or change of the workpiece W at the placement unit 9 are prevented. For this reason, compared to a configuration in which the placement unit 9 is arranged inside the imaging range RI, the processing using the imaging results of the imaging device 7a can be simplified. Note that, in this embodiment, a configuration in which the placement unit 9 is used for both supplying and removing the workpiece W is exemplified, but the present invention is not limited to this configuration, and for example, the placement unit 9 may be used only for supplying the workpiece. In this case, for example, a platform or conveyor on which the workpiece W can be placed is provided separately from the placement unit 9.

[0117] As described above, the three-dimensional object printing apparatus 1 also executes the information acquisition step S20 between the material supply step S10 and the first printing step S40 or the second printing step S70. The information acquisition step S20 acquires information about the relative position of the workpiece W with respect to the base 2 based on the imaging result of the imaging device 7a. Therefore, based on the information acquired in the information acquisition step S20, the position of the workpiece W after the material supply step S10 can be detected, and based on the detected position, the adjustment step S30, the first printing step S40, or the second printing step S70 can be executed.

[0118] Here, in the information acquisition step S20, as described above, the head 5a is positioned outside the imaging range RI. Therefore, in the information acquisition step S20, it is not necessary to consider the presence of the head 5a in order to acquire information regarding the relative position of the workpiece W with respect to the base 2. As a result, it is possible to simplify the processing in the information acquisition step S20 and improve the accuracy of the information acquired in the information acquisition step S20, compared to a configuration in which the head 5a is positioned inside the imaging range RI of the imaging device 7a.

[0119] Moreover, as described above, the three-dimensional object printing apparatus 1 further includes a maintenance unit 8 that covers the nozzle N. The maintenance unit 8 is located outside the imaging range RI. Therefore, the maintenance unit 8 is not imaged by the imaging device 7a, and the processing using the imaging results of the imaging device 7a can be simplified. Furthermore, in the information acquisition step S20, the nozzle N is covered by the maintenance unit 8. Therefore, it is possible to prevent the ink near the nozzle N from hardening or solidifying due to the illumination for imaging by the imaging device 7a.

[0120] Here, as described above, the maintenance unit 8 is located inside the operating range RR1 of the first robot 3, and outside the operating range RR2 of the second robot 4. This makes it possible to prevent the maintenance unit 8 from interfering with the operation of the second robot 4. There is also an advantage in that it is easier to prevent the ink near the nozzle N from curing or solidifying due to the energy from the curing unit 10 when the curing step S81 is performed.

[0121] As described above, the three-dimensional object printing apparatus 1 further executes an adjustment step S30 between the information acquisition step S20 and the first printing step S40 or the second printing step S70. In the adjustment step S30, the position of the workpiece W located inside the imaging range RI is adjusted. Here, in the adjustment step S30, the operation of the second robot 4 is controlled based on the information acquired in the information acquisition step S20. Therefore, even if the support position of the workpiece W by the second robot 4 deviates from the desired position, the deviation can be corrected. Note that the above-mentioned movement step S60 may include the same process as the adjustment step S30.

[0122] Furthermore, as described above, the three-dimensional object printing apparatus 1 further includes an illumination unit 7b that illuminates the inside of the imaging range RI. Here, in the information acquisition step S20, the illumination unit 7b is turned on. Therefore, in the information acquisition step S20, the contrast of the workpiece W is enhanced by the illumination of the illumination unit 7b, so that the accuracy of the information obtained in the information acquisition step S20 can be improved. In contrast, in the first printing step S40 or the second printing step S70, the illumination unit 7b is turned off. Therefore, in the first printing step S40 or the second printing step S70, the ink near the nozzle N can be prevented from hardening or solidifying due to the illumination of the illumination unit 7b.

[0123] Here, as described above, the maintenance unit 8 is positioned outside the illumination range RL of the illumination unit 7b, which makes it possible to prevent the ink in the vicinity of the nozzles N from hardening or solidifying due to the illumination of the illumination unit 7b.

[0124] As described above, the head 5a has a nozzle surface F on which the nozzles N are provided. When the illumination unit 7b is turned on, the nozzle surface F is located outside the illumination range RL of the illumination unit 7b, or faces a direction that is shaded by the light from the illumination unit 7b. This makes it possible to prevent the ink in the vicinity of the nozzles N from hardening or solidifying due to the illumination from the illumination unit 7b.

[0125] As described above, in the information acquisition step S20, it is preferable that the color of at least a part of the first robot 3 located inside the imaging range RI is different from the color of the workpiece W. In this case, in the information acquisition step S20, the contrast of the workpiece W is enhanced by the illumination of the illumination unit 7b, so that the accuracy of the information obtained in the information acquisition step S20 can be improved.

[0126] Similarly, in the information acquisition step S20, it is preferable that the color of at least a part of the second robot 4 located inside the imaging range RI is different from the color of the workpiece W. In this case, in the information acquisition step S20, the contrast of the workpiece W is enhanced by the illumination of the illumination unit 7b, so that the accuracy of the information obtained in the information acquisition step S20 can be improved.

[0127] As described above, the first robot 3 has the base 310, which is an example of a "first base" fixed to the base 2. Similarly, the second robot 4 has the base 410, which is an example of a "second base" fixed to the base 2. Here, in a plan view of the base 2, a virtual line segment LV connecting the bases 310 and 410 passes through the imaging range RI. For this reason, the degree of freedom of the position and posture of each of the workpiece W and the head 5a in the imaging range RI can be increased compared to a case in which the virtual line segment LV does not pass through the imaging range RI in a plan view of the base 2.

[0128] As described above, the mounting direction of the base 310 of the first robot 3 and the base 410 of the second robot 4 relative to the base 2 is not limited to the example of this embodiment and can be changed as appropriate. For example, both or one of the first robot 3 and the second robot 4 may be fixed so as to be suspended from a ceiling or beams arranged along the X or Y direction, or both or one of the first robot 3 and the second robot 4 may be fixed to a wall surface arranged along the Z direction.

[0129] Here, the "plan view of the base 2" will be described. In the case where the base 310 of the first robot 3 and the base 410 of the second robot 4 are fixed to the base 2 in the same mounting direction as in this embodiment, the "plan view of the base 2" refers to a state seen in a direction along the mounting direction. For example, in this embodiment, the mounting direction is the Z direction, and the "plan view of the base 2" refers to a state seen in the Z direction. On the other hand, unlike this embodiment, in the case where the base 310 of the first robot 3 and the base 410 of the second robot 4 are fixed to the base 2 in different mounting directions, the "plan view of the base 2" refers to a state seen in a direction along the mounting direction of one of the first robot 3 and the second robot 4 that is arbitrarily selected.

[0130] Furthermore, as described above, if the ink ejected from the head 5a has photocuring properties, the ink on the workpiece W can be cured using the curing unit 10 or the like to remain in a desired position. As a result, printing can be performed on the three-dimensional workpiece W with high precision.

[0131] As described above, the three-dimensional object printing apparatus 1 executes the first printing step S40. In the first printing step S40, the first robot 3 causes the head 5a to scan along the first region RP1 of the workpiece W, while the head 5a ejects ink onto the first region RP1. This allows printing to be performed on the first region RP1 of the workpiece W. Here, in the first printing step S40, the second robot 4 fixes the position and posture of the workpiece W to the first state. This prevents the workpiece W from vibrating in the first printing step S40. As a result, the image quality can be improved compared to a configuration in which the second robot 4 is operated in the first printing step S40.

[0132] As described above, the three-dimensional object printing apparatus 1 further includes the curing unit 10. The curing unit 10 is fixed to the base 2 and emits energy to cure or solidify the ink from the head 5a. After executing the first printing step S40, the three-dimensional object printing apparatus 1 executes the first curing step S81a. In the first curing step S81a, the second robot 4 changes the relative position and posture of the curing unit 10 and the workpiece W, while the curing unit 10 irradiates energy onto the ink on the first region RP1. Therefore, in the first curing step S81a, the ink discharged onto the workpiece W in the first printing step S40 can be cured or solidified by the energy from the curing unit 10.

[0133] Here, in the first curing step S81a, the second robot 4 changes the relative position and posture of the curing unit 10 and the workpiece W, so that even if the curing unit 10 is fixed to the base 2, the energy from the curing unit 10 can be suitably irradiated onto the ink on the workpiece W. Note that in the first curing step S81a, even if the workpiece W vibrates, there is no problem as occurs during printing. Also, the control accuracy of the position and posture of the workpiece W in the first curing step S81a can be lower than the control accuracy of the position and posture of the head 5a in the first printing step S40.

[0134] As described above, the three-dimensional object printing apparatus 1 preferably executes the maintenance step S82 during the execution of the first curing step S81a. In the maintenance step S82, maintenance of the head 5a is performed by the maintenance unit 8. In this way, the execution period of the curing step S81 and the execution period of the maintenance step S82 at least partially overlap with each other, so that the time required for these steps can be shortened compared to the case where the maintenance step S82 is not executed during the execution of the first curing step S81a.

[0135] Here, the first curing step S81a is performed using the second robot 4 without using the first robot 3, whereas the maintenance step S82 is performed using the first robot 3 without using the second robot 4. For this reason, the maintenance step S82 can be performed while the first curing step S81a is being performed. Furthermore, since the head 5a is covered by the maintenance unit 8 when the maintenance step S82 is being performed, it is also possible to prevent the ink near the nozzles N from being cured or solidified by the energy from the curing unit 10 in the first curing step S81a.

[0136] As described above, the three-dimensional object printing apparatus 1 executes the movement step S60 after executing the first printing step S40. In the movement step S60, the second robot 4 changes the position and posture of the workpiece W from the first state described above to a second state different from the first state. Therefore, after executing the movement step S60, printing can be performed on an area of ​​the workpiece W different from the printing area of ​​the first printing step S40 by the same operation of the first robot 3 as in the first printing step S40. Note that in the movement step S60, the position of the workpiece W is adjusted as necessary in the same manner as in the adjustment step S30 described above.

[0137] Here, the three-dimensional object printing apparatus 1 executes the second printing step S70 after executing the moving step S60 as described above. In the second printing step S70, the first robot 3 causes the head 5a to scan along the second area RP2 different from the first area RP1 of the work W, while the head 5a ejects ink onto the second area RP2. This allows printing to be performed on the second area of ​​the work W. Here, in the second printing step S70, the second robot 4 fixes the position and posture of the work W to the second state described above. This prevents the work W from vibrating in the second printing step S70. As a result, the image quality can be improved compared to a configuration in which the second robot 4 is operated in the second printing step S70.

[0138] In this embodiment, as described above, the operation of the first robot 3 in the first printing step S40 and the operation of the first robot 3 in the second printing step S70 are the same. Therefore, the difference in the movement path of the head 5a in these steps can be reduced compared to when the operations of the first robot 3 in these steps are different. This is because the first robot 3 repeats the same operation, thereby increasing the reproducibility of the movement path of the head 5a. In this way, by reducing the difference in the movement path of the head 5a in these steps, the image quality in the first printing step S40 and the second printing step S70 can be improved.

[0139] Here, by operating the first robot 3 by the operation of joints about three mutually parallel rotation axes, it is possible to reduce meandering of the movement path of the head 5a.

[0140] As described above, the three-dimensional object printing apparatus 1 executes a second curing step S81b after executing the second printing step. In the second curing step S81b, the curing unit 10 irradiates energy onto the ink on the second region RP2 while the second robot 4 changes the relative position and posture of the curing unit 10 and the workpiece W. Therefore, in the second curing step S81b, the ink ejected onto the workpiece W in the second printing step S70 can be cured or solidified by the energy from the curing unit 10.

[0141] Here, in the second curing step S81b, the second robot 4 changes the relative position and posture of the curing unit 10 and the workpiece W, so that even if the curing unit 10 is fixed to the base 2, the energy from the curing unit 10 can be suitably irradiated onto the ink on the workpiece W. Note that in the second curing step S81b, even if the workpiece W vibrates, there is no problem as occurs during printing. Also, the control accuracy of the position and posture of the workpiece W in the second curing step S81b can be lower than the control accuracy of the position and posture of the head 5a in the second printing step S70.

[0142] As described above, the three-dimensional object printing apparatus 1 preferably executes the maintenance step S82 during the execution of the second curing step S81b. In the maintenance step S82, maintenance of the head 5a is performed by the maintenance unit 8. In this way, the execution period of the curing step S81 and the execution period of the maintenance step S82 at least partially overlap with each other, so that the time required for these steps can be shortened compared to the case where the maintenance step S82 is not executed during the execution of the second curing step S81b.

[0143] Here, the second curing step S81b is performed using the second robot 4 without using the first robot 3, whereas the maintenance step S82 is performed using the first robot 3 without using the second robot 4. For this reason, the maintenance step S82 can be performed while the second curing step S81b is being performed. In addition, since the head 5a is covered by the maintenance unit 8 when the maintenance step S82 is being performed, it is also possible to prevent the ink near the nozzles N from being cured or solidified by the energy from the curing unit 10 in the second curing step S81b.

[0144] As described above, the three-dimensional object printing device 1 preferably executes the first printing step S40, the second printing step S70, the first curing step S81a, and the second curing step S81b in this order. In this case, the first printing step S40 and the second printing step S70 can be performed continuously. Therefore, there is an advantage that the difference in the movement path of the head 5a in the first printing step S40 and the second printing step S70 can be easily reduced. In addition, by executing the first curing step S81a and the second curing step S81b in this order, the difference in time from when the ink is discharged in each printing step to when the energy is irradiated in each curing step can be reduced compared to when they are executed in the reverse order. This makes it possible to reduce the difference in image quality between images formed in different printing steps. Note that the first curing step S81a and the second curing step S81b may be performed substantially simultaneously.

[0145] As described above, the three-dimensional object printing apparatus 1 also executes the retreat step S50 between the first printing step S40 and the movement step S60. In the retreat step S50, the first robot 3 increases the distance between the head 5a and the workpiece W compared to when the first printing step S40 was executed. This has the advantage that the second robot 4 can be easily operated without interfering with the first robot 3 after the retreat step S50 is executed. In addition, after the retreat step S50 is executed, maintenance of the head 5a can also be performed at a position retreated from when the first printing step S40 was executed.

[0146] In addition, in the three-dimensional object printing apparatus 1, in a plan view of the base 2, the virtual line segment LV passes between the curing unit 10 and the maintenance unit 8. That is, of the two regions divided by the virtual line segment LV, the curing unit 10 is arranged in one region, and the maintenance unit 8 is arranged in the other region. Therefore, when the curing unit 10 and the maintenance unit 8 perform processing simultaneously, interference between the first robot 3 and the second robot 4 can be prevented. Specifically, when the first robot 3 and the second robot 4 move from the first printing step S40 or the second printing step S70 to the curing step S81, they move the head 5a and the workpiece W in a direction away from each other. Therefore, interference between the first robot 3 and the second robot 4 can be prevented after the first printing step S40 or the second printing step S70 is performed. In this embodiment, as described above, the curing step S81 includes the first curing step S81a and the second curing step S81b.

[0147] Here, as described above, in a plan view of the base 2, the position of the workpiece W during the execution of the first printing step S40 or the second printing step S70, which is a printing step, is preferably closer to the virtual line segment LV than during the execution of the curing step S81. The closer the position of the workpiece W is to the virtual line segment LV, the higher the degree of freedom of the operation of the first robot 3 and the second robot 4 during the execution of the first printing step S40 or the second printing step S70. For this reason, by making the position of the workpiece W during the execution of the first printing step S40 or the second printing step S70 closer to the virtual line segment LV than during the execution of the curing step S81, the degree of freedom of the posture of the workpiece W and the head 5a in the first printing step S40 or the second printing step S70 can be increased.

[0148] From a similar viewpoint, as described above, it is preferable that the position of the workpiece W when the first printing step S40 or the second printing step S70 is performed be closer to the virtual line segment LV than the position of the workpiece W when the maintenance step S82 is performed, in a plan view of the base 2. In this case as well, the degree of freedom of the posture of the workpiece W and the head 5a in the first printing step S40 or the second printing step S70 can be increased.

[0149] As described above, in the three-dimensional object printing apparatus 1, the work movement distance DW is shorter than the head movement distance DH. The work movement distance DW is the distance between the work W when the first printing step S40 or the second printing step S70 is performed and the work W when the curing step S81 is performed, in a plan view of the base 2. The head movement distance DH is the distance between the head 5a when the first printing step S40 or the second printing step S70 is performed and the head 5a when the maintenance step S82 is performed, in a plan view of the base 2.

[0150] By making the workpiece movement distance DW shorter than the head movement distance DH in this way, the transition from the first printing step S40 or the second printing step S70 to the curing step S81 can be performed quickly without increasing the movement speed of the workpiece W. As a result, it is possible to achieve both image quality and productivity. In addition, since it is not necessary to increase the movement speed of the workpiece W, even if the workpiece W is supported by the second robot 4 by the hand mechanism 40, it is possible to prevent the workpiece W from being detached or displaced from the second robot 4. Note that since the head 5a is fixed to the first robot 3 by screws or the like, there is no problem even if the movement speed of the head 5a is increased. Therefore, even if the head movement distance DH is long, the transition from the first printing step S40 or the second printing step S70 to the maintenance step S82 can be performed quickly by increasing the movement speed of the head 5a.

[0151] As described above, the mounting unit 9 and the maintenance unit 8 are located on the same side of the virtual line segment LV in a plan view of the base 2. That is, the mounting unit 9 and the maintenance unit 8 are disposed in one of two regions divided by the virtual line segment LV in a plan view of the base 2. For this reason, it is easier to make the entire device smaller than in a configuration in which the mounting unit 9 and the maintenance unit 8 are located on opposite sides of the virtual line segment LV in a plan view of the base 2.

[0152] In addition, the three-dimensional object printing apparatus 1 executes a holding step S11 in which the hand mechanism 40 receives the supply of the work W from the placement unit 9, as described above. Here, in a plan view of the base 2, the position of the work W during the first printing step S40 or the second printing step S70 is closer to the virtual line segment LV than the position of the work W during the holding step S11. The closer the position of the work W is to the virtual line segment LV, the higher the degree of freedom of the operation of the first robot 3 and the second robot 4 during the first printing step S40 or the second printing step S70. For this reason, by making the position of the work W during the first printing step S40 or the second printing step S70 closer to the virtual line segment LV than when the holding step S11 is performed, the degree of freedom of the posture of the work W and the head 5a in the first printing step S40 or the second printing step S70 can be increased. As described above, the holding step S11 is included in the material supply step S10.

[0153] Furthermore, in the three-dimensional object printing apparatus 1, as described above, in a plan view of the base 2, the curing unit 10 and the maintenance unit 8 are each located between a first straight line LS1 that passes through the base 310 of the first robot 3 and is perpendicular to the virtual line segment LV, and a second straight line LS2 that passes through the base 410 of the second robot 4 and is perpendicular to the virtual line segment LV. This makes it possible to reduce the size of the entire three-dimensional object printing apparatus 1.

[0154] 2. Second embodiment A second embodiment of the present invention will be described below. In the following example, for elements having the same actions and functions as those in the first embodiment, the reference numerals used in the description of the first embodiment will be used and detailed descriptions of each will be omitted as appropriate.

[0155] 14 is a flowchart showing the flow of the operation of the three-dimensional object printing apparatus 1 according to the second embodiment. This embodiment is similar to the first embodiment described above, except that the order of execution of the first curing step S81a, the second curing step S81b, and the maintenance step S82 is different.

[0156] In this embodiment, a post-processing step S80A including a first curing step S81a and a maintenance step S82 is executed between the first printing step S40 and the retreating step S50. In addition, a post-processing step S80B including a second curing step S81b and a maintenance step S82 is executed between the second printing step S70 and the material removing step S90. Note that a part of the retreating step S50 may also serve as the post-processing step S80A, or the retreating step S50 may be omitted.

[0157] According to the second embodiment, as in the first embodiment described above, even if the workpiece W has various three-dimensional shapes, it is possible to suitably print on the workpiece W. In this embodiment, the three-dimensional object printing device 1 executes the first printing step S40, the first curing step S81a, the second printing step S70, and the second curing step S81b in this order. Therefore, the first printing step S40 and the first curing step S81a can be performed continuously. As a result, the ink ejected onto the workpiece W in the first printing step S40 can be immediately cured in the first curing step S81a, so that the bleeding of the image caused by the ink flowing on the workpiece W can be reduced. Similarly, the second printing step S70 and the second curing step S81b can be performed continuously. As a result, the ink ejected onto the workpiece W in the second printing step S70 can be immediately cured in the second curing step S81b, so that the bleeding of the image caused by the ink flowing on the workpiece W can be reduced.

[0158] 3. Variations Each of the above-mentioned exemplary embodiments can be modified in various ways. Specific modified embodiments that can be applied to each of the above-mentioned embodiments are illustrated below. Note that two or more embodiments selected from the following exemplary embodiments can be appropriately combined as long as they are not contradictory to each other.

[0159] 3-1. Variation 1 15 is a flowchart showing the flow of operations of the three-dimensional object printing device 1 according to Modification 1. Modification 1 is similar to the first embodiment described above, except that adjustment step S30 is omitted, and instead of first printing step S40 and second printing step S70, first printing step S40A and second printing step S70A are executed.

[0160] In each of the first printing step S40 and the second printing step S70, the path along which the first robot 3 moves the head 5a is adjusted based on the information acquired in the information acquisition step S20. Therefore, even if the support position of the workpiece W by the second robot 4 deviates from the desired position, the adjustment can reduce errors that occur in the relative position and posture relationship between the head 5a and the workpiece W. As with the first embodiment described above, the above-described first modification also allows suitable printing on the workpiece W even if the workpiece W has various three-dimensional shapes.

[0161] 3-2. Variation 2 16 is a plan view of a three-dimensional object printing apparatus 1A according to Modification 2. The three-dimensional object printing apparatus 1A is similar to the three-dimensional object printing apparatus 1 of the above-described first embodiment, except that the number of imaging units 7 is three. Specifically, the three-dimensional object printing apparatus 1A has an imaging unit 7 that captures images in the Y1 direction as in the first embodiment, as well as an imaging unit 7 that captures images in the Z1 direction and an imaging unit 7 that captures images in the X1 direction.

[0162] As with the first embodiment described above, the second modification allows suitable printing on the workpiece W even if the workpiece W has various three-dimensional shapes. In the second modification, the number of imaging units 7 is greater than in the first embodiment, and this has the advantage of making it easier to improve the detection accuracy of the position and orientation of the workpiece W based on the imaging results of the imaging units 7. Here, it is preferable that the workpiece W during printing is positioned inside the area where the imaging ranges of the imaging devices 7a of these imaging units 7 overlap.

[0163] 3-3. Variation 3 In the above-mentioned embodiment, a configuration using a six-axis vertical multi-axis robot as the moving mechanism is exemplified, but the present invention is not limited to this configuration. The moving mechanism may be any mechanism capable of three-dimensionally changing the position and posture of the liquid ejection head relative to the workpiece. Therefore, the moving mechanism may be, for example, a vertical multi-axis robot other than six axes, or a horizontal multi-axis robot. The robot arm may have an extension mechanism or the like in addition to a joint portion configured by a rotation mechanism. However, from the viewpoint of the balance between the print quality in the printing operation and the degree of freedom of the movement of the moving mechanism in the non-printing operation, it is preferable that the moving mechanism is a multi-axis robot with six or more axes. A dual-arm robot may be used, in which case one arm can be used as the first robot and the other arm can be used as the second robot.

[0164] 3-4. Variation 4 In the above embodiment, the head may be fixed to the first robot by using screws or the like, but the present invention is not limited to this. For example, the head may be fixed to the first robot by gripping the head with a gripping mechanism such as a hand attached as an end effector of the first robot.

[0165] 3-5. Variation 5 In the above-described embodiment, a configuration in which printing is performed using one type of ink is exemplified, but the present invention is not limited to this configuration and can also be applied to a configuration in which printing is performed using two or more types of ink.

[0166] 3-6. Variation 6 The use of the three-dimensional printing device of the present invention is not limited to printing. For example, a three-dimensional printing device that ejects a solution of a color material is used as a manufacturing device for forming a color filter of a liquid crystal display device. Also, a three-dimensional printing device that ejects a solution of a conductive material is used as a manufacturing device for forming wiring and electrodes of a wiring board. Also, a three-dimensional printing device can be used as a jet dispenser that applies a liquid such as an adhesive to a workpiece. [Explanation of symbols]

[0167] Reference Signs List 1...three-dimensional object printing device, 1A...three-dimensional object printing device, 2...base, 2a...surface, 2b...exhaust port, 3...first robot, 3a...arm drive mechanism, 4...second robot, 4a...arm drive mechanism, 5...liquid ejection unit, 5a...head, 5b...pressure regulating valve, 5c...temporary curing light source, 5d...switch circuit, 5e...support, 6...ink supply unit, 6a...ink tank, 6b...supply pipe, 6c...sub-tank, 6d...supply pipe, 7...imaging unit, 7a...imaging device, 7b...illumination section, 8...maintenance unit, 8a...unit, 8b...unit, 9...mounting section, 9a...surface, 10...curing unit knit, 10a...light shielding member, 10b...light source, 11...controller, 11a...memory circuit, 11b...processing circuit, 12...control module, 12a...timing signal generating circuit, 12b...power supply circuit, 12c...control circuit, 12d...drive signal generating circuit, 13...computer, 20...case, 40...hand mechanism, 310...base, 320...arm, 321...arm, 322...arm, 323...arm, 324...arm, 325...arm, 326...arm, 330_1...joint portion, 330_2...joint portion, 330_3...joint portion, 330_4...joint portion, 330_5...joint portion, 330_6... joint, 410... base, 420... arm, CLK... clock signal, CNG... change signal, Com... drive signal, D1... output, D2... output, D3... signal, DH... head movement distance, DW... work movement distance, Da... path information, Db... path information, F... nozzle surface, LAT... latch signal, LS1... first straight line, LS2... second straight line, LV... virtual line segment, La... first nozzle row, Lb... second nozzle row, N... nozzle, O1... rotation axis, O2... rotation axis, O3... rotation axis, O4... rotation axis, O5... rotation axis, O6... rotation axis, PD... drive pulse, PTS... timing signal, RI... Imaging range, RL...lighting range, RP1...first area, RP2...second area, RR1...operating range, RR2...operating range, S10...material supply step, S11...holding step, S20...information acquisition step, S30...adjustment step, S40...first printing step, S40A...first printing step, S50...retraction step, S60...movement step, S70...second printing step, S70A...second printing step, S80...post-processing step, S80A...post-processing step, S80B...post-processing step, S81...curing step, S81a...first curing step, S81b...second curing step,S82...maintenance step, S90...material removal step, SI...control signal, Sk1...control signal, Sk2...control signal, VBS...offset potential, VHV...power supply potential, W...work, dCom...waveform designation signal.

Claims

1. A head having a nozzle for ejecting a hardenable liquid is supported, and the head is positioned and A first robot that changes its posture; A second robot that supports a three-dimensional workpiece and changes a position and a posture of the workpiece; The liquid on the workpiece discharged from the head is hardened or solidified by the energy output. a curing unit for irradiating the A maintenance unit for performing maintenance on the head, the maintenance unit being configured to: a maintenance unit having a cap for covering the the first robot has a first base portion fixed to a base; the second robot has a second base portion fixed to the base; In a plan view of the base, a virtual line segment connecting the first base portion and the second base portion is and the maintenance unit. A three-dimensional object printing device.

2. At least one of the first robot and the second robot is A printing method in which the head ejects liquid onto the workpiece while the workpiece is moved relatively. Printing steps and A hardening step in which the hardening unit irradiates the liquid on the workpiece with energy. Go, In a plan view of the base, the position of the workpiece during the execution of the printing step is closer to the virtual line segment than when the realization step was performed, 2. The three-dimensional object printing apparatus according to claim 1 .

3. At least one of the first robot and the second robot is A printing method in which the head ejects liquid onto the workpiece while the workpiece is moved relatively. Printing steps and a maintenance step in which the maintenance unit performs maintenance on the head; , execute In a plan view of the base, the position of the workpiece during the printing step is Closer to the virtual line than the position of the workpiece when the maintenance step is performed, 3. The three-dimensional object printing device according to claim 1 or 2.

4. At least one of the first robot and the second robot is A printing method in which the head ejects liquid onto the workpiece while the workpiece is moved relatively. Printing steps and A hardening step in which the hardening unit irradiates energy onto the liquid on the workpiece; a maintenance step in which the maintenance unit performs maintenance on the head; , execute The workpiece and the curing step when the printing step is performed are shown in a plan view of the base. The distance between the workpiece and the workpiece when the step is executed is defined as the workpiece moving distance, In a plan view of the base, the head and the maintenance When the distance between the head and the sensor when the step is performed is defined as the head movement distance, The workpiece movement distance is shorter than the head movement distance. The three-dimensional object printing device according to any one of claims 1 to 3.

5. A hardening step in which the hardening unit irradiates energy onto the liquid on the workpiece; a maintenance step in which the maintenance unit performs maintenance on the head; , execute At least one of the execution period of the curing step and the execution period of the maintenance step The parts overlap each other, The three-dimensional object printing device according to any one of claims 1 to 4.

6. In the maintenance step, the nozzle is covered with the cap.

6. The three-dimensional object printing apparatus according to claim 5,

7. The maintenance unit is located inside the operating range of the first robot and in front of the first robot. Located outside the motion range of the second robot, The three-dimensional object printing device according to any one of claims 1 to 6.

8. The second robot has a hand mechanism that detachably holds the workpiece. The three-dimensional object printing device according to any one of claims 1 to 7.

9. Further, the workpiece may be placed on a placement portion, the hand mechanism receives the workpiece from the placement unit, In a plan view of the base, the placement section and the maintenance unit are arranged on the virtual line. On the same side as 9. The three-dimensional object printing apparatus according to claim 8.

10. At least one of the first robot and the second robot is A printing method in which the head ejects liquid onto the workpiece while the workpiece is moved relatively. Printing steps and a holding step in which the hand mechanism receives the workpiece from the placement unit; 、 In a plan view of the base, the position of the workpiece during the execution of the printing step is is closer to the virtual line segment than the position of the workpiece when the holding step is executed, The three-dimensional object printing apparatus according to claim 9 .

11. In a plan view of the base, each of the curing unit and the maintenance unit is A first straight line passing through the first base and perpendicular to the virtual line segment, and a second straight line passing through the second base and perpendicular to the virtual line segment A second straight line perpendicular to the line segment; The three-dimensional object printing device according to any one of claims 1 to 10.

12. At least one of the first robot and the second robot is A printing method in which the head ejects liquid onto the workpiece while the workpiece is moved relatively. Printing steps and A hardening step in which the hardening unit irradiates energy onto the liquid on the workpiece; a maintenance step in which the maintenance unit performs maintenance on the head; , execute The first robot and the second robot perform the steps from the printing step to the curing step. When the transition is made to the above, the head and the workpiece are moved in a direction away from each other. The three-dimensional object printing device according to any one of claims 1 to 11.

13. Energy for semi-hardening or semi-solidifying the liquid on the workpiece discharged from the head. a light source for irradiating the object, the light source being supported by the first robot; The three-dimensional object printing device according to any one of claims 1 to 12.

14. The first robot, the second robot, the curing unit and the maintenance unit The case has a space for receiving the nozzle. The three-dimensional object printing device according to any one of claims 1 to 13.

15. A head having a nozzle for ejecting a hardenable liquid is supported, and the position and A first robot that changes its posture and supports a three-dimensional workpiece and adjusts the position and posture of the workpiece. A second robot that changes the force of the liquid on the workpiece discharged from the head until it hardens. a hardening unit for emitting energy for hardening the ink, and a hardening unit for performing maintenance of the head. A maintenance unit having a cap for covering the nozzle of the head. a first robot having a first base portion fixed to a base; The second robot has a second base portion fixed to the base, and the first base portion is located in a plan view of the base. The imaginary line segment connecting the first base portion and the second base portion is a line segment connecting the curing unit and the maintenance unit. A method for controlling a three-dimensional object printing device, the method comprising: A hardening step in which the hardening unit irradiates energy onto the liquid on the workpiece; a maintenance step in which the maintenance unit performs maintenance on the head; , including At least one of the execution period of the curing step and the execution period of the maintenance step The parts overlap each other, A method for controlling a three-dimensional object printing device.

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