Printer and printing method

Abstract

To provide a printer and a printing method which can suppress the nozzle clogging by immediately discharging ink left in the nozzle of a head at the time of a printing operation.SOLUTION: A printer comprises: a platen 5 on which a printing object M can be placed; a head 10 which discharges ink to the printing object M placed on the platen 5; a lamp 50 which irradiates the printing object M to which ink discharged from the head 10 adheres with light; a carriage 20 which supports the head 10 and the lamp 50; and an ink recovery hole Cp which recovers the ink discharged from the head 10. The printer arranges the head 10 at a prescribed position Pu by moving the head 10 by the carriage 20 at any timing in a period from the start to the end of printing to the printing object M, discharges the ink toward the ink recovery hole Cp from the head 10 in this state, and recovers the ink by the ink recovery hole Cp.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a printer and a printing method.

Background Art

[0002] Patent Document 1 discloses an image recording apparatus that records an image on a recording and printing object using a photocurable ink. The image recording apparatus includes a recording head, an ultraviolet irradiation device, and a maintenance mechanism. At the time of image recording, the image recording apparatus reciprocates the recording head in the main scanning direction within the recording area while discharging ink from the recording head onto the recording and printing object. Then, the ink landed on the recording and printing object is irradiated with ultraviolet rays from the ultraviolet irradiation device. As a result, the ink is cured and fixed, and an image is recorded on the recording and printing object. On the other hand, at the time of maintenance, the image recording apparatus moves the recording head to the maintenance area. Next, the image recording apparatus sucks the ink of the recording head through the suction cap of the maintenance mechanism. Next, the image recording apparatus discharges the ink from the recording head into the tray of the maintenance mechanism. Thus, the recording head is prepared in a good state for performing image recording again.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In printers using photocurable inks, the light from the lamp can reflect off the object being printed and irradiate the print head, causing the ink in the head's nozzles to harden. Therefore, to prevent nozzle clogging due to hardened ink, any ink remaining in the head's nozzles must be immediately discharged after the ink has been ejected from the print head to the object being printed. However, in the image recording device described in Patent Document 1, while the recording head is empty-flushed during maintenance, this is not done during image recording. As a result, there is a problem that the ink in the nozzles may harden during image recording, potentially causing nozzle clogging.

[0005] The object of the present invention is to provide a printer and a printing method that can suppress nozzle clogging by immediately discharging ink remaining in the nozzles of the print head during printing. [Means for solving the problem]

[0006] A printer according to a first aspect of the present invention is a printer that performs printing by ejecting photocurable ink onto a printing object, comprising: a platen on which the printing object can be placed; a head for ejecting the ink onto the printing object placed on the platen; a lamp for irradiating light onto the printing object to which the ink ejected from the head has adhered; a carriage that supports the head and the lamp and moves in the main scanning direction; an ink recovery mechanism that is positioned opposite a predetermined position which is any position in a predetermined area which is a movable area of ​​the head moved by the carriage, and recovers the ink ejected from the head; and a control unit that controls the head, the lamp, the carriage, and the ink recovery mechanism, wherein the control unit moves the head by the carriage to position the head at any time during the printing period which is the period from the start to the end of printing on the printing object, and while the head is positioned at the predetermined position, ejects the ink from the head toward the ink recovery mechanism, and recovers the ink ejected from the head by the ink recovery mechanism.

[0007] During printing, the printer ejects ink from the print head towards the ink recovery mechanism. This allows the printer to expel any remaining ink from the nozzles in the print head, preventing clogging. In this way, even if some ink remains in the nozzles after being ejected from the print head, the printer can immediately expel the ink from the nozzles during the printing process, effectively preventing nozzle clogging.

[0008] In the first embodiment, the printer further comprises a movable recovery mechanism supported by the carriage and movable with the head, for recovering the ink ejected from the head, wherein the control unit may prohibit the recovery of the ink by the movable recovery mechanism when the ink ejected from the head is being recovered by the ink recovery mechanism. The printer can suppress fluctuations in the ejection direction of the ink ejected from the head toward the ink recovery mechanism due to the driving of the movable recovery mechanism. Therefore, the printer can reduce the possibility that the ink ejected toward the ink recovery mechanism may adhere to parts other than the ink recovery mechanism.

[0009] In the first embodiment, the ink recovery mechanism may be provided on a part of the platen, the control unit may position the head at a predetermined position facing the ink recovery mechanism, and with the head in the predetermined position, the control unit may eject the ink from the head toward the ink recovery mechanism, and the ink recovery mechanism may recover the ink ejected from the head. The printer can reduce the time required to move the head to the predetermined position during the printing period. Therefore, even if ink ejected from the head for printing remains in the nozzle, the printer can suppress nozzle clogging by immediately discharging the ink remaining in the nozzle.

[0010] In the first embodiment, the printer may further include a sensor for detecting the distance between the head and the object to be printed, and the control unit may determine, based on the detection result from the sensor, that the head is positioned in the predetermined location. The printer can determine from the sensor that the head is positioned in the predetermined location and eject ink from the head toward the recovery mechanism.

[0011] In the first embodiment, the carriage may support the head and the lamp while the head is positioned relative to the lamp in one direction in the main scanning direction, and may support the sensor at one end in the main scanning direction. The printer moves the carriage in one direction in the main scanning direction to perform printing. In other words, the sensor is provided at the leading end in the direction of head movement during printing. Therefore, the printer can use the sensor to determine that the head is positioned in a predetermined location opposite to a retrieval mechanism provided in one direction in the main scanning direction relative to the object to be printed.

[0012] In the first embodiment, the sensor may have a first sensor and a second sensor, and the carriage may support the first sensor at one end of the sub-scanning direction perpendicular to the main scanning direction and support the second sensor at the other end of the sub-scanning direction. By providing sensors on both sides of the sub-scanning direction, the printer can reduce the possibility of the head shifting in the sub-scanning direction relative to a predetermined position.

[0013] In the first embodiment, the timing may be the time from when the carriage completes moving the head in the main scanning direction until the carriage starts moving the head in the main scanning direction again. When the printer prints while moving the head in the main scanning direction, it ejects ink from the head between the completion of the head's movement in the main scanning direction and the start of the head's next movement in the main scanning direction. Therefore, even if ink ejected from the head for printing remains in the nozzle, the printer can immediately discharge the ink from the nozzle during the printing period, thereby suppressing nozzle clogging.

[0014] In the first embodiment, the carriage supports the head and the lamp when the head is positioned relative to the lamp in one direction of the main scanning direction, and the predetermined position may be the position of the head after it has finished moving in one direction of the main scanning direction. The printer can reduce the time required to move the head to the predetermined position during the printing period. Therefore, even if ink ejected from the head for printing remains in the nozzle, the printer can immediately discharge the ink remaining in the nozzle to prevent nozzle clogging.

[0015] In the first embodiment, the control unit may acquire print object information relating to the print object and determine the frequency at which the ink is ejected from the head toward the ink recovery mechanism based on the acquired print object information. Even if the drive conditions during printing differ depending on the print object, the printer can eject ink from the head at an optimal frequency for each drive condition.

[0016] A printer according to a second aspect of the present invention is a printer that prints by ejecting photocurable ink onto a printing object, comprising: a platen on which the printing object can be placed; a head for ejecting the ink onto the printing object placed on the platen; a lamp for irradiating light onto the printing object to which the ink ejected from the head is attached; a carriage that supports the head and the lamp and moves them in the main scanning direction; a first recovery mechanism provided on a part of the platen, facing a first predetermined position which is any position in a predetermined region that is a movable area of ​​the head moved by the carriage, and recovering the ink ejected from the head; a second recovery mechanism that, in a second time between the completion of the movement of the head in the main scanning direction by the carriage and the start of the next movement of the head in the main scanning direction by the carriage, faces a second predetermined position which is any position in the predetermined region, and recovers the ink ejected from the head; and the head, carriage, lamp, The device comprises a first recovery mechanism and a control unit that controls the second recovery mechanism, wherein the control unit positions the head at a first predetermined position during the printing period, which is the period from the start to the end of printing on the object to be printed, and positions the head at a second predetermined position during the second predetermined position of the printing period, ejects ink from the head toward the first recovery mechanism when the head is positioned at the first predetermined position, ejects ink from the head toward the second recovery mechanism when the head is positioned at the second predetermined position, recovers the ink ejected toward the first recovery mechanism by the first recovery mechanism, recovers the ink ejected toward the second recovery mechanism by the second recovery mechanism, acquires information about the object to be printed, and switches whether to eject the ink from the head toward the first recovery mechanism or from the head toward the second recovery mechanism according to the acquired information about the object to be printed.

[0017] According to the second embodiment, the same effects as in the first embodiment can be achieved. Furthermore, the printer can switch between ejecting ink to the first recovery mechanism or to the second recovery mechanism depending on the object being printed.

[0018] In a second embodiment, the printer may further include a sensor for detecting the distance between the head and the object to be printed, and the control unit may determine, based on the detection result from the sensor, that the head has moved to the first predetermined position. The printer can determine from the sensor that the head is positioned at the first predetermined position and eject ink from the head toward the first recovery mechanism.

[0019] In a second embodiment, the carriage supports the head and the lamp when the head is positioned relative to the lamp in one direction of the main scanning direction, and the second predetermined position may be the position of the head after it has completed moving in one direction of the main scanning direction. The printer can reduce the time required to move the head to the second predetermined position during the printing period. Therefore, the printer can suppress nozzle clogging by immediately discharging any ink remaining in the nozzles.

[0020] A printing method according to a third aspect of the present invention is a printer that performs printing by ejecting a photocurable ink onto a printing object, the printer comprising: a platen on which the printing object can be placed; a head for ejecting the ink onto the printing object placed on the platen; a lamp for irradiating light onto the printing object to which the ink ejected from the head has adhered; a carriage that supports the head and the lamp and moves in the main scanning direction; and an ink recovery mechanism that is positioned opposite a predetermined position which is any position in a predetermined area which is a movable area of ​​the head moved by the carriage, and recovers the ink ejected from the head, the printing method being performed by the printer, comprising the steps of: moving the head with the carriage to position the head at any point during the printing period which is the period from the start to the end of printing on the printing object; ejecting the ink from the head toward the ink recovery mechanism while the head is positioned at the predetermined position; and recovering the ink ejected from the head by the ink recovery mechanism. According to the third embodiment, the same effects as those of the first embodiment are achieved.

[0021] In a third embodiment, the printer further comprises a movable recovery mechanism supported by the carriage and movable together with the head, for recovering the ink ejected from the head, and the printer may include a step of prohibiting the recovery of the ink by the movable recovery mechanism when the ink ejected from the head is being recovered by the ink recovery mechanism. In this case, the same effects as in the first embodiment are achieved.

[0022] A fourth aspect of the present invention relates to a printer that prints by ejecting a photocurable ink onto a printing object, comprising: a platen on which the printing object can be placed; a head for ejecting the ink onto the printing object placed on the platen; a lamp for irradiating light onto the printing object to which the ink ejected from the head has adhered; a carriage for supporting the head and the lamp and moving them in the main scanning direction; a first recovery mechanism provided on a part of the platen, facing a first predetermined position which is any position in a predetermined region that is a movable area of ​​the head moved by the carriage, and for recovering the ink ejected from the head; a second recovery mechanism that, in a second time period between the completion of the movement of the head in the main scanning direction by the carriage and the start of the next movement of the head in the main scanning direction by the carriage, faces a second predetermined position which is any position in the predetermined region, and recovers the ink ejected from the head; and a control for the head, the carriage, the lamp, the first recovery mechanism, and the second recovery mechanism. A printing method performed by the printer comprising a control unit, comprising the steps of: positioning the head at a first predetermined position during a printing period which is the period from the start to the end of printing on the object to be printed, and positioning the head at a second predetermined position during a second predetermined position during the printing period; ejecting the ink from the head toward a first recovery mechanism while the head is positioned at the first predetermined position, and ejecting the ink from the head toward a second recovery mechanism while the head is positioned at a second predetermined position; recovering the ink ejected toward the first recovery mechanism by the first recovery mechanism, and recovering the ink ejected toward the second recovery mechanism by the second recovery mechanism; acquiring object information relating to the object to be printed; and switching whether to eject the ink from the head toward the first recovery mechanism or toward the second recovery mechanism according to the acquired object information. According to the fourth embodiment, the same effects as the second embodiment can be achieved. [Brief explanation of the drawing]

[0023] [Figure 1] It is a perspective view of the printer 1. [Figure 2] It is a diagram showing the positional relationship of the carriage 20, the platen 5, and the ink recovery mechanism 72 arranged at the rightmost position Ps. [Figure 3] It is an explanatory diagram of the printing operation. [Figure 4] It is an explanatory diagram of the printing operation and is a continuation of FIG. 3. [Figure 5] It is an explanatory diagram of the first recovery method. [Figure 6] It is an explanatory diagram of the second recovery method. [Figure 7] It is a block diagram showing the electrical configuration of the printer 1. [Figure 8] It is a flowchart of the main processing. [Figure 9] It is a flowchart of the first printing process. [Figure 10] It is a flowchart of the second printing process.

Mode for Carrying Out the Invention

[0024] Referring to the drawings, the printer 1 according to the present invention will be described. The upper, lower, lower left, upper right, lower right, and upper left in FIG. 1 are the upper, lower, front, rear, right, and left of the printer 1, respectively.

[0025] <Overview of Printer 1> Referring to FIGS. 1 and 2, the schematic configuration of the printer 1 will be described. As shown in FIG. 1, the printer 1 includes a conveyance mechanism 6, a lifting mechanism 8, and a platen 5. The conveyance mechanism 6 is provided at the lower part of the printer 1 and includes a pair of rails 12. The pair of rails 12 extends in the front-rear direction and are arranged side by side in the left-right direction.

[0026] The lifting mechanism 8 is located above the transport mechanism 6 and is supported by a pair of rails 12. Driven by a sub-scanning motor 32 (see Figure 7), the lifting mechanism 8 moves in the forward and backward direction along the pair of rails 12. Driven by a lifting motor 34 (see Figure 7), the lifting mechanism 8 extends and retracts in the vertical direction.

[0027] The platen 5 is located above the lifting mechanism 8. The platen 5 is a plate. For example, multiple through holes are formed in the platen 5. Below the platen 5, a suction mechanism, such as a pump, is provided. Ink discharged toward the platen 5 is moved from the front to the back surface of the platen 5 through the multiple through holes by the suction mechanism. The ink is then collected by a pan or sponge placed below the platen 5. The platen 5 is supported by the lifting mechanism 8. The platen 5 moves vertically due to the vertical expansion and contraction of the lifting mechanism 8. The platen 5 also moves in the front-to-back direction due to the front-to-back movement of the lifting mechanism 8. The object to be printed M (see Figure 2) is placed on the top surface of the platen 5. The object to be printed M is, for example, a plate or sheet, and is made of, for example, cloth, paper, plastic, or metal.

[0028] The printer 1 comprises a pair of rails 11 and a carriage 20. The pair of rails 11 are positioned above the platen 5. The pair of rails 11 extend in the left-right direction and are aligned with each other in the front-rear direction. The carriage 20 is positioned between the pair of rails 11 in the front-rear direction. The carriage 20 is a plate and is supported by the pair of rails 11. The carriage 20 moves in the left-right direction along the pair of rails 11 by the drive of the main scanning motor 31 (see Figure 7).

[0029] As shown in Figure 2, the carriage 20 supports the head 10, the moving and retrieving mechanism 71, the lamp 50, and the sensor 2. The head 10, the moving and retrieving mechanism 71, the lamp 50, and the sensor 2 are located above the platen 5. As the carriage 20 moves in the left-right direction, the head 10, the moving and retrieving mechanism 71, the lamp 50, and the sensor 2 move relative to the print object M placed on the platen 5 in the left-right direction.

[0030] The print head 10 has multiple nozzles 10A on its underside. The print head 10 ejects ink downward from the multiple nozzles 10A. For example, the ink is a so-called UV-curable ink that hardens when exposed to ultraviolet light. Hereinafter, the area in which the print head 10 can move left and right in accordance with the movement of the carriage 20 will be referred to as the "predetermined area P". The position at the rightmost end of the predetermined area P will be referred to as the "rightmost position Ps". The position at the leftmost end of the predetermined area P will be referred to as the "leftmost position Pt".

[0031] A mobile retrieval mechanism 71 is provided to the right of the head 10. The mobile retrieval mechanism 71 is a suction pump. The mobile retrieval mechanism 71 has a suction port 71A on its lower surface. A lamp 50 is provided to the right of the mobile retrieval mechanism 71. The lamp 50 includes an ultraviolet light-emitting diode. The lamp 50 emits ultraviolet light downward from its lower surface 50A.

[0032] Sensor 2 is located to the left of the head 10. Sensor 2 is supported at the left end of the carriage 20. Sensor 2 is a distance measuring sensor and detects the distance to an object below it. For example, sensor 2 detects the distance to the top surface of the platen 5 and the distance to the top surface of the object to be printed M placed on the platen 5.

[0033] Hereafter, the distance between sensor 2 and the top surface of platen 5 will be denoted as Dp. The distance between sensor 2 and the top surface of the object to be printed M will be denoted as Dm. The distance between sensor 2 and the right end of head 10 will be denoted as Di.

[0034] An ink recovery mechanism 72 is provided to the left of the platen 5. The ink recovery mechanism 72 is equipped with a suction pump. The ink recovery mechanism 72 has a suction port 72A on its upper surface. The suction port 72A is located below the multiple nozzles 10A of the head 10 in the vertical direction. In a predetermined region P in which the head 10 can move in the left-right direction, the position above the ink recovery mechanism 72 corresponds to the leftmost position Pt. The ink recovery mechanism 72 is positioned downwards relative to the leftmost position Pt.

[0035] <Overview of Printing Operations> As the carriage 20 moves the head 10 to the left from the rightmost position Ps to the leftmost position Pt, the distance detected by the sensor 2 changes from Dp to Dm. When the distance detected by the sensor 2 changes from Dp to Dm, the printer 1 determines that the carriage 20 is approaching the object to be printed M placed on the platen 5 from the right, and that the sensor 2 has reached above the right edge of the object to be printed M. Furthermore, when the carriage 20 moves a distance Di to the left after the sensor 2 has reached above the right edge of the object to be printed M, the printer 1 determines that the head 10 has reached above the right edge of the object to be printed M.

[0036] As shown in Figure 3(A), after the print head 10 reaches above the right edge of the object to be printed M, the printer 1 ejects ink Iq from the print head 10 onto the object to be printed M. The ink Iq adheres to the object to be printed M. The printer 1 also drives the mobile recovery mechanism 71. As a result, the printer 1 collects a portion of the ink Iq ejected from the print head 10, which is a mist-like ink Iq floating above the platen 5, by sucking it up through the suction port 71A of the mobile recovery mechanism 71.

[0037] As shown in Figure 3(B), as the head 10 moves to the left by the carriage 20, the lamp 50 reaches above the ink Iq attached to the object M to be printed. The printer 1 emits ultraviolet light from the lower surface 50A of the lamp 50 onto the object M to which the ink Iq is attached. The ink Iq hardens due to the ultraviolet light. In the figure, hardened ink is indicated by the symbol Ir.

[0038] As shown in Figure 3(C), as the carriage 20 moves the head 10 to the left from the rightmost position Ps to the leftmost position Pt, all the ink Iq adhering to the object to be printed M is cured by ultraviolet light from the lamp 50. This completes the printing of one line of the print image that extends in the left-right direction (hereinafter referred to as the "line image") of the overall print image to be printed on the object to be printed M.

[0039] As shown in Figure 3(D), when the print head 10 moves to the leftmost position Pt by the carriage 20, the printer 1 completes the leftward movement of the carriage 20. In other words, the leftmost position Pt is the position of the print head 10 after the leftward movement by the carriage 20 has been completed. At this time, the print head 10 is located above the ink recovery mechanism 72.

[0040] Next, printer 1 performs the following operation to print the next line image on the portion of the print target M adjacent to the line image that has just been printed.

[0041] As shown in Figure 4(A), the printer 1 moves the head 10 to the right from the leftmost position Pt to the rightmost position Ps using the carriage 20. The printer 1 also moves the platen 5 backward by the length of the line image in the front-to-back direction. Next, the printer 1 controls the carriage 20, head 10, movement and recovery mechanism 71, and lamp 50 in the same procedure as in Figures 3(A) to 3(D). As a result, as shown in Figure 4(B), a new line image is printed in front of the line image printed on the object M in response to the previous leftward movement of the carriage 20.

[0042] As shown in Figures 4(A) and 4(B), the sensor 2 has a first sensor 21 and a second sensor 22. The first sensor 21 is supported at the front end of the carriage 20. The second sensor 22 is supported at the rear end of the carriage 20. The printer 1 uses the first sensor 21 and the second sensor 22 to determine the left-right position of the head 10 relative to the platen 5 and the object to be printed M.

[0043] <Ink recovery process> Printer 1 determines that among the multiple nozzles 10A of the head 10, there is a possibility that ink may harden and clog within the nozzle 10A if ink has not been ejected continuously for a predetermined time or longer. Hereinafter, the nozzle 10A determined to be at risk of ink hardening and clogging will be referred to as the "target nozzle". To suppress clogging of the target nozzle, Printer 1 performs an ink recovery process using one of the following two methods (first ink recovery method or second ink recovery method) and ejects ink Iq from the target nozzle.

[0044] <First Ink Recovery Method> After the line image printing is complete, if the distance detected by sensor 2 changes from Dm to Dp, printer 1 determines that sensor 2 has passed above the left edge of the object to be printed M placed on the platen 5, and that sensor 2 has reached a point to the left of the part of the platen 5 on which the object to be printed M is placed. Furthermore, if the carriage 20 moves a distance Di to the left after sensor 2 has passed above the left edge of the object to be printed M, printer 1 determines that the head 10 has reached a point to the left and above the part of the platen 5 on which the object to be printed M is placed, as shown in Figure 5(A).

[0045] As shown in Figure 5(B), the printer 1 ejects ink Iq from the target nozzle of the head 10 to the platen 5 while continuously moving the carriage 20 to the left. This discharges any ink Iq remaining in the target nozzle and prevents the nozzle from becoming clogged.

[0046] In the portion of the platen 5 on which the object to be printed M is placed, the multiple through-holes for recovering ink Iq are covered by the object to be printed M. On the other hand, in the portion of the platen 5 other than the portion on which the object to be printed M is placed, the multiple through-holes are exposed. Hereinafter, among the multiple through-holes on the platen 5 that are exposed when the object to be printed M is not placed on it, the multiple through-holes located to the left of the object to be printed M in the left-right direction will be referred to as "ink recovery holes Cp". In the predetermined region P on which the head 10 can move in the left-right direction, the position above the ink recovery holes Cp will be referred to as "predetermined position Pu". The ink recovery holes Cp are located below and opposite to predetermined position Pu.

[0047] In the first ink recovery method, ink Iq is ejected from the target nozzle with the head 10 positioned at a predetermined position Pu. The ejected ink Iq is recovered through the ink recovery hole Cp by suction from a suction mechanism provided on the platen 5. Therefore, the ink recovery hole Cp functions as an ink Iq recovery mechanism.

[0048] Furthermore, while the printer 1 ejects ink Iq from the target nozzle of the head 10 located at a predetermined position Pu toward the ink recovery hole Cp of the platen 5, the printer 1 stops driving the mobile recovery mechanism 71. Therefore, in the first ink recovery method, while ink Iq is ejected from the target nozzle, the mobile recovery mechanism 71 does not suck up the ink Iq.

[0049] <Second ink recovery method> As the head 10 moves to the left by the carriage 20, if the printing of a line image on the object M is completed, the printer 1 moves the head 10 to the leftmost position Pt by the carriage 20, as shown in Figure 6(A). When the head 10 has moved to the leftmost position Pt, the printer 1 completes the leftward movement of the carriage 20. In this state, the printer 1 ejects ink Iq from the target nozzle of the head 10 located at the leftmost position Pt. This discharges any ink Iq remaining in the target nozzle and prevents the nozzle from clogging. The ejected ink Iq is then sucked up through the suction port 72A of the ink recovery mechanism 72. After a certain period of time, the ejection of ink Iq from the target nozzle and the suction of ink Iq by the ink recovery mechanism 72 are stopped.

[0050] Next, as shown in Figure 6(B), printer 1 moves the head 10 to the right from the leftmost position Pt to the rightmost position Ps using the carriage 20 in order to print the next line image onto the object M. Also, printer 1 moves the platen 5 backward by the length of the line image in the front-to-back direction.

[0051] Next, printer 1 controls the carriage 20, head 10, movement and retrieval mechanism 71, and lamp 50 in the same procedure as shown in Figures 3(A) to 3(D). As a result, as shown in Figure 6(C), a new line image is printed in front of the already printed line image on the object M to be printed.

[0052] When the printer 1 moves the print head 10 to the leftmost position Pt by the carriage 20, the printer 1 completes the leftward movement of the carriage 20. The printer 1 ejects ink Iq from the target nozzle of the print head 10 located at the leftmost position Pt. This removes any ink Iq remaining in the target nozzle. The ejected ink Iq is then sucked up through the suction port 72A of the ink recovery mechanism 72.

[0053] As described above, in the second ink recovery method, ink Iq is ejected from the target nozzle and recovered by the ink recovery mechanism 72 during the period from when the head 10 has finished moving to the left and the printing of the line image has ended, until the head 10 begins moving to the right in order to start printing the next line image.

[0054] <Electrical configuration of Printer 1> Referring to Figure 7, the electrical configuration of printer 1 will be described. Printer 1 includes a control board 40. The control board 40 is equipped with a CPU 41, ROM 42, RAM 43, and flash memory 44. The CPU 41 controls printer 1 and is electrically connected to the ROM 42, RAM 43, and flash memory 44.

[0055] ROM 42 stores programs that the CPU 41 uses to control the operation of printer 1, as well as information that the CPU 41 needs when executing various programs. RAM 43 temporarily stores various data used by programs. Flash memory 44 is non-volatile and stores print data for printing.

[0056] The CPU 41 is electrically connected to the main scanning motor 31, the sub-scanning motor 32, encoders 311 and 321, the head drive unit 33, the lifting motor 34, the lamp 50, the sensor 2, and the operation unit 37. The main scanning motor 31, the sub-scanning motor 32, the head drive unit 33, the lifting motor 34, and the lamp 50 are driven by control from the CPU 41.

[0057] The main scanning motor 31 is equipped with an encoder 311. The encoder 311 detects the rotation angle of the main scanning motor 31 and outputs a detection signal to the CPU 41. The sub-scanning motor 32 is equipped with an encoder 321. The encoder 321 detects the rotation angle of the sub-scanning motor 32 and outputs a detection signal to the CPU 41. The head drive unit 33 consists of a pressure element, a heating element, etc., and drives the head to eject ink from multiple nozzles 10A of the head 10. The operation unit 37 is a touch panel, etc., and outputs information to the CPU 41 according to the user's operation. By operating the operation unit 37, the user can input a start command to the printer 1 to start printing.

[0058] <Main Processing> The main processing will be explained with reference to Figures 8 to 10. When a start command to begin printing is input by the user via the operation unit 37, the CPU 41 starts the main processing by reading and executing a program stored in the ROM 42. The input start command includes print image information and print target information. The print image information is information that indicates the print image desired by the user. The print target information is information that indicates the material, size, and position of the print target M placed on the platen 5.

[0059] As shown in Figure 8, the CPU 41 identifies the print image indicated by the print image information included in the input start instruction. The CPU 41 reads and obtains print data from the flash memory 44 for printing the identified print image onto the print target object M (S11). The CPU 41 obtains the print target object information included in the input start instruction (S13). The CPU 41 initializes the variable n stored in the RAM 43 by setting it to 1 (S15).

[0060] Based on the print target information obtained through the processing in S13, the CPU 41 decides whether to use the first ink recovery method or the second ink recovery method (S17). The specific method for determining the ink recovery method is as follows, for example.

[0061] The fewer the number of ink recovery holes Cp in the platen 5, the smaller the upper limit of the amount of ink that can be recovered through the ink recovery holes Cp (hereinafter referred to as the "recovery limit"). In the first ink recovery method, the amount of ink discharged from the target nozzle toward the ink recovery holes Cp must be less than the recovery limit. This is because if the amount of ink discharged is greater than the recovery limit, it may not be possible to recover all of the discharged ink through the ink recovery holes Cp.

[0062] The number of ink recovery holes Cp is determined by the size of the object to be printed M and the position on which the object to be printed M is placed on the platen 5. Therefore, the CPU 41 determines the number of ink recovery holes Cp on the platen 5 based on the size of the object to be printed M indicated by the object to be printed information and the position on which the object to be printed M is placed on the platen 5. If the number of determined ink recovery holes Cp is greater than a predetermined threshold, the CPU 41 decides to set the ink recovery process method to the first ink recovery method, and if the number of ink recovery holes Cp is less than a predetermined threshold, the CPU 41 decides to set the ink recovery process method to the second ink recovery method.

[0063] Based on the print target information obtained through the processing in S13, the CPU 41 determines the frequency at which ink is ejected from the head 10 during the ink recovery process (S19). A specific method for determining the ink ejection frequency is as follows:

[0064] In printer 1, the amount of ink ejected from the print head 10 is adjusted according to the material of the object to be printed M. Even when a print image of the same size is printed on the object to be printed M, the amount of ink ejected from the print head 10 differs depending on the material of the object to be printed M. Here, the larger the amount of ink ejected from the print head 10, the more likely ink is to remain in the target nozzle, and ink clogging is more likely to occur. For this reason, the CPU 41 determines the frequency of ejecting ink from the target nozzle during the ink recovery process based on the material of the object to be printed M indicated by the object to be printed information.

[0065] For example, a table defining the ink ejection frequency for each material of the object to be printed M may be stored in the ROM 42. The CPU 41 may determine the ink ejection frequency corresponding to the material of the object to be printed M, as indicated by the object information obtained by the processing in S13, by referring to the table.

[0066] The CPU 41 references the print data for printing the nth line image (hereinafter referred to as the "nth line image") from the print data acquired by the processing in S11 (S21). The CPU 41 controls the main scanning motor 31 and starts moving the carriage 20, which is positioned at the far right end Ps, to the left (S23). If the CPU 41 determines, based on the distance detected by the sensor 2, that the head 10 is positioned above the object to be printed M, it controls the head drive unit 33 based on the print data referenced by the processing in S21 and ejects ink from the head 10 onto the object to be printed M. The CPU 41 also controls the lamp 50 to emit ultraviolet light. This executes the printing of the nth line image (S25).

[0067] Furthermore, when ink is ejected from the print head 10, the CPU 41 drives the mobile recovery mechanism 71. As a result, the mobile recovery mechanism 71 sucks up and recovers the mist-like ink from the suction port 71A (S25).

[0068] If the ink recovery method determined by the process in S17 is the first ink recovery method (S27: YES), CPU 41 executes the first recovery process (see Figure 9) (S29). If the ink recovery method determined by the process in S17 is the second ink recovery method (S27: NO), CPU 41 executes the second recovery process (see Figure 10) (S31). After the completion of either the first or second recovery process, CPU 41 proceeds to process S33.

[0069] Referring to Figure 9, the first recovery process will be explained. The CPU 41 determines whether there is a nozzle 10A, i.e., a target nozzle, from which ink is not ejected for a predetermined period of time during the printing of the nth line image (S51). If the CPU 41 determines that there is no target nozzle (S51: NO), it terminates the first recovery process and returns the process to the main process (see Figure 8).

[0070] If the CPU 41 determines that there is a nozzle 10A, i.e., a target nozzle, from which ink is not ejected for a predetermined period of time (S51: YES), it determines whether the predetermined period of time has actually elapsed for the target nozzle in which ink is not ejected (S53). If the CPU 41 determines that the predetermined period of time has not elapsed for the target nozzle in which ink is not ejected (S53: NO), it returns to processing S53. If the CPU 41 determines that the predetermined period of time has actually elapsed for the target nozzle in which ink is not ejected (S53: YES), it proceeds to processing S55.

[0071] The CPU 41 determines whether the head 10 is positioned at the predetermined position Pu based on the distance detected by the sensor 2 (S55). If the CPU 41 determines that the head 10 is not positioned at the predetermined position Pu (S55: NO), it returns to processing S55. If the CPU 41 determines that the head 10 is positioned at the predetermined position Pu (S55: YES), it stops driving the mobile retrieval mechanism 71, which was started by processing S25 (see Figure 8) (S57). As a result, the suction of mist-like ink by the mobile retrieval mechanism 71 stops.

[0072] The CPU 41 controls the head drive unit 33 while continuously moving the carriage 20 to the left, causing ink to be ejected from the target nozzle toward the ink recovery hole Cp of the platen 5 (S59). The ejected ink is recovered through the ink recovery hole Cp.

[0073] The CPU 41 determines whether the ink ejection at the frequency determined by the process in S19 (see Figure 8) has finished (S61). If the CPU 41 determines that the ink ejection at the determined frequency has not finished (S61: NO), the process proceeds to S63. The CPU 41 determines whether the head 10 is continuously positioned at the predetermined position Pu based on the distance detected by the sensor 2 (S63). If the CPU 41 determines that the head 10 is continuously positioned at the predetermined position Pu (S63: YES), the process returns to S59. While the head 10 is positioned at the predetermined position Pu, the CPU 41 continues to eject ink from the target nozzle toward the ink recovery hole Cp of the platen 5.

[0074] If the CPU 41 determines that ink ejection at the frequency determined by the process in S19 (see Figure 8) has finished (S61: YES), it controls the head drive unit 33 to stop the ejection of ink from the target nozzle. The CPU 41 then finishes the first recovery process and returns the process to the main process (see Figure 8).

[0075] Even if ink ejection at the determined frequency has not finished (S61:NO), if the CPU 41 determines that the head 10 is no longer positioned at the predetermined position Pu (S63:NO), it controls the head drive unit 33 to stop the ejection of ink from the target nozzle. The CPU 41 then finishes the first recovery process and returns the process to the main process (see Figure 8).

[0076] The second recovery process will be explained with reference to Figure 10. In Figure 10, processes common to the first recovery process (see Figure 9) are denoted by the same reference numerals, and their explanations are omitted or simplified.

[0077] The CPU 41 determines whether there is a target nozzle when printing the nth line image (S51). If the CPU 41 determines that there is a target nozzle (S51: YES), it determines whether a predetermined time has actually elapsed without ink being ejected from the target nozzle (S53). If the CPU 41 determines that a predetermined time has actually elapsed without ink being ejected from the target nozzle (S53: YES), it proceeds to S71.

[0078] The CPU 41 determines whether the head 10 has moved to the leftmost position Pt based on the signal output from the encoder 311 (S71). If the CPU 41 determines that the head 10 has not moved to the leftmost position Pt (S71: NO), it returns to processing S71. If the CPU 41 determines that the head 10 has moved to the leftmost position Pt (S71: YES), it controls the main scanning motor 31 to stop the leftward movement of the head 10. Next, the CPU 41 stops the drive of the movement recovery mechanism 71, which was started by the processing in S25 (see Figure 8) (S73). As a result, the suction of mist-like ink by the movement recovery mechanism 71 stops.

[0079] The CPU 41 starts driving the ink recovery mechanism 72 (S74). The CPU 41 controls the head drive unit 33 to eject ink from the target nozzle toward the ink recovery mechanism 72 (S75). The ejected ink is sucked up and recovered through the suction port 72A of the ink recovery mechanism 72.

[0080] The CPU 41 determines whether the ink ejection at the frequency determined by the process in S19 (see Figure 8) has finished (S77). If the CPU 41 determines that the ink ejection at the determined frequency has not finished (S77: NO), it proceeds to S75. The CPU 41 continues to eject ink from the target nozzle toward the ink recovery mechanism 72 until the ink ejection at the determined frequency is finished.

[0081] If the CPU 41 determines that ink ejection at the frequency determined by the process in S19 (see Figure 8) has finished (S77: YES), it controls the head drive unit 33 to stop the ejection of ink from the target nozzle. The CPU 41 stops the drive of the ink recovery mechanism 72 (S79). The CPU 41 finishes the second recovery process and returns the process to the main process (see Figure 8).

[0082] As shown in Figure 8, the CPU 41 determines whether the head 10 has moved to the leftmost position Pt (S33). If the CPU 41 determines that the head 10 has not reached the leftmost position Pt (S33: NO), it returns to processing S33. The CPU 41 continues the leftward movement of the head 10, which was started by processing S23, until the head 10 reaches the leftmost position Pt. If the CPU 41 determines that the head 10 has reached the leftmost position Pt (S33: YES), it controls the main scanning motor 31 to stop the leftward movement of the head 10. Note that if the second retrieval process (see Figure 10) is executed, the head 10 has already reached the leftmost position Pt, and the leftward movement of the head 10 has stopped. As a result, printing of the nth line of the print image is completed.

[0083] The CPU 41 determines whether to print the next line image based on the print data (S35). If the CPU 41 determines to print the next line image (S35: YES), it proceeds to S37. The CPU 41 controls the main scanning motor 31 to move the head 10 to the right from the leftmost position Pt to the rightmost position Ps (S37). The CPU 41 controls the sub-scanning motor 32 to move the platen 5 backward by the length of the nth line image that has been printed (S39). The CPU 41 updates the variable n stored in the RAM 43 by adding 1 (S41). The CPU 41 returns to processing S21. The CPU 41 repeats the processing from S21 to S35 based on the updated variable n. As a result, multiple line images are printed on the object M.

[0084] If CPU41 determines, based on the print data, that printing of all line images included in the print image has been completed (S35:NO), it terminates the main process.

[0085] <Operation and effects of this embodiment> Printer 1 ejects ink from the target nozzle of the head 10 toward the ink recovery hole Cp or ink recovery mechanism 72 during the entire process from the start to the end of printing the print image. This allows Printer 1 to discharge any ink remaining in the target nozzle and prevent it from clogging. In this case, even if ink ejected from the target nozzle to print the image remains in the target nozzle, Printer 1 can immediately discharge the ink from the target nozzle during the printing of the print image, thereby effectively preventing clogging of the target nozzle.

[0086] When printer 1 ejects ink from the head 10 to print a print image, it drives the movable recovery mechanism 71 to recover the mist-like ink. On the other hand, when printer 1 ejects ink from a target nozzle toward the ink recovery hole Cp or the ink recovery mechanism 72, it stops driving the movable recovery mechanism 71. This allows printer 1 to suppress fluctuations in the ejection direction of the ink ejected from the target nozzle due to the driving of the movable recovery mechanism 71. Therefore, printer 1 can reduce the possibility that the ink ejected from the target nozzle toward the ink recovery hole Cp or the ink recovery mechanism 72 may adhere to parts other than the ink recovery hole Cp or the ink recovery mechanism 72.

[0087] In the first ink recovery method, printer 1 recovers the ink ejected from the target nozzle through the ink recovery hole Cp of the platen 5. In this case, printer 1 can reduce the time required to move the head 10 to the predetermined position Pu during printing of the print image. Therefore, even if ink ejected from the head 10 for printing remains in the target nozzle, printer 1 can suppress clogging of the target nozzle by immediately discharging the ink remaining in the target nozzle.

[0088] The printer 1 uses the sensor 2 to determine that the head 10 is positioned in a predetermined location Pu, and can then eject ink from the target nozzle of the head 10 toward the ink recovery hole Cp of the platen 5.

[0089] Printer 1 prints the print image while moving the carriage 20 to the left. Sensor 2 is located at the front of the head 10 in the direction of movement (left) during printing. Therefore, printer 1 can determine from sensor 2 that the head 10 is positioned at a predetermined position Pu on the platen 5, opposite the ink recovery hole Cp located on the left side relative to the object M to be printed. Furthermore, since printer 1 has a first sensor 21 at the front end of the carriage 20 and a second sensor 22 at the rear end of the carriage 20, the possibility of the head 10 shifting in the front-rear direction relative to the predetermined position Pu can be reduced.

[0090] In the second ink recovery method, printer 1 ejects ink from the target nozzle towards the ink recovery mechanism 72 between the completion of the leftward movement of the head 10 and the start of the rightward movement of the head 10. Therefore, even if ink ejected from the head 10 to print the print image remains in the target nozzle, printer 1 can immediately discharge the ink from the target nozzle during printing, thereby suppressing clogging of the target nozzle.

[0091] In the second ink recovery method, printer 1 ejects ink from the target nozzle toward the ink recovery mechanism 72 after the head 10 moves to the leftmost position Pt during the line image printing process. In this case, printer 1 can reduce the time required to move the head 10 to the leftmost position Pt during the printing of the print image. Therefore, even if ink ejected from the head 10 for printing remains in the target nozzle, printer 1 can suppress nozzle clogging by immediately discharging the ink remaining in the target nozzle.

[0092] Based on the acquired print object information, printer 1 determines the frequency at which it ejects ink from the target nozzle towards the ink recovery mechanism 72. In this case, even if the drive conditions during printing of the print image differ depending on the print object, printer 1 can eject ink from the target nozzle at the optimal frequency for each drive condition.

[0093] Printer 1 determines, based on the print object information, which of the first and second ink recovery methods to use to eject ink from the target nozzle. Therefore, printer 1 can switch between ejecting ink from the target nozzle towards the ink recovery hole Cp of the platen 5 or ejecting ink from the target nozzle to the ink recovery mechanism 72 for each print object M.

[0094] <Variation> The present invention is not limited to the above embodiments, and various modifications are possible. When the printer 1 ejects ink from the target nozzle in the first recovery process (see Figure 9) or the second recovery process (see Figure 10), it may drive the mobile recovery mechanism 71 to recover the mist-like ink. Alternatively, when the printer 1 ejects ink from the target nozzle in the first recovery process or the second recovery process, it may control and drive the mobile recovery mechanism 71 so that the suction force is smaller than the suction force used when printing a print image.

[0095] The ink recovery holes Cp of the platen 5 are not limited to the multiple through holes located to the left of the printing object M among the multiple through holes in the platen 5 that are exposed when the printing object M is not placed on them. Any of the multiple through holes in the platen 5 that are exposed when the printing object M is not placed on them can function as ink recovery holes Cp. For example, the ink recovery holes Cp may be multiple through holes located to the right, in front of, or behind the printing object M among the multiple through holes in the platen 5 that are exposed when the printing object M is not placed on them. Alternatively, instead of multiple through holes, an ink absorber such as a sponge may be provided in an area of ​​the platen 5 that is outside the printing object M placement area but adjacent to the placement area. In this case, the ink absorber functions as an ink Iq recovery mechanism. In this case, a suction mechanism such as a pump may or may not be provided.

[0096] The printer 1 may detect that the head 10 is positioned at a predetermined position Pu by means other than the sensor 2 which functions as a distance measuring sensor. For example, the printer 1 may have a contact sensor on the platen 5 that can detect the portion of the platen 5 on which the object to be printed M is placed. The printer 1 may identify the predetermined position Pu based on the detection result from the contact sensor. The printer 1 may determine whether or not the head 10 is at the predetermined position Pu based on a signal output from an encoder 311 connected to the main scanning motor 31.

[0097] Sensor 2 may be located at the left end of the head 10 instead of the left end of the carriage 20. The first sensor 21 may be located at the front end of the head 10. The second sensor 22 may be located at the rear end of the head 10.

[0098] An ink recovery mechanism may also be provided to the right of the platen 5. The printer 1 may print the print image when moving the head 10 to the right, as it does when moving the head 10 to the left. In this case, with the head 10 in the rightmost position Ps, the printer 1 may eject ink from the target nozzle toward the ink recovery mechanism provided to the right of the platen 5.

[0099] The ink recovery mechanism 72 may be located below a position to the right of the leftmost position Pt of the print head 10. In this case, the printer 1 may stop before the print head 10 moves to the leftmost position Pt and eject ink from the target nozzle to the ink recovery mechanism 72.

[0100] Printer 1 may determine the amount of ink to be ejected from the target nozzle based on the information of the object to be printed.

[0101] Some of the ultraviolet light emitted from the lamp 50 is reflected by the object M being printed and reaches the head 10, which may harden the ink inside the nozzle. The intensity of the reflected light reaching the head 10 increases with the thickness of the object M being printed. Therefore, the thicker the object M being printed, the more likely the ink inside the nozzle is to harden due to the reflected light.

[0102] Therefore, for example, the print target information may further include information indicating the thickness of the print target M. The printer 1 may increase the frequency or amount of ink ejected from the head 10 during the ink recovery process as the thickness of the print target M indicated by the print target information increases.

[0103] The printer 1 may determine which of the first and second ink recovery methods to use to eject ink from the target nozzle, depending on the input operation performed by the user to the control unit 37. The printer 1 may perform only one of the first and second ink recovery methods and not the other.

[0104] <Other> The predetermined position Pu or the leftmost position Pt corresponds to the "predetermined position" of the present invention. The predetermined position Pu corresponds to the "first predetermined position" of the present invention, and the leftmost position Pt corresponds to the "second predetermined position" of the present invention. The ink recovery hole Cp and ink recovery mechanism 72 of the platen 5 correspond to the "ink recovery mechanism" of the present invention. The ink recovery hole Cp is an example of the "first recovery mechanism" of the present invention. The ink recovery mechanism 72 is an example of the "second recovery mechanism" of the present invention. The CPU 41 is an example of the "control unit" of the present invention. The period from the start to the end of printing of the print image is an example of the "printing period" of the present invention. The left-right direction is an example of the "main scanning direction" of the present invention. The left side is an example of "one of the main scanning directions" of the present invention. The front-back direction is an example of the "sub-scanning direction" of the present invention. The moment when the head 10 is positioned at a predetermined position Pu opposite the ink recovery hole Cp of the platen 5, while the carriage 20 moves the head 10 from the rightmost position Ps to the leftmost position Pt, is an example of the "first moment" of the present invention. The moment between the completion of the leftward movement of the head 10 and the start of the rightward movement of the head 10 is an example of the "second moment" of the present invention. [Explanation of symbols]

[0105] 1: Printer 2: Sensor 5: Platen 10: Head 20: Carriage 21: First sensor 22: Second sensor 31: Main scanning motor 32: Sub-scanning motor 41: CPU 50: Lamp 71: Mobile retrieval mechanism 72: Ink recovery mechanism Cp: ​​Ink recovery hole M: Print target P: Predetermined area Pt: Leftmost position Pu :Predetermined position

Claims

1. A printer that prints by ejecting light-curable ink onto the object to be printed, A platen on which the object to be printed can be placed, The head that ejects the aforementioned ink, A lamp that shines light onto the object to be printed on which the ink ejected from the head is attached, A carriage that supports the head and the lamp and moves them in the main scanning direction, A first recovery mechanism is provided on a part of the platen and faces a first predetermined position which is any position in a predetermined region that is a movable area of ​​the head that moves by the carriage, and sucks up and recovers the ink ejected from the head. In the second time period between the completion of the movement of the head in the main scanning direction by the carriage and the start of the next movement of the head in the main scanning direction by the carriage, a second recovery mechanism is provided that faces a second predetermined position, which is any position in the predetermined region, and sucks up and recovers the ink ejected from the head. A sensor for detecting the distance between the print head and the object to be printed, The head, the carriage, the lamp, the first recovery mechanism, the second recovery mechanism, and the control unit that controls the sensor, Equipped with, The control unit, During the printing period, which is the period from the start to the end of printing on the object to be printed, the head is positioned at the first predetermined position during the first period, and during the printing period, the head is positioned at the second predetermined position during the second period. With the head positioned in the first predetermined position and separated from the first recovery mechanism, the ink is ejected from the head toward the first recovery mechanism; with the head positioned in the second predetermined position and separated from the second recovery mechanism, the ink is ejected from the head toward the second recovery mechanism. When the ink is being discharged toward the first recovery mechanism, it is collected by the first recovery mechanism by suction; when the ink is being discharged toward the second recovery mechanism, it is collected by the second recovery mechanism by suction; The print target information relating to the aforementioned print target is obtained, The method of ejecting the ink from the head toward the first recovery mechanism or from the head toward the second recovery mechanism is switched according to the acquired print target information. Based on the detection results from the sensor, it is determined that the head has moved to the first predetermined position. A printer characterized by the following features.

2. The aforementioned carriage is With the head positioned relative to the lamp in one of the main scanning directions, the head and the lamp are supported. The second predetermined position is, This is the position of the head after it has completed moving in one of the main scanning directions. The printer according to feature 1.

3. A printer that prints by ejecting light-curable ink onto the object to be printed, A platen on which the object to be printed can be placed, The head that ejects the aforementioned ink, A lamp that shines light onto the object to be printed on which the ink ejected from the head is attached, A carriage that supports the head and the lamp and moves them in the main scanning direction, A first recovery mechanism is provided on a part of the platen and faces a first predetermined position which is any position in a predetermined region that is a movable area of ​​the head that moves by the carriage, and sucks up and recovers the ink ejected from the head. In the second time period between the completion of the movement of the head in the main scanning direction by the carriage and the start of the next movement of the head in the main scanning direction by the carriage, a second recovery mechanism is provided that faces a second predetermined position, which is any position in the predetermined region, and sucks up and recovers the ink ejected from the head. A sensor for detecting the distance between the print head and the object to be printed, The head, the carriage, the lamp, the first recovery mechanism, the second recovery mechanism, and the control unit that controls the sensor, A printing method performed by the printer equipped with the following: A step of obtaining information about the object to be printed, A step of switching whether to eject the ink from the head toward the first recovery mechanism or from the head toward the second recovery mechanism, according to the acquired print target information, The steps include: positioning the head at the first predetermined position during the printing period, which is the period from the start to the end of printing on the object to be printed; and positioning the head at the second predetermined position during the second predetermined position during the printing period; The steps include: discharging the ink from the head toward the first recovery mechanism with the head positioned in the first predetermined position and separated from the first recovery mechanism; and discharging the ink from the head toward the second recovery mechanism with the head positioned in the second predetermined position and separated from the second recovery mechanism; The steps include: when the ink is being discharged toward the first recovery mechanism, the first recovery mechanism sucks and recovers the ink; and when the ink is being discharged toward the second recovery mechanism, the second recovery mechanism sucks and recovers the ink; Equipped with A printing method characterized by identifying that the head has moved to the first predetermined position based on the detection result from the sensor.

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