Three-dimensional object printing apparatus and three-dimensional object printing method

Abstract

To shorten a time required in printing a common image and a replaced image on a work-piece.SOLUTION: A three-dimensional object printing device, which executes printing of a first common image and a first replaced image on a first work-piece which is a three-dimensional work-piece and printing of a second common image and a second replaced image on a second work-piece which is a three-dimensional work-piece, executes first printing operation by which the first common image is printed on the first work-piece, prior to second printing operation by which the first placed image is printed on the first workpiece, where the first common image and the second common image are images same as each other and at least portions of the first replaced image and the second replaced image are different from each other.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a three-dimensional object printing apparatus and a three-dimensional object printing method.

Background Art

[0002] There is known a three-dimensional object printing apparatus that performs printing on the surface of a three-dimensional workpiece by an inkjet method using a robot. For example, the apparatus described in Patent Document 1 has an articulated robot and a print head supported by the articulated robot, and ejects ink from the print head toward the surface of a substrate having a curved surface shape.

[0003] Patent Document 1 discloses a case where a plurality of identical-shaped patterns are printed on the surface of a substrate.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In printing on a three-dimensional workpiece, it may be necessary to print both an image common to each workpiece and a different image on the workpiece. However, although Patent Document 1 describes continuous printing of the same pattern, there is no description regarding such a case. Under such circumstances, it is desirable to efficiently print both an image common to each workpiece and a different image on the workpiece.

Means for Solving the Problems

[0006] To solve the above problems, one embodiment of the three-dimensional object printing apparatus according to the present disclosure is a three-dimensional object printing apparatus that performs printing a first common image and a first replacement image on a first workpiece which is a three-dimensional workpiece, and printing a second common image and a second replacement image on a second workpiece which is a three-dimensional workpiece, wherein the first common image and the second common image are identical images, and the first replacement image and the second replacement image are at least partially different images from each other, and the first printing operation for printing the first common image on the first workpiece is performed before the second printing operation for printing the first replacement image on the first workpiece.

[0007] Another embodiment of the three-dimensional object printing apparatus according to the present disclosure is a three-dimensional object printing apparatus that prints a single image, which is an image generated based on one image data, and a composite image, which is an image generated based on multiple image data, onto a three-dimensional workpiece, wherein a first printing operation for printing the single image is performed before a second printing operation for printing the composite image.

[0008] One embodiment of the three-dimensional object printing method according to the present disclosure is a method for printing a first common image and a first replacement image onto a first workpiece which is a three-dimensional workpiece, and printing a second common image and a second replacement image onto a second workpiece which is a three-dimensional workpiece, wherein the first common image and the second common image are identical images, and the first replacement image and the second replacement image are at least partially different images from each other, and the first printing operation for printing the first common image onto the first workpiece is performed before the second printing operation for printing the first replacement image onto the first workpiece. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic perspective view showing the three-dimensional object printing apparatus according to the embodiment. [Figure 2] This is a block diagram showing the electrical configuration of a three-dimensional object printing apparatus according to an embodiment. [Figure 3] This is a perspective view showing the general configuration of the head unit. [Figure 4] This is a diagram illustrating a computer used in a three-dimensional object printing apparatus according to an embodiment. [Figure 5] This diagram shows the operation flow of a three-dimensional object printing apparatus according to an embodiment. [Figure 6] This is a diagram illustrating the printing operation of a three-dimensional object printing apparatus according to an embodiment. [Figure 7] This figure shows an example of a display for setting up a single image and a composite image. [Figure 8] This figure shows an example of a preview display of a composite image. [Figure 9] This diagram shows the data processing flow for single images and composite images. [Modes for carrying out the invention]

[0010] Preferred embodiments of the present disclosure will be described below with reference to the attached drawings. Note that the dimensions and scale of parts in the drawings may differ from actual dimensions as appropriate, and some parts are shown schematically for ease of understanding. Furthermore, the scope of the present disclosure is not limited to these embodiments unless otherwise stated in the following description.

[0011] For convenience, the following explanation will use the X, Y, and Z axes intersecting each other as appropriate. In the following explanation, one direction along the X axis is the X1 direction, and the direction opposite to the X1 direction is the X2 direction. Similarly, opposite directions along the Y axis are the Y1 and Y2 directions. Also, opposite directions along the Z axis are the Z1 and Z2 directions.

[0012] Here, the X, Y, and Z axes correspond to the coordinate axes of the world coordinate system set in the space where the robot 2, described later, is installed. Typically, the Z axis is the vertical axis, and the Z2 direction corresponds to the downward direction in the vertical direction. A base coordinate system, based on the position of the base 210 of the robot 2, described later, is associated with this world coordinate system through calibration. In the following examples, for convenience, the case in which the world coordinate system is used as the robot coordinate system to control the movement of the robot 2 is illustrated.

[0013] Note that the Z-axis does not have to be a vertical axis. Also, while the X, Y, and Z axes are typically orthogonal to each other, they are not limited to this and may not be orthogonal. For example, the X, Y, and Z axes can intersect each other at angles between 80° and 100°.

[0014] 1. Embodiment 1-1. Outline of a 3D object printing device Figure 1 is a schematic perspective view of a three-dimensional object printing apparatus 1 according to an embodiment. The three-dimensional object printing apparatus 1 is a device that prints on the surface of multiple three-dimensional workpieces using an inkjet method. In the example shown in Figure 1, a first workpiece W1 and a second workpiece W2 are used as the multiple workpieces.

[0015] The shapes of the first workpiece W1 and the second workpiece W2 are identical. In the example shown in Figure 1, each of the first workpiece W1 and the second workpiece W2 is a rectangular parallelepiped. Here, the first workpiece W1 has a first face WF1a and a second face WF1b that faces in a different direction from the first face WF1a. Similarly, the second workpiece W2 has a first face WF2a and a second face WF2b that faces in a different direction from the first face WF2a. Each of the first faces WF1a and WF2a faces in the Y2 direction. Each of the second faces WF1b and WF2b faces in the Z1 direction.

[0016] Hereinafter, a case where a first common image Ga1 is printed on the first surface WF1a, a first replacement image Gb1 is printed on the second surface WF1b, a second common image Ga2 is printed on the first surface WF2a, and a second replacement image Gb2 is printed on the second surface WF2b is illustrated. As will be described in detail later, the first common image Ga1 and the second common image Ga2 are the same image as each other. Also, each of the first common image Ga1 and the second common image Ga2 is an example of a "common image" and a "single image" described later, and is generated based on one image data. On the other hand, the first replacement image Gb1 and the second replacement image Gb2 are images that are at least partially different from each other. Also, each of the first replacement image Gb1 and the second replacement image Gb2 is an example of a "composite image", and is generated based on a plurality of image data.

[0017] Note that the surfaces to be printed on the first workpiece W1 and the second workpiece W2 are not limited to the surfaces described above and are arbitrary. Also, the surfaces to be printed on each of the first workpiece W1 and the second workpiece W2 may be three or more surfaces. Further, the size, shape, installation position, or installation posture of each of the first workpiece W1 and the second workpiece W2 is not limited to the example shown in FIG. 1 and is arbitrary. Also, the shapes of the first workpiece W1 and the second workpiece W2 may be different from each other. Further, the number of workpieces to be printed is not limited to two, and may be three or more. That is, the printing target may include one or more workpieces such as a third workpiece in addition to the first workpiece W1 and the second workpiece W2.

[0018] As shown in FIG. 1, the three-dimensional object printing apparatus 1 includes a robot 2, a head unit 3, and a controller 5. Hereinafter, these will be briefly described in order.

[0019] The robot 2 is a robot that changes the position and orientation of the head unit 3 in the world coordinate system. In the example shown in FIG. 1, the robot 2 is a so-called six-axis vertical articulated robot.

[0020] As shown in FIG. 1, the robot 2 has a base portion 210 and an arm portion 220.

[0021] The base 210 is a stand that supports the arm 220. In the example shown in Figure 1, the base 210 is fixed to a floor surface or mounting surface such as a base facing the Z1 direction by screws or the like. The mounting surface to which the base 210 is fixed can be any surface facing any direction and is not limited to the example shown in Figure 1; for example, it may be a wall, ceiling, or a surface of a movable trolley.

[0022] The arm 220 is a six-axis robot arm having a base end attached to the base 210 and an end that changes position and orientation three-dimensionally relative to the base end. Specifically, the arm 220 has arms 221, 222, 223, 224, 225, and 226, also called links, which are connected in this order.

[0023] Arm 221 is connected to the base 210 via joint 230_1 so as to be rotatable around pivot axis O1. Arm 222 is connected to arm 221 via joint 230_2 so as to be rotatable around pivot axis O2. Arm 223 is connected to arm 222 via joint 230_3 so as to be rotatable around pivot axis O3. Arm 224 is connected to arm 223 via joint 230_4 so as to be rotatable around pivot axis O4. Arm 225 is connected to arm 224 via joint 230_5 so as to be rotatable around pivot axis O5. Arm 226 is connected to arm 225 via joint 230_6 so as to be rotatable around pivot axis O6.

[0024] Each of the joints 230_1 to 230_6 is a mechanism that rotatably connects one of two adjacent members from the base 210 and arms 221 to 226 to the other. In the following, each of the joints 230_1 to 230_6 may be referred to as "joint 230".

[0025] Although not shown in Figure 1, each of the joints 230_1 to 230_6 is provided with a drive mechanism that rotates one of the two corresponding adjacent members relative to the other. This drive mechanism includes, for example, a motor that generates the driving force for the rotation, a reduction gear that reduces and outputs the driving force, and an encoder such as a rotary encoder that detects the amount of movement, such as the angle of rotation. The assembly of these drive mechanisms for the joints 230_1 to 230_6 corresponds to the arm drive mechanism 2a shown in Figure 2, which will be described later.

[0026] The pivot axis O1 is an axis perpendicular to the mounting surface (not shown) to which the base 210 is fixed. The pivot axis O2 is an axis perpendicular to the pivot axis O1. The pivot axis O3 is an axis parallel to the pivot axis O2. The pivot axis O4 is an axis perpendicular to the pivot axis O3. The pivot axis O5 is an axis perpendicular to the pivot axis O4. The pivot axis O6 is an axis perpendicular to the pivot axis O5.

[0027] Furthermore, regarding these pivot axes, "perpendicular" includes not only cases where the angle between the two pivot axes is exactly 90°, but also cases where the angle between the two pivot axes deviates from 90° by approximately ±5°. Similarly, "parallel" includes not only cases where the two pivot axes are exactly parallel, but also cases where one of the two pivot axes is tilted relative to the other by approximately ±5°.

[0028] The head unit 3 is attached to the arm 226, which is located at the very tip of the arm section 220 of robot 2, as an end effector, and is fixed in place by screws or the like.

[0029] The head unit 3 is an assembly having a head 3a that ejects ink, which is an example of a "liquid," toward the workpiece W. In this embodiment, in addition to the head 3a, the head unit 3 also has a pressure regulating valve 3b and an energy ejection unit 3c. Details of the head unit 3 will be described later with reference to Figure 3.

[0030] The ink is not particularly limited and includes, for example, an aqueous ink obtained by dissolving a colorant such as a dye or pigment in an aqueous solvent, a curable ink using a curable resin such as an ultraviolet-curable type, and a solvent-based ink obtained by dissolving a colorant such as a dye or pigment in an organic solvent. Among these, curable inks are preferably used. The curable ink is not particularly limited and may be any of the following: thermosetting type, photocuring type, radiation-curing type, and electron beam-curing type, but photocuring type such as ultraviolet-curing type is preferred. The ink is not limited to a solution and may also be an ink in which a colorant is dispersed as a dispersed phase in a dispersion medium. Furthermore, the ink is not limited to an ink containing a colorant and may also be an ink containing conductive particles such as metal particles for forming wiring, a clear ink, or a treatment liquid for surface treatment of the workpiece W.

[0031] Controller 5 is a robot controller that controls the movement of robot 2. Below, the electrical configuration of the 3D object printing apparatus 1 will be described, including a detailed explanation of controller 5, based on Figure 2.

[0032] 1-2. Electrical configuration of a three-dimensional object printing device Figure 2 is a block diagram showing the electrical configuration of the three-dimensional object printing apparatus 1 according to the embodiment. In Figure 2, the electrical components of the three-dimensional object printing apparatus 1 are shown. As shown in Figure 2, in addition to the components shown in Figure 1, the three-dimensional object printing apparatus 1 includes a control module 6 that is communicatively connected to the controller 5, and a computer 7 that is communicatively connected to the controller 5 and the control module 6.

[0033] Furthermore, the electrical components shown in Figure 2 may be divided as appropriate, some of which may be included in other components, or may be integrated with other components. For example, some or all of the functions of the controller 5 or control module 6 may be implemented by the computer 7, or by other external devices such as a PC (personal computer) connected to the controller 5 via a network such as a LAN (Local Area Network) or the Internet.

[0034] The controller 5 has the function of controlling the drive of the robot 2 and the function of generating a signal DT to synchronize the ink ejection operation of the head unit 3 with the operation of the robot 2.

[0035] The controller 5 includes a memory circuit 5a and a processing circuit 5b.

[0036] The memory circuit 5a stores various programs executed by the processing circuit 5b and various data processed by the processing circuit 5b. The memory circuit 5a includes, for example, one or both of the following semiconductor memories: a volatile memory such as RAM (Random Access Memory) and a non-volatile memory such as ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), or PROM (Programmable ROM). Note that part or all of the memory circuit 5a may be included in the processing circuit 5b.

[0037] The memory circuit 5a stores print path information Da. Print path information Da is used to control the movement of the robot 2 and indicates the position and orientation of the head 3a along the path it should move. Print path information Da is represented, for example, using coordinate values ​​in the base coordinate system or the world coordinate system. Print path information Da is generated by the computer 7 based, for example, on 3D data Db representing the shape of the workpiece W. Print path information Da is input from the computer 7 to the memory circuit 5a. Alternatively, print path information Da may be represented using coordinate values ​​in the workpiece coordinate system. In this case, the print path information Da is converted from workpiece coordinate values ​​to base coordinate system or world coordinate system coordinate values ​​before being used to control the movement of the robot 2.

[0038] The processing circuit 5b controls the operation of the robot 2's arm drive mechanism 2a based on the printing path information Da, and also generates the signal DT. The processing circuit 5b includes, for example, one or more processors such as CPUs (Central Processing Units). The processing circuit 5b may also include a programmable logic device such as an FPGA (field-programmable gate array) instead of a CPU, or in addition to a CPU.

[0039] Here, the arm drive mechanism 2a is an assembly of the drive mechanisms for the aforementioned joints 230_1 to 230_6, and each joint 230 has a motor for driving the joint of the robot 2 and an encoder for detecting the rotation angle of the joint of the robot 2.

[0040] The processing circuit 5b performs inverse kinematics calculations, which convert the print path information Da into motion quantities such as the rotation angle and rotation speed of each joint 230 of the robot 2. Then, the processing circuit 5b outputs a control signal Sk1 based on the output De1 from each encoder of the arm drive mechanism 2a so that the actual motion quantities such as the rotation angle and rotation speed of each joint 230 match the results of the aforementioned calculations based on the print path information Da. The control signal Sk1 is a signal for controlling the drive of the motor of the arm drive mechanism 2a. Here, the control signal Sk1 is corrected by the processing circuit 5b as needed based on the output from a distance sensor (not shown).

[0041] Furthermore, the processing circuit 5b generates a signal DT based on the output De1 from at least one of the multiple encoders of the arm drive mechanism 2a. For example, the processing circuit 5b generates a trigger signal DT which includes a pulse at a timing when the output De1 from one of the multiple encoders reaches a predetermined value.

[0042] The control module 6 is a circuit that controls the ink ejection operation of the head unit 3 based on the signal DT output from the controller 5 and the first print data D1 and second print data D2 from the computer 7. The control module 6 includes a timing signal generation circuit 6a, a power supply circuit 6b, a control circuit 6c, and a drive signal generation circuit 6d.

[0043] The timing signal generation circuit 6a generates a timing signal PTS based on signal DT. The timing signal generation circuit 6a is composed of a timer that starts generating the timing signal PTS when signal DT is detected.

[0044] The power supply circuit 6b receives power from a commercial power source (not shown) and generates various predetermined potentials. The generated potentials are supplied to the control module 6 and the head unit 3 as appropriate. For example, the power supply circuit 6b generates a power supply potential VHV and an offset potential VBS. The offset potential VBS is supplied to the head unit 3. The power supply potential VHV is supplied to the drive signal generation circuit 6d.

[0045] The control circuit 6c generates a control signal SI, a waveform specification signal dCom, a latch signal LAT, a clock signal CLK, and a change signal CNG based on the timing signal PTS. These signals are synchronized with the timing signal PTS. Of these signals, the waveform specification signal dCom is input to the drive signal generation circuit 6d, and the other signals are input to the switch circuit 3e of the head unit 3.

[0046] The control signal SI is a digital signal used to specify the operating state of the drive element of the head 3a of the head unit 3. Specifically, the control signal SI is a signal used to specify whether or not to supply the drive signal Com, described below, to the drive element based on the first print data D1 or the second print data D2. This specification, for example, specifies whether or not to eject ink from the nozzle corresponding to the drive element, or specifies the amount of ink ejected from the nozzle. The waveform specification signal dCom is a digital signal used to define the waveform of the drive signal Com. The latch signal LAT and the change signal CNG are used in conjunction with the control signal SI to define the timing of ink ejection from the nozzle by defining the driving timing of the drive element. The clock signal CLK is a reference clock signal synchronized with the timing signal PTS.

[0047] The control circuit 6c described above includes, for example, one or more processors such as CPUs. The control circuit 6c may also include a programmable logic device such as an FPGA instead of a CPU, or in addition to a CPU.

[0048] The drive signal generation circuit 6d is a circuit that generates a drive signal Com for driving each drive element of the head 3a of the head unit 3. Specifically, the drive signal generation circuit 6d includes, for example, a DA conversion circuit and an amplification circuit. In the drive signal generation circuit 6d, the DA conversion circuit converts the waveform specification signal dCom from the control circuit 6c from a digital signal to an analog signal, and the amplification circuit amplifies the analog signal using the power supply potential VHV from the power supply circuit 6b to generate the drive signal Com. Here, among the waveforms included in the drive signal Com, the signal of the waveform that is actually supplied to the drive element is the drive pulse PD. The drive pulse PD is supplied from the drive signal generation circuit 6d to the drive element via the switch circuit 3e of the head unit 3.

[0049] Here, the switch circuit 3e is a circuit that includes a switching element that, based on the control signal SI, switches whether or not to supply at least a portion of the waveform included in the drive signal Com as a drive pulse PD.

[0050] Computer 7 is a desktop or notebook computer on which programs such as program PG are installed. Computer 7 has the function of generating first print data D1, second print data D2, and print path information Da, the function of supplying information such as print path information Da to the controller 5, and the function of supplying information such as first print data D1 and second print data D2 to the control module 6. In addition to these functions, computer 7 in this embodiment also has the function of controlling the drive of the energy emission unit 3c. Details of computer 7 will be described later with reference to Figure 4.

[0051] 1-3. Head Unit Configuration Figure 3 is a perspective view showing the schematic configuration of the head unit 3. For convenience, the following explanation will use the intersecting a-axis, b-axis, and c-axis as appropriate. In the following explanation, one direction along the a-axis is the a1 direction, and the direction opposite to the a1 direction is the a2 direction. Similarly, the opposite directions along the b-axis are the b1 direction and the b2 direction. Also, the opposite directions along the c-axis are the c1 direction and the c2 direction.

[0052] Here, axes a, b, and c correspond to the coordinate axes of the tool coordinate system set in the head unit 3, and their relative position and orientation with respect to the world coordinate system or robot coordinate system changes with the movement of the robot 2 described above. In the example shown in Figure 3, axis c is the axis parallel to the rotation axis O6 described above. Axes a, b, and c are typically orthogonal to each other, but are not limited to this; for example, they may intersect at an angle within the range of 80° to 100°. The tool coordinate system and the base coordinate system or robot coordinate system are associated by calibration.

[0053] The tool coordinate system is set relative to the tool center point. Therefore, the position and orientation of the head 3a are defined relative to the tool center point. For example, the tool center point may be located at the center of the ejection surface FN, or it may be located in space at a distance from the head 3a in the ink ejection direction DE.

[0054] As described above, the head unit 3 includes a head 3a, a pressure regulating valve 3b, and an energy output section 3c. These are supported by a support 3f, indicated by the dashed line in Figure 3. In the example shown in Figure 3, the head unit 3 has one head 3a and one pressure regulating valve 3b, but this number is not limited to the example shown in Figure 3 and may be two or more. Also, the installation position of the pressure regulating valve 3b is not limited to the arm 226, but may be on another arm, for example, or in a fixed position relative to the base 210.

[0055] The support 3f is made of, for example, a metal material and is essentially a rigid body. In Figure 3, the support 3f is shown as a flattened box shape, but the shape of the support 3f is not particularly limited and can be arbitrary.

[0056] The support 3f described above is attached to the arm 226. Therefore, the head 3a, pressure regulating valve 3b, and energy discharge unit 3c are all supported by the arm 226 by the support 3f. As a result, the relative positions of the head 3a, pressure regulating valve 3b, and energy discharge unit 3c with respect to the arm 226 are fixed. In the example shown in Figure 3, the pressure regulating valve 3b is positioned in the c1 direction relative to the head 3a. The energy discharge unit 3c is positioned in the a2 direction relative to the head 3a.

[0057] The head 3a has an ejection surface FN and a plurality of nozzles N that open into the ejection surface FN. The ejection surface FN is the nozzle surface into which the nozzles N open, and is composed of the surface of a nozzle plate in which the nozzles N are provided as through holes in a plate-shaped member made of a material such as silicon (Si) or metal. In the example shown in Figure 3, the direction along the normal to the ejection surface FN, i.e., the direction DE of ink ejection from the nozzles N is the c2 direction, and the plurality of nozzles N are divided into nozzle rows L1 and nozzle rows L2, which are spaced apart from each other in the direction along the a axis. Each of nozzle rows L1 and L2 is a set of a plurality of nozzles N arranged linearly in the direction along the b axis. Here, the elements related to each nozzle N in nozzle row L1 and the elements related to each nozzle N in nozzle row L2 in the head 3a are substantially symmetrical with respect to each other in the direction along the a axis. Also, the arrangement direction DN, which will be described later, is parallel to the b axis.

[0058] However, the positions of multiple nozzles N in nozzle row L1 and multiple nozzles N in nozzle row L2 along the b-axis may or may not coincide with each other. Also, elements related to each nozzle N in either nozzle row L1 or nozzle row L2 may be omitted. Below, an example is given in which the positions of multiple nozzles N in nozzle row L1 and multiple nozzles N in nozzle row L2 along the b-axis coincide with each other.

[0059] Although not shown in the diagram, the print head 3a has, for each nozzle N, a piezoelectric element which is a driving element and a cavity that contains ink. Here, the piezoelectric element changes the pressure in the cavity corresponding to the piezoelectric element, thereby causing ink to be ejected from the nozzle corresponding to the cavity in the ejection direction DE. Such a print head 3a can be obtained, for example, by bonding together multiple substrates such as silicon substrates that have been appropriately processed by etching or the like using an adhesive. In addition, instead of the piezoelectric element, a heater that heats the ink in the cavity may be used as the driving element for ejecting ink from the nozzle.

[0060] Ink is supplied to the print head 3a via a pressure regulating valve 3b from an ink tank (not shown).

[0061] The pressure regulating valve 3b is a valve mechanism that opens and closes in accordance with the pressure of the ink in the print head 3a. This opening and closing ensures that even if the relative position of the print head 3a and the aforementioned ink tank (not shown) changes, the pressure of the ink in the print head 3a is maintained at a negative pressure within a predetermined range. This stabilizes the ink meniscus formed in the nozzle N of the print head 3a. As a result, it prevents air bubbles from entering the nozzle N and prevents ink from overflowing from the nozzle N. Furthermore, the ink from the pressure regulating valve 3b is appropriately distributed to multiple locations on the print head 3a via branched flow paths (not shown). Here, the ink from the ink tank (not shown) is supplied to the pressure regulating valve 3b at a predetermined pressure by a pump or the like.

[0062] The energy emission unit 3c emits energy such as light, heat, electron beams, or radiation to cure or solidify the ink on the workpiece W. For example, if the ink is UV-curable, the energy emission unit 3c is composed of a light-emitting element such as an LED (light-emitting diode) that emits ultraviolet light. The energy emission unit 3c may also have optical components such as lenses to adjust the direction or range of energy emission.

[0063] Furthermore, the energy emission unit 3c does not need to completely cure or solidify the ink on the workpiece W. In this case, for example, the ink after energy irradiation from the energy emission unit 3c can be completely cured or solidified by energy from a curing light source separately installed on the mounting surface of the base 210 of the robot 2.

[0064] 1-4. Computers Figure 4 is a diagram illustrating a computer 7 used in a three-dimensional object printing apparatus 1 according to an embodiment. As shown in Figure 4, the computer 7 includes a display device 7a, an input device 7b, a communication circuit 7c, a storage circuit 7d, and a processing circuit 7e. These are connected to each other in a way that allows them to communicate with one another.

[0065] The display device 7a displays various images under the control of the processing circuit 7e. Here, the display device 7a has various display panels, such as a liquid crystal display panel or an organic EL (electro-luminescence) display panel. Note that the display device 7a may be provided outside the computer 7.

[0066] The input device 7b is a device that accepts input from the user. For example, the input device 7b may have a pointing device such as a touchpad, touch panel, or mouse. If the input device 7b has a touch panel, it may also function as a display device 7a. The input device 7b may be located outside the computer 7.

[0067] The communication circuit 7c is a communication device that is connected to the energy output unit 3c, the controller 5, and the control module 6 in a communication-enabled manner. The communication circuit 7c includes interfaces such as USB and LAN. The communication circuit 7c may be wirelessly connected to the controller 5 and the control module 6 via Wi-Fi or Bluetooth, for example, or it may be connected to the controller 5 and the control module 6 via a LAN (Local Area Network) or the Internet.

[0068] The memory circuit 7d stores various programs executed by the processing circuit 7e and various data processed by the processing circuit 7e. The memory circuit 7d includes, for example, one or both of semiconductor memories, such as volatile memory like RAM and non-volatile memory like ROM, EEPROM, or PROM. Note that part or all of the memory circuit 7d may be included in the processing circuit 7e.

[0069] The memory circuit 7d stores print path information Da, 3D data Db, first print data D1, second print data D2_1 to D2_k, first image data D1a, second image data D2a_1 to D2a_k, third image data D2b, replacement data D3, and program P. k is a natural number greater than or equal to 2 and corresponds to the number of workpieces to be printed.

[0070] In this embodiment, since there are two workpieces to be printed, k is 2. The following explanation will use the case where k is 2 as an example. In the following explanation, each of the second print data D2_1 to D2_k may be referred to as second print data D2, and each of the second image data D2a_1 to D2a_k may be referred to as second image data D2a. Note that since there may be three or more workpieces to be printed, k may be 3 or greater.

[0071] The 3D data Db represents the three-dimensional shapes of the first workpiece W1 and the second workpiece W2. The format of the 3D data Db is not particularly limited, but it can be, for example, in STL (Standard Triangulated Language) format. The 3D data Db is obtained by converting CAD (computer-aided design) data as needed. The 3D data Db may be represented using coordinate values ​​from the workpiece coordinate system, or using coordinate values ​​from the base coordinate system or the world coordinate system.

[0072] The first print data D1 is image data used in common for printing on the first workpiece W1 and the second workpiece W2, and is generated based on the first image data D1a. Here, the first print data D1 is image data in a format that can be processed by the control module 6, and is obtained by processing the first image data D1a. This processing includes at least one of the following image processing steps: color conversion processing, density correction processing, quantization processing, distribution processing, and RIP (Raster image processor) processing.

[0073] The second print data D2_1 is image data used individually for printing on the first workpiece W1, and is generated based on the second image data D2a_1 and the third image data D2b. Here, the second print data D2_1 is image data in a format that can be processed by the control module 6, and is obtained by processing the second image data D2a_1 and the third image data D2b. This processing includes a synthesis process that combines the image shown by the second image data D2a_1 and the image shown by the third image data D2b, and at least one of the image processing processes such as color conversion, density correction, quantization, distribution, and RIP processing.

[0074] The second print data D2_2 is image data used individually for printing on the second workpiece W2, and is generated based on the second image data D2a_2 and the third image data D2b. Here, the second print data D2_2 is image data in a format that can be processed by the control module 6, and is obtained by processing the second image data D2a_2 and the third image data D2b. This processing includes a synthesis process that combines the image shown by the second image data D2a_2 and the image shown by the third image data D2b, and at least one of the image processing processes such as color conversion, density correction, quantization, distribution, and RIP processing.

[0075] The first image data D1a represents the first common image Ga1 and the second common image Ga2, respectively. The second image data D2a_1 represents the replacement portion of the first replacement image Gb1. The second image data D2a_2 represents the replacement portion of the second replacement image Gb2. The third image data D2b represents the common portion of the first replacement image Gb1 and the second replacement image Gb2. The format of these image data is, for example, a bitmap format such as JPEG, or a vector format such as PostScript, PDF (Portable Document Format), or XPS (XML Paper Specification).

[0076] Replacement data D3 is data for generating the second image data D2a_1 and D2a_2, and contains information about the replacement portion of the first replacement image Gb1. The information in the replacement portion is not particularly limited and is arbitrary. In this embodiment, as will be described later, the replacement portion consists of name and blood type, but it can be set as appropriate depending on the purpose, such as address or product lot number. Also, examples of the first image data D1a include data related to brand logos, product names, and model numbers, but this can be set as appropriate depending on the purpose.

[0077] Program P is a program for generating print path information Da, first print data D1, and second print data D2_1 to D2_n. Note that Program P may be divided into two or more programs. For example, Program P may be divided into a program for generating print path information Da and a program for generating first print data D1 and second print data D2_1 to D2_n.

[0078] The processing circuit 7e implements the aforementioned functions by executing a program such as program P. The processing circuit 7e includes, for example, one or more processors such as CPUs. The processing circuit 7e may also include a programmable logic device such as an FPGA instead of, or in addition to, a CPU.

[0079] The processing circuit 7e functions as an acquisition unit 7e1 and a processing unit 7e2 upon execution of program P.

[0080] The acquisition unit 7e1 acquires various information necessary for processing in the processing unit 7e2. Specifically, the acquisition unit 7e1 acquires the first image data D1a, the third image data D2b, and the replacement data D3 as information necessary for generating the first print data D1 and the second print data D2_1 to D2_k in the processing unit 7e2. In addition, the acquisition unit 7e1 acquires 3D data Db as information necessary for generating print path information Da in the processing unit 7e2.

[0081] In this embodiment, the acquisition unit 7e1 displays an image UI for the GUI (Graphical User Interface) described later on the display device 7a, and acquires the first image data D1a, the third image data D2b, replacement data D3, and 3D data Db according to the user's input to the input device 7b.

[0082] The processing unit 7e2 processes the information acquired by the acquisition unit 7e1. Specifically, the processing unit 7e2 generates print path information Da based on the 3D data Db. The method of this generation is not particularly limited and is arbitrary.

[0083] Furthermore, the processing unit 7e2 generates the first print data D1 based on the first image data D1a. Here, the processing unit 7e2 generates the first print data D1 by image processing the first image data D1a.

[0084] Furthermore, the processing unit 7e2 generates second image data D2a_1 to D2a_k based on the replacement data D3. Then, the processing unit 7e2 generates second print data D2_1 to D2_k based on the second image data D2a_1 to D2a_k and the third image data D2b. Here, the processing unit 7e2 generates the second print data D2_1 to D2_k by combining and processing the second image data D2a_1 and the third image data D2b. The processing unit 7e2 may also have a function to determine the printing order. In this case, the processing unit 7e2 determines the printing order of each image based on whether each image to be printed on each face WF of the workpiece W is a composite image or a single image.

[0085] 1-5. Operation of the 3D object printing device Figure 5 is a diagram showing the operation flow of the 3D object printing apparatus 1 according to the embodiment. As shown in Figure 5, the 3D object printing apparatus 1 performs the first printing operation S10, the second printing operation S20, the third printing operation S30, and the fourth printing operation S40 in this order. That is, the method of printing a 3D object by the 3D object printing apparatus 1 includes the first printing operation S10, the second printing operation S20, the third printing operation S30, and the fourth printing operation S40, and these are performed in this order. In the following, each of these printing operations may be simply referred to as "printing operation".

[0086] The first printing operation S10 is an operation to print the first common image Ga1 onto the first workpiece W1 using the first printing data D1. In this embodiment, as described above, the first common image Ga1 is printed on the first surface WF1a of the first workpiece W1.

[0087] Here, during the execution of the first printing operation S10, the processing unit 7e2 performs the process of generating or acquiring the second image data D2a_1 and the third image data D2b for the first replacement image Gb1 to be printed in the second printing operation S20.

[0088] Then, during the execution of the first printing operation S10, the processing unit 7e2 executes a process to generate second print data D2_1, which is an example of "data indicating a composite image," by combining second image data D2a_1 and third image data D2b, which are examples of "multiple image data." Also, during the execution of the first printing operation S10, the acquisition unit 7e1 executes a process to acquire replacement data D3, which is an example of "data related to a composite image."

[0089] The second printing operation S20 is an operation to print the first replacement image Gb1 onto the first workpiece W1 using the second printing data D2_1. In this embodiment, as described above, the first replacement image Gb1 is printed on the second surface WF1b of the first workpiece W1.

[0090] The third printing operation S30 is an operation to print the second common image Ga2 onto the second workpiece W2 using the first printing data D1. In this embodiment, as described above, the second common image Ga2 is printed on the first surface WF2a of the second workpiece W2.

[0091] Here, the processing unit 7e2 performs a process to generate or acquire second image data D2a_2 and third image data D2b for the second replacement image Gb2 to be printed in the fourth printing operation S40, while the printing operation S30 is being performed on the first workpiece W1.

[0092] Then, during the execution of the printing operation on the first workpiece W1 or the third printing operation S30, the processing unit 7e2 executes a process to generate the second print data D2_2, which is an example of "data showing a composite image", by combining the second image data D2a_2 and the third image data D2b, which are examples of "multiple image data". Also, during the execution of the printing operation on the first workpiece W1 or the third printing operation S30, the acquisition unit 7e1 executes a process to acquire the replacement data D3, which is an example of "data related to a composite image".

[0093] The fourth printing operation S40 is the operation of printing the second replacement image Gb2 onto the second workpiece W2 using the second print data D2_2. In this embodiment, as described above, the second replacement image Gb2 is printed on the second surface WF2b of the second workpiece W2.

[0094] In this case, when printing is performed by sequentially executing multiple printing operations on the first workpiece W1, the second printing operation S20 is the last of the multiple printing operations to be executed.

[0095] Furthermore, when printing n (where n is a natural number greater than or equal to 1) first images and m (where m is a natural number greater than or equal to 1) second images to a first workpiece W1 or second workpiece W2, and each of the n first images is a single image and each of the m second images is a composite image, then the n printing operations for printing the n first images will all be executed before the m printing operations for printing the m second images.

[0096] Figure 6 is a diagram illustrating the printing operation of the three-dimensional object printing apparatus 1 according to the embodiment. Figure 6 shows the state of robot 2 during the execution of the fourth printing operation S40. In addition, in Figure 6, the state of robot 2 during the execution of the second printing operation S20 is shown by a dashed line.

[0097] In the example shown in Figure 6, the second workpiece W2 and the first workpiece W1 are positioned in the X2 direction relative to the robot 2, in that order.

[0098] During the printing operation, the robot 2 changes the position and orientation of the print head 3a, while the print head 3a ejects ink. The changes in the position and orientation of the print head 3a are performed based on the print path information Da. As a result, the print head 3a moves along the movement path based on the print path information Da while maintaining a predetermined orientation relative to the surface to be printed on the first workpiece W1 or the second workpiece W2.

[0099] 1-6. Single Images and Composite Images Figure 7 shows an example of a display for setting single images and composite images. The aforementioned acquisition unit 7e1 causes the image UI shown in Figure 7 to be displayed on the display device 7a. The image UI is a GUI for inputting various information necessary for setting the first common image Ga1 and the second common image Ga2, which are single images, and the first replacement image Gb1 and the second replacement image Gb2, which are composite images. In the example shown in Figure 7, the image UI has areas UI1, UI2, UI3, UI4_1~4_4 and buttons B1 and B2.

[0100] Area UI1 is an area for selecting a job file that records settings using the image UI. Here, Area UI1 has buttons B11, B12, and B13. Button B11 is used to specify the file name of a new job file when creating one. When this button is used, the specified file name is displayed in Area UI1. Button B12 is used to delete the display of a job file. When this button is used, the display of the selected job file is deleted. Button B13 is used to load an existing job file. When this button is used, the file name of the loaded job file is displayed in Area UI1. In the example shown in Figure 7, it is possible to enter the job name and comments in Area UI1.

[0101] Area UI2 is an area for specifying the save location for print data such as the first print data D1 and the second print data D2. By using this button, the save location path will be displayed in Area UI2.

[0102] Area UI3 is a region for specifying or selecting 3D data Db, which contains the shape information of the first workpiece W1 and the second workpiece W2. In the example shown in Figure 7, Area UI3 has a pull-down menu that displays the path to where the specified or selected 3D data Db is saved.

[0103] Regions UI4_1 to UI4_4 are areas for setting the printing conditions for single images and composite images for each face of the workpiece that is to be printed on, which is either the first workpiece W1 or the second workpiece W2. Regions UI4_1 to UI4_4 are identical to each other except that they differ in the faces of the workpiece that are to be printed on. In the example shown in Figure 7, region UI4_1 is the area for setting the printing conditions for the first common image Ga1 and the second common image Ga2, and region UI4_2 is the area for setting the printing conditions for the first replacement image Gb1 and the second replacement image Gb2. Hereafter, each of regions UI4_1 to 4_4 may be referred to as region UI4.

[0104] Area UI4 contains buttons B41, B42, B43, B44, B45, B46, B40 and area RE. Button B41 is for specifying image data. Using this button displays the path to the specified image data within area UI4 and a preview of the image data in area RE. Button B42 is for deleting the display of the specified image data. Using this button deletes the display of the specified first image data D1a. Button B43 is for specifying replacement data D3. Using this button displays the path to the specified replacement data D3 within area UI4 and a thumbnail image of the replacement data D3 is displayed in area RE. Button B44 is for deleting the display of the specified replacement data D3.

[0105] If no replacement data D3 is specified using button B43, the image data specified using button B41 will be used as the first image data D1a. On the other hand, if replacement data D3 is specified using button B43, the image data specified using button B41 will be used as the third image data D2b.

[0106] In the example shown in Figure 7, in region UI4_1, the first image data D1a is specified by using button B41, and the replacement data D3 is not specified by using button B43. On the other hand, in region UI4_2, the third image data D2b is specified by using button B41, and the replacement data D3 is specified by using button B43. Note that in region UI4_2, the specification of the third image data D2b by using button B41 is not required.

[0107] Button B45 is used to specify the energy irradiation time and number of irradiations by the energy emission unit 3c. By using this button, the energy irradiation time and number of irradiations by the energy emission unit 3c are specified. Button B46 is used to set the offset of the print area. By using this button, the offset of the print area is set.

[0108] Button B40 is used to display a preview of the specified image data. Using this button will display a preview of the specified image data. Specifically, if no replacement data D3 is specified using button B43, a preview of the image data specified using button B41 will be displayed. On the other hand, if replacement data D3 is specified using button B43, a preview of the composite image created by the operation using button B41, consisting of the first image data D1a and the second image data D2a based on replacement data D3, will be displayed. A concrete example of the preview display will be explained later with reference to Figure 8.

[0109] Button B1 is used to configure various other print settings. Operating this button will configure these settings. Button B2 is used to register the settings configured using the image UI as print conditions. Operating this button will register the settings configured using the image UI as a print job. At this time, the first print data D1 is generated.

[0110] Figure 8 shows an example of a preview display of a composite image. In Figure 8, a preview display of the first replacement image Gb1, which is a composite image to be printed on the second surface WF1b, is shown as an example.

[0111] By operating button B40 as shown in Figure 7, a preview window WP is displayed on the display device 7a, as shown in Figure 8. Within the window WP, an area GW and button B3 are provided. Area GW is the area for preview display.

[0112] The first replacement image Gb1 includes image Gb1a based on the second image data D2a and image Gb1b based on the third image data D2b. In the example shown in Figure 8, image Gb1a is an image showing the name and blood type, which are information based on replacement data D3, and image Gb1b is a background image used to decorate that image.

[0113] Button B3 is used to specify the work to be previewed. By using this button, the work to be previewed is selected, and a preview of the image to be printed on the selected work is displayed in area GW. For example, in Figure 8, the first work W1 is selected, and the first replacement image Gb1 is displayed in area GW, allowing you to confirm in advance that "Taro" will be printed as the name and "A" as the blood type. On the other hand, if you select the second work W2 using button B3, the display in area GW switches to the second replacement image Gb2, allowing you to confirm in advance that "Hanako" will be printed as the name and "B" as the blood type.

[0114] Figure 9 shows the data processing flow for single images and composite images. Figure 9 illustrates the data processing flow from the start of a print command to the end of printing after the setup of single images and composite images is complete.

[0115] When a print command is received, the processing unit 7e2 first determines in step ST1, as shown in Figure 9, whether the surface to be printed is the surface on which a composite image will be printed or the surface on which a single image will be printed.

[0116] If the surface to be printed is the surface on which the composite image is printed, for example, if the surface to be printed is the second surface WF1b, then in step ST2, the processing unit 7e2 creates the second print data D2 and saves the created second print data D2 to a predetermined folder in the storage circuit 7d. Here, the second print data D2 is one second print data D2_1 used for the first workpiece, which is the first workpiece W1.

[0117] On the other hand, if the surface to be printed is a surface on which a single image is printed, for example, if the surface to be printed is the first surface WF1a, then in step ST3, the processing unit 7e2 saves the first print data D1, which was generated in advance when the print job was registered, to a predetermined folder in the storage circuit 7d.

[0118] After step ST2 or step ST3, in step ST4, the processing unit 7e2 determines whether it has completed setting all image data for the side of a workpiece to be printed. If it has not completed setting all image data for the side of a workpiece to be printed, the processing unit 7e2 returns to step ST1.

[0119] Once all image data settings for the printable surfaces of a workpiece have been completed, the processing unit 7e2 determines in step ST5 whether the number of completed workpieces has reached the target number. If the number of completed workpieces has reached the target number, the processing unit 7e2 terminates printing.

[0120] If the number of completed print jobs has not reached the target number, in step ST6, the processing unit 7e2 sends a print start command to the controller 5 and the control module 6. This starts the printing process. At this point, the controller 5 notifies the processing unit 7e2 of the printing progress.

[0121] Then, in step ST7, the processing unit 7e2 determines whether the print progress from the controller 5 has reached 100%, and whether or not to switch the side to be printed.

[0122] If the print progress from controller 5 has not reached 100% and the side to be printed is not switched, processing unit 7e2 proceeds to step ST12 described below.

[0123] On the other hand, if the print progress from controller 5 has reached 100%, or if it is time to switch the side to be printed, in step ST8, processing unit 7e2 determines whether the print on the side that has been completed is a composite image print.

[0124] If the printed surface is not a composite image, the processing unit 7e2 proceeds to step ST12, which will be described later.

[0125] On the other hand, if the printed surface is a composite image, in step ST9, the processing unit 7e2 determines whether there is one or more surfaces to be printed in the workpiece. If there is one surface to be printed in the workpiece, in step ST10, the processing unit 7e2 creates the print data. On the other hand, if there are multiple surfaces to be printed in the workpiece, in step ST11, the processing unit 7e2 starts a thread to create the print data.

[0126] After step ST10 or step ST11, in step ST12, the processing unit 7e2 determines whether the print progress from controller 5 has reached 100%. If the print progress from controller 5 has not reached 100%, the processing unit 7e2 returns to step ST7. Alternatively, if the print progress from controller 5 has not reached 100%, in step ST13, the processing unit 7e2 adds the number of completed prints and then returns to step ST5.

[0127] As described above, the 3D object printing apparatus 1 performs the printing of a first common image Ga1 and a first replacement image Gb1 onto a first workpiece W1 which is a three-dimensional workpiece, and the printing of a second common image Ga2 and a second replacement image Gb2 onto a second workpiece W2 which is a three-dimensional workpiece. Here, as previously stated, the first common image Ga1 and the second common image Ga2 are identical images. On the other hand, the first replacement image Gb1 and the second replacement image Gb2 are at least partially different images from each other. Here, each of the first common image Ga1 and the second common image Ga2 is an example of a "single image," an image generated based on one image data. On the other hand, each of the first replacement image Gb1 and the second replacement image Gb2 is an example of a "composite image," an image generated based on multiple image data.

[0128] Furthermore, the 3D object printing device 1 performs the first printing operation S10, which prints the first common image Ga1 onto the first workpiece W1, before the second printing operation S20, which prints the first replacement image Gb1 onto the first workpiece W1. This execution is an example of a "3D object printing method".

[0129] In the above-described 3D object printing apparatus 1 or 3D object printing method, the first printing operation S10 is performed before the second printing operation S20, so the first replacement image Gb1 can be acquired or combined while the first printing operation S10 is being performed. As a result, the time required to print the first common image Ga1 and the first replacement image Gb1 on the first workpiece W1 can be shortened compared to a configuration in which the second printing operation S20 is performed before the first printing operation S10.

[0130] Furthermore, as described above, the 3D object printing apparatus 1 performs the third printing operation S30, which prints the second common image Ga2 onto the second workpiece W2, before the fourth printing operation S40, which prints the second replacement image Gb2 onto the second workpiece W2. Therefore, the acquisition or synthesis of the second replacement image Gb2 can be performed while the third printing operation S30 is in progress. As a result, the time required to print the second common image Ga2 and the second replacement image Gb2 onto the second workpiece W2 can be shortened compared to a configuration in which the fourth printing operation S40 is performed before the third printing operation S30.

[0131] As mentioned above, the 3D object printing apparatus 1 performs the first printing operation S10, the second printing operation S20, the third printing operation S30, and the fourth printing operation S40 in that order. Therefore, the printing required for the first workpiece W1 can be completed before the printing required for the second workpiece W2. As a result, the first workpiece W1 can be moved out of the printing area and used for processes other than printing before the printing on the second workpiece W2 is completed.

[0132] Furthermore, as mentioned above, the three-dimensional object printing apparatus 1 has a processing unit 7e2 for processing image data. The processing unit 7e2 performs a process to generate or acquire image data representing the second replacement image Gb2 while the printing operation for the first workpiece W1 is being performed. Therefore, the process of generating or acquiring image data representing the second replacement image Gb2 can be completed before the printing operation for the second workpiece W2. Here, it is preferable that the processing unit 7e2 performs the process of generating or acquiring image data representing the second replacement image Gb2 while the second printing operation S20 is being performed. In this case, it is possible to prevent the period of the process of generating or acquiring image data representing the second replacement image Gb2 from overlapping with the period of acquiring or combining the first replacement image Gb1. As a result, the processing load on the computer 7 is reduced, and the speed of the process of generating or acquiring image data representing the second replacement image Gb2 can be increased.

[0133] As mentioned above, during the execution of the first printing operation S10, the processing unit 7e2 executes a process to generate the second print data D2, which is an example of "data showing a composite image," by combining the second image data D2a and the third image data D2b, which are examples of "multiple image data." Combining multiple image data takes a long time. Therefore, by executing this combination process in parallel with the first printing operation S10, the processing efficiency can be improved.

[0134] Furthermore, as mentioned above, the three-dimensional object printing apparatus 1 has an acquisition unit 7e1 for acquiring image data. During the execution of the first printing operation S10, the acquisition unit 7e1 executes a process to acquire replacement data D3, which is an example of "data related to the composite image". Acquiring data related to the composite image takes a long time. Therefore, by executing the composite process in parallel with the first printing operation S10, the efficiency of the process can be improved.

[0135] Furthermore, as mentioned above, the first workpiece W1 has a first surface WF1a and a second surface WF1b that faces a different direction from the first surface WF1a. The first common image Ga1 is printed on the first surface WF1a. On the other hand, the first replacement image Gb1 is printed on the second surface WF1b. In this way, it is possible to print two different images on two surfaces that face different directions.

[0136] Furthermore, as mentioned above, the processing unit 7e2 generates the first print data D1 by processing the first image data D1a. Then, both the first common image Ga1 and the second common image Ga2 are printed using the first print data D1. Therefore, compared to a configuration in which the process of generating the first print data D1 is performed for each workpiece, the time required to print the first common image Ga1 and the second common image Ga2 can be shortened.

[0137] Furthermore, as mentioned above, when printing is performed by sequentially executing multiple printing operations on the first workpiece W1, the second printing operation S20 is the last of the multiple printing operations to be executed, which allows the acquisition or synthesis of the second replacement image Gb2 to be performed while the printing operations preceding the second printing operation S20 are being executed.

[0138] Here, as mentioned above, for the first work W1 or the second work W2, n (where n is a natural number greater than or equal to 1) first images and m (where m is a natural number greater than or equal to 1) second images are printed, and each of the n first images is a single image and each of the m second images is a composite image, then the n printing operations for printing the n first images are all performed before the m printing operations for printing the m second images. Therefore, the printing of composite images is performed after the printing of any single images, which allows for more time to prepare the composite images.

[0139] 2. Variations Each of the above examples can be modified in various ways. Specific examples of modifications that can be applied to each of the aforementioned examples are given below. Note that two or more of the following examples can be arbitrarily selected and combined as appropriate, provided they do not contradict each other.

[0140] 2-1. Variation 1 In the above-described form, the example given is that the first replacement image and the second replacement image are both composite images, but the invention is not limited to this. For example, the first replacement image and the second replacement image may each be images based solely on replacement data D3 without using the third image data D2b.

[0141] 2-2. Variation 2 In the aforementioned embodiment, a configuration using a 6-axis vertical multi-axis robot is exemplified, but the robot is not limited to this configuration. The robot may be a vertical multi-axis robot other than a 6-axis robot, or a horizontal multi-axis robot. Furthermore, the robot's arm may have a telescopic mechanism or a linear motion mechanism in addition to a joint composed of a rotation mechanism. However, from the viewpoint of balancing print quality in printing operations and the degree of freedom of the robot's movement in non-printing operations, the robot is preferably a multi-axis robot with 6 or more axes.

[0142] 2-3. Variation 3 In the aforementioned configuration, an example is given of a method for fixing the head to the robot using screws, but the configuration is not limited to this. For example, the head may be fixed to the robot by gripping it with a gripping mechanism such as a hand attached as an end effector to the robot.

[0143] 2-4. Variation 4 Furthermore, while the above-described embodiment exemplifies a robot with a movable head, it is not limited to this configuration. For example, the liquid discharge head may be fixed in position, and the robot may move the workpiece, changing the workpiece's position and orientation in three dimensions relative to the head. In this case, for example, the workpiece may be gripped by a gripping mechanism such as a hand attached to the tip of the robot arm.

[0144] 2-5. Variation 5 While the above-described embodiment exemplifies a configuration in which printing is performed using one type of ink, the disclosure is not limited to this configuration and can also be applied to configurations in which printing is performed using two or more types of ink.

[0145] 2-6. Variation 6 The applications of the three-dimensional object printing apparatus described herein are not limited to printing. For example, a three-dimensional object printing apparatus that dispenses a colorant solution can be used as a manufacturing apparatus for forming color filters for liquid crystal display devices. A three-dimensional object printing apparatus that dispenses a conductive material solution can be used as a manufacturing apparatus for forming wiring and electrodes on a wiring board. Furthermore, a three-dimensional object printing apparatus can also be used as a jet dispenser for applying liquids such as adhesives to a medium. [Explanation of Symbols]

[0146] 1...3D object printing device, 2...Robot, 2a...Arm drive mechanism, 3...Head unit, 3a...Head, 3b...Pressure regulating valve, 3c...Energy emission unit, 3e...Switch circuit, 3f...Support, 5...Controller, 5a...Memory circuit, 5b...Processing circuit, 6...Control module, 6a...Timing signal generation circuit, 6b...Power supply circuit, 6c...Control circuit, 6d...Drive signal generation circuit, 7...Computer, 7a...Display device, 7b...Input device, 7c...Communication circuit, 7d...Memory circuit, 7e...Processing circuit, 7e1...Acquisition unit, 7e2...Processing unit, 210...Base unit, 220...Arm unit, 221...Arm, 222...arm, 223...arm, 224...arm, 225...arm, 226...arm, 230...joint, 230_1...joint, 230_2...joint, 230_3...joint, 230_4...joint, 230_5...joint, 230_6...joint, B1...button, B11...button, B12...button, B13...button, B2...button, B3...button, B40...button, B41...button, B42...button, B43...button, B44...button, B45...button, B46...button, CLK...clock signal, CNG...change signal, Com...drive signal, D1...first print data D1a...First image data (image data), D2...Second print data, D2_1...Second print data, D2_2...Second print data, D2a...Second image data (image data), D2a_1...Second image data (image data), D2a_2...Second image data (image data), D2b...Third image data (image data), D3...Replacement data, DE...Ejection direction, DN...Array direction, DT...Signal, Da...Print path information, Db...3D data, De1...Output, FN...Ejection surface, GW...Area, Ga1...First common image (single image), Ga2...Second common image (single image), Gb1...First replacement Image (composite image), Gb1a...Image, Gb1b...Image, Gb2...Second replacement image (composite image), L1...Nozzle row, L2...Nozzle row, LAT...Latch signal, N...Nozzle, O1...Rotating axis, O2...Rotating axis, O3...Rotating axis, O4...Rotating axis, O5...Rotating axis, O6...Rotating axis, P...Program, PD...Drive pulse, PG...Program, PTS...Timing signal, RE...Area, S10...First printing operation, S20...Second printing operation, S30...Third printing operation, S40...Fourth printing operation, SI...Control signal, ST1...Step, ST10...Step, ST11...Step, ST12...Step,ST13...Step, ST2...Step, ST3...Step, ST4...Step, ST5...Step, ST6...Step, ST7...Step, ST8...Step, ST9...Step, Sk1...Control signal, UI...Image, UI1...Area, UI2...Area, UI3...Area, UI4...Area, UI4_1...Area, UI4_2...Area, VBS...Offset potential, VHV...Power supply potential, W...Workpiece, W1...First workpiece, W2...Second workpiece, WF1a...First surface, WF1b...Second surface, WF2a...First surface, WF2b...Second surface, WP...Window, dCom...Waveform specification signal.

Claims

1. A three-dimensional object printing apparatus that performs printing a first common image and a first replacement image on a first workpiece which is a three-dimensional workpiece, and printing a second common image and a second replacement image on a second workpiece which is a three-dimensional workpiece, The first common image and the second common image are identical images. The first replacement image and the second replacement image are at least partially different images from each other. The first printing operation, which prints the first common image onto the first workpiece, is performed before the second printing operation, which prints the first replacement image onto the first workpiece. It has a processing unit for processing image data, The processing unit performs a process to generate or acquire image data for the second replacement image while a printing operation is being performed on the first workpiece. A three-dimensional object printing apparatus characterized by the following features.

2. The third printing operation, which prints the second common image onto the second workpiece, is performed before the fourth printing operation, which prints the second replacement image onto the second workpiece. The three-dimensional object printing apparatus according to feature 1.

3. The first printing operation, the second printing operation, the third printing operation, and the fourth printing operation are performed in this order. The three-dimensional object printing apparatus according to feature 2.

4. The processing unit executes a process to generate or acquire image data for the second replacement image while the second printing operation is being performed. A three-dimensional object printing apparatus according to any one of claims 1 to 3.

5. The first workpiece has a first surface and a second surface facing a different direction from the first surface. The first common image is printed on the first surface. The first replacement image is printed on the second surface. A three-dimensional object printing apparatus according to any one of claims 1 to 4.

6. It has a processing unit for processing image data, The processing unit generates first print data by processing the first image data. Both the first common image and the second common image are printed using the first print data. A three-dimensional object printing apparatus according to any one of claims 1 to 5.

7. Printing is performed by sequentially carrying out multiple printing operations on the first workpiece. The second printing operation is the last printing operation to be performed among the plurality of printing operations. A three-dimensional object printing apparatus according to any one of claims 1 to 6.

8. A method for printing three-dimensional objects, comprising printing a first common image and a first replacement image onto a first three-dimensional workpiece, and printing a second common image and a second replacement image onto a second three-dimensional workpiece, The first common image and the second common image are identical images. The first replacement image and the second replacement image are at least partially different images from each other. The first printing operation, which prints the first common image onto the first workpiece, is performed before the second printing operation, which prints the first replacement image onto the first workpiece. During the execution of the printing operation on the first workpiece, a process is performed to generate or acquire image data for the second replacement image. A method for printing three-dimensional objects characterized by the following features.

Images