Liquid ejection device and liquid ejection method

Abstract

To provide a liquid discharge device which can reduce power consumption during driving.SOLUTION: A liquid discharge device includes: a liquid discharge section which has a liquid discharge port for discharging liquid toward an object; and a liquid discharge unit which holds the liquid discharge section and is movable in a direction for discharging the liquid from the liquid discharge port toward the object. Furthermore, the liquid discharge device includes: first driving means for moving the liquid discharge unit in the direction for discharging the liquid; second driving means for moving the liquid discharge section in a direction for discharging the liquid to the liquid discharge unit; and control means which drives the second driving means after increasing an exciting current value of the first driving means on the basis of an abnormality detection signal from abnormality detection means for detecting an abnormality of the liquid discharge unit or an instruction to execute a cleaning operation for the liquid discharge unit.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a liquid ejection device and a liquid ejection method.

Background Art

[0002] Patent Document 1 describes an apparatus for ejecting a liquid, which includes a carriage 5 having a recording head 10 for ejecting a liquid, and scanning means for scanning the carriage 5 in a main scanning direction. The carriage 5 has a jam detection sensor 16 for detecting contact with a recording medium P, and lifting means for moving the recording head 10 to vary the distance between the recording head 10 and the recording medium P. When the detection means detects contact, the scanning means stops the scanning of the carriage 5, and the lifting means simultaneously increases the distance between the recording head 10 and the recording medium P.

Summary of the Invention

Problems to be Solved by the Invention

[0003] An object of the present invention is to provide a liquid ejection device capable of reducing power consumption during driving.

Means for Solving the Problems

[0004] The present invention is a liquid ejection device including a liquid ejection unit having a liquid ejection port for ejecting a liquid toward an object, and a liquid ejection unit that holds the liquid ejection unit and is movable in a direction in which the liquid is ejected from the liquid ejection port toward the object. The liquid ejection device includes first driving means for moving the liquid ejection unit in the direction in which the liquid is ejected, second driving means for moving the liquid ejection unit in the direction in which the liquid is ejected with respect to the liquid ejection unit, and control means for driving the second driving means after increasing an excitation current value of the first driving means based on an abnormality detection signal from an abnormality detection means for detecting an abnormality of the liquid ejection unit or an instruction to execute a cleaning operation on the liquid ejection unit. At the same time, after the driving of the second driving means is stopped, the exciting current value of the first driving means is decreased It is characterized by having.

Effects of the Invention

[0005] According to the present invention, it is possible to provide a liquid ejection device capable of reducing power consumption during driving.

Brief Description of the Drawings

[0006]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Mode for Carrying Out the Invention

[0007] Embodiments of the present invention will be described below with reference to the drawings.

[0008] FIG. 1 is an overall schematic configuration diagram of a liquid ejection device according to an embodiment of the present invention. FIG. 1(a) is a side view of the liquid ejection device, and FIG. 1(b) is a plan view of the same device.

[0009] The liquid ejection device 1000 is installed facing a drawn object 100 which is an example of an object. The liquid ejection device 1000 includes an X-axis rail 101, a Y-axis rail 102 that intersects the X-axis rail 101, and a Z-axis rail 103 that intersects the X-axis rail 101 and the Y-axis rail 102.

[0010] Here, the X-axis is an example of the "first direction", the Y-axis is an example of the "second direction intersecting the first direction", and the Z-axis is an example of the "third direction intersecting the first direction and the second direction".

[0011] The Y-axis rail 102 holds the X-axis rail 101 so that the X-axis rail 101 can move in the Y-axis direction. Further, the X-axis rail 101 holds the Z-axis rail 103 so that the Z-axis rail 103 can move in the X-axis direction. And the Z-axis rail 103 holds the carriage 1 so that the carriage 1 can move in the Z-axis direction. Here, the carriage 1 is an example of a liquid ejection unit.

[0012] The liquid ejection device 1000 includes a first Z-direction driving unit 92 that moves the carriage 1 in the Z-axis direction along the Z-axis rail 103, and an X-direction driving unit 72 that moves the Z-axis rail 103 in the X-axis direction along the X-axis rail 101. Further, the liquid ejection device 1000 includes a Y-direction driving unit 82 that moves the X-axis rail 101 in the Y-axis direction along the Y-axis rail 102. Furthermore, the liquid ejection device 1000 includes a second Z-direction driving unit 93 that moves the head holder 70 in the Z-axis direction with respect to the carriage 1.

[0013] Here, the first Z-direction driving unit 92 is an example of the first driving means, and the second Z-direction driving unit 93 is an example of the second driving means. Also, the head holder 70 is an example of a holder.

[0014] The liquid ejection device 1000 configured as described above ejects ink from a head (not shown) provided on the head holder 70 toward the object to be drawn 100 while moving the carriage 1 in the directions of the X-axis, Y-axis, and Z-axis, and performs drawing on the object to be drawn 100. Here, the movement of the carriage 1 and the head holder 70 in the Z-axis direction does not need to be parallel to the Z-axis direction, and may be an oblique movement as long as it includes at least a component in the Z-axis direction.

[0015] In FIG. 1, the surface shape of the object to be drawn 100 is shown as a plane, but the surface shape of the object to be drawn 100 may be a surface close to vertical or a surface with a large radius of curvature, such as the body of a car, a truck, or an aircraft.

[0016] Next, the configuration of the carriage 1 will be described.

[0017] FIG. 2 is a perspective view of the carriage in the present embodiment, showing a state where the head holder of the carriage is in the standby position on the Z-axis.

[0018] The carriage 1, which is an example of a liquid ejection unit, includes, in addition to the above-described head holder 70, a cleaning unit 4, collision detection plates 7L, 7R, and the like.

[0019] The carriage 1 is movable in the Z-axis direction along the Z-axis rail 103 by the power from the first Z-direction drive unit 92. Further, the head holder 70 provided on the carriage 1 includes a head fixing portion 7 for attaching the head. In the present embodiment, a configuration in which a yellow head 300Y, a magenta head 300M, a cyan head 300C, a black head 300K, a white head 300W, and a special color head 300S are mounted on the head fixing portion 7 is illustrated. In the following description, when these heads are collectively referred to, they are denoted as the head 300. Further, the head 300 is an example of a liquid discharge portion.

[0020] Each of the heads 300Y, 300M, 300C, 300K, 300W, and 300S includes a nozzle surface 302a having a plurality of nozzles 302. Here, the nozzle 302 is an example of a liquid discharge port, and the nozzle surface 302a is an example of a liquid discharge surface. Note that the types and numbers of the colors of the ink used in the head 300 are not limited to the above. For example, all the ink used in the head 300 may be the same color.

[0021] The head 300 is fixed to the head fixing portion 7 in a state where the nozzle surface 302a intersects the horizontal plane (X-Z plane) and the arrangement direction of the plurality of nozzles 302 is inclined with respect to the X-axis. Thereby, the nozzle 302 discharges the ink in a direction (Z direction) intersecting the gravity direction.

[0022] The cleaning unit 4 is a unit for cleaning the head 300. The cleaning unit 4 moves in a direction parallel to the X-axis along the guide rail 9R fixed to the frame body 80. Although not shown, inside the frame body 80, a motor for moving the cleaning unit 4 along the guide rail 9R, a position sensor for detecting the position (standby position, turning position) of the cleaning unit 4 on the guide rail 9R, and the like are provided.

[0023] As a result, the motor transmits power to the belt 14, and the cleaning unit 4 connected to the belt 14 moves in the positive X-axis direction along the guide rail 9R. Then, when the cleaning unit 4 comes to a position facing the nozzle 302, it cleans the nozzle 302. When the cleaning unit 4 further moves in the positive X-axis direction and reaches the turning-back position, the moving direction of the cleaning unit 4 switches to the negative X-axis direction, and the cleaning unit 4 returns to the standby position. Note that when the cleaning unit 4 returns to the standby position, it may or may not perform cleaning on the nozzle 302.

[0024] Further, the head holder 70 is provided with a collision detection plate 7L on the negative X-axis side with respect to the nozzle surface 302a of the head 300, and is provided with a collision detection plate 7R on the positive X-axis side. The collision detection plate 7L and the collision detection plate 7R each have an axis (not shown) parallel to the Y-axis, and the head holder 70 rotatably supports the collision detection plate 7L and the collision detection plate 7R via this axis. And when a sensor (not shown) for detecting the positions of the collision detection plate 7L and the collision detection plate 7R detects the movement of the collision detection plate 7L or the collision detection plate 7R, the position detection sensor outputs a detection signal. Here, the collision detection plate 7L and the collision detection plate 7R are an example of an abnormality detection means.

[0025] FIG. 3 is a perspective view of the carriage in the present embodiment, showing a state where the head holder of the carriage has moved in the positive Z-axis direction.

[0026] The head holder 70 is movable in the direction of the Z-axis with respect to the carriage 1. That is, the head holder 70 moves between an ink ejection position (for example, FIG. 3) where ink is ejected toward the object to be drawn in the Z-axis direction and a standby position (for example, FIG. 2) provided at a position retracted from the ink ejection position with respect to the object to be drawn.

[0027] The first Z-direction driving unit 92 for driving the entire carriage 1 in the Z-axis direction is constituted by a driving mechanism including a driving motor. On the other hand, a second Z-direction driving unit (not shown) for driving the head holder 70 in the Z-axis direction with respect to the carriage 1 is constituted by a driving mechanism including a power cylinder. The configuration of the second Z-direction driving unit will be described later.

[0028] In the state of FIG. 3, the tip portions of the collision detection plates 7L and 7R respectively extend to the same position as the surface position of the nozzle surface 302a or a position protruding in the positive Z-axis direction (the object to be drawn side) from the surface position. The collision detection plates 7L and 7R detect a collision object such as a protrusion on the surface of the object to be drawn.

[0029] For example, when the carriage 1 is moving in the positive X-axis direction with respect to the object to be drawn and the protrusion on the surface of the object to be drawn contacts the collision detection plate 7R, the collision detection plate 7R detects the collision and outputs a collision detection signal. Based on this collision detection signal, the head holder 70 retreats to the standby position to avoid the collision between the head 300 and the protrusion of the object to be drawn.

[0030] FIG. 4 is a perspective view showing the second Z-direction driving unit in the present embodiment.

[0031] As described above, the second Z-direction driving unit 93 for driving the head holder 70 in the Z-axis direction with respect to the carriage 1 includes a driving mechanism including a power cylinder. Various types of power cylinders can be used for the second Z-direction driving unit 93, such as pneumatic, hydraulic, water pressure, and electric types.

[0032] In the present embodiment, a configuration using a pneumatic cylinder (air cylinder) is illustrated. The air cylinder shown here is a double-acting air cylinder and has two ports (P1, P2) to which air pressure is applied. The ports P1 and P2 are connected to the air solenoid valve 93D.

[0033] When the second Z-direction driving unit 93 turns off the air solenoid valve 93D, for example, it supplies air at port P1 and exhausts air at port P2, and moves the piston 93B in the positive Z-axis direction (the direction in which the piston 93B is pushed out) with respect to the cylinder main body 93A.

[0034] When the second Z-direction driving unit 93 turns on the air solenoid valve 93D, conversely, it supplies air at port P2 and exhausts air at port P1, and moves the piston 93B in the negative Z-axis direction (the direction in which the piston 93B is pulled in) with respect to the cylinder main body 93A.

[0035] In this way, the second Z-direction driving unit 93 switches the air supply and exhaust between port P1 and port P2 by turning on and off the air solenoid valve 93D, thereby switching the operating direction of the piston 93B.

[0036] The cylinder main body 93A includes a mounting portion 93C for mounting the cylinder main body 93A to the housing 8 of the carriage 1. Further, an end portion of the piston 93B is provided with a support member 70A for supporting the head holder 70 that holds the head 300.

[0037] With the above configuration, the second Z-direction driving unit 93 moves the piston 93B back and forth in the Z-axis direction according to the control of the air solenoid valve 93D by a control unit (not shown). As a result, the head holder 70 moves in the Z-axis direction.

[0038] Note that the drive source of the second Z-direction driving unit 93 is not limited to a power cylinder. The second Z-direction driving unit 93 may use other actuators such as a drive motor as long as it is a mechanism that can respond to an emergency retraction of the head 300 in the event of an abnormality.

[0039] FIG. 5 is an explanatory diagram of the operation of the head holder in the Z-axis direction. FIG. 5(a) shows a state where the head holder 70 is at the ink ejection position on the Z-axis, and FIG. 5(b) shows a state where the head holder 70 is at the standby position on the Z-axis.

[0040] The carriage 1 moves on the Z-axis within a range of length L1 by the drive motor of the above-described first Z-direction drive unit 92. The head holder 70 holding the head 300 moves on the Z-axis with respect to the carriage 1 within a range of length L2 by the air cylinder of the above-described second Z-direction drive unit 93.

[0041] When ink is ejected onto the object to be drawn 100 or when position measurement is performed to create three-dimensional coordinate data (hereinafter also referred to as body data) representing the surface shape of the object to be drawn 100, the head holder 70 is moved in the positive Z-axis direction as shown in FIG. 5(a). Then, the liquid ejection device 1000 forms a state in which the head 300 is close to the object to be drawn 100.

[0042] On the other hand, when the collision detection plates 7L and 7R detect a collision with the object to be drawn 100 during ink ejection execution or position measurement execution, or when cleaning the head 300 is performed, etc., the head holder 70 is moved in the negative Z-axis direction as shown in FIG. 5(b). Then, the liquid ejection device 1000 forms a state in which the head 300 has retreated from the object to be drawn 100.

[0043] The operation of moving the head holder 70 from the position in FIG. 5(a) to the position in FIG. 5(b) is fast because it assumes an emergency retraction of the head 300 when an abnormality occurs. Therefore, the impact of the operation of the head holder 70 is transmitted to the carriage 1, and in some cases, the drive motor of the first Z-direction drive unit 92 may rotate slightly due to this impact.

[0044] The drive motor used for the first Z-direction drive unit 92 is a motor capable of position control such as a stepping motor. When the motor rotates due to the above impact, the position of the encoder that generates the drive pulses of the motor is shifted. Therefore, when the ink ejection operation is restarted, a deviation occurs between the number of drive pulses of the motor and the position of the head 300 with respect to the object to be drawn 100, and a correct gap cannot be formed between the object to be drawn 100 and the head 300. That is, the carriage 1 is displaced (detuned) with respect to the Z-axis rail due to the impact of the operation of the head holder 70.

[0045] Therefore, in the present invention, after increasing the excitation current value of the first Z-direction driving unit 92, the second Z-direction driving unit 93 is driven. As a result, in the first Z-direction driving unit 92, a torque that resists an external force is generated, and the holding force for holding the stop position of the first Z-direction driving unit 92 increases, so that the out-of-tune of the carriage 1 can be prevented. Moreover, since the excitation current value of the first Z-direction driving unit 92 is switched according to the driving of the second Z-direction driving unit 93, a significant reduction in power consumption becomes possible as compared with the case where the excitation current value is always set to a high value.

[0046] FIG. 6 is a block diagram of a portion mainly related to the movement control of the carriage in the present embodiment.

[0047] The liquid ejection device 1000 includes a carriage 1, a head holder 70, collision detection plates 7L and 7R, a cleaning unit 4, an X-direction driving unit 72, a Y-direction driving unit 82, a first Z-direction driving unit 92, a second Z-direction driving unit 93, a control unit 500, a storage unit 501, a display unit 502, and an operation panel 503.

[0048] The carriage 1 is movable in the X-axis, Y-axis, and Z-axis directions with respect to the object to be drawn 100, and includes a head holder 70, collision detection plates 7L and 7R, a cleaning unit 4, a second Z-direction driving unit 93, and the like.

[0049] The head holder 70 is movable in the Z-axis direction with respect to the carriage 1, and the head holder 70 includes a head 300 that ejects ink toward the object to be drawn 100.

[0050] The collision detection plates 7L and 7R detect a collision between the head holder 70 and the object to be drawn 100 during the execution of ink ejection by the head 300 or during the execution of position measurement with respect to the object to be drawn 100. When the collision detection plates 7L and 7R detect a collision, the collision detection plates 7L and 7R transmit a signal indicating the collision detection to the control unit 500.

[0051] The cleaning unit 4 cleans the head 300 based on an instruction from the control unit 500.

[0052] The X-direction driving unit 72 drives the carriage 1 in the X-axis direction based on an instruction from the control unit 500.

[0053] The Y-direction driving unit 82 drives the carriage 1 in the Y-axis direction based on an instruction from the control unit 500.

[0054] The first Z-direction driving unit 92 drives the carriage 1 in the Z-axis direction based on an instruction from the control unit 500.

[0055] The second Z-direction driving unit 93 drives the head holder 70 in the Z-axis direction with respect to the carriage 1 based on an instruction from the control unit 500.

[0056] The control unit 500 includes a CPU that controls the entire liquid ejection device 1000, a ROM that stores programs and other fixed data for executing control such as drawing operations to the CPU, a RAM that temporarily stores drawing data such as patterns and characters to be drawn on the object to be drawn 100 and body data of the object to be drawn 100, and an I / F for transmitting and receiving data and signals used when receiving drawing data etc. from a host such as a PC. Note that the control unit 500 is an example of control means.

[0057] The control unit 500 controls the X-direction driving unit 72, the Y-direction driving unit 82, the first Z-direction driving unit 92, and the second Z-direction driving unit 93 to drive the carriage 1 and the head holder 70. Further, the control unit 500 controls ink ejection from the head 300 provided on the head holder 70 and cleaning of the head 300 by the cleaning unit 4.

[0058] Furthermore, when an abnormality occurs in the operations of the carriage 1, the head holder 70, and the head 300, etc., the control unit 500 displays that fact on the display unit 502 to notify the user. Also, the control unit 500 receives an instruction from the operation panel 503.

[0059] The memory unit 501 stores, for example, position information (3D coordinate information of XYZ) indicating the collision occurrence position from the collision detection plates 7L and 7R, etc.

[0060] The display unit 502 displays the content when an abnormality occurs in the liquid ejection device 1000 or the like, and notifies the user.

[0061] The operation panel 503 is used for inputting values (coordinates) for specifying the area (drawing area) where ink ejection is to be performed on the object to be drawn 100, the moving speed of the carriage 1, specifying drawing data and 3D coordinate information (body data) used for drawing on the object to be drawn 100, and the distance between the head 300 and the object to be drawn 100, etc. Note that the display unit 502 and the operation panel 503 may be made to be on one screen by a touch panel or the like.

[0062] As described above, this embodiment is a liquid ejection device 1000 including a head 300 having nozzles 302 for ejecting ink toward the object to be drawn 100, and a carriage 1 that holds the head 300 and is movable in the direction (Z-axis direction) in which ink is ejected from the nozzles 302 toward the object to be drawn 100, and includes a first Z-direction drive unit 92 for moving the carriage 1 in the Z-axis direction, a second Z-direction drive unit 93 for moving the head 300 in the Z-axis direction with respect to the carriage 1, and a control unit 500 that drives the second Z-direction drive unit 93 after increasing the excitation current value of the first Z-direction drive unit 92.

[0063] Thereby, it is possible to provide a liquid ejection device capable of reducing power consumption during driving.

[0064] Also, the first Z-direction drive unit 92 includes a drive motor.

[0065] Thereby, the carriage 1 can be moved with high precision with respect to the object to be drawn 100.

[0066] Also, the second Z-direction drive unit 93 includes a power cylinder.

[0067] As a result, the head 300 can be moved at high speed relative to the carriage 1.

[0068] FIG. 7 is a control flowchart of the Z-direction driving unit at the time of collision detection in the present embodiment.

[0069] When the carriage 1 is moving in the X-axis direction with respect to the object 100 to be drawn and the collision detection plate 7L or the collision detection plate 7R collides with a collision object such as a protrusion on the surface of the object 100 to be drawn, the collision detection plates 7L and 7R detect the collision (step S1).

[0070] When the collision detection plate 7L or the collision detection plate 7R detects a collision, the control unit 500 receives a collision detection signal. Then, based on the received collision detection signal, the control unit 500 increases the excitation current value of the drive motor of the first Z-direction driving unit 92 to be larger than the current value until then (step S2). As a result, the drive motor has a higher torque to resist the external force, and the holding force for holding the stop position increases.

[0071] With the current value of the drive motor of the first Z-direction driving unit 92 increased, the control unit 500 turns on the air solenoid valve 93D of the second Z-direction driving unit 93 (step S3). As a result, the piston 93B of the air cylinder of the second Z-direction driving unit 93 moves in a direction of being retracted with respect to the cylinder main body 93A. Then, due to the movement of the piston 93B, the head holder 70 attached to the end of the piston 93B moves to the standby position on the Z-axis and can avoid a collision with a collision object such as a protrusion on the surface of the object 100 to be drawn.

[0072] If the head holder 70 has retreated to the standby position on the Z-axis, the user takes measures against the collision object that was the target of the collision detection. When the said measure is completed, the control unit 500 releases the collision detection (step S4).

[0073] If the conflict detection is released, the control unit 500 turns off the air solenoid valve 93D of the second Z-direction driving unit 93 (step S5). As a result, the piston 93B of the air cylinder of the second Z-direction driving unit 93 moves in the direction of pushing out with respect to the cylinder body 93A. Then, due to the movement of the piston 93B, the head holder 70 attached to the end of the piston 93B moves to a position where ink ejection is possible on the Z-axis.

[0074] When the head holder 70 reaches a position where ink ejection is possible, the control unit 500 reduces the excitation current value of the drive motor of the first Z-direction driving unit 92 and returns the excitation current value of the drive motor to the state before the conflict detection (step S6).

[0075] FIG. 8 is a control flowchart of the Z-direction driving unit during head cleaning in the present embodiment.

[0076] When the drawing on the object to be drawn 100 is completed, the ink ejection operation stops (step S11).

[0077] When the head 300 needs to be cleaned when the ink ejection operation stops, the control unit 500 instructs the execution of cleaning (step S12).

[0078] The control unit 500 instructs the cleaning unit 4 to clean the head 300, and the control unit 500 increases the excitation current value of the drive motor of the first Z-direction driving unit 92 to be larger than the current value until then (step S13). As a result, the drive motor has a higher torque against an external force and the holding force for holding the stop position increases.

[0079] With the current value of the drive motor of the first Z-direction drive unit 92 increased, the control unit 500 turns on the air solenoid valve 93D of the second Z-direction drive unit 93 (step S14). As a result, the piston 93B of the air cylinder of the second Z-direction drive unit 93 moves in the direction of being drawn into the cylinder body 93A. Then, due to the movement of the piston 93B, the head holder 70 attached to the end of the piston 93B moves to the standby position on the Z-axis.

[0080] If the head holder 70 has moved to the standby position on the Z-axis, the control unit 500 instructs the cleaning unit 4 to clean the head 300. Then, the cleaning unit 4 cleans the head 300 (step S15).

[0081] If the cleaning of the head 300 is completed, the control unit 500 turns off the air solenoid valve 93D of the second Z-direction drive unit 93 (step S16). As a result, the piston 93B of the air cylinder of the second Z-direction drive unit 93 moves in the direction of being pushed out of the cylinder body 93A. Then, due to the movement of the piston 93B, the head holder 70 attached to the end of the piston 93B moves to the position where ink ejection is possible on the Z-axis.

[0082] If the head holder 70 has reached the position where ink ejection is possible, the control unit 500 reduces the excitation current value of the drive motor of the first Z-direction drive unit 92 and returns the excitation current value of the drive motor to the state at the time of stopping the ink ejection operation (step S17).

[0083] Then, the liquid ejection device 1000 starts the ink ejection operation based on the instruction of the control unit 500 (step S18).

[0084] As described above, in the present embodiment, the excitation current value of the first Z-direction drive unit 92 is controlled based on the collision detection signals from the collision detection plates 7L and 7R that detect the collision of the carriage 1. Also, the excitation current value of the first Z-direction drive unit 92 is controlled based on the instruction to execute the cleaning operation on the carriage 1.

[0085] As a result, the impact generated along with the movement of the head 300 during abnormal detection such as a collision and during the cleaning operation is less likely to be transmitted to the carriage 1, and the out-of-tune of the carriage 1 can be prevented.

[0086] FIG. 9 is an explanatory diagram showing an example of the movement of the head with respect to the object to be drawn.

[0087] In order to keep the gap between the head 300 and the object to be drawn 100 constant during ink ejection execution, in the liquid ejection device 1000 of the present embodiment, the surface shape of the object to be drawn 100 is measured before ink ejection execution. Then, the liquid ejection device 1000 creates three-dimensional coordinate data (body data) representing the surface shape of the object to be drawn 100.

[0088] During ink ejection execution, the liquid ejection device 1000 moves the carriage 1 in the positive X-axis direction and the negative X-axis direction as shown in the figure based on the previously created body data. Further, while moving the carriage 1 in the positive X-axis direction and the negative X-axis direction, the head 300 is moved in the Z-axis direction so as to follow the surface shape of the object to be drawn 100, and ink ejection is performed.

[0089] In the liquid ejection device as described above, an area where an abnormality such as a collision may occur during ink ejection execution may be calculated based on the body data, and the excitation current value of the drive motor in the area may be controlled.

[0090] FIG. 10 is an explanatory diagram when controlling the excitation current value of the drive motor in an area where a collision may occur.

[0091] P1, P2, P3, and P4 marked with circles in the figure are an example of measurement points. When measuring the surface shape of the object to be drawn 100 before ink ejection execution and creating three-dimensional coordinate data (body data) representing the surface shape of the object to be drawn 100, measurements are performed at these measurement points p1 to p4.

[0092] Each measurement point p1 to p4 forms distances X1, X2, X3 in the X-axis direction and distances Z1, Z2, Z3 in the Z-axis direction as shown in the figure. Here, when arbitrary threshold values are Xth and Zth, the region where a collision between the object to be drawn 100 and the head 300 may occur can be derived from the following two equations. Zth < Zn ··· Equation 1 (Zth / Xth) < (Zn / Xn) ··· Equation 2 However, Xn (n = 1, 2, 3) is the distance between measurement points in the X-axis direction, and Zn (n = 1, 2, 3) is the distance between measurement points in the Z-axis direction.

[0093] And it is assumed that the head 300 may collide with the object to be drawn 100 while the carriage 1 moves from the measurement point p2 to p3. In that case, the excitation current value of the drive motor of the first Z-direction drive unit 92 is controlled to increase from small (for example, about 20% of the maximum value) to medium (for example, about 50% of the maximum value) with respect to the region of X2.

[0094] By increasing the excitation current value from small to medium as described above, when an actual collision occurs during ink ejection execution, the excitation current of the drive motor of the first Z-direction drive unit 92 can be immediately increased to large (for example, the maximum value). Therefore, when a collision occurs during ink ejection execution, the excitation current of the drive motor of the first Z-direction drive unit 92 immediately reaches the maximum value, and the drive operation of the second Z-direction drive unit 93 can also be started quickly. Thereby, the collision risk between the head 300 and the object to be drawn 100 can be reduced.

[0095] As described above, based on the three-dimensional coordinate data (body data) indicating the shape of the object to be drawn 100, the control unit 500 calculates the region where a collision may occur when ink ejection is executed on the object to be drawn 100, and controls to increase the excitation current value of the first Z-direction drive unit 92 in the region.

[0096] Thereby, when a collision occurs during ink ejection execution, the drive operation of the second Z-direction drive unit 93 can be started quickly, and the collision risk between the head 300 and the object to be drawn 100 can be reduced.

[0097] Although the control for reducing the collision risk using body data was described with reference to FIG. 10, it is also possible to reduce the collision risk using drawing data. For example, as described below, based on the drawing data used for ink ejection onto the object to be drawn 100, the ratio of the drawing data may be calculated, and the excitation current value of the drive motor may be controlled according to the ratio.

[0098] FIG. 11 is an explanatory diagram of the case where the excitation current value of the drive motor is controlled according to the ratio of the drawing data.

[0099] For example, it is assumed that there is no continuous drawing data for 30% or more in the drawing data corresponding to the drawing area in the forward path section (for one scan) where the carriage 1 moves in the X-axis direction. In that case, the gap between the object to be drawn 100 and the head 300 is increased to surely reduce the collision risk with a collision object such as a protrusion.

[0100] In FIG. 11, section A2 corresponds to the section without drawing data. In this case, at the timing of moving from section A1 to section A2, the head holder 70 retreats in the Z-axis direction with respect to the carriage 1, and at the timing of moving from section A2 to section A3, the head holder 70 advances in the Z-axis direction with respect to the carriage 1.

[0101] When performing this retreating operation and advancing operation, since the power cylinder of the second Z-direction drive unit 93 operates, before the power cylinder operates, control is performed to increase the excitation current value of the drive motor of the first Z-direction drive unit 92 from small to large.

[0102] When moving from section A1 to section A2 as described above, first, the excitation current value of the drive motor of the first Z-direction drive unit 92 is maximized to increase the holding force for holding the stop position of the drive motor, and then the second Z-direction drive unit 93 is driven. Then, the head holder 70 is retracted from the object to be drawn 100 by the second Z-direction drive unit 93, and after increasing the gap between the object to be drawn 100 and the head 300, the excitation current value of the drive motor is returned to a small value. As a result, in the area without drawing data, the gap between the object to be drawn 100 and the head 300 becomes wider, and the risk of collision can be reduced.

[0103] Also, when moving from section A2 to section A3, first, the excitation current value of the drive motor of the first Z-direction drive unit 92 is maximized to increase the holding force for holding the stop position of the drive motor, and then the second Z-direction drive unit 93 is driven. Then, the head holder 70 is advanced toward the object to be drawn 100 by the second Z-direction drive unit 93, and after reducing the gap between the object to be drawn 100 and the head 300, the excitation current value of the drive motor is returned to a small value.

[0104] As described above, the control unit 500 calculates the ratio between the area with drawing data and the area without drawing data based on the drawing data used for ink ejection onto the object to be drawn 100, and controls to increase the excitation current value of the first Z-direction drive unit 92 according to the ratio.

[0105] As a result, in the area without drawing data, the gap between the object to be drawn 100 and the head 300 becomes wider, and the risk of collision can be reduced.

[0106] FIG. 12 is a flowchart of the collision risk reduction mode.

[0107] The two controls described with reference to FIGS. 10 and 11 may be combined into a series of flows as the collision risk reduction mode shown in FIG. 12.

[0108] In this flow, first, three-dimensional coordinate data (body data) regarding the surface shape of the object to be drawn 100 is specified (step S21).

[0109] Next, based on this body data, a region where a collision may occur is calculated (step S22).

[0110] Next, it is determined whether there is a value exceeding the threshold among these calculated values (step S23). Here, if there is no value exceeding the threshold, the process proceeds to step S25.

[0111] On the other hand, if there is a value exceeding the threshold, the mode is specified as to whether to set it to the normal mode as it is or to the collision risk reduction mode (step S24).

[0112] Next, the drawing data to be drawn on the drawn object 100 is specified (step S25).

[0113] If the drawing data is specified, based on this drawing data, the ratio of the drawing data is calculated (step S26).

[0114] Next, it is determined whether there is a value exceeding the threshold among these calculated values (step S27). If there is no value exceeding the threshold, this flow ends.

[0115] On the other hand, if there is a value exceeding the threshold, the mode is specified as to whether to set it to the normal mode as it is or to the collision risk reduction mode (step S28). If the mode is specified, this flow ends.

[0116] By doing this flow, the user can appropriately select the collision risk reduction mode on the UI such as the operation panel.

[0117] As described above, in this embodiment, it is possible to select the execution of the excitation current value control of the first Z - direction drive unit 92 in the region where a collision may occur and the execution of the excitation current value control of the first Z - direction drive unit 92 according to the ratio of the drawing data.

[0118] Thereby, the user can select between the normal mode and the risk reduction mode.

[0119] FIG. 13 is an explanatory view of a liquid ejection apparatus according to a modified example of the present invention, and FIG. 14 is an enlarged perspective view of the liquid ejection apparatus in the same modified example.

[0120] The liquid ejection apparatus 1000 includes a linear rail 404 that supports the carriage 1 so as to be reciprocally linearly movable, and an articulated robot 405 that appropriately moves the linear rail 404 to a predetermined position and holds it at that position.

[0121] The articulated robot 405 includes a robot arm 405a that can move freely like a human arm by a plurality of joints, and the tip of the robot arm 405a can be freely moved and arranged at an accurate position.

[0122] As the articulated robot 405, for example, an industrial robot of a six-axis control type having six axes, that is, six joints can be used. According to the six-axis articulated robot, by previously teaching information regarding operations, the linear rail 404 can be installed at a predetermined position of the object to be drawn (aircraft fuselage) 702 extremely accurately and quickly. Note that the robot 405 is not limited to six axes. An articulated robot having an appropriate number of axes such as five axes or seven axes can be used.

[0123] The robot arm 405a of the robot 405 includes a fork-shaped support member 424. A vertical linear rail 423a is attached to the tip of the left branch portion 424a of the support member 424, and a vertical linear rail 423b is attached to the tip of the right branch portion 424b so as to be parallel. Both ends of the linear rail 404 that movably supports the carriage 1 are supported by the two vertical linear rails 423a and 423b.

[0124] The carriage 1 includes the above-described head 300, and ink is supplied from the ink tank 330 to the head 300.

[0125] This liquid ejection device 1000 moves the linear rail 404 to the drawing area of the object to be drawn 702 by the robot 405, and while moving the carriage 1 along the linear rail 404 according to the drawing data, drives the head 300 to perform drawing.

[0126] Then, when the drawing for one line is completed, the liquid ejection device 1000 drives the vertical linear rails 423a and 423b to move the head 300 of the carriage 1 to the next line.

[0127] By repeating this operation, it becomes possible to perform drawing on the required drawing area of the object to be drawn 702.

[0128] When performing drawing on the fuselage of an aircraft or the like, the moving distance of the carriage 1 may be several tens of meters. However, since the cleaning unit 4 is provided in the carriage 1 itself, the head 300 can be cleaned at any time. Therefore, it is possible to continuously perform high-quality drawing with less downtime.

[0129] FIG. 15 is a perspective explanatory view of a liquid ejection device according to a second modification of the present invention.

[0130] The liquid ejection device of this modification moves the carriage 1 having the head holder 70 in the X-Y direction with respect to the object to be drawn 100 (mainly paper, film, wooden board, etc.) positioned on the horizontal table 200, and performs drawing on the object to be drawn 100.

[0131] The carriage 1 moves in the X-axis direction along the X-axis rail 101. Further, by moving the frame 81 that supports the X-axis rail 101 along the Y-axis rail 102 provided on the side surface of the table 200, the carriage 1 moves in the Y-axis direction.

[0132] Although not shown, the head holder 70 includes the head 300 in the same manner as the other embodiments described above. When the head holder 70 moves in the Z-axis direction with respect to the carriage 1, the nozzle surface 302a of the head 300 also moves in the Z-axis direction.

[0133] The liquid ejection device according to the second modification is different from the other embodiments described above in that liquid is ejected in the direction of gravity onto the object 100 placed horizontally on the table 200, and the present invention may be applied to this type of liquid ejection device.

[0134] FIG. 16 is a perspective explanatory view of a liquid ejection device according to a third modification of the present invention.

[0135] The liquid ejection device of this modification is different from the liquid ejection device according to the second modification in that the object 100 moves in the direction of arrow a on the table 200. The liquid ejection device of this modification moves the carriage 1 having the head holder 70 in the X-axis direction with respect to the object 100 sent out from the object supply unit 201 to perform drawing on the object 100.

[0136] When the drawing of one line by the carriage 1 is completed, the object 100 moves in the direction of arrow a by a predetermined length and then stops. By moving the carriage 1 in the X-axis direction with respect to the stopped object 100, the drawing of the next line (row) is performed. In this way, the intermittent feeding operation of the object 100 is repeated to perform drawing on the object 100.

[0137] The carriage 1 moves in the X-axis direction along the X-axis rail 101 in the same manner as the liquid ejection device according to the second modification. In the case of the liquid ejection device according to the second modification, the carriage 1 also moves in the Y-axis direction, but the liquid ejection device according to this modification is different in that respect. In the case of this modification, since the object 100 moves on the table 200, the carriage 1 does not need to move in the Y-axis direction during the drawing on the object 100, and the carriage 1 is fixed (stopped) at a predetermined position.

[0138] The object 100 that has passed under the carriage 1 is wound up by the object winding unit 202 provided in the liquid ejection device. The head holder 70 includes the head 300 in the same manner as the other embodiments described above, and when the head holder 70 moves in the Z-axis direction with respect to the carriage 1, the nozzle surface 302a of the head 300 also moves in the Z-axis direction.

[0139] The liquid ejection device according to the third modification is different from the other embodiments described above in that the moving direction of the carriage 1 is only in the X-axis direction, and the present invention may be applied to this type of liquid ejection device.

[0140] Note that the carriage 1 is not limited to a configuration that moves in three directions of the X-axis, Y-axis, and Z-axis, or a configuration that moves in two directions of either the X-axis or the Y-axis and the Z-axis. For example, when the object 100 to be drawn moves in two directions of the X-axis and the Y-axis, the position of the carriage 1 may be fixed with respect to the X-axis and the Y-axis.

[0141] In the present invention, the liquid may be a solution, suspension, emulsion, etc. containing a solvent such as water or an organic solvent, a colorant such as a dye or a pigment, a polymerizable compound, a resin, a functional additive material such as a surfactant, a biocompatible material such as DNA, an amino acid, a protein, or calcium, an edible material such as a natural pigment, and the like. These can be used, for example, in applications such as inkjet ink, a surface treatment liquid, a component of an electronic element or a light-emitting element, a liquid for forming an electronic circuit resist pattern, a material liquid for three-dimensional modeling, and the like.

[0142] Next, application examples of the present invention will be described with reference to FIGS. 17 to 22. The present invention can also be applied to an unmanned aircraft 6000 such as a drone shown in FIG. 17. The unmanned aircraft 6000 controls its position based on the detection results of a detector 610 such as a distance measuring sensor mounted on itself. The unmanned aircraft 6000 includes a liquid ejection unit 620 including a head that ejects a liquid such as ink, and supplies the liquid stored in a liquid tank 630 to the liquid ejection unit 620 via a cable 640. Then, based on the above position control, the unmanned aircraft 6000 ejects the liquid from the head provided in the liquid ejection unit 620 toward an object (in this embodiment, the wall surface of a building) 100, and applies the liquid to the painted portion P of the object 100.

[0143] Furthermore, the present invention can also be applied to an unmanned vehicle 7000 such as a wall-climbing robot shown in FIG. 18. The unmanned vehicle 7000 can move by driving rollers 710 while sucking an object (a building wall surface in this embodiment) 100 at the bottom of the unmanned vehicle 7000. The unmanned vehicle 7000 is provided with a liquid discharge unit 720 including a head that discharges a liquid such as ink, and supplies the liquid stored in a liquid tank 730 to the liquid discharge unit 720 via a cable 740. Then, the unmanned vehicle 7000 discharges the liquid from the head provided in the liquid discharge unit 720 toward the object (a building wall surface in this embodiment) 100, and applies the liquid to the painted portion P of the object 100.

[0144] In addition, the present invention can also be applied to a painting robot 8000 that paints, for example, an automobile body shown in FIG. 19. The painting robot 8000 includes a robot arm 810 that can move freely like a human arm by a plurality of joints, and a liquid discharge unit 820 including a head that discharges a liquid at the tip of the robot arm 810. Further, the robot arm 810 is provided with a 3D sensor 830 in the vicinity of the liquid discharge unit 820. As the painting robot 8000, an articulated robot having an appropriate number of axes such as 5 axes, 6 axes, or 7 axes can be used. The painting robot 8000 detects the position of the liquid discharge unit 820 with respect to the object (the vehicle body in this embodiment) 100 by the 3D sensor 830, and moves the robot arm 810 based on the detection result to paint the object 100.

[0145] In addition, the present invention can also be applied to, for example, an apparatus 9000 for manufacturing an electrode by discharging a liquid as shown in FIG. 20. FIG. 20 is a schematic view of an apparatus for manufacturing a negative electrode used in an electrochemical element such as a primary battery, a secondary battery, a capacitor, or a condenser. This apparatus includes a liquid discharge unit 920 including a head for discharging a liquid, and discharges the liquid onto an object (in this embodiment, a negative electrode substrate) 100 on a stage 910 using an inkjet method. A liquid tank 930 stores a liquid composition 900A for forming a negative electrode composite layer 900, and supplies the liquid composition 900A from the liquid tank 930 to the liquid discharge unit 920 via a tube 940.

[0146] Also, as shown in FIG. 21, the liquid composition 900A may be configured to circulate within the apparatus 9000. In FIG. 21, an external tank 950 is connected to the liquid tank 930 via a valve 960A, and the liquid tank 930 is connected to the liquid discharge unit 920 via a valve 960B. Further, the liquid discharge unit 920 is connected to a pump 970 via a valve 960C, and the pump 970 is connected to the liquid tank 930. In the above configuration, by controlling the flow of the liquid composition 900A using the pump 970 and the valves 960B and 960C, the liquid composition 900A stored in the liquid tank 930 can circulate within the apparatus 9000.

[0147] Also, by providing an external tank 950 and controlling the valve 960A, it is also possible to supply the liquid composition 900A from the external tank 950 to the liquid tank 930 of the apparatus 9000 when the amount of the liquid composition 900A that can be discharged decreases. To manufacture a negative electrode, as shown in FIG. 20, an object (negative electrode substrate) 100 is placed on a heatable stage 910, and the liquid composition 900A is discharged onto the object 100. At this time, the stage 910 may be moved relative to the object 100, or the liquid discharge unit 920 may be moved relative to the object 100. The liquid composition 900A on the object 100 dries by heating on the stage 910 and becomes a negative electrode composite layer 900.

[0148] Note that drying is not limited to heating on the stage 910. For example, a drying device provided separately from the stage 910 may be used. The drying device is not particularly limited as long as it does not directly contact the liquid composition 900A and can be appropriately selected. For example, a resistance heater, an infrared heater, a fan heater, a blower, etc. can be mentioned. Also, a plurality of drying devices may be installed.

[0149] Also, using the device 9500 illustrated in FIG. 22, a negative electrode for use in an electrochemical element can also be manufactured. The device 9500 winds a strip-shaped object (in this embodiment, the electrode substrate for the negative electrode) 100 made of stainless steel, copper, etc. around a cylindrical core, and loads it onto the delivery roller 980A and the take-up roller 980B with the surface forming the negative electrode composite layer 900 facing upward. The delivery roller 980A and the take-up roller 980B rotate counterclockwise, and the object 100 moves in the direction from right to left in FIG. 22. The liquid tank 930 stores the liquid composition 900A for forming the negative electrode composite layer 900, and supplies the liquid composition 900A from the liquid tank 930 to the liquid discharge unit 920 via the tube 940. Note that the liquid discharge unit 920 is installed above the object 100 between the delivery roller 980A and the take-up roller 980B. Also, a plurality of liquid discharge units 920 may be installed in a direction substantially parallel or substantially perpendicular to the conveyance direction of the object 100.

[0150] The delivery roller 980A and the take-up roller 980B convey the object 100 with the liquid composition 900A placed thereon to the drying device 990. As a result, the liquid composition 900A on the object 100 dries to become the negative electrode composite layer 900, and a negative electrode 90 with the negative electrode composite layer 900 bonded to the electrode substrate for the negative electrode as the object 100 is formed. Thereafter, the negative electrode 90 is cut into a desired size by punching or the like. The drying device 990 is not particularly limited as long as it does not directly contact the liquid composition 900A and can be appropriately selected. For example, a resistance heater, an infrared heater, a fan heater, etc. can be mentioned. Note that the drying device 990 may be configured to be installed on either the upper or lower side of the object 100. Also, a plurality of drying devices 990 may be installed.

[0151] In apparatuses 9000 and 9500 for manufacturing a negative electrode used in the electrochemical element as described above, the inkjet method is suitable in that the liquid can be applied to a targeted position in the lower layer. Also, the inkjet method is suitable in that it can bond the surfaces of the object (negative electrode substrate) 100 that are in contact with the upper and lower surfaces of the negative electrode composite layer 900. Further, the inkjet method is suitable in that it can make the film thickness of the negative electrode composite layer 900 uniform.

[0152] In the above description, the apparatus for manufacturing a negative electrode used in the electrochemical element was described as an example, but it is of course possible to apply it to an apparatus for manufacturing a positive electrode. When manufacturing a positive electrode, the object 100 may be replaced with a positive electrode substrate from a negative electrode substrate, and the liquid composition 900A for forming the negative electrode composite layer may be replaced with a liquid composition for forming a positive electrode composite layer.

[0153] What has been described above is an example, and the present invention has specific effects for each of the following aspects.

[0154] [Aspect 1] Aspect 1 is a liquid ejection apparatus 1000 (an example of a liquid ejection apparatus) including a head 300 (an example of a liquid ejection unit) having a nozzle 302 (an example of a liquid ejection port) that ejects ink (an example of a liquid) toward a drawing object 100 (an example of an object), and a carriage 1 (an example of a liquid ejection unit) that holds the head 300 and is movable in the Z-axis direction (an example of the direction in which the liquid is ejected from the liquid ejection port toward the object), the liquid ejection apparatus 1000 including a first Z-direction drive unit 92 (an example of a first drive means) for moving the carriage 1 in the Z-axis direction, a second Z-direction drive unit 93 (an example of a second drive means) for moving the head 300 in the Z-axis direction with respect to the carriage 1, and a control unit 500 (an example of a control means) that drives the second Z-direction drive unit 93 after increasing the excitation current value of the first Z-direction drive unit 92 based on an abnormality detection signal from a collision detection plate 7L, 7R (an example of an abnormality detection means) for detecting an abnormality of the carriage 1 or an instruction to execute a cleaning operation on the carriage 1.

[0155] According to this aspect, it is possible to provide a liquid ejection device 1000 capable of reducing power consumption during driving.

[0156] [Second Aspect] In the second aspect, in the first aspect, the control unit 500 calculates a region where an abnormality may occur when ink ejection is performed on the object to be drawn 100 based on three-dimensional coordinate data (an example of coordinate data) indicating the shape of the object to be drawn 100, and controls to increase the excitation current value of the first Z-direction driving unit 92 in the region.

[0157] According to the second aspect, when an abnormality occurs during ink ejection execution, the driving operation of the second Z-direction driving unit 93 can be started earlier, and the risk of collision between the head 300 and the object to be drawn 100 can be reduced.

[0158] [Third Aspect] In the third aspect, in the first aspect or the second aspect, the control unit 500 calculates the ratio between the region with drawing data and the region without drawing data based on the drawing data used for ink ejection on the object to be drawn 100, and controls to increase the excitation current value of the first Z-direction driving unit 92 according to the ratio.

[0159] According to the third aspect, in the region without drawing data, the gap between the object to be drawn 100 and the head 300 becomes wider, and the risk of collision can be reduced.

[0160] [Fourth Aspect] In the fourth aspect, in the second aspect or the third aspect, it is characterized in that the execution of the excitation current value control of the first Z-direction driving unit 92 in the region where the abnormality may occur and the execution of the excitation current value control of the first Z-direction driving unit 92 according to the ratio are selectable.

[0161] According to the fourth aspect, the user can select between the normal mode and the risk reduction mode.

[0162] [Fifth Aspect] In the fifth aspect, in any one of the first to fourth aspects, the first Z-direction drive unit 92 includes a drive motor.

[0163] According to the fifth aspect, the carriage 1 can be moved with high precision relative to the object 100 to be drawn.

[0164] [Sixth Aspect] In the sixth aspect, in any one of the first to fourth aspects, the second Z-direction drive unit 93 includes a power cylinder.

[0165] According to the sixth aspect, the head 300 can be moved relative to the carriage 1 at high speed.

Explanation of Reference Numerals

[0166] 1 Carriage (Liquid Discharge Unit) 4 Cleaning Unit 7L, 7R Collision Detection Plate (Abnormality Detection Means) 70 Head Holder (Holder) 72 X-direction Drive Unit 82 Y-direction Drive Unit 92 First Z-direction Drive Unit 93 Second Z-direction Drive Unit 100 Object to be drawn (Object) 101 X-axis Rail 102 Y-axis Rail 103 Z-axis Rail 300 Head (Liquid Discharge Section) 302 Nozzle (Liquid Discharge Port) 302a Nozzle Surface (Liquid Discharge Surface) 500 Control Unit (Control Means) 1000 Liquid Discharge Device

Prior Art Documents

Patent Documents

[0167]

Patent Document 1

Claims

1. A liquid discharge device comprising a liquid discharge unit having a liquid discharge port for discharging a liquid toward an object, and a liquid discharge unit that holds the liquid discharge unit and is movable in a direction in which the liquid is discharged from the liquid discharge port toward the object, the liquid discharge device comprising: first driving means for moving the liquid discharge unit in the direction in which the liquid is discharged; second driving means for moving the liquid discharge unit in the direction in which the liquid is discharged with respect to the liquid discharge unit; control means for increasing an excitation current value of the first driving means based on an abnormality detection signal from abnormality detection means for detecting an abnormality of the liquid discharge unit or an instruction to execute a cleaning operation on the liquid discharge unit, then driving the second driving means, and after stopping the driving of the second driving means, decreasing the excitation current value of the first driving means. The liquid discharge device is characterized by having this.

2. The control means can perform first collision risk reduction control for calculating a region where an abnormality may occur when discharging the liquid onto the object based on coordinate data indicating the shape of the object, and controlling to increase the excitation current value of the first driving means in the region. The liquid discharge device according to claim 1 is characterized by this.

3. The liquid discharge device according to claim 2, wherein a user can select whether to perform the first collision risk reduction control.

4. The control means can perform second collision risk reduction control for calculating a ratio of drawing data and controlling to increase the excitation current value of the first driving means according to the ratio based on the drawing data used for discharging the liquid onto the object. The liquid discharge device according to any one of claims 1 to 3 is characterized by this.

5. The liquid discharge device according to claim 4, wherein a user can select whether to perform the second collision risk reduction control.

6. The first driving means includes a drive motor. The liquid discharge device according to any one of claims 1 to 5 is characterized by this.

7. The second driving means includes a power cylinder. The liquid discharge device according to any one of claims 1 to 5 is characterized by this.

8. The liquid discharge unit is movable in at least one of a first direction and a second direction intersecting the first direction, and in a third direction intersecting the first direction and the second direction and in which the liquid is discharged from the liquid discharge port toward the object. The liquid discharge device according to any one of claims 1 to 7, characterized in that.

9. A liquid discharge unit including a liquid discharge port for discharging a liquid toward an object, A liquid discharge method of a liquid discharge device including the liquid discharge unit that holds the liquid discharge unit and is movable in a direction in which the liquid is discharged from the liquid discharge port toward the object, The liquid discharge device, A first driving means for moving the liquid discharge unit in the direction in which the liquid is discharged, A second driving means for moving the liquid discharge unit in the direction in which the liquid is discharged with respect to the liquid discharge unit, A control step of driving the second driving means after increasing the excitation current value of the first driving means based on an abnormality detection signal from an abnormality detection means for detecting an abnormality of the liquid discharge unit or an instruction to execute a cleaning operation on the liquid discharge unit, A liquid discharge method characterized by having a control step of decreasing the excitation current value of the first driving means after stopping the driving of the second driving means.

Images